LiDAR Collision Control for Mobile Medical Device Navigation
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Solution Overview
Problem
Existing mobile medical devices, particularly self-driving X-ray devices, lack a first-time-failure safe collision avoidance system, which is crucial for safe navigation in dynamic environments.
Innovation Solution
A method utilizing a LiDAR sensor-based collision control system for autonomous or manually assisted locomotion of mobile medical devices, involving periodic scanning of surroundings and device sections, evaluation of scan data for object detection and sensor functionality, and closed-loop control of device speed to prevent collisions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If a mobile medical device is equipped with motorized travel for fast movement between locations, then the device achieves higher speed and flexibility, but the risk of collision increases and first-time-failure safe collision avoidance is not ensured
Solution Approach 1:
The LiDAR sensor performs preliminary scanning of the environment before the device moves, identifying potential obstacles in advance. The system continuously scans the surroundings and device section before each movement action, allowing the control unit to plan safe trajectories and prevent collisions before they occur.
Solution Approach 2:
The system implements continuous feedback through periodic scanning of both the surroundings and device section using the LiDAR sensor. The control unit receives real-time distance information and adjusts the device's movement accordingly, creating a closed-loop control system that ensures collision avoidance while maintaining travel speed.
2Reliability
If a LiDAR sensor scans both surroundings and device section continuously, then collision detection capability is improved, but the system complexity and computational load increase
Solution Approach 1:
The scanning process is segmented into two distinct parts: scanning the surroundings and scanning the device section. This segmentation allows the system to independently evaluate each area, simplifying the overall processing by dividing the complex scanning task into manageable, separate operations that can be handled by the control unit.
Solution Approach 2:
The LiDAR sensor performs multiple functions using the same hardware component: it scans both the external surroundings for obstacle detection and the device section for functional capability testing. This multi-functionality reduces system complexity by eliminating the need for separate sensors for each scanning task.
3Reliability
If the LiDAR sensor tests its own functional capability by scanning device section, then system reliability is improved through self-diagnosis, but the scanning time for obstacle detection is reduced
Solution Approach 1:
The system performs periodic scanning of both the surroundings and device section in alternating or combined cycles. By integrating the self-diagnosis function into the regular scanning routine, the system tests sensor functionality without requiring separate dedicated testing time, thus minimizing the impact on obstacle detection capabilities.
Solution Approach 2:
The functional capability test of the LiDAR sensor is merged with the obstacle detection scanning process. The same scanning mechanism and data processing pipeline are used for both purposes, combining self-diagnosis and environmental monitoring into a single integrated operation that optimizes time utilization.
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
The LiDAR sensor system enables first-time-failure safe collision avoidance by detecting objects in the travel path and ensuring the sensor's functional integrity, thereby enhancing the safety and reliability of mobile medical device navigation.
Implementation Method 1
For this purpose, the time is used which a light pulse requires to travel the distance from the sensor to the object and back
Implementation Method 2
LiDAR sensors may scan their surroundings, for example, horizontally with a laser beam over a determined angular segment
Data Source
AI summary
A method is provided for the automatic control of a drivable, mobile medical device having a collision control system that has at least one LiDAR sensor. The method includes: locomotion of the device at a first speed, periodic joint scanning of at least one part of the surroundings of the device; using the at least one LiDAR sensor during the locomotion of the device; evaluating the scan data of the surroundings that has been recorded by the LiDAR sensor; and evaluating the scan data of the specified device section, the scan data being recorded by the LiDAR sensor in such a manner that a functional capability of the LiDAR sensor is tested and the speed of the device is controlled in a closed-loop manner depending on the result of the evaluations.