Moving Body Control Using Sensor Dependency Reliability
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Solution Overview
Problem
Existing methods for stabilizing the movement of moving bodies, such as unmanned conveyance vehicles, using multiple sensor data face challenges when the reliability of position and orientation measurements decreases over time and distance, leading to unstable operation.
Innovation Solution
An information processing apparatus is designed with a measurement unit for position and orientation measurement using first and second sensor data, a control content determination unit that bases control decisions on reliability degrees calculated from dependency degrees between sensor data, and units to acquire and calculate dependency and reliability degrees.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If position and orientation measurement is performed using multiple sensor data types, then measurement reliability is improved, but the system cannot maintain stable operation when reliability decreases over time and distance
Solution Approach 1:
The patent dynamically switches between different sensor data types based on real-time reliability assessment. The system monitors the reliability of position and orientation measurements over time and distance, and automatically transitions between sensor sources (e.g., from visual sensors to inertial sensors) when reliability degradation is detected, ensuring continuous stable operation throughout the moving body's operational duration
Solution Approach 2:
The system implements a feedback mechanism that continuously evaluates measurement reliability and uses this information to adjust sensor selection and fusion strategies. By monitoring reliability metrics and feeding this information back into the control system, the patent maintains stable operation even as time and distance increase by adapting to changing measurement conditions
2Duration of action of moving object
If the moving body operates over extended time and distance, then operational capability is improved, but measurement reliability decreases
Solution Approach 1:
The patent performs preliminary reliability assessment of different sensor data types before critical failures occur. By evaluating sensor performance and reliability trends in advance, the system proactively switches to alternative sensors or adjusts measurement strategies before reliability degradation impacts operational capability, enabling extended safe operation
Solution Approach 2:
The system prepares compensatory measures in advance by having multiple sensor data types available and pre-configured. When one sensor source shows signs of reliability degradation over time and distance, the system has alternative sensors ready to compensate, cushioning against the natural reliability decay that occurs during extended operations
Data Source
AI summary
The information processing apparatus is provided with a measurement unit configured to perform position and orientation measurement of at least one of a position and an orientation of a moving body based on a first sensor data and a second sensor data stored in a moving body, a control content determination unit configured to determine control content of the moving body based on at least one of the position and orientation measured by the measurement unit, a dependency degree acquisition unit configured to acquire a dependency degree of the second sensor data with respect to the first sensor data, and a reliability degree calculation unit configured to calculate a reliability degree that represents a smallness of an accumulation value of the dependency degree, wherein the control content determination unit is configured to determine a control content of the moving body based on the reliability degree.