User-Tracking Moving Body Control for Stable Front Following
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Solution Overview
Problem
Existing autonomous moving devices lack responsiveness when following users, as they do not differentiate between the user's leg and torso, leading to unnatural movements and inconsistent distance maintenance.
Innovation Solution
A moving body equipped with user detection devices to distinguish between the user's leg and torso, and a movement control system that adjusts its position and speed based on this information to maintain appropriate proximity and alignment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If user detection is conducted based on chest position only, then the moving device can detect the user, but responsiveness becomes bad because the leg moves in advance and torso follows
Solution Approach 1:
The user detection device segments the user's body into distinct parts (torso and leg) and detects them separately. This allows the system to identify the leg's forward movement independently from the torso, enabling responsive tracking of the user's actual movement direction and speed without being misled by torso-only detection.
2Ease of operation
If the moving device follows the user based on single-point detection, then it can maintain following function, but unnatural movements occur and distance gets stuck or separates
Solution Approach 1:
The system transitions from single-point detection to multi-point spatial detection by identifying both torso and leg positions. This dimensional expansion allows the control device to calculate more accurate target positions that account for the user's actual movement dynamics, preventing distance instability and unnatural movements.
3Speed
If detection is based only on the leg, then responsiveness improves, but the moving device cannot maintain appropriate position because the chest may move in advance from the leg
Solution Approach 1:
The system merges information from both leg detection and torso detection to determine the user's position and movement. By combining these two detection sources, the system achieves both responsiveness (from leg detection) and position accuracy (from torso detection), resolving the contradiction between speed and measurement precision.
Data Source
AI summary
During movement control wherein a moving body tracks a user while in front of the user, a coordinate obtained from the torso of the user is used as the X coordinate of the position of the user, and among the position of the body of the user and the position of the feet of the user, the position which is closer to the moving body is used as the Y coordinate. Thus, the moving body is able to move to a target position in the left/right direction (the X coordinate) and the front/back direction (the Y coordinate) that is appropriate with respect to the user. Accordingly, the distance between the moving body and the user can be maintained appropriately, and movement control in front of the user and that is not an impediment to the user can be accomplished.