Robot navigational sensor system
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Solution Overview
Problem
Autonomous robotic vacuum cleaners face challenges in accurately detecting small, dark-colored obstacles such as chair legs, which can lead to collisions and damage, as existing detection methods are not effective in resolving the position of these objects with sufficient precision.
Innovation Solution
A proximity sensor system featuring a receiver and two emitters with twice-reshaped emission beams, angled to intersect the receiver's field of view, allowing for a bounded detection volume that can detect small, dark-colored objects with greater accuracy by sequentially activating the emitters and using baffling to control the beam shape and size.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If conventional sensor systems are used to detect obstacles, then the robot can detect general obstacles, but it cannot accurately detect small, dark-colored obstacles such as chair legs
Solution Approach 1:
The sensor system is segmented into multiple emitters and a receiver, with each emitter producing a specifically shaped beam. The detection space is divided into multiple zones with different detection capabilities, allowing precise detection of small, dark obstacles in specific regions while maintaining overall system simplicity.
Solution Approach 2:
Different regions of the detection volume have different detection qualities. The twice-reshaped emission beams create concentrated detection zones with high precision for small, dark obstacles, while other regions provide broader coverage. This local optimization of detection quality resolves the contradiction between precision and complexity.
2Productivity
If the robot travels at high speed to improve cleaning efficiency, then productivity increases, but the risk of collision with undetected obstacles increases
Solution Approach 1:
The sensor system performs preliminary detection of obstacles before the robot reaches them. The twice-reshaped emission beams are designed to detect small, dark obstacles at a distance, allowing the robot to identify and avoid obstacles before they become a collision risk, thus enabling high-speed operation with maintained safety.
3Measurement precision
If the robot slows down to improve obstacle detection accuracy, then measurement precision improves, but productivity decreases
Solution Approach 1:
The system replaces mechanical slowing down with an optical detection solution. The twice-reshaped emission beams and receiver configuration provide high-precision detection of small, dark obstacles without requiring the robot to reduce speed, thus maintaining both detection precision and productivity simultaneously.
4Area of stationary object
If diffuse emitter output is used to increase detection coverage, then the field of view expands, but the ability to detect small objects at specific distances decreases
Solution Approach 1:
The emission beam parameters are changed through the twice-reshaping process. The first shaping creates a focused beam, and the second shaping adjusts the beam characteristics to create an optimized detection pattern. This parameter optimization allows the system to maintain adequate coverage while achieving precise detection of small objects at specific distances.
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
The system enables the robot to detect dark-colored and small obstacles at a predictable distance, allowing it to slow down and avoid collisions, improving navigation and reducing the risk of damaging sensitive objects.
Implementation Method 1
the receiver is arranged to detect radiation reflected from objects
Implementation Method 2
an emitter which emits a signal having a field of emission and a photon detector having a field of view
Data Source
Figure 1A
Figure 1B
Figure 1C
AI summary
An autonomous robot comprises a robot body, a drive configured to propel the robot, a sensor system disposed on the robot body, and a navigation controller circuit in communication with the drive and the sensor system. The sensor system comprises at least one proximity sensor comprising a sensor body, and a first emitter, a second emitter and a receiver housed by the sensor body, wherein the receiver detects objects in a bounded detection volume of the receiver field of view aimed outward and downward beyond a periphery of the robot body. The receiver is disposed above and between the first and second emitters, the emitters having a twice-reshaped emission beams angled upward to intersect the receiver field of view at a fixed range of distances from the periphery of the robot body to define the bounded detection volume.