Overlapping ToF Sensor Layout for Reliable Robot Localization
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Solution Overview
Problem
Existing robotic navigation systems that rely on multiple image sensors for mapping and localization are costly, complex, and resource-intensive, making them inefficient for use in robotic devices that need to navigate diverse environments.
Innovation Solution
A time of flight (ToF) sensor arrangement with multiple sensors angled to create overlapping fields of view, allowing for redundant detection regions, which can be used alone or in combination with image sensors to identify and track objects, reducing the need for multiple image sensors and simplifying data processing.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If multiple image sensors are used to capture environmental data from different field of views, then navigation reliability and object detection accuracy are improved, but device complexity and manufacturing cost increase
Solution Approach 1:
The patent combines multiple ToF sensors into a unified sensor array system where sensors are arranged in overlapping fields of view. This merging approach maintains reliable environmental data collection from multiple angles while reducing the complexity associated with managing separate image sensor systems and their individual processing pipelines.
Solution Approach 2:
The ToF sensor array serves multiple functions simultaneously: it performs depth mapping, obstacle detection, navigation, and localization. This multi-functionality replaces what would traditionally require separate specialized sensors, reducing overall device complexity while maintaining navigation reliability.
2Measurement precision
If multiple image sensors are deployed to ensure comprehensive environmental coverage, then object detection accuracy is improved, but hardware cost and data processing load increase
Solution Approach 1:
The patent replaces image sensors (optical systems) with Time of Flight sensors that use electromagnetic time measurement. ToF sensors provide accurate depth and distance measurements more cost-effectively than multiple image sensors, maintaining object detection accuracy while reducing hardware cost.
Solution Approach 2:
The system changes the measurement parameter from optical intensity (image sensors) to time of flight (ToF sensors). This parameter change enables accurate environmental mapping and object detection using a more cost-effective sensing modality that requires fewer sensors to achieve the same measurement precision.
3Reliability
If multiple image sensors are used to capture data from all directions, then navigation safety is improved, but computational resources and processing complexity increase
Solution Approach 1:
The patent segments the environmental sensing task across multiple ToF sensors with overlapping fields of view. Each sensor handles a specific angular sector, and the system integrates these segmented measurements into a complete environmental model. This segmentation approach maintains navigation safety through comprehensive coverage while simplifying software processing compared to handling multiple full-resolution image streams.
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 solution enables efficient and cost-effective environmental data collection, reducing hardware and computational loads while maintaining high confidence in object detection and navigation, allowing robots to accurately map and navigate their surroundings without the need for complex image sensor systems.
Implementation Method 1
a sensor arrangement for use in robotic devices such as robotic surface cleaning device that utilizes time of flight sensors (ToF) for navigation and localization
Data Source
AI summary
In general, the present disclosure is directed to a time of flight (ToF) sensor arrangement that may be utilized by a robot (e.g., a robot vacuum) to identify and detect objects in a surrounding environment for mapping and localization purposes. In an embodiment, a robot is disclosed that includes a plurality of ToF sensors disposed about a housing of the robot. Two or more ToF sensors may be angled/aligned to establish overlapping field of views to form redundant detection regions around the robot. Objects that appear therein may then be detected by the robot and utilized to positively identify, e.g., with a high degree of confidence, the presence of the object. The identified objects may then be utilized as data points by the robot to build/update a map. The identified objects may also be utilized during pose routines that allow the robot to orient itself within the map.