Moving path planning apparatus and method for robot
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Solution Overview
Problem
Mopping cleaning robots struggle to change cleaning lines while effectively sucking up water sprayed on the floor, as they rotate in place, leading to incomplete water intake.
Innovation Solution
A moving path planning apparatus and method that determine an actual moving path for a robot based on predetermined robot parameters, using a moving path pattern acquired for every sub region of a map, considering forward gaze distance and minimum turning radius, to plan an optimal path that allows the robot to change positions without rotating in place, thereby ensuring all water is sucked up.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If the robot rotates in place to change cleaning lines, then the robot can change position efficiently, but the robot cannot suck up all the water sprayed on the floor
Solution Approach 1:
Instead of rotating in place to change cleaning lines, the patent inverts the approach by making the robot move forward along a curved path that naturally transitions it to the next cleaning line. The robot follows a circular arc trajectory with radius R, allowing continuous water suction while changing direction, rather than rotating stationary to switch lines.
2Reliability
If the robot follows a curved path with large turning radius, then the robot can maintain stability and continuous water suction, but the robot requires more space to change cleaning lines
Solution Approach 1:
The patent transitions from two-dimensional in-place rotation to three-dimensional curved path following. The robot moves along a circular arc in the forward direction, utilizing the third dimension of forward motion combined with gradual directional change, rather than rotating within the same footprint. This allows the robot to change cleaning lines while maintaining forward progression and continuous water suction.
Data Source
AI summary
A moving path planning apparatus and method for a robot according to the exemplary embodiment of the present disclosure determine an actual moving path using a robot parameter set in advance on the basis of a moving path pattern acquired for every sub region of the map to determine an actual moving path of the robot in consideration of the turning radius of the robot.