Moving object, cleaning robot, floor condition determining device, method of controlling the moving object, and method of controlling the cleaning robot
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Solution Overview
Problem
Current cleaning robots face challenges in accurately determining the condition of a floor surface, particularly in distinguishing between different materials and detecting recessed regions, which can lead to potential falls and inefficient cleaning operations.
Innovation Solution
A cleaning robot equipped with a light source that irradiates a floor surface and two sensors to detect specularly and diffusely reflected light, allowing a controller to determine the floor condition by comparing voltage signals and calculating ratios, thereby identifying the material and presence of recessed regions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a single sensor is used to detect floor surface condition, then the device complexity is reduced, but the measurement precision of floor material and recessed region detection deteriorates
Solution Approach 1:
The detection function is segmented into two specialized sensors: a first sensor for detecting specularly reflected light and a second sensor for detecting diffusely reflected light. Each sensor is optimized for specific floor material detection, enabling accurate distinction between glossy and matte surfaces while maintaining manageable system complexity through functional specialization.
Solution Approach 2:
The system adds a dimensional aspect to detection by measuring light reflection from two different reflection modes (specular and diffuse) simultaneously. This multi-dimensional approach to light interaction provides comprehensive floor surface characterization that cannot be achieved with a single sensor, improving measurement precision without excessive complexity increase.
2Measurement precision
If light irradiation is used to determine floor surface condition, then the measurement capability is improved, but the reliability of detection deteriorates due to disturbance light interference
Solution Approach 1:
The detection system segments the light reflection measurement into two distinct channels: specular reflection detection and diffuse reflection detection. This segmentation allows the controller to process signals from both sensors and distinguish between floor material characteristics and disturbance light effects, improving reliability while maintaining measurement precision.
Solution Approach 2:
The controller receives feedback signals from both the first sensor (specular reflection) and the second sensor (diffuse reflection) and processes these signals to determine floor surface conditions. By comparing and analyzing feedback from multiple detection channels, the system can identify and compensate for disturbance light interference, enhancing detection reliability.
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 solution enables the cleaning robot to accurately assess the floor surface condition, reducing the risk of falls and improving cleaning efficiency by distinguishing between various materials and detecting recessed regions.
Implementation Method 1
the first sensor is configured to sense a light specularly reflected from the floor surface
Implementation Method 2
the second sensor is configured to sense light diffusely reflected from the floor surface
Data Source
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AI summary
Provided are a moving object, a cleaning robot, a floor condition determining device, a method of controlling the moving object, and a method of controlling the cleaning robot. The moving object includes a light source configured to irradiate a first light to a floor surface, a plurality of sensors for receiving light reflected from the floor surface at different positions from each other, and a controller configured to determine a condition of the floor surface on the basis of a result sensed by the plurality of sensors.