Navigation Sensor With Rotating-Unit IMU for Obstructed Views
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Solution Overview
Problem
Existing navigation sensors for autonomous robots and vehicles face challenges in maintaining accurate localization due to environmental conditions that obstruct the field of view, such as dust, fog, or lack of contrast, and inertial navigation systems are costly and require calibration.
Innovation Solution
Incorporating an inertial measurement unit at the rotating scanning unit to detect accelerations and angular velocities, allowing the evaluation unit to determine coordinate data sets based on these signals, thereby compensating for temporary failures in object detection sensors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If an object detection sensor (LIDAR or radar) is used for localization, then navigation capability is provided, but the system becomes vulnerable to environmental obstructions (dust, fog, lack of contrast) that block the field of view
Solution Approach 1:
The patent introduces an inertial measurement unit (IMU) as an intermediary system that detects accelerations and angular velocities when the object detection sensor is obstructed. The IMU serves as a mediator between the physical motion and the navigation system, providing alternative data sources when optical/radar sensors fail due to environmental factors like dust, fog, or lack of contrast.
Solution Approach 2:
The system changes the measurement parameters from optical/radar-based detection (which suffers from environmental obstructions) to inertial-based detection (accelerations and angular velocities). This parameter change allows the navigation system to function in environments where traditional object detection sensors fail, as inertial sensors are not affected by dust, fog, or contrast issues.
2Reliability
If an inertial navigation system is used to compensate for sensor failures, then continuous navigation data can be obtained, but the system becomes costly and requires complex calibration
Solution Approach 1:
The patent employs standard, off-the-shelf inertial measurement units that are relatively inexpensive and do not require complex calibration procedures. Instead of using costly custom-designed inertial navigation systems, the solution uses affordable IMUs that can be integrated into the scanning unit without requiring complex calibration processes, thereby reducing both cost and complexity.
3Device complexity
If the inertial measurement unit is arranged at the base unit, then the structure is simple, but accelerations and angular velocities cannot be detected during rotation of the scanning unit
Solution Approach 1:
The patent dynamically positions the inertial measurement unit at the scanning unit rather than fixed at the base unit. This dynamic arrangement allows the IMU to rotate with the scanning unit, enabling it to detect accelerations and angular velocities during rotation. The IMU is mounted on the scanning unit in a way that allows it to experience the full motion characteristics during scanning operations.
Solution Approach 2:
The patent adds the rotational dimension to the measurement system by placing the IMU on the rotating scanning unit. This allows the system to capture angular velocities and accelerations in the rotational dimension, providing complete motion information both linear and angular, whereas a base-unit-mounted IMU would miss the rotational components.
4Measurement precision
If the inertial measurement unit is arranged at the scanning unit, then accelerations and angular velocities can be detected during rotation, but the structure becomes more complex
Solution Approach 1:
The patent merges the inertial measurement unit with the scanning unit assembly, combining the IMU with the existing transmission and reception devices. This integration allows the IMU to benefit from the mechanical support and positioning already provided by the scanning unit structure, minimizing additional structural complexity while achieving accurate motion detection during rotation.
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 cost-effective compensation for temporary localization failures by integrating low-cost IMUs, ensuring continuous navigation data without the need for costly custom designs or complex calibrations.
Implementation Method 1
at least one inertial measurement unit connected to the evaluation unit is arranged at the scanning unit and is configured to detect accelerations and/or angular velocities of the rotating scanning unit
Implementation Method 2
a transmission device that is configured for transmitting transmission signals into a monitored zone
Implementation Method 3
a reception device that is configured for receiving reception signals, which are generated by objects present in the monitored zone by a remission of incident transmission signals
Data Source
AI summary
A navigation sensor determines a coordinate data set including a spatial position and/or a location and/or a movement of the navigation sensor or of a movable object connected to the navigation sensor in space. The navigation sensor includes an object detection sensor configured to periodically scan a monitored zone, a base unit, and a scanning unit rotatably supported at the base unit. The scanning unit has a transmission device configured to transmit transmission signals into a monitored zone and a reception device that is configured for receiving reception signals, which are generated by objects present in the monitored zone by a remission of incident transmission signals, and for converting the reception light signals into electrical reception signals. An evaluation unit is connected to the object detection sensor and is configured to determine the coordinate data set at least on the basis of the electrical reception signals.