Cleaning Robot Obstacle Crossing Using Independent Wheel Control
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Solution Overview
Problem
Cleaning robots often get obstructed by obstacles such as door sills, wires, and stools during their cleaning tasks, which prevents them from completing their tasks effectively.
Innovation Solution
A cleaning robot equipped with a detection component and a controller that manages two drive wheels to navigate obstacles by adjusting their direction and speed, allowing the robot to cross over or around obstacles based on detected obstruction states and inclined angles.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the cleaning robot encounters obstacles during cleaning tasks, then the robot's ability to complete cleaning tasks is hindered, but adding obstacle crossing capability increases device complexity
Solution Approach 1:
The obstacle crossing function is segmented into independent wheel control units. Each drive wheel can be controlled independently to perform obstacle crossing maneuvers, allowing the robot to handle obstacles without requiring a completely new mechanical structure. The detection component segments the obstacle detection and response into separate controllable functions.
Solution Approach 2:
The drive wheels are designed with dynamic control capabilities, allowing them to adjust their rotation speed and direction in real-time based on obstacle detection. The controller dynamically modifies wheel parameters (speed, direction) to enable the robot to adapt to different obstacle types and heights, providing obstacle crossing capability without fixed mechanical structures.
2Adaptability or versatility
If the robot uses detection component and controller to manage wheel movement for obstacle crossing, then the robot can independently navigate obstacles, but the control system complexity increases
Solution Approach 1:
The detection component continuously monitors the robot's state and obstacle conditions, providing feedback to the controller. The controller adjusts drive wheel parameters based on this feedback, creating a closed-loop control system that enables adaptive obstacle crossing while maintaining manageable complexity through intelligent control algorithms.
Solution Approach 2:
The robot's control system is designed to autonomously handle obstacle crossing without external intervention. The detection component and controller work together to automatically detect obstacles, determine appropriate crossing strategies, and execute wheel control maneuvers, making the system self-sufficient in navigating obstacles.
3Adaptability or versatility
If the robot controls drive wheels to cross obstacles by adjusting speed and direction, then the robot can handle various obstacle types, but the control precision requirements increase
Solution Approach 1:
The controller adjusts drive wheel parameters (rotation speed, direction) dynamically based on detected obstacle characteristics. By changing these operational parameters in response to different obstacle types and heights, the robot can handle various obstacles without requiring extremely precise mechanical manufacturing, as the adaptation is achieved through control parameter modification rather than mechanical precision.
Data Source
AI summary
A cleaning robot includes a detector configured to detect an obstacle; a determining portion configured to determine whether the cleaning robot is in an obstacle obstruction state; and a controller configured to control the first drive wheel to cross an obstacle and control the second drive wheel to cross the obstacle according to a detection result when the cleaning robot is in the obstacle obstruction state.