Mobile Object Path Control Using Reliable Target Pose Estimation
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Solution Overview
Problem
Existing mobile objects struggle to accurately and reliably move to a target position, as they lack effective methods for consistently detecting and estimating the position and attitude of target objects.
Innovation Solution
A control method for mobile objects that involves multiple sensor detections to acquire detection results as a point group, estimating the position and attitude of the target object, calculating the reliability of these estimates, and selecting the most reliable estimation result to set an approach path for accurate movement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If multiple sensor detections are performed to acquire detection results as a point group, then measurement precision of target object position and attitude is improved, but device complexity and processing time increase
Solution Approach 1:
The patent performs multiple sensor detections and calculates reliability values for each detection result before final path planning. By conducting preliminary detections and reliability assessments, the system ensures high measurement precision for target object position and attitude without compromising real-time performance during actual navigation.
Solution Approach 2:
The system calculates reliability values for each detection result and uses this feedback to select the most reliable estimation for path planning. This feedback mechanism ensures that only high-confidence measurement data is used, maintaining measurement precision while providing a systematic approach to handle multiple detections.
2Reliability
If multiple sensor detections and reliability calculations are performed, then reliability of position estimation is improved, but loss of time in processing increases
Solution Approach 1:
The patent performs multiple sensor detections and reliability calculations in advance before final path planning. By conducting these operations preliminarily, the system ensures high reliability of estimation results without compromising real-time performance during actual navigation, as the computationally intensive operations are completed beforehand.
Solution Approach 2:
The system performs a predetermined number of sensor detections, which may be more than the minimum required. This excessive action ensures that sufficient reliable data is collected for accurate path planning, while the predetermined limit prevents excessive processing time consumption.
3Manufacturing precision
If the most reliable estimation result is selected based on reliability calculations, then manufacturing precision of approach path is improved, but device complexity increases
Solution Approach 1:
The system calculates reliability values for each detection result and uses this feedback to select the most reliable estimation for path planning. This feedback mechanism ensures that only high-confidence measurement data is used, achieving high approach path accuracy while providing a systematic and manageable control approach.
Solution Approach 2:
The patent changes the parameter selection criterion from simple distance-based selection to reliability-based selection. By using reliability values as the selection parameter, the system achieves more accurate approach paths while maintaining a clear and implementable control logic.
Data Source
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.