Moving Body Return Path Control Using Turning Radius Constraints
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Solution Overview
Problem
Transport robots often deviate from target lines due to errors in travel control, and existing techniques do not clearly define the shortest path for returning to the target line.
Innovation Solution
A moving body control system and method that determine a path for returning to a target line based on the turning radius, distance, and angle of the moving body, using a control apparatus to control the body's travel.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of time
If a transport robot deviates from a target line due to control errors, then the robot must execute a return path to reach the target line, but the existing techniques do not clearly define the shortest path, resulting in increased travel time and reduced efficiency
Solution Approach 1:
The patent changes the parameters used for path determination from generic coordinates to specific parameters including the robot's turning radius, distance to the target line, and angle between moving direction and target line. By incorporating the turning radius parameter, the system calculates the shortest return path that accounts for the robot's physical constraints, thereby reducing travel time while providing clear operational guidance.
2Productivity
If the transport robot follows a conservative return path, then the robot can safely return to the target line, but the path length increases and productivity decreases
Solution Approach 1:
The patent applies dynamic path planning that adapts to the robot's current state and constraints. Instead of using a fixed conservative path, the system dynamically calculates the optimal return path based on the robot's turning radius, position, and orientation. This dynamic approach minimizes the return path length while ensuring the robot can physically execute the path, thereby improving productivity without sacrificing safety.
3Device complexity
If the transport robot uses a simple coordinate-based guidance system, then the control system remains simple, but the robot cannot determine the optimal shortest path when deviating from the target line
Solution Approach 1:
The patent implements preliminary calculation of the return path by pre-determining the optimal path parameters based on the robot's turning radius and current state. The control system stores and uses these pre-calculated parameters when deviation occurs, avoiding complex real-time calculations while still achieving the shortest return path. This approach balances control system simplicity with efficient return path determination.
Data Source
AI summary
In order to provide a moving body control system, a control apparatus, and a moving body control method that can control a moving body to travel on a path appropriate for the moving body to return to a target line, the moving body control system includes a moving body and a control apparatus configured to control the moving body to follow a target path. The control apparatus is configured to determine a path to return to a target line, including a turning path by a turning radius of the moving body, based on the turning radius of the moving body, a distance between the moving body and the target line, and an angle between a moving direction of the moving body and the target line and to control the moving body to travel on the path.