Cleaning Robot Edge Navigation Using Impact and Distance Sensor Fusion
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Solution Overview
Problem
Existing cleaning robots often fail to effectively clean edges along protruding skirting boards due to limited lateral spatial resolution and measurement planes, leading to inadequate navigation and potential damage.
Innovation Solution
The method involves detecting the thickness of the skirting board using a cleaning robot's impact sensors and distance detectors to calculate an approach limit, allowing for improved edge cleaning without additional sensors, enabling self-learning and adaptive navigation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a cleaning robot uses a distance sensor for navigation, then the robot can maintain a safe distance from walls, but the robot cannot effectively clean edges along protruding skirting boards
Solution Approach 1:
The system performs preliminary detection of skirting board thickness during the first cleaning run by recording impact sensor signals and corresponding distance sensor values. This advance information is stored and used to pre-calculate approach limits before subsequent cleaning operations, enabling the robot to navigate closer to walls safely while maintaining reliable detection
Solution Approach 2:
The system uses feedback from impact sensor signals and distance sensor measurements to continuously refine navigation behavior. During the first run, feedback data about skirting board thickness is collected and used to adjust the approach limit calculation, which then guides navigation in subsequent runs, creating a closed-loop system that improves both reliability and cleaning effectiveness
2Adaptability or versatility
If a cleaning robot bumps into obstacles to detect them, then the robot can identify objects outside sensor range, but the robot may damage skirting boards during detection
Solution Approach 1:
The system performs preliminary detection of skirting board characteristics during the first cleaning run, recording the relationship between impact sensor signals and distance sensor values. This advance information allows the robot to calculate safe approach limits before subsequent operations, enabling obstacle detection without repeated damaging impacts
Solution Approach 2:
The system uses its existing impact sensor and distance sensor to automatically detect skirting board thickness and calculate appropriate navigation parameters. The robot self-adjusts its behavior based on detected conditions, eliminating the need for external calibration or manual intervention while preventing damage through learned navigation patterns
3Adaptability or versatility
If a cleaning robot uses a spring-loaded bumper with impact sensors, then the robot can detect obstacles, but the robot cannot distinguish between walls with skirting boards and walls without skirting boards
Solution Approach 1:
The system merges data from the impact sensor and distance sensor to create a composite detection signal. By combining the impact event timing with the corresponding distance measurement, the system can determine skirting board thickness and distinguish between different wall types, enhancing measurement precision while maintaining obstacle detection capability
Solution Approach 2:
The system adds a temporal dimension to obstacle detection by recording the sequence and timing of impact sensor signals relative to distance sensor measurements. This dimensional expansion allows the robot to analyze the pattern of impacts over time and space, enabling differentiation between skirting boards and other obstacles based on their unique spatial-temporal signatures
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 method enables precise edge cleaning along skirting boards by determining the skirting board's thickness and adjusting the cleaning robot's approach, reducing accidental collisions and damage, and improving navigation efficiency.
Implementation Method 1
an impact sensor on the cleaning robot generates a first signal
Implementation Method 2
a distance sensor arranged above the impact sensor detects a first distance from the wall
Data Source
Figure 1~3
AI summary
The present invention relates to a method for the improved cleaning of edges of a wall (6), which has a projecting skirting board (7), by means of a cleaning robot (1), in the case of which - in a first cleaning pass, the cleaning robot (1) strikes against the skirting board (7), whereupon an impact sensor (2) generates a first signal and a distance sensor (3) senses a first distance from the wall (6), - the cleaning robot (1) continues its first cleaning pass and strikes against the skirting board (7) a further time, whereupon the impact sensor (2) generates a second signal and the distance sensor (3) senses a second distance from the wall (6), - a computer device (4) of the cleaning robot (1) uses the signals to calculate two points in space and also a first straight line which runs through these points, - the computer device (4) uses the distances and the two points in space to establish an approach boundary of the cleaning robot (1) in relation to the wall (6), - the computer device (4) controls the cleaning robot (1) during subsequent cleaning passes exclusively via the at least one distance sensor (3).