Speaker-Microphone Layout for Echolocation Robot Navigation
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Solution Overview
Problem
Conventional autonomous traveling vehicles relying on Simultaneous Localization And Mapping (SLAM) with cameras or laser sensors face challenges in navigating complex environments without imaging devices, particularly when obstacles obstruct the line-of-sight, leading to inaccurate direction detection and difficulty in escaping intricate spaces.
Innovation Solution
The autonomous moving apparatus utilizes a combination of radio wave reception and echolocation using a speaker and microphones to estimate the direction of a target object while avoiding obstacles, employing a control unit to adjust movement paths based on acoustic wave reflections and radio wave intensity, without requiring imaging devices like cameras or LiDAR.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If SLAM with cameras or laser sensors is used for autonomous navigation, then the vehicle can estimate position and generate travel paths, but the system fails when obstacles obstruct the line-of-sight, leading to inaccurate direction detection
Solution Approach 1:
The patent introduces acoustic waves as an intermediary medium for navigation. Instead of relying on line-of-sight optical sensors (cameras/LiDAR) that fail when blocked, the system uses sound waves that can diffract around obstacles and reach the receiver through indirect paths, providing reliable direction detection even when the direct line-of-sight is obstructed
Solution Approach 2:
The patent replaces the optical sensing system (cameras and laser sensors) with an acoustic sensing system. This substitution allows the navigation system to function in environments where optical methods fail, as acoustic waves can penetrate and diffract around obstacles that block light, thereby improving reliability without sacrificing measurement precision
2Adaptability or versatility
If imaging devices like cameras or LiDAR are used for obstacle detection, then the system can detect obstacles in open spaces, but the system cannot effectively escape from intricate spaces with multiple obstacles blocking the line-of-sight
Solution Approach 1:
The patent implements dynamic navigation by continuously analyzing acoustic wave patterns from multiple directions and adjusting the travel path in real-time. The system can adapt its movement strategy based on the acoustic environment, dynamically selecting paths that avoid obstacles while maintaining progress toward the destination, enabling effective navigation through intricate spaces
Solution Approach 2:
The acoustic sensing system provides universal navigation capability across diverse environments. The same acoustic-based direction detection mechanism works effectively in both open spaces and intricate corridors, eliminating the need for different sensing systems for different environmental conditions and improving overall ease of operation
3Measurement precision
If acoustic waves are used for echolocation, then the system can detect obstacles through sound reflections, but the sound waves may be reflected by irregularities on the ground, reducing measurement accuracy
Solution Approach 1:
The patent transitions from two-dimensional ground-based acoustic reflection to three-dimensional airborne acoustic wave propagation. By directing sound waves upward into the air space and detecting reflections from obstacles in the air path, the system avoids ground irregularities that cause harmful reflections, thereby maintaining high measurement precision while eliminating ground-related interference
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
Enables the autonomous moving apparatus to navigate through complex environments by selecting paths less affected by obstacles, ensuring accurate direction estimation and obstacle avoidance, even when line-of-sight is blocked, using echolocation and radio wave guidance.
Implementation Method 1
a speaker 41 which is attached to the vehicle body 190 and transmits an acoustic wave forward
Implementation Method 2
two microphones 51L and 51R which are attached to the vehicle body 190 and receive reflected acoustic waves
Implementation Method 3
employing a control unit to adjust movement paths based on acoustic wave reflections
Implementation Method 4
The autonomous moving apparatus utilizes a combination of radio wave reception and echolocation using a speaker and microphones to estimate the direction of a target object
Data Source
AI summary
An autonomous moving apparatus includes: a first speaker that is attached to the vehicle body and transmits an acoustic wave toward an area including a front direction of the vehicle body; a first microphone and a second microphone that is attached to the vehicle body, receives an acoustic wave reflected by an object. When viewed from a vertical direction, the first speaker, the first microphone, and the second microphone are located on an outside or an outer periphery of the vehicle body. The first speaker is interposed between the first microphone and the second microphone in a left-right direction perpendicular to the front direction. Distances from the first speaker or a center of gravity of a plurality of speakers including the first speaker, to each of the first microphone and the second microphone in the left-right direction are equal.