Method of controlling a floor robot having a side brush and floor robot
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Solution Overview
Problem
The existing control methods for side brushes on floor robots often fail to effectively clean corners, leaving dirt behind due to insufficient penetration of cleaning arms when the brush is rotated too quickly.
Innovation Solution
A method involving varying the rotational speed of the side brush while the floor robot is at a standstill to allow the cleaning arm to relax and fully penetrate into the corner, combined with adjusting the driving speed and direction of rotation to improve dirt collection.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the rotational speed of the side brush is increased to improve cleaning efficiency, then the cleaning speed is improved, but the cleaning arm cannot penetrate fully into the corner and dirt remains
Solution Approach 1:
The side brush rotational speed is varied periodically: increased during general cleaning to maintain productivity, and reduced specifically when the cleaning arm needs to penetrate into corners. This periodic speed variation allows the flexible cleaning arm to bend and reach into corners effectively while maintaining overall high cleaning efficiency.
Solution Approach 2:
The rotational speed parameter of the side brush is dynamically changed based on the cleaning situation. When corner cleaning is detected or required, the rotational speed is reduced to allow the cleaning arm to penetrate fully; during straight section cleaning, the speed is increased to maintain high productivity. This parameter adaptation resolves the contradiction between speed and corner cleaning effectiveness.
2Manufacturing precision
If the rotational speed of the side brush is reduced to allow the cleaning arm to penetrate into the corner, then corner cleaning effectiveness is improved, but overall cleaning productivity decreases
Solution Approach 1:
The rotational speed of the side brush is adjusted locally based on the specific cleaning situation. Instead of reducing speed uniformly across all cleaning operations, the speed is reduced only when corner cleaning is required or detected, while maintaining high speed during straight section cleaning. This local adaptation ensures corner cleaning effectiveness without sacrificing overall productivity.
Solution Approach 2:
The side brush operates at high rotational speed during most cleaning operations to maintain productivity, and periodically reduces speed when corner cleaning is needed. This periodic speed variation allows the system to achieve effective corner cleaning while maintaining high overall cleaning efficiency through the majority of the cleaning cycle.
3Length of moving object
If the cleaning arm is made longer to reach into the corner, then corner penetration is improved, but the cleaning arm bends against the wall when rotated quickly and cannot reach the corner boundary
Solution Approach 1:
Before the cleaning arm is rotated at high speed, the rotational speed is reduced in advance to prevent the cleaning arm from bending against the wall. This preliminary speed reduction ensures that when the cleaning arm rotates, it remains straight and can fully penetrate into the corner, overcoming the limitation of long cleaning arm design.
Solution Approach 2:
The rotational speed parameter is dynamically adjusted based on the cleaning arm's position and operation phase. When the cleaning arm needs to penetrate into corners, the speed is reduced to allow proper positioning; during general cleaning, the speed is increased to maintain productivity. This parameter adaptation allows long cleaning arms to function effectively without bending issues.
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
This approach enhances the cleaning effectiveness in corners by allowing the cleaning arm to reach deeper and collect dirt more thoroughly, improving overall corner cleaning performance.
Implementation Method 1
The cleaning arm can be bent on the wall against the direction of rotation. In order to stretch sufficiently straight if it can thrust into the corner, the rotational speed must not be too high in order to give the cleaning arm enough time to relax
Data Source
AI summary
A method controls a floor robot for cleaning a floor area. The floor robot contains a side brush that is rotatable about a vertical axis and has at least one flexible cleaning arm that is guided over the floor area with a rotation of the side brush. The method includes the following steps of: the floor robot approaching a corner, so that the side brush lies in the corner; varying a rotational speed of the side brush while the floor robot is at a standstill; and steering the floor robot out of the corner.