Lidar Micro-Adjustment via Decoupled Wedge Pivots
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Solution Overview
Problem
Existing mobile robotic systems face challenges in adjusting the angle of lidar scan planes due to protective barriers, which hinder access for maintenance and alignment, particularly in environments where precise angular adjustments are necessary for safety and functionality.
Innovation Solution
A sensor mount system with decoupled angular adjustments about perpendicular axes, utilizing a combination of pivots, wedges, and threaded rods to independently adjust pitch and roll, allowing for precise alignment without affecting the sensing plane's position, enabling easy maintenance and operation through a protective barrier.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a protective barrier is installed to shield the lidar hardware from collision, then the lidar hardware is protected from environmental damage, but access to the angular adjustment of the lidar system becomes difficult
Solution Approach 1:
The protective barrier is segmented to include a removable or accessible portion that allows access to the angular adjustment mechanism. The barrier is divided into sections where one section can be opened or removed without compromising the overall protective function, enabling maintenance personnel to adjust pitch and roll angles while maintaining protection during normal operation.
Solution Approach 2:
An intermediary access mechanism is introduced between the protective barrier and the angular adjustment mechanism. This could be a removable cover, a sliding panel, or a keyed access door that allows controlled access to the adjustment mechanism while maintaining the protective barrier's integrity during normal operation.
2Device complexity
If coupled adjustment mechanism is used for pitch and roll, then the structure is simpler, but the alignment process becomes more complex and time-consuming
Solution Approach 1:
The adjustment mechanism is segmented into independent pitch adjustment and roll adjustment subsystems. Each subsystem can be operated independently without affecting the other, allowing maintenance personnel to adjust one angular parameter at a time while keeping the other fixed, thereby simplifying the alignment process and reducing adjustment time.
Solution Approach 2:
The adjustment mechanism transitions from a static coupled system to a dynamic decoupled system where pitch and roll adjustments can be performed independently. This dynamic separation allows for iterative measurement and adjustment of each angular parameter separately, improving alignment efficiency.
3Area of stationary object
If the lidar is positioned at extreme exterior positions to achieve unobstructed field of view, then the field of view is maximized, but the lidar hardware becomes more vulnerable to collision
Solution Approach 1:
The lidar hardware is nested within a protective barrier structure that extends outward from the robot body. The barrier creates a protective envelope around the lidar while maintaining the lidar's exterior positioning for optimal field of view. The nested structure allows the lidar to remain exposed for sensing while being protected from collision damage.
Solution Approach 2:
A thin protective barrier shell is designed to extend beyond the robot body to protect the lidar hardware positioned at extreme exterior positions. The shell is designed to be minimally intrusive to the field of view while providing collision protection, allowing the lidar to maintain its optimal positioning for maximum sensing coverage.
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
Facilitates efficient and accurate angular adjustments of sensors, improving workflow and reducing maintenance time by allowing independent adjustment of pitch and roll axes, ensuring unobstructed fields of view and enhanced safety in robotic operations.
Implementation Method 1
a first wedge at least partially disposed between the second pivot and the second plate, the first wedge configured to adjust a first angle between the first and second plates
Implementation Method 2
a first threaded rod configured to adjust a position of the first wedge along the second direction
Data Source
AI summary
An apparatus for decoupling angular adjustments about perpendicular axes is described herein. The apparatus comprises a first plate, a second plate offset from the first plate in a first direction, a first pivot disposed between the first and second plates, a second pivot disposed between the first and second plates. The second pivot is offset from the first pivot in a second direction perpendicular to the first direction. The third pivot is disposed between the first and second plates. The third pivot is offset from the first pivot in a third direction perpendicular to both the first and second directions. The apparatus further includes a first wedge at least partially disposed between the second pivot and the second plate. The first wedge is configured to adjust a first angle between the first and second plates, the first angle being about a first axis extending along the third direction.