Method for operating a self-propelled mobile device
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Solution Overview
Problem
Existing autonomous floor cleaning devices face challenges in finding their base station due to restrictive installation requirements, which limit user flexibility in positioning the base station and can result in inefficient docking processes.
Innovation Solution
A method where the floor cleaning device conducts an exploratory journey to detect obstacles, create a map of the surroundings, and evaluate potential base station positions based on quality and efficiency criteria, allowing users to select optimal positions, including unconventional ones like under furniture, for reliable docking.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the cleaning device uses optical sensors to detect the base station with a clear opening angle, then the reliability of base station detection is improved, but the placement flexibility of the base station deteriorates due to extensive placement restrictions
Solution Approach 1:
The system performs preliminary actions by creating an environmental map and simulating cleaning paths before the user places the base station. The device explores the environment first, then uses this information to evaluate multiple potential base station positions, allowing flexible placement while ensuring reliable detection through pre-planned approach paths.
Solution Approach 2:
The system changes parameters by evaluating multiple base station positions based on different criteria (cleaning efficiency, detection reliability, approach quality). Instead of fixing a single placement rule, the system adjusts and compares multiple configurations to find optimal positions that satisfy both detection reliability and placement flexibility requirements.
2Reliability
If the base station is placed in a location that satisfies strict placement restrictions, then the cleaning device can reliably locate and dock with the base station, but the user's freedom in choosing base station position deteriorates
Solution Approach 1:
The cleaning device performs self-service by autonomously exploring the environment, creating an environmental map, and evaluating suitable base station positions. The device independently assesses which locations will ensure reliable docking, eliminating the need for users to manually satisfy complex placement restrictions while maintaining high docking reliability.
Solution Approach 2:
The system uses feedback by having the cleaning device explore the environment first, then using this environmental information to evaluate and recommend base station positions. The device provides feedback to the user about which positions are optimal based on the actual layout, allowing users to make informed decisions that ensure reliable docking without following rigid placement rules.
3Productivity
If the opening angle in front of the base station is kept free of obstacles, then the cleaning device can easily find and return to the base station, but the number of suitable placement locations deteriorates
Solution Approach 1:
The system transitions from two-dimensional placement restrictions (clearing a rectangular area in front of the base station) to three-dimensional path planning. Instead of requiring a clear opening angle, the device creates environmental maps and calculates approach paths that can navigate around obstacles, effectively utilizing the third dimension (vertical space and alternative routes) to maintain return efficiency while expanding available placement areas.
Data Source
Figure 1A~1B
Figure 2A~2B
AI summary
A method for operating a mobile, self-propelled device, in particular a floor cleaning device for the autonomous processing of floor surfaces such as a vacuuming and/or sweeping and/or mopping robot, is described, comprising the following process steps: conducting an exploratory drive of the mobile, self-propelled device in a designated floor processing area (6), detecting obstacles (4) using a detection device and creating an environmental map (10) of the floor processing area (6), representing possible positions (7a, 7b, 7c) of a base station (2) in the environmental map (10), and presenting an evaluation of the possible positions (7a, 7b, 7c) of the base station (2) with regard to the ease, efficiency, and/or quality of the mobile, self-propelled device approaching the base station (2) and/or locating the base station (2). A floor cleaning system for carrying out this method is also described.