Plurality of robot cleaner and a controlling method for the same
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Solution Overview
Problem
Existing mobile robot systems face challenges in efficiently following complex moving paths and maintaining communication, leading to delays and inefficiencies in collaborative cleaning tasks, especially in complex environments where communication with a server is disrupted and different robot types and floor conditions complicate trajectory adherence.
Innovation Solution
A mobile robot system where a following robot stores and adapts to the trajectory information of a leading robot, allowing flexible follow-up by modifying its path based on obstacle detection, sensor data, and communication signals, and switching to alternative paths or sectors to maintain efficient cleaning without interruption.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the slave robot determines the position of the master robot through server communication, then the position information can be obtained, but the communication may be disconnected when located at places difficult to communicate with the server
Solution Approach 1:
The patent introduces an intermediary communication mechanism where robots exchange position information directly through wireless communication signals rather than solely through the server. This intermediary channel ensures continuous position determination even when server communication is disconnected, resolving the reliability issue while maintaining system simplicity.
Solution Approach 2:
The system dynamically changes communication parameters by switching between server-based communication and direct robot-to-robot wireless communication based on connection status. When server communication is unavailable, the slave robot automatically uses received signal strength indicators and other wireless parameters to determine master robot position, ensuring continuous operation.
2Productivity
If the following robot strictly follows the complex moving path of the leading robot, then the cleaning coverage is maximized, but the cleaning time is delayed
Solution Approach 1:
The following robot dynamically adjusts its trajectory based on real-time conditions. Instead of rigidly following the leading robot's complex path, the system allows the following robot to adapt its moving path by considering obstacle positions, floor conditions, and real-time communication data, thereby reducing unnecessary delays while maintaining cleaning effectiveness.
Solution Approach 2:
The system performs preliminary trajectory planning by the leading robot and shares this information with the following robot through wireless communication. The following robot uses this preliminary path information to anticipate movements and prepare accordingly, reducing reaction time and delays while maintaining comprehensive cleaning coverage.
3Adaptability or versatility
If the robot cleaner changes moving direction frequently to adapt to cleaning space shape and obstacles, then the cleaning coverage is improved, but the trajectory becomes complex and difficult to follow
Solution Approach 1:
The leading robot continuously transmits its position, moving direction, and trajectory information to the following robot through wireless communication. The following robot uses this feedback to understand the leading robot's navigation decisions and adapt its own path accordingly, simplifying the following task while maintaining adaptability to complex cleaning spaces and obstacle configurations.
Data Source
AI summary
A mobile robot may include a traveling unit configured to move a main body; a memory configured to store trajectory information of a moving path corresponding to the movement of the main body; a communication unit configured to communicate with another mobile robot that emits a signal; and a controller configured to recognize the location of the another mobile robot based on the signal, and control the another mobile robot to follow a moving path corresponding to the stored trajectory information based on the recognized location. In addition, the controller may control the moving of the another mobile robot to remove at least part of the stored trajectory information, and allow the another mobile robot to follow a moving path corresponding to the remaining trajectory information in response to whether the moving path corresponding to next trajectory information to be followed by the another mobile robot satisfies a specified condition.