Underfloor Laser Scanner Layout for 360° Vehicle Vicinity Monitoring

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Solution Overview

Problem

Existing industrial trucks with 360° all-round monitoring systems using laser scanners protrude from the vehicle frame, increasing its length and width, and fail to effectively monitor low-lying objects due to the arrangement of environmental sensor units.

Innovation Solution

The implementation of two laser scanner units positioned below the vehicle floor within the top view contour, with overlapping monitoring angles to achieve 360° coverage without extending the vehicle's dimensions, and a steerable rear wheel positioned between the scanners for protection and optimal monitoring.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If environmental sensor units (laser scanners) are arranged diagonally offset at the side corners of the vehicle outside the top-view contour, then 360° all-around monitoring is achieved, but the vehicle length and width are increased unfavorably

Engineering Contradiction:

Improve360° all-around monitoring capabilityVSAvoidvehicle top-view contour area

Core Design Contradiction:

ReliabilityVSArea of stationary object

Solution Approach 1:

The environmental sensor units (laser scanners) are arranged below the vehicle floor within the top-view contour of the vehicle floor, effectively nesting the monitoring system within the existing vehicle footprint. This eliminates the need for external mounting and avoids increasing the vehicle's length and width, while still achieving 360° all-around monitoring through strategic positioning and overlapping monitoring angles.

Inventive Principle:

Principle #7Nested doll (Nesting)

2Reliability

If environmental sensor units are mounted prominently on the AGV, then monitoring coverage is maximized, but the vehicle dimensions are extended

Engineering Contradiction:

Improveenvironmental monitoring coverageVSAvoidvehicle length

Core Design Contradiction:

ReliabilityVSLength of moving object

Solution Approach 1:

The sensor units are positioned in the vertical dimension below the vehicle floor rather than extending horizontally outside the vehicle contour. This dimensional transition allows the sensors to achieve 360° horizontal monitoring coverage without increasing the vehicle's length and width, effectively using the vertical space to solve the horizontal space constraint.

Inventive Principle:

Principle #17Another dimension (Dimensionality change)

3Device complexity

If only two environmental sensor units are used below the vehicle floor, then device complexity is reduced, but monitoring gaps or shadows may occur

Engineering Contradiction:

Improvenumber of environmental sensor unitsVSAvoidcontinuous monitoring coverage

Core Design Contradiction:

Device complexityVSReliability

Solution Approach 1:

The monitoring coverage of two sensor units is merged through overlapping angle ranges to create a continuous 360° monitoring zone. The overlap ensures that gaps or shadows in one sensor's coverage are compensated by the other sensor, achieving complete monitoring coverage with minimal sensor units and reduced system complexity.

Inventive Principle:

Principle #5Merging (Combining)

4Area of stationary object

If environmental sensor units are positioned below the vehicle floor within the top-view contour, then vehicle footprint is reduced, but sensor protection during ramp transitions may be compromised

Engineering Contradiction:

Improvevehicle top-view contour areaVSAvoidsensor protection during ramp transitions

Core Design Contradiction:

Area of stationary objectVSReliability

Solution Approach 1:

The sensor units are positioned in the local area below the vehicle floor near the third wheel, creating a protected zone for the sensors. This localized positioning leverages the structural protection provided by the vehicle floor and the proximity to the wheel assembly, protecting the sensors during ramp transitions while maintaining compact vehicle dimensions.

Inventive Principle:

Principle #3Local quality

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

Enables complete 360° all-round monitoring with reduced vehicle footprint, effective detection of low-lying objects, and enhanced protection of sensors during ramp transitions, ensuring safe operation by preventing collisions and triggering appropriate responses.

Implementation Method 1

environmental monitoring device with several environment sensor units, in particular laser scanners

Methodology Applied

Scientific EffectLaser: Laser

Implementation Method 2

each of which has a continuous monitoring angle range in a horizontal plane

Methodology Applied

Scientific EffectTime of flight: Time of Flight

Data Source

PatentEP3792720B1Vehicle with device for monitoring the vicinity

Publication Date: 2022.02.23 JUNGHEINRICH AG

Figure 1

AI summary

The invention relates to a vehicle comprising a vehicle floor, three vehicle wheels (3, 4, 7) and an environmental monitoring device with several environmental sensor units (10, 12), in particular laser scanners, each of which has a continuous monitoring angle range (II, II-II) in a horizontal plane below the vehicle floor, wherein the environmental monitoring device comprises two environmental sensor units (10, 12) which are arranged below the vehicle floor within the top-view contour (1) of the vehicle such that their monitoring angle ranges (II, II-II) partially overlap and define a common horizontal scan area in which gaps orShadows (14, 18) in the monitoring angle range of one respective environment sensor unit within the top-view contour of the vehicle are detected by the monitoring angle range of the other environment sensor unit, so that the environment monitoring device provides 360° all-round monitoring around the vehicle.