Robotic Cleaner Multi-Map Navigation for Autonomous Path Planning
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Solution Overview
Problem
Existing robotic cleaners require manual configuration for each cleaning operation, making them inconvenient for users, as they need to determine operation type, area, and objects individually, and lack efficient mapping techniques for optimal cleaning paths.
Innovation Solution
A robotic cleaner system that generates and utilizes multiple maps, including a 3D map for object classification, an activity map for dynamic object tracking, a reachability map for path planning, a cleanness map for area assessment, and a fault map for identifying difficult areas, to optimize cleaning paths and operations autonomously.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a robotic cleaner performs cleaning operations with manual configuration for each operation type, area, and object, then the cleaning operation can be performed, but the user convenience deteriorates due to the need to determine each parameter individually
Solution Approach 1:
The robotic cleaner autonomously determines operation parameters including operation type, area, and objects by itself without requiring manual user configuration. The system automatically generates cleaning paths and adjusts cleaning parameters based on environmental sensing data, enabling self-service operation that eliminates the need for users to individually set each cleaning parameter.
Solution Approach 2:
The robotic cleaner performs preliminary mapping and environmental scanning operations before the actual cleaning process. By pre-identifying objects, areas, and obstacles in the environment, the system prepares operation parameters in advance, allowing automatic determination of cleaning parameters without requiring real-time user input during cleaning operations.
2Productivity
If a robotic cleaner uses traditional single-map navigation, then the basic navigation function is achieved, but the cleaning efficiency and reliability deteriorate due to inability to adapt to dynamic environments and identify difficult cleaning areas
Solution Approach 1:
The navigation and cleaning system is divided into multiple specialized map types: a first map for basic navigation and obstacle avoidance, a second map for identifying difficult-to-clean areas, and a third map for tracking cleaning status. This segmentation allows each map to specialize in specific functions, improving both cleaning efficiency by avoiding difficult areas when possible and reliability by ensuring thorough coverage of cleanable areas.
Solution Approach 2:
The robotic cleaner dynamically switches between different maps and adjusts cleaning parameters based on real-time environmental conditions and cleaning progress. The system can adaptively modify cleaning paths by referencing the difficult-area map to avoid obstacles, and update cleaning status on the third map to ensure complete coverage, enabling flexible adaptation to changing environmental conditions during cleaning operations.
3Reliability
If a robotic cleaner avoids all obstacles and difficult areas, then the cleaner safety is improved, but the cleaning coverage deteriorates due to skipping potentially cleanable areas
Solution Approach 1:
The system applies different cleaning strategies to different areas based on their characteristics identified in the second map. For difficult-to-clean areas, the cleaner adjusts local cleaning parameters such as suction power, brush rotation speed, or passes multiple times over the same area. This localized adaptation allows the system to safely navigate around major obstacles while still achieving thorough cleaning in challenging areas through parameter adjustment rather than complete avoidance.
Data Source
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AI summary
An operation of a robotic cleaner includes generating at least one map including information regarding a space to be cleaned by using information measured by at least one sensor. The operation also includes setting a cleaning path by using the at least one map, and cleaning according to the cleaning path.