Autonomous Moving Object Sensor Abnormality Detection
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Solution Overview
Problem
Autonomous moving robots face challenges in accurately determining sensor abnormalities, which can lead to potential falls or drops due to undetected obstacles or stepped portions, as existing systems fail to reliably detect sensor malfunctions in real-time.
Innovation Solution
The implementation of at least one distance sensor to detect distances to specific positions on a road surface and a determination unit that calculates differential times between threshold-exceeding distance values to determine sensor abnormalities, allowing for precise identification of sensor issues and obstacles, with optional inclusion of a swing unit for enhanced detection and a control unit for adaptive movement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a single distance sensor is used to detect obstacles and level differences, then the device complexity is reduced, but the reliability of sensor abnormality detection deteriorates
Solution Approach 1:
The patent divides the detection function into multiple distance sensors positioned at different locations (first distance sensor for first position, second distance sensor for second position, third distance sensor for third position). Each sensor independently detects distance to the road surface, and the determination unit compares their outputs to identify abnormalities. This segmentation allows reliable abnormality detection while maintaining relatively simple individual sensor designs.
2Measurement precision
If multiple distance sensors are deployed at different positions, then the measurement precision of sensor abnormality detection is improved, but the device complexity increases
Solution Approach 1:
The determination unit continuously monitors the output signals from multiple distance sensors and compares them against expected relationships (e.g., if the road surface is flat, distance readings should follow predictable patterns). When discrepancies are detected, the system generates feedback to identify which sensor is abnormal. This feedback mechanism enables precise abnormality detection without requiring complex hardware modifications.
Solution Approach 2:
The system uses the collective data from multiple distance sensors to self-diagnose sensor abnormalities. The determination unit analyzes the consistency and relationships between sensor readings to automatically identify malfunctioning sensors without external intervention or complex additional components. The sensors themselves provide the data needed to evaluate their own health status.
3Reliability
If the autonomous moving object continuously monitors sensor data to detect abnormalities, then the reliability of operation is improved, but the loss of time for processing and analysis increases
Solution Approach 1:
The system pre-establishes the spatial relationships and expected output patterns between multiple distance sensors before operation. The determination unit has pre-programmed criteria for what constitutes normal versus abnormal sensor behavior based on the known geometry of sensor positions and road surface characteristics. This preliminary preparation enables rapid real-time comparison and abnormality identification without requiring complex runtime calculations.
Data Source
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AI summary
An autonomous moving object includes: at least one distance sensor configured to detect distances to first and second positions located in a moving direction of the autonomous moving object on a road surface; and a determination unit configured to calculate a difference between a differential time between a time when the distance value to the first position detected by the at least one distance sensor is greater than a first threshold value and a time when the distance value to the second position is greater than a second threshold value and a moving time in which the autonomous moving object moves between the first and second positions and to determine that the distance sensor is abnormal only when the calculated difference is equal to or greater than a predetermined value.