Movable Body Route Control for Multi-Object Pickup Positioning
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Solution Overview
Problem
Existing methods for controlling the movement of objects, such as forklifts, are inefficient as they require repeated detection of markers for accurate positioning, limiting work efficiency and accuracy when transporting multiple objects.
Innovation Solution
A control device and system that acquires and outputs routes for a movable body to efficiently transport multiple aligned objects by determining the initial position of the first object and recalculating routes for subsequent objects based on this information, reducing the need for continuous marker detection.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If marker detection is executed every time to detect the correct position of objects, then positioning accuracy is improved, but work efficiency deteriorates due to repeated processing
Solution Approach 1:
The system performs preliminary marker detection only for the first object in the sequence, then uses the detected position and pre-stored relative position information to calculate positions of subsequent objects without repeated marker detection. This preliminary action establishes a reference frame that enables efficient subsequent positioning.
Solution Approach 2:
Instead of detecting markers for each object, the system creates a virtual copy of the position information by calculating relative positions based on the first object's detected position and pre-stored relative position data. This copying approach eliminates the need for repeated physical marker detection.
2Measurement precision
If the stop position of the truck deviates from the presumed position, then the object cannot be transported to the presumed position, but the system must still maintain high positioning accuracy
Solution Approach 1:
The system uses the actually detected position of the first object as feedback to recalculate the positions of all subsequent objects. This feedback mechanism allows the system to adapt to actual positional deviations from presumed positions while maintaining high transportation positioning accuracy through dynamic recalculation based on relative position information.
Data Source
AI summary
A control device includes a route acquisition unit configured to acquire routes of a movable body for moving target objects to or from a target position at which the target objects are to be picked up or dropped, a reference position/posture acquisition unit configured to acquire information on a position at which the movable body picks up or drops a first target object of the target objects at the target position, and an information output unit configured to output information acquired by the route acquisition unit to the movable body. The route acquisition unit is configured to acquire the routes of the movable body for moving second and subsequent target objects of the target objects, based on the information acquired by the reference position/posture acquisition unit.