Optic Flow Motion Sensing Across Changing Floor Materials
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Solution Overview
Problem
Existing methods for determining motion parameters of autonomous mobile devices using optic flow sensors are inaccurate due to changes in floor material, leading to significant errors in velocity and displacement measurements when the device moves from hard to soft floors or vice versa.
Innovation Solution
The method involves detecting the current chassis-floor distance using an anti-fall sensor, determining a correction coefficient based on this distance, and adjusting the optic flow sensor's output with a calibration coefficient to improve accuracy. Additionally, the optic flow sensor's position can be adjusted to maintain a constant distance from the floor, ensuring precise motion parameter computation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If the autonomous mobile device uses a fixed optic flow sensor installation position, then the device structure is simple, but the motion parameter measurement accuracy deteriorates when floor material changes
Solution Approach 1:
The patent applies the dynamics principle by making the optic flow sensor's position adjustable rather than fixed. The sensor can be extended or retracted to maintain a constant distance from the floor surface regardless of floor material softness. This dynamic adjustment resolves the contradiction by allowing simple fixed installation structures while achieving accurate measurements through active position control.
Solution Approach 2:
The patent changes the operational parameter of the optic flow sensor's distance from the floor. By adjusting this parameter (distance) based on floor material detection, the system maintains measurement accuracy across different floor types. The correction coefficient method also changes the computational parameter to compensate for distance variations, resolving the accuracy issue without complex hardware.
2Adaptability or versatility
If the autonomous mobile device moves on floors with varying materials, then the device can operate in diverse environments, but the motion parameter computation accuracy deteriorates
Solution Approach 1:
The patent implements feedback by continuously monitoring the distance between the optic flow sensor and the floor surface, then using this feedback to adjust the sensor position or apply correction coefficients to the motion parameter calculations. This closed-loop control maintains accuracy across diverse floor materials while preserving environmental adaptability.
Solution Approach 2:
The patent introduces an intermediary element (correction coefficient or distance adjustment mechanism) that mediates between the varying floor conditions and the motion parameter computation. This intermediary compensates for the effect of different floor materials, allowing the device to operate accurately on both hard and soft surfaces without sacrificing versatility.
3Device complexity
If the optic flow sensor distance from the floor is not maintained constant, then the device structure is simple, but the motion parameter calculation accuracy deteriorates
Solution Approach 1:
The patent replaces complex mechanical position control systems with computational methods. Instead of using sophisticated mechanical mechanisms to maintain constant sensor-to-floor distance, the system uses correction coefficients calculated from detected distance variations to compensate for positioning errors computationally. This substitution maintains accuracy while minimizing mechanical complexity.
Data Source
AI summary
The present disclosure provides a method and a device for determining a motion parameter of an autonomous mobile device. The method includes: an anti-fall sensor detects a current chassis-floor distance between a chassis of the autonomous mobile device and a current floor, and transmits the current chassis-floor distance to a processor; the processor determines a correction coefficient corresponding to the current chassis-floor distance; the processor obtains an output of an optic flow sensor; the processor determines the motion parameter corresponding to the current chassis-floor distance based on a correction coefficient, a calibration coefficient, and the output of the optic flow sensor, which increases the accuracy of the motion parameter obtained through computation.