Moving robots and method for controlling the same
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Solution Overview
Problem
Existing moving robots face challenges in cooperative cleaning due to differences in sensor types and sensitivities, leading to inconsistent map generation and difficulty in sharing position and environment information, which hinders efficient cooperative cleaning, especially when dry-type and wet-type robots need to work together.
Innovation Solution
A method is introduced where the area to be cleaned is divided into regions, and robots alternate cleaning tasks based on region types, with dry-type robots cleaning non-wet regions first and then transitioning to wet cleaning, allowing for efficient coordination and reduced overall cleaning time.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If different types of sensors are used for map generation, then sensing capabilities are enhanced, but map consistency and position sharing become difficult
Solution Approach 1:
The patent applies homogeneity by standardizing the map data structure and coordinate system across all robots regardless of their sensor types. All robots generate maps using the same data format, coordinate orientation, and scaling, which enables consistent position sharing and cooperative cleaning even when different sensor technologies are used.
2Measurement precision
If high-performance sensors are mounted to accurately identify robot positions, then position identification accuracy is improved, but production costs increase
Solution Approach 1:
The patent uses visual markers as simple, inexpensive copies that encode position information. Instead of requiring expensive high-performance sensors on each robot, the system uses easily detectable marker patterns that can be read by standard cameras, achieving accurate position identification at low cost.
3Productivity
If the area is divided into regions and robots alternate cleaning tasks, then cooperative cleaning efficiency is improved, but coordination complexity increases
Solution Approach 1:
The patent divides the cleaning area into multiple regions and assigns different cleaning tasks to different robot types based on region characteristics. Dry-type robots handle dry regions while wet-type robots handle wet regions, enabling parallel cleaning operations that improve overall efficiency while maintaining manageable coordination through clear task assignment.
Data Source
AI summary
The present disclosure relates to a method for controlling a plurality of moving robots, in which by dividing an area to be cleaned into a plurality of regions, and detecting sub-regions in the respective regions, the plurality of moving robots share information on the sub-region and the respective regions, and perform cleaning alternately to reduce the waste of cleaning time.