User-Following Robot Path Control to Avoid Crossing in Front
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Solution Overview
Problem
Moving robots or autonomous devices often cut across in front of targets when the target turns, causing potential collision fears and discomfort, as existing systems fail to effectively restrain such crossing movements.
Innovation Solution
A moving body equipped with a detecting unit, a moving target calculation unit, and a movement control unit that adjusts its position relative to the target based on a coordinate system, setting the moving target to the right or left front depending on the quadrant it occupies, thereby preventing crossing in front of the target.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the moving robot follows the target while maintaining a fixed relative position, then the following accuracy is improved, but the robot may cut across in front of the target when the target turns
Solution Approach 1:
The patent applies dynamics by making the moving target position dynamic rather than fixed. The moving target calculation unit continuously updates the moving target position based on the target's current position and orientation, allowing the robot to adapt its following position in real-time. This prevents the robot from cutting across the target when the target turns, as the moving target position adjusts to the target's orientation changes.
Solution Approach 2:
The patent implements feedback through the moving target calculation unit that uses detection results from the detecting unit to calculate the moving target position. The system continuously monitors the target's position and orientation, and adjusts the moving target position accordingly. This feedback mechanism ensures the robot maintains accurate following while avoiding harmful crossing movements.
2Speed
If the moving robot calculates moving target based on detection result, then the following responsiveness is improved, but the device complexity increases
Solution Approach 1:
The patent applies segmentation by dividing the control system into distinct functional units: detecting unit for target detection, moving target calculation unit for calculating the moving target position, and movement control unit for controlling robot movement. This modular segmentation allows each unit to perform its specific function efficiently, improving responsiveness while managing complexity through functional decomposition.
Solution Approach 2:
The moving target calculation unit acts as an intermediary between the detecting unit and the movement control unit. It processes the detection results and generates the moving target position, which then guides the movement control unit. This intermediary layer simplifies the overall control logic by separating detection, calculation, and control functions, thereby improving responsiveness without proportionally increasing complexity.
Data Source
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AI summary
[Problem] To provide a moving body for which traveling such as cutting across in front of a subject can be restrained. [Solution] According to a moving body (1), a position (Pu) and a direction (Du) of a user (H) are calculated from distance measurement data (MP) which is the measured distance to the user (H), and on the basis thereof, a position (Pr) and a direction (Dr) of the moving body (1) are calculated. If the moving body (1) is located in the first or fourth quadrant of the user coordinate system, a right-side moving target (T1R) to the front right of the user (H) is set as the moving target (T1). If the moving body (1) is in the second or the third quadrant of the user coordinate system, a left-side moving target (T1L) to the front left of the user (H) is set as the moving target (T1). The moving body (1) is moved on the basis of the moving target (T1). Accordingly, even if the moving body (1) moves from the right side to the left side of the user (H), or from the left side to the right side, due to a turning action or the like of the user (H), the moving target (T1) is set on the basis of the position of the moving body (1) with respect to the user (H), so travelling by the moving body (1) such as cutting across in front of the user (H) can be suppressed.