CN112313593A - 一种自移动设备，其障碍检测方法及障碍检测模块 - Google Patents

一种自移动设备，其障碍检测方法及障碍检测模块 Download PDF

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Publication number
CN112313593A
CN112313593A CN202080001978.3A CN202080001978A CN112313593A CN 112313593 A CN112313593 A CN 112313593A CN 202080001978 A CN202080001978 A CN 202080001978A CN 112313593 A CN112313593 A CN 112313593A
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obstacle
detection
module
self
detection module
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CN202080001978.3A
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CN112313593B (zh
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达维德·多尔夫
伊曼纽尔·康蒂
费德里科·泰斯托林
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Positec Power Tools Suzhou Co Ltd
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Positec Power Tools Suzhou Co Ltd
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/87—Combinations of sonar systems
    • G01S15/876—Combination of several spaced transmitters or receivers of known location for determining the position of a transponder or a reflector
    • G01S15/878—Combination of several spaced transmitters or receivers of known location for determining the position of a transponder or a reflector wherein transceivers are operated, either sequentially or simultaneously, both in bi-static and in mono-static mode, e.g. cross-echo mode
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
    • G01S7/521—Constructional features
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

一种自移动设备(1)、使用这种自移动设备(1)的障碍检测模块及障碍检测方法，自移动设备(1)包括至少两个非接触式的障碍检测模块(21，23)，分别位于壳体(15)的沿移动方向的两侧，用于发射探测信号并接收经反射的探测信号，检测自移动设备(1)移动方向上的障碍；自移动设备(1)还包括控制模块，控制模块分时开启每个障碍检测模块(21，23)发射探测信号，并分时开启每个障碍检测模块(21，23)对经反射的探测信号的接收，从而获取探测数据；控制模块根据获取的探测数据、以及对应的发射探测信号的障碍检测模块(21，23)身份和接收探测信号的障碍检测模块(21，23)身份，判断障碍所在方位，从而控制自移动设备(1)移动和/或转向以避开障碍，其中，障碍检测模块(21，23)身份与障碍检测模块(21，23)相对壳体(15)的位置相关。实现了无碰撞识别障碍。

Description

PCT国内申请，说明书已公开。

Claims (33)

  1. PCT国内申请，权利要求书已公开。
CN202080001978.3A 2019-02-03 2020-01-31 一种自移动设备，其障碍检测方法及障碍检测模块 Active CN112313593B (zh)

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CN2019101086958 2019-02-03
CN201910108695 2019-02-03
PCT/CN2020/074125 WO2020156518A1 (zh) 2019-02-03 2020-01-31 一种自移动设备，其障碍检测方法及障碍检测模块

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CN113625226A (zh) * 2021-08-05 2021-11-09 美智纵横科技有限责任公司 一种位置确定方法、装置、家电设备及存储介质

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EP4365697A2 (en) 2024-05-08
CN112313593B (zh) 2023-08-11
US20220121217A1 (en) 2022-04-21
EP4365697A3 (en) 2024-05-29
EP3920002B1 (en) 2023-12-27
CN117032227A (zh) 2023-11-10
EP3920002A1 (en) 2021-12-08
WO2020156518A1 (zh) 2020-08-06
WO2020155863A1 (zh) 2020-08-06
EP3920002A4 (en) 2022-10-26

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