Autonomous surface treating appliance
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Solution Overview
Problem
Wheeled mobile robots face limitations in navigating over obstacles and maintaining traction on uneven surfaces, such as carpets and cables, due to their limited climbing ability and susceptibility to slippage, which affects their navigation accuracy.
Innovation Solution
A drive arrangement featuring traction units with a surface-engaging track constrained around a leading wheel and a trailing wheel, where the track presents an inclined climbing surface, providing improved climbing ability while maintaining a small contact patch to reduce slippage, enhancing both traction and maneuverability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a tracked drive arrangement is used to improve climbing ability over obstacles and rugs, then the robot's ability to negotiate obstacles is improved, but the increased contact patch makes the drive system more susceptible to slippage which introduces inaccuracies into the navigation system
Solution Approach 1:
The track is segmented into multiple independent contact patches along its length, with each segment capable of independently engaging the surface. This segmentation allows the track to maintain climbing ability while reducing slippage at any single contact point, as the drive force is distributed across multiple discrete engagement points rather than a continuous large contact patch
Solution Approach 2:
Different portions of the track have different functional qualities - the leading portion provides climbing capability over obstacles while the trailing portion maintains a smaller contact patch for accurate navigation and reduced slippage. This local differentiation allows the same track structure to simultaneously achieve both obstacle negotiation and navigation precision
2Ease of operation
If a wheeled drive system is used to maintain a small contact patch for maneuverability, then the robot's maneuvering ability is improved, but the limited climbing ability prevents effective negotiation of obstacles and uneven surfaces
Solution Approach 1:
The track drive system is made dynamic through the swing arm mechanism that allows the track to adapt its contact patch size and orientation in real-time. When climbing obstacles, the track extends forward to maximize contact and climbing ability; during maneuvering on flat surfaces, the track configuration maintains a smaller effective contact patch for precision control, thus achieving both climbing capability and maneuverability through dynamic adaptation
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
The solution allows the robot to effectively climb over imperfections and obstacles while minimizing slippage, improving traction on rough surfaces and maintaining navigation accuracy, particularly on carpeted surfaces.
Implementation Method 1
the track presents an inclined driving surface
Implementation Method 2
improves grip due to the larger contact patch inherent with a track
Data Source
AI summary
An autonomous surface treating appliance comprising a chassis having a drive arrangement and a control system interfaced to the drive arrangement so as enable control of the appliance across a surface to be treated, wherein the drive arrangement comprises at least one traction unit, each traction unit comprising a surface-engaging track constrained around a leading wheel and a trailing wheel, the leading wheel and the trailing wheel being arranged so that a track portion opposing the floor surface and extending between the leading and trailing wheels defines a ramped climbing surface.