Mobile Machine Trajectory Control Using Target-Based Prohibited Regions
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Solution Overview
Problem
The existing methods for calculating trajectories for mobile machines, such as forklifts, require a wide search range, leading to increased calculation loads and delayed operations due to the need for more time and potentially higher arithmetic device performance.
Innovation Solution
A control device for mobile machines that acquires the direction of a target object, sets a prohibited region to avoid, and calculates a trajectory that does not pass through this region, thereby reducing the search range and calculation load.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a wide search range is used for trajectory calculation, then the trajectory can reach the target position, but the calculation load increases and calculation time increases
Solution Approach 1:
The search range for trajectory calculation is segmented into multiple regions based on the direction to the target object. A prohibited region is defined in the opposite direction of the target, dividing the full 360-degree search space into permitted and prohibited zones. This segmentation reduces the calculation area while ensuring the trajectory can still reach the target through the permitted region.
Solution Approach 2:
The prohibited region is extracted from the search range by identifying and excluding the area in the opposite direction of the target object. By removing this unnecessary search area, the calculation load is reduced without affecting the ability to find a valid trajectory to the target position.
2Reliability
If a wide search range is used for trajectory calculation, then the trajectory can reach the target position, but the calculation load increases requiring higher performance arithmetic devices
Solution Approach 1:
The search space is segmented into permitted and prohibited regions based on the target direction. This segmentation allows the use of simpler arithmetic devices by reducing the computational domain, while still guaranteeing that a valid trajectory can be found within the permitted region.
Solution Approach 2:
The prohibited region is extracted and removed from the calculation domain. This extraction reduces the computational burden on the arithmetic device, allowing standard performance devices to handle the trajectory calculation without requiring high-performance hardware.
3Productivity
If the search range is reduced to lower calculation load, then calculation time decreases, but the ability to find accurate trajectory may be compromised
Solution Approach 1:
Different regions of the search space are assigned different qualities - the permitted region in the direction of the target allows full trajectory search, while the prohibited region in the opposite direction is excluded. This local differentiation maintains trajectory accuracy in critical areas while reducing overall calculation load.
Solution Approach 2:
The prohibited region is predetermined and excluded before trajectory calculation begins. By performing this preliminary action of defining the search boundaries based on target direction, the system ensures that calculation time is reduced while trajectory accuracy is maintained in the permitted region.
Data Source
AI summary
A control device is for a mobile machine that is provided in a mobile machine configured to automatically move. The control device includes a target object information acquisition unit that acquires a detection result of a direction of a target object; a region setting unit that sets a prohibited region through which a trajectory of the mobile machine is prohibited from passing, from the direction of the target object; a trajectory setting unit that sets a trajectory from the mobile machine to a target position where the mobile machine is in a predetermined position and direction with respect to the target object such that the trajectory does not pass through the prohibited region; and a movement control unit that moves the mobile machine based on the trajectory.