Distance Sensor Error Detection for Foreign Substance Jamming
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Solution Overview
Problem
Mobile robots face issues in recognizing cliff environments, leading to potential damage or malfunction due to incorrect detection of obstacles, caused by foreign substances jamming or blocking the distance measurement sensor, or short circuits within the sensor system.
Innovation Solution
A distance measurement sensor system that analyzes the degree of dispersion and representative values of data over time to classify sensor states as normal or abnormal, using a pin interface with resistors to detect short circuits and differentiate between foreign substances in sensing and non-sensing areas, enabling quick identification of sensor malfunctions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the robot uses a distance measurement sensor to recognize cliff environments, then the robot can avoid falling from cliffs, but the sensor may be jammed or blocked by foreign substances causing incorrect detection
Solution Approach 1:
The system performs preliminary detection by analyzing the temporal characteristics of sensor data before making cliff recognition decisions. By examining whether data changes exceed predetermined thresholds within specific time periods, the system can identify and filter out abnormal readings caused by foreign substances before they lead to incorrect cliff detection
Solution Approach 2:
The system continuously monitors sensor data and provides feedback by comparing current readings with historical data and predetermined thresholds. When abnormal patterns are detected (such as data that doesn't change despite movement or exceeds threshold deviations), the system adjusts its cliff recognition logic to account for potential foreign substance interference
2Reliability
If the robot recognizes non-cliff environments as cliffs to avoid falling, then the robot can prevent damage, but the robot cannot perform normal operations
Solution Approach 1:
Before the robot makes a cliff avoidance decision, the system performs preliminary validation by analyzing whether sensor data changes are within expected ranges. By checking if data variations exceed predetermined thresholds over time, the system can distinguish between actual cliffs and false positives caused by foreign substances, ensuring normal operations continue when safe
Solution Approach 2:
The system continuously monitors sensor data and provides feedback to the control unit. When data changes are within normal thresholds, the system confirms safe operation. When deviations exceed thresholds, the system triggers cliff avoidance mode, creating a feedback loop that balances safety with operational efficiency
3Measurement precision
If the sensor data is analyzed in real-time to detect foreign substances, then the abnormal state can be identified, but the detection process becomes more complex
Solution Approach 1:
The system simplifies complex sensor data analysis by transforming it into parameter comparisons against predetermined thresholds. Instead of analyzing raw data complexity, the system changes the parameter to be analyzed (whether data changes exceed a threshold within a time period), making detection accurate but computationally simple
Solution Approach 2:
The patent applies a filtering approach analogous to porous materials, where predetermined thresholds act as filters to separate normal data variations from abnormal patterns. This filtering mechanism simplifies the detection process by allowing only significant changes to pass through to the decision-making logic
4Speed
If the robot frequently checks sensor data to detect abnormalities, then the detection speed increases, but the energy consumption increases
Solution Approach 1:
The system uses periodic action by checking sensor data at predetermined time intervals rather than continuously. The controller determines whether data changes exceed thresholds within specific time periods, creating a rhythmic detection pattern that maintains fast abnormal state detection while significantly reducing energy consumption compared to continuous monitoring
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
Effectively detects abnormal states caused by foreign substances or short circuits, preventing incorrect obstacle detection and ensuring safe operation of mobile robots by outputting error messages when anomalies are detected.
Implementation Method 1
a light receiver which receives light reflected from the target and outputs an electrical signal with a magnitude which varies in accordance with an intensity of the received light
Implementation Method 2
a light receiver which receives light reflected from the target and outputs an electrical signal with a magnitude which varies in accordance with an intensity of the received light
Data Source
Figure 1~2B
Figure 2C~3
Figure 4~5
AI summary
The exemplary embodiments of the present disclosure provides a distance measurement sensor and a mobile robot which detect an abnormal state which is a foreign substance jamming or blocking state generated in a non-sensing area and a sensing area of the sensor by analyzing a degree of dispersion or a representative value of data varying during a detection time, to recognize an abnormal state of the sensor caused by the foreign substance in the outside or inside of the distance measurement sensor.