SELF-PROPELLED DEVICE Russian patent published in 2023 - IPC G05D1/02 G01S7/481 G01S17/08 G01S17/93 

FIELD: self-propelled device.

SUBSTANCE: self-propelled device contains a housing, a moving unit, a control system, an optical receiving device and two optical emitting devices. The paths of the emitted light emitted by the two optical emitting devices are different. The optical receiving device is configured to receive the reflected light generated after the emitted light emitted by one of the optical emitting devices hits an obstacle. That optical emitting device of two adjacent optical emitting devices, which is further from the optical receiving device, forms the first angle of convergence with the centre line of the optical receiving device. The optical transmitter closer to the optical receiver forms the second angle of convergence with the centre line of the optical receiver. The first angle of convergence is smaller than the second.

EFFECT: prevention of collision with low reflective obstacles is achieved.

8 cl, 3 dwg