Walk control method of robot, and robot
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Solution Overview
Problem
Current intelligent cleaning robots have a low coverage rate due to inadequate walk modes, resulting in incomplete sweeping and a poor user experience.
Innovation Solution
A method that involves controlling the robot to walk along walls to map the room, divide the area into regular and irregular sweeping areas, and employ a clip-shaped sweeping walk mode for regular areas, switching between spiral and S-shaped modes based on area size, and adjusting for irregular areas based on their size, enhancing coverage and performance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If traditional walk modes (random, S-shaped, spiral) are used, then the robot can navigate the room, but the sweeping coverage rate is low and sweeping is incomplete
Solution Approach 1:
The patent divides the room area into multiple regular sweeping areas and irregular sweeping areas based on wall structure. Each regular sweeping area is further divided into sub-areas with designated sweeping paths. This segmentation allows the robot to systematically cover each region, ensuring complete sweeping while maintaining high coverage rate through structured navigation.
2Adaptability or versatility
If the robot uses a single walk mode for all areas, then the control system is simple, but the sweeping performance is poor due to inability to adapt to different area shapes
Solution Approach 1:
The patent implements different sweeping strategies for different types of areas: regular sweeping areas use structured clip-shaped paths with sub-area divisions, while irregular sweeping areas use adaptive path planning based on wall boundaries. This local differentiation optimizes sweeping performance for each area type while the modular control architecture manages complexity through standardized interfaces.
Solution Approach 2:
The robot dynamically switches between different sweeping modes (regular area clipping mode and irregular area adaptive mode) based on real-time identification of area characteristics. The control system adjusts navigation parameters and path planning algorithms according to the specific geometry of each sweeping area, enabling adaptive response to varying spatial conditions.
3Reliability
If the robot sweeps all areas uniformly, then the process is simple to implement, but the coverage rate increases significantly when distinguishing regular and irregular areas
Solution Approach 1:
The patent performs preliminary classification of sweeping areas into regular and irregular types during the mapping phase, before actual sweeping begins. Regular sweeping areas are pre-divided into sub-areas with predetermined clip-shaped paths. This preliminary preparation enables the robot to execute efficient, pre-planned sweeping patterns, significantly improving coverage rate while the automated classification process manages operational complexity.
Data Source
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AI summary
A walk control method of a robot, and robot, the method comprising the following steps: controlling the robot to walk in circles along a wall of a room to acquire a structure and size of the room (S101); according to the structure and size of the room, dividing a region of the room into a plurality of regular cleaning regions and a plurality of irregular cleaning regions (S102); cleaning the plurality of regular cleaning regions in a mode in which the robot walks along a rectangular spiral (S103); and after completing the cleaning of the plurality of regular cleaning regions, cleaning the plurality of irregular cleaning regions according to the size of each irregular cleaning region (S104). The robot cleans the regular cleaning regions and the irregular cleaning regions separately, thus increasing a cleaning coverage rate, and effectively improving cleaning performance and user experiences.