Cleaning Robot Wall-Edge Navigation Using Impact and Distance Sensors
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Solution Overview
Problem
Existing cleaning robots struggle to effectively clean edges along walls with projecting skirting boards due to limited lateral spatial resolution and detection range of their sensor systems, often resulting in unsatisfactory cleaning or damage to the skirting boards.
Innovation Solution
A method that utilizes a cleaning robot equipped with an impact sensor and a distance detector to detect the thickness of a skirting board, allowing the robot to calculate an approach boundary and navigate exclusively via the distance detector for improved edge cleaning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a distance sensor system is built into the front of the cleaning robot, then navigation capability is improved, but the ability to detect skirting boards is worsened due to limited lateral spatial resolution and detection range
Solution Approach 1:
The patent transitions from a two-dimensional front-mounted sensor system to a three-dimensional arrangement by positioning the distance sensor above the impact sensor. This vertical offset creates a spatial relationship that enables the system to detect skirting boards through the combination of distance measurements and impact events, overcoming the limited lateral resolution of front-mounted sensors alone.
Solution Approach 2:
The impact sensor acts as an intermediary that bridges the gap between the distance sensor and the skirting board. When the robot approaches a skirting board, the impact sensor detects contact while the distance sensor measures the distance, allowing the system to infer the presence and position of skirting boards that would be undetectable to the distance sensor alone.
2Measurement precision
If the cleaning robot strikes against the skirting board to detect it via impact sensor, then skirting board detection is improved, but damage to the skirting board occurs
Solution Approach 1:
The system performs preliminary detection using the distance sensor before the robot actually contacts the skirting board. By measuring the distance from the robot to the wall and comparing it with the known approach boundary, the system can identify skirting boards in advance and adjust its navigation to avoid harmful impacts, while still using controlled minor impacts for initial detection.
Solution Approach 2:
The system uses feedback from impact sensors and distance sensors to continuously monitor and adjust the robot's approach to walls. When a skirting board is detected through impact or distance measurement, the feedback mechanism modifies the navigation parameters to maintain an appropriate distance, preventing repeated damaging impacts while preserving the ability to detect skirting boards.
3Measurement precision
If additional sensor systems are added to improve skirting board detection, then detection accuracy is improved, but device complexity increases
Solution Approach 1:
The patent makes the existing impact sensor and distance sensor multi-functional. The distance sensor serves both navigation and skirting board detection functions, while the impact sensor serves both obstacle detection and skirting board identification. By programming the computer facility to analyze the combination of distance measurements and impact events, the system achieves enhanced skirting board detection without adding new sensor hardware.
Solution Approach 2:
The system uses its existing sensors in a self-service manner to detect skirting boards. The impact sensor and distance sensor, already present for navigation and obstacle detection, are repurposed to also identify skirting boards through their existing functionality. The computer facility processes the data from these sensors to automatically determine skirting board positions and adjust navigation accordingly.
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 accurately detect and adapt to skirting board edges, achieving a significantly improved cleaning result without additional sensor systems, thereby reducing the risk of damage to the skirting boards.
Implementation Method 1
the cleaning robot strikes against the skirting board of the wall, whereupon an impact sensor of the cleaning robot generates a first signal
Implementation Method 2
a distance detector arranged above the impact sensor detects a first distance from the wall
Data Source
AI summary
A method of using a cleaning robot for improved cleaning of edges of a wall having a projecting baseboard, includes using the robot to strike the baseboard in a first cleaning pass, causing an impact sensor to generate a first signal and a distance sensor to detect a first distance from the wall. The robot continues its first cleaning pass and strikes the baseboard a further time, causing the impact sensor to generate a second signal and the distance sensor to detect a second distance from the wall. A computer of the robot uses the signals to calculate two spatial points and a first straight line running through the points. The computer uses the distances and the two spatial points to establish an approach boundary of the cleaning robot relative to the wall. The computer controls the cleaning robot during subsequent cleaning passes exclusively using the one distance sensor.