Cleaning Robot Surface Sensing With Dual-Angle Optical Detection
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Solution Overview
Problem
Existing surface treatment devices with optical measuring devices require significant technical effort and equipment to reliably determine the type of surface, especially when distinguishing between smooth and non-smooth surfaces, and are often hindered by ambient light interference.
Innovation Solution
A cleaning device equipped with an optical measuring device featuring a light source and two light sensors, where the light source and a first light sensor form a plane of incidence, and a second light sensor is arranged perpendicular to the surface at an angle between 80° and 100°, allowing for the measurement of reflected and diffusely scattered light components using the Phong illumination model, which differentiates between surface types with reduced technical effort.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If imaging measuring devices with camera systems are used to determine surface type, then surface type can be determined, but technical effort and equipment complexity increase significantly
Solution Approach 1:
The patent replaces complex imaging systems (camera-based mechanical/optical systems requiring image processing) with a simpler optical measurement system using light sources and photodetectors that directly measure light intensity ratios to determine surface type
Solution Approach 2:
The patent changes the measurement parameter from complex image data requiring processing to simple light intensity ratios that can be directly evaluated to distinguish between smooth and non-smooth surfaces
2Measurement precision
If gloss measuring devices are used to determine surface type, then measurement results are reliable, but the device requires complete isolation from ambient light which increases equipment complexity
Solution Approach 1:
The patent converts the harmful effect of ambient light into a useful measurement component by designing the optical system to detect both reflected light from the light source and ambient light simultaneously, using the ratio of these components to determine surface type without requiring isolation
Solution Approach 2:
The optical measuring device is designed to function reliably in both controlled and uncontrolled lighting environments by measuring multiple light components (reflected and ambient) and evaluating their ratio, making the device universally applicable without additional isolation equipment
3Device complexity
If simple optical measuring devices are used, then equipment cost is reduced, but the ability to reliably distinguish between smooth and non-smooth surfaces deteriorates
Solution Approach 1:
The patent positions photodetectors at specific locations and angles relative to the light source and measurement point to selectively detect reflected light components, with at least one photodetector located at an angle between 10° and 70° to the incident light direction
Solution Approach 2:
The patent uses asymmetric positioning of photodetectors relative to the incident light direction, with detectors placed at specific angles (10°-70°) to preferentially detect reflected light from smooth surfaces while minimizing detection of scattered light from non-smooth surfaces
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 accurate and efficient determination of surface types with minimal equipment outlay, distinguishing between smooth and non-smooth surfaces and adapting cleaning operations accordingly, while being cost-effective and rapid to produce.
Implementation Method 1
light emitted by the light source has an angle of incidence on a reflection point of the hits the surface and is then reflected at a corresponding angle of reflection to the first light sensor
Implementation Method 2
the second light sensor measuring a diffusely scattered light component
Data Source
Figure 1~2
Figure 3~4
AI summary
The invention relates to a device (1), in particular a cleaning robot, for treating a surface (2). The device (1) has an optical measuring device (3) for detecting the surface (2) type. The aim of the invention is to provide a surface treating device comprising an optical measuring device for detecting the surface type, said measuring device allowing a reliable detection of the surface type with little technical complexity. This is achieved in that the optical measuring device (3) has a light source (4) and at least two light sensors (5, 6), and the light source (4) and a first light sensor (5) are arranged such that light emitted from the light source (4) strikes a reflection point (7) of the surface (2) at an angle of incidence (α) and is subsequently reflected to the first light sensor (5) at a corresponding angle of reflection (β). The light source (4), the reflection point (7), and the first light sensor (5) define a plane of incidence (8), and a secondary plane (9) which intersects the reflection point (7) and has a second light sensor (6) is defined perpendicularly to the surface (2), said secondary plane forming an angle (δ) between 80° and 100° relative to the plane of incidence (8). A straight line which runs through the reflection point (7) and the second light sensor (6) forms an angle (γ) relative to the surface (2), said angle being substantially as large as the angle of incidence (α) or the angle of reflection (β).