Cleaning Robot 3D Obstacle Detection for Reliable Navigation
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Cleaning robots often fail to effectively acquire obstacle information due to various reasons, leading to impaired movement and operation.
Innovation Solution
The cleaning robot is equipped with a sensor system capable of acquiring three-dimensional information of obstacles, employing sensors like monocular vision, binocular vision, line laser, LDS, Dtof, and Itof sensors, and uses predefined detection thresholds to determine when to perform actions such as steering or moving away from obstacles to ensure effective data acquisition.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the cleaning robot uses a sensor system to acquire obstacle information in real time, then the robot can identify and avoid obstacles, but the robot may fail to effectively obtain obstacle information due to various reasons, affecting movement and operation
Solution Approach 1:
The patent transitions from traditional two-dimensional obstacle detection to three-dimensional obstacle information acquisition by introducing depth sensors (time of flight sensors, structured light sensors) that capture Z-axis depth information. This dimensional enhancement allows the robot to obtain complete spatial coordinates (x, y, z) of obstacles, resolving the information loss problem by providing comprehensive three-dimensional obstacle data including distance, height, and width.
2Measurement precision
If the cleaning robot performs action away from the obstacle to enable accurate three-dimensional information acquisition, then the sensor system can effectively acquire obstacle data, but the robot's cleaning efficiency may be reduced due to additional movement actions
Solution Approach 1:
The patent implements preliminary action by performing obstacle detection and three-dimensional information acquisition before the robot executes cleaning operations. The sensor system proactively scans and maps obstacles in advance, building a three-dimensional obstacle model that guides subsequent navigation and cleaning path planning. This preliminary information gathering prevents the need for repeated detection during cleaning, thereby maintaining high cleaning efficiency while ensuring accurate obstacle data acquisition.
Solution Approach 2:
The patent employs feedback mechanisms where the sensor system continuously monitors obstacle information and provides real-time feedback to the control system. The controller processes this three-dimensional obstacle data and adjusts the robot's movement and cleaning actions accordingly. This closed-loop feedback ensures that the robot maintains optimal detection angles and distances, acquiring accurate obstacle information without requiring excessive corrective movements that would reduce cleaning efficiency.
3Adaptability or versatility
If the cleaning robot uses multiple types of sensors (monocular vision, binocular vision, line laser, LDS, Dtof, Itof), then the robot can acquire comprehensive three-dimensional obstacle information, but the device complexity increases
Solution Approach 1:
The patent applies universality by designing a sensor system where multiple sensor types serve complementary functions within a unified three-dimensional obstacle detection framework. Different sensors (monocular vision, binocular vision, line laser, LDS, Dtof, Itof) target different obstacle characteristics and distance ranges, but all contribute to the same goal of acquiring complete three-dimensional obstacle information. This multi-functional integration allows the system to handle diverse obstacle scenarios without requiring separate detection systems for each sensor type, thereby managing complexity while enhancing adaptability.
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
Enables accurate identification and avoidance of obstacles, allowing the robot to adopt appropriate cleaning strategies based on precise three-dimensional information, enhancing its navigation and cleaning efficiency.
Implementation Method 1
the cleaning robot is equipped with a sensor system capable of acquiring three-dimensional information of an obstacle
Implementation Method 2
a direct time of flight (Dtof) sensor, and an indirect time of flight (Itof) sensor
Data Source
Figure 1~3
Figure 4~7
AI summary
The present disclosure provides a cleaning robot and a movement control method thereof. Based on the method, during travel of the cleaning robot, three-dimensional information of an obstacle is acquired through a sensor system (702). When the obstacle moves within the detection range of the sensor system (702), when a distance (D) between the obstacle and the cleaning robot along a central axis of the cleaning robot is less than a first preset detection threshold, and when a maximum value (α1) among included angles between connection lines (Mp, Mq) constituted by a first reference point (M) of the cleaning robot and second reference points (p, q) of the obstacle and a current traveling direction of the cleaning robot is greater than a third preset detection threshold, an action away from the obstacle is intelligently performed. This allows the sensor system (702) to effectively acquire the three-dimensional information of the obstacle and achieve accurate identification of the obstacle.