Cleaning Robot Cover Segmentation for Multi-Height Obstacle Sensing
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Solution Overview
Problem
Current cleaning robots face challenges in sensing obstacles at various positions, avoiding low-height ground obstacles, detecting step differences, and maintaining stability while navigating, especially when multiple obstacles are present.
Innovation Solution
The cleaning robot design incorporates a cover structure with recessed parts, lidar sensors for obstacle detection, infrared sensors for low-height obstacle detection, cliff sensors for step difference detection, and a SLAM camera for accurate positioning, along with a wider bottom cover for enhanced stability and balance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the cleaning robot uses a standard cover structure without recessed parts, then the structure is simple, but it cannot effectively sense obstacles at various positions
Solution Approach 1:
The cover is divided into multiple segments including a first cover, second cover, and third cover with different functions. The first cover houses the SLAM camera for positioning, the second cover contains infrared sensors for low obstacle detection, and the third cover provides structural support. This segmentation allows each part to be optimized for its specific sensing function while maintaining overall system integration.
Solution Approach 2:
The cover structure incorporates vertical recessed parts that create multiple height levels. Sensors are positioned at different vertical positions within these recesses, enabling the robot to detect obstacles at various heights and distances. This dimensional approach allows simultaneous multi-point sensing without requiring a flat, complex array of sensors.
2Stability of the object's composition
If the cleaning robot uses a narrow cover structure, then the device size is small, but it cannot maintain stability during traveling
Solution Approach 1:
The cover structure employs asymmetric design where the second cover has a greater width than the first cover, creating a wider base for improved stability. The recessed parts are positioned asymmetrically to accommodate sensors at optimal locations for both stability and sensing coverage. This asymmetric configuration provides a lower center of gravity and broader support base without uniformly increasing all dimensions.
3Measurement precision
If the cleaning robot uses a single-level sensor arrangement, then the structure is simple, but it cannot sense obstacles at various positions and heights
Solution Approach 1:
The sensor arrangement utilizes vertical dimension by placing sensors at different heights within recessed parts of the cover. Infrared sensors are positioned in lower recesses for detecting low obstacles, while other sensors are placed in upper recesses for detecting obstacles at higher positions. This vertical stratification enables comprehensive obstacle detection without requiring a complex horizontal array.
Solution Approach 2:
Different sensor types are localized to specific regions of the cover structure based on their detection requirements. Infrared sensors are localized to lower recessed areas for low obstacle detection, while other sensors are positioned in upper or lateral recesses. Each local region of the cover is optimized for its specific sensing function, creating a distributed sensing system that covers multiple spatial zones.
4Reliability
If the cleaning robot lacks specialized sensors for low-height obstacles, then the device complexity is low, but it cannot avoid obstacles located on the ground at low height
Solution Approach 1:
Infrared sensors are specifically localized to the lower portions of the cover structure, positioned in recessed parts that place them close to the ground level. These sensors have their detection axes directed downward at predetermined angles to specifically target low-height obstacles. This localized placement ensures that the sensor system has enhanced sensitivity to low obstacles without requiring all sensors to be complex or positioned uniformly.
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
This configuration enables the cleaning robot to effectively sense and avoid obstacles, prevent damage from low-height obstacles and step differences, and maintain stability during navigation, ensuring reliable operation in complex environments.
Implementation Method 1
a first lidar sensor provided in a first recessed part to sense obstacles located at a front side and both lateral sides thereof
Implementation Method 2
a second lidar sensor provided in a second recessed part to sense obstacles located at a rear side and lateral sides thereof
Implementation Method 3
infrared sensors located to be spaced apart from each other along a lower circumference of a second cover or a bottom cover. The infrared sensors may be directed downward at a predetermined angle
Implementation Method 4
a plurality of cliff sensors spaced apart from each other at a bottom thereof
Implementation Method 5
a SLAM camera received in a first cover or a top cover. The first cover may include a light transmission unit for transmitting light to the SLAM camera
Data Source
AI summary
A cleaning robot includes a main body, a traveling part provided at a lower portion of the main body to enable the main body to move along a floor surface, a suction part provided at the main body to suck foreign materials from the floor surface, a cover provided on an exterior of the main body, and a recessed part recessed at a predetermined position of the cover, wherein the cover includes a first cover positioned above the recessed part, and a second cover which is positioned below the recessed part and has a greater width than the first cover.