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, allowing it to travel and identify the charging station during the process, even if it has been displaced, by using arcs and predetermined distances to account for potential positions and orientations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the cleaning robot uses the marked position on the map to return to the charging station, then the navigation process is simple and fast, but the robot cannot locate the charging station when its actual position differs from the marked position
Solution Approach 1:
The robot performs preliminary actions by generating multiple candidate finding paths (first finding path, second finding path, third finding path) based on the marked position before actually needing to locate the charging station. These paths are prepared in advance to handle potential position deviations, allowing the robot to systematically search around the marked position without complex real-time decision-making.
Solution Approach 2:
The finding path is segmented into multiple discrete paths (first, second, third finding paths) radiating from the marked position at different angles. Each segment represents a specific search direction, and the robot can switch between segments based on whether the charging station is detected, breaking down the complex search problem into manageable directional segments.
2Reliability
If the cleaning robot performs a comprehensive search to account for charging station displacement, then the location accuracy improves, but the time and computational resources required increase
Solution Approach 1:
The robot employs periodic action by systematically switching between different finding paths at predetermined intervals or conditions. Instead of continuously scanning all directions simultaneously, the robot traverses the first finding path, then switches to the second, then the third, creating a periodic search pattern that reduces overall traversal time while maintaining comprehensive coverage.
Solution Approach 2:
The robot uses partial action by not requiring complete traversal of all finding paths. Once the charging station is detected on any path, the search terminates early. This allows the system to perform sufficient (but not excessive) searching, balancing reliability with time efficiency by stopping as soon as the target is found rather than completing all predetermined paths.
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.