Movement of objects by a robotic cleaning device
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Solution Overview
Problem
Robotic vacuum cleaners often fail to clean surfaces effectively due to obstacles being placed on the cleaning area, which prevents them from moving freely and completing their cleaning tasks.
Innovation Solution
A method and device for a robotic cleaning device to acquire historical data of its environment, using this data to control its movement and exert forces on objects, such as doors or furniture, to navigate around or reposition them, allowing the device to continue cleaning by forming a representation of the environment and using propulsion systems, cameras, and controllers to execute these actions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the robotic cleaning device avoids all obstacles to move freely, then collision-free navigation is improved, but cleaning coverage deteriorates because obstacles block access to cleaned areas
Solution Approach 1:
The robotic cleaning device converts obstacles, which normally block cleaning coverage, into beneficial elements by using them as reference points for navigation. The device detects obstacles like door frames and furniture, then uses their known positions from historical data to calculate optimal paths that ensure both collision-free movement and complete cleaning coverage of all surfaces including areas previously blocked by obstacles.
Solution Approach 2:
The system performs preliminary actions by acquiring and storing historical data about the environment including obstacle positions, door locations, and room layouts before the actual cleaning task. This pre-acquired information is used to plan cleaning paths that anticipate obstacle locations, allowing the device to navigate around obstacles while ensuring all areas will be cleaned, and to automatically return objects to their original positions after cleaning.
2Productivity
If the robotic cleaning device pushes objects to navigate around them, then movement through blocked areas is improved, but object displacement worsens
Solution Approach 1:
Before pushing any objects, the robotic cleaning device checks historical data to determine the object's original position and whether it needs to be returned later. The device only pushes objects when necessary for navigation, and always plans to return them to their original positions after cleaning the blocked area, thus minimizing unnecessary displacement while maintaining productivity.
Solution Approach 2:
The system uses feedback by continuously monitoring object positions during cleaning and comparing them against historical data. When an object is displaced, the system records the new position and plans a return path. The feedback mechanism ensures that objects are returned to their original positions after the cleaning task is complete, converting the temporary displacement into a beneficial navigation action.
Data Source
AI summary
A method of controlling movement of a robotic cleaning device and a robotic cleaning device performing the method. The method comprises acquiring historical data forming a representation of an environment in which the robotic cleaning device moves, and controlling movement of the robotic cleaning device to exert a force onto an object located in the environment to move the object based on the acquired historical data.