Mobile Object Route Control Using Temporary Via-Point Targets
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Solution Overview
Problem
Existing mobile object control systems are inefficient as they decelerate before via points, leading to suboptimal travel to destinations via multiple points.
Innovation Solution
A mobile object control device that recognizes surrounding situations using image data, generates a route with via points, and sets temporary destination points between via points to optimize movement, preventing unnecessary deceleration.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the robot sets each via point as a temporary destination and reliably passes through it, then the robot ensures accurate passage through via points, but the robot decelerates before each via point leading to inefficient travel
Solution Approach 1:
The patent segments the route into multiple via points and introduces temporary destination points between consecutive via points. This segmentation allows the robot to maintain higher speeds by targeting intermediate points rather than directly approaching each via point as a final destination, thus resolving the contradiction between reliable passage and travel efficiency.
Solution Approach 2:
The patent performs preliminary action by setting temporary destination points in advance between via points. This allows the robot to plan its deceleration and acceleration phases proactively, maintaining optimal speed profiles while ensuring accurate passage through via points, thereby improving overall travel efficiency without sacrificing reliability.
2Manufacturing precision
If the robot decelerates before via points to reliably pass through them, then the robot ensures accurate positioning at via points, but the overall travel time to destination increases
Solution Approach 1:
By segmenting the approach to via points into multiple phases with temporary destination points, the robot can optimize its speed profile. It decelerates gradually toward temporary points rather than making abrupt stops at each via point, maintaining positioning accuracy while reducing total travel time.
Solution Approach 2:
The patent applies dynamics by continuously adjusting the temporary destination points based on the robot's current position and speed. This dynamic approach allows the robot to maintain optimal velocity profiles, accelerating and decelerating smoothly to pass through via points accurately while minimizing time loss.
Data Source
AI summary
A mobile object control device includes a storage medium configured to store computer-readable instructions, and a processor connected to the storage medium, in which the processor executes the computer-readable instructions to recognize a surrounding situation of a mobile object on the basis of at least an image of the surrounding situation of the mobile object, generate, on the basis of the recognized surrounding situation and a set destination, a route which is from the mobile object to the destination and is composed of via points to be passed through by the mobile object, control the mobile object so that the mobile object moves along the generated route to the destination via the via points, and when the mobile object travels toward a first via point of a plurality of via points, set a temporary destination point between the first via point and a second via point that is the next via point after the first via point, and cause the mobile object to travel toward the temporary destination point via the first via point.