Autonomous Mobile Body Moving Amount Estimation Error Compensation
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Solution Overview
Problem
Conventional autonomous mobile bodies face inaccuracies in estimating moving distances due to measurement errors from wheel rotation and distance sensors, especially when the moving amount is small, leading to lower accuracy in calculated traveling distances.
Innovation Solution
A moving amount estimating apparatus that includes a position data obtaining unit, a first estimating unit, and a second estimating unit, which compensates for wheel moving amounts by comparing reference moving amounts calculated from position data before and after movement, reducing the influence of measurement errors and improving accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If wheel rotation amount is used to calculate traveling distance, then measurement is simple and quick, but accuracy deteriorates due to slippage between wheel and floor
Solution Approach 1:
The patent replaces the mechanical wheel rotation measurement system with an optical/image-based measurement system. Instead of relying solely on mechanical encoder readings from wheel rotations, the system uses projection object images captured by sensors and calculates movement through image matching. This substitution eliminates the direct dependence on mechanical wheel-floor interaction, thereby removing slippage errors while maintaining calculation efficiency through digital image processing.
Solution Approach 2:
The projection object image serves as an intermediary between the mechanical wheel rotation system and the final traveling distance calculation. By introducing this intermediate representation, the system can cross-validate wheel rotation data against image-based movement calculations, correcting slippage errors without completely abandoning the fast mechanical measurement approach.
2Reliability
If distance measuring sensor is used to calculate traveling distance, then wheel slippage errors are compensated, but accuracy deteriorates when moving amount is small due to sensor measurement errors
Solution Approach 1:
The patent applies partial action by using sensor-based distance measurement only when movements are sufficiently large to exceed sensor measurement error thresholds. For small movements, the system switches to image-based movement calculation which is more reliable at that scale. This conditional, partial use of sensor data maintains error compensation benefits for large movements while avoiding accuracy deterioration for small movements.
Solution Approach 2:
The patent implements a dynamic measurement system that adapts its methodology based on movement magnitude. The system dynamically selects between wheel rotation-based calculation, image-based calculation, and sensor-based compensation depending on the detected movement amount. This dynamic approach ensures optimal accuracy for each movement scenario, maintaining reliability across varying movement scales.
Data Source
AI summary
A moving amount estimating apparatus includes a position data obtaining unit, a first estimating unit, and a second estimating unit. The position data obtaining unit obtains a plurality of position data used to form a projection object image before and after movement of a mobile body. The first estimating unit calculates a moving amount of a parallel movement and/or a rotational movement of second position data as a moving amount of a mobile body when a plurality of moving position data is calculated. A second estimating unit compensates for a wheel moving amount based on a comparison between a second reference moving amount based on a rotating amount of a wheel during a predetermined period and a first reference moving amount obtained by calculating the moving amount of the mobile body in the first estimating unit during the predetermined period, and estimates the moving amount of the mobile body.