Map region contour-based setting method and method for controlling robot edgewise walking termination
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Cleaning robots face inefficiencies due to cumulative sensor errors and misjudgments in determining when to terminate edgewise sweeping, leading to repeated sweeping and reduced efficiency in diverse room layouts.
Innovation Solution
A map region contour-based setting method that represents the working region's contour using rectangular regions defined by adjacent corner points, allowing the robot to accurately judge edgewise walking conditions and terminate sweeping when all unit regions are covered or a preset number is repeatedly traversed.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional edgewise sweeping termination methods are used (judging by rotation angle difference being a positive integer multiple of 360 degrees), then the robot can terminate sweeping, but cumulative sensor errors cause misjudgment leading to repeated sweeping in the same local region
Solution Approach 1:
The patent divides the working region into multiple rectangular unit regions based on the map contour and corner points. Instead of using continuous rotation angle measurement, the system segments the sweeping path into discrete unit regions and tracks which regions have been swept. The termination condition is determined by checking whether all unit regions have been covered, eliminating cumulative error accumulation along the continuous path.
Solution Approach 2:
The system establishes a feedback mechanism by continuously monitoring the robot's position relative to the predefined unit regions and comparing the current swept region set with the complete set of unit regions. This feedback loop provides accurate termination judgment based on actual coverage status rather than indirect rotation angle measurements, preventing misjudgment due to sensor errors.
2Productivity
If edgewise sweeping is performed to improve coverage rate and clean dead corners, then cleaning effectiveness improves, but complex room layouts and furniture placements create diverse environments that increase sensor error accumulation
Solution Approach 1:
The patent performs preliminary actions by pre-processing the map to identify corner points and divide the working region into unit rectangular regions before the robot begins sweeping. This preliminary segmentation creates a reference framework that remains valid throughout the sweeping process, allowing the robot to reliably determine termination conditions regardless of the complexity of the room layout or furniture arrangements encountered during execution.
3Loss of time
If the robot continues sweeping when rotation angle indicates completion, then termination may be delayed, but this results in repeated traversal of the same local region reducing working efficiency
Solution Approach 1:
The patent replaces the mechanical sensing system (rotation angle measurement by sensors) with a computational approach based on map processing and region tracking. By substituting physical sensor measurements with logical operations on predefined unit regions, the system achieves more reliable termination judgment that directly reflects actual sweeping coverage rather than indirect angular displacement, thereby improving working efficiency.
Data Source
AI summary
A map region contour-based setting method and a method for controlling robot edgewise walking termination. The method includes: a robot setting a plurality of unit regions to be subjected to edgewise walking by executing a setting method; then, the robot performing edgewise walking in a working region; when the robot walks through all unit regions to be subjected to edgewise walking, the robot stopping walking along the edge; and when the robot repeatedly walks through the same batch of unit regions to be subjected to edgewise walking, the robot stopping walking along the edge, wherein the same batch of unit regions to be subjected to edgewise walking are a preset number of unit regions to be subjected to edgewise walking that are different from each other, and the number of unit regions to be subjected to edgewise walking set by using the setting method is greater than the preset number.