Cleaning Robot Collision Sensing Using Movable Frame and Hall Sensor
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Solution Overview
Problem
Existing cleaning robots lack the ability to effectively sense collisions with obstacles or external forces, which can lead to damage of internal components due to inadequate control over traveling speed and direction.
Innovation Solution
A cleaning robot design incorporating a cover with a movable frame supported by elasticity setting parts and a Hall sensor to detect external forces, allowing the controller to adjust traveling properties such as speed and direction to prevent damage.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the cleaning robot uses a fixed rigid structure, then the internal components are well protected, but the robot cannot sense external forces or collisions effectively
Solution Approach 1:
The patent applies the dynamics principle by making the movement frame movable relative to the fixed body through elasticity setting parts. This allows the structure to dynamically respond to external forces while maintaining component protection. The movement frame can shift position when force is applied, enabling the sensor to detect the force while the fixed body continues to protect internal components.
2Measurement precision
If the cleaning robot uses a movable frame with sensor, then the collision sensing capability is improved, but the structure becomes more complex and less stable
Solution Approach 1:
The patent applies segmentation by dividing the robot body into distinct components: a fixed body for stability and component protection, a movable movement frame for sensing, and elasticity setting parts connecting them. This segmentation allows each part to have a specialized function while working together as a unified system.
Solution Approach 2:
The elasticity setting parts serve as intermediaries between the fixed body and the movement frame. These parts provide a controlled mechanical connection that allows relative movement while maintaining structural integrity, simplifying the overall design compared to more complex sensor mounting mechanisms.
3Device complexity
If the cleaning robot maintains constant traveling speed, then the control system is simple, but the robot cannot prevent damage when collision with obstacles occurs
Solution Approach 1:
The patent applies feedback by using the sensor to detect external forces applied to the movement frame and transmitting this information to the controller. The controller then adjusts the traveling speed based on the detected force, creating a closed-loop control system that prevents damage while maintaining simplicity through automated responses.
Solution Approach 2:
The elasticity setting parts provide preliminary action by allowing the movement frame to shift position before the fixed body experiences the full impact force. This pre-movement absorbs some of the impact and provides early warning through the sensor, enabling the controller to take preventive action.
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 enables the cleaning robot to efficiently avoid obstacles and external forces, minimizing damage to internal components and improving stability and reliability by accurately sensing collisions and adjusting its movement accordingly.
Implementation Method 1
In order to sense movement of the cover or the movement frame, the elasticity setting part may include a Hall sensor. The movement frame may be connected to a magnetic material and the magnetic material may also move according to movement of the movement frame by the external force. The Hall sensor may sense change in magnetic field by movement of the magnetic material.
Data Source
AI summary
A cleaning robot, which performs cleaning operation while moving, includes a cover, to which external force is applied, a movement frame fastened to the cover, a fixed body provided in the cover, a traveling unit connected to the fixed body, and an elasticity setting part configured to movably support the movement frame to the fixed body, wherein the elasticity setting part includes a sensor configured to sense movement of the movement frame.