Flying Robot Surface Cleaning with Sensor-Based Trajectory Adaptation
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Solution Overview
Problem
Current drone-based package delivery systems face challenges in navigating complex and chaotic environments, such as solar power plants or house roofs, with high precision and safety, especially in areas with heavy passenger traffic, and require efficient surface cleaning with minimal energy expenditure.
Innovation Solution
The integration of a sensor system that detects geometric information and aligns the drone with the surface, using simple sensors for distance measurement and edge detection, allowing for low-energy trajectory planning and efficient cleaning with a movable cleaning apparatus attached to the drone.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If pre-programmed trajectories with high tolerance are used for drone navigation, then navigation precision is improved, but adaptability to chaotic obstacles and complex environments deteriorates
Solution Approach 1:
The patent implements dynamic trajectory adjustment by equipping drones with sensor systems (cameras, LIDAR, ultrasonic sensors) that continuously detect obstacles and environmental features. The control unit processes this sensor data in real-time and dynamically modifies the flight trajectory, allowing the drone to adapt to chaotic environments while maintaining navigation precision through active feedback control rather than static pre-programming
Solution Approach 2:
The patent employs feedback mechanisms where sensor systems continuously monitor the drone's position, obstacles, and environmental conditions. This information is fed back to the control unit, which adjusts the trajectory in real-time. The feedback loop enables the drone to maintain high navigation precision while adapting to changing environments, resolving the contradiction between fixed precision and flexible adaptability
2Measurement precision
If complex sensor systems are used for object detection and alignment, then alignment precision is improved, but device complexity and cost increase
Solution Approach 1:
The patent segments the sensing function across multiple simple sensors (cameras for visual features, LIDAR for depth, ultrasonic sensors for distance) rather than using a single complex sensor system. Each sensor type handles specific detection tasks, and their data is integrated by the control unit to achieve precise alignment. This segmentation approach improves alignment precision while keeping individual sensor components simple and manageable
Solution Approach 2:
The patent makes the control unit universal by enabling it to process data from multiple different sensor types (optical, acoustic, electromagnetic) and perform multiple functions including obstacle detection, feature recognition, trajectory calculation, and alignment control. This multi-functionality allows precise alignment to be achieved through software integration of simple sensors rather than requiring complex specialized hardware
3Measurement precision
If extensive sensor information is collected for trajectory planning, then trajectory accuracy is improved, but energy consumption increases
Solution Approach 1:
The patent applies partial action by selectively activating and using only the sensor information necessary for current flight conditions and trajectory requirements. The control unit prioritizes processing critical sensor data (such as obstacle distance from ultrasonic sensors or immediate visual features from cameras) while potentially reducing processing of less critical information, thereby achieving sufficient trajectory accuracy with reduced energy consumption compared to processing all available sensor data exhaustively
Solution Approach 2:
The patent applies local quality by focusing sensor detection and processing on locally relevant information for immediate trajectory decisions rather than comprehensively analyzing all environmental data. For example, the system prioritizes detecting obstacles in the immediate flight path and local surface features for alignment, rather than mapping the entire environment in detail, thus achieving accurate local trajectory control with minimal energy expenditure
Data Source
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AI summary
The invention relates to flying objects which can cover large distances between arrangements of smooth an curved surfaces without requiring a manual manipulation. This reduces personnel requirements and enables large surfaces to be maintained, for example solar power stations, in a fully automated manner. The method for controlling a flying object for cleaning surfaces consists of detecting the surrounding surfaces of an object to be cleaned, directing the flying object with respect thereto and structuring the flying path. As a result, the surface can be cleaned particularly efficiently and optionally, cleaned further. Said method for controlling a flying object for cleaning surfaces is suitable for use on glass facades or on solar power stations, in particular in arid regions.