Robotic Chevron Pattern Navigation for Improved Cleaning Coverage
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Solution Overview
Problem
Existing cleaning robots struggle to efficiently maneuver and transition between cleaning states within complex environments, particularly in spaces with edges and corners, due to their large size and lack of fine motor control, leading to incomplete cleaning.
Innovation Solution
A cleaning robot equipped with high-fidelity sensors and advanced navigation strategies, capable of implementing a chevron navigation pattern to transition between edge and fill states, allowing for thorough coverage of environments using a chevron navigation strategy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If cleaning robots are designed with a large cleaning footprint to clean wide-open areas, then they can cover large spaces efficiently, but they cannot maneuver effectively in complex spaces with edges and corners
Solution Approach 1:
The cleaning robot divides the cleaning environment into two distinct states: edge state (when near walls or boundaries) and fill state (when in open interior spaces). The navigation system segments the cleaning path into edge-following portions and chevron-pattern portions, allowing the robot to optimize its movement pattern based on the current state. This segmentation enables the robot to maintain a larger effective cleaning footprint in open areas while transitioning to precise edge-following behavior near boundaries, resolving the contradiction between large-footprint efficiency and complex-space maneuverability
2Area of stationary object
If cleaning robots are designed with a large size to clean wide areas, then they can clean more surface area per pass, but they lack fine motor control for tight spaces and corners
Solution Approach 1:
The robot dynamically adjusts its navigation pattern based on real-time sensor input about its position relative to edges and obstacles. When in edge state, the robot employs precise edge-following algorithms with fine motor control for tight corners. When in fill state, it transitions to chevron patterns that utilize its larger size for efficient area coverage. This dynamic switching of navigation modes allows the same robot to exhibit both large-area cleaning capability and precise fine-motor control as needed, resolving the contradiction between size and precision
3Productivity
If cleaning robots use conventional navigation algorithms for large spaces, then they can clean open areas, but they fail to account for tight spaces and corners
Solution Approach 1:
The robot implements continuous edge-following behavior that ensures uninterrupted cleaning along boundaries and transitions smoothly into chevron patterns for interior areas. The edge state and fill state navigation modes are designed to connect seamlessly, maintaining continuous useful cleaning action throughout the entire environment. This continuous approach ensures that no areas are missed, particularly at the transition zones between edges and interiors, resolving the contradiction between large-space efficiency and thoroughness
Data Source
AI summary
A robot is described herein for robotic cleaning and navigation strategies. The robot may be sized or dimensioned for maneuvering for cleaning, disinfecting, or otherwise improving a physical environment (e.g., living spaces, office spaces, or the like), especially those having narrow or varied spaces created by obstacles within the physical environment. The cleaning robot as described herein provide solutions for overcoming problems that arise from cleaning target areas or environments that have typically been difficult for conventional robots to navigate and cover sufficiently for cleaning or otherwise coverage purposes. A novel navigation strategy is implemented comprising a chevron pattern comprising a plurality of segments, which provides for improved coverage, and, therefore, cleaning by a robot within a given environment.