Autonomous Mobile Robot Along-Edge Walking for Complete Room Coverage
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Solution Overview
Problem
Existing cleaning robots with random direction cleaning modes often result in inefficient cleaning due to repeated coverage of some areas and missed spots, as they lack precise path planning and high-accuracy sensing, leading to low cleaning efficiency and difficulty in finding room entrances.
Innovation Solution
An along-edge walking control method for autonomous mobile robots that uses sensors to detect obstacles and edges, allowing the robot to walk along walls and objects, set walking regions based on preset conditions, and adjust paths dynamically to ensure complete coverage and avoid repetition.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If random direction cleaning mode is used, then device complexity is reduced and cost is lowered, but cleaning efficiency deteriorates with repeated cleaning of some areas and missed spots
Solution Approach 1:
The cleaning area is segmented into multiple sub-regions based on wall edges and obstacle boundaries. The robot divides the overall cleaning task into sequential sub-tasks for each sub-region, processing them one by one in a systematic manner rather than moving randomly throughout the entire space.
Solution Approach 2:
The robot performs preliminary actions by detecting and marking wall edges and obstacle boundaries before actual cleaning begins. It pre-plans the cleaning sequence by identifying sub-regions and their boundaries in advance, establishing a structured cleaning path before executing the cleaning task.
2Productivity
If along-edge walking control method is implemented, then cleaning efficiency is improved with thorough coverage, but device complexity increases with path planning algorithms
Solution Approach 1:
The robot uses existing sensor data collected during normal navigation to automatically identify wall edges and obstacle boundaries for cleaning purposes. The system leverages its own sensing capabilities and existing path planning infrastructure to generate cleaning paths without requiring separate dedicated cleaning sensors or complex specialized control modules.
Solution Approach 2:
The path planning algorithm serves dual functions: it guides the robot for general navigation and simultaneously generates optimized cleaning paths by identifying sub-regions and boundaries. The same control system handles both movement guidance and cleaning task organization, eliminating the need for separate specialized control systems.
3Manufacturing precision
If sensors are used for obstacle detection and edge detection, then cleaning coverage is improved, but device complexity and cost increase
Solution Approach 1:
Existing sensors mounted for general navigation and obstacle avoidance are made multi-functional by programming them to also detect wall edges and define cleaning boundaries. The same sensor array that guides movement also identifies cleaning regions, eliminating the need for separate dedicated cleaning detection sensors.
Solution Approach 2:
The robot's existing sensing system serves the cleaning function by automatically processing sensor data to identify edges and boundaries relevant to cleaning tasks. The system uses its own navigation sensors to generate cleaning path information without requiring external or specialized cleaning detection equipment.
4Adaptability or versatility
If room entrances and exits are to be found effectively, then adaptability is improved, but path planning complexity increases
Solution Approach 1:
The robot performs preliminary detection and marking of wall edges and obstacles during the initial exploration phase. By establishing a structured map of boundaries and sub-regions in advance, the robot creates reference information that simplifies subsequent tasks including identifying entrances and exits, as these features become apparent from the pre-mapped boundary structure.
Data Source
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AI summary
The present invention provides an along-edge walking control method for an autonomous mobile robot. The autonomous mobile robot walks along a wall edge or an edge of an object against a wall, plans a waling region according to an along-edge walking path and then walks to cover the walking region. Planning and covering the walking region in such an along-edge waling manner may effectively solve the problem of region missing or repeated cleaning and may not only improve the cleaning efficiency in an open environment but also make it easy for the autonomous mobile robot to find entrances and exits of rooms to implement complete cleaning of each room with high cleaning efficiency.