Cleaning Robot Sequential Drive Wheel Control for Obstacle Crossing
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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 controls two drive wheels to navigate over obstacles by adjusting their direction and speed based on the detection results, allowing the robot to cross obstacles independently.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the cleaning robot encounters obstacles such as door sills, wires, and stools during cleaning tasks, then the robot's ability to complete cleaning tasks is hindered, but increasing the robot's obstacle crossing capability may increase device complexity
Solution Approach 1:
The robot segments the obstacle crossing task into two independent phases: first the first drive wheel crosses the obstacle, then the second drive wheel crosses the obstacle. This segmentation allows the robot to handle obstacles systematically without requiring complex simultaneous control of both wheels, thus improving productivity while keeping device complexity manageable.
Solution Approach 2:
The controller dynamically adjusts the rotation speeds of the two drive wheels based on the obstacle detection results. During obstacle crossing, the controller sets the rotation speed of the first drive wheel to a first speed while setting the rotation speed of the second drive wheel to a second speed (different from the first speed). This dynamic speed adjustment enables effective obstacle crossing while maintaining simple wheel drive mechanisms.
2Adaptability or versatility
If the cleaning robot uses independent control of two drive wheels to cross obstacles, then the robot's flexibility in navigating various environments is improved, but the control system complexity increases
Solution Approach 1:
The controller uses feedback from obstacle detection (such as inclination angle sensors or wheel rotation sensors) to dynamically adjust the rotation speeds of the drive wheels. The controller detects whether the robot is in an obstacle obstruction state and adjusts wheel speeds accordingly, enabling adaptive navigation across different obstacle types while maintaining a relatively simple control architecture through rule-based responses.
3Stability of the object's composition
If the cleaning robot maintains parallel arrangement of two drive wheels for stable movement, then the robot's stability is improved, but the ability to cross obstacles effectively is reduced
Solution Approach 1:
The robot maintains the parallel arrangement of drive wheels for stability during normal operation but dynamically changes the rotation speeds of the wheels when obstacles are detected. The controller sets different rotation speeds for the first and second drive wheels during obstacle crossing, allowing the robot to effectively surmount obstacles while preserving the stable parallel wheel configuration. This dynamic speed control enables the robot to transition between stable movement and effective obstacle crossing.
Data Source
AI summary
A cleaning robot includes a detector configured to detect an obstacle; a determining circuit 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, wherein the detector is further configured to detect whether the first drive wheel crosses the obstacle; and the controller is further configured to control the second drive wheel to cross the obstacle when the detector detects that the first drive wheel crosses the obstacle.