Autonomous Corridor Navigation Using Virtual Path Side Offsets
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Solution Overview
Problem
Autonomous movable instruments face challenges in navigating corridors, often generating longer paths due to inconsistent selection of left or right side travel paths based on orientation and position, leading to detours.
Innovation Solution
A method and device that estimate the self-propelled device's position, determine the intersection point of a virtual path and a straight line orthogonal to it, calculate an offset reference point, and adjust the travel path by rotating an offset point 90 degrees to travel on either side of the virtual path without predefining outgoing and returning paths.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If multiple paths (outgoing and returning) are set in advance for corridor navigation, then the autonomous device can navigate corridors, but the path length increases and detours occur due to inconsistent path selection based on orientation and position
Solution Approach 1:
The patent merges the outgoing path and returning path into a single unified path definition. Instead of maintaining separate path sequences for different directions, the system uses one path that the device can traverse in either direction based on its current position and orientation, eliminating the need to choose between multiple pre-defined paths and reducing overall path length.
Solution Approach 2:
The patent introduces dynamic path selection based on the device's real-time orientation and position. The system dynamically determines which side of the corridor to follow (left or right) based on the device's current state, allowing adaptive path selection rather than relying on fixed pre-defined paths, thereby optimizing the actual travel distance.
2Adaptability or versatility
If multiple paths are defined for different orientations, then the device can adapt to different positions, but the device complexity increases due to path selection logic
Solution Approach 1:
The patent creates a universal path structure that serves multiple functions: it can be used for both outgoing and returning trips, and it accommodates different orientations (left-side or right-side following) without requiring separate path definitions. This single path structure replaces multiple specialized paths, reducing system complexity while maintaining adaptability.
Solution Approach 2:
Instead of defining separate paths for each orientation and selecting among them, the patent inverts the approach by defining a single path and determining orientation based on the device's position relative to that path. This reversal simplifies the path management logic while preserving the ability to adapt to different positions and orientations.
Data Source
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AI summary
A self-propelled device capable of autonomously traveling on the left side or right side of a virtual path, a method of controlling traveling of the self-propelled device, and a computer program of controlling traveling of the self-propelled device are provided. The method and the computer program each include: a first step of estimating the position of a self-propelled device 100; a second step of determining the intersection point N of a virtual path 2 and a straight line, the virtual path connecting a start point A and a goal point B, and the straight line passing through the position of the self-propelled device 100 and which is orthogonal to the virtual path 2; a third step of determining an offset reference point Tp between the intersection point N and the goal point B on the virtual path 2; a fourth step of determining at least each of offset points Toft1 and Toft2 at an offset on the corresponding one of the goal point B side and the start point A side of the offset reference point Tp on the virtual path 2; a fifth step of determining at least target points ToftL and ToftR reached by rotating the offset points Toft1 and Toft2 by 90° about the offset reference point Tp in one of the anticlockwise direction and the clockwise direction; and a sixth step of causing the self-propelled device to travel toward the target points ToftL and ToftR.