Robotic cleaning device with dynamic area coverage
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Solution Overview
Problem
Mobile robotic cleaning devices face inefficiencies in navigating and cleaning areas with changing obstacles, as they either require constant updates of detailed maps or operate slower without them, potentially cleaning undesired areas when relying solely on sensors.
Innovation Solution
A method of dynamically generating a coverage pattern by identifying consecutive waypoints and creating temporary maps using sensor data, allowing the robotic device to clean efficiently while adapting to changes in the environment without the need for pre-loaded maps.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If a detailed pre-loaded map is used for navigation, then the device can operate at higher speeds and avoid obstacles efficiently, but the map must be constantly updated when obstacles change, making it time-consuming and impractical
Solution Approach 1:
The system dynamically adapts between two operational modes: using pre-loaded maps when available for high-speed operation, and switching to sensor-based real-time mapping when obstacle changes are detected. This dynamic mode switching allows the system to maintain high speed while adapting to changing environments without frequent manual map updates
Solution Approach 2:
The system incorporates feedback mechanisms where sensor data continuously monitors the environment for changes in obstacles. When changes are detected, the system receives feedback to update its navigation approach, either by updating the pre-loaded map or by switching to real-time sensor-based navigation, thus maintaining efficiency without excessive map updates
2Adaptability or versatility
If sensor-based navigation without pre-loaded maps is used, then the device can operate in facilities with changing obstacles, but the overall speed is slower and the device may explore areas that do not need cleaning
Solution Approach 1:
The system dynamically adjusts its navigation strategy based on environmental conditions. When pre-loaded maps are available and obstacles are stable, it uses map-based navigation for high speed. When obstacles change or no map is available, it dynamically switches to sensor-based real-time mapping, accepting reduced speed in exchange for adaptability to changing conditions
3Adaptability or versatility
If sensor-based navigation without pre-loaded maps is used, then the device can operate in facilities with changing obstacles, but the device may explore openings and areas that the user does not desire to be cleaned
Solution Approach 1:
The system uses feedback from sensor data to understand the environment and distinguish between areas that should be cleaned and those that should be avoided. By continuously monitoring sensor inputs and comparing them against cleaning objectives, the system can adapt its path planning to avoid unnecessary areas while remaining flexible to obstacle changes
Data Source
AI summary
A system dynamically generates a cleaning coverage pattern of an area using waypoints and sensor data from one or more sensor modalities. To do this, a robotic cleaning device moves through an area to be cleaned, identifies consecutive waypoints through the area, and stores the waypoints in a memory. At least one sensor of the robotic cleaning device collects sensor data about a portion of the area as the device moves between the consecutive waypoints. A temporary map of the portion of the area between the consecutive waypoints is generated based on the collected sensor data, and a cleaning coverage pattern is generated using the temporary map. The area is then cleaned by moving the robotic cleaning device according to the cleaning coverage pattern. In certain embodiments, upon completing the cleaning, the consecutive waypoints are retained in the memory, while the temporary map may not be retained.