Robot Proximity Sensor Layout for Detecting Dark Narrow Obstacles
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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 such objects with sufficient precision.
Innovation Solution
A proximity sensor system featuring a horizontally-oriented receiver and two emitters, with twice-reshaped emission beams angled upward to intersect the receiver's field of view, allowing for a bounded detection volume that can detect small, dark-colored objects with greater accuracy and prevent collisions by slowing down the robot before contact.
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 divides the detection task into multiple components: multiple emitters (including IR and visible light) and multiple receivers work together to detect different types of obstacles. This segmentation allows the system to handle the complexity of detecting various obstacle types (dark, light, small, large) by assigning different sensors to different detection purposes
Solution Approach 2:
The system changes detection parameters by using multiple wavelengths of light (infrared and visible light) and adjusting emitter/receiver orientations. The emitters are positioned at different angles (e.g., 45 degrees downward) and the receivers are oriented to capture reflected light at specific angles, creating multiple detection zones with different sensitivity characteristics for detecting dark vs. light objects
2Object-affected harmful factors
If the robot reduces speed to avoid collisions, then collision damage is reduced, but cleaning productivity decreases
Solution Approach 1:
The sensor system performs preliminary detection of obstacles at a distance before the robot reaches them. By detecting dark-colored obstacles early in their approach path, the system allows the robot to gradually reduce speed and prepare for avoidance maneuvers, rather than making sudden stops that would disrupt cleaning efficiency
Solution Approach 2:
The sensor system continuously provides feedback about obstacle proximity and type to the robot's control system. This real-time feedback enables dynamic speed adjustment - the robot maintains normal speed when no obstacles are detected, and only reduces speed when sensors detect objects in the detection zones, optimizing the balance between safety and productivity
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 sensor system enables the robot to detect dark-colored, narrow obstacles at a predictable distance, resolve their position with higher resolution, and avoid collisions, improving navigation and reducing the risk of damaging sensitive objects.
Implementation Method 1
an infrared emitter 522 and an infrared detector 524
Implementation Method 2
detect radiation reflected from objects
Implementation Method 3
the receiver is configured to generate a signal in response to receiving reflected radiation produced by the first and second emitters
Data Source
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.