Skid-Steer Vehicle Optical Sensor Placement for Image Clarity
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Solution Overview
Problem
Autonomously traveling vehicles with skid-steer crawler-type vehicles experience image blur due to increased rotation radius and shaking caused by centrifugal force, affecting the accuracy of optical sensor data.
Innovation Solution
A skid-steer electric motor vehicle chassis with optical sensors positioned near the axle line of wheels, featuring wheels with rollers and air-filled tires, and vibration-absorbing members to minimize vibration and shaking, allowing for improved image and distance information accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the optical sensor is disposed at the vehicle center for stationary rotation, then the rotation radius is reduced, but the visibility and imaging accuracy deteriorate due to the need to position the camera on the front portion
Solution Approach 1:
The patent applies asymmetry by positioning the optical sensor near the axle line of the wheels rather than at the symmetric vehicle center. This asymmetric placement allows the sensor to be located at a point that minimizes rotation radius during stationary rotation while maintaining front-facing visibility for imaging accuracy.
Solution Approach 2:
The patent introduces an intermediary mechanism (the specific positioning near the axle line) that mediates between the conflicting requirements of visibility and image blur suppression. This intermediate position serves as an optimal compromise point that satisfies both imaging requirements and vibration reduction needs.
2Ease of operation
If the optical sensor is disposed on the front portion of the chassis body, then visibility in the moving direction is improved, but image blur increases due to larger rotation radius and shaking from centrifugal force
Solution Approach 1:
The patent uses asymmetric positioning by placing the optical sensor near the axle line rather than at the center, creating an optimal balance between front-facing visibility and minimizing rotation radius. This asymmetric location allows the sensor to face forward for good visibility while being positioned where centrifugal force effects are reduced.
Solution Approach 2:
The patent applies local quality by identifying the specific local region near the axle line as having favorable characteristics for sensor placement. This local area provides both adequate visibility and reduced rotation radius, making it the optimal quality zone for the optical sensor.
3Adaptability or versatility
If wheels with rollers are used on one side, then adaptability to terrain is improved, but device complexity increases due to the asymmetric wheel configuration
Solution Approach 1:
The patent applies local quality by using different wheel types on different sides of the vehicle. Wheels with rollers are used on one side for enhanced terrain adaptability, while standard wheels are used on the other side, creating a differentiated configuration that optimizes performance for specific operational requirements.
Solution Approach 2:
The patent segments the wheel configuration into two distinct types on opposite sides of the vehicle. This segmentation allows each side to have specialized wheels suited for different terrain conditions, improving overall adaptability while maintaining manageable complexity through clear functional division.
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 configuration effectively suppresses image blur and enhances the accuracy of optical sensor data by reducing vibration and centrifugal force effects, ensuring clear and precise imaging and distance measurements.
Implementation Method 1
wheels with rollers each having a wheel body and a plurality of rollers provided on an outer circumferential portion of the wheel body
Data Source
AI summary
A moving vehicle includes a skid-steer electric motor vehicle chassis that is capable of traveling and an optical sensor provided on the electric motor vehicle chassis. The electric motor vehicle chassis includes a chassis body, a plurality of wheels that are provided as pairs of right and left wheels at the front and rear of the chassis body, and a driving unit that individually rotation-drives the pairs of right and left wheels. The optical sensor is disposed, in planar view, at a position nearby an axle line of a pair of right and left wheels on one side of the front and rear. A pair of right and left wheels on the other side of the front and rear is configured of wheels with rollers each having a wheel body and a plurality of rollers provided on an outer circumferential portion of the wheel body.