Self-moving device
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Solution Overview
Problem
Existing self-moving devices face challenges in accurately determining when to perform obstacle avoidance during cleaning, leading to either missed spots or collisions with objects.
Innovation Solution
The self-moving device is equipped with a first image acquisition apparatus that emits an infrared signal light and determines distance information, and a second image acquisition apparatus that receives visible light images to determine type information, with a controller managing behaviors based on this information.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a single image acquisition apparatus is used for obstacle detection, then the device complexity is reduced, but the measurement precision of distance and type information deteriorates
Solution Approach 1:
The patent divides the image acquisition function into two separate apparatuses: a first image acquisition apparatus for capturing distance information and a second image acquisition apparatus for capturing type information. This segmentation allows each apparatus to be optimized for its specific function, improving overall measurement precision while maintaining manageable system complexity.
Solution Approach 2:
The patent transitions from using a single imaging dimension to multiple imaging dimensions by employing different types of sensors (e.g., depth sensor for distance, color camera for type). This multi-dimensional approach enables simultaneous acquisition of both distance and type information with high precision.
2Reliability
If obstacle avoidance is performed for all detected objects, then collision prevention is improved, but cleaning productivity deteriorates due to missed spots
Solution Approach 1:
The patent applies different obstacle avoidance strategies based on the local characteristics of detected objects. By classifying objects into different types (e.g., static vs. dynamic, cleanable vs. non-cleanable), the system selectively applies avoidance behavior only where necessary, maintaining high reliability while preserving cleaning productivity in appropriate areas.
Solution Approach 2:
The patent changes the parameter of obstacle avoidance decision-making from a binary approach (avoid or not) to a multi-parameter approach that considers both distance information and type information. This enables nuanced decision-making that balances collision prevention with cleaning efficiency based on the specific characteristics of each detected object.
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 self-moving device to accurately avoid obstacles by determining the distance and type of objects, thereby preventing collisions and ensuring thorough cleaning.
Implementation Method 1
an emission component for emitting an infrared signal light
Implementation Method 2
a first sensor for receiving a first image formed by reflection of the infrared signal light through a target object
Implementation Method 3
a second sensor, and the second sensor receives a second image formed by reflection of visible light through the target object
Data Source
AI summary
The present disclosure relates to a self-moving device. The self-moving device, including a first image acquisition apparatus, a second image acquisition apparatus, and a controller. The first image acquisition apparatus comprises an emitting assembly configured to emit infrared signal light and a first sensor configured to receive a first image formed by reflection of the infrared signal light through a target object, and distance information of the target object is determined on the basis of the first image; the second image acquisition apparatus comprises a second sensor, the second sensor receives a second image formed by reflection of visible light through the target object, and type information of the target object is determined on the basis of the second image; the controller controls the behavior of the self-moving device on the basis of at least one of the distance information and the type information.