Cleaning Robot Docking Control Using HOG and Reference Markers
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Solution Overview
Problem
Existing cleaning systems with self-propelled robots and charging stations are large, complex, and expensive, and face difficulties in navigation when there is no visual or signal connection between the robot and the charging station, especially at longer distances or varying angles and lighting conditions.
Innovation Solution
A cleaning system that combines the Histogram of Oriented Gradients (HOG) method and a Reference Marking method to enable the self-propelled robot to locate and navigate to the charging station, using a computer device connected to an optical detection device to control the robot's movement, allowing for a more compact and cost-effective design.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a camera-based detection device with reference markings is used for navigation, then the cleaning robot can detect the charging station, but the system becomes large, complex, and expensive
Solution Approach 1:
The patent uses a simplified visual copy (colored markings) of the charging station location instead of complex camera-based detection. The cleaning robot follows colored floor markings (e.g., yellow lines) that lead to the charging station, replacing the need for expensive cameras and complex image processing systems while maintaining reliable navigation.
Solution Approach 2:
The patent employs inexpensive visual markers (colored floor markings) instead of expensive electronic detection systems. These simple visual cues are cost-effective and easily implementable, providing reliable navigation without the high costs associated with camera-based systems and reference marking detection devices.
2Device complexity
If traditional navigation methods are used, then the system structure is simple, but the cleaning robot cannot find the charging station when there is no line of sight or signal connection
Solution Approach 1:
The patent introduces colored floor markings as an intermediary visual guide between the cleaning robot and the charging station. These markings serve as a mediator that the robot can follow even when direct line-of-sight or signal connection is blocked, enabling reliable navigation through walls or around obstacles without requiring complex communication systems.
Solution Approach 2:
The charging station location and path are pre-marked with colored indicators before the cleaning robot needs to navigate. This preliminary visual guidance system is established in advance, allowing the robot to follow the predetermined path to the charging station without requiring real-time complex detection or communication, thus maintaining system simplicity while ensuring reliable detection.
3Ease of manufacture
If the charging station is designed to be compact and cost-effective, then manufacturing cost is reduced, but navigation accuracy may be compromised
Solution Approach 1:
The patent uses simple colored floor markings as a visual copy of the charging station's location and approach path. These inexpensive visual indicators are easy to manufacture and apply, yet they provide sufficient navigation precision for the cleaning robot to accurately locate and dock with the charging station, maintaining both cost-effectiveness and navigation accuracy.
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 reliable and precise navigation of the robot to the charging station even at longer distances or in varying conditions, resulting in a more compact and cost-effective charging station design, with improved self-learning capabilities for different angles, lighting, and distances.
Implementation Method 1
the cleaning robot has an optical detection device via which it can detect the reference marking on the charging station side
Data Source
Figure 1~2
Figure 3
AI summary
The present invention relates to a cleaning system (1) comprising a self-driving cleaning robot (2) and a charging station (3) having a reference marker (4), and the cleaning robot (2) has an optical detection unit (5) by way of which it detects the reference marker (4), wherein the cleaning robot (2) has a computing unit (6) that is connected for communication purposes to the detection unit (5) and a control unit (7) for controlling the cleaning robot (2). It is essential to the invention here that the computing unit (6) controls a process of moving the cleaning robot (2) to the charging station (3) in a distance-dependent and detection-dependent manner using a histogram of oriented gradients (HOG) and using the reference marker (4). This makes it possible to use a HOG method and a reference marker method in combination for improved navigation.