Movable Apparatus Start Pose Calculation for Reliable Self-Localization
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Solution Overview
Problem
Existing methods for autonomous movable apparatuses fail to accurately determine the starting position and orientation for work due to self-position estimation failures, preventing successful initiation of tasks such as cleaning and conveyance.
Innovation Solution
An information processing apparatus that acquires work setting information and map data to calculate a starting position and orientation using SLAM, stereo cameras, and priority conditions to ensure successful self-position estimation and efficient work initiation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If self-position estimation is performed based on map information to determine starting position and orientation, then work can be initiated with accurate positioning, but the system fails when self-position estimation cannot be performed, preventing work initiation
Solution Approach 1:
The system performs preliminary actions by creating multiple candidate starting positions and orientations before actual work initiation. When self-position estimation fails, the apparatus can still start work from pre-calculated candidate positions, ensuring reliable work initiation regardless of estimation success.
Solution Approach 2:
The system changes parameters by generating multiple candidate starting positions with different position coordinates and orientation angles. This allows the system to switch between different starting conditions based on whether self-position estimation succeeds or fails, maintaining work initiation capability under varying conditions.
2Productivity
If the autonomous movable apparatus performs work in designated regions, then productivity is improved, but unnecessary movement increases when starting position determination is inaccurate
Solution Approach 1:
The system calculates multiple candidate starting positions and orientations in advance before work begins. This preliminary determination ensures the apparatus starts from the optimal position, eliminating unnecessary movement and time loss during work execution.
Solution Approach 2:
The system replaces trial-and-error mechanical movement with computational calculation of starting positions. By using calculation-based position determination instead of physical exploration, the apparatus avoids unnecessary movement and directly starts work from the correct position.
Data Source
AI summary
In an information processing apparatus, a work setting information acquisition unit configured to acquire a type of work performed by a movable apparatus, information with respect to a work region, and map information for self-position estimation created in advance, and a starting position and orientation calculation unit configured to calculate a starting position and orientation when the work is started based on the type of the work, the work region, and the map information are provided.