Robot cleaner and a controlling method for the same
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Solution Overview
Problem
Existing mobile robot systems face challenges in efficient collaboration and follow-up maneuvers without relying on a server, particularly when the moving directions of leading and follower robots differ or when they need to avoid collisions, leading to potential interruptions and inefficiencies.
Innovation Solution
The implementation of a control method that allows mobile robots to communicate directly and adjust their movement speeds based on the length of the trajectory of the leading robot, enabling flexible follow-up control by changing speeds or stopping when the trajectory deviates from a predetermined range, ensuring uninterrupted and stable following without server interference.
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 a dual communication architecture where the server acts as an intermediary for normal operations, but direct peer-to-peer communication between robots serves as a backup intermediary when server communication fails. This resolves the contradiction by providing multiple communication pathways without requiring a completely complex system redesign.
Solution Approach 2:
The system dynamically changes communication parameters by switching between server-based communication and direct robot-to-robot communication based on connection status. When server communication is unavailable, the slave robot changes its communication mode to receive position information directly from the master robot, maintaining reliability without permanent system complexity.
2Ease of operation
If the follower robot controls follow-up moving based on relative position distance, then the control is simple, but the follow-up may not be efficient in exceptional situations where moving directions differ
Solution Approach 1:
The follow-up control system dynamically adjusts its behavior based on real-time conditions. When the master and slave robots move in opposite directions or collision risk is detected, the slave robot dynamically changes from active following to pausing or avoidance, maintaining simple control logic while improving collaborative efficiency in exceptional situations.
Solution Approach 2:
The system incorporates feedback mechanisms where the slave robot continuously monitors the master robot's movement direction and position. When feedback indicates exceptional situations (opposite directions, potential collisions), the control algorithm adjusts follow-up behavior accordingly, balancing simplicity with efficiency through condition-based responses.
3Productivity
If multiple robot cleaners perform collaborative cleaning, then the cleaning coverage increases, but the coordination and collision avoidance becomes more complex
Solution Approach 1:
The patent merges the navigation intelligence into a single master robot while slave robots perform simpler follow-up tasks. This combining of complex functions in one unit and simple functions in others allows multiple robots to work together for increased coverage without each robot needing full coordination capabilities, reducing overall system complexity.
Solution Approach 2:
Slave robots copy the master robot's cleaning trajectory and behavior patterns rather than independently planning their own paths. This copying approach enables multiple robots to achieve coordinated cleaning coverage without complex inter-robot negotiation, as each slave simply replicates the master's proven effective cleaning pattern in its designated area.
Data Source
AI summary
A mobile robot according to an embodiment of the present disclosure may comprise a main body, a moving unit configured to move the main body, a communication unit configured to communicate with a second mobile robot that emits a signal, and a controller configured to recognize a position of the another mobile robot using the signal, control the moving unit to follow a trajectory corresponding to a movement of the another mobile robot based on the recognized position, and in response to the length of trajectory to be followed by the main body deviating from the predetermined range, output a control command to cause a moving speed of the main body or the second mobile robot to change.