Self-Propelled Robot Edge Detection for Solar Panel Cleaning
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Solution Overview
Problem
Self-propelled cleaning robots designed for indoor use lack the ability to detect and navigate the edgeless surfaces of solar cell arrays and collector mirrors, risking damage from falling off.
Innovation Solution
A self-propelled robot equipped with edge detection units, including outer and inner detection sensors, and a control unit that decelerates and stops the robot to prevent falling, allowing it to autonomously travel and work on edgeless surfaces by determining the edge of the plane and adjusting its movement accordingly.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If a self-propelled cleaning robot designed for indoor use is deployed on solar cell arrays, then cleaning work can be performed, but the robot cannot detect edges and may fall off the surface
Solution Approach 1:
The robot performs preliminary edge detection using detection units positioned at the front, outer side, and inner side before the moving means reaches the edge. This advance detection allows the control unit to prepare stopping actions, preventing the robot from falling off the solar cell array surface.
Solution Approach 2:
The detection function is divided into multiple detection units positioned at different locations (front, outer side, inner side) relative to the moving means. This segmentation provides comprehensive edge detection coverage and allows the system to distinguish between actual edges and other surface features.
2Reliability
If the robot decelerates and stops frequently to detect edges, then falling prevention is improved, but operation efficiency decreases
Solution Approach 1:
The detection units are positioned to detect edges before the robot reaches them, allowing the control unit to plan and execute smooth deceleration and stopping actions. This preliminary detection minimizes sudden stops and maintains operational efficiency while ensuring safety.
Solution Approach 2:
The control unit continuously receives feedback from multiple detection units about the robot's position relative to edges. This real-time feedback enables dynamic adjustment of speed and stopping points, optimizing both safety and operational efficiency by avoiding unnecessary stops.
Data Source
AI summary
A self-propelled robot autonomously travels on a structure having a target plane and performs work on the plane of the structure. The robot includes a robot main body provided with a moving means for autonomous traveling, a control unit that controls movement of the robot main body, and a working unit that performs work on the target plane. The control unit includes an edge detection unit that detects an edge of the target plane, and the edge detection unit includes an outer detection unit located outward from the working unit in the traveling direction of the robot main body and an inner detection unit located closer to the robot main body than the outer detection unit in the traveling direction of the robot main body.