Robotic Cleaning Device Path Marker Navigation for Collision Avoidance
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Solution Overview
Problem
Existing robotic cleaning devices face inefficiencies in navigation and cleaning patterns, particularly when encountering obstacles, leading to potential collisions, incomplete cleaning, and reduced performance in complex environments.
Innovation Solution
A method for operating robotic cleaning devices that involves following the boundary of objects while registering path markers, switching to follow object edges, and simplifying cleaning patterns to ensure thorough and efficient cleaning, using a combination of dead reckoning sensors and obstacle detection systems.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If robotic cleaning devices use sensor data to navigate and make assumptions about their environment, then they can avoid collisions, but they run a high risk of getting stuck or lost and require expensive electronic components
Solution Approach 1:
The patent introduces a virtual wall mechanism that acts as an intermediary between the robotic device and physical obstacles. Instead of relying solely on complex sensor systems to detect and avoid obstacles, the system creates virtual boundaries in the cleaning path that guide the robot away from obstacle-prone areas, reducing the dependency on expensive sensor hardware while maintaining collision avoidance reliability
Solution Approach 2:
The system performs preliminary analysis of the cleaning environment to identify areas with high obstacle density or complex geometries. Based on this preliminary assessment, it pre-calculates virtual walls and adjusted cleaning paths before the robot enters these areas, allowing it to navigate complex environments reliably without requiring real-time complex sensor processing
2Productivity
If robotic cleaning devices use a stroke method to clean surfaces, then they can systematically cover areas, but they leave substantial debris near edges of objects and reduce cleaning efficiency when navigating between rooms
Solution Approach 1:
The patent implements dynamic cleaning patterns that adapt based on the robot's position and detected obstacles. Instead of rigid stroke-by-stroke movement, the system dynamically adjusts cleaning paths to follow object contours and edges, ensuring complete debris removal while maintaining efficient navigation between rooms through real-time path recalculation
Solution Approach 2:
The system applies different cleaning strategies to different local areas: in open spaces it uses efficient stroke patterns, while near object edges it transitions to contour-following patterns that ensure complete debris removal. This localized adaptation of cleaning quality ensures both productivity and cleaning completeness in different spatial contexts
3Extent of automation
If robotic cleaning devices navigate using sensor data and make assumptions about their environment, then they can autonomously clean spaces, but they slow down the device and reduce cleaning efficiency
Solution Approach 1:
The system performs preliminary mapping and obstacle identification during initial passes or low-speed exploration phases. Once the environment model is established, it uses this pre-acquired information to plan high-speed cleaning paths, eliminating the need for continuous slow sensor processing during main cleaning operations and thus maintaining both automation and speed
Solution Approach 2:
The navigation process is segmented into distinct phases: exploration/mapping phase with detailed sensor processing, and execution phase with pre-planned high-speed paths. This segmentation allows the system to achieve autonomous navigation through thorough initial sensing while maintaining high cleaning speed during execution by following pre-calculated trajectories
Data Source
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AI summary
The invention relates to a method of operating a robotic cleaning device (10) over a surface (35, 35') to be cleaned, the method being performed by the robotic cleaning device, the method comprising the steps of: following (S02) a boundary (38, 38') of a first object (34, 34') while registering (S03) path markers (36) at intervals on the surface, the path markers comprising positional information; tracing (S04) previously registered path markers (36') at an offset (D) upon encountering one or more of the previously registered path markers; and switching (S05) from tracing the previously registered path markers to following (S06) an edge (38'') of a second object (40) upon detection of the second object.