Method for partition cleaning planning of cleaning robot, cleaning robot and computer-readable storage medium
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Solution Overview
Problem
Cleaning robots face challenges in effectively planning their cleaning paths when their position changes, leading to inefficiencies and user dissatisfaction.
Innovation Solution
A method for partition cleaning planning that involves determining the current and previous positions of the cleaning robot, identifying abnormal position changes, re-planning the cleaning path based on the new location, and controlling the robot to clean uncleaned areas within the determined partitions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the cleaning robot uses fixed partition boundaries for cleaning planning, then the cleaning path can be effectively managed and cross-contamination prevented, but the robot cannot adapt when its position changes during operation
Solution Approach 1:
The patent applies dynamics by making the partition boundaries adaptive rather than fixed. When the robot detects a position change exceeding the threshold distance, it dynamically adjusts the partition boundaries to include the new position while maintaining the original boundary characteristics. This allows the system to adapt to position changes without complete re-planning, resolving the contradiction between adaptability and planning complexity.
Solution Approach 2:
The patent implements feedback through continuous position monitoring and comparison with original partition boundaries. The robot detects position changes during operation and uses this feedback to determine whether to adjust partitions. This feedback mechanism enables adaptive re-planning only when necessary, maintaining simplicity while improving adaptability.
2Reliability
If the cleaning robot re-plans the entire cleaning path when position changes, then thorough cleaning is ensured, but operational efficiency decreases due to repeated planning computations
Solution Approach 1:
The patent applies partial action by performing only the necessary portion of re-planning. Instead of re-planning the entire cleaning path, the robot identifies affected partitions and adjusts only those boundaries. This selective approach ensures cleaning thoroughness for affected areas while avoiding unnecessary computational overhead, thus maintaining operational efficiency.
Solution Approach 2:
The patent implements local quality by applying different planning strategies to different areas. When position changes occur, only the local partitions affected by the position change are adjusted, while the rest of the cleaning plan remains unchanged. This localized approach ensures thorough cleaning where needed while preserving overall operational efficiency.
3Difficulty of detecting and measuring
If the cleaning robot uses simple position tracking, then the system remains simple, but it cannot identify abnormal position changes requiring re-planning
Solution Approach 1:
The patent applies parameter changes by monitoring position changes as quantitative parameters and comparing them against a threshold distance. This transforms the detection problem into a simple parameter comparison task. The system remains simple in structure but gains the capability to identify abnormal position changes by evaluating whether the position change parameter exceeds the threshold, without requiring complex monitoring systems.
Data Source
AI summary
A method for partition cleaning planning of a cleaning robot includes: obtaining a first position of the cleaning robot at a current cleaning moment, and a second position at a previous cleaning moment previous to the current cleaning moment; in response to a distance between the first position and the second position is greater than a predetermined distance threshold, determining a partition to which the first position of the cleaning robot belongs; determining an uncleaned area within the partition to which the first position belongs, and performing path planning based on the uncleaned area; and controlling the cleaning robot according to a result of the path planning.