Method for collision-free cleaning of walls and/or edges
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Solution Overview
Problem
Robotic vacuum cleaners face challenges in effectively cleaning edges and walls while minimizing collisions with obstacles, particularly due to asymmetrically positioned suction nozzles and the lack of a second wall-following sensor, which leads to suboptimal cleaning and increased collision risk.
Innovation Solution
A method using a single wall-following sensor and a distance sensor, such as LiDAR, to determine a collision-free distance value by measuring and comparing distances to ensure safe and efficient edge and wall cleaning, allowing the device to traverse walls from both sides without collisions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a single wall-following sensor is used to reduce costs, then device complexity is reduced, but the ability to follow walls from both sides accurately deteriorates
Solution Approach 1:
The distance sensor (LiDAR) performs multiple functions: it detects walls, obstacles, and determines collision-free distances. This single sensor replaces the need for separate wall-following sensors on both sides, reducing device complexity while maintaining reliability through its 360° detection capability
Solution Approach 2:
The computer system acts as an intermediary that processes distance sensor data and generates virtual wall-following guidance. Instead of using physical sensors on both sides, the system computes safe cleaning paths based on 3D spatial information from the distance sensor, enabling bidirectional wall following with a single sensor
2Productivity
If the device travels very close to walls to improve edge cleaning, then cleaning effectiveness improves, but the risk of collision with obstacles increases
Solution Approach 1:
The system performs preliminary detection of the environment using the distance sensor before cleaning operations begin. It pre-calculates collision-free distance values and generates safe cleaning paths, allowing the device to travel close to walls for effective cleaning while avoiding obstacles through advance planning
Solution Approach 2:
The distance sensor continuously provides feedback about the device's position relative to walls and obstacles. The computer system processes this real-time data and dynamically adjusts the cleaning path to maintain optimal distance from walls for cleaning while avoiding collision risks, enabling close wall following with safety
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 effective edge and wall cleaning with a low risk of collisions by maintaining a collision-free distance, even without a second wall-following sensor, optimizing cleaning efficiency and reducing costs.
Implementation Method 1
simultaneously measuring a second distance to the wall with the distance sensor
Data Source
Figure 1A~2B
Figure 3A~4
Figure 5A~6
AI summary
A method for collision-free wall and/or edge cleaning using a mobile, self-propelled device (10), in particular a floor cleaning device for autonomously processing floor surfaces, such as a vacuuming and/or sweeping and/or mopping robot, comprising a laterally arranged wall-following sensor (6) and a distance sensor (1), is described, comprising the following method steps: driving along a wall section (8) at a first distance determined by measurements from the wall-following sensor (6); simultaneously measuring a second distance to the wall with the distance sensor (1); determining a difference between the distance values of the wall-following sensor (6) and the distance sensor (1) using a computer unit of the device (10);and determining a collision-free distance value to the wall section (8) depending on the difference using the computer device, wherein subsequent cleaning runs are controlled by a distance control depending on the determined collision-free distance value.;