Robot-assisted machining of a surface using a robot
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Solution Overview
Problem
Autonomous mobile robots face inefficiencies in surface processing tasks, such as floor cleaning, due to missed areas caused by obstacles and dynamic environments, which require re-traversal of already cleaned sections to detect and rectify unprocessed regions.
Innovation Solution
A method where the robot processes surfaces along path segments using a first processing pattern, continuously checks for unprocessed areas, and dynamically adapts its path to address missed areas by deciding whether to clean them based on detection and accessibility, thereby optimizing the cleaning process without re-traversing cleaned areas.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the robot uses a systematic processing pattern to clean surfaces, then processing efficiency is improved, but missed areas occur due to obstacles and dynamic environments requiring re-traversal
Solution Approach 1:
The robot continuously monitors its cleaning progress by comparing the actual cleaned area against the planned processing pattern. When deviations or missed areas are detected through sensor feedback, the system dynamically adjusts the robot path to return and clean the overlooked regions, ensuring complete coverage while maintaining overall processing efficiency
Solution Approach 2:
The processing pattern is made dynamic by allowing real-time adjustments to the robot path based on detected obstacles and missed areas. The system transitions from a static predetermined pattern to an adaptive pattern that can be modified during execution to account for dynamic environmental conditions
2Reliability
If the robot re-traverses cleaned areas to detect and clean missed regions, then complete coverage is achieved, but processing time increases
Solution Approach 1:
The robot performs preliminary detection of missed areas during the main processing run by continuously monitoring cleaning progress. Rather than completing the entire systematic pattern first and then separately detecting missed areas, the system identifies and addresses overlooked regions during the same operational pass, reducing total processing time
3Device complexity
If the robot uses simple random movement to process surfaces, then device complexity is reduced, but processing efficiency and complete coverage deteriorate
Solution Approach 1:
The processing area is segmented into a structured grid or map representation, and the robot follows a systematic pattern through defined path segments rather than random movement. This segmentation enables efficient coverage while keeping the control system relatively simple through discrete area management
Data Source
Figure 1(A)~2(B)
Figure 3(A)~3(C)
Figure 4(A)~5
AI summary
The invention relates to a method for machining a surface of an area to be machined using an autonomous mobile robot. According to the embodiment discussed here, the method includes the steps of controlling the robot in order to machine the area according to a first machining pattern, monitoring a region in the surroundings of the robot, wherein the region has a fixed position relative to the robot, and controlling the robot in order to machine the area according to a second machining pattern if a reachable and unmachined region is detected in the monitored region.