Movable apparatus control method, apparatus, device, and medium
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Solution Overview
Problem
Movable apparatuses such as floor-cleaning robots and delivery robots frequently suffer from cliff-related accidents due to their movement inertia, which prevents timely braking and results in falling and damage despite being equipped with cliff sensors.
Innovation Solution
A method involving a light emitting unit and a light receiving unit positioned at the front end of the apparatus, where the emitting unit is higher than the receiving unit, monitors a light point cloud formed by the emitted light, and controls the apparatus to decelerate if the point cloud meets a preset condition, such as being missing, indicating a potential cliff.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If cliff sensors are equipped in movable apparatuses, then cliff detection capability is improved, but timely braking is not achieved due to movement inertia
Solution Approach 1:
The patent applies preliminary action by projecting light downward in advance to detect potential cliff edges before the movable apparatus reaches them. The light emitting unit projects light along the movement direction, and the light receiving unit detects reflected light to identify cliff edges ahead of time, enabling the apparatus to brake before reaching the edge and avoiding falls despite movement inertia.
Solution Approach 2:
The patent uses light as an intermediary to bridge the gap between the apparatus and the cliff edge detection. The light emitting unit and light receiving unit form an optical measurement system that indirectly detects cliff edges by measuring reflected light intensity, converting a physical geometry detection problem into an optical measurement problem that provides earlier warning.
2Measurement precision
If light emitting unit is positioned higher than light receiving unit, then cliff detection accuracy is improved, but device complexity increases
Solution Approach 1:
The patent applies asymmetry by positioning the light emitting unit and light receiving unit at different heights, with the emitting unit higher than the receiving unit. This asymmetric arrangement creates an optimal light projection and detection geometry for cliff detection, where light is projected downward at an angle that maximizes reflected light collection from potential cliff edges while minimizing false detections from the ground.
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
Prevents the apparatus from falling off cliffs by ensuring timely deceleration, thereby enhancing safety and preventing damage.
Implementation Method 1
a light point cloud formed by light emitted by the light emitting unit in a preset direction irradiates an obstacle
Data Source
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AI summary
A movable apparatus control method, an apparatus, a device, and a medium. A light emitting unit (1) and a light receiving unit (2) are provided at the front end of a movable apparatus, wherein the distance between the light emitting unit (1) and the bottom surface of the movable apparatus is greater than the distance between the light receiving unit (2) and the bottom surface. The control method comprises: in a traveling process of the movable apparatus, the light receiving unit (2) monitoring a light point cloud formed by light emitted by the light emitting unit (1), wherein the light point cloud is a point cloud formed when a light beam emitted by the light emitting unit (1) in a preset direction is irradiated onto an obstacle, and the preset direction is a downward direction pointing to a place ahead the movable apparatus (S201); and if the light point cloud meets a preset condition, controlling the movable apparatus to decelerate, the preset condition comprising light point cloud missing (S202).