Autonomous mobile device, operating method and storage medium
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Solution Overview
Problem
Existing autonomous mobile devices, such as floor mopping devices, face challenges in effectively cleaning very dirty zones due to limited traversal of each floor area and suffer from deviation errors caused by forces applied to the floor during cleaning, leading to reduced accuracy in localization and navigation.
Innovation Solution
The proposed solution involves an operating method for an autonomous mobile device that includes a series of rotating and moving steps, where the device rotates in alternating directions by specific angles at different locations along a work route, forming a cycle that is repeatedly executed to improve coverage and accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the cleaning robot continuously moves along a work route traversing each floor area only once, then the cleaning speed and productivity are improved, but the cleaning effectiveness in very dirty zones deteriorates
Solution Approach 1:
The cleaning robot implements periodic rotation actions at specific locations along the work route. After moving forward a predetermined distance, the robot rotates by a predetermined angle, creating a periodic pattern of movement and rotation. This ensures that very dirty zones receive repeated cleaning attention while maintaining overall cleaning efficiency.
2Reliability
If the mopping plate applies forces to the floor during cleaning operations, then the cleaning effectiveness is improved, but deviation errors in moving direction and distance increase due to slippage
Solution Approach 1:
The system applies preliminary anti-action by rotating the robot in opposite directions by equal angles at different locations along the work route. The rotation in the first direction at a first location is counterbalanced by a rotation in the second direction at a second location, thereby canceling out the cumulative deviation errors caused by floor forces and slippage during cleaning operations.
3Reliability
If water is sprayed onto the floor to enhance cleaning, then the cleaning effectiveness is improved, but the floor becomes slippery worsening the slippage and deviation errors
Solution Approach 1:
The system converts the harmful effect of floor slipperiness into a beneficial correction mechanism. The slippage-induced deviation errors, which were previously harmful, are now compensated for by the periodic rotation strategy. The rotation in opposite directions at different locations ensures that cumulative errors are canceled out, turning the problematic interaction between water-sprayed floor and robot movement into a self-correcting system.
Data Source
AI summary
The present disclosure provides an autonomous mobile device, an operating method, and a storage medium. The operating method is configured to control the autonomous mobile device to move along a work route, including: a first rotating step in which the autonomous mobile device rotates in a first direction for a first angle at a first location on the work route; a first moving step in which the autonomous mobile device moves to a second location on the work route; a second rotating step in which the autonomous mobile device rotates in a second direction for a second angle at the second location; and a second moving step in which the autonomous mobile device continues moving along the work route. The first rotating step, the first moving step, the second rotating step, and the second moving step form a cycle, and the operating method includes repeatedly executing the cycle.