Cleaning Robot Multi-Sensor Layout for Obstacle and Cliff Detection
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Solution Overview
Problem
Current cleaning robots face challenges in sensing obstacles at various positions, avoiding low-height ground obstacles, detecting step differences, and maintaining accurate positioning, especially when multiple obstacles are present, which can lead to instability and damage during travel.
Innovation Solution
The cleaning robot is equipped with a first lidar sensor for front and lateral obstacle detection, infrared sensors directed downward for low-height obstacle avoidance, cliff sensors for step difference detection, and a SLAM camera with a light transmission unit for accurate positioning, all integrated into a design with recessed parts and covers to enhance field of view and stability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If multiple sensors are added to detect obstacles at various positions, then obstacle sensing capability is improved, but device complexity increases
Solution Approach 1:
The sensor system is segmented into multiple specialized sensors positioned at different locations: lidars in front and rear recessed parts for horizontal obstacle detection, infrared sensors along the lower circumference for low-height obstacles, and cliff sensors at the bottom for step detection. Each sensor type is optimized for specific detection tasks, improving overall reliability while organizing complexity through functional segmentation.
Solution Approach 2:
The patent adds vertical dimension to obstacle detection by positioning infrared sensors along the lower circumference directed downward at predetermined angles, and cliff sensors at the bottom surface. This multi-dimensional sensor arrangement enables detection of obstacles at various heights and positions that a single sensor configuration cannot detect.
2Adaptability or versatility
If lidars are placed in recessed parts for obstacle detection, then field of view is improved, but manufacturing complexity increases
Solution Approach 1:
The cover is divided into multiple parts including upper and lower covers with specific recessed parts formed in each. The first recessed part is formed in the upper cover for the front lidar, and the second recessed part is formed in the lower cover for the rear lidar. This segmentation allows each cover part to be manufactured separately with its specific recess, then assembled together, reducing overall manufacturing complexity while achieving the desired field of view.
3Measurement precision
If infrared sensors are positioned along the lower circumference for low-height obstacle detection, then detection accuracy is improved, but device complexity increases
Solution Approach 1:
Infrared sensors are positioned at specific locations along the lower circumference of the cover and directed downward at predetermined angles. This local positioning optimizes detection of low-height obstacles in critical areas while avoiding unnecessary sensors in other regions, improving detection accuracy without excessive complexity.
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 configuration enables the cleaning robot to effectively sense and avoid obstacles, prevent damage from low-height obstacles and step differences, and maintain accurate positioning, thereby improving stability and preventing accidents during travel.
Implementation Method 1
a first lidar sensor provided in a first recessed part to sense obstacles located at a front side and both lateral sides of the cleaning robot
Implementation Method 2
infrared sensors located to be spaced apart from each other along a lower circumference of a second cover or a bottom cover
Implementation Method 3
a plurality of cliff sensors spaced apart from each other at a bottom thereof
Implementation Method 4
a SLAM camera received in a first cover or a top cover
Data Source
AI summary
A cleaning robot includes a top cover, a bottom cover provided below the top cover, traveling parts provided in the bottom cover, a suction module provided in the bottom cover to suck in foreign materials on the ground, a recessed part firmed to be recessed inward between the top cover and the bottom cover, and a first sensor located in the recessed part.