End-Effector Ceiling Sensing for Container Robot Navigation
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Solution Overview
Problem
Current robotic systems face challenges in accurately detecting the ceiling geometry of containers, such as truck cargo compartments, which hinders safe operation and efficient task performance due to limitations in existing sensors, leading to potential collisions and reduced efficiency.
Innovation Solution
The implementation of distance sensors mounted on the end effector of a mobile robot to measure the ceiling's distance and geometry, allowing for the determination of a ceiling estimate through filtering and fitting planes to the data, enabling safe navigation and operation by avoiding collisions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If distance sensors are mounted on the end effector to measure ceiling distance and geometry, then measurement precision is improved, but device complexity increases
Solution Approach 1:
The end effector serves dual functions: performing manipulation tasks and hosting distance sensors for ceiling detection. By making the end effector multi-functional, the system avoids adding separate detection apparatus, thereby improving measurement precision without proportionally increasing device complexity.
Solution Approach 2:
The end effector acts as an intermediary carrier for the distance sensors, positioning them optimally for ceiling measurement while integrating seamlessly into the existing robotic system architecture.
2Measurement precision
If multiple distance sensors are arranged on different sides of the end effector to sense in multiple directions, then measurement precision is improved, but device complexity increases
Solution Approach 1:
Multiple distance sensors are segmented and positioned on different sides of the end effector, with each sensor responsible for detecting ceiling distance in its specific direction. This segmentation enables comprehensive spatial coverage and improved accuracy for determining ceiling location and geometry.
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 approach allows for accurate detection of ceiling geometry, enhancing the robot's ability to operate safely and efficiently within containers by preventing collisions and optimizing movement trajectories.
Implementation Method 1
sensing distance measurement data associated with the ceiling of the container using one or more distance sensors
Data Source
AI summary
Methods and apparatus for estimating a ceiling location of a container within which a mobile robot is configured to operate are provided. The method comprises sensing distance measurement data associated with the ceiling of the container using one or more distance sensors arranged on an end effector of a mobile robot, and determining a ceiling estimate of the container based on the distance measurement data.