Cleaning Robot Straight-Edge Detection Without Wall Traversal
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Solution Overview
Problem
Current methods for wall surface measurement by robots are either error-prone and time-consuming when traveling along edges or costly and incomplete when using rotating lasers, as they struggle to detect obstacles and maintain consistent path alignment.
Innovation Solution
A method involving a robot rotating in place to determine position coordinates using distance and angle sensors, analyzing slopes to identify straight edges within a preset error range, and utilizing the Hough transform for image parsing to select the longest straight edge as a reference, allowing for accurate edge detection without edge traversal.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a robot travels along an edge to measure wall surface, then the measurement can be performed, but the error is greater and time consumption is longer
Solution Approach 1:
The patent replaces the mechanical approach of traveling along edges with an optical detection system (laser range finder) that rotates in place to detect wall surfaces, significantly reducing measurement time while maintaining accuracy through algorithmic processing of laser data
2Productivity
If a rotating laser is used to measure wall surface, then the measurement speed is improved, but the cost is higher and obstacles cannot be detected
Solution Approach 1:
The patent makes the laser range finder serve multiple functions: it detects wall surfaces for positioning and simultaneously detects obstacles in the environment, eliminating the need for separate detection systems and reducing overall system cost while maintaining high measurement speed
Solution Approach 2:
The robot uses its own movement behavior (traveling along edges) to assist the laser head in detecting straight edges, making the system self-sufficient and eliminating the need for additional specialized detection equipment
3Device complexity
If a laser head is placed on the upper surface of the machine, then the structure is simplified, but obstacles cannot be detected
Solution Approach 1:
The patent makes the laser range finder rotatable rather than fixed, allowing it to dynamically adjust its detection direction and scan the environment, enabling obstacle detection while maintaining the simplified upper surface mounting structure
Data Source
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AI summary
The present invention relates to a method for straight edge detection by a robot and a method for reference wall edge selection by a cleaning robot. The method for straight edge detection by the robot includes that: position coordinates of detection points are determined according to distance values detected by a distance sensor of the robot and angle values detected by an angle sensor of the robot, and then a final straight edge is determined according to a slope of a straight line formed by adjacent two of the detection points, thereby having high detection precision and accuracy, without requiring the robot to determine a straight edge by means of a behavior of traveling along an edge, and greatly improving the working efficiency.