Robot Obstacle Detection for Constant Wall Distance Cleaning
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Solution Overview
Problem
Conventional cleaning robots face challenges in maintaining a constant distance from obstacles, especially when surfaces are uneven, due to limitations in controlling the direction of movement and positioning of the intake port, which affects cleaning efficiency and precision, particularly in corners and on carpets.
Innovation Solution
A robot equipped with an obstacle detection unit that includes a main body, a driving unit, an auxiliary body for detecting obstacles, and a control unit that adjusts the direction of movement to maintain a predetermined distance from obstacles by using sensors and a contact detection mechanism to ensure accurate positioning and cleaning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If the intake port is integrated with the main body, then the structure is simple, but the cleaning performance along walls and in corners is insufficient
Solution Approach 1:
The intake port is separated from the main body and mounted on an independently rotatable support structure. This segmentation allows the intake port to rotate independently to follow walls and obstacles, improving cleaning performance in corners and along surfaces while maintaining a relatively simple overall structure.
Solution Approach 2:
The intake port is mounted on a support structure that can rotate dynamically in response to wall-following sensors. This dynamic adjustment enables the intake port to adapt its position and orientation based on the environment, significantly improving cleaning effectiveness along walls and in corners compared to a fixed integrated design.
2Adaptability or versatility
If the intake port is mounted separately to rotate freely, then the cleaning adaptability is improved, but the control precision and stability are degraded
Solution Approach 1:
Wall-following sensors provide real-time feedback about the position of walls and obstacles relative to the robot. This feedback is used by the control system to adjust the rotation of the support structure carrying the intake port, enabling precise and stable positioning while maintaining high adaptability to different cleaning environments.
Solution Approach 2:
The free rotation mechanism based on friction and inertia is replaced with an actively controlled rotational system. The support structure is driven by a motor that receives commands from the control unit based on sensor feedback, providing precise and stable control of the intake port's orientation while maintaining adaptability to various surfaces and corners.
3Device complexity
If the intake port rotates freely based on friction and inertia, then the structure is simple, but the rotational response lags behind main body movement
Solution Approach 1:
The passive friction-based rotation mechanism is replaced with an actively controlled motor-driven system. The motor can rapidly adjust the orientation of the intake port in response to changes in the robot's movement or detected environmental features, eliminating the lag inherent in friction-based systems while keeping the overall mechanism relatively simple.
Solution Approach 2:
The control system anticipates the need for intake port rotation by processing sensor data and issuing rotation commands in advance of the robot's physical movement or environmental changes. This preliminary action ensures the intake port is already positioned correctly when needed, eliminating rotational lag.
4Ease of manufacture
If the intake port has a freely rotated structure, then the manufacturing cost is reduced, but the ability to clean uneven areas and carpets is degraded
Solution Approach 1:
The passive friction-based rotation system is replaced with an actively controlled motor-driven rotation system. This allows the intake port to be precisely positioned and maintained at optimal angles when cleaning uneven surfaces and carpets, providing the adaptability needed for various surface types while remaining cost-effective through the use of simple motor control.
Solution Approach 2:
The robot uses its own sensor data and control system to automatically adjust the intake port's orientation based on the detected surface conditions. This self-service capability enables the intake port to adapt to uneven areas and carpets without requiring complex mechanical compliance features, maintaining ease of manufacture while improving cleaning capability on varied surfaces.
Data Source
AI summary
A robot having an obstacle detection unit and a method of controlling the robot. The robot includes a main body, a driving unit, an auxiliary body, and a control unit. The driving unit drives the main body along a given surface. The auxiliary body projects from the main body and detecting an obstacle around the main body. The control unit controls the driving unit according to results of the detection so that the main body and the obstacle are maintained at a predetermined distance from each other.