Tug-Mounted Object Detection Using Mobile Object Surface Tracking
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Solution Overview
Problem
Existing vehicle operation systems lack effective methods for detecting and avoiding collisions with objects in the surroundings, particularly when maneuvering mobile objects using tugs or tractors, especially in environments without satellite positioning, such as indoor settings or airports.
Innovation Solution
A sensor system is temporarily or permanently mounted on a tug, which includes a surroundings detection sensor and a position determination device to continuously detect and determine the position of a mobile object's outer surface, allowing for real-time collision avoidance and dynamic movement adjustments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a surroundings detection sensor is mounted on a tug for detecting objects during maneuvering, then collision detection capability is improved, but device complexity increases
Solution Approach 1:
The patent introduces a position determination device as an intermediary component that bridges the surroundings detection sensor and the control system. This device continuously determines the position of the tug-bound system relative to the mobile object using a predetermined geometric model, enabling accurate collision detection without requiring direct complex integration between all system components
Solution Approach 2:
The system is divided into functionally independent modules: a surroundings detection sensor for object detection, a position determination device for calculating relative positions, and a control device for maneuvering the tug. This segmentation allows each component to perform its specific function with optimized complexity, reducing overall system integration complexity while maintaining reliable collision detection
2Adaptability or versatility
If the sensor system is temporarily mounted on the tug, then adaptability is improved, but measurement precision may deteriorate
Solution Approach 1:
The system accommodates both temporary and permanent mounting configurations through dynamic positioning calculations. The position determination device continuously tracks the tug-bound system's position relative to the mobile object regardless of mounting type, and the geometric model can be adjusted to account for different mounting positions, maintaining measurement precision while preserving mounting flexibility
Solution Approach 2:
The system allows parameter changes in the geometric model to adapt to different mounting configurations. When the sensor is temporarily or permanently mounted at different positions on the tug, the predetermined geometric model can be modified with the appropriate position parameters, ensuring that detection accuracy is maintained regardless of the mounting method used
Data Source
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AI summary
A method comprising the steps of: providing (S1) a surroundings detection sensor on a tug, which is configured for manoeuvring a mobile object, continuously detecting (S2) a region of an outer surface of the mobile object with the surroundings detection sensor, continuously determining (S3) a position of a tug-bound system relative to the mobile object based on a predetermined geometric model of an outer surface of the mobile object and the detected region of the outer surface, wherein the steps of detecting (S2) and determining (S3) are performed when the mobile object is manoeuvred by the tug, and detecting (S4) objects in the surroundings of the mobile object with the surroundings detection sensor based on the step of continuously determining (S3) the position of the tug-bound system. Further a sensor system for detecting objects in the surroundings of the sensor system and for providing on a tug.