Cleaning robot escape method and apparatus, medium, and electronic device
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Ground sweeping robots often get stuck when reversing due to narrow gaps between carpets and walls, as they fail to accurately detect the change in surface medium, leading to jamming and inability to escape.
Innovation Solution
A cleaning robot escape method and device equipped with a surface medium sensor that records cleaned paths, generates region maps, and enters a special escape mode by retreating along the wall-following path or cleaned path, rotating in place, and continuing to retreat until no surface medium change signal is detected, allowing the robot to avoid getting stuck.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the cleaning robot cleans along the wall in a narrow-gap region between carpet and wall, then the cleaning coverage is improved, but the robot easily jams upon reversing
Solution Approach 1:
The robot performs preliminary actions by recording the cleaned path and generating a region map before encountering the jamming situation. This allows the robot to have advance information about the cleaning area boundaries, enabling it to make informed decisions when reversing and detecting surface medium changes.
Solution Approach 2:
The robot uses feedback from the surface medium sensor to detect changes in surface medium (e.g., from hard floor to carpet). This feedback mechanism allows the robot to recognize when it has cleaned along a wall for a certain distance and is in a narrow-gap region, enabling it to switch to escape mode upon reversing to avoid jamming.
2Device complexity
If the robot uses traditional reversing method, then the device complexity is low, but the robot cannot detect surface medium changes accurately leading to jamming
Solution Approach 1:
The surface medium sensor serves multiple functions: it detects surface medium changes during normal cleaning operations and also triggers escape mode when the robot reverses in narrow-gap regions. This multi-functionality allows accurate surface medium detection without adding complex dedicated detection mechanisms.
Solution Approach 2:
The robot uses its own cleaning path record and region map to determine whether it is in a wall-following path, eliminating the need for external or complex additional sensors. The system serves itself by using internally generated information (cleaned path, region map) combined with simple sensor input to make intelligent decisions.
3Measurement precision
If the robot enters escape mode with complex path analysis, then the escape accuracy is improved, but the processing time increases
Solution Approach 1:
The robot performs preliminary path recording and region map generation during normal cleaning operations. When escape mode is triggered, this pre-collected information is already available, allowing rapid analysis and decision-making without time-consuming real-time computation.
Solution Approach 2:
The robot uses the recorded cleaned path as a copy of the actual physical path to determine escape directions. Instead of analyzing the complex physical environment in real-time, it processes the simplified digital representation (region map and cleaned path), which significantly reduces processing time while maintaining accuracy.
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 method enables the cleaning robot to effectively escape from narrow gaps by accurately detecting surface medium changes and selecting optimal retreat paths, reducing the likelihood of getting stuck and improving user experience.
Implementation Method 1
the surface medium sensor is an ultrasonic sensor
Implementation Method 2
controlling the surface medium sensor to vertically transmit a signal to a current surface, and receiving an actual echo signal reflected by the current surface
Data Source
AI summary
A cleaning robot escape method, a cleaning robot escape apparatus, a computer readable storage medium, and an electronic device. The method comprises: when a cleaning robot cleans in a first surface medium region, recording a cleaned path and generating a region map; when the cleaning robot encounters an obstacle and turns the direction, in response to a surface medium change signal triggered by a surface medium sensor, upon detecting a second surface medium region, detecting whether the cleaned path of the cleaning robot is a path along a wall; and if the cleaned path of the cleaning robot is the path along the wall, controlling the cleaning robot to enter a special escape mode.