Robot Cleaner Multi-Sensor Integration for Obstacle Detection Coverage
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Solution Overview
Problem
Current robot cleaners face challenges in optimizing autonomous driving and obstacle avoidance performance due to suboptimal configurations of sensing units, which affect their ability to accurately navigate and detect obstacles in various environments.
Innovation Solution
The robot cleaner incorporates a combination of sensing units, including a laser-based first sensing unit for 360-degree obstacle detection, an inclined camera-based second sensing unit for lateral and upward direction capture, ultrasonic wave-emitting third sensing units for front obstacle detection, and a depth-image-capturing fourth sensing unit, all integrated with a control unit to merge information for enhanced position recognition and obstacle avoidance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If multiple sensing units are applied to improve autonomous driving and obstacle avoidance performance, then detection capability is improved, but device complexity increases
Solution Approach 1:
The sensing system is segmented into multiple specialized sensing units: a first sensing unit (laser/ToF) for 360-degree distance measurement, a second sensing unit (inclined camera) for lateral and upward direction capture, a third sensing unit (ultrasonic) for front obstacle detection, and a fourth sensing unit (front camera) for front area capture. Each unit is positioned at specific locations on the cleaner body to detect different areas and types of obstacles, with the control unit merging their information for comprehensive environment recognition.
2Adaptability or versatility
If sensing units are positioned to capture all directions, then obstacle detection coverage is improved, but structural complexity increases
Solution Approach 1:
The second sensing unit is positioned at an upper edge portion of the cleaner body and inclined relative to the side surface and upper surface, enabling it to capture lateral and upward directions simultaneously. This inclined positioning adds a dimensional advantage for detecting obstacles in previously hard-to-reach areas without requiring additional sensing units in every possible direction.
Solution Approach 2:
The first sensing unit protruding from the upper surface is configured to irradiate laser in 360 degrees, providing omnidirectional distance measurement capability. This single unit serves multiple functions for autonomous navigation, collision avoidance, and environment mapping, reducing the need for multiple specialized sensors in every direction.
3Measurement precision
If sensing units use different detection methods, then detection precision in various conditions is improved, but system complexity increases
Solution Approach 1:
The control unit merges all or parts of information from the first sensing unit (laser/ToF distance data) and image information from the second sensing unit (inclined camera) to detect current position in the traveling area. This fusion of different data types compensates for individual sensor limitations and improves overall positioning accuracy through complementary information integration.
Solution Approach 2:
The control unit acts as an intermediary that receives and processes information from multiple sensing units using different detection methods (laser, ultrasonic, optical). It merges this heterogeneous information and produces unified position and obstacle detection results, managing the complexity of multi-sensor integration.
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 configuration enhances the robot cleaner's autonomous driving and obstacle avoidance capabilities by complementing detection functions across different areas and environments, improving navigation and obstacle detection precision, especially in complex terrains and low-light conditions.
Implementation Method 1
a first sensing unit protruding from an upper surface of the cleaner body to irradiate a laser to surroundings of the cleaner body so as to detect obstacles located at the surroundings of the cleaner body
Implementation Method 2
a third sensing unit disposed on the front surface of the cleaner body to detect obstacles located at surroundings in front of the cleaner body using ultrasonic waves reflected after being emitted to the surroundings in front of the cleaner body
Data Source
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AI summary
Disclosed is a robot cleaner comprising: a cleaner body provided with a control unit; a first sensing unit which is disposed protruding from the upper surface of the cleaner body, and emits laser at the surroundings of the cleaner body to detect obstacles located around the cleaner body; a second sensing unit which is disposed inclined relative to each of the side surface and the upper surface of an upper edge portion of the cleaner body, and captures images in both lateral and upward directions of the cleaner body; a third sensing unit which is disposed on the front surface of the cleaner body, transmits ultrasonic waves to the surroundings in front of the cleaner body, and then uses the reflected ultrasonic waves to detect obstacles located around the front of the cleaner body; and a fourth sensing unit which is disposed on the front surface of the cleaner body, and captures images in front of the cleaner body.