Non-Uniform LiDAR Optics for Near-Far Obstacle Detection
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Solution Overview
Problem
Existing autonomous robots face challenges in efficiently detecting nearby obstacles due to limited sensing regions and require complex sensor assemblies and calibration, leading to increased time and costs.
Innovation Solution
A non-uniform light-emitting lidar apparatus with a diffuser and optical element that alters the optical profile of emitted light to ensure varying light intensities based on distance, preventing sensor saturation and improving obstacle detection.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Illumination intensity
If uniform light is emitted to illuminate all regions, then near objects are well illuminated, but distant objects receive insufficient light and the sensor saturates with near objects
Solution Approach 1:
The patent applies local quality by using a diffuser with varying optical properties across its surface. The diffuser has different diffusion coefficients in different regions, causing light to be distributed non-uniformly. Specifically, regions of the diffuser closer to the light source have lower diffusion coefficients while regions farther away have higher diffusion coefficients, creating the desired non-uniform light intensity distribution that prevents both saturation of near objects and under-illumination of distant objects.
Solution Approach 2:
The patent changes the optical parameters of the diffuser material spatially. The diffusion coefficient is varied as a function of position, creating a gradient in optical properties. This parameter change allows the system to optimize light distribution for different distances simultaneously, improving overall measurement precision across the entire sensing range.
2Area of stationary object
If multiple sensors are used to expand sensing regions, then obstacle detection coverage is improved, but assembly complexity and calibration time increase
Solution Approach 1:
The patent makes the single lidar apparatus multi-functional by equipping it with a diffuser that can adaptively control light distribution. This universal design allows one sensor to perform the function that would otherwise require multiple sensors, as the non-uniform light emission pattern enables effective detection across varying distances and angles, reducing assembly complexity while maintaining broad sensing coverage.
3Reliability
If multiple sensors are used to improve sensing coverage, then obstacle detection capability is enhanced, but calibration time and costs increase
Solution Approach 1:
The patent extracts the need for multiple sensors by implementing a specialized diffuser structure within a single lidar apparatus. By taking out the multi-sensor requirement and replacing it with an optimized optical element, the system achieves comparable or superior detection reliability with significantly reduced calibration time, as only one apparatus needs to be calibrated rather than multiple independent sensors.
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
Enhances the efficiency of obstacle detection by uniformly illuminating both near and distant objects, reducing sensor saturation and simplifying robot assembly through the use of a single lidar apparatus.
Implementation Method 1
a diffuser arranged on an optical path of light emitted from the light source and configured to diffuse light
Implementation Method 2
an optical element arranged on an optical path of diffusing light diffused from the diffuser and configured to change an optical profile of the diffusing light to be non-uniform
Implementation Method 3
a 3D sensor configured to sense a location of an object by receiving reflection light from the object
Data Source
AI summary
Provided are non-uniform light-emitting lidar (light detection and ranging) apparatuses and autonomous robots including the same. A lidar apparatus may include a light source configured to emit light, an optical unit arranged on an optical path of light emitted from the light source and configured to change an optical profile of the light to be non-uniform, and a 3D sensor configured to sense location of an object by receiving reflection light from the object.