Method and system for path sweeping of cleaning robot, and chip
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Solution Overview
Problem
Conventional cleaning robots using S-shaped sweeping paths often collide with walls or obstacles, resulting in incomplete cleaning areas, particularly at corners and small exits, leading to sweeping missing areas due to their inability to adjust their path effectively during turns.
Innovation Solution
A method and system that detect collision states in real-time during S-shaped sweeping, allowing the cleaning robot to adjust its path by moving a preset distance opposite to its current direction and rotating to align with the arc-shaped outer side of the path, ensuring complete coverage of areas between turning parts and corners, thereby preventing collisions and missing areas.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the cleaning robot follows a conventional S-shaped sweeping path with arc-shaped turns, then the sweeping path is graceful and efficient, but the robot collides with walls or obstacles before completing the turn, resulting in sweeping missing areas
Solution Approach 1:
The patent applies dynamics by making the turning radius adjustable rather than fixed. The robot dynamically changes its turning radius based on real-time collision detection, transitioning from a conventional fixed arc-shaped turn to an adaptive turning path that can extend or shrink as needed to avoid collisions while maintaining sweeping coverage.
Solution Approach 2:
The patent implements feedback through real-time collision detection during the turning process. When a collision is detected, the system feeds this information back to adjust the turning radius and path, enabling the robot to adapt its sweeping path dynamically to avoid obstacles and walls while completing the turn successfully.
2Ease of operation
If the cleaning robot walks along an edge after collision to avoid obstacles, then the robot can navigate around obstacles, but sweeping missing areas are formed at right-angle boundaries between walls or obstacles
Solution Approach 1:
Instead of statically switching to edge-walking mode after collision, the patent dynamically adjusts the turning radius to extend beyond the original arc-shaped path. This extended turning path enables the robot to sweep the corner areas that would otherwise be missed, maintaining sweeping coverage while navigating around obstacles.
Solution Approach 2:
The patent performs preliminary sweeping action in the corner areas by extending the turning path before the robot would normally proceed to edge-walking. This preliminary action ensures that corner areas are swept during the turning maneuver itself, preventing the formation of sweeping missing areas.
3Device complexity
If the cleaning robot makes an arc-shaped turn at a small exit, then the robot follows the planned path, but it collides with walls and fails to sweep areas within preset range of the exit
Solution Approach 1:
The patent applies dynamics by making the turning radius adaptive rather than fixed. At small exits, the robot dynamically extends its turning radius to accommodate the limited space, allowing it to complete the turn without collision and sweep the areas within preset range of the exit that would otherwise be missed.
Data Source
AI summary
A method and system for path sweeping of a cleaning robot, and a chip are disclosed. The method includes: detecting, in real time, a collision state of the cleaning robot in a turning process during S-shaped sweeping in a current cleaning area; and then controlling an -shaped path of the cleaning robot according to the collision state, so that the cleaning robot achieves sweeping an area between an arc-shaped edge corresponding to a turning part of the -shaped path, and a corner of the current cleaning area.