Unmanned Vehicle Reference Frame Switching for Precision Navigation
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Solution Overview
Problem
Unmanned vehicles operating in environments with movable objects face challenges in precision movement due to reliance on a global reference frame, which can lead to damage if the map is not updated to reflect object changes, especially in dynamic settings like factory floors.
Innovation Solution
The unmanned vehicle is configured to switch between a global reference frame and a local reference frame defined by a sensed feature within the environment, allowing it to adapt its movement based on detected features and task data, ensuring precise operation even if the object's location changes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the unmanned vehicle operates using a global reference frame, then navigation over long distances is simplified, but precision near movable objects deteriorates leading to potential damage
Solution Approach 1:
The patent divides the reference frame system into two segments: a global reference frame for general navigation and a local reference frame for precise positioning near movable objects. The system automatically switches between these segments based on the operational context, allowing long-distance navigation simplicity while maintaining high positioning accuracy when needed.
Solution Approach 2:
The patent implements a dynamic reference frame switching mechanism that adapts the coordinate system based on real-time conditions. When approaching movable objects, the system transitions from a static global reference frame to a dynamic local reference frame that tracks object positions, thereby maintaining positioning accuracy without sacrificing navigation ease.
2Measurement precision
If the global map is updated to reflect object movements, then positioning accuracy improves, but system complexity and response time worsen
Solution Approach 1:
Instead of updating the entire global map, the patent applies local quality by creating a localized reference frame only in the vicinity of movable objects. This local reference frame captures object positions without requiring global map modifications, reducing system complexity while maintaining positioning accuracy where it matters most.
Solution Approach 2:
The patent introduces a local reference frame as an intermediary between the global navigation system and movable objects. This intermediary layer handles local positioning requirements without propagating changes to the global map, thereby simplifying the overall system architecture while achieving accurate positioning.
3Adaptability or versatility
If the unmanned vehicle switches reference frames frequently, then adaptability to dynamic environments improves, but control stability deteriorates
Solution Approach 1:
The patent implements preliminary action by pre-defining switching criteria and transition protocols before operation begins. The system determines in advance when to switch between reference frames based on predicted environmental conditions, allowing smooth transitions that maintain control stability while achieving environmental adaptability.
Solution Approach 2:
The patent employs feedback mechanisms to monitor system state during reference frame switching. By continuously assessing positioning accuracy, object proximity, and operational context, the system provides feedback to the switching logic, ensuring transitions occur only when beneficial and maintaining control stability throughout the process.
Data Source
AI summary
A system, method and apparatus for executing tasks with unmanned vehicles is provided. The system includes an unmanned vehicle comprising: a chassis; a propulsion system configured to move the chassis; sensor(s) configured to sense features around the chassis; a memory storing feature reference data; a communication interface; and a processor configured to: receive, using the interface, a command having task data and a location associated with a given feature; control the propulsion system to move the chassis to the location; while the chassis is moving to the location, determine, using the sensor(s), that the given feature is detected based on the feature reference data; and, responsive to the given feature being detected, control the propulsion system to execute a task based on the task data.