Cleaning Machine Block-Based Path Planning for Dried Stain Removal
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Solution Overview
Problem
Existing cleaning robots are ineffective in thoroughly cleaning dried stains such as coffee, water, or ink due to their path planning methods, which do not account for the need to soften and remove such stains effectively.
Innovation Solution
A cleaning machine equipped with a liquid spraying module and a control system that divides the cleaning process into two stages: a first stage where a cleaning liquid is sprayed to soften stains, and a second stage where the stains are removed, using a combination of liquid spraying and wiping mechanisms, with virtual walls used to navigate between blocks for efficient path planning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If a single-pass cleaning method is used, then the cleaning process is simple and fast, but dried stains such as coffee, water, oil or ink cannot be effectively removed
Solution Approach 1:
The cleaning process is divided into multiple passes: a first cleaning pass that sprays cleaning liquid to soften stains, and a second cleaning pass that removes the softened stains. This segmentation allows each pass to have a specialized function, improving overall cleaning effectiveness for difficult stains while maintaining reasonable productivity
Solution Approach 2:
The first cleaning pass performs preliminary action by spraying cleaning liquid onto dried stains to soften them before the second cleaning pass removes them. This preliminary softening action is essential for effectively removing stubborn stains like dried coffee, water, oil or ink
2Productivity
If the cleaning machine returns to the same location quickly, then productivity is high, but the cleaning liquid may evaporate before the second cleaning can be effective
Solution Approach 1:
The system dynamically adjusts the interval period based on the cleaning liquid's evaporation characteristics. The controller manages the timing to ensure the cleaning liquid remains effective on the surface long enough for the second cleaning pass to be performed, optimizing both productivity and cleaning effectiveness
Solution Approach 2:
The system uses feedback from the cleaning liquid's evaporation rate to determine the optimal interval period between cleaning passes. This ensures the machine returns to the same location at the right time when the liquid is still effective but has had sufficient time to soften stains
3Device complexity
If the cleaning machine cleans the entire room in one continuous path, then the path planning is simple, but the cleaning liquid evaporates before completing the cleaning of stained areas
Solution Approach 1:
The cleaning path is segmented into blocks with virtual walls, allowing the machine to complete cleaning of one block (including both cleaning passes) before moving to the next. This ensures the cleaning liquid remains effective throughout the cleaning process while maintaining organized and manageable path planning
Solution Approach 2:
Virtual walls are introduced as an intermediary concept to divide the cleaning area into blocks. These virtual boundaries help the controller manage the cleaning process by ensuring the machine completes the two-stage cleaning process within each block before proceeding, preventing liquid evaporation issues while maintaining systematic path planning
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
The machine effectively softens and removes dried stains, footprints, and fine particles by ensuring the cleaning liquid remains effective between stages, simplifying path planning and improving cleaning efficiency across the surface.
Implementation Method 1
an interval period between the first cleaning and the second cleaning at a same location in the current block is set as a time within which the second cleaning can be performed before the cleaning liquid has not completely evaporated
Data Source
AI summary
A cleaning machine and a path planning method of the cleaning machine are provided. According to one embodiment of the invention, a cleaning machine for cleaning a surface is provided. The cleaning machine includes a sensing module and a control system. The sensing module senses an environment of the cleaning machine to obtain map data. The control system divides the map data into multiple blocks, and controls the cleaning machine to perform a first cleaning process and a second cleaning process in a current block of the blocks, and then controls the cleaning machine to move to a next block of the blocks.