Mobile Object Path Control Using Detection Reliability
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Solution Overview
Problem
Existing mobile object control systems face challenges in accurately moving a mobile object, such as an Automated Guided Forklift, to a target position with a load, due to uncertainties in detecting the position and attitude of the object and misalignment with the intended path.
Innovation Solution
A control method that utilizes sensors to detect the target object's position and attitude, calculates the reliability of the detection results, and sets a precise second path for the mobile object to accurately approach and pick up the object, incorporating multiple detection processes and reliability calculations to ensure accurate positioning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If sensors are used to detect the target object's position and attitude, then the mobile object can identify the object's location, but the detection accuracy is insufficient due to uncertainties and misalignment with the intended path
Solution Approach 1:
The system performs multiple detections of the target object's position and attitude, calculates the variance among detection results, and uses this feedback to determine whether to proceed with the current path or select an alternative path, thereby improving detection reliability despite individual measurement uncertainties
Solution Approach 2:
The system performs preliminary detections and path selection before final approach, calculating detection variance in advance to determine the optimal path, which prevents proceeding with unreliable detection results and ensures higher measurement precision in the final positioning
2Reliability
If multiple detection processes are performed to improve accuracy, then the reliability of position estimation increases, but the time required for detection and path setting increases
Solution Approach 1:
The system performs a limited number of detections (exactly twice) rather than continuous monitoring, calculating the variance from these partial detections to determine path selection, which achieves sufficient reliability without excessive time consumption
Solution Approach 2:
The detection process is segmented into distinct phases: initial detection, second detection, variance calculation, and path selection. This segmentation allows the system to perform multiple detections systematically while managing time efficiently by stopping once sufficient reliability is achieved
3Ease of operation
If the mobile object follows a predetermined path, then the movement is simple to control, but the path may not lead to the accurate target position due to detection uncertainties
Solution Approach 1:
The system dynamically selects between a first path and a second path based on detection variance, allowing the movement path to adapt to detection quality. This dynamic path selection maintains ease of operation through predefined paths while achieving high positioning precision by choosing the optimal path based on real-time detection reliability
Data Source
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AI summary
A control method for a mobile object that automatically moves includes: causing a sensor disposed on the mobile object to detect a target object multiple times to acquire detection results of respective detection processes performed by the sensor as a point group; estimating a position and an attitude of the target object for each detection process based on the point group; calculating reliability of accuracy in an estimation result of the position and the attitude of the target object for each detection process; selecting, from among estimation results of the respective detection processes, an estimation result used for setting an approach path to a target position at which a predetermined position and attitude with respect to the target object are achieved based on the reliability for each detection process; setting the approach path based on the selected estimation result; and causing the mobile object to move along the approach path.