Obstacle Detection Using Collision Posture and Acceleration Sensing
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Solution Overview
Problem
Conventional obstacle detection methods, such as optical triangulation, are prone to errors when dealing with obstacles that have low reflectivity, irregular surfaces, or absorb light, making it difficult to accurately determine their location and shape.
Innovation Solution
An obstacle detection apparatus that uses a combination of sensors, including acceleration sensors, to determine the movement and posture changes of the detection apparatus upon collision with an obstacle, allowing for accurate state determination regardless of the obstacle's surface texture.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If optical triangulation method is used to detect obstacle location and shape, then the method is robust against noise and can detect various shapes of obstacles, but the measurement results may be distorted when the obstacle surface has low reflectivity, irregular texture, or absorbs light
Solution Approach 1:
The patent combines multiple detection methods: optical triangulation for general obstacle detection and acceleration sensor-based collision detection for verifying obstacle presence. The acceleration sensor detects changes in movement state when the robot collides with an obstacle, providing complementary information that overcomes the limitations of optical methods alone, especially for low-reflectivity surfaces
Solution Approach 2:
The acceleration sensor acts as an intermediary detection mechanism that detects physical contact with obstacles independently of optical properties. When optical detection is insufficient, the acceleration sensor provides alternative detection through collision detection, mediating between the optical system and the obstacle detection goal
2Measurement precision
If optical triangulation method is used, then the location and shape of obstacles can be determined by detecting reflected light, but the method is only a one-point measurement method and may provide erroneous results for certain surface conditions
Solution Approach 1:
The acceleration sensor serves multiple functions: it detects collision events, determines obstacle presence, and provides backup detection when optical methods fail. This multi-functionality makes the overall detection system adaptable to various obstacle surface conditions, from highly reflective to light-absorbing materials
Solution Approach 2:
The system changes detection parameters by switching from optical detection (light reflection-based) to mechanical detection (acceleration-based) when obstacle surface conditions make optical detection unreliable. This parameter change allows the system to adapt to different obstacle types and surface properties
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 precise detection of obstacle location, size, and height by analyzing acceleration and posture changes, improving accuracy and reliability compared to traditional methods.
Implementation Method 1
a sensor module which detects a variation in an acceleration of the obstacle detection apparatus when the obstacle detection apparatus collides with the obstacle or when a posture of the obstacle detection apparatus is changed
Data Source
AI summary
An obstacle detection apparatus and method which can detect the state of an obstacle according to a signal generated when the obstacle detection apparatus collides with the obstacle and a change in the posture of the obstacle detection apparatus caused due to the collision with the obstacle. The obstacle detection apparatus includes a main body which can be moved along the surface of the ground, a movement amount determination module which determines whether the amount of movement of the main body is outside a predefined threshold range, a posture determination module which determines the changed posture of the main body with respect to the surface of the ground according to the amount of movement of the main body, and a state determination module which determines the state of an obstacle based on the results of determination of the movement amount determination module or the posture determination module.