Moving Body Return Routing for Reference Route Rejoining

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Solution Overview

Problem

Existing technologies face challenges in ensuring that a moving body appropriately follows a set reference route, particularly when it deviates from the intended path.

Innovation Solution

A route setting method that includes acquiring information about a reference route, determining if the moving body is on the route, and setting a return route to a merging position on the reference route when the moving body is not positioned on it.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Extent of automation

If a reference route is set for the moving body to follow, then the moving body can operate automatically along a defined path, but the moving body may deviate from the reference route due to obstacles or errors

Engineering Contradiction:

Improveautomatic movement along reference routeVSAvoidposition accuracy on reference route

Core Design Contradiction:

Extent of automationVSReliability

Solution Approach 1:

The system pre-calculates and stores return routes to merging positions on the reference route before deviation occurs. When the moving body deviates, it can immediately execute the pre-prepared return route without delay, ensuring reliable return to the reference path while maintaining automatic operation.

Inventive Principle:

Principle #10Preliminary action

2Adaptability or versatility

If the moving body deviates from the reference route, then it may avoid obstacles or correct errors, but it loses its intended movement path and requires route correction

Engineering Contradiction:

Improveability to handle deviationVSAvoidtime to return to reference route

Core Design Contradiction:

Adaptability or versatilityVSLoss of time

Solution Approach 1:

Return routes to various merging positions on the reference route are pre-calculated and stored in advance. When deviation occurs, the system quickly selects an appropriate pre-prepared return route based on the current position, minimizing the time lost while maintaining adaptability to different deviation scenarios.

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The merging position acts as an intermediary point between the deviated position and the reference route. The return route connects the deviated position to this merging position, where the moving body can rejoin the reference route and continue its intended movement, effectively mediating the transition from deviation back to the planned path.

Inventive Principle:

Principle #24Intermediary (Mediator)

3Productivity

If a return route is set to a merging position on the reference route, then the moving body can efficiently return to the reference route, but additional route information and processing are required

Engineering Contradiction:

Improveefficiency of returning to reference routeVSAvoidroute information processing system

Core Design Contradiction:

ProductivityVSDevice complexity

Solution Approach 1:

The route information is segmented into two distinct parts: the reference route (primary path) and return routes (correction paths). Each merging position on the reference route has its associated return route pre-calculated and stored. This segmentation allows the system to handle route correction efficiently by selecting from pre-prepared segments rather than calculating entire new routes, reducing processing complexity while maintaining productivity.

Inventive Principle:

Principle #1Segmentation

Data Source

PatentUS20250187890A1Route setting method, program, and moving body

Publication Date: 2025.06.12 MITSUBISHI HEAVY IND LTD

AI summary

The objective of the present invention is to move appropriately along a set reference route. This route setting method includes: a step for acquiring information relating to a reference route, which is a route along which a moving body moves; a step for determining whether the moving body is positioned on the reference route; and a step for setting a return route, which is a route for arriving at a merging position on the reference route, if the moving body is not positioned on the reference route.