Swivel Caster Wheel Control for Robotic Tool Direction Reversal
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Solution Overview
Problem
Self-propelled robotic tools face issues with wear and tear, wheel slip, and navigational challenges on slopes due to uncontrolled swivel caster wheel rotation during direction changes, leading to increased resistance and uneven coverage.
Innovation Solution
A propulsion control arrangement that includes a swivel caster wheel configured to pivot upon detecting a stop event, allowing the robotic tool to turn a predetermined angle before reversing direction, ensuring the swivel caster wheel's rolling direction is transverse to the new travel direction, reducing resistance and wheel slip.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If the robotic tool initiates propulsion in the opposite direction without turning the swivel caster wheel, then the direction change is faster, but wheel slip and unwanted marks increase due to uncontrolled wheel rotation
Solution Approach 1:
The control arrangement performs a preliminary action by turning the swivel caster wheel to a predetermined angle position before initiating propulsion in the opposite direction. This preliminary positioning of the wheel prevents uncontrolled rotation during direction change, thereby eliminating wheel slip and unwanted marks while maintaining efficient direction reversal
2Object-affected harmful factors
If the robotic tool turns a predetermined angle before reversing direction, then wheel slip and unwanted marks are reduced, but the operation time increases
Solution Approach 1:
The predetermined angle turn is performed as a brief preliminary action that positions the swivel caster wheel optimally before reverse propulsion. This quick positioning maneuver minimizes the time added to the operation while preventing wheel slip and unwanted marks during direction reversal
3Device complexity
If the swivel caster wheel is in the initial position during reverse propulsion, then the structure is simpler, but unexpected direction changes occur due to uncontrolled wheel pivoting
Solution Approach 1:
The control arrangement performs a preliminary action by actively positioning the swivel caster wheel at a predetermined angle before reverse propulsion. This preliminary positioning prevents uncontrolled pivoting and unexpected direction changes during operation, maintaining stable and predictable travel paths
4Use of energy by moving object
If propulsion is initiated without repositioning the swivel caster wheel, then energy consumption is lower, but resistance and slope performance deteriorate
Solution Approach 1:
The control arrangement performs a preliminary action by turning the swivel caster wheel to a predetermined angle position before reverse propulsion. This preliminary positioning reduces resistance during direction change and improves slope performance and traction by ensuring the wheel is optimally oriented, while the energy required for this brief positioning maneuver is minimal
Data Source
AI summary
A propulsion control arrangement (1) for a self-propelled robotic tool (3) is disclosed, wherein the robotic tool (3) comprises at least one swivel caster wheel (5, 5′) configured to abut against a ground surface (7) during operation of the robotic tool (3). The control arrangement (1) is configured to, upon detection of a stop event of the robotic tool (3) after travel in a first longitudinal direction (ld1) of the robotic tool (3), turn the robotic tool (3) a predetermined angle (a1), and then initiate propulsion in a second longitudinal direction (ld2) of the robotic tool (3) being opposite to the first longitudinal direction (ld1). The present disclosure further relates to a self-propelled robotic tool (3), a method (100) of propelling a self-propelled robotic tool (3), a computer program, and a computer-readable medium (200).