Wall-Following Robot Bumper Sensing for Corner Cleaning
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Solution Overview
Problem
Mobile robots face difficulties in traversing surfaces adjacent to obstacles like walls due to their design, which limits their ability to reach and clean crevices and corners effectively.
Innovation Solution
The robot is equipped with a movable bumper and sensors that allow it to track surfaces by maintaining a controlled level of compression, enabling it to follow walls at an angle and adjust its movement to maintain contact, thereby cleaning hard-to-reach areas.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Area of stationary object
If the robot maintains contact with the wall surface at a controlled angle using a movable bumper and linear sensor, then the cleaning coverage of hard-to-reach areas is improved, but the device complexity increases
Solution Approach 1:
The patent replaces traditional mechanical bump sensors with a linear sensor that provides analog feedback proportional to bumper compression distance. This substitution enables more precise control of wall-following behavior through linear feedback, improving cleaning coverage of hard-to-reach areas while maintaining manageable device complexity through electronic rather than purely mechanical sensing.
Solution Approach 2:
The linear sensor provides continuous analog feedback about the bumper's compression state, allowing the controller to dynamically adjust the robot's movement to maintain optimal contact with the wall surface. This feedback mechanism enables consistent cleaning pressure and improved coverage of corners and crevices without requiring overly complex mechanical structures.
2Adaptability or versatility
If the robot uses a movable bumper with linear sensor feedback to track walls, then the ability to reach crevices and corners is improved, but the ease of operation deteriorates
Solution Approach 1:
The robot performs self-calibration of the linear sensor by automatically determining the uncompressed bumper position and establishing the compression range during operation. This self-service capability eliminates the need for manual calibration or complex setup procedures, improving adaptability to different environments while maintaining ease of operation through automatic adjustment.
Solution Approach 2:
The system dynamically adjusts operational parameters including the target compression value and compression range based on the specific wall surface and cleaning task. The controller modifies movement commands and bumper contact pressure in real-time, enabling the robot to adapt to various crevices and corners without requiring manual reconfiguration or complex user intervention.
3Measurement precision
If the robot maintains precise bumper compression within a defined range using analog sensor feedback, then the measurement precision is improved, but the device complexity increases
Solution Approach 1:
The patent replaces discrete mechanical bump sensors with a linear sensor that provides continuous analog feedback proportional to compression distance. This substitution delivers superior measurement precision for bumper position and force, enabling precise control of wall contact pressure while avoiding the complexity of multiple mechanical sensors or complex mechanical compliance mechanisms.
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
The robot can effectively clean crevices, corners, and other difficult-to-reach regions by maintaining contact with walls and adjusting its movement to ensure consistent compression, enhancing its cleaning capabilities in rooms with complex geometries.
Implementation Method 1
a linear sensor to produce a signal in response to movement of the bumper relative to the body caused by contact between the bumper and a surface
Implementation Method 2
The sensor can be or include a post mounted to the bumper, a magnet mounted to the post, and a Hall Effect sensor mounted in the body above the magnet
Implementation Method 3
The sensor can be or include a capacitive sensor. The capacitive sensor can include a pair of capacitive plates. At least one of the capacitive plates can be moveable relative to another of the capacitive plates based on movement of the bumper
Implementation Method 4
The sensor can be or include an inductive sensor. The inductive sensor can include a core material that is movable within windings based on movement of the bumper
Data Source
Figure 1A
Figure 1B~1C
Figure 1D~1E
AI summary
An example robot includes a body that is movable relative to a surface, a bumper mounted on the body to enable movement of the bumper relative to the body, a sensor to produce a signal in response to the movement of the bumper relative to the body caused by contact between the bumper and the surface, and a controller to control movement of the body to cause the body to track the surface based on a value. The bumper is movable between an uncompressed position relative to the body and a compressed position relative to the body. The signal varies linearly with the movement of the bumper relative to the body. The value is based on the signal and indicates that the bumper in a partially compressed position has a compression range between the uncompressed position and the compressed position.