Self-moving device and distance measuring method thereof
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Solution Overview
Problem
Self-moving devices, such as sweepers, cannot detect distance information of obstacles with low reflectivity, leading to collisions due to their single structured distance measuring sensors that are ineffective for low reflectivity obstacles, affecting user experience and being costly for high accuracy laser sensors.
Innovation Solution
A self-moving device equipped with at least two optical emitting devices emitting light at different paths and an optical receiving device, where the emitted light forms included angles greater than 0° with the center line, allowing for increased light intensity through superimposed specular and diffuse reflections, effectively detecting obstacles with low reflectivity.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a single optical emitting device is used, then the device structure is simple, but obstacles with low reflectivity cannot be detected
Solution Approach 1:
The optical emitting device is divided into multiple sub-emitting devices (first optical emitting device and second optical emitting device), each emitting light along different paths. This segmentation allows the system to detect both specular reflection and diffuse reflection from obstacles, improving detection reliability for low-reflectivity obstacles while maintaining a relatively simple overall structure.
2Measurement precision
If high accuracy laser sensors are used, then distance measuring accuracy is improved, but cost increases and popularization becomes difficult
Solution Approach 1:
The patent changes the emission parameters (paths and directions) of the optical emitting devices rather than using high-accuracy laser sensors. By adjusting the light emission paths and receiving angles, the system achieves effective obstacle detection using conventional, cost-effective sensors, making the technology easier to manufacture and popularize.
3Illumination intensity
If emitted light forms an included angle greater than 0° with the center line, then received light intensity increases through superimposed reflections, but the optical path becomes more complex
Solution Approach 1:
The patent employs asymmetric optical path arrangement where the first and second optical emitting devices emit light at different included angles greater than 0° relative to the center line of the optical receiving device. This asymmetric configuration enables the light to undergo both specular and diffuse reflections that superimpose at the receiver, increasing received light intensity while maintaining a manageable optical path structure.
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
The solution enables effective detection and detouring of obstacles with low reflectivity by increasing received light intensity, reducing inconsistent feedback and ensuring consistent detour distances, thereby enhancing user experience and reducing collision risks.
Implementation Method 1
The emitted light is superimposed by specular reflection and diffuse reflection, thereby increasing the received light intensity
Implementation Method 2
The emitted light is superimposed by specular reflection and diffuse reflection, thereby increasing the received light intensity
Data Source
AI summary
A self-moving device includes a body, a walking assembly arranged on the body, and a control system arranged in the body. The self-moving device further includes an optical receiving device and at least two optical emitting devices arranged on the body. Paths of emitted light emitted by the at least two optical emitting devices are different. The optical receiving device is adapted to receive a reflected light formed after the emitted light emitted by at least one of the optical emitting devices hits an obstacle. A distance measuring method of the self-moving device is also disclosed.