Robot Cleaner Obstacle Recognition Using Multi-Sensor Differentiation
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Solution Overview
Problem
Robot cleaners struggle to distinguish between pushed-and-sliding obstacles and fixed obstacles, leading to misidentification and potential damage or displacement of movable items like laundry racks and mats during cleaning operations.
Innovation Solution
The implementation of a sensing system that utilizes a combination of sensors, including current sensors, cliff sensors, and machine learning techniques to differentiate between pushed-and-sliding and pushed-but-fixed obstacles by analyzing changes in current resistance, height values, and light quantities, allowing the robot cleaner to autonomously bypass or avoid movable obstacles.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the robot cleaner uses conventional sensors (ultrasonic, infrared, laser distance sensor, or camera) to recognize obstacles, then it can detect obstacles at a distance, but it cannot distinguish between pushed-and-sliding obstacles and fixed obstacles, leading to misidentification and potential damage
Solution Approach 1:
The patent combines multiple sensor types (current sensor, cliff sensor, and existing distance sensors) to create a comprehensive obstacle recognition system. The current sensor detects resistance changes when pushing obstacles, while the cliff sensor detects height changes, allowing the system to differentiate between pushed-and-sliding and fixed obstacles by analyzing the combination of signals from these sensors together rather than relying on a single sensor type.
Solution Approach 2:
The system monitors changes in electrical parameters (current resistance) and physical parameters (height) in real-time to distinguish obstacle types. By detecting the dynamic changes in current consumption when the cleaner pushes an obstacle and comparing it with height sensor data, the system can identify whether an obstacle is movable or fixed, resolving the limitation of conventional static obstacle detection.
2Productivity
If the robot cleaner pushes obstacles during cleaning, then it can clean behind obstacles, but it may push movable obstacles like laundry racks and mats to walls or drag them away from original places, causing damage or displacement
Solution Approach 1:
The system performs preliminary detection of obstacle types before pushing occurs. By continuously monitoring current sensor and cliff sensor data, the system identifies movable obstacles in advance and adjusts its behavior to avoid pushing them, preventing damage before it occurs while still maintaining cleaning productivity through alternative navigation strategies.
Solution Approach 2:
The system uses real-time feedback from current and cliff sensors to continuously adjust its obstacle interaction strategy. When the sensors detect characteristics indicative of a movable obstacle, the system modifies its pushing force or changes direction, creating a closed-loop control system that prevents damage while maintaining cleaning effectiveness.
3Device complexity
If the robot cleaner uses a single type of sensor for obstacle detection, then the device complexity is low, but it cannot accurately differentiate between pushed-but-fixed obstacles and pushed-and-sliding obstacles
Solution Approach 1:
The patent integrates a current sensor and cliff sensor with existing distance sensors to create a multi-parameter detection system. This combination allows the system to differentiate obstacle types by analyzing multiple signals simultaneously, achieving high measurement precision without requiring an overly complex device architecture, as the added sensors leverage existing processing capabilities.
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
Effectively prevents the robot cleaner from pushing or damaging movable obstacles, ensuring safe navigation and accurate mapping of environments to avoid re-contacting previously encountered pushed-and-sliding obstacles, thereby enhancing cleaning efficiency and safety.
Implementation Method 1
a current sensor for measuring a current resistance of a driving motor
Implementation Method 2
a cliff sensor for measuring a height value with respect to a floor face on which the robot cleaner travels
Data Source
AI summary
The present disclosure provides a method for controlling a robot cleaner including a travel operation in which the robot cleaner travels, a recognition operation in which when the robot cleaner contacts an obstacle during the travel, the robot cleaner determines whether the obstacle is pushed by the robot cleaner and slides, and an obstacle bypass operation in which upon determination that the obstacle is the pushed-and-sliding obstacle, the robot cleaner stops the travel and then bypasses the pushed-and-sliding obstacle.