Control method of cleaning robot
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Solution Overview
Problem
Cleaning robots for smooth surfaces like windows and solar panels often have their wheels and tracks contaminated with dirt, making incomplete cleaning a common issue due to the inability to rotate and clean these components when the vacuumizing assembly is active.
Innovation Solution
A control method for cleaning robots that allows the vacuumizing assembly to be turned off and the driving wheels to rotate independently, enabling external or self-cleaning of the wheels using sensors to determine the angle and adjust wheel rotation accordingly, facilitating efficient cleaning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the vacuumizing assembly works simultaneously with the driving wheels rotating, then the cleaning robot can perform its primary cleaning function, but the driving wheels and track cannot be cleaned effectively
Solution Approach 1:
The patent implements a preliminary cleaning action for the driving wheels and track before the vacuumizing assembly begins its primary cleaning function. The control unit detects when the robot is stationary or moving at low speed, activates the driving wheels to rotate in reverse direction, and enables the track to move relative to the driving wheels for cleaning. This preliminary action ensures the driving components are cleaned before they interfere with the main cleaning operation, resolving the contradiction between productivity and cleaning completeness.
2Ease of operation
If the driving wheels rotate while the vacuumizing assembly is active, then the track can be cleaned, but the vacuumizing performance is compromised
Solution Approach 1:
The patent employs dynamic control of the vacuumizing assembly and driving wheels through a control unit that monitors robot motion state. When the robot is stationary or moving at low speed (v ≤ 0.5 m/s), the control unit activates the driving wheels to rotate in reverse for cleaning while maintaining or adjusting vacuumizing power. When the robot moves at higher speeds, the control unit adjusts the rotation speed and direction of driving wheels to optimize both cleaning and vacuumizing performance simultaneously. This dynamic adjustment resolves the contradiction between ease of operation and productivity.
3Loss of energy
If the cleaning robot is shut down completely, then energy is saved, but the driving wheels and track cannot be cleaned
Solution Approach 1:
The patent implements a self-service cleaning mechanism where the driving wheels clean themselves and the track during specific operational conditions. The control unit detects when the robot is stationary or moving at low speed, activates the driving wheels to rotate in reverse direction, and enables the track to move relative to the driving wheels for cleaning. This self-service approach eliminates the need for external intervention or complete shutdown, resolving the contradiction between energy conservation and cleaning accessibility.
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
Enables effective cleaning of the driving wheels and tracks by ensuring they can be cleaned without interfering with the vacuumizing assembly, preventing incomplete cleaning and making the process more efficient and user-friendly.
Implementation Method 1
a vacuumizing assembly for air extraction
Implementation Method 2
acquiring the included angle Θ between the bottom part of the cleaning robot and the working plane through a sensor, where the sensor includes a gyroscope sensor, a geomagnetic sensor and an acceleration sensor
Data Source
AI summary
A control method of a cleaning robot, where the cleaning robot includes a top part, a bottom part, and a vacuumizing assembly for air extraction, the bottom part of the cleaning robot is provided with at least two rows of driving wheels being respectively provided on both sides of the bottom part of the cleaning robot, and the cleaning robot includes a cleaning mode for cleaning the driving wheel; the method including: performing a cleaning mode of the cleaning robot; and after the cleaning robot performs the cleaning mode, turning off the vacuumizing assembly or maintaining the vacuumizing assembly in a turned off state, and starting and rotating at least one row of the driving wheels.