Three-dimensional environmental coverage oriented motion system and method
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Solution Overview
Problem
Current disinfection robots face challenges in maximizing coverage in three-dimensional spaces due to high computational complexity, leading to inefficiencies and dead zones in disinfection, especially when calculating optimal disinfection points in large environments.
Innovation Solution
An environmental coverage oriented motion system that includes a rangefinder module, odometry module, and a controller module to calculate and select optimal disinfection points in real-time, enabling efficient disinfection path planning and execution in both two-dimensional and three-dimensional spaces, using a space coverage or cost function to determine the most effective disinfection points.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the robot calculates all possible disinfection points in three-dimensional space to maximize coverage, then the coverage completeness is improved, but the computational complexity increases dramatically
Solution Approach 1:
The patent divides the three-dimensional space into multiple two-dimensional planes (floors or levels). The robot plans paths independently on each plane and then combines them. This segmentation reduces the computational complexity from calculating all possible 3D points to calculating points on multiple 2D planes, while still achieving comprehensive coverage of the entire 3D space.
Solution Approach 2:
The patent transforms the three-dimensional path planning problem into multiple two-dimensional path planning problems. By solving 2D problems on different planes and combining results, the system achieves 3D coverage without the exponential computational complexity of direct 3D path planning.
2Ease of operation
If the robot uses remote control to move to fixed points for disinfection, then the operation simplicity is improved, but the disinfection scope is limited by light straightness and creates dead ends
Solution Approach 1:
The patent transitions from static fixed-point disinfection to dynamic path-based disinfection. The robot automatically plans and executes continuous movement paths that adapt to the environment, allowing the disinfection scope to extend beyond line-of-sight limitations and eliminate dead ends while maintaining operational simplicity through automation.
3Extent of automation
If the robot moves along paths to cover disinfection area, then the automation level is improved, but the coverage area is limited and can only be increased by adding more paths
Solution Approach 1:
The patent extends path planning from two-dimensional planes to three-dimensional space by incorporating multiple planes. This allows the robot to achieve larger coverage areas by utilizing vertical or multi-level space, rather than being constrained to expanding horizontal paths only.
Data Source
AI summary
The present invention relates to an environmental coverage oriented motion system. The system includes a rangefinder module configured to measure a distance in real time; an odometry module configured to measure a velocity or a position in real time; a powered vehicle carrying the rangefinder module and the odometry module; and a controller module carried by the powered vehicle, configured to receive one of the distance, the velocity and the position, performing an environmental coverage oriented motion scheme based on one of the distance, the velocity and the position to select a plurality of positions, and commanding the powered vehicle to move among the plurality of positions.