Mobile robot and control method thereof
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Solution Overview
Problem
Conventional wet cleaning robots experience reduced friction with the floor surface, leading to ineffective removal of foreign substances and slipping issues, which compromises cleaning efficiency and navigation control.
Innovation Solution
A moving robot equipped with a spin mop featuring first and second rotary plates with cleaning cloths, driven by a motor to increase friction and improve cleaning efficiency, along with a controller that analyzes deviations from the moving path, determines the cause of abnormal traveling, and performs re-cleaning and notification for cloth contamination.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If a conventional wet cleaning robot uses a cleaning cloth to wipe the floor surface, then cleaning is performed, but friction with the floor surface is reduced leading to slipping and ineffective removal of foreign substances
Solution Approach 1:
The patent applies vibration to the cleaning cloth through a vibration generator, causing the cleaning cloth to vibrate at high frequency while contacting the floor surface. This vibration increases the effective friction between the cleaning cloth and floor, preventing slipping and improving the removal of foreign substances, thus resolving the contradiction between cleaning efficiency and slipping control
Solution Approach 2:
The patent changes the physical state of the cleaning cloth by applying vibration, transforming it from a static wiping surface to a dynamically vibrating one. This parameter change (from static to vibrating state) increases friction effectiveness and prevents the slipping problem while maintaining cleaning function
2Speed
If the robot travels based on rotation of rotating members, then movement is achieved, but slipping occurs during wet cleaning making current location determination impossible
Solution Approach 1:
The patent uses a camera to capture images of the floor surface and identifies unique features (corners, lines, patterns) as reference points. By continuously detecting these features and comparing positions, the system provides feedback on actual location, correcting for slipping and maintaining accurate navigation even during wet cleaning operations
Solution Approach 2:
The patent introduces an intermediary reference system (floor surface features detected by camera) between the robot's motion control and the actual position. This intermediary allows the system to detect and compensate for slipping by comparing expected position with actual visual position, maintaining measurement precision despite wet cleaning conditions
3Productivity
If foreign substances are suctioned from the front of the robot, then cleaning is performed, but friction is reduced and foreign substances are not effectively removed
Solution Approach 1:
The vibration generator applies high-frequency vibration to the cleaning cloth, creating dynamic friction forces that exceed the reduction caused by wet conditions. This vibrational friction effectively removes foreign substances from the floor surface even during wet cleaning, resolving the contradiction between removal effectiveness and friction availability
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
The solution enhances cleaning efficiency by maintaining effective friction with the floor, allowing for precise navigation and re-cleaning of deviated areas, improving overall cleaning performance and user awareness of floor states.
Implementation Method 1
first and second rotary plates for rotating a first cleaning cloth and a second cleaning cloth, respectively, and a motor for operating the spin mop
Implementation Method 2
a friction against a floor surface is reduced according to the type of foreign substances present on the floor surface, so that the conventional robot cleaner may slip without cleaning the foreign substances
Data Source
Figure 1
Figure 2(a)~2(b)
Figure 3
AI summary
Provided are a moving robot and a control method thereof. The mocking robot is configured to rotate a cleaning cloth by means of a motor to move a main body and clean a floor surface. A location change of the main body is analyzed to determine a traveling state. In response to a determination of abnormal traveling where the main body deviates from a moving path, a location where the abnormal traveling occurs may be stored and re-cleaning of the location may be set so that the location is cleaned again. The location where the abnormal traveling occurs may be taken into consideration in next cleaning, thereby improving cleaning efficiency.