Vehicle-Mounted Sensor Trajectory Planning for Multi-Objective Scanning
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing autonomous or semi-autonomous vehicles in warehouse environments face inefficiencies due to the need for multiple sensors dedicated to various objectives, leading to underutilization and increased complexity in sensor data processing and hardware requirements.
Innovation Solution
A vehicle system equipped with a single sensor, such as a stereo camera, that moves along a predetermined path and determines sensor trajectories to efficiently collect data for multiple objectives by prioritizing and optimizing sensor performance parameters and scanning areas based on objective priority and environmental considerations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If multiple sensors are used for different objectives, then measurement precision and reliability are improved, but device complexity and cost increase
Solution Approach 1:
A single sensor system is designed to perform multiple functions by dynamically adjusting its trajectory and scanning parameters. The sensor can switch between different scanning modes (e.g., obstacle detection, object localization, environment mapping) based on priority objectives, eliminating the need for dedicated sensors for each function while maintaining comprehensive monitoring capability
Solution Approach 2:
The sensor trajectory is made dynamic and adaptive rather than static. The system continuously adjusts the sensor's scanning path, field of view, and data collection parameters in real-time based on changing environmental conditions and task priorities, allowing one sensor to effectively cover multiple objectives that would traditionally require multiple fixed sensors
2Measurement precision
If multiple sensors are deployed for various objectives, then measurement precision is improved, but processing complexity increases
Solution Approach 1:
A single sensor system is designed to perform multiple functions by dynamically adjusting its trajectory and scanning parameters. The sensor can switch between different scanning modes (e.g., obstacle detection, object localization, environment mapping) based on priority objectives, eliminating the need for dedicated sensors for each function while maintaining comprehensive monitoring capability
Solution Approach 2:
The patent extracts and processes only the most relevant data for current priority objectives rather than processing all data from multiple sensors simultaneously. By identifying and focusing on critical information based on task priorities, the system reduces processing complexity while maintaining measurement precision for essential parameters
3Loss of information
If comprehensive sensor scanning is performed for all objectives, then data completeness is improved, but loss of time increases
Solution Approach 1:
The system performs preliminary identification of priority objectives and pre-plans the sensor trajectory accordingly. By determining which data is most critical before execution and preparing the scanning path in advance, the system ensures that high-priority information is collected first, reducing overall data collection time while maintaining completeness of essential data
Solution Approach 2:
The sensor scanning is organized into periodic cycles with different priorities. High-priority objectives are scanned more frequently and with higher detail, while lower-priority objectives are scanned less frequently or with reduced detail. This periodic differentiation ensures critical data completeness while minimizing time spent on less critical measurements
Data Source
Figure 1
Figure 2A
Figure 2B
AI summary
An example system includes a vehicle and a sensor connected to the vehicle. The system, may receive a predetermined path for the vehicle to follow. The system may also receive a plurality of objectives, associated with a corresponding set of sensor data, for which to collect sensor data. The system may determine, for each of the plurality of objectives, a portion of the environment for the sensor to scan to acquire the corresponding set of sensor data. The system may determine, based on the portion of the environment determined for each of the plurality of objectives, a sensor trajectory through which to move the sensor. The system may cause the sensor to move through the determined sensor trajectory and scan portions of the environment corresponding to the determined sensor trajectory as the vehicle moves along the predetermined path.