Cleaning Robot 3D Obstacle Map for Height-Based Navigation Control
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Solution Overview
Problem
Current cleaning robots lack the ability to create a 3D obstacle map and efficiently navigate and clean areas based on height information, leading to inefficient cleaning paths and potential obstacles.
Innovation Solution
A cleaning robot equipped with an obstacle sensor that creates a 3D obstacle map by sensing the height of objects, using this information to control its movement to avoid or climb over obstacles, and a feature point matching system to seamlessly transition between areas and resume cleaning where necessary.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If the cleaning robot uses a 2D obstacle map without height information, then the device complexity is reduced, but the cleaning efficiency and navigation accuracy deteriorate due to inability to distinguish obstacle heights
Solution Approach 1:
The patent transitions from a 2D obstacle map to a 3D obstacle map by adding the height dimension (z-axis). The controller creates a 3D obstacle map including height information of obstacles by processing data from the obstacle sensor, enabling the robot to distinguish between low obstacles that can be climbed and high obstacles that should be avoided, thereby improving cleaning efficiency without excessive complexity increase
2Reliability
If the cleaning robot avoids all obstacles, then the reliability of cleaning is improved, but the cleaning productivity deteriorates due to excessive path planning and re-cleaning
Solution Approach 1:
The patent applies different navigation strategies based on local obstacle characteristics. The controller determines whether to avoid or climb over an obstacle based on its height relative to a predetermined threshold. For low obstacles (below threshold), the robot climbs over them; for high obstacles (above threshold), the robot avoids them. This localized decision-making improves both reliability and productivity by preventing unnecessary path deviations
3Device complexity
If the cleaning robot does not match feature point maps when moving between areas, then the device complexity is reduced, but the cleaning accuracy deteriorates leading to re-cleaning of already cleaned areas
Solution Approach 1:
The patent implements a feedback mechanism through feature point map matching. When the robot moves from a first area to a second area, the controller matches the feature point map of the first area with that of the second area to determine the robot's position and orientation in the second area. This feedback loop enables accurate resumption of cleaning in the first area without re-cleaning already cleaned portions, improving cleaning accuracy
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
The robot can create a suitable traveling path based on obstacle height, ensuring efficient cleaning and avoiding re-cleaning already cleaned areas, thereby improving cleaning efficiency and accuracy.
Implementation Method 1
The obstacle sensor is configured to irradiate light downward at a predetermined angle with respect to a front direction
Implementation Method 2
The light emitting portion includes a laser source, and the light receiving portion includes an image sensor
Data Source
AI summary
Disclosed is a cleaning robot for creating a 3Dimensional (3D) obstacle map including information about a height of an object existing on an area to be cleaned, and cleaning the area to be cleaned based on the 3D obstacle map, and a method of controlling the cleaning robot. In accordance with an aspect of the present disclosure, there is provided. The cleaning robot includes a main body, a moving portion configured to move the main body, an obstacle sensor configured to sense a height of an obstacle, and a controller configured to create an obstacle map including information about the height of the obstacle.