Cleaning Robot Grid Map Generation Using Unsearched Area Targeting
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Solution Overview
Problem
Existing cleaning robots require extensive travel through indoor spaces to generate maps, making the process time-consuming and limited to detecting obstacles along their paths.
Innovation Solution
A cleaning robot that uses sensors to create a grid map of an indoor space, identifies unsearched areas, and updates the map by moving towards and obtaining information about these areas, employing methods like breadth-first search and path optimization to efficiently cover the space.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the cleaning robot travels through the entire indoor space to generate a map, then the map coverage is complete, but the time required to obtain the map increases significantly
Solution Approach 1:
The cleaning robot performs preliminary sensing and mapping actions at the current location before moving to unsearched areas. By using sensors to detect obstacles and generate a grid map of the current location first, the robot prepares advance information that guides subsequent movement and mapping activities, reducing the need for exhaustive traversal.
Solution Approach 2:
The patent transitions from a one-dimensional approach (traveling along paths) to a two-dimensional approach (sensing and mapping entire areas). By using sensors to detect obstacles across a two-dimensional plane at the current location and generating a grid map that represents spatial relationships, the robot can identify unsearched areas more efficiently and plan movements to cover remaining areas without traversing the entire space sequentially.
2Device complexity
If the cleaning robot uses a proximity sensor to detect obstacles, then obstacle detection is simple, but only obstacles adjacent to the travel path are detectable
Solution Approach 1:
The cleaning robot employs multiple sensing modalities beyond simple proximity sensors. By incorporating additional sensors that can detect obstacles at various distances and angles, the system achieves multi-functional detection capabilities that cover both nearby and distant obstacles, as well as obstacles not adjacent to the travel path.
Solution Approach 2:
The patent introduces an intermediary processing layer (the grid map generation and unsearched area identification system) that bridges the gap between limited sensor data and comprehensive obstacle awareness. By processing sensor information to create a structured grid map and identifying unsearched areas, the system compensates for the limitations of individual sensors and achieves broader obstacle detection coverage.
3Measurement precision
If the cleaning robot travels through all areas to obtain complete map information, then the map accuracy is high, but the productivity decreases
Solution Approach 1:
The cleaning robot performs preliminary sensing and mapping at the current location before moving to unsearched areas. By using sensors to detect obstacles and generate a grid map of the current location first, the robot prepares advance information that guides subsequent movement and mapping activities, reducing the need for exhaustive traversal.
Solution Approach 2:
The mapping process is made dynamic and adaptive. Instead of following a fixed predetermined path, the robot continuously updates the grid map based on sensor feedback and dynamically adjusts its movement to target unsearched areas. This dynamic approach allows the robot to maintain high map accuracy while improving productivity by avoiding redundant travel through already-mapped areas.
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
This approach allows for the rapid generation of indoor space maps without needing to traverse the entire area, reducing time and improving the detection of obstacles beyond the initial path.
Implementation Method 1
searching the indoor space at a first location of the cleaning robot by using at least one sensor of the cleaning robot
Data Source
AI summary
Provided are a cleaning robot for obtaining a map of an indoor space, and an operating method thereof. The cleaning robot may: search the indoor space at a first location of the cleaning robot by using at least one sensor; obtain a grid map including a searched area, which has been searched at the first location, and at least one unsearched area, which has not been searched at the first location; determine, as a travel destination, a first unsearched area among the at least one unsearched area based at least in part on a distance from the first location; obtain area information including at least one of geometry information, structure information, or obstacle information about the first unsearched area while moving the cleaning robot to the determined first unsearched area; and update the grid map by using the obtained area information.