Robot Cleaner Object Relocation for Full Floor Coverage
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Solution Overview
Problem
Self-propelled cleaning devices struggle to effectively clean areas obstructed by movable objects, as they either navigate around them, leaving uncleaned spaces or require manual intervention.
Innovation Solution
The cleaning device autonomously detects movable objects, repositions them to a predefined target location within the cleaned area, and navigates around obstacles to ensure thorough cleaning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the cleaning device navigates around objects on the cleaning surface, then the device can avoid collisions and continue cleaning, but the area beneath and immediately surrounding the object remains uncleaned
Solution Approach 1:
The cleaning device performs preliminary actions by detecting objects before cleaning and temporarily moving them to the side before proceeding with cleaning in the area that would otherwise be inaccessible. This preliminary object relocation enables complete cleaning coverage while maintaining collision avoidance.
2Productivity
If the cleaning device stops to manually move objects, then complete cleaning coverage can be achieved, but cleaning efficiency and productivity are reduced
Solution Approach 1:
The cleaning device performs self-service by autonomously detecting, deciding, and executing object relocation maneuvers without requiring manual intervention. The system independently determines when and how to move objects, maintains cleaning state, and resumes cleaning automatically, thereby preserving high productivity while achieving complete cleaning coverage.
3Productivity
If the cleaning device frequently changes direction to navigate around objects, then complete area coverage is achieved, but cleaning time increases
Solution Approach 1:
The cleaning device extracts the obstacle (object) from the cleaning path by temporarily moving it to the side, rather than navigating around it. This extraction eliminates the need for frequent direction changes and path recalculation, thereby maintaining thorough cleaning coverage while minimizing additional cleaning time.
4Measurement precision
If the cleaning device uses additional sensors to detect and handle objects, then object handling precision is improved, but device complexity and cost increase
Solution Approach 1:
The cleaning device achieves multi-functionality by using its existing navigation and cleaning sensors for dual purposes: both for navigating the environment and for detecting objects that require relocation. This universal use of existing sensors improves object handling precision without adding device complexity or additional sensor systems.
Data Source
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Figure 3A~3B
AI summary
A self-propelled cleaning device and a method for operating a self-propelled cleaning device for cleaning a cleaning surface are proposed, wherein during cleaning a movable object is detected on the cleaning surface and the cleaning device automatically performs a displacement maneuver when a movable object is detected, first defining a target position and then moving the object to the target position using the cleaning device.