Cleaning robot and method of controlling the same
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Solution Overview
Problem
Conventional cleaning robots face difficulties in detecting liquid on their path, leading to ineffective cleaning, potential damage, and malfunctions due to inaccurate obstacle detection methods.
Innovation Solution
A cleaning robot equipped with an electrode plate and a touch IC that detects changes in capacitance, allowing the robot to classify obstacles and adjust its path to avoid liquids and other obstacles, preventing damage and malfunctions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If an optical sensor is used to detect obstacles, then the cleaning robot can detect solid objects, but it cannot detect liquid on the floor
Solution Approach 1:
The patent introduces an intermediary substance (conductive liquid or gel) between the electrode plate and the floor surface to enhance the detection of liquid obstacles. This intermediary improves the coupling between the electrode plate and the liquid, enabling more accurate detection of liquid presence through capacitance changes.
Solution Approach 2:
The patent replaces the optical detection system with an electrical field-based detection system using an electrode plate and capacitance sensing. This substitution enables the detection of liquid obstacles through electrical properties (capacitance changes) rather than optical properties, solving the limitation of optical sensors in detecting transparent or dark liquids.
2Reliability
If electrode leads on wheels are used to detect moisture, then the robot can detect liquid contact, but it causes continuous false detection and cannot accurately avoid liquid regions
Solution Approach 1:
The patent positions the electrode plate at the front of the cleaning robot, allowing it to detect liquid obstacles before the robot reaches them. This preliminary detection enables the robot to plan and execute avoidance maneuvers in advance, preventing liquid contact rather than merely detecting it during contact.
Solution Approach 2:
The patent creates an electrical field map of the environment by continuously measuring capacitance values as the robot moves. This electrical map serves as a copy of the physical environment's electrical properties, allowing the robot to identify and avoid liquid regions based on abnormal capacitance patterns without direct contact.
3Device complexity
If the cleaning robot moves through liquid without detection, then the robot structure remains simple, but the brush becomes wet and cleaning performance deteriorates
Solution Approach 1:
The electrode plate is integrated into the robot's existing structure, utilizing the robot's own movement and power system for detection purposes. The detection system serves itself by using the robot's motion to scan the environment and its power supply to operate the electrode plate, without requiring separate complex detection mechanisms.
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 solution enables effective avoidance of obstacles, preventing liquid from entering the dust canister and protecting the robot's components, while accurately classifying obstacles to prevent malfunctions.
Implementation Method 1
an obstacle detector including an electrode plate provided on the bottom of the main body and a touch IC configured to detect a change in capacitance detected by the electrode plate
Data Source
AI summary
The present disclosure relates to a cleaning robot and a method of controlling the same, and more particularly, to a cleaning robot that changes a moving path by detecting an obstacle through a change in permittivity detected while driving about a cleaning space, and a method of controlling the same. The cleaning robot comprises a main body; a driver configured to move the main body; an obstacle detector including an electrode plate provided on the bottom of the main body and a touch IC configured to detect a change in capacitance detected by the electrode plate and; and a controller configured to determine the obstacle based on a signal transmitted by the obstacle detector, and to control the driver.