Mobile robot and control method therefor
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Solution Overview
Problem
Mobile robots, particularly wet cleaning robots, face difficulties in navigating over protruding portions made of hard floor materials, such as thresholds, which can impede their movement and require complex maneuvers to avoid or overcome these obstacles.
Innovation Solution
The robot is equipped with sensors and processors that identify the type of protruding portions and adjust driving patterns accordingly, allowing it to climb over or avoid these obstacles by altering its movement patterns, spin module operations, and using slope structures to minimize contact.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the robot uses a spin module with mopping cloth to clean the floor, then cleaning effectiveness is improved, but the robot cannot climb over protruding hard floor materials
Solution Approach 1:
The spin module is designed to be movable relative to the robot body, capable of protruding forward during climbing operations and retracting during normal cleaning. This dynamic configuration allows the robot to adapt its structure based on operational needs, enabling it to climb over thresholds while maintaining cleaning capability
Solution Approach 2:
The cleaning system is divided into separable components: the spin module can be independently controlled to protrude or retract. This segmentation allows the climbing function to operate without interference from the cleaning apparatus, resolving the contradiction between cleaning effectiveness and climbability
2Adaptability or versatility
If the robot climbs over protruding portions, then navigation capability is improved, but the spin module may contact the protrusion causing damage or inefficiency
Solution Approach 1:
The robot performs preliminary detection of protruding portions using sensors before attempting to climb. Based on this advance information, the spin module is controlled to retract prior to climbing, preventing contact with the protrusion and potential damage, while still allowing successful navigation
3Reliability
If the robot avoids protruding portions, then the spin module is protected, but cleaning efficiency decreases due to inability to access certain areas
Solution Approach 1:
The spin module transitions between retracted and protruded states dynamically based on the robot's operational context. During climbing operations, it retracts for protection; during normal cleaning in safe areas, it protrudes for optimal cleaning performance, thus achieving both protection and efficiency
Data Source
AI summary
The present disclosure relates to a robot. The robot according to one embodiment of the present disclosure comprises: a memory for storing at least one program; and a processor for executing instructions stored in the at least one program, wherein the processor can divide a travel map into a plurality of cleaning areas on the basis of one or more boundaries, identify, if at least some of the boundaries are identified as a protrusion, the type of protrusion on the basis of the cleaning progress of one area in which the robot is located from among the plurality of cleaning areas, and control in any one of a plurality of travelling patterns on the basis of the identified type of the protrusion.