Time-Shared Obstacle Detection for Self-Moving Devices
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Solution Overview
Problem
Self-moving devices face challenges in accurately recognizing obstacles while moving autonomously, leading to potential collisions, which compromises user safety and operational efficiency.
Innovation Solution
The integration of non-contact obstacle detection modules on either side of the device, which transmit and receive detection signals in a time-sharing manner to determine the location of obstacles, allowing the device to adjust its path accordingly, thereby avoiding collisions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If non-contact obstacle detection modules are integrated to enable accurate obstacle recognition, then user safety and measurement precision are improved, but device complexity increases
Solution Approach 1:
The patent combines multiple detection modules (ultrasonic sensors, infrared sensors, or cameras) into an integrated non-contact obstacle detection system. These modules are arranged in specific spatial configurations (e.g., triangular arrangement with intersecting detection regions) and controlled by a single control unit that coordinates time-sharing operation. This merging approach achieves accurate 3D obstacle localization through data fusion while avoiding the complexity of completely separate detection systems.
Solution Approach 2:
The detection system is segmented into multiple independent detection modules that operate in a time-sharing manner. Each module has its own detection region and can be independently controlled to transmit and receive signals. The control unit segments the detection process into distinct time slots for different modules, allowing accurate obstacle detection through coordinated operation of segmented components without requiring all modules to operate simultaneously.
2Device complexity
If time-sharing operation is used for detection modules to transmit and receive signals, then device complexity is reduced, but detection precision may be compromised
Solution Approach 1:
The detection modules operate in periodic time-sharing cycles, where each module is activated in sequential time slots to transmit detection signals and receive reflected signals. The control unit implements periodic switching between different detection modules, ensuring that each module has dedicated time for signal transmission and reception. This periodic operation reduces control complexity compared to simultaneous multi-module operation while maintaining detection accuracy through proper timing coordination and signal synchronization.
Solution Approach 2:
The system incorporates feedback mechanisms where the control unit receives detection signals from each module, processes the reflected signal information, and adjusts the operation timing of subsequent modules based on detected obstacle positions. The feedback loop ensures that time-sharing operation does not compromise precision by dynamically optimizing detection timing and coordinating module activation based on real-time detection results.
3Measurement precision
If multiple detection modules are arranged with intersecting detection regions, then obstacle location determination accuracy is improved, but device complexity increases
Solution Approach 1:
The detection modules are arranged in an asymmetric configuration optimized for the specific application, such as a triangular arrangement where modules are positioned at different locations and orientations. The detection regions are deliberately designed to intersect at specific angles and positions to create unique detection patterns for obstacles at different locations. This asymmetric arrangement provides accurate 3D localization capability while avoiding the complexity of symmetric multi-module configurations.
Solution Approach 2:
The system transitions from 2D planar detection to 3D spatial detection by arranging modules in three-dimensional space with intersecting detection regions. The modules are positioned at different heights, angles, and lateral positions to create volumetric detection coverage. This dimensional expansion enables accurate determination of obstacle position in three-dimensional space while the modular arrangement keeps the physical structure manageable.
4Reliability
If non-contact detection is implemented to avoid collisions, then user safety is improved, but operational efficiency may be reduced due to frequent obstacle avoidance maneuvers
Solution Approach 1:
The system performs preliminary obstacle detection and identification before the self-moving device reaches the obstacle location. The control unit processes detection signals in advance, determines obstacle positions and types, and plans avoidance maneuvers beforehand. This preliminary action allows the device to execute smooth, pre-coordinated avoidance maneuvers rather than reactive stops and turns, maintaining operational efficiency while ensuring safety through advance obstacle awareness.
Solution Approach 2:
The obstacle avoidance system operates dynamically by continuously monitoring detection signals and adjusting avoidance maneuvers in real-time based on obstacle position, size, and type. The control unit dynamically modifies the device's speed and trajectory to achieve optimal avoidance paths. This dynamic operation allows the device to maintain high operational efficiency by adapting avoidance maneuvers to actual conditions rather than following fixed, inefficient avoidance patterns.
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 accurate and timely obstacle recognition and avoidance, enhancing user safety and operational efficiency by ensuring continuous movement and smoother operation of self-moving devices.
Implementation Method 1
configured to transmit detection signals and receive reflected detection signals, to detect an obstacle in the moving direction of the self-moving device
Data Source
AI summary
The present invention relates to a self-moving device, where the self-moving device includes at least two non-contact obstacle detection modules, respectively located on two side of a housing in a moving direction and configured to transmit detection signals and receive reflected detection signals, to detect an obstacle in the moving direction of the self-moving device; the self-moving device further includes a control module, and the control module turns on each obstacle detection module in a time-sharing manner to transmit the detection signal and turns on each obstacle detection module in the time-sharing manner to receive the reflected detection signal, to obtain detection data; and the control module determines a location of the obstacle according to the obtained detection data, a corresponding identity of the obstacle detection module that transmits the detection signal, and a corresponding identity of the obstacle detection module that receives the detection signal, to control the self-moving device to move and/or turn to avoid the obstacle, and the identities of the obstacle detection modules are related to positions of the obstacle detection modules relative to the housing.