1D ToF Sensor Layout With Non-Overlapping Coverage for Mobile Robots
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing robotic systems face inefficiencies in obstacle detection due to overlapping coverage regions from one-dimensional (1D) time-of-flight (ToF) sensors, leading to the need for additional sensors and increased costs, while maintaining a guaranteed level of precision.
Innovation Solution
The arrangement of 1D ToF sensors on a mobile robotic device with fixed positions and orientations ensures non-overlapping cones of coverage, minimizing the number of sensors required and creating predictable negative lanes, allowing for efficient obstacle detection and navigation without redundant coverage areas.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If 1D ToF sensors are arranged with overlapping coverage regions, then obstacle detection coverage is improved, but the number of sensors required increases and costs increase
Solution Approach 1:
The patent divides the obstacle detection task into multiple non-overlapping sectors, with each 1D ToF sensor responsible for a specific angular range. This segmentation eliminates redundant coverage while ensuring complete detection coverage through strategic placement of sensors at specific angles and heights.
Solution Approach 2:
The patent transitions from a two-dimensional planar sensor arrangement to a three-dimensional configuration by mounting sensors at different heights and angles. This dimensional change allows sensors to cover different spatial zones without overlapping, reducing the total number of sensors needed while maintaining comprehensive detection coverage.
2Measurement precision
If more 1D ToF sensors are deployed to ensure precise obstacle detection, then detection precision is improved, but device complexity and cost increase
Solution Approach 1:
The patent assigns different detection responsibilities to sensors based on their specific positions and orientations. Each sensor is optimized for its local detection zone, with sensors at different heights and angles tailored to detect obstacles in their respective spatial regions, achieving high precision without requiring uniform high-capacity sensors throughout.
Solution Approach 2:
The patent varies key parameters including sensor height, angular orientation, and detection range to optimize the sensor configuration. By changing these parameters strategically, the system achieves precise obstacle detection with fewer sensors, reducing overall system complexity while maintaining detection accuracy.
3Quantity of substance
If 1D ToF sensors are positioned to minimize coverage overlap, then sensor quantity is reduced and cost decreases, but detection of small objects may be compromised
Solution Approach 1:
The patent performs preliminary analysis of the detection environment and object characteristics to determine optimal sensor placement. By pre-calculating the necessary coverage zones and sensor positions, the system ensures that even small objects within those zones are detectable, eliminating the need for redundant sensors while maintaining detection capability for small objects.
Solution Approach 2:
The patent replaces a dense mechanical array of sensors with a sparser configuration that uses strategic positioning and angular diversity. This substitution maintains detection precision for small objects by leveraging the geometric arrangement and detection algorithms rather than relying on sheer sensor quantity.
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
This configuration reduces the number of sensors needed, lowers costs, and ensures a predictable upper bound on the size of undetected objects, enhancing the robotic system's efficiency and precision in obstacle detection and navigation.
Implementation Method 1
An example mobile robotic device includes a plurality of one-dimensional (1D) time-of-flight (ToF) sensors for obstacle detection
Data Source
AI summary
A mobile robotic device is disclosed which includes a plurality of one-dimensional (1D) time-of-flight (ToF) sensors. Each 1D ToF sensor of the plurality of 1D ToF sensors may be mounted at a fixed position and orientation on the mobile robotic device. Each pair of 1D ToF sensors of the plurality of 1D ToF sensors may be fixed at respective positions and orientations relative to each other such that respective cones of coverage of the pair of 1D ToF sensors are non-overlapping.