Robot cleaner and method for controlling the same
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Solution Overview
Problem
Existing robot cleaners face challenges in maintaining accurate position determination and smooth following control, especially when the posterior cleaner loses sensing contact with the anterior cleaner, leading to difficulties in communication and navigation.
Innovation Solution
A robot cleaner system equipped with a driver, sensor, communicator, and controller that uses network-acquired position information and a conversion matrix to maintain following even when the anterior cleaner is out of the sensor's range, ensuring continuous navigation and cleaning operations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the posterior cleaner uses sensor-based position sensing to follow the anterior cleaner, then the following control accuracy is improved when the anterior cleaner is within range, but the system reliability deteriorates when the anterior cleaner moves out of sensor range
Solution Approach 1:
The patent introduces a wireless communication module as an intermediary system to transmit position information between cleaners. When the anterior cleaner moves out of sensor range, the posterior cleaner receives position data through wireless communication, maintaining following control continuity without direct sensor contact
Solution Approach 2:
The system preliminarily establishes multiple information acquisition channels (sensor-based and communication-based) before needing them. The controller is pre-configured to switch between sensor data and communication data, ensuring seamless transition when the anterior cleaner enters or exits sensor range
2Measurement precision
If the system relies solely on sensor-based position detection, then the position determination accuracy is high when cleaners are close, but the adaptability deteriorates when cleaners are at varying distances
Solution Approach 1:
The system dynamically adjusts the information acquisition method based on the operational context. The controller switches between sensor-based detection (for close proximity) and communication-based detection (for distant proximity), making the system adaptable to varying distances between cleaners while maintaining appropriate accuracy
3Device complexity
If the cleaner uses obstacle detection device for position determination, then the position data can be obtained without additional communication hardware, but the device complexity increases and communication efficiency decreases
Solution Approach 1:
The wireless communication module serves multiple functions: it transmits position information for following control, enables data exchange between cleaners, and provides a backup position determination method when sensor-based detection fails. This multi-functionality justifies the added hardware complexity by eliminating the need for separate dedicated position transmission systems
Data Source
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Figure 4
Figure 5(a)~5(c)
AI summary
The present disclosure provides a robot cleaner including a driver for linearly moving or turning a body of the robot cleaner, a sensor for sensing a further cleaner in a sensed region having a predetermined angular range in front of the body, a communicator connected to a network, wherein the communicator acquires position information of the further cleaner, and a controller that, when the further cleaner is out of the sensed region of the sensor, identifies a position of the robot cleaner relative to the further cleaner based on the position information acquired by the communicator and a conversion matrix, and controls the driver such that the body follows the further cleaner.