Cleaning Robot Obstacle Avoidance via 3D Sensor Thresholds
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Solution Overview
Problem
Cleaning robots often fail to effectively acquire three-dimensional information of obstacles due to being too close or at an inappropriate angle relative to the obstacles, leading to potential collisions and inefficient cleaning operations.
Innovation Solution
The cleaning robot is equipped with a sensor system that acquires three-dimensional information and employs a decision and judgment mechanism to perform actions such as moving away from obstacles when the distance or angle thresholds are exceeded, ensuring effective data acquisition and accurate obstacle identification.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the cleaning robot moves closer to obstacles to acquire detailed information, then the measurement precision of obstacle information improves, but the robot may collide with the obstacle or waste energy
Solution Approach 1:
The robot performs preliminary detection at a distance using the sensor system to acquire three-dimensional information of obstacles before approaching. By evaluating obstacle information (size, shape, position) in advance, the robot determines whether further approach is necessary, thereby preventing unnecessary collisions and energy waste while ensuring accurate information acquisition when needed
Solution Approach 2:
The robot dynamically adjusts its movement strategy based on real-time evaluation of obstacle information. When the sensor system acquires sufficient three-dimensional data, the robot modifies its trajectory to maintain an optimal detection distance, neither too close nor too far, thereby balancing measurement precision with collision avoidance reliability
2Reliability
If the cleaning robot continuously monitors obstacle information in real time, then the reliability of obstacle detection improves, but the data processing burden and energy consumption increase
Solution Approach 1:
Instead of continuous monitoring, the robot performs periodic detection cycles using the sensor system. It acquires three-dimensional obstacle information at regular intervals or triggered by specific conditions (e.g., when an obstacle enters the detection range), processes the data, and then enters a lower-power state until the next detection cycle is needed, thereby reducing overall energy consumption while maintaining reliable obstacle detection
Solution Approach 2:
The robot implements a feedback mechanism where the sensor system continuously provides obstacle information to the control system. The control system evaluates this information and only triggers full processing or movement adjustments when necessary conditions are met (e.g., obstacle distance threshold, angle threshold), thereby maintaining high detection reliability while minimizing unnecessary energy expenditure on continuous full-scale processing
3Measurement precision
If the cleaning robot approaches obstacles at various angles to gather comprehensive data, then the measurement precision of obstacle three-dimensional information improves, but the time required for data collection increases
Solution Approach 1:
The robot performs preliminary angular assessment using the sensor system to determine the optimal detection angle for acquiring three-dimensional obstacle information. By evaluating the obstacle's position and orientation in advance, the robot selects the most efficient viewing angle that maximizes information quality while minimizing the number of repositioning maneuvers required, thereby reducing data collection time without sacrificing measurement precision
Solution Approach 2:
The robot dynamically adjusts its detection angle and positioning based on real-time sensor feedback. When the sensor system acquires sufficient three-dimensional data from a particular angle, the robot modifies its trajectory to maintain that optimal angle, avoiding unnecessary angular adjustments and time-consuming repositioning while ensuring high measurement precision for obstacle characteristics
Data Source
AI summary
The present disclosure provides a cleaning robot and a movement control method thereof. Based on the method, during travel of the cleaning robot, three-dimensional information of an obstacle is acquired through a sensor system. When the obstacle moves within the detection range of the sensor system, when a distance between the obstacle and the cleaning robot along a central axis of the cleaning robot is less than a first preset detection threshold, and when a maximum value among included angles between connection lines constituted by a first reference point of the cleaning robot and second reference points of the obstacle and a current traveling direction of the cleaning robot is greater than a third preset detection threshold, an action away from the obstacle is intelligently performed.