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 sensors and predetermined distances to adapt to changes in the charging station's location.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of time
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 first navigating to the marked position on the map, then systematically searching in predetermined directions (front, left, right, back) if the charging station is not found. This two-stage approach combines direct navigation with contingency searching, ensuring both speed and reliability in locating the charging station.
2Reliability
If the cleaning robot performs a comprehensive search to locate the charging station when position differs, then location accuracy is improved, but the time and complexity of the return process increases
Solution Approach 1:
The search process is segmented into distinct directional stages: first searching in the front direction, then left, right, and finally back directions. Each direction is searched systematically with predetermined travel distances. This segmentation transforms a complex comprehensive search into manageable sequential steps, balancing thoroughness with efficiency.
3Adaptability or versatility
If the cleaning robot uses complex arc paths to search for the charging station, then the ability to handle displaced charging stations is improved, but the control system complexity increases
Solution Approach 1:
The control system dynamically adjusts the search strategy based on whether the charging station is found at the marked position. If not found, the system activates a multi-directional search sequence with predetermined arc paths and travel distances. This dynamic adaptation allows the robot to handle displaced charging stations while maintaining simple predetermined control logic for each search direction.
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.