State determination method and apparatus for cleaning robot
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Solution Overview
Problem
Existing state determination methods for cleaning robots rely on fixed thresholds for angle change values, which can lead to inaccurate determination of the robot's state, particularly in varying working modes.
Innovation Solution
A method and apparatus for determining the state of a cleaning robot by acquiring its working mode in real time, adjusting a target accumulation threshold accordingly, selecting and accumulating angle change values within a preset duration, and determining the robot's state based on the accumulated change value.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a fixed threshold is used for angle change value determination, then the device complexity is reduced, but the measurement precision deteriorates
Solution Approach 1:
The patent applies the dynamics principle by transforming the static fixed threshold into a dynamic adaptive threshold that automatically adjusts according to the cleaning robot's working mode. The threshold determination module selects different threshold values based on whether the robot is in sweeping mode, mopping mode, or charging mode, making the threshold flexible and context-dependent rather than fixed, thereby resolving the contradiction between device simplicity and measurement precision.
Solution Approach 2:
The patent implements parameter changes by modifying the threshold parameter based on working mode conditions. Different accumulation thresholds are set for different working modes (e.g., first accumulation threshold for sweeping mode, second accumulation threshold for mopping mode), allowing the system to adapt its sensitivity parameters to match operational requirements, thus improving state determination accuracy without significantly increasing system complexity.
2Measurement precision
If an adaptive threshold based on working mode is used, then the measurement precision is improved, but the device complexity increases
Solution Approach 1:
The patent employs feedback by continuously monitoring the working mode state and using this information to adjust the accumulation threshold in real-time. The threshold determination module receives feedback about the current working mode (sweeping, mopping, or charging) and automatically selects the appropriate threshold, creating a closed-loop system that adapts to changing conditions without requiring complex manual intervention or recalibration.
Solution Approach 2:
The system applies self-service by enabling the threshold determination module to automatically select appropriate thresholds based on the current working mode without external intervention. The robot's control system autonomously manages the threshold adjustment process, eliminating the need for manual threshold configuration or complex user input, thereby limiting the increase in practical operational complexity despite the enhanced measurement precision.
3Productivity
If angle change values are accumulated without selection based on threshold, then the productivity is improved, but the measurement precision deteriorates
Solution Approach 1:
The patent applies segmentation by dividing the angle change value accumulation process into two distinct stages: a screening stage where values are compared against the accumulation threshold, and an accumulation stage where qualifying values are summed. This segmentation allows the system to quickly filter out insignificant angle changes while accumulating meaningful ones, maintaining both processing efficiency and determination accuracy by processing data in structured segments rather than uniformly.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This approach provides a more accurate and reliable determination of the cleaning robot's state by using adaptive thresholds that align with the current working mode, thereby reducing errors associated with fixed threshold methods.
Implementation Method 1
a gyroscope (Gyro) is usually disposed in a cleaning robot, and a change of the Gyro is used to sense an angle change
Data Source
AI summary
A state determination method and apparatus for a cleaning robot are provided. The method includes: acquiring a working mode of the cleaning robot in real time; based on the working mode, acquiring a target accumulation threshold corresponding to the working mode; based on the target accumulation threshold, performing selection and accumulation of respective angle change values detected within a preset duration to obtain an accumulated change value; and determining a state of the cleaning robot based on the accumulated change value.