Experience-based roadmap for a robotic cleaning device
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Solution Overview
Problem
Existing robotic cleaning devices face inefficiencies and navigation challenges, as they either rely on random motion and collision detection, which is not efficient for large surfaces, or use sensor data that may lead to getting stuck or lost, especially when navigating between rooms or returning to a charger.
Innovation Solution
A method involving the registration of roadmap nodes and links during cleaning, allowing the robotic cleaning device to create a virtual map of its environment, enabling efficient and obstacle-free navigation by reusing established paths and adding shortcut links to optimize movement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If robotic cleaning devices use random motion and collision detection to navigate, then they can avoid collisions, but cleaning efficiency is low and navigation is not efficient for large surfaces
Solution Approach 1:
The robotic cleaning device performs preliminary actions by registering roadmap nodes at intervals during cleaning operations. These nodes are stored in memory and used to create a roadmap graph that facilitates efficient navigation. This preliminary mapping allows the device to plan paths in advance rather than relying on random motion and collision detection, thereby improving both collision avoidance reliability and cleaning efficiency.
2Extent of automation
If robotic cleaning devices use sensor data to navigate autonomously, then they can clean rooms autonomously, but they run a high risk of getting stuck or lost
Solution Approach 1:
The robotic cleaning device implements feedback by continuously registering roadmap nodes during cleaning operations and using these nodes to navigate back to the charger or transport itself between positions. The roadmap graph provides feedback information about safe driving paths based on actual cleaning trajectories, allowing the device to make informed navigation decisions rather than relying solely on real-time sensor data that may be incomplete or misleading.
3Adaptability or versatility
If robotic cleaning devices extract data from sensor information to make assumptions about environment, then they can navigate using sensor data, but expensive electronic components are required
Solution Approach 1:
The robotic cleaning device creates a simplified copy of the environment by registering roadmap nodes at intervals during cleaning and storing them in memory. This copy, represented as a roadmap graph, captures the essential navigation information without requiring complex sensor processing or expensive electronic components for environmental mapping. The node coordinates serve as a lightweight representation that enables autonomous navigation.
4Ease of operation
If robotic cleaning devices navigate using sensor data between rooms or to charger, then they can return to base, but the risk of colliding with obstacles is high
Solution Approach 1:
The robotic cleaning device performs preliminary navigation planning by registering roadmap nodes during cleaning operations and storing them in memory. When needing to navigate between rooms or return to the charger, the device retrieves pre-registered nodes from the roadmap graph to plan a safe path, rather than relying on real-time sensor data that may not account for all obstacles. This preliminary mapping significantly reduces collision risk.
5Area of stationary object
If robotic cleaning devices drive long distances without proper path planning, then they can cover large areas, but they may get stuck without battery power left
Solution Approach 1:
The robotic cleaning device uses feedback from the roadmap graph to monitor its position and plan efficient paths during cleaning operations. By continuously referencing registered roadmap nodes, the device can optimize its cleaning trajectory to minimize unnecessary travel distances and ensure it returns to the charger before battery depletion. This feedback mechanism ensures reliable completion of cleaning tasks even over large areas.
Data Source
AI summary
A method of operating a robotic cleaning device over a surface to be cleaned. The method includes: registering roadmap nodes at intervals on the surface during cleaning, the roadmap nodes including positional information; and linking the roadmap nodes to form roadmap links in a roadmap graph, if the robotic cleaning device is driving directly from a previously registered roadmap node to a currently registered roadmap node. The roadmap links in the roadmap graph facilitate navigation of the robotic cleaning device.