Cleaning Robot Straight Edge Detection for Accurate Wall Reference
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Current methods for wall surface measurement by robots are either error-prone and time-consuming when traveling along edges or costly when using rotating lasers, and often fail to detect obstacles effectively.
Innovation Solution
A method involving a robot that rotates in place to determine position coordinates using distance and angle sensors, calculating the slope of detected points to identify straight edges within a preset error range, allowing for accurate detection and selection of reference edges without traveling along edges, and utilizing vision sensors for image analysis to confirm the longest straight edge as a reference.
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 increases and time consumption increases
Solution Approach 1:
The patent replaces the mechanical approach of traveling along edges with an optical detection system. The robot uses distance sensors and angle sensors to detect wall surface information while rotating in place, eliminating the need for physical movement along the edge. This substitution of mechanical traversal with optical sensing resolves the contradiction by achieving measurement without the time loss and error accumulation associated with edge traveling.
Solution Approach 2:
The patent introduces an intermediary computational process that calculates detection point positions based on sensor data (distance values and angle values) and determines straight edges through slope analysis. This intermediary calculation layer enables the robot to identify wall surface features without physical contact or traversal, thereby reducing both time consumption and measurement errors while maintaining accuracy.
2Measurement precision
If a rotating laser is used to measure wall surface, then measurement precision improves, but cost increases
Solution Approach 1:
The patent employs relatively simple and cost-effective distance sensors and angle sensors instead of expensive rotating laser systems. While individual sensor components may have shorter operational lifetimes or lower precision compared to rotating lasers, their combination provides sufficient measurement capability at a fraction of the cost, resolving the contradiction between measurement precision and device complexity/cost.
Solution Approach 2:
The patent divides the measurement function into multiple independent sensors (distance sensor and angle sensor) rather than using a single complex rotating laser system. This segmentation allows the system to achieve the required measurement precision through coordinated data from simpler, more affordable components, thereby reducing overall system cost while maintaining measurement accuracy.
3Device complexity
If a laser head is placed on the upper surface of the machine, then the structure is simplified, but obstacle detection capability decreases
Solution Approach 1:
The patent makes the detection system dynamic by having the robot rotate in place while performing measurements. The distance sensor and angle sensor work together during rotation to detect obstacles and wall surfaces from multiple angles. This dynamic approach compensates for the limited field of view that would result from a fixed upper-surface mounting, thereby maintaining obstacle detection capability while preserving structural simplicity.
Solution Approach 2:
The patent adds the rotational dimension to the detection process. By rotating the robot body during measurement, the system effectively scans a three-dimensional space around the robot, compensating for the fixed position of the sensors on the upper surface. This dimensional addition enables comprehensive obstacle detection without requiring complex multi-position sensor arrangements.
Data Source
AI summary
The present disclosure 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.