Autonomously traveling mobile robot and traveling control method therefor
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Solution Overview
Problem
Existing cleaning robots face high loads and time consumption due to frequent 180° turns and abrupt motions in their cleaning patterns, which reduces their efficiency and increases energy usage.
Innovation Solution
A traveling control method for autonomously traveling mobile robots that allows them to follow obstacles or adjust their trajectory based on previous paths, generating candidate spots for a spiral cleaning pattern to minimize 180° turns and optimize energy efficiency.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the robot uses a traditional cleaning pattern with frequent 180° turns, then the cleaning area is covered thoroughly, but the movement load and time consumption increase significantly
Solution Approach 1:
The patent applies spiral trajectory planning instead of traditional 180° turning patterns. The robot moves in a continuous curved spiral path that gradually covers the cleaning area, eliminating abrupt directional changes while ensuring complete coverage. This curved motion pattern reduces mechanical stress and time consumption compared to sharp angular turns.
Solution Approach 2:
The patent implements dynamic trajectory adjustment by generating candidate spots based on the robot's current position and previous trajectory, then selecting optimal next positions that maintain continuous forward motion. The spiral pattern dynamically adapts the cleaning path to cover the entire area without requiring the robot to reverse direction, thus reducing time loss while maintaining thorough coverage.
2Productivity
If the robot performs frequent 180° turns and abrupt motions, then the cleaning pattern covers the area systematically, but the mechanical load and energy consumption increase
Solution Approach 1:
The spiral cleaning pattern uses continuous curved trajectories instead of sharp angular turns. This curved motion reduces the mechanical energy required for directional changes, as the robot maintains smoother acceleration and deceleration profiles. The spiral path ensures systematic area coverage while minimizing the energy-intensive 180° turns characteristic of traditional cleaning patterns.
Solution Approach 2:
The patent maintains continuous forward motion along the spiral trajectory without interruption for 180° turns. The robot continuously cleans while moving forward in a spiral pattern, eliminating idle time and energy consumption associated with stopping and reversing direction. This continuous action improves productivity while reducing overall energy usage.
3Reliability
If the robot follows obstacles closely, then the cleaning coverage near obstacles is improved, but the risk of collision and trajectory instability increases
Solution Approach 1:
The patent generates candidate spots in advance based on the robot's current position and the detected obstacle locations. By pre-calculating safe next positions that maintain an optimal distance from obstacles, the robot can follow obstacle contours closely for thorough cleaning while avoiding collision risks. This preliminary trajectory planning ensures both coverage and safety.
Solution Approach 2:
The robot dynamically adjusts its distance from obstacles along the spiral trajectory based on real-time sensor feedback. The trajectory generation algorithm continuously calculates optimal positions that balance close proximity for coverage with sufficient clearance for safety. This dynamic adjustment allows the robot to adapt to varying obstacle configurations while maintaining stable and safe operation.
Data Source
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.