Clutter-Clearing Robot Navigation With Object Sorting and User Assistance
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Solution Overview
Problem
Existing decluttering robots lack intuitive user interaction and nuanced control, requiring advanced programming knowledge, and fail to effectively communicate with users when encountering obstacles or situational parameters.
Innovation Solution
A robotic system equipped with cameras, neural networks, and augmented reality interfaces allows users to interact intuitively by mapping and classifying objects, providing real-time feedback, and requesting user assistance through a mobile device or robot-mounted display, enabling users to train the robot for specific tasks and handle problematic objects.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If manual cleaning methods are used, then flexibility and adaptability to various surfaces are maintained, but labor intensity and time consumption increase significantly
Solution Approach 1:
The robotic system is divided into modular components: mobile robot platform, detachable cleaning head, fluid delivery system, and control system. This segmentation allows the complex cleaning task to be handled by specialized sub-systems while maintaining overall system manageability and flexibility.
Solution Approach 2:
A fluid delivery system acts as an intermediary between the robotic platform and the cleaning surfaces. The system delivers cleaning fluids through applicators to enhance cleaning effectiveness, mediating between the robot's motion capabilities and the actual cleaning action on diverse surfaces.
2Adaptability or versatility
If traditional cleaning equipment is used, then simplicity of operation is maintained, but ability to access confined or elevated areas is limited
Solution Approach 1:
The robotic system employs dynamic mobility solutions including climbing mechanisms for vertical surfaces, articulated arms for elevated areas, and tracked or wheeled platforms for confined spaces. These dynamic adaptations allow the system to access diverse areas while the centralized control maintains operational simplicity.
Solution Approach 2:
The robotic platform is designed with universal cleaning heads and adaptable end-effectors that can handle multiple surface types and cleaning tasks. A single system can clean floors, walls, ceilings, and confined spaces by changing attachments or adjusting configurations, maintaining ease of operation through standardized controls.
3Reliability
If intensive cleaning methods are applied, then cleaning effectiveness is improved, but risk of surface damage increases
Solution Approach 1:
The system dynamically adjusts cleaning parameters including fluid application rate, mechanical contact force, and cleaning head speed based on surface type and soiling level. This parameter optimization ensures effective cleaning while preventing surface damage through controlled application intensity.
Solution Approach 2:
Sensors and control systems monitor cleaning progress and surface conditions in real-time, providing feedback to adjust cleaning intensity. This closed-loop control prevents excessive force or fluid application that could damage sensitive surfaces while maintaining cleaning effectiveness.
Data Source
Figure 1
Figure 2A~2D
Figure 2E~2H
AI summary
A robot is operated to navigate an environment using cameras and map the type, size and location of objects. The system determines the type, size and location of objects and classifies the objects for association with specific containers. For each category of object with a corresponding container, the robot chooses a specific object to pick up in that category, performs path planning and navigates to objects of the category, to either organize or pick up the objects. Actuated pusher arms move other objects out of the way and manipulates the target object onto the front bucket to be carried.