Robot with obstacle-detecting deformation sensors
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Solution Overview
Problem
Existing floor cleaning robots rely on perimeter bumpers and associated switches for obstacle detection, which require a large standoff distance, limiting the placement of agitators close to the leading surface, thus reducing edge cleaning efficiency and increasing packaging space and weight.
Innovation Solution
The use of deformation-based obstacle detection circuits, such as strain gauges, to measure deflection or deformation of the robot's body, allowing for the placement of agitators within 5 mm of the leading surface without perimeter bumpers, enabling efficient edge cleaning and reducing weight and packaging.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If traditional perimeter bumpers with switches are used for obstacle detection, then obstacle detection is achieved, but the standoff distance between the bumper and the body's leading surface increases, reducing cleaning space and edge cleaning effectiveness
Solution Approach 1:
The patent extracts the obstacle detection function from the traditional perimeter bumper assembly and relocates it to strain gauges mounted directly on the robot's body. This separation eliminates the need for the bumper structure and its associated switches, allowing the agitator to be positioned much closer to the leading surface while maintaining obstacle detection capability through direct body deformation sensing.
2Reliability
If traditional perimeter bumpers with switches are used for obstacle detection, then obstacle detection is achieved, but the robot's weight and packaging space increase
Solution Approach 1:
The patent removes the entire perimeter bumper assembly including switches, levers, and mounting structures from the robot design. The obstacle detection function is extracted and implemented using only strain gauges mounted on the body, dramatically reducing the weight and packaging space required for obstacle detection components.
Solution Approach 2:
The patent replaces the mechanical switch-based obstacle detection system with an electrical sensing system using strain gauges. This substitution eliminates heavy mechanical components like bumpers, levers, and switch mechanisms, achieving obstacle detection through measurement of body deformation via electrical signals from the strain gauges.
3Reliability
If traditional perimeter bumpers with switches are used for obstacle detection, then obstacle detection is achieved, but the device complexity increases
Solution Approach 1:
The patent extracts the obstacle detection function from the complex mechanical bumper-switch system and implements it using simple strain gauges that directly measure body deformation. This extraction eliminates the need for mechanical linkages, levers, and switch mechanisms, significantly simplifying the detection system architecture.
Solution Approach 2:
The patent replaces the complex mechanical switch system with an electrical sensing approach using strain gauges. This substitution eliminates mechanical linkages, levers, and multiple moving parts, achieving obstacle detection through direct measurement of body deformation via electrical signals, thereby reducing device complexity.
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
Enhances edge cleaning efficiency by allowing agitators to be positioned closer to the leading surface, reducing packaging space and weight, while maintaining effective obstacle detection without traditional bumpers.
Implementation Method 1
the deformation sensor, e.g., a strain gauge or a plurality thereof, is connected to the body and configured to measure deflection or deformation value of the body when the body contacts an obstacle
Data Source
AI summary
A robot such as a floor cleaning robot includes a body, a motorized drive system connected to the body and operable for moving the robot relative to a floor surface, at least one deformation sensor, and a controller. Each deformation sensor may be a strain sensor, such as a strain gauge, and is connected to the body and configured to measure a deformation thereof, and to output an electronic signal indicative of the deformation. The controller detects a threshold deformation of the body indicative of contact with an obstacle by processing the electronic signal, and thereafter modifies a dynamic state of the robot via regulation of the motorized drive system in response to the threshold deformation.