Cleaning robot and control method therefor
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Solution Overview
Problem
Cleaning robots face challenges in returning to their charging stations when the actual position of the charging station differs from the marked position on their map, due to factors like movement or collision, leading to failed charging operations and increased manual intervention.
Innovation Solution
The cleaning robot is equipped with a controller that generates a finding path based on the marked position of the charging station and travels along specific arcs or directions to identify and return to the charging station, even if it has been displaced, using a combination of distance sensors and predetermined paths to adapt to changes in the charging station's location.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If the cleaning robot uses the marked position on the map to return to the charging station, then the robot can autonomously navigate to the charging station, but the robot cannot locate the charging station when its actual position differs from the marked position
Solution Approach 1:
The patent applies preliminary action by having the cleaning robot perform a detection process before final docking. The robot first travels to the marked position, then actively searches for the charging station by moving along detection paths (arcs) and using sensors to identify the charging station's actual position before completing the docking operation. This preliminary detection phase ensures reliable location even when the charging station has been displaced.
Solution Approach 2:
The patent implements feedback by using the detection device to continuously monitor the charging station's position during the return process. When the robot reaches the marked position, it activates the detection device to search for the charging station, and based on the detection results (whether the charging station is found or not), the controller adjusts the robot's behavior - either docking immediately or continuing to search along predefined arcs until the charging station is located.
2Speed
If the cleaning robot travels directly to the marked position, then the navigation process is simple and fast, but the robot fails to adapt when the charging station is displaced
Solution Approach 1:
The patent applies segmentation by dividing the return process into distinct phases: first, travel directly to the marked position (maintaining high speed), then perform detection by moving along arcs in specific directions (adaptating to displacement). This segmented approach allows the robot to combine fast direct navigation with adaptive detection, achieving both speed and adaptability by executing different behaviors in different stages of the process.
Solution Approach 2:
The patent implements dynamics by making the robot's detection path adaptive rather than fixed. When the charging station is not found at the marked position, the controller dynamically generates detection paths (arcs) based on the robot's current position and orientation, allowing the search pattern to adapt to the actual charging station location. This dynamic path generation enables the robot to adjust its navigation in real-time based on detection results.
Data Source
AI summary
A method of controlling a cleaning robot includes: acquiring a marked position of a charging station in a map; controlling the cleaning robot to travel to a front position of the marked position and identifying the charging station; when the charging station is not identified, generating a finding path based on the marked position; and controlling the cleaning robot to travel in accordance with the finding path and identifying the charging station in a traveling process.