Orthogonal Linear Sensor Array for Robotic Blind Height Detection
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Solution Overview
Problem
Lidar systems often fail to detect low-profile objects, such as objects on the floor, due to their blind height limitations, which can lead to accidents, and implementing a full 3D imaging system would make robots expensive and complex.
Innovation Solution
A sensing system comprising at least two orthogonally positioned linear sensors, a horizontal sensor for lidar distance measurement and a vertical sensor for video scanning, utilizing CMOS technology with correlated double sampling to maintain reading speed while removing background noise, and incorporating color filters for enhanced image generation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a full 3D imaging system is implemented, then detection capability for low-profile objects is improved, but device complexity and cost increase
Solution Approach 1:
The patent adds a vertical dimension to the traditional horizontal 2D sensor array by introducing a third sensor oriented perpendicular to the first two sensors. This creates a 3D sensor array that can detect objects at different heights, including low-profile objects that would be missed by conventional 2D lidars. The vertical sensor captures depth information along the Z-axis while the horizontal sensors capture X-Y plane information, achieving volumetric detection without requiring a complete 3D imaging system.
Solution Approach 2:
Instead of implementing a complete 3D imaging system, the patent segments the detection task by using three separate 2D sensor arrays oriented along different axes (X, Y, and Z directions). Each sensor array independently captures depth information in its respective plane, and the system combines these segmented measurements to achieve comprehensive 3D spatial awareness. This segmentation approach reduces complexity compared to a monolithic 3D imaging system while maintaining detection capability.
2Measurement precision
If lidar is used for distance measurement, then measurement precision is improved, but blind height limitations cause detection failure for low-profile objects
Solution Approach 1:
The patent introduces a vertical sensor array that measures depth along the Z-axis, adding a new dimension to the traditional horizontal scanning approach. This vertical dimension allows the system to detect objects close to the ground that fall within the blind height of conventional lidars. The vertical sensor captures reflected light from low-profile objects and converts it into depth measurements, extending the effective detection range to include previously undetectable zones.
Solution Approach 2:
The patent merges data from three separate sensor arrays (horizontal X-axis sensor, horizontal Y-axis sensor, and vertical Z-axis sensor) to create a comprehensive depth map. By combining the measurement capabilities of multiple sensors oriented in different directions, the system achieves both the precision of lidar distance measurement and the comprehensive coverage needed to detect low-profile objects. The merged data from all three sensors eliminates blind spots while maintaining measurement accuracy.
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
Enables detection of objects below or above the blind height by synchronizing image data from the vertical sensor with distance measurements from the horizontal sensor, effectively enhancing the robot's ability to map its environment without the need for a full 3D imaging system.
Implementation Method 1
Lidar (also called LIDAR, LiDAR, or LIDAR) is a surveying method that measures distance to a target by illuminating the target with dot pulsed laser light and measuring the reflected pulses with a sensor
Implementation Method 2
an activated dot laser 102 is provided to light the object 104
Implementation Method 3
measuring the reflected pulses with a sensor. Based on the preconfigured geometry of the laser 102 and the imager 106, the distance q can be derived based on triangulation
Data Source
AI summary
Techniques of designing a sensing system for pseudo 3D mapping in robotic applications are described. According to one aspect of the present invention, an image system is designed to include at least two linear sensors, where these two linear sensors are positioned or disposed orthogonally. In one embodiment, the two linear sensors are a horizontal sensor and a vertical sensor. The horizontal sensor is used for the lidar application while the vertical sensor is provided to take videos, namely scanning the environment wherever the horizontal sensor misses. As a result, the videos can be analyzed to detect anything below or above a blind height in conjunction with the detected distance by the lidar.