Mobile Robot Floor Material Detection to Prevent Carpet Entrapment
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Solution Overview
Problem
Existing mobile robots struggle to accurately detect floor materials, leading to difficulties in avoiding areas that cannot be cleaned with a wet mop and getting stuck in carpets, which increases cleaning time and may result in equipment breakdowns.
Innovation Solution
A mobile robot equipped with a combination of sensors, including a first floor sensor for light reflectance and an optical flow sensor, along with load information sensors for the sweeping and spin mop, to determine the floor material and adjust its cleaning path accordingly, preventing entry into unsuitable areas and avoiding carpets.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the robot cleaner uses a wet mop to move and clean the floor, then cleaning effectiveness is improved, but the robot cannot detect floor materials and may get stuck in carpets
Solution Approach 1:
The robot performs preliminary detection of floor materials using optical sensors before initiating wet mop cleaning. This allows the robot to identify carpets and other unsuitable surfaces in advance, preventing entry and avoiding getting stuck, thereby ensuring reliable cleaning operation on appropriate surfaces only
Solution Approach 2:
An optical sensor system serves as an intermediary between the robot and the floor surface. The sensor detects light reflectance characteristics to determine floor material type, providing information that mediates the decision-making process for whether to proceed with wet mop cleaning, thus preventing the robot from entering unsuitable areas
2Area of stationary object
If the robot cleaner enters carpet areas to clean, then cleaning coverage is improved, but the robot cannot escape and cleaning time increases
Solution Approach 1:
The robot performs preliminary detection of floor materials using optical sensors before initiating wet mop cleaning. This allows the robot to identify carpets and other unsuitable surfaces in advance, preventing entry and avoiding getting stuck, thereby ensuring reliable cleaning operation on appropriate surfaces only
Solution Approach 2:
The robot uses optical sensors to continuously monitor light reflectance and receives feedback about floor material characteristics. When the feedback indicates a carpet or unsuitable surface, the robot adjusts its navigation to avoid entry, ensuring efficient cleaning coverage without time loss from getting stuck
3Reliability
If the robot cleaner is stuck in carpet causing mop breakdown, then equipment durability is worsened, but the robot must inevitably climb the carpet
Solution Approach 1:
The robot performs preliminary detection of floor materials using optical sensors before initiating wet mop cleaning. This allows the robot to identify carpets and other unsuitable surfaces in advance, preventing entry and avoiding getting stuck, thereby ensuring reliable cleaning operation on appropriate surfaces only
Solution Approach 2:
The robot applies preliminary anti-action by detecting unsuitable floor materials and actively avoiding entry before the harmful event of getting stuck can occur. This preventive measure protects the mop from breakdown and maintains equipment durability
4Measurement precision
If the robot uses multiple sensors to detect floor material, then detection accuracy is improved, but device complexity increases
Solution Approach 1:
The optical sensor system is designed to perform multiple functions: detecting floor material type through light reflectance analysis, determining surface texture characteristics, and providing navigation feedback. This multi-functionality achieves accurate floor material detection without requiring separate specialized sensors for each function, thereby limiting the increase in 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
The robot effectively determines floor materials and avoids carpets, reducing the risk of getting stuck and optimizing cleaning time by using a minimal number of sensors, thereby reducing production costs and enhancing navigation.
Implementation Method 1
a first floor sensor disposed forward of the sweep module, and configured to sense reflectance of light reflected from a floor
Implementation Method 2
The second floor sensor may include an optical flow sensor configured to detect an amount of movement of the mobile robot based on an image of the floor
Data Source
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Figure 5~6
AI summary
The present disclosure relates to a mobile robot, including: a mop module having a pair of spin mops, which rotate clockwise or counter-clockwise, and a mop motor configured to provide a driving force to the pair of spin mops; a sweep module disposed forward of and spaced apart from the mop module, and having a collecting part, which forms a collecting space to store foreign materials, a sweeping part configured to introduce foreign materials into the collecting space while rotating, and a sweeping motor configured to provide a driving force to the sweeping part; a body, on which the mop module and the sweep module are disposed; and a first floor sensor disposed forward of the sweep module, and configured to sense reflectance of light reflected from a floor.