Robot Cleaner Reverse Control to Prevent Collision Under Sensor Error
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Solution Overview
Problem
Existing robot cleaners face challenges in preventing collisions with obstacles due to friction between the floor and driving wheels, as well as sensor errors, which can lead to ineffective obstacle avoidance and reduced cleaning performance.
Innovation Solution
A robot cleaner system that includes a main body, a driving unit, a sensing unit, and a controller. The controller calculates distances to obstacles and reverses the robot cleaner when necessary, adjusts speed, and performs operations to prevent collisions by setting reference distances based on obstacle size and rotation radius, ensuring safe navigation without sensor errors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the robot cleaner uses sensor-based obstacle detection to avoid collisions, then it can perform autonomous navigation, but collision prevention is ineffective due to sensor errors and friction variations
Solution Approach 1:
Instead of relying on sensors to detect obstacles before collision, the patent inverts the approach by using a contactless communication system where the robot actively queries for obstacles and receives real-time position information from obstacles equipped with response devices. This reverses the traditional detection paradigm from passive sensor detection to active communication-based awareness, eliminating sensor errors and friction-related inaccuracies.
Solution Approach 2:
The patent introduces a communication signal as an intermediary between the robot and obstacles. Rather than direct sensor-obstacle interaction, the system uses electromagnetic signals for querying and responding, with obstacles equipped with response devices providing their position information. This intermediary communication layer eliminates the need for physical contact or traditional sensing, resolving the reliability-precision contradiction.
2Reliability
If the robot cleaner reverses immediately upon detecting an obstacle, then collision is prevented, but cleaning efficiency is reduced due to excessive reverse operations
Solution Approach 1:
The patent implements dynamic decision-making where the robot's response to obstacles is not fixed but adapts based on real-time conditions. The controller determines whether to reverse, avoid, or continue cleaning based on the obstacle type, position, and environmental context. This dynamic approach optimizes the balance between collision prevention and cleaning efficiency, avoiding unnecessary reverse operations while maintaining safety.
Solution Approach 2:
The system changes operational parameters dynamically based on obstacle characteristics. Instead of always reversing, the robot adjusts its behavior parameters (reverse distance, avoidance angle, speed) according to the specific situation. This parameter adaptation allows the system to prevent collisions while minimizing disruption to the cleaning process, thereby maintaining productivity.
3Reliability
If the robot cleaner maintains a large safety distance from obstacles, then collision is prevented, but cleaning coverage is reduced
Solution Approach 1:
The patent applies preliminary action by having obstacles pre-equipped with response devices that can communicate their position and characteristics to the robot before contact or close approach. This advance information allows the robot to plan its path more precisely, maintaining minimal necessary distance rather than large safety margins, thereby maximizing cleaning coverage while ensuring collision prevention.
Data Source
AI summary
A robot cleaner having a main body, a driving unit for moving the main body, a sensing unit for sensing information related to an obstacle, and a controller for controlling the driving unit to prevent collision of the main body with the obstacle. The controller controls the driving unit to reverse the main body with respect to the obstacle so as to prevent the main body from contacting the obstacle based on a distance between the main body and the obstacle.