Bodenreinigungsroboter
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Solution Overview
Problem
Existing autonomous floor cleaning robots often fail to detect obstacles effectively, especially when the contact point is at the pivot axis, leading to potential blocking issues due to zero pivoting torque.
Innovation Solution
A floor cleaning robot with a bumper that moves only in a plane parallel to the base plane, guided by non-aligned support points and elastic means, ensuring movement detection regardless of contact height, combined with sensors to differentiate contact directions for obstacle circumvention.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If an articulated bumper pivoting around an axis is used, then the structure is simple, but obstacle detection fails when contact is made at the height of the pivot axis due to zero pivoting torque
Solution Approach 1:
The bumper is made movable relative to the chassis through guiding means that allow plane movement parallel to the base plane. This dynamic configuration enables the bumper to respond to contacts at any height by moving within the constrained plane, eliminating the zero-torque problem of fixed-axis pivoting while maintaining structural simplicity.
Solution Approach 2:
The invention transitions from one-dimensional rotation around a pivot axis to two-dimensional plane movement. The guiding means constrain the bumper to move within a plane parallel to the base plane, adding a translational dimension to the bumper's motion capability. This allows detection of contacts at any height along the bumper's length, not just at the pivot axis height.
2Reliability
If a bumper of full height is provided, then obstacle detection coverage is improved, but the complexity of ensuring consistent detection across all contact points increases
Solution Approach 1:
The guiding means create a dynamic constraint system that allows the bumper to move freely within a plane while preventing movement perpendicular to that plane. This is achieved through support points that block translations normal to the base plane, enabling consistent detection across the full height of the bumper without complex control mechanisms.
Solution Approach 2:
The invention changes the movement parameters of the bumper from rotational degrees of freedom to translational degrees of freedom within a constrained plane. The guiding means define specific movement zones and constraints that simplify the kinematic analysis and ensure reliable detection regardless of contact height, transforming a complex rotational problem into a simpler translational constraint problem.
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
Enhanced obstacle detection capability across the full height of the robot, preventing blocking and allowing effective trajectory modification around obstacles.
Implementation Method 1
The guiding means comprise at least three support points between the chassis and the bumper, not aligned and each blocking at least one translation of the bumper in the same direction normal to the base plane
Implementation Method 2
the cleaning robot comprises elastic means arranged to return the bumper to a rest position, occupied by the bumper when no obstacle touches the bumper
Data Source
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AI summary
The invention relates to a floor cleaning robot comprising: a chassis (20), a bumper (10) which can move relative to the chassis (20), and means for detecting the movement of the bumper (10) relative to the chassis (20). The cleaning robot is characterised in that it comprises means for guiding the bumper (10), arranged to move the bumper (10) in a particular way relative to the chassis (20), the components of said movement being contained in a base plane.