Cleaning Robot 3D Obstacle Mapping for Height-Based Path Planning
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Solution Overview
Problem
Existing 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 and camera to create a 3D obstacle map, matching feature point maps between areas, and controlling movement to avoid or climb obstacles based on predetermined heights, ensuring efficient cleaning paths.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the cleaning robot uses obstacle sensors to detect obstacles, then it can avoid obstacles, but it cannot efficiently clean areas with low obstacles and creates inefficient cleaning paths
Solution Approach 1:
The patent changes the parameter of obstacle detection from binary (obstacle present/absent) to continuous (height information). By measuring the height of obstacles and comparing it with a predetermined value, the system dynamically adjusts its behavior - avoiding high obstacles and climbing low obstacles - thereby resolving the contradiction between reliable obstacle avoidance and cleaning efficiency
Solution Approach 2:
The patent introduces dynamic decision-making based on real-time obstacle height measurements. The cleaning robot continuously monitors obstacle heights and dynamically adjusts its path planning and cleaning route, switching between avoidance and climbing modes as needed, which maintains both reliability and productivity
2Adaptability or versatility
If the cleaning robot moves to another area by external force during cleaning, then it can access new areas, but it loses track of previously cleaned areas and must re-clean
Solution Approach 1:
The patent applies preliminary action by creating and storing a map of cleaned areas before the robot is moved by external force. When the robot returns to a previously cleaned area, it refers to the stored map to identify which areas have already been cleaned and adjusts its route accordingly, preventing re-cleaning and saving time
Solution Approach 2:
The system uses feedback from the stored cleaning map to continuously adjust its cleaning route. After moving to new areas and returning, the robot compares current position with historical cleaning data and modifies its path to avoid already cleaned regions, thereby eliminating redundant cleaning operations
3Productivity
If the cleaning robot creates a 3D obstacle map with height information, then it can determine appropriate paths, but it requires additional sensors and processing complexity
Solution Approach 1:
The patent transitions from 2D obstacle detection to 3D obstacle mapping by adding height dimension information. This dimensional enhancement allows the robot to differentiate between climbable and non-climbable obstacles, improving path planning efficiency despite the increased complexity of sensors and processing required
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 the creation of suitable traveling paths for obstacles using height information, allowing the robot to directly clean remaining spaces without re-cleaning already cleaned areas, enhancing cleaning efficiency.
Implementation Method 1
The obstacle sensor includes: an optical module configured to transmit and receive light
Implementation Method 2
The light emitting portion includes a laser source
Data Source
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AI summary
Disclosed is a cleaning robot of 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. Another aspect of the present disclosure is to provide a cleaning robot of matching, when it moves to another area by an external force during cleaning, a feature point map of an area where the cleaning robot is located before moving with a feature point map of another area where the cleaning robot is located after moving, and performing cleaning based on the matched feature point map, and a method of controlling the cleaning robot. In accordance with an aspect of the present disclosure, there is provided A cleaning robot including: 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.