Water Cleaning Robot Mapping With Edge-Following Navigation
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Solution Overview
Problem
Existing cleaning devices, such as robots, operate inefficiently in water due to lack of mapping and positioning functions, often moving randomly and failing to effectively navigate and clean water regions.
Innovation Solution
A cleaning device equipped with detection units and a control method that allows it to determine a starting point, move along the edge of a water region, obtain position and obstacle data, and construct a map of the water region, including its bottom, walls, and surface, using sensors like line laser, radar, and ultrasonic sensors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If cleaning devices move randomly without mapping and positioning functions, then the device structure remains simple, but operating efficiency is low
Solution Approach 1:
The cleaning device is divided into multiple functional modules: detection units (line laser, radar, ultrasonic sensors) for environmental perception, position detection units for location tracking, and control units for path planning. This segmentation allows each module to perform specific functions independently, improving overall operating efficiency while maintaining manageable system complexity through modular architecture.
Solution Approach 2:
The device performs preliminary mapping actions by detecting and recording environmental features (walls, obstacles, water surface boundaries) before actual cleaning operations. Position detection units pre-determine optimal paths along edges, and the control unit pre-plans cleaning routes based on constructed maps, enabling efficient cleaning operations without random movement.
2Reliability
If cleaning devices lack mapping functions, then the device structure remains simple, but navigation and cleaning effectiveness are poor
Solution Approach 1:
The detection units serve multiple functions: line laser sensors detect walls and obstacles for mapping, radar sensors identify water surface boundaries, and ultrasonic sensors detect submerged obstacles. This multi-functionality allows a single detection system to support both mapping and navigation tasks, improving cleaning reliability without proportionally increasing device complexity.
Solution Approach 2:
The control unit acts as an intermediary that processes data from multiple detection units, constructs environmental maps, plans paths, and coordinates cleaning operations. This centralized mediation integrates information from various sensors and translates it into effective cleaning actions, ensuring reliable operation while managing system complexity through unified control logic.
3Loss of time
If cleaning devices move randomly in water, then the device structure remains simple, but task completion time increases
Solution Approach 1:
Position detection units continuously provide feedback on the device's location, and detection units provide feedback on environmental features. The control unit uses this feedback to adjust the cleaning path in real-time, ensuring the device follows optimal routes along edges and completes tasks efficiently without random movement patterns.
Solution Approach 2:
The navigation system dynamically adjusts the cleaning path based on real-time environmental detection and position feedback. The control unit modifies the planned route to accommodate detected obstacles, water surface variations, and edge features, enabling adaptive navigation that reduces task completion time while managing system complexity through flexible path planning.
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
Enhances the operating efficiency of cleaning devices by enabling precise navigation and mapping of water regions, allowing for effective cleaning and obstacle detection.
Implementation Method 1
a first detection unit disposed on a front portion of the cleaning device, a second detection unit disposed on a side of the cleaning device
Implementation Method 2
using sensors like line laser, radar, and ultrasonic sensors
Implementation Method 3
using sensors like line laser, radar, and ultrasonic sensors
Data Source
AI summary
This application discloses a cleaning device control method and a cleaning device. The method comprises: controlling the cleaning device to move to a starting point at which the cleaning device moves along an edge of a target water region; controlling the cleaning device to move along the edge of the target water region from the starting point by at least one round; constructing a target map of the target water region, wherein the target map comprises a map of at least one of a bottom of the target water region or a water surface of the target water region; and performing path planning on the target water region based on the target map and controlling the cleaning device to clean the target water region in a process of moving along a planned path.