Autonomous Vehicle Sensor Layout for Pathless Obstacle Avoidance
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Solution Overview
Problem
Existing vehicles in manufacturing environments face challenges in navigating obstacles autonomously without predefined paths and efficiently supporting large or heavy products, particularly in dynamic manufacturing settings.
Innovation Solution
An autonomous vehicle system equipped with a sensor system comprising short-range and long-range sensors, including light curtain and LIDAR sensors, to detect obstacles and map the environment, coupled with a control system to generate controls for tractive elements and base assembly, enabling obstacle avoidance and navigation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If multiple sensors are used to detect obstacles and map environment, then navigation and obstacle avoidance capability is improved, but device complexity increases
Solution Approach 1:
The sensor system is segmented into different types (light curtain sensors for short-range detection, LIDAR sensors for long-range mapping) positioned at different locations around the vehicle. Each sensor type handles specific detection tasks, allowing the system to achieve comprehensive environmental awareness while managing complexity through functional division.
Solution Approach 2:
The control system serves multiple functions by processing data from both light curtain and LIDAR sensors, generating controls for both base assembly navigation and tractive element operation. This multi-functional approach consolidates processing logic, reducing overall system complexity despite using multiple sensors.
2Area of stationary object
If sensors are oriented at offsets relative to each other, then coverage area is improved, but device complexity increases
Solution Approach 1:
The LIDAR sensor is positioned at a 45-degree offset relative to the light curtain sensor, creating an asymmetric sensor configuration. This asymmetric arrangement expands the total coverage area by capturing environmental data from multiple angular perspectives, allowing the vehicle to detect obstacles and map surroundings more comprehensively.
Solution Approach 2:
By offsetting sensor orientations in different angular dimensions, the system achieves three-dimensional environmental coverage. The light curtain sensor provides frontal detection while the offset LIDAR sensor adds angular dimension coverage, creating overlapping fields of view that collectively map the surrounding environment more completely.
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
Enables autonomous navigation and obstacle avoidance without predefined paths, while effectively supporting and maneuvering large products, enhancing operational efficiency and safety in manufacturing environments.
Implementation Method 1
A first long-range sensor (e.g., LIDAR sensor) is coupled to the perimeter of the base assembly and offset by approximately 45 degrees relative to the first short-range sensor
Implementation Method 2
A sensor system is coupled to the base assembly and configured to detect one or more objects located in an area near the vehicle. The sensor system includes a first sensor oriented parallel with at least one of the front surface, the rear surface, or the side surfaces, and a second sensor oriented non-parallel with the front surface, the rear surface, and the side surfaces.
Data Source
AI summary
An autonomous vehicle system includes a vehicle including a base assembly having a front surface, a rear surface opposite the front surface, and side surfaces extending between the front surface and the rear surface. A sensor system is coupled to the base assembly and configured to detect one or more objects located in an area near the vehicle. The sensor system includes a first sensor oriented parallel with at least one of the front surface, the rear surface, or the side surfaces, and a second sensor oriented non-parallel with the front surface, the rear surface, and the side surfaces. A control system is configured to receive a communication regarding the detection of the one or more objects from the sensor system and generate one or more controls for at least one of the base assembly or one or more tractive elements.