Structured Light and Ultrasound Obstacle Detection for Shopping Carts
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Solution Overview
Problem
Mobile automation apparatuses in retail environments face challenges in detecting static and moving obstacles, particularly reflective and shiny objects like shopping carts, due to varying lighting conditions and the lack of a single low-cost sensor capable of detecting all types of obstacles effectively.
Innovation Solution
The implementation of a mobile automation apparatus equipped with a structured light camera positioned on a mast to detect the top of shopping carts, ultrasound arrays for secondary detection, and a controller to implement obstacle avoidance protocols, including stopping or slowing down, when obstacles are within a threshold distance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a single sensor is used for obstacle detection, then the device complexity is reduced, but the measurement precision and reliability of detecting all types of obstacles (especially reflective objects) deteriorates
Solution Approach 1:
The patent combines multiple sensor types (structured light camera, ultrasound arrays, and other sensors) into a unified obstacle detection system. The structured light camera projects patterned light to detect obstacles including reflective surfaces, while ultrasound arrays provide complementary detection capability. This merging of sensors resolves the contradiction by achieving comprehensive obstacle detection precision without requiring a single complex sensor.
Solution Approach 2:
The detection system is designed to universally detect multiple types of obstacles (static obstacles like boxes and pillars, moving obstacles like shopping carts and people, and reflective obstacles like mirrors and glass doors) using a combination of sensors. Each sensor type contributes to different aspects of obstacle detection, creating a multi-functional system that maintains low overall complexity while achieving high detection precision across all obstacle types.
2Device complexity
If traditional sensors are used in varying lighting conditions, then the device complexity remains low, but the reliability of obstacle detection deteriorates
Solution Approach 1:
The structured light camera acts as an intermediary that projects its own light pattern onto obstacles, creating an active illumination system that is independent of ambient lighting conditions. This mediator (structured light) enables reliable obstacle detection in varying lighting environments without significantly increasing system complexity, as the structured light pattern provides a consistent reference for detection.
3Ease of manufacture
If a single sensor type is used, then the ease of manufacture is improved, but the ability to detect reflective and shiny objects deteriorates
Solution Approach 1:
The patent merges structured light camera technology with traditional ultrasound sensing to create a detection system that effectively identifies reflective objects. The structured light component specifically addresses the challenge of detecting shiny surfaces by projecting patterns that reflect off these surfaces in detectable ways, while ultrasound provides complementary detection. This combination maintains relative manufacturing simplicity while dramatically improving reflective object detection precision.
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
Enhances the ability of mobile automation apparatuses to reliably detect and avoid obstacles, including shopping carts, by combining structured light and ultrasound sensors, improving navigation and safety in retail environments with varying lighting conditions.
Implementation Method 1
a structured light camera positioned on the mast, the structured light camera configured to detect at least a top of a shopping cart
Implementation Method 2
ultrasound arrays for secondary detection
Data Source
AI summary
Obstacle detection for a mobile automation apparatus is provided. The mobile automation apparatus includes a structured light camera positioned on a support structure to detect at least a top of a shopping cart in a region adjacent to the mobile automation apparatus. The mobile automation apparatus can include other structured light cameras. Furthermore, one or more ultrasound arrays are used as secondary obstacle detector such that when the one or more ultrasound arrays detect an object, and at least one structured light camera simultaneously does not detect the object, an obstacle avoidance protocol is implemented.