Distance Sensor Inclination Detection Using Obstacle Sensing and Odometry
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Solution Overview
Problem
Movable devices with attached distance sensors face malfunctions due to changes in sensor location and orientation, leading to increased costs from additional sensors and complex processing to identify inclination states.
Innovation Solution
A method involving a movable device that senses a fixed obstacle, measures multiple distance values using the distance sensor, and utilizes odometry information to determine the inclination state of the sensor by comparing these values.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If additional sensors are installed to sense the inclination state of the distance sensor, then measurement precision of sensor inclination is improved, but device complexity and cost increase
Solution Approach 1:
The distance sensor performs self-diagnosis by using its own measurement data to detect inclination errors. The system analyzes the relationship between measured distances and expected distances to automatically identify inclination states without requiring external sensors, enabling the device to serve itself for calibration purposes
Solution Approach 2:
The patent introduces an intermediary computational process that acts as a mediator between the distance sensor measurements and the inclination detection. By using odometry information as an intermediate reference and comparing it with actual distance measurements, the system can infer inclination states without direct physical sensing of the inclination angle
2Reliability
If additional sensors and processing are used to identify inclination state, then reliability of sensor measurements is improved, but loss of energy and computational resources increases
Solution Approach 1:
The system uses existing onboard resources (distance sensor and odometry module) to perform self-calibration and inclination detection, eliminating the need for additional energy-consuming hardware. The processor leverages already-collected measurement data to identify inclination errors, making the reliability improvement energy-efficient
3Measurement precision
If the distance sensor is used to measure multiple distance values while moving, then measurement precision of inclination state is improved, but loss of time for data collection increases
Solution Approach 1:
The system collects multiple distance measurements in advance during normal operation before inclination analysis is needed. By accumulating distance data and odometry information during regular movement, the system prepares the necessary dataset for inclination detection without requiring dedicated calibration time, thus reducing the perceived time loss
Data Source
AI summary
A method, performed by a movable device, of sensing an inclination of a distance sensor attached to the movable device includes sensing an obstacle fixed in a task space of the movable device; the movable device moving toward the sensed obstacle; while the movable device is moving, measuring a plurality of first distance values from the movable device to the obstacle by using the distance sensor; obtaining at least one second distance value indicating a moving distance of the movable device while measuring the plurality of first distance values, using odometry information of the movable device; and identifying an inclination state of the distance sensor based on the plurality of measured first distance values and the obtained at least one second distance value.