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
Existing 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 navigation issues and potential falls.
Innovation Solution
A cleaning robot equipped with a light source that irradiates light towards the floor, a first sensor to detect specularly reflected light, and a second sensor to detect diffusely reflected light, with a controller comparing voltage signals from both sensors to determine the floor condition and presence of recessed regions, using ratios and reference voltages to differentiate between surface types and apply appropriate adjustments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a single sensor is used to detect floor surface conditions, then the device complexity is reduced, but the measurement precision of floor material differentiation and recessed region detection deteriorates
Solution Approach 1:
The detection system 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 characteristics, enabling accurate differentiation between floor types and detection of recessed regions while maintaining manageable system complexity through functional specialization.
2Measurement precision
If light irradiation intensity is increased to improve detection accuracy, then the measurement precision improves, but the object-generated harmful factors increase due to potential glare and interference
Solution Approach 1:
The system applies local quality by using two sensors positioned to receive light from different directions and at different angles. The first sensor detects specularly reflected light (mirror-like reflection) while the second sensor detects diffusely reflected light (scattered reflection). This directional differentiation allows the system to distinguish between floor materials with different reflectivity characteristics without increasing overall light irradiation intensity, thereby maintaining measurement precision while minimizing disturbance light interference.
3Reliability
If multiple sensors are added to detect both specular and diffuse reflected light, then the reliability of floor condition determination improves, but the device complexity increases
Solution Approach 1:
The controller is designed with multi-functionality to process signals from both sensors and perform multiple determination tasks: differentiating floor materials (wooden, tiled, carpeted) and detecting recessed regions. By integrating these functions into a single control unit rather than using separate dedicated devices, the system achieves high reliability in floor condition determination while keeping the overall device complexity manageable through functional integration.
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 accurate and efficient determination of floor surface conditions, reducing the risk of navigation errors and falls by effectively distinguishing between various floor materials and detecting recessed regions, thereby enhancing the robot's operational safety and effectiveness.
Implementation Method 1
a first sensor configured to sense light specularly reflected from the floor surface
Implementation Method 2
a second sensor configured to sense light diffusely reflected from the floor surface
Data Source
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.