Autonomous mobile device, operating method for autonomous mobile device, system and storage medium
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Solution Overview
Problem
Autonomous mobile cleaning devices often collide with charging stations, causing shifts in the charging station location and potential charging failures, which can also damage components.
Innovation Solution
The method involves re-localization of the autonomous mobile device, detection of charging station features using sensors, calculation of relative and global locations, and setting a temporary restricted zone in the map to avoid collisions during normal operations and allow charging when necessary.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the autonomous mobile device operates normally without restrictions, then productivity is improved, but collision with the charging station occurs causing reliability to deteriorate
Solution Approach 1:
The patent divides the charging station's functional zones into separate restricted zones (first restricted zone for the charging contact plate, second restricted zone for other components) and a safe zone. This segmentation allows the autonomous device to operate freely in the safe zone while preventing collisions in the restricted zones, thus maintaining both productivity and reliability.
Solution Approach 2:
The patent introduces a virtual restricted zone as an intermediary protective barrier around the charging station. This virtual zone acts as a mediator that prevents direct contact between the autonomous device and the charging station components, eliminating collisions while allowing normal cleaning operations to continue elsewhere.
2Reliability
If the autonomous mobile device maintains distance from the charging station, then reliability is improved by avoiding collision, but ease of operation deteriorates due to restricted movement
Solution Approach 1:
The patent applies local quality by creating restricted zones only in specific areas around the charging station (front, rear, left, right sides at predetermined distances) rather than imposing a complete movement restriction. This allows the autonomous device to move freely in areas outside the restricted zones while still maintaining collision avoidance, thus preserving both reliability and operational ease.
3Ease of operation
If the charging station location is fixed in the map, then ease of operation is improved, but measurement precision deteriorates when collision causes location shift
Solution Approach 1:
The patent implements feedback by continuously monitoring the charging station's location using sensors and comparing it with the stored map data. When a location shift is detected (indicating a collision), the system updates the map with the new location and adjusts the restricted zones accordingly. This feedback mechanism maintains navigation simplicity while ensuring location accuracy.
Solution Approach 2:
The patent applies preliminary action by pre-establishing restricted zones around the charging station based on its initial location in the map. These pre-defined zones prevent collisions before they can cause location shifts, thereby maintaining both the simplicity of fixed-location navigation and the accuracy of the charging station position.
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 solution effectively prevents collisions between the autonomous mobile device and the charging station, reduces power consumption and computation load, and ensures accurate identification of the charging station, thereby enhancing operational safety and efficiency.
Implementation Method 1
detecting a first feature of at least one first identifier in an environment in which the autonomous mobile device is located using at least one sensor on the autonomous mobile device
Data Source
AI summary
The present disclosure provides a method for operating an autonomous mobile device and a storage medium. The method includes: performing re-localization for the autonomous mobile device; detecting a first feature of an identifier; calculating a first relative location of an object having the identifier relative to the autonomous mobile device; calculating, based on the first relative location and a real time location of the autonomous mobile device, a current global location of the object; retrieving a prior global location of a charging station; comparing the current global location and the prior global location; when a difference between the current global location and the prior global location is greater than or equal to a predetermined difference threshold: detecting a second feature of the object and determining whether the object is the charging station; when the object is the charging station, setting a temporary restricted zone.