Navigational control of autonomous cleaning robots
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Solution Overview
Problem
Autonomous cleaning robots often bump into obstacles like chair legs or furniture while cleaning, leading to noise and potential disruption of the obstacles.
Innovation Solution
The autonomous cleaning robot is equipped with a ranging sensor to detect obstacles and a controller that navigates the robot to maintain a clearance distance, selecting alternative trajectories to avoid obstacles and operate in a "gentle mode".
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Object-affected harmful factors
If the cleaning robot maintains a distance from obstacles (gentle mode), then noise is reduced and obstacle motion is prevented, but cleaning coverage near obstacles may be reduced
Solution Approach 1:
The robot dynamically adjusts its operational mode based on real-time sensor data. When obstacles are detected, the robot transitions from normal cleaning mode to gentle mode, dynamically changing its motion behavior to avoid obstacles while maintaining cleaning effectiveness in accessible areas
Solution Approach 2:
The robot uses its own sensor system to detect obstacles and autonomously adjusts its trajectory and cleaning behavior without external intervention. The system self-regulates its operation to prevent harmful effects while maintaining productivity
2Productivity
If the cleaning robot bumps into obstacles to clean adjacent areas, then cleaning coverage is improved, but noise increases and obstacles may move
Solution Approach 1:
The robot performs preliminary obstacle detection using sensors before reaching the obstacle. Based on this advance detection, the robot pre-calculates and executes alternative trajectories that avoid direct contact, thereby preventing noise and obstacle displacement before they occur
Solution Approach 2:
The sensor system acts as an intermediary between the robot and obstacles, providing advance warning of obstacle presence. This intermediary detection system enables the robot to take preventive action through trajectory adjustment, avoiding harmful direct contact
3Reliability
If the robot uses a ranging sensor to detect obstacles early, then obstacle avoidance is improved, but device complexity increases
Solution Approach 1:
The patent replaces complex mechanical obstacle avoidance systems with optical/electronic ranging sensors. This substitution uses non-contact sensing technology to detect obstacles, eliminating the need for complex mechanical bumpers and contact-based detection mechanisms
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 reduces noise and prevents motion of obstacles, improving the efficiency and quiet operation of the cleaning robot while maintaining effective navigation around obstacles.
Implementation Method 1
a ranging sensor directed toward a portion of the floor surface forward of the autonomous cleaning robot and configured to measure a position of an obstacle on the portion of the floor surface relative to the autonomous cleaning robot
Data Source
Figure 1A~1B
Figure 2
Figure 3A
AI summary
An autonomous cleaning robot includes a controller configured to execute instructions to perform operations including moving the autonomous cleaning robot along a first portion of a path toward a waypoint, detecting, with a ranging sensor of the autonomous cleaning robot, an obstacle along the path between the first portion of the path and a second portion of the path, navigating the autonomous cleaning robot about the obstacle along a trajectory that maintains at least a clearance distance between the autonomous cleaning robot and the obstacle, and moving the autonomous cleaning robot along the second portion of the path.