Cleaning Robot Vertical Contact Sensor for Overhead Obstacle Detection
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Solution Overview
Problem
Self-propelled surface treating devices, such as cleaning robots, are unable to effectively detect and avoid obstacles that protrude vertically, such as inclined skirting boards or suspended furniture, which can cause damage to the distance measuring device.
Innovation Solution
Incorporating a vertical touch-sensitive contact sensor on the device housing that detects forces acting vertically, with movable housing parts and an actuating device to adjust the detection area and trigger signals upon collision, ensuring comprehensive protection against vertical impacts and enhancing the device's navigation strategy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a horizontal contact sensor is used to detect obstacles, then the device can detect obstacles in the horizontal direction, but it cannot detect obstacles that protrude vertically from above
Solution Approach 1:
The contact sensor is divided into two independent segments: a horizontal contact sensor for detecting lateral obstacles and a vertical contact sensor for detecting vertically protruding obstacles. Each sensor operates independently in its specific detection direction, allowing the device to handle both horizontal and vertical obstacle detection without interference between the two functions.
Solution Approach 2:
The detection capability is extended from a single horizontal dimension to a three-dimensional space by adding a vertical contact sensor. The vertical contact sensor's detection area is oriented perpendicular to the horizontal sensor, enabling the device to detect obstacles in the vertical dimension that were previously undetectable, such as low-hanging objects or inclined surfaces.
2Reliability
If the distance measuring device is protected from vertical impacts, then damage to the device is prevented, but the device complexity increases due to additional sensors and movable housing parts
Solution Approach 1:
The vertical contact sensor is integrated into the existing housing structure, combining the protective function with the structural design. The sensor is positioned on the housing surface, and its detection area is oriented vertically without requiring separate protective enclosures or complex mounting mechanisms, thus adding minimal structural complexity.
Solution Approach 2:
The vertical contact sensor automatically detects vertical obstacles and triggers the control device to modify the traversing path, eliminating the need for additional protective mechanisms or manual intervention. The system self-regulates by using the sensor input to prevent damage to the distance measuring device, reducing the need for complex external protection systems.
3Adaptability or versatility
If multiple contact sensors are arranged to cover all detection areas, then comprehensive obstacle detection is achieved, but the manufacturing cost and device complexity increase
Solution Approach 1:
Each contact sensor (horizontal and vertical) is designed to perform its specific detection function while also serving as part of the overall protective system for the distance measuring device. The sensors are positioned and oriented to maximize their detection coverage in their respective directions, allowing each sensor to fulfill multiple roles: obstacle detection, path planning input, and indirect protection of the distance measuring device.
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
The solution allows the surface treating device to detect and adjust for vertical obstacles, preventing damage to the distance measuring device and ensuring safe navigation by modifying its traversing path before collisions occur, thereby protecting the device from both lateral and vertical impacts.
Implementation Method 1
the vertical contact sensor is configured to detect a force acting vertically on the surface treating device
Data Source
AI summary
A self-propelled surface treating device, in particular a cleaning robot, with a device housing and a collision detection device for detecting a collision between the surface treating device and an obstacle, wherein the collision detection device has at least one touch-sensitive contact sensor. In order to protect the surface treating device against impacts in the vertical direction, it is proposed that the touch-sensitive contact sensor be a vertical contact sensor, which is arranged on the device housing in such a way that its detection area is vertically aligned during a movement with the surface treating device conventionally oriented, so that the vertical contact sensor is configured to detect a force acting vertically on the surface treating device.