Rotatable Optical Obstacle Detection for Self-Propelled Floor Cleaners
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Solution Overview
Problem
Existing automatically movable devices, such as floor dust collectors, face challenges in effectively detecting obstacles and navigating within a room due to limitations in their obstacle detection systems, particularly in covering a wide peripheral area and reacting to objects and room boundaries.
Innovation Solution
The use of rotatable optical measurement methods like phase correlation, time-of-flight measurement, or heterodyne methods for the transmitter and receiver units, where the central beam intersects or coincides with the axis of rotation, enabling detection ranges of over 20 cm and allowing for early reaction to obstacles and improved room orientation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Area of stationary object
If the transmitter and receiver units are made stationary, then the device structure is simple, but the detection range and ability to cover wide peripheral area is limited
Solution Approach 1:
The patent applies the dynamics principle by making the transmitter and receiver units rotatable about a vertical axis instead of stationary. This allows the optical measurement system to scan a wide peripheral area (180° to 270° or more) and achieve all-round detection coverage, directly resolving the contradiction between detection coverage area and structural simplicity.
2Measurement precision
If the central beam is offset from the axis of rotation, then the beam can cover a wider area, but the detection precision and accuracy are reduced
Solution Approach 1:
The patent applies asymmetry in the optical path design where the central beam is deliberately offset from the rotation axis in the transmitting unit, while in the receiving unit the central beam coincides with the rotation axis. This asymmetric arrangement allows the beam to sweep across a wide area during rotation while maintaining precise measurement capability when the beam returns to the central position.
Solution Approach 2:
The patent resolves the contradiction by introducing temporal dimension through rotation. The beam path is arranged so that during rotation, the central beam passes through different positions relative to the rotation axis, creating a sweeping detection pattern that covers wide area while maintaining measurement precision at key positions in the rotation cycle.
3Length of stationary object
If optical measurement methods are used, then the detection range is extended beyond 20 cm, but the device is more susceptible to electromagnetic interference
Solution Approach 1:
The patent applies parameter changes by using different optical measurement methods (phase correlation, time-of-flight, or heterodyne methods) that operate at different wavelengths and modulation frequencies. This allows optimization of the detection system to achieve ranges beyond 20 cm while selecting parameters that are less susceptible to specific electromagnetic interference sources in the operating environment.
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 solution enables the device to detect obstacles and room boundaries at greater distances, facilitating early reaction and improved navigation within a room, with the optical measurement methods providing accurate distance measurements and reducing interference from electromagnetic sources.
Implementation Method 1
the transmitter and receiver units are based on one of the optical measurement methods phase correlation, time-of-flight measurement or heterodyne method
Implementation Method 2
the transmitter and receiver units are based on one of the optical measurement methods phase correlation, time-of-flight measurement or heterodyne method
Implementation Method 3
the transmitter and receiver units are based on one of the optical measurement methods phase correlation, time-of-flight measurement or heterodyne method
Data Source
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Figure 3
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AI summary
The invention relates to an automatically movable device, in particular an automatically movable floor dust collecting device (1), with electrically driven wheels (3), a device housing and preferably a dust collection container, the device (1) being provided with an obstacle detection system (10) which consists of optical transmitter and receiver units (11, 12) and wherein elements are provided for beam deflection, with at least some of the transmitter and receiver units (11, 12) being arranged so as to be rotatable by 180° or more for all-round detection. In order to improve the obstacle detection of an automatically moving device of the type in question, it is proposed that the transmitter and receiver units (11, 12) be based on one of the optical measuring methods phase correlation, light propagation time measurement or heterodyne method.