Mobile Robot Spiral Trajectory Control to Reduce 180° Turn Load
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Solution Overview
Problem
Existing cleaning robots face high load and time consumption due to frequent 180° turns and abrupt motions, which increase energy expenditure and reduce efficiency.
Innovation Solution
A traveling control method for autonomously traveling mobile robots that allows for two modes of operation: following obstacles and considering existing trajectories, generating candidate spots for a spiral cleaning pattern to minimize 180° turns and optimize energy use.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the robot uses existing cleaning patterns with frequent 180° turns, then the robot can cover the cleaning area, but the load on movement increases and time consumption increases
Solution Approach 1:
The patent applies curvature by replacing abrupt 180° turns with smooth spiral trajectories. The robot moves along curved paths that gradually change direction, eliminating sharp angular transitions. This is achieved by generating a spiral cleaning pattern where the robot continuously adjusts its trajectory to follow a spiral path, reducing mechanical stress and time consumption while maintaining cleaning coverage.
Solution Approach 2:
The patent implements dynamics by making the cleaning pattern adaptive rather than fixed. The robot dynamically adjusts its movement trajectory based on real-time obstacle detection and previously cleaned area mapping. The cleaning path is not predetermined but continuously optimized during operation, allowing the robot to adapt its speed, direction, and pattern to minimize 180° turns and improve efficiency.
2Reliability
If the robot follows obstacles or existing trajectories, then the robot can maintain stable movement, but the cleaning path may not optimize energy efficiency
Solution Approach 1:
The patent implements feedback mechanisms where the robot continuously detects obstacles using sensors and maps previously cleaned areas. This real-time information feeds back into the trajectory planning system, which adjusts the cleaning path to avoid obstacles and optimize energy efficiency. The feedback loop ensures movement stability while minimizing unnecessary 180° turns and abrupt motions that consume excess energy.
Solution Approach 2:
The patent applies preliminary action by pre-planning the spiral cleaning pattern before execution. The robot generates a complete cleaning trajectory that anticipates optimal paths, avoiding obstacles and minimizing energy-consuming maneuvers. This pre-planned spiral pattern guides the robot through the cleaning area in an energy-efficient manner while maintaining stable movement throughout the process.
3Area of stationary object
If the robot performs frequent 180° turns to cover the area, then the robot can clean the entire surface, but the load on movement increases and energy consumption increases
Solution Approach 1:
The patent eliminates abrupt 180° turns by implementing smooth spiral trajectories. Instead of making sharp angular changes to cover different areas, the robot follows continuous curved paths that gradually transition between directions. This curvature-based approach maintains full cleaning coverage while significantly reducing the mechanical load and force required for movement changes.
4Adaptability or versatility
If the robot uses abrupt motions for quick direction changes, then the robot can adapt to obstacles quickly, but the time consumption increases and energy efficiency decreases
Solution Approach 1:
The patent implements dynamic trajectory adjustment where the robot adapts to obstacles through smooth, continuous path modifications rather than abrupt motions. The spiral cleaning pattern is dynamically recalculated based on obstacle detection, allowing the robot to respond adaptively while maintaining energy-efficient movement. This dynamic approach reduces time consumption by eliminating unnecessary sharp turns and repositioning maneuvers.
Data Source
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AI summary
Disclosed are an autonomously traveling mobile robot and a traveling control method thereof, which can control the traveling of the mobile robot according to a first traveling mode in which the mobile robot travels by following obstacles located around the mobile robot or a second traveling mode in which the mobile robot travels in consideration of a positional relation with an existing traveling trajectory through which the mobile robot has already traveled, and generate candidate spots where the mobile robot can travel while the mobile robot travels along the traveling trajectory to implement a spiral cleaning pattern.