Anti-collision detection method for sweeping robots

The patent combines multiple sensors (accelerometer, gyroscope, ultrasonic sensor, infrared sensor) into an integrated sensing system. The accelerometer detects collision forces along X, Y, Z axes, the gyroscope measures angular velocity for rotation detection, and the ultrasonic/infrared sensors provide preliminary obstacle detection. This multi-sensor fusion approach resolves the contradiction by achieving both high precision through multiple measurement dimensions and high reliability through cross-validation of sensor data.

The patent introduces an intermediary processing system that collects data from multiple sensors and applies fusion algorithms to determine actual collision states. This intermediary layer processes raw sensor signals, filters false positives, and generates reliable collision detection results by comparing data from different sensor types, thereby resolving the precision-reliability contradiction.

The patent implements a multi-functional sensor system where the accelerometer serves multiple purposes: detecting linear collisions, determining robot orientation, and measuring vibration patterns. The gyroscope similarly provides both rotation detection and orientation information. The ultrasonic and infrared sensors work together for both preliminary obstacle detection and collision verification. This multi-functionality achieves high adaptability without proportionally increasing complexity.

The patent segments the detection system into specialized sensor modules, each optimized for specific detection tasks. The accelerometer handles force detection along three axes, the gyroscope handles rotational motion, and the ultrasonic/infrared sensors handle distance measurement. This segmentation allows each component to remain relatively simple while the integrated system achieves high versatility across different detection scenarios.

The patent merges data from multiple sensor types to achieve high detection accuracy. The accelerometer provides precise force measurement with multiple axis detection, the gyroscope adds rotational context, and the ultrasonic/infrared sensors provide spatial information. By fusing these complementary data sources, the system achieves superior accuracy that would be impossible with a single sensor type, while the modular architecture keeps complexity manageable.

The patent changes the parameters measured by the sensing system from single-dimensional collision detection to multi-dimensional measurement including force magnitude, direction, rotation angle, and spatial position. The accelerometer measures acceleration along X, Y, Z axes providing three-dimensional force information. This parameter expansion dramatically improves detection accuracy while the systematic approach to data fusion prevents exponential complexity increase.