Capacitive Surface Traversing for Obstacle and Edge Detection
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Solution Overview
Problem
Conventional surface traversing machines using capacitive sensing face challenges in accurately detecting dielectric property changes, particularly in distinguishing between substances with similar dielectric coefficients and in sensing obstacles like fluids, surface anomalies, and edges without calibration, and are prone to false detections due to environmental factors.
Innovation Solution
The use of capacitive probes with specific configurations, such as coplanar, parallel, or angled plates, coupled with circuitry for processing capacitance readings, allows for the detection of dielectric property changes by measuring capacitance changes, which indicate obstacles, and includes features like hydrophobic coatings for fluid sensing and stabilizers to maintain probe distance, enabling the detection of fluids, surface anomalies, and edges without direct contact or calibration.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If conventional capacitive sensing is used to detect dielectric property changes, then the machine can identify obstacles, but it suffers from false detections due to environmental factors and inability to distinguish substances with similar dielectric coefficients
Solution Approach 1:
The capacitive sensing system is divided into multiple independent capacitive probes positioned at different locations (front, rear, left, right edges) of the apparatus. Each probe independently monitors dielectric changes in its specific zone, allowing the system to cross-validate readings and distinguish true obstacles from environmental false signals through spatial segmentation of the sensing field.
Solution Approach 2:
Multiple capacitive probes are merged into a unified sensing system with centralized processing circuitry that integrates readings from all probes. This combination allows the system to differentiate between localized dielectric changes (true obstacles) and widespread environmental factors (false alarms) by analyzing the spatial pattern and consistency of signals across multiple sensing points.
2Measurement precision
If multiple capacitive probes are deployed to improve detection coverage, then obstacle detection capability is enhanced, but device complexity increases
Solution Approach 1:
Each capacitive probe is designed as a multi-functional sensing element that can detect various types of obstacles (fluids, surface anomalies, edges) through a single dielectric measurement mechanism. The probes are positioned at strategic locations where a single probe can monitor multiple potential hazard zones, making each component universally applicable for detecting different obstacle types without requiring specialized sensors for each function.
Solution Approach 2:
The capacitive probes are pre-positioned at specific locations (front, rear, left, right edges) during apparatus assembly to establish optimal sensing coverage before operation. This preliminary configuration ensures that each probe is strategically placed to detect the most relevant dielectric changes in its zone, reducing the need for complex real-time adjustments or additional probes during actual surface traversing operations.
3Measurement precision
If capacitive probes are positioned close to the surface for sensitive detection, then dielectric property changes are detected more accurately, but the probes become susceptible to environmental contaminants like dirt
Solution Approach 1:
The capacitive probes are positioned to sense dielectric changes through the air gap above the surface rather than direct contact with the surface itself. This intermediary air space acts as a buffer that maintains electrical sensitivity to subsurface dielectric properties (detecting obstacles through their electromagnetic field influence) while preventing direct contamination of the probe electrodes by dirt, moisture, or other environmental factors on the surface.
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 solution enables efficient detection of obstacles and surface anomalies with high sensitivity and accuracy, allowing the machine to adjust its trajectory to avoid collisions, and reduces false alarms by using a single probe to measure a wide area, minimizing the impact of environmental factors like dirt or darkness.
Implementation Method 1
The capacitance between two plates is dependent on the dielectric coefficient of the surrounding medium (substance) between the plates
Implementation Method 2
detect, during the traverse of the surface, a change in a dielectric property of a portion of the surface proximate to the edge
Data Source
AI summary
Apparatuses, methods and storage media associated with surface traversing by robotic apparatuses using capacitive sensing are described herein. In some instances, the apparatus comprises a body having at least one edge that faces a direction of traverse of a surface by the apparatus, and at least one capacitive probe disposed on or in proximity to the edge, to detect, during the traverse of the surface, a change in a dielectric property of a portion of the surface proximate to the edge. The dielectric property change indicates an obstacle associated with the surface portion. The apparatus further comprises circuitry configured to process the readings provided by the probe, such as to identify the obstacle, and generate instructions to adjust the traversing of the surface by the apparatus, based at least in part on a result of the probe readings processing. Other embodiments may be described and claimed.