Autonomous Mobile Object Stillness Detection for Accurate Offset Correction
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Solution Overview
Problem
Conventional methods for determining the static state of a mobile object are not accurate enough, leading to potential errors in offset value correction and various control processes, especially due to dynamic environmental changes and incorrect sensor readings.
Innovation Solution
A mobile object control device and method that includes a first detection unit for movement state, a second detection unit for cartographic, object, and operation information, and a stillness determination unit to accurately assess the static state by combining internal sensor data with external information, such as cartographic and object information, to prevent incorrect offset value corrections.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If conventional dead reckoning method is used to estimate own position based on internal sensor data, then position estimation can be performed without external references, but measurement precision deteriorates due to accumulation of offset values from dynamic environmental changes
Solution Approach 1:
The system uses external sensors (camera, LIDAR, GPS) to detect actual position and environment information, then feeds this information back to correct the cumulative errors in dead reckoning estimation. The correction unit adjusts the estimated position based on the difference between dead reckoning results and external sensor measurements, eliminating offset accumulation.
Solution Approach 2:
The patent combines multiple positioning methods (dead reckoning using internal sensors, external sensor-based positioning using camera/LIDAR/GPS) into a unified hybrid positioning system. This merging allows the system to leverage the advantages of each method while compensating for their individual weaknesses, particularly the drift issue of dead reckoning.
2Productivity
If offset value correction is performed based solely on internal sensor data during detected static periods, then correction processing is simple and fast, but reliability deteriorates due to incorrect static state detection under dynamic environmental conditions
Solution Approach 1:
External sensors (camera, LIDAR, GPS) serve as intermediary verification mechanisms to confirm whether the mobile object is truly in a static state. Before performing offset correction, the system checks environmental stability and position consistency using these external sensors, ensuring that correction is only applied when genuinely stationary, thus preventing erroneous corrections.
3Measurement precision
If multiple external sensors and information sources are integrated to improve static state determination accuracy, then measurement precision improves, but device complexity increases
Solution Approach 1:
The external sensors (camera, LIDAR, GPS) are designed to serve multiple functions: position estimation, environmental mapping, obstacle detection, and static state verification. This multi-functionality reduces the need for dedicated separate systems, thereby limiting the increase in overall device complexity while achieving high measurement precision.
Data Source
AI summary
A mobile object control device (1) includes a first detection unit (21), a second detection unit (22), and a stillness determination unit (24). On the basis of a sensor mounted on a mobile object (100) that moves autonomously, the first detection unit (21) detects a movement state of the mobile object (100). The second detection unit (22) detects at least one of cartographic information at a current location of the mobile object (100), object information present in a periphery of the mobile object (100), and operation information of a movable portion included in the mobile object (100). The stillness determination unit (24) determines whether the mobile object (100) is in a static state on the basis of the movement state detected by the first detection unit (21) and the information detected by the second detection unit (22).