Ground medium detection method and apparatus and cleaning device
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Solution Overview
Problem
Existing cleaning devices, such as sweeping robots, inefficiently explore the contour of substances on the ground by rotating in place to adjust exploration direction, leading to decreased efficiency.
Innovation Solution
The cleaning device alternates between inner and outer boundary exploration modes, detecting substance boundary points in predetermined directions to collect a comprehensive set of points, and determines the contour based on these points, reducing in-situ rotation and improving efficiency.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If ground medium is not detected before seed injection, then the seeding process continues without interruption, but seeds may be injected into water bodies causing waste and environmental harm
Solution Approach 1:
The patent introduces an acoustic signal as an intermediary to detect ground medium characteristics. The acoustic signal propagates through different media (air, soil, water) with distinct acoustic impedances, allowing the system to identify water bodies without direct contact or complex visual systems. This intermediary approach enables reliable water detection while maintaining relatively simple device structure.
Solution Approach 2:
The patent replaces complex mechanical or visual detection systems with an acoustic-based detection method. Instead of using cameras, sensors, or mechanical probes to detect water, the system uses acoustic signal transmission and reflection characteristics, which simplifies the detection mechanism while improving reliability in identifying ground medium types.
2Measurement precision
If acoustic signal parameters are analyzed in detail, then ground medium detection precision improves, but processing time and computational complexity increase
Solution Approach 1:
The patent applies partial action by selecting only the most critical acoustic signal parameters for analysis, specifically acoustic impedance and signal reflection characteristics. Instead of analyzing all possible acoustic parameters, the system focuses on the key parameters that provide sufficient discrimination between different ground media, thereby reducing processing time while maintaining adequate detection precision.
Solution Approach 2:
The patent changes the parameter space by transforming raw acoustic signals into simplified feature parameters (acoustic impedance, reflection coefficient). This parameter transformation reduces the dimensionality and complexity of the data, enabling faster processing while preserving the essential information needed for accurate ground medium identification.
3Reliability
If cleaning device is added to clean nozzle, then nozzle clogging is prevented, but device complexity and maintenance requirements increase
Solution Approach 1:
The cleaning device is designed to be self-activating through the seeding system's own operations. The high-pressure fluid used in seed injection automatically activates the cleaning mechanism, and the system uses its own fluid supply to perform cleaning functions. This self-service approach prevents nozzle clogging without requiring external power sources or complex control systems.
Solution Approach 2:
The patent merges the cleaning function with the existing seed injection system by integrating the cleaning device into the nozzle assembly. The cleaning mechanism shares the same fluid supply and control infrastructure as the seeding operation, combining multiple functions into a single integrated system that reduces overall complexity while maintaining reliability.
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 method enhances the efficiency of exploring substance contours by minimizing unnecessary rotations and improving the accuracy and speed of contour detection.
Implementation Method 1
acoustic signal detection unit configured to detect acoustic signals
Implementation Method 2
determine, based on the acoustic signal parameters, whether a water body is present in the plot
Data Source
Figure 1(a)~2
Figure 3~4(f)
Figure 5(a)~6(b)
AI summary
A method and apparatus for exploring a substance contour on ground, and a cleaning device are provided. The method includes: triggering, in response to a cleaning device detecting a preset substance on ground, the cleaning device to altemately switch between an inner boundary exploration mode and an outer boundary exploration mode; controlling, in the inner boundary exploration mode and the outer boundary exploration mode, the cleaning device to detect a substance boundary point in a predetermined direction, to obtain a substance boundary point collection; and determining a contour of the preset substance based on the substance boundary point collection. By using the technical solution provided by the present disclosure, the efficiency of the cleaning device exploring the contour of the substance can be improved.