Automatic guiding method for self-propelled apparatus
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Solution Overview
Problem
Existing self-propelled apparatuses for automatic return to charging docks require multiple sensors, increasing complexity and cost, and existing solutions fail to simplify the guidance process effectively.
Innovation Solution
A method using only two sensors and a light-emitting unit on the self-propelled apparatus and the charging dock to guide the apparatus to the charging position through alternating signal lights, allowing it to turn and move within the irradiation range until it reaches the dock for charging.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If multiple types of sensors (ultrasonic, infrared, wireless network transceivers) are installed on the self-propelled apparatus for automatic return guidance, then the guidance capability is improved, but the device complexity and cost significantly increase
Solution Approach 1:
The patent extracts the positioning function from the self-propelled apparatus and relocates it to the charging dock. The dock emits infrared signals that serve as both positioning markers and guidance beacons, eliminating the need for multiple sensors on the moving apparatus. Only simple infrared receiving tubes are needed on the apparatus, while the complex signal generation and processing is centralized at the stationary dock.
Solution Approach 2:
The infrared emitting unit on the charging dock serves multiple functions simultaneously: it acts as a positioning marker to indicate the dock's location, a guidance beacon to guide the apparatus back, and a signal source for distance measurement. This multi-functionality replaces what would otherwise require separate ultrasonic, infrared, and wireless communication systems.
2Measurement precision
If various types of sensors are installed on each side of the self-propelled apparatus for automatic return, then the guidance accuracy is improved, but the cost significantly increases
Solution Approach 1:
The patent extracts the active sensing function from the self-propelled apparatus and places it at the charging dock. The dock uses infrared emitting units to create signal fields that provide both positioning information and guidance data. The apparatus only needs passive infrared receiving tubes, dramatically reducing component costs while maintaining guidance accuracy through the dock's centralized signal processing.
Solution Approach 2:
The patent replaces expensive, complex sensor assemblies with inexpensive infrared receiving tubes on the self-propelled apparatus. The complex and expensive components are concentrated in the charging dock infrastructure, which remains stationary and can use more robust, longer-lived components. The moving apparatus uses simpler, cheaper components that are easier to replace if needed.
3Reliability
If multiple types of sensors are used for long-distance and short-distance guidance, then the guidance reliability is improved, but the guidance procedure becomes very complex
Solution Approach 1:
The patent segments the guidance function into two distinct phases handled by different mechanisms: long-distance guidance uses infrared signal detection and directional turning, while short-distance guidance uses wall-following behavior. This segmentation simplifies the control logic compared to trying to use multiple sensor types simultaneously for all distance ranges, as each phase has a dedicated, simple control strategy.
Solution Approach 2:
Instead of having the self-propelled apparatus actively scan for the dock using multiple sensors, the patent inverts the approach by having the charging dock actively emit infrared signals that passively guide the apparatus. The apparatus doesn't need to search for the dock; it simply follows the infrared signal gradient, reversing the traditional active-sensing model and greatly simplifying the guidance procedure.
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 approach simplifies the guidance process and reduces sensor requirements, enabling accurate and cost-effective automatic return to the charging position without the need for complex sensor installations.
Implementation Method 1
sensing a signal light embedding a first signal emitted by a light-emitting unit installed at a position corresponding to the charging position
Implementation Method 2
sensing unit installed beside the light-emitting unit of the charging dock is triggered by irradiation of the light emitter
Data Source
AI summary
An automatic guiding method for a self-propelled apparatus (10) is provided. The self-propelled apparatus (10) turns and irradiates when a signal light emitted by a charging dock (20) is sensed by a flank sensor (103), and changes its turn direction when another different signal light from the charging dock (20) is sensed by a forward sensor (102). The charging dock (20) switches to emit another signal light different from the signal light currently emitted when each time is triggered by the signal light emitted by the self-propelled apparatus (10). Repeatedly execute the above actions and make the self-propelled apparatus approach the light-emitting unit (202) until the self-propelled apparatus (10) reaches a charging position. It can accurately guide the self-propelled apparatus (10) to the charging position by arranging only two sensors on the self-propelled apparatus.