3D Lidar Mast Layout for Front Cliff Detection in Mobile Robots
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Solution Overview
Problem
Existing robotic systems face inefficiencies in sensor placement and orientation, particularly with 3D lidar sensors, which affect their ability to effectively detect front cliffs, obstacles, and localize themselves in environments, leading to potential navigation hazards and reduced operational effectiveness.
Innovation Solution
A 3D lidar sensor is mounted in a carved-out portion of a mast on a mobile robotic device, with its vertical field of view angled downward to optimize front cliff detection and obstacle detection, while additional sensors like 1D ToF sensors are used to cover blind spots, allowing for comprehensive environmental data collection and robot localization.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the 3D lidar sensor is mounted on the mast with downward-angled field of view, then front cliff detection and obstacle detection are improved, but blind spots are created in other areas
Solution Approach 1:
The patent combines multiple sensor types (3D lidar and 1D ToF sensors) to work together as an integrated sensing system. The 3D lidar provides comprehensive spatial mapping and front cliff detection, while 1D ToF sensors fill in specific blind spots, creating a unified sensing solution that leverages the strengths of each sensor type.
Solution Approach 2:
The sensing system is designed to perform multiple functions using the same sensor platform. The 3D lidar sensor serves both for obstacle detection and robot localization, while the combined sensor array provides both navigation safety and environmental mapping capabilities, reducing the need for separate specialized sensors.
2Reliability
If the 3D lidar sensor is positioned for optimized front cliff detection, then navigation safety is improved, but comprehensive environmental coverage is reduced
Solution Approach 1:
The sensing system is segmented into specialized components with distinct functions. The 3D lidar is positioned and oriented specifically for front cliff detection and navigation safety, while additional 1D ToF sensors are strategically placed to cover other environmental areas, allowing each component to be optimized for its specific purpose while contributing to overall coverage.
Solution Approach 2:
The 1D ToF sensors act as intermediary elements that bridge the coverage gaps created by the optimized 3D lidar positioning. These additional sensors mediate between the limited field of view of the main 3D lidar and the requirement for comprehensive environmental awareness, filling in blind spots without compromising the primary navigation safety function.
3Device complexity
If a single 3D lidar sensor is used for multiple purposes, then device complexity is reduced, but measurement precision for specific functions may be compromised
Solution Approach 1:
The system dynamically adapts by using different sensor subsets for different functions. The 3D lidar serves as the primary sensor for most functions, but the system dynamically engages 1D ToF sensors when specific blind spots need coverage, allowing measurement precision to be optimized on-demand without permanently increasing hardware complexity.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This configuration enhances the robotic system's ability to detect front cliffs and obstacles, improves navigation safety, and enables accurate localization by optimizing sensor data usage, balancing coverage and cost considerations.
Implementation Method 1
a 3D lidar sensor mounted in a carved-out portion of a mast of the mobile robotic device
Data Source
AI summary
A mobile robotic device includes a mobile base and a mast fixed relative to the mobile base. The mast includes a carved-out portion. The mobile robotic device further includes a three-dimensional (3D) lidar sensor mounted in the carved-out portion of the mast and fixed relative to the mast such that a vertical field of view of the 3D lidar sensor is angled downward toward an are in front of the mobile robotic device.