Mobile Robot Cleaning Assembly Extension for Wall and Corner Reach
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Solution Overview
Problem
Current robotic floor cleaners face limitations in cleaning reach and effectiveness due to their circular design, which restricts the size and configuration of the cleaning mechanism, and inefficient navigation strategies that lead to incomplete coverage and uneven cleaning of areas.
Innovation Solution
A robotic cleaner design where the cleaning apparatus forms a major part of the mobile platform, extending to the front and sides to reach walls and corners, with a flexible suspension system and sensors for efficient navigation, allowing for a larger cleaning surface area and improved mobility in tight spaces.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the cleaning mechanism is designed to fit entirely within the footprint of the mobile robot platform with a circular base, then the robot can navigate around obstacles and along walls more easily, but the cleaning apparatus is restricted in size and cannot reach all the way to walls and into corners
Solution Approach 1:
The cleaning robot is divided into two main segments: a circular mobile platform for navigation and a rectangular cleaning mechanism for cleaning. The cleaning mechanism is positioned to extend beyond the circular base, allowing the robot to navigate using the circular platform while the cleaning mechanism reaches additional areas including walls and corners.
Solution Approach 2:
The cleaning mechanism extends in the lateral dimension beyond the circular footprint of the mobile platform. This dimensional extension allows the cleaning apparatus to reach walls and corners that would be inaccessible if the cleaning mechanism were constrained to the circular base boundary.
2Area of stationary object
If the cleaning mechanism is extended beyond the circular base, then the cleaning reach and effectiveness are improved, but the robot may hit exterior obstacles with its sides during navigation
Solution Approach 1:
The robot is segmented into a circular mobile platform and a rectangular cleaning mechanism. The circular platform serves as the navigation body that contacts obstacles during movement, while the rectangular cleaning mechanism extends beyond but is protected by the circular platform's ability to navigate around obstacles.
Solution Approach 2:
The circular mobile platform acts as an intermediary between the navigation requirements and the cleaning mechanism. It absorbs the interaction with obstacles during navigation, protecting the extended cleaning mechanism from direct collision while still allowing the cleaning mechanism to reach additional areas.
3Ease of operation
If the wheels are placed along the center axis of the circular base, then the robot can turn in place effectively, but the cleaning mechanism cannot extend to areas where wheels are located
Solution Approach 1:
The robot is divided into a circular mobile platform containing the wheels along the center axis for in-place turning, and a rectangular cleaning mechanism that extends beyond the circular base. This segmentation allows the turning function to be localized to the circular platform while the cleaning mechanism operates in the extended rectangular area.
Solution Approach 2:
The robot employs an asymmetric configuration where the circular mobile platform and rectangular cleaning mechanism are offset relative to each other. The cleaning mechanism is positioned to extend beyond the circular base in a direction that does not interfere with the wheel placement along the center axis, enabling both in-place turning and extended cleaning reach.
Data Source
AI summary
A method of cleaning a floor near a vertical surface with a mobile robot. The robot includes a cleaning assembly and a drive assembly having a first wheel and a second wheel. The method includes aligning the robot such that the first wheel and second wheel are configured to roll in a direction substantially parallel to the surface. The method includes driving the robot forward in a direction substantially parallel to the surface. The method further includes: i) turning the first wheel, proximate to the surface, with a first angular velocity, and ii) turning the second wheel, further from the surface, with a second angular velocity. The second angular velocity is greater than the first angular velocity. The robot pushes against the surface while sliding along the same surface.