Monocular Obstacle Detection With Conditional Optical Axis Correction
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Solution Overview
Problem
Obstacle detection devices mounted on moving bodies, such as forklift trucks, face accuracy issues due to corrections in camera inclination, especially when the moving body is in motion or performing cargo handling operations, leading to decreased positional accuracy of obstacles.
Innovation Solution
An obstacle detection device for moving bodies that includes a camera and a controller, which calculates obstacle positions based on image features and optical axis angles, and selectively corrects the optical axis angle only when specific conditions are not met, such as when the vehicle is stationary, not performing cargo handling, or not experiencing steady-state vibrations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the optical axis angle is corrected to account for camera inclination, then the accuracy of obstacle position calculation is improved, but the positional accuracy decreases when the moving body is in motion or performing cargo handling operations
Solution Approach 1:
The system dynamically adjusts the correction strategy based on real-time operating conditions. When the moving body is stationary and not performing cargo handling, optical axis angle correction is applied to improve measurement precision. When the moving body is in motion or performing cargo handling operations, correction is suspended to maintain reliability and avoid introducing errors from vibrations and movements.
Solution Approach 2:
The system changes the correction parameter (optical axis angle) based on operational state. By monitoring whether the moving body is stationary or in motion, and whether cargo handling is occurring, the system adjusts whether to apply angle correction, thereby optimizing both precision and reliability across different operating conditions.
2Measurement precision
If optical axis angle correction is always applied, then measurement precision is improved, but noise interference increases during motion and cargo handling
Solution Approach 1:
The system takes preliminary action by detecting the operational state before performing obstacle detection. By identifying when the moving body is in motion or performing cargo handling, the system preemptively avoids applying correction that would introduce noise interference, thereby protecting the measurement quality from harmful effects.
Solution Approach 2:
The system converts the potentially harmful effect of vibrations and movements during operation into a beneficial control condition. By detecting these conditions and suspending correction, the system uses the presence of noise as a trigger to avoid correction, thereby transforming what would be a source of error into a controlled decision point that maintains accuracy.
3Measurement precision
If complex correction algorithms are used to improve accuracy, then measurement precision is improved, but device complexity increases
Solution Approach 1:
The system applies correction only partially, based on specific conditions rather than continuously. By suspending correction during motion and cargo handling operations, the system avoids the complexity of developing and implementing sophisticated algorithms that would be needed to maintain accuracy under all conditions, thereby reducing device complexity while maintaining sufficient precision.
Data Source
AI summary
An obstacle detection device is mounted on a moving body. The obstacle detection device includes a camera, and a controller. The controller obtains a captured image from the camera. The controller calculates a position of an obstacle based on a feature portion of the captured image and an angle of an optical axis of the camera. The controller does not correct the angle of the optical axis when a specific condition is met, and corrects the angle of the optical axis when the specific condition is not met.