Contact sensors for a mobile robot
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Solution Overview
Problem
Existing mobile robots rely on mechanical switches for bumper contact detection, which provide limited information about obstacle interactions, such as force location, magnitude, and duration, and are not sensitive enough to avoid complex obstacles effectively.
Innovation Solution
The use of capacitive, inductive, or Hall effect sensors mounted on a bumper with movable and stationary plates, generating electrical signals proportional to displacement, allowing for the detection of force attributes like location, magnitude, and duration, enabling more nuanced obstacle interaction and navigation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If mechanical switches are used for bumper contact detection, then the device complexity is reduced, but the measurement precision and information quality about obstacle interactions deteriorate
Solution Approach 1:
The patent replaces mechanical switches with capacitive, inductive, or Hall effect sensors that provide continuous analog signals proportional to bumper displacement. This substitution enables precise measurement of force location, magnitude, and duration while maintaining relatively simple device architecture through the use of standard sensor components.
2Reliability
If mechanical switches are used for bumper contact detection, then the device complexity is reduced, but the ability to detect and respond to obstacles effectively deteriorates
Solution Approach 1:
The patent replaces binary mechanical switch outputs with continuous analog signals from capacitive, inductive, or Hall effect sensors. This enables the robot to detect obstacle characteristics such as force magnitude and duration, improving reliability in obstacle detection and response while keeping the device structure relatively simple.
Solution Approach 2:
The patent implements feedback by using sensor signals to modify robot behavior in response to detected obstacles. The continuous measurement data allows the control system to adjust navigation decisions dynamically based on the magnitude and duration of forces detected, enhancing obstacle response capability.
3Loss of information
If binary indication from mechanical switches is used, then the information processing complexity is reduced, but the loss of information about force attributes increases
Solution Approach 1:
The patent replaces binary mechanical switch indications with continuous analog signals that preserve information about force location, magnitude, and duration. This substitution minimizes information loss while maintaining manageable device complexity through the use of standard sensor and processing components.
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 sensor system enhances the robot's ability to detect and respond to obstacles with high sensitivity, reducing the likelihood of getting stuck and improving navigation by providing detailed force data for adjusted behaviors.
Implementation Method 1
each sensor may be a capacitive sensor having one plate movably mounted so that the plate moves along with the bumper relative to the chassis, and another plate mounted so that it is stationary relative to the chassis. Movement of one plate relative to another, due to the movement of the bumper, causes the capacitive sensor to output an electrical signal having a magnitude or value proportional to the distance between the plates.
Implementation Method 2
The sensor may be an inductive sensor that outputs an electrical signal in response to movement of the bumper.
Implementation Method 3
The sensor may be a Hall effect sensor that outputs an electrical signal in response to movement of the bumper.
Data Source
Figure 1
Figure 2
Figure 3~4
AI summary
A robot includes a body and a bumper. The body is movable relative to a surface and includes a first portion of a sensor. The bumper is mounted on the body and movable relative to the body and includes a backing and a second portion of the sensor. The backing is movable relative to the body in response to a force applied to the bumper. The second portion of the sensor is attached to the backing and movable with the backing relative to the first portion of the sensor in response to a force applied to the bumper. The sensor is configured to output an electrical signal in response to a movement of the backing. The electrical signal is proportional to an amount of displacement of the second portion relative to the first portion.