Active obstacle crossing control method and system for cleaning robot, and cleaning robot
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Solution Overview
Problem
Existing cleaning robots with active obstacle crossing mechanisms inefficiently activate the function based solely on obstacle height, leading to energy waste and damage due to unnecessary controls or failure to overcome obstacles.
Innovation Solution
An active obstacle crossing control method for cleaning robots that combines obstacle height and material type analysis to determine the necessity of activating the crossing function, using predefined height ranges and friction force estimation to optimize energy use and mechanism protection.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If active obstacle crossing function is activated based solely on obstacle height, then obstacle crossing ability is improved, but energy consumption increases and mechanism damage occurs due to unnecessary activation
Solution Approach 1:
The patent changes the control parameter from single-factor (obstacle height) to multi-factor (obstacle height + contact surface friction coefficient). By measuring the friction coefficient of the contact surface and comparing it with predefined thresholds, the system determines whether to activate the obstacle crossing function. This parameter expansion allows the robot to distinguish between obstacles that can be crossed through friction alone versus those requiring active mechanism activation, thereby reducing unnecessary energy consumption while maintaining reliable obstacle crossing capability.
2Reliability
If active obstacle crossing function is activated frequently, then obstacle crossing success rate is improved, but mechanism lifespan decreases due to excessive wear
Solution Approach 1:
The system introduces friction coefficient measurement as an additional parameter to control activation decisions. By evaluating both obstacle height and contact surface friction characteristics, the robot can determine when active obstacle crossing is truly necessary. This prevents excessive activation of the mechanism on obstacles that can be overcome through friction alone, thereby reducing wear and extending the lifespan of the active obstacle crossing components while maintaining high crossing success rates.
3Use of energy by moving object
If obstacle crossing control is optimized using material type detection, then energy efficiency is improved, but device complexity increases
Solution Approach 1:
The patent leverages the existing ground material recognition function already present in the cleaning robot for its primary cleaning purpose. By reusing this existing sensor and algorithm for dual purposes (both cleaning optimization and obstacle crossing control), the system achieves energy-efficient obstacle crossing decisions without adding dedicated detection hardware. This multi-functional approach improves energy efficiency while avoiding increased device complexity.
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
Improves the success rate of obstacle crossing and reduces energy waste and mechanism damage by accurately determining when to activate the active obstacle crossing function based on obstacle height and material type.
Implementation Method 1
perform a pre-rating and estimation of the friction force provided by the contact surface to the sweeping robot based on the detected material type of the contact surface
Data Source
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AI summary
The present disclosure relates to an active obstacle crossing control method and system for cleaning robot, and a cleaning robot, the cleaning robot comprises an active obstacle crossing mechanism and an obstacle crossing driving device that drives the motion of the active obstacle crossing mechanism, the method comprises in case where an obstacle is on the cleaning path, identifying the height of the obstacle and the material type of the contact surface before the cleaning robot crosses the obstacle; in case where the height of the obstacles matches a predefined obstacle crossing height range corresponding to the material type, activating the active obstacle crossing function.