Cleaning Robot Lidar-Based Docking for Distant Station Detection
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Solution Overview
Problem
Current docking methods for cleaning robots, such as IR sensor-based, Lidar pattern recognition, and image sensor-based systems, fail to accurately dock when the robot is at a distant position from the docking station, leading to incomplete charging and operational halts.
Innovation Solution
A cleaning robot equipped with a Lidar sensor and a printed circuit board (PCB) featuring a docking optical receiver that detects light emitted from the docking station, allowing the robot to determine the number of light emitting elements and adjust its movement to accurately dock, even from a distance, using a processor to control the drive unit based on the detected light patterns.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If infrared sensor-based docking methods are used, then the docking system is simple, but the robot cannot accurately dock when located at a distant position from the docking station
Solution Approach 1:
The Lidar sensor is designed to perform multiple functions: it serves as both an obstacle detection device for navigation and a docking detection device by identifying light emitting elements on the docking station. This multi-functionality eliminates the need for separate infrared sensors while enabling accurate docking from distant positions, as the Lidar sensor can detect the unique light patterns emitted by the docking station's light emitting elements.
Solution Approach 2:
The system changes the detection parameter from infrared wavelength detection to laser wavelength detection. The Lidar sensor detects light emitted by the docking station's light emitting elements at specific laser wavelengths, allowing the robot to accurately identify the docking station's position and orientation from a distance, thereby improving docking position detection accuracy without requiring additional sensors.
2Measurement precision
If Lidar pattern recognition-based docking methods are used, then the robot can dock from a distance, but the system complexity increases
Solution Approach 1:
The Lidar sensor performs dual functions by serving as both the navigation obstacle detection device and the docking detection device. The same Lidar sensor used for mapping and obstacle avoidance is also used to detect the light emitting elements on the docking station, eliminating the need for separate docking sensors and reducing overall system complexity while maintaining accurate docking capability from distance.
Solution Approach 2:
The docking station is equipped with light emitting elements that emit light patterns recognizable by the Lidar sensor. The robot's processor identifies these emitted light patterns to determine the docking station's position and orientation. This approach uses optical copying of position information through light emission and detection, enabling accurate docking without complex mechanical or electronic identification systems.
3Measurement precision
If the robot uses a separate docking optical receiver on the PCB, then the docking accuracy from distance is improved, but the device complexity increases
Solution Approach 1:
The Lidar optical receiver on the PCB is designed to perform multiple detection functions. It detects both the reflected laser light used for navigation and obstacle avoidance, and the emitted light from the docking station's light emitting elements. This multi-functional optical receiver eliminates the need for separate dedicated docking optical receivers, reducing device complexity while maintaining accurate docking detection capability from distant positions.
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 more accurate docking with the docking station, even when it is located far away, ensuring successful charging and continuous operation by precisely determining the distance and angle for successful docking.
Implementation Method 1
a docking optical receiver fixed to the PCB and configured to receive light emitted from a docking optical transmitter of a docking station
Implementation Method 2
a Lidar optical receiver, and a printed circuit board (PCB) to which the Lidar optical transmitter and the Lidar optical receiver are fixed
Data Source
AI summary
A cleaning robot and a method of controlling the same, the cleaning robot performing docking by detecting light emitted from a docking station using a Lidar sensor or a light receiving element separately provided on a printed circuit board (PCB) of the Lidar sensor, and performing docking based on the number of light emitting elements of the docking station identified according to the detected light are provided. The cleaning robot includes a main body, a drive unit configured to move the main body, a Lidar sensor including a Lidar optical transmitter, a Lidar optical receiver, and the PCB to which the Lidar optical transmitter and the Lidar optical receiver are fixed and provided to be rotatable, a docking optical receiver fixed to the PCB and configured to receive light emitted from the docking optical transmitter of the docking station, and at least one processor is configured to control the drive unit to be docked on the docking station based on light received by the docking optical receiver.