3D Lidar Sensor Placement for 360-Degree Coverage

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Solution Overview

Problem

Autonomous articulated soil compactors face challenges in achieving full 360-degree lidar sensor coverage due to the machine's articulated nature and the added complexity of a blade, which is costly and requires multiple sensors, often necessitating four sensors to ensure complete coverage but resulting in gaps during full steer articulation.

Innovation Solution

Positioning three lidar sensors on the cab roof of an autonomous articulated soil compactor machine, with one sensor at the front and two sensors on either side, mounted at specific angles and heights on a cab extension bracket to provide 360-degree coverage without the need for additional sensors, thereby reducing hardware costs.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If four lidar sensors are used to provide 360 degree coverage, then complete sensor coverage is achieved, but hardware cost increases

Engineering Contradiction:

Improvesensor coverage completenessVSAvoidnumber of sensors

Core Design Contradiction:

ReliabilityVSQuantity of substance

Solution Approach 1:

The patent transitions from a 2D planar arrangement of sensors to a 3D spatial configuration by mounting sensors on the cab roof at different heights and angles. This three-dimensional positioning allows three sensors to achieve 360-degree coverage by utilizing vertical and angular dimensions, eliminating the need for a fourth sensor while maintaining complete coverage reliability

Inventive Principle:

Principle #17Another dimension (Dimensionality change)

Solution Approach 2:

The patent accounts for the dynamic articulation of the compactor machine by positioning sensors on the cab roof that moves with the articulating section. This dynamic mounting ensures that the 360-degree coverage is maintained throughout the full range of articulation motion, rather than being fixed to a non-articulating part of the machine

Inventive Principle:

Principle #15Dynamics

2Reliability

If lidar sensors are mounted on the articulated compactor machine, then 360 degree coverage is achieved, but gaps in coverage occur during full steer articulation

Engineering Contradiction:

Improvecontinuous coverageVSAvoidcoverage during articulation

Core Design Contradiction:

ReliabilityVSAdaptability or versatility

Solution Approach 1:

The patent mounts the lidar sensors on the cab roof of the articulating section rather than on a fixed frame. This dynamic mounting ensures that the sensors move with the articulating section and maintain their optimal positioning relative to the machine's center of rotation, eliminating coverage gaps that would occur during full steer articulation

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The sensors are pre-positioned on the cab roof at specific angles and heights that are calculated to provide 360-degree coverage throughout the entire range of articulation. This preliminary positioning ensures that coverage is maintained during articulation without requiring real-time adjustment or additional sensors

Inventive Principle:

Principle #10Preliminary action

Data Source

PatentUS11550058B2Perception system three lidar coverage

Publication Date: 2023.01.10 CATERPILLAR PAVING PROD INC

AI summary

An autonomous articulated soil compactor machine can include: a machine frame; at least one cylindrical roller drum rotatably coupled to the machine frame and rotatable about a drum axis oriented generally transverse to a direction of travel of the compactor machine; a first lidar sensor on a front of the machine; a second lidar sensor on a first side of the machine; and a third lidar sensor on a second side of the machine; wherein the first, second and the third lidar sensors are positioned such that 360 degree lidar coverage is provided around the articulated compactor machine.