Ultrasonic Sensor Layout for Precise Obstacle Avoidance
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Solution Overview
Problem
Self-moving devices face challenges in accurately recognizing obstacles and responding appropriately to avoid collisions, which compromises their safety and efficiency.
Innovation Solution
The implementation of a self-moving device with at least two non-contact obstacle detection modules, positioned on either side of the housing, that transmit and receive detection signals in a time-sharing manner to determine the location of obstacles, allowing the device to adjust its movement and avoid obstacles effectively.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If contact-based obstacle detection is used, then the device can detect obstacles, but it causes collision and safety issues
Solution Approach 1:
The patent replaces mechanical contact-based obstacle detection with non-contact ultrasonic wave detection. The ultrasonic sensor emits sound waves that reflect off obstacles and return to the sensor, allowing the device to detect obstacles without physical contact, thereby eliminating collision hazards while maintaining detection capability
2Measurement precision
If multiple ultrasonic sensors are arranged with parallel axes, then the detection coverage is simplified, but the obstacle location recognition precision is reduced
Solution Approach 1:
The patent employs asymmetric arrangement of ultrasonic sensors with intersecting axes rather than parallel alignment. By positioning the sensors such that their detection axes intersect at a point in front of the device, the system creates overlapping detection zones that enable precise triangulation of obstacle locations, improving measurement precision through geometric asymmetry
Solution Approach 2:
The patent transitions from one-dimensional parallel sensor alignment to two-dimensional intersecting sensor arrangement. The intersecting axes create a spatial geometry where detection zones overlap in a manner that provides both azimuth and distance information, adding dimensional complexity to the sensor layout while significantly enhancing location recognition precision
3Measurement precision
If ultrasonic sensors are used for obstacle detection, then non-contact detection is achieved, but the obstacle location recognition precision is insufficient
Solution Approach 1:
The patent introduces the intersection point of ultrasonic wave axes as a virtual intermediary reference point. By calculating obstacle positions relative to this intersection point using time-of-flight measurements from multiple sensors with intersecting axes, the system achieves precise location recognition. The intersecting geometry creates a natural reference framework that simplifies the mathematical calculation of obstacle positions while maintaining non-contact detection
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 recognize obstacles without collision, enhancing safety, improving operational efficiency, and providing a more intelligent and user-friendly experience by ensuring continuous movement and smoother operation.
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
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Figure 3(a)
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.