Three-dimensional scanning using fixed planar distance sensors
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Solution Overview
Problem
Autonomous vehicles face challenges in navigating environments with horizontally-extending protrusions, such as shelves, due to the limitations of traditional planar distance sensors that are parallel to the floor, which fail to accurately detect the extent of these protrusions, potentially leading to collisions.
Innovation Solution
The implementation of a fixed planar distance sensor mounted at a non-parallel angle to the floor on an autonomous vehicle, allowing the sensor's field to impinge on both the bottom surfaces and ends of protrusions, enabling the vehicle to generate a three-dimensional scan of the environment as it moves across the floor.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a planar distance sensor is mounted parallel to the floor, then the sensor can detect objects in front of the vehicle, but it fails to accurately detect horizontally-extending protrusions such as shelves
Solution Approach 1:
The patent applies dimensionality change by mounting the planar distance sensor at an angle non-parallel to the floor, transitioning from a conventional horizontal mounting configuration to an inclined orientation. This angular adjustment allows the sensor's field of regard to intersect with horizontally-extending protrusions, enabling accurate detection of shelves and similar structures that extend parallel to the floor. The inclined mounting creates a geometric relationship where the sensor can measure distances to protrusions that would otherwise be undetectable by a floor-parallel sensor.
2Measurement precision
If the sensor field is angled to detect protrusions, then detection accuracy improves, but the sensor cannot detect objects on the floor behind the vehicle
Solution Approach 1:
The patent applies segmentation by dividing the detection task into multiple segments handled by different sensors. Specifically, it uses a first planar distance sensor angled to detect protrusions in one direction, and a second planar distance sensor angled to detect protrusions in another direction. This segmentation of the detection field allows each sensor to specialize in detecting protrusions within its specific angular range, while collectively providing comprehensive coverage of the environment including areas that would otherwise be blind spots.
Solution Approach 2:
The patent applies universality by configuring multiple planar distance sensors with different angular orientations, where each sensor serves multiple detection purposes. The sensors are positioned and angled such that their fields of regard overlap and complement each other, allowing the system to detect both horizontally-extending protrusions and objects on the floor across different directions. This multi-functional sensor arrangement ensures comprehensive environmental awareness without requiring a single sensor to perform all detection tasks simultaneously.
Data Source
AI summary
A system is capable of three-dimensional scanning in an environment containing a protrusion that extends substantially parallel to a floor. The system includes an autonomous vehicle, a planar distance sensor, and a computing device. The autonomous vehicle is configured to be located on the floor and to move across the floor. The planar distance sensor is fixedly mounted to the autonomous vehicle. A field of the planar distance sensor is at a non-parallel angle with respect to the floor when the autonomous vehicle is on the floor. The field of the planar distance sensor impinges on a surface of the protrusion when the autonomous vehicle is on the floor. The computing device is located on the autonomous vehicle and configured to develop a three-dimensional scan of the protrusion as the autonomous vehicle moves across the floor.