Robot Cleaner Docking Control Using Circular Charging Paths
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Solution Overview
Problem
Existing robot cleaners face increased docking time to charging stations, which affects their autonomous traveling efficiency and battery charging performance.
Innovation Solution
The robot cleaner system includes a controller that guides the cleaner to dock at a charging station by moving along a circular path, adjusting its posture based on signal reception from the charging station, and avoiding obstacles, thereby optimizing the docking process.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of time
If the cleaner uses traditional docking methods to charge the battery, then the docking process can be completed, but the time required for docking is unnecessarily increased
Solution Approach 1:
The cleaner performs preliminary actions by predicting the charging station's location based on cleaning patterns and historical data before actually needing to dock. This allows the cleaner to prepare its docking trajectory in advance, reducing the actual docking time when battery charge is needed.
Solution Approach 2:
The docking method dynamically adjusts the cleaner's trajectory and speed based on real-time conditions. The cleaner continuously updates its predicted charging station location and modifies its docking path accordingly, enabling faster and more adaptive docking compared to fixed predetermined methods.
2Reliability
If the cleaner attempts to dock with the battery charge terminal and power supply terminal positioned to correspond, then power can be provided smoothly, but the angle at which the cleaner enters the charging station must fall within an appropriate angle range
Solution Approach 1:
The docking system uses feedback from sensors and position detection to continuously monitor the cleaner's approach angle and trajectory. Based on this feedback, the system automatically adjusts the docking path to ensure the battery charge terminal aligns properly with the power supply terminal, maintaining charging reliability while simplifying the operation.
Solution Approach 2:
The cleaner performs self-alignment during the docking process by using its own sensors and control systems to automatically adjust its orientation and position. This self-service capability ensures proper terminal alignment without requiring external intervention or complex manual operation.
3Productivity
If the cleaner moves to the charging station to charge the battery, then autonomous traveling can continue smoothly, but the capacity of the battery may drop to below a limit capacity during cleaning
Solution Approach 1:
The system performs preliminary assessment of battery capacity during cleaning operations and predicts when charging will be needed. By monitoring energy consumption patterns and remaining capacity, the cleaner can plan its docking timing in advance, ensuring continuous autonomous operation while preventing battery depletion below critical levels.
Data Source
AI summary
A cleaner performing autonomous traveling includes a main body, a driving unit moving the main body, a battery supplying power to the driving unit, a communication unit performing communication with a charging station to charge the battery, a sensor sensing a signal emitted from the charging station, and a controller controlling the driving unit such that the main body is docked to the charging station on the basis of the signal sensed by the sensor, wherein when the main body starts to move to dock to the charging station, the controller determines a kind of the signal sensed by the sensor and controls the driving unit such that the main body moves along a traveling path corresponding to a circle centered on a predetermined point on the basis of the determined kind of the signal.