Mobile Object Trajectory Control for Deviated Target Approach
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing control methods for mobile objects, such as forklifts, struggle to accurately approach target positions, especially when the target object is deviated from its expected position, leading to inefficiencies in navigation and potential misalignment.
Innovation Solution
A control method that involves a mobile object moving along a first path, detecting the target object's position and attitude, and then switching to optimized second, third, and fourth paths to ensure precise alignment, using sensors and feedback control to adjust the route dynamically.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a fixed approach track is used for automatic navigation, then the control system is simple, but the mobile object cannot adapt when the target object is deviated from expected position
Solution Approach 1:
The patent applies dynamics by transitioning from a static fixed approach track to a dynamic approach track that is generated in real-time based on actual target position detection. The control system dynamically adjusts the approach path by calculating new trajectory points when target position deviation is detected, enabling adaptability without requiring complex pre-programmed multiple paths.
Solution Approach 2:
The patent implements feedback by using the detection result from the region measuring sensor to compare the actual target position with the expected position. Based on this feedback, the control system determines whether to generate a new approach track, creating a closed-loop control system that adapts to position deviations while maintaining relatively simple control logic.
2Reliability
If approach track data is corrected successively, then the mobile object can adjust its path, but the control method becomes complex and the correction logic is unknown
Solution Approach 1:
The patent uses feedback control by continuously monitoring the actual target position through the region measuring sensor and comparing it with the expected position. When deviation exceeds a threshold, the system generates a corrected approach track based on this feedback, ensuring reliable approach accuracy without complex successive correction algorithms.
Solution Approach 2:
The control system performs self-service by automatically generating a new approach track when position deviation is detected, without requiring external intervention or complex pre-programmed correction procedures. The system uses its own detection capabilities to autonomously determine and execute path corrections.
3Measurement precision
If the mobile object moves closer to detect target position, then detection accuracy improves, but navigation time increases
Solution Approach 1:
The patent applies preliminary action by performing initial target position detection from a distance during the approach phase. This preliminary detection provides enough accuracy to determine whether a position deviation exists, avoiding the need to always move close for detection and thus reducing navigation time while maintaining sufficient detection accuracy.
Data Source
Figure 1
Figure 2
Figure 3~4
AI summary
A control method for a mobile object automatically moving includes: causing the mobile object to move along a first path; causing a sensor of the mobile object to detect a position and an attitude of a target object while the mobile object is moving along the first path; setting a second path up to a target position at which predetermined position and attitude with respect to the target object are achieved based on the position and the attitude of the target object; switching the first path to the second path to move the mobile object along the second path; executing optimization calculation based on an evaluation function, to set a third path; and switching the second path to the third path to move the mobile object along the third path.