Mobile Robot ToF Sensor Layout With Non-Overlapping Coverage
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Solution Overview
Problem
Existing robotic systems face a tradeoff between sensor accuracy and cost, with overlapping sensor coverage leading to inefficiency and the need for extra sensors to achieve desired precision in obstacle detection.
Innovation Solution
The use of non-overlapping, one-dimensional (1D) time-of-flight (ToF) sensors mounted at fixed positions and orientations on a mobile robotic device, combined with a three-dimensional (3D) lidar sensor for front obstacle detection, minimizes the number of sensors required while ensuring comprehensive coverage and safety.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If overlapping sensor coverage is used to improve detection precision, then measurement precision improves, but device complexity and cost increase due to requiring extra sensors
Solution Approach 1:
The patent segments the detection space into distinct non-overlapping zones, with each 1D ToF sensor responsible for a specific sector. This segmentation eliminates redundant coverage while maintaining comprehensive detection, resolving the contradiction between detection precision and sensor quantity by ensuring each sensor contributes uniquely to overall coverage.
Solution Approach 2:
The patent transitions from traditional overlapping 2D sensor coverage to a structured angular segmentation approach, where sensors are positioned at specific angles (e.g., 45-degree intervals) to create non-overlapping conical coverage zones. This dimensional reorganization of sensor placement optimizes coverage efficiency without sacrificing detection precision.
2Measurement precision
If more sensors are added to achieve desired detection precision, then measurement precision improves, but manufacturing cost increases
Solution Approach 1:
By segmenting the detection environment into non-overlapping angular zones and assigning one sensor per zone, the system achieves comprehensive coverage with minimal sensors. This eliminates the need for redundant sensors that would increase manufacturing costs while maintaining the required detection precision for safe operation.
Solution Approach 2:
The patent changes the coverage parameter from overlapping to non-overlapping angular sectors, optimizing the sensor count. By carefully selecting sensor angles and fields of view to create adjacent而非overlapping coverage zones, the system achieves complete 360-degree detection with fewer sensors, directly reducing manufacturing costs.
3Device complexity
If non-overlapping sensor coverage is used to reduce sensor quantity, then device complexity decreases, but detection precision may worsen due to coverage gaps
Solution Approach 1:
The patent addresses potential coverage gaps by transitioning to three-dimensional spatial reasoning, where the 3D LiDAR provides comprehensive front coverage and the 1D ToF sensors provide complementary lateral and rear detection. This multi-dimensional sensor arrangement ensures no detection gaps exist while maintaining non-overlapping coverage efficiency.
Solution Approach 2:
The patent merges different sensor types (1D ToF sensors for lateral/rear detection and 3D LiDAR for front detection) with complementary fields of view. This combination creates unified non-overlapping coverage across all directions, eliminating gaps while keeping the total sensor count minimal, thus maintaining both low complexity and high detection precision.
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 arrangement provides efficient and cost-effective obstacle detection by avoiding redundant coverage areas, allowing for predictable detection of objects and ensuring safety by detecting potential hazards, such as operator presence, while utilizing a 3D lidar for front obstacles.
Implementation Method 1
a plurality of one-dimensional (1D) time-of-flight (ToF) sensors for obstacle detection
Implementation Method 2
a three-dimensional lidar sensor oriented to detect obstacles in front of the mobile robotic device
Data Source
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AI summary
A mobile robotic device (100) is disclosed which includes a plurality of one-dimensional (ID) time-of-flight (ToF) sensors (502-518, 602-618). Each ID ToF sensor of the plurality of ID ToF sensors may be mounted at a fixed position and orientation on the mobile robotic device. Each pair of ID ToF sensors of the plurality of ID ToF sensors may be fixed at respective positions and orientations relative to each other such that respective cones of coverage of the pair of ID ToF sensors are non-overlapping.