Robot Cleaner Sensor Bumper for Floor Curvature Collision Detection
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Solution Overview
Problem
Robot vacuum cleaners face inaccuracies in measuring distance traveled due to floor curvature, leading to potential collisions and sensor errors, as existing methods rely on sensors scanning the ceiling or floor to predict obstacle distances.
Innovation Solution
A sensor collision detector system is integrated into the robot cleaner, comprising a bumper and detecting portion on the sensor case, connected via a link member, with an elastic member to return the bumper to its original position, allowing for collision detection and improved obstacle avoidance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the robot vacuum cleaner uses sensors to scan the ceiling or floor to predict obstacle distances, then the robot can navigate the cleaning area, but measurement inaccuracies occur due to floor curvature leading to collision with obstacles
Solution Approach 1:
The sensor system is divided into multiple sensors arranged at different positions and orientations around the robot body. Instead of relying on a single scanning sensor, multiple sensors simultaneously detect obstacles from different angles, segmenting the detection task to overcome floor curvature issues and improve measurement accuracy.
Solution Approach 2:
The patent combines multiple sensor detection results to determine obstacle distance and position. By merging data from multiple sensors arranged in different orientations, the system achieves more reliable collision detection that is not affected by floor curvature, resolving the contradiction between navigation capability and measurement accuracy.
2Ease of operation
If the robot vacuum cleaner relies on predicted distance from ceiling or floor sensors, then motion movements can be controlled, but collision with obstacles occurs due to inaccurate distance measurement
Solution Approach 1:
Multiple sensors are positioned to detect obstacles before the robot reaches them. The sensor arrangement allows preliminary detection of obstacles at various distances and angles, enabling the robot to plan motion movements in advance and avoid collisions, improving both ease of operation and reliability.
Solution Approach 2:
The system uses feedback from multiple sensors to continuously monitor obstacle positions and adjust motion control in real-time. The controller receives detection results from multiple sensors and modifies the robot's movement accordingly, creating a reliable obstacle avoidance system that maintains ease of operation.
3Loss of information
If various sensor units such as Lidar are equipped to monitor ceiling or floor, then distance to obstacles can be detected, but sensor errors are caused due to floor curvature affecting distance measurement
Solution Approach 1:
Different sensors are positioned with different orientations and detection ranges to cover specific local areas. Each sensor is optimized for its local detection zone, and the controller integrates these local measurements to determine overall obstacle distance, compensating for floor curvature effects and reducing measurement errors.
Solution Approach 2:
The multiple sensor arrangement allows the system to perform multiple functions simultaneously: detecting obstacles at various distances, determining obstacle position and orientation, and compensating for environmental factors like floor curvature. This multi-functional approach reduces information loss and improves measurement precision.
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
The system effectively detects collisions and enables accurate obstacle avoidance, enhancing the robot cleaner's ability to navigate and clean by providing a three-dimensional understanding of obstacle distribution and distance measurement.
Implementation Method 1
an elastic member to return the bumper to its original position
Data Source
AI summary
A robot cleaner including a cleaner main body configured to travel and clean a cleaning area, a sensor case arrangeable on the cleaner main body such that while the sensor case is arranged on the cleaner main body, the sensor case is configured to cover a sensor for detecting an obstacle in the cleaning area, and a sensor collision detector configured to detect an impact applied to the sensor. The sensor collision detector includes a bumper connectable to the sensor case which covers the sensor such that while the bumper is connected to the sensor case, the bumper is moveable and at least a portion of the bumper is arranged along an outer circumference of the sensor, a detecting portion to interact with the bumper to detect a collision of the sensor case, and wherein the bumper and the detecting portion are on a lower side of the sensor.