Autonomous Robot Laser Sensor Layout for Low Obstacle Detection
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Solution Overview
Problem
Autonomous traveling apparatuses struggle to detect obstacles located at low positions due to the placement of sensors, which are often obstructed by the upward/downward movement of their wheels, limiting their ability to navigate effectively in environments with such obstacles.
Innovation Solution
The apparatus is designed with a first laser sensor positioned between the wheels to scan a plane lower than the maximum reach point of their upward/downward movement, allowing for detection of low-position obstacles, and additional sensors are strategically placed above the wheels to cover a wider range, ensuring 360-degree obstacle detection.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the laser sensor is provided above the wheels, then the sensor can detect obstacles in front of the apparatus, but the upward/downward movement of the wheels blocks the sensor's detection range and prevents detection of low-position obstacles
Solution Approach 1:
The patent transitions from a single sensor positioned above the wheels to multiple sensors arranged at different spatial locations and orientations. By placing sensors on both upper and lower surfaces of the traveling body and configuring them with different scanning planes, the system achieves comprehensive three-dimensional obstacle detection coverage that overcomes the limitation of wheel movement blocking a single sensor's view.
2Ease of manufacture
If the obstacle sensor is provided immediately below the top plate portion, then the sensor placement is simple, but low-position obstacles cannot be detected
Solution Approach 1:
The patent divides the obstacle detection function into multiple independent sensors positioned at different locations on the traveling body. Instead of relying on a single sensor below the top plate, the system segments detection into upper sensors for high-position obstacles and lower sensors for low-position obstacles, with each sensor optimized for its specific detection zone.
3Reliability
If the wheel is configured to be movable upward/downward to absorb impact, then the apparatus can handle uneven terrain, but the sensor must be positioned higher to avoid wheel obstruction, reducing low-position obstacle detection
Solution Approach 1:
The patent introduces lower surface sensors as intermediary detection elements that operate in a spatial zone not occupied by the moving wheels. These sensors scan a lower plane that remains accessible despite wheel movement, effectively mediating between the need for impact-absorbing wheel mobility and the need for low-position obstacle detection.
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 configuration enables the autonomous traveling apparatus to effectively detect and avoid obstacles at low positions, enhancing its navigation stability and safety in various environments.
Implementation Method 1
a first laser sensor configured to detect an object around the first laser sensor by emitting laser light while rotating the laser light with respect to the first laser sensor and by receiving reflected light of the laser light
Data Source
AI summary
An autonomous traveling apparatus includes a traveling body. The traveling body includes a first wheel portion and a second wheel portion each provided along a traveling direction of the autonomous traveling apparatus in the traveling body with a predetermined space being interposed between the first wheel portion and the second wheel portion. The second wheel portion has a pair of wheels. The autonomous traveling apparatus further includes a laser sensor. The laser sensor is configured to detect an object around the laser sensor, and is provided on the traveling body to avoid a portion above each of the pair of wheels such that a scanning plane is lower than a maximum reach point of a range of an upward/downward movement of each of the pair of wheels, the scanning plane being a range in which the laser light passes while rotating the laser light.