Mobile cleaning robot with active suspension

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Solution Overview

Problem

Existing mobile cleaning robots face challenges in distributing appropriate weight on cleaning pads, maintaining adequate contact with the floor, and adjusting suspension for different surfaces, especially when transitioning between mopping and vacuuming modes or navigating various floor types.

Innovation Solution

An active suspension system that adjusts based on operating mode and surface type, allowing for controlled weight distribution, improved contact, and enhanced traction, while also enabling interaction with docking stations for pad attachment and detachment.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If the robot uses a fixed suspension system, then the structure is simple, but the cleaning effectiveness varies on different surfaces and modes

Engineering Contradiction:

Improvecleaning effectiveness on different surfacesVSAvoidsuspension system complexity

Core Design Contradiction:

Adaptability or versatilityVSDevice complexity

Solution Approach 1:

The patent implements an active suspension system that dynamically adjusts the robot's ride height and weight distribution based on detected surface conditions and operational mode. The suspension system includes adjustable shock absorbers and springs that can change their characteristics in real-time, allowing the robot to adapt to hardwood floors, carpets, rugs, and wet surfaces while maintaining optimal cleaning contact

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The system changes physical parameters of the suspension system including ride height, damping coefficients, and spring rates based on surface type detection. The controller receives input from sensors about the surface conditions and automatically adjusts suspension parameters to optimize both cleaning effectiveness and robot stability on different surfaces

Inventive Principle:

Principle #35Parameter changes

2Productivity

If the robot increases cleaning pad weight for better cleaning, then cleaning effectiveness improves, but the robot may sink into high pile carpets or lose traction on wet surfaces

Engineering Contradiction:

Improvecleaning effectivenessVSAvoidrobot stability on various surfaces

Core Design Contradiction:

ProductivityVSReliability

Solution Approach 1:

The active suspension system dynamically adjusts weight distribution to the cleaning pad based on surface conditions. On hard surfaces, the system increases downforce for effective cleaning, while on high pile carpets or wet surfaces, it reduces weight to prevent sinking or slippage. This dynamic adjustment maintains optimal cleaning pressure without compromising stability

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The system adjusts the normal force applied to the cleaning pad as a controllable parameter based on surface detection. The controller modulates suspension stiffness and damping to achieve the desired weight distribution, ensuring adequate cleaning contact on hard floors while preventing excessive pressure on soft or slippery surfaces

Inventive Principle:

Principle #35Parameter changes

3Ease of operation

If the robot maintains constant ride height, then the suspension system is simple, but the cleaning head contact and wheel traction vary poorly on different surfaces

Engineering Contradiction:

Improvecleaning head contact consistencyVSAvoidsuspension adjustment mechanism

Core Design Contradiction:

Ease of operationVSDevice complexity

Solution Approach 1:

The suspension system dynamically adjusts ride height to maintain consistent cleaning head contact on different surface types. The system lowers the robot on hard surfaces for optimal pad contact and raises it on carpets to prevent ingestion of carpet fibers. This dynamic height adjustment ensures consistent cleaning performance across diverse surfaces

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The system uses sensors to detect surface conditions and provides feedback to the controller, which then adjusts suspension parameters accordingly. This closed-loop control ensures that the cleaning head maintains appropriate contact with the surface while the robot navigates different floor types, rug pile heights, and surface conditions

Inventive Principle:

Principle #23Feedback

4Force

If the robot uses fixed wheel position, then the mechanism is simple, but the drive wheels slip on slick or wet surfaces

Engineering Contradiction:

Improvewheel tractionVSAvoidwheel position adjustment mechanism

Core Design Contradiction:

ForceVSDevice complexity

Solution Approach 1:

The active suspension system adjusts wheel position and downforce dynamically based on surface conditions. On slick or wet surfaces, the system increases wheel downforce to improve traction and prevent slippage. The suspension independently controls each wheel's position and force application, allowing optimal grip on challenging surfaces

Inventive Principle:

Principle #15Dynamics

Data Source

PatentUS12532996B2Mobile cleaning robot with active suspension

Publication Date: 2026.01.27 IROBOT CORP

AI summary

A mobile cleaning robot an include a body, a drive wheel, a wheel stop, and an actuator system. The drive wheel can be connected to the body and can be operable to move the mobile cleaning robot about an environment. The wheel stop can be movable with respect to the body. The actuator system can be operable to move the wheel stop to engage the drive wheel to extend the drive wheel from the body.