Autonomous Cleaning Apparatus Door Manipulation for Corner Access
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Solution Overview
Problem
Autonomous cleaning devices face inefficiencies in reaching and cleaning areas with corners angled less than 90 degrees due to existing corner detection limitations and navigation methods, which hinder effective surface coverage.
Innovation Solution
An autonomous cleaning apparatus method that scans its vicinity using sensors to detect unreachable areas, identifies doors obstructing access, and automatically adjusts door wings to create access by measuring door wing length and presence, using electromagnets or hooks to push or pull the door to a 90-degree angle for efficient cleaning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the autonomous cleaning apparatus uses existing corner detection methods, then it can detect corners, but it cannot effectively reach and clean areas with corners angled less than 90 degrees
Solution Approach 1:
The system performs preliminary detection of door wings and unreachable areas before attempting cleaning. It identifies door wings that create less than 90-degree corners and proactively plans to move them, rather than attempting to clean and failing. This preliminary assessment allows the system to prepare appropriate actions in advance.
Solution Approach 2:
The system dynamically adapts its cleaning strategy based on real-time sensor detection. When a door wing creating a less than 90-degree corner is detected, the system changes its behavior from standard cleaning patterns to door manipulation modes (pushing or pulling), then returns to cleaning. This dynamic adaptation enables handling of variable corner configurations.
2Productivity
If the autonomous cleaning apparatus attempts to clean all areas, then coverage is maximized, but time is wasted on areas that are unreachable due to door positioning
Solution Approach 1:
The autonomous cleaning apparatus performs self-assessment of its own reachability to various areas. By using its sensors to detect door wing positions and calculate unreachable areas, the system independently determines which regions require door manipulation and which can be cleaned directly, optimizing its own cleaning efficiency without external intervention.
Solution Approach 2:
The system continuously monitors sensor data about door positions and cleaning progress. When sensors detect that a door wing is blocking access to an area, this feedback triggers a state change to door manipulation mode. After moving the door and confirming access is achieved, feedback confirms the transition back to cleaning mode, creating a closed-loop control system that eliminates wasted time.
3Adaptability or versatility
If the autonomous cleaning apparatus adds door manipulation capabilities, then access to previously unreachable areas is achieved, but device complexity increases
Solution Approach 1:
The autonomous cleaning apparatus integrates door manipulation capabilities into its existing cleaning platform, making the same device perform both cleaning and door handling functions. The system uses its existing sensors for both navigation and door detection, and its existing actuators for both movement and door manipulation, avoiding the need for entirely separate specialized devices.
Solution Approach 2:
The system merges door detection, door manipulation decision-making, and door actuation into a unified control architecture. The sensor data processing, state machine logic, and actuator control are integrated within the existing autonomous navigation system, combining multiple functions into a cohesive system rather than adding separate independent subsystems.
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
Enhances the accuracy and efficiency of surface coverage by allowing autonomous cleaning devices to reach and clean previously inaccessible areas, improving overall cleaning effectiveness.
Implementation Method 1
the door wing position changing means is an electromagnet or a suction element or a neodymium magnet or a retractable hook
Implementation Method 2
the door wing position changing means is an electromagnet or a suction element
Data Source
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AI summary
Method for an autonomous cleaning apparatus, the method comprising the steps of: scanning a vicinity of an autonomous cleaning apparatus by means of at least one sensor; detecting an unreachable area, being unreachable by the autonomous cleaning apparatus; detecting a door in proximity to the unreachable area; detecting that the unreachable area is unreachable due to the positioning of the door wing; automatically moving the door wing, by the autonomous cleaning apparatus, in order to obtain access to and clean the unreachable area.