Robot Cleaner Obstacle Detection Using Acceleration and Mop Rotation
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Solution Overview
Problem
Conventional cleaning robots lack effective obstacle detection methods without separate devices like image capture devices or bumpers, limiting their ability to accurately detect and avoid obstacles during mop cleaning, which affects their durability and cleaning quality.
Innovation Solution
The cleaning robot employs a control method that utilizes the combination of acceleration and rotational speed of its rotation members to detect obstacles, determining abnormal conditions to initiate obstacle avoidance driving without external detection means, using stored acceleration data and reference values to assess the driving environment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If separate obstacle detection means such as image capture devices or bumpers are used, then obstacle detection capability is improved, but device complexity and cost increase
Solution Approach 1:
The patent makes the rotation members serve dual functions: both cleaning the floor surface and detecting obstacles through their rotational characteristics. By monitoring rotational speed and load variations of the rotation members, the system detects obstacles without requiring separate detection devices, thus reducing device complexity while maintaining obstacle detection capability
Solution Approach 2:
The system uses its own rotation members to perform detection functions. The rotation members detect obstacles by experiencing changes in rotational speed and load when encountering obstacles, allowing the cleaning robot to self-detect obstacles using its existing structural components rather than external detection devices
2Productivity
If conventional suction cleaning method is used, then dust removal is achieved, but adhered foreign material and ingrained dirt cannot be removed
Solution Approach 1:
The patent employs periodic rotational motion of the rotation members to clean the floor surface. The rotation members rotate periodically to mechanically scrub and remove adhered foreign material and ingrained dirt, supplementing the suction cleaning method and significantly improving cleaning quality for difficult-to-remove contaminants
Solution Approach 2:
The rotation members perform preliminary mechanical cleaning action on the floor surface before suction removes the loosened particles. By pre-scrubbing and loosening adhered foreign material and ingrained dirt through rotational friction, the subsequent suction process can more effectively remove all debris, improving overall cleaning efficiency and quality
3Ease of operation
If conventional driving methods are used, then dust scattered on surface is removed, but adhered foreign material cannot be easily removed
Solution Approach 1:
The rotation members execute periodic rotational movements while the cleaning robot drives, creating mechanical scrubbing action that effectively removes adhered foreign material and ingrained dirt from the floor surface, significantly improving cleaning quality compared to simple suction-only methods
Solution Approach 2:
The rotation members continuously perform cleaning action during the driving process, maintaining constant contact with the floor surface to remove various types of contaminants. This continuous mechanical cleaning action ensures that both scattered dust and adhered foreign material are effectively removed throughout the cleaning operation
Data Source
AI summary
Provided are a cleaning robot and a control method thereof. The control method of the cleaning robot including a first rotation member and a second rotation member each performing a rotational motion around a first rotation axis and a second rotation axis according to the present disclosure includes: obtaining acceleration of the cleaning robot and at least one of rotational loads and rotational speeds of the respective first and second rotation members, during driving of the cleaning robot; determining whether the obtained acceleration is abnormal and whether at least one of the obtained rotational loads or at least one of the obtained rotational speeds is abnormal; and determining that an obstacle is detected when the acceleration is determined to be abnormal and at least one of the rotational loads or at least one of the rotational speeds is determined to be abnormal.