Mobile Robot ToF Sensor Layout With Non-Overlapping Coverage
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Solution Overview
Problem
Existing robotic systems face inefficiencies in obstacle detection due to overlapping coverage regions from one-dimensional (1D) time-of-flight (ToF) sensors, leading to the need for additional sensors and increased costs, while maintaining a guaranteed level of precision.
Innovation Solution
The arrangement of 1D ToF sensors on a mobile robotic device is optimized by mounting them at fixed positions and orientations such that their coverage regions are non-overlapping, minimizing the number of sensors required and creating predictable negative lanes to ensure detection of objects, with angular offsets between sensors ensuring parallel cone edges and avoiding redundant coverage.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If 1D ToF sensors are mounted with overlapping coverage regions, then obstacle detection precision is improved, but the number of sensors required increases
Solution Approach 1:
The patent divides the obstacle detection task into multiple non-overlapping coverage regions, each handled by a separate 1D ToF sensor. By segmenting the detection space and assigning dedicated sensors to each segment, the system achieves comprehensive coverage without redundant overlapping regions, thereby reducing the total number of sensors needed while maintaining detection precision.
Solution Approach 2:
The patent transitions from a single sensor providing全方位 coverage to multiple sensors arranged in a specific geometric pattern where each sensor covers a distinct angular sector. This spatial dimensionality arrangement ensures that coverage regions are adjacent rather than overlapping, optimizing sensor utilization.
2Quantity of substance
If 1D ToF sensors are mounted at fixed positions and orientations with non-overlapping coverage, then the number of sensors is minimized, but detection of small objects may be compromised
Solution Approach 1:
The patent carefully adjusts critical parameters including the angular separation between sensors, the field of view angle of each sensor, and the mounting height. By optimizing these parameters, the system ensures that non-overlapping coverage regions still provide sufficient detection capability for small objects, balancing sensor minimization with detection reliability.
3Productivity
If 1D ToF sensors are arranged with angular offsets to create parallel cone edges, then coverage efficiency is improved, but device complexity increases
Solution Approach 1:
The patent employs asymmetric angular offsets between sensors rather than uniform distribution. Each sensor is positioned at a specifically calculated angle to create parallel cone edges, optimizing the coverage pattern. This asymmetric arrangement improves coverage efficiency by eliminating gaps and overlaps while maintaining manageable system complexity through systematic design.
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 configuration reduces the number of sensors needed, lowers costs, and provides a predictable upper bound on the size of objects that can be detected, enhancing the efficiency and precision of obstacle detection while maintaining safety standards.
Implementation Method 1
1D time-of-flight (ToF) sensors for obstacle detection
Data Source
AI summary
A mobile robotic device is disclosed which includes a plurality of one-dimensional (1D) time-of-flight (ToF) sensors. Each 1D ToF sensor of the plurality of 1D ToF sensors may be mounted at a fixed position and orientation on the mobile robotic device. Each pair of 1D ToF sensors of the plurality of 1D ToF sensors may be fixed at respective positions and orientations relative to each other such that respective cones of coverage of the pair of 1D ToF sensors are non-overlapping.