Robotic Vacuum Wall-Tracking Method Using Single Sensor and LIDAR
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Solution Overview
Problem
Robotic vacuum cleaners face challenges in collision-free wall and edge cleaning due to the asymmetrical placement of suction mouths and the lack of wall tracking sensors on both sides, leading to sub-optimal cleaning and increased collision risks, especially on carpets and when reversing directions.
Innovation Solution
A method utilizing a laterally disposed wall tracking sensor and a 360° distance sensor, such as LIDAR, to determine a collision-free distance value, enabling closed-loop distance control for collision-free travel and cleaning in both directions along walls and edges with a single wall tracking sensor, while maintaining effective edge and wall cleaning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a single wall tracking sensor is used to reduce costs, then device complexity and cost are reduced, but the ability to track walls in both directions and avoid collisions deteriorates
Solution Approach 1:
The distance sensor (LIDAR) performs multiple functions: it detects walls at a distance, determines collision-free distance values, and enables bidirectional wall tracking. This multi-functional sensor replaces the need for separate wall tracking sensors on both sides, reducing device complexity while maintaining reliability
Solution Approach 2:
The computer facility acts as an intermediary that processes distance sensor data and calculates collision-free distance values. This computational mediator enables the single wall tracking sensor to effectively track walls in both directions by interpreting distance measurements and controlling travel accordingly
2Productivity
If the appliance travels close to walls for effective cleaning, then cleaning performance is improved, but the risk of collision with baseboards increases
Solution Approach 1:
The distance sensor performs preliminary detection of walls and obstacles at a distance before the appliance reaches them. This advance detection allows the control system to calculate collision-free distance values and adjust travel in advance, enabling the appliance to travel close to walls for effective cleaning while preventing collisions
Solution Approach 2:
The closed-loop distance control continuously monitors distance sensor measurements and adjusts the appliance's travel based on calculated collision-free distance values. This feedback mechanism maintains optimal cleaning distance while preventing collisions with baseboards and walls
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
This method allows for efficient and collision-free cleaning of edges and walls in both directions without a second wall tracking sensor, reducing the risk of collisions and optimizing cleaning performance, even on carpets, while providing cost savings by eliminating the need for additional sensors.
Implementation Method 1
A method utilizing a laterally disposed wall tracking sensor and a 360° distance sensor, such as LIDAR
Data Source
AI summary
A method for collision-free wall-cleaning and/or edge-cleaning by a mobile, self-driving appliance, in particular a floor cleaning appliance for autonomous processing of floor surfaces, such as a robotic vacuum cleaner and/or a sweeping and/or mopping robot, which includes a laterally disposed wall tracking sensor and a distance sensor, includes travelling along a wall section at a first distance determined by measured values of the wall tracking sensor, and simultaneously measuring a second distance to the wall using the distance sensor. A difference is determined between the distance values of the wall tracking sensor and the distance sensor by a computer facility of the appliance. A collision-free distance value with respect to the wall section is determined as a function of the difference by the computer facility. Subsequent cleaning journeys are controlled by a closed-loop distance control as a function of the collision-free distance value that is determined.