Dual-Plane Environment Mapping for Robot Vacuum Collision Avoidance
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Solution Overview
Problem
Conventional robot vacuum cleaners face repeated collisions with obstacles due to limited sensor integration, as they cannot detect regions below the lidar sensor's field of view, leading to incomplete cleaning and inefficient path planning.
Innovation Solution
Implementing a dual horizontal plane environment map using a lidar sensor and a bumper sensor to differentiate between obstacles at the appliance body and lidar sensor levels, allowing for systematic and optimal cleaning of floor regions, including areas below obstacles by planning collision-free movement paths.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a lidar sensor is integrated in a tower-type structure on the appliance housing to provide a free field of view, then the lidar sensor can scan the environment contactlessly with a 360° field of view, but the robot vacuum cleaner cannot detect regions below the measurement plane of the lidar sensor, leading to repeated collisions with obstacles
Solution Approach 1:
The patent segments the environment detection into two distinct horizontal planes: a first measurement plane for the appliance body level and a second measurement plane for the lidar sensor level. This segmentation allows each sensor to focus on its specific detection zone, with the bumper detecting obstacles below the lidar plane while the lidar detects obstacles at its measurement plane, eliminating detection gaps that cause repeated collisions
Solution Approach 2:
The patent introduces a bumper as an intermediary sensor between the appliance body and the lidar sensor. The bumper acts as a mediator that detects obstacles in the region below the lidar measurement plane, filling the detection gap and providing complementary information to the lidar system, thereby improving overall collision avoidance reliability
2Ease of operation
If the robot vacuum cleaner uses a lidar bumper to detect obstacles and moves back and tries to pass again, then the robot can eventually find a path without striking obstacles, but the robot vacuum cleaner repeatedly strikes the same obstacle without memory of previous collision regions
Solution Approach 1:
The patent implements a feedback mechanism where the environment map is continuously updated with collision information from the bumper sensor. When the robot encounters an obstacle, the collision data is stored in the environment map, and this feedback information is used to adjust the movement path planning, allowing the robot to avoid previously collided regions and prevent repeated strikes on the same obstacles
Solution Approach 2:
The patent performs preliminary path planning based on the environment map before the robot actually moves. By pre-processing the environment information and identifying potential collision zones in advance, the robot can select optimal paths that avoid obstacles, preventing repeated collisions rather than reacting after each collision occurs
3Productivity
If the lidar tower is arranged away from the cleaning system on the robot vacuum cleaner, then the robot can clean edge regions of obstacles, but the robot vacuum cleaner still cannot pass below obstacles at the level of the lidar sensor
Solution Approach 1:
The patent adds a vertical dimension to the detection system by implementing two different horizontal planes at different heights. The first plane detects obstacles at appliance body level while the second plane detects obstacles at lidar sensor level. This dimensional differentiation allows the robot to distinguish between obstacles it can pass under and those it cannot, improving navigation capability while maintaining the ability to clean edge regions
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 approach enables the robot vacuum cleaner to avoid repeated collisions and clean a larger portion of the floor surface by differentiating obstacles at different levels, optimizing movement paths and increasing the accessible cleaning area.
Implementation Method 1
robot vacuum cleaners are also frequently equipped with a lidar sensor, which scans the robot's environment contactlessly generally with a 360° field of view
Data Source
AI summary
A method creates an environment map of a surrounding region for the operation of a mobile, self-moving appliance, in particular a floor cleaning appliance such as a vacuum cleaning and/or sweeping and/or mopping robot. The method includes: detecting the region around the appliance with at least one first sensor, to create a first horizontal plane of the environment map; detecting the region around the appliance with at least one second sensor, to create a second horizontal plane of the environment map, which is different from the first horizontal plane; and planning a movement path of the appliance based on the first and second planes of the environment map, in order in particular to achieve the maximum floor processing possible in the surrounding region.