Cleaning Robot Light-Beam Navigation for Restricted Area Detection
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Solution Overview
Problem
Conventional cleaning robots equipped with omnidirectional light detectors cannot accurately determine the direction of a light generating device or charging station, leading to inefficient navigation and operation within restricted areas.
Innovation Solution
The implementation of a non-omnidirectional light detector with a rib or mask that creates a shadowed area, allowing the detection of light beams within a specific angle range, enabling the robot to determine the light beam's direction by spinning the detector or using a movable mask kit to estimate the incident angle.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If an omnidirectional light detector is used, then the robot can detect light beams from any direction, but it cannot accurately determine the direction of the light generating device
Solution Approach 1:
The light detector is segmented into multiple detection units arranged in different directions, with each unit responsible for detecting light from a specific angular range. This segmentation allows the system to determine the direction of the light source by identifying which segment detects the light, thereby resolving the contradiction between omnidirectional detection capability and directional accuracy.
Solution Approach 2:
The light detector employs an asymmetric structural design where detection units are positioned at different angular orientations rather than uniformly distributed. This asymmetric arrangement creates distinct detection zones with overlapping coverage, enabling the system to accurately triangulate the light source direction while maintaining comprehensive detection coverage.
2Speed
If the robot stops immediately when detecting light beam boundary, then it can respond quickly to restricted areas, but it may not stop at the predetermined distance
Solution Approach 1:
The system performs preliminary actions by detecting the light beam boundary in advance and calculating the required stopping distance and timing. Before the robot reaches the boundary, the controller computes the optimal stopping point and initiates deceleration sequences, allowing the robot to stop at the predetermined distance while maintaining quick overall response to restricted areas.
Solution Approach 2:
The system implements feedback control by continuously monitoring the light detector signals and comparing the actual position with the target stopping position. The controller adjusts the motor speed and stopping timing based on real-time feedback from the light detection system, ensuring accurate stopping at the predetermined distance while maintaining rapid response capability.
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 cleaning robot to effectively navigate around restricted areas by accurately determining the light beam's direction, allowing it to move in the correct direction and stop at predetermined distances, thereby optimizing its cleaning route and avoiding restricted zones.
Implementation Method 1
a light detector (13) having a rib (14) which produces a shadowed area on the non-omnidirectional light detector (13) by a predetermined angle
Data Source
AI summary
An embodiment of the invention provides a control method of a cleaning robot. The method includes steps of moving the cleaning robot according to a first direction; keeping moving the cleaning robot according to the first direction when a light detector of the cleaning robot detects a light beam; moving the cleaning robot for a predetermined distance and then stopping the cleaning robot when the light detector does not detect the light beam; and moving the cleaning robot in a second direction.