Mobile Object Path Switching for Precise Target Alignment
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Solution Overview
Problem
Existing control methods for mobile objects, such as forklifts, struggle to accurately approach target positions, especially when the target object is deviated from its expected position, leading to potential misalignment and inefficiencies in navigation.
Innovation Solution
A control method that involves a mobile object moving along a first path, detecting the target object's position and attitude, setting a second path based on this information, and then switching to a third path optimized through evaluation functions to minimize deviation, allowing precise approach and alignment with the target.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a fixed approach track is used for automatic navigation, then the control system is simple, but the mobile object cannot adapt when the target object is deviated from its expected position
Solution Approach 1:
The patent transforms the static, fixed approach track into a dynamic, multi-stage adaptive path. The system dynamically switches between three paths (first path for initial approach, second path for corrected approach based on detected position, third path for final precision approach) based on real-time sensor feedback. This dynamic adaptation allows the mobile object to handle target position deviations while maintaining systematic control through predefined path segments.
Solution Approach 2:
The patent implements feedback control by using sensors to detect the actual position and attitude of the target object, then using this information to determine whether to switch from the first path to the second path, and subsequently to the third path. The optimization calculation continuously evaluates the deviation between the mobile object and target object, providing feedback that drives path adjustments. This feedback mechanism enables adaptability without requiring overly complex real-time recalculation systems.
2Manufacturing precision
If the mobile object uses a predetermined approach track, then the navigation is straightforward, but it cannot achieve precise alignment when the target object position is deviated
Solution Approach 1:
The patent segments the navigation process into three distinct phases with different path types: the first path (approach path) for initial movement toward the target area, the second path (corrected approach path) for position adjustment based on sensor detection, and the third path (precision approach path) for final alignment. This segmentation allows the system to optimize for speed during initial approach while ensuring precision during final alignment, thereby maintaining overall navigation efficiency while achieving high positioning accuracy.
Solution Approach 2:
The system dynamically transitions between different path segments based on real-time conditions. When the target object is detected within acceptable tolerances on the first path, the system continues to the third path for precision approach. When deviation is detected, the system switches to the second path for correction before proceeding to the third path. This dynamic path selection ensures positioning precision without unnecessarily reducing navigation efficiency through constant path recalculation.
3Measurement precision
If the system switches between multiple paths based on real-time detection, then positioning accuracy improves, but the control process becomes more complex
Solution Approach 1:
The patent applies preliminary action by pre-defining three distinct paths (first, second, and third paths) with specific characteristics and transition conditions before execution. The optimization calculation and switching criteria are predetermined, which simplifies real-time control decisions. Instead of calculating optimal paths from scratch during operation, the system only needs to evaluate whether to switch between pre-planned paths based on sensor feedback, thereby reducing control complexity while maintaining high detection accuracy.
Solution Approach 2:
The patent introduces an intermediary optimization calculation module that acts as a mediator between sensor detection and path switching decisions. This intermediary layer processes sensor data, evaluates deviation from expected positions, and determines the appropriate path transitions according to predetermined criteria. By separating the detection function from the control decision function through this intermediary optimization module, the system manages control complexity while achieving accurate target position detection and response.
Data Source
AI summary
A control method for a mobile object automatically moving includes: causing the mobile object to move along a first path; causing a sensor of the mobile object to detect a position and an attitude of a target object while the mobile object is moving along the first path; setting a second path up to a target position at which predetermined position and attitude with respect to the target object are achieved based on the position and the attitude of the target object; switching the first path to the second path to move the mobile object along the second path; executing optimization calculation based on an evaluation function, to set a third path; and switching the second path to the third path to move the mobile object along the third path.