Robot Vacuum Tilt Sensing for Obstacle Climb Navigation
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Solution Overview
Problem
Robotic cleaning devices face complexity in navigating and cleaning surfaces with obstacles, such as rugs and stairs, due to inaccurate positional data from tilt angles during traversal, leading to potential collisions and inefficient cleaning.
Innovation Solution
A method and device that measure and compare tilt angles before and during obstacle traversal, adjusting operation based on differences to control the cleaning device's behavior and re-activate positioning algorithms post-traversal for precise navigation and effective cleaning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If the robotic cleaning device uses traditional navigation methods (ultrasound, light waves, SLAM) to move autonomously, then it can navigate a plane surface, but it becomes highly complex when considering objects and traversing obstacles such as doorsteps
Solution Approach 1:
The patent extracts the tilt angle measurement function from the complex SLAM and obstacle detection systems. By using a dedicated tilt sensor to measure the angle between the device body and the surface, the system separates the obstacle traversal detection from the overall navigation complexity, allowing simpler control logic for climbing obstacles while maintaining autonomous navigation capabilities
Solution Approach 2:
The tilt angle measurement serves as an intermediary parameter that bridges the gap between complex obstacle detection and simple traversal control. Instead of directly processing complex 3D mapping data to detect obstacles, the system uses tilt angle as an intermediate indicator to infer obstacle presence and guide traversal behavior, simplifying the control system
2Extent of automation
If the robotic cleaning device uses SLAM and horizontal laser scanning to build a map and navigate, then it can achieve autonomous behavior, but additional sensors such as stair sensors and wall-tracking sensors are required for accurate performance
Solution Approach 1:
The tilt sensor serves multiple functions: it detects obstacles to be traversed, measures tilt angles before and during traversal, and provides data for controlling the propulsion system. This multi-functional use of a single sensor reduces the need for multiple specialized sensors while maintaining autonomous cleaning capabilities
Solution Approach 2:
The patent combines the obstacle detection function with the tilt measurement capability. The same tilt sensor that measures device orientation also serves as an obstacle detection mechanism by detecting changes in tilt angle during movement, merging two functions into one component to reduce system complexity
3Adaptability or versatility
If the robotic cleaning device traverses obstacles using complex navigation algorithms, then it can cross doorsteps and rugs, but positional data accuracy decreases during traversal leading to potential collisions
Solution Approach 1:
The system performs preliminary tilt angle measurement before obstacle traversal to establish a reference state. By measuring the tilt angle before the device encounters the obstacle and comparing it with the tilt angle during traversal, the system can accurately detect obstacle presence and adjust navigation accordingly, maintaining positional accuracy throughout the traversal process
Solution Approach 2:
The patent implements feedback control by continuously measuring tilt angles during obstacle traversal and using this information to adjust the propulsion system. The controller compares the current tilt angle with the reference tilt angle and modifies movement commands in real-time, providing feedback that maintains measurement precision and prevents collisions during dynamic traversal
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
Enhances the robotic cleaning device's ability to navigate around obstacles with higher precision, ensuring accurate mapping and efficient cleaning by differentiating between plane and irregular surfaces, thereby improving overall performance and reducing errors in navigation.
Implementation Method 1
measuring a first tilt angle of the robotic cleaning device before the obstacle is traversed... measuring a second tilt angle of the robotic cleaning device while the robotic cleaning device traverses the obstacle
Data Source
AI summary
A robotic cleaning device having a main body and a propulsion system to move the robotic cleaning device, an obstacle detecting device, a controller to control the propulsion system to move the robotic cleaning device, and an angle-measuring device to measure tilt angles of the robotic cleaning device. The controller controls the angle-measuring device to measure a first tilt angle of the robotic cleaning device before the obstacle is traversed, and to measure a second tilt angle of the robotic cleaning device while the robotic cleaning device traverses the obstacle. The controller compares the second tilt angle with the first tilt angle, and controls the operation of the robotic cleaning device based on a difference between the second tilt angle and the first tilt angle.