Overlapping ToF Sensor Layout for Robot Localization
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Solution Overview
Problem
Existing robotic navigation systems face challenges with high cost and complexity due to the use of multiple image sensors for mapping and localization, which increase manufacturing costs and computational load.
Innovation Solution
A robotic device equipped with a plurality of time of flight (ToF) sensors angled to form overlapping fields of view, allowing for redundant detection regions to identify and track objects with high confidence, reducing the need for image sensors and simplifying data processing.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If multiple image sensors are used for navigation and localization, then measurement precision and environmental coverage are improved, but device complexity and manufacturing cost increase
Solution Approach 1:
The patent combines multiple ToF sensors with overlapping fields of view into a unified sensor arrangement that functions as an integrated navigation system. This merging approach achieves comprehensive environmental coverage and accurate localization without the complexity of multiple independent image sensor systems, as the ToF sensors process distance measurements collectively to determine robot position and orientation.
Solution Approach 2:
The patent replaces image sensors (optical systems requiring complex processing) with time of flight sensors (distance measurement systems). This substitution simplifies the overall system by using direct distance measurements from multiple ToF sensors to achieve localization and mapping, avoiding the need for complex image capture, processing, and analysis required by image sensor-based SLAM systems.
2Reliability
If multiple image sensors are deployed for 360-degree coverage, then navigation reliability is improved, but computational load and processing requirements increase
Solution Approach 1:
The patent substitutes image-based computational processing with ToF sensor-based distance measurement processing. Multiple ToF sensors provide redundant distance data that is computationally simpler to process than multiple simultaneous image streams. The system achieves navigation reliability through redundant distance measurements from overlapping sensor fields rather than through complex image recognition and feature matching algorithms.
3Manufacturing precision
If image sensors are used for SLAM algorithms, then mapping precision is improved, but manufacturing cost and hardware resources increase
Solution Approach 1:
The patent replaces expensive image sensor hardware with more cost-effective time of flight sensors. The ToF sensors capture distance measurements that are sufficient for SLAM algorithms to generate accurate environmental maps. This substitution reduces manufacturing costs while maintaining mapping precision, as the distance data from multiple ToF sensors provides the necessary information for 3D reconstruction and mapping without requiring complex image sensor arrays.
Solution Approach 2:
The patent employs ToF sensors that are generally more cost-effective than image sensors for this specific application. By using multiple relatively inexpensive ToF sensors with overlapping fields of view, the system achieves the necessary mapping and localization functionality at a lower manufacturing cost compared to deploying multiple high-resolution image sensors required for equivalent performance.
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 ToF sensor arrangement significantly reduces cost and complexity while providing accurate environmental mapping and localization, enhancing navigation capabilities with reduced computational load.
Implementation Method 1
a sensor arrangement for use in robotic devices such as robotic surface cleaning device that utilizes time of flight sensors (ToF) for navigation and localization
Data Source
Figure 1~2A
Figure 2B~2C
Figure 3
AI summary
In general, the present disclosure is directed to a time of flight (ToF) sensor arrangement that may be utilized by a robot (e.g., a robot vacuum) to identify and detect objects in a surrounding environment for mapping and localization purposes. In an embodiment, a robot is disclosed that includes a plurality of ToF sensors disposed about a housing of the robot. Two or more ToF sensors may be angled/aligned to establish overlapping field of views to form redundant detection regions around the robot. Objects that appear therein may then be detected by the robot and utilized to positively identify, e.g., with a high degree of confidence, the presence of the object. The identified objects may then be utilized as data points by the robot to build/update a map. The identified objects may also be utilized during pose routines that allow the robot to orient itself within the map.