Autonomous Robot Down-Step Detection With Rotating Range Sensor
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Solution Overview
Problem
Existing techniques for detecting down-steps in travel surfaces by autonomous robots are inefficient, requiring complex calculations and lacking the ability to dynamically adjust the range finding sensor's optical axis, which limits the robot's movement on surfaces with abrupt height changes.
Innovation Solution
A robot design featuring a spherical band-shaped casing with a rotating range finding sensor and weight mechanism, allowing the sensor's optical axis to change in the pitch direction, enabling detection of down-steps by measuring distance changes and adjusting movement to avoid falls.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the robot uses a fixed range finding sensor to detect down-steps, then the detection process is simple, but the robot cannot accurately detect down-steps when the optical axis does not face the direction of the down-step
Solution Approach 1:
The range finding sensor is made dynamic by enabling it to rotate around the shaft in the pitch direction. The optical axis of the sensor can now change direction to face different angles, allowing the robot to detect down-steps in various directions rather than being limited to a fixed forward-facing detection zone.
Solution Approach 2:
The range finding sensor is given multi-functionality by combining both detection and rotation capabilities. The sensor can detect distances in multiple directions by rotating, making a single sensor capable of performing what would otherwise require multiple fixed sensors positioned at different angles.
2Adaptability or versatility
If the robot rotates the main casing to change direction, then the robot can navigate to different areas, but the robot may fall off when encountering abrupt height changes
Solution Approach 1:
The robot performs preliminary detection of down-steps by having the range finding sensor rotate and measure distances in advance before the robot commits to moving in a particular direction. This allows the robot to identify potential hazards and adjust its navigation path before encountering abrupt height changes.
Solution Approach 2:
The system uses feedback from the range finding sensor measurements to control the rotation and movement of the robot. The sensor continuously measures distances at different angles, and this information feeds back to the control circuit, which adjusts the robot's orientation and movement to avoid down-steps while maintaining navigation capability.
3Measurement precision
If the range finding sensor measures distance continuously, then the robot can detect down-steps accurately, but the energy consumption increases
Solution Approach 1:
Instead of continuous measurement, the range finding sensor performs periodic distance measurements at discrete angular positions as it rotates. The control circuit controls the sensor to measure distance at specific intervals during rotation, reducing the total number of measurements and energy consumption while still achieving accurate down-step detection through the rotational sweep.
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 the robot to accurately detect down-steps and adjust its movement path to avoid falls, even on surfaces with multiple down-steps, while maintaining autonomous navigation without user intervention.
Implementation Method 1
a range finding sensor disposed in one of the first spherical cap portion and the second spherical cap portion so as to be facing the same side as the display portion, where the range finding sensor measures a distance from the range finding sensor to an object
Implementation Method 2
a weight that is provided inside the main casing and that rotates around a shaft of the weight perpendicular to the shaft
Implementation Method 3
a gyro sensor that measures a turning angle of the robot about an axis perpendicular to a plane including the shaft and detects shaking of the robot
Data Source
AI summary
A robot includes a range finding sensor that measures a distance from the robot to an object facing a display each time the range finding sensor rotates through a predetermined angle. If a difference between a first distance previously measured and a second distance subsequently measured is a first predetermined value or greater, information is stored in a memory to indicate that a down-step is located in a direction defined by a turning angle of the robot when the first distance is measured at a position that is separated from the robot by the first distance. When rotating and moving the main casing in a direction in which the down-step is located, the robot is caused to make a pivot turn first. Subsequently, the main casing is rotated to move in the direction in which the down-step is located by a distance smaller than the first distance.