Rangefinder-Based Edge Detection for Mobile Automated Devices
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Solution Overview
Problem
Mobile automated devices, such as robotic vacuums and lawn mowers, face challenges in effectively identifying and avoiding dangerous drop-offs and edges, often resulting in damage when encountering stairs or ledges.
Innovation Solution
Equipping these devices with rangefinder sensors that continuously calculate distances to a surface and a processor to monitor these distances, allowing the device to execute predetermined movement patterns when a significant increase is detected, thereby avoiding potential hazards.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If mobile automated devices use basic sensors to detect surfaces, then device complexity is reduced, but edge detection precision deteriorates causing inability to differentiate between traversable and dangerous edges
Solution Approach 1:
The system divides the detection task into multiple segments by using multiple rangefinder sensors positioned at different locations (front, rear, left, right sides) of the device. Each sensor independently measures distance to surfaces in its specific direction, allowing the system to detect edges with high precision while maintaining manageable complexity through modular sensor placement
Solution Approach 2:
The processor acts as an intermediary that receives distance measurements from multiple rangefinder sensors, compares these measurements against threshold values, and determines whether an edge is dangerous or traversable. This intermediary processing layer enables precise edge differentiation without requiring each sensor to independently perform complex analysis
2Reliability
If mobile automated devices avoid all elevation changes, then device reliability is improved by preventing damage, but productivity deteriorates due to inability to traverse safe obstacles
Solution Approach 1:
The system applies different response strategies to different types of edges based on local characteristics. By measuring the magnitude of distance changes detected by rangefinder sensors and comparing them to threshold values, the system identifies whether each edge is dangerous (large change) or traversable (small change), allowing selective avoidance that protects reliability while maintaining productivity
Solution Approach 2:
The system changes the parameter of edge classification from binary (edge/not edge) to categorical (dangerous edge/traversable edge) by introducing threshold-based distance change analysis. This parameter transformation enables the device to distinguish between harmful and harmless elevation changes, allowing traversal of safe obstacles while avoiding dangerous ones
3Measurement precision
If mobile automated devices use continuous distance monitoring, then edge detection accuracy is improved, but energy consumption increases
Solution Approach 1:
The system implements periodic distance monitoring using rangefinder sensors that continuously or periodically calculate distances to surfaces. By using periodic rather than truly continuous measurement, the system achieves sufficient edge detection accuracy while reducing energy consumption compared to constant high-frequency sampling
Solution Approach 2:
The rangefinder sensors and processor work autonomously to detect and classify edges without requiring external intervention. The system self-monitors distance changes, automatically compares measurements against thresholds, and independently determines edge types, enabling accurate detection with minimal external control energy expenditure
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 precise detection and avoidance of dangerous edges, differentiating between large and small elevation changes, thereby preventing damage and ensuring safe operation.
Implementation Method 1
one or more rangefinder sensors on the mobile automated device to calculate, continuously or periodically, distances from the one or more rangefinder sensor to a surface
Data Source
AI summary
Included is a method for a mobile automated device to detect and avoid edges including: providing one or more rangefinder sensors on the mobile automated device to calculate, continuously or periodically, distances from the one or more rangefinder sensor to a surface; monitoring, with a processor of the mobile automated device, the distances calculated by each of the one or more rangefinder sensors; and actuating, with the processor of the mobile automated device, the mobile automated device to execute one or more predetermined movement patterns upon the processor detecting a calculated distance greater than a predetermined amount, wherein the one or more movement patterns initiate movement of the mobile automated device away from the area where the increase was detected.