Cleaning Robot LiDAR Height Adjustment for Under-Obstacle Navigation
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Solution Overview
Problem
Cleaning robots face challenges in navigating and cleaning under obstacles, particularly when upper obstacles are present, as their Light Detection And Ranging (LiDAR) sensors may collide or be obstructed, limiting their ability to map and clean effectively.
Innovation Solution
A cleaning robot with a raisable and lowerable LiDAR sensor that adjusts its height based on obstacle detection and collision data, allowing it to enter regions under upper obstacles by lowering the sensor and re-raising it for obstacle navigation and mapping.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the LiDAR sensor is positioned at a high location for obstacle detection and mapping, then the detection range and mapping capability are improved, but the robot cannot enter regions under upper obstacles
Solution Approach 1:
The LiDAR sensor is designed with movable positioning capability, allowing it to dynamically adjust its height between a first position (protruding outward for detection) and a second position (retracted for navigation). This dynamic repositioning enables the sensor to adapt to different operational requirements: high position for obstacle detection and mapping, low position for entering regions under obstacles.
Solution Approach 2:
The solution introduces vertical dimension movement by retracting the LiDAR sensor into the robot body. By changing the vertical position of the sensor along the height dimension, the robot gains the ability to navigate under obstacles while maintaining the capability for high-position detection when needed.
2Adaptability or versatility
If the LiDAR sensor is retracted to allow navigation under obstacles, then the robot can enter regions under upper obstacles, but the obstacle detection and mapping capability is reduced
Solution Approach 1:
The system dynamically adjusts the LiDAR sensor position based on real-time operational needs. The processor controls the sensor to be in the first position during navigation for obstacle avoidance, and switches to the second position (retracted) when needing to enter regions under obstacles. This dynamic switching maintains detection capability when required while enabling navigation when needed.
Solution Approach 2:
The processor predicts upcoming obstacles or regions requiring navigation and proactively adjusts the LiDAR sensor position in advance. By preliminarily positioning the sensor appropriately before encountering obstacles or narrow spaces, the system maintains optimal detection capability during navigation sequences.
3Measurement precision
If the LiDAR sensor protrudes outward for detection, then the detection range is maximized, but the robot collides with upper obstacles
Solution Approach 1:
The LiDAR sensor transitions from a static protruding position to a dynamic repositionable structure. The sensor moves between protruding (first position) and retracted (second position) states, allowing the robot to maximize detection range when the path is clear, and retract to avoid collisions when approaching upper obstacles or narrow regions.
Solution Approach 2:
The processor detects potential collision risks in advance and proactively retracts the LiDAR sensor before contact occurs. By applying preliminary anti-action through sensor retraction, the system prevents harmful collisions with upper obstacles while maintaining detection capability during safe navigation.
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 the robot to safely navigate and clean under upper obstacles by adjusting the LiDAR sensor height, enhancing its mapping capabilities and cleaning efficiency while avoiding collisions.
Implementation Method 1
By using a Light Detection And Ranging (LiDAR) sensor configured to calculate a distance to an obstacle through Time of Flight (TOF) method
Implementation Method 2
Light Detection And Ranging (LiDAR) sensor
Data Source
AI summary
A cleaning robot capable of entering a region under an obstacle and cleaning by reducing a height of a LiDAR sensor, and a control method thereof are provided. The cleaning robot includes a main body, a driving device, a cleaning device, a LiDAR sensor and configured to be raisable and lowerable between a first position and a second position having different heights, a bumper sensor configured to detect a collision between the LiDAR sensor and an obstacle, an obstacle sensor configured to obtain information on an obstacle, and a processor configured to generate a cleaning map based on an output of the LiDAR sensor and an output of the obstacle sensor, and control the sensor driver to adjust a height of the LiDAR sensor based on at least one of the cleaning map, an output of the bumper sensor, or the output of the obstacle sensor.