Mobile Cleaning Robot With Robotic Arm and Modular Tooling
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Solution Overview
Problem
Current cleaning processes in buildings rely heavily on manual labor, which is costly and expected to increase, with limited automation available for tasks that do not require human intervention.
Innovation Solution
A robotic system comprising a transportation assembly, a robotic arm, and a control system that allows the robot to move to specific stations and perform tasks by communicating with the transportation and robotic arm systems to execute a series of operations, including using various cleaning tools.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If manual labor is used for cleaning tasks, then flexibility and adaptability to various cleaning scenarios are maintained, but labor costs increase and automation is limited
Solution Approach 1:
The robotic system is divided into distinct modular components: a mobile base platform, a robotic arm assembly, interchangeable cleaning tool modules, and separate control systems. This segmentation allows each component to be optimized independently and facilitates easier maintenance and upgrades, reducing overall system complexity while maintaining high automation capability
Solution Approach 2:
The robotic system employs a universal robotic arm and standardized interface that can accommodate multiple types of cleaning tools (vacuum attachments, polishing pads, spraying mechanisms, etc.). This multi-functionality allows a single robotic platform to perform various cleaning tasks, reducing the need for multiple specialized systems and lowering overall complexity
2Adaptability or versatility
If a robotic arm is added to the transportation assembly, then task execution capability is improved, but device complexity increases
Solution Approach 1:
The robotic arm assembly is integrated within the mobile base platform, with the arm nested on the base and tool modules nested on the arm. This hierarchical nesting allows compact configuration while maintaining full functionality of each component, improving task execution capability without proportionally increasing overall system complexity
Solution Approach 2:
The robotic arm incorporates multiple degrees of freedom with adjustable joints and movable links, enabling dynamic positioning and adaptation to various cleaning scenarios. This dynamic capability allows the arm to reach different positions and orientations, significantly improving versatility while the modular joint design keeps individual components manageable in complexity
3Productivity
If advanced navigation and control mechanisms are implemented, then cleaning efficiency is improved, but device complexity and cost increase
Solution Approach 1:
The control system incorporates sensors (cameras, proximity sensors, encoders) that provide real-time feedback on robot position, arm orientation, and tool contact forces. This feedback enables closed-loop control for precise positioning and adaptive cleaning operations, significantly improving cleaning efficiency while using commercially available sensor technology rather than custom complex systems
Solution Approach 2:
The system replaces complex mechanical navigation mechanisms with electronic control and software-based path planning. The robotic base uses motorized wheels controlled by electronic speed controllers, and the robotic arm uses servo motors with electronic position feedback, substituting purely mechanical systems with electromechanical systems that are easier to control and program, thereby improving efficiency without proportionally increasing complexity
Data Source
AI summary
A robot having a transportation assembly, a robotic arm, and control systems is disclosed. A positioning control system for the robot is configured to communicate with the transportation assembly to provide commands to the transportation assembly such that the robot moves to a plurality of stations or along a path during the task. A robotic arm control system for the robot is configured to communicate with the robotic arm to provide commands to the robotic arm such that the robotic arm performs a series of operations to complete a task specific to a station or along the path.