Mobile Cleaning Robot Layout for Stable Mop-Driven Navigation
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Solution Overview
Problem
Conventional mobile robots face challenges in maintaining effective mopping due to uneven water distribution, limited friction force, difficulty in navigating straight lines, and inefficient cleaning patterns, especially when encountering corners or areas adjacent to walls.
Innovation Solution
The mobile robot design includes a body with a circular shape, strategically positioned components such as a battery and motor on the spin mops to enhance friction, a rear-mounted agitator for increased width, and a center of gravity adjustment to improve stability and navigation, allowing for both dry and wet-type cleaning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If water is supplied to mops attached to rotating members, then mopping function is enabled, but water distribution becomes uneven
Solution Approach 1:
The water supply system is segmented into multiple nozzles positioned at different locations to target different mop areas, ensuring uniform water distribution across all mops during rotation
Solution Approach 2:
A water distribution mechanism acts as an intermediary between the water tank and mops, using rotating water nozzles that sync with mop rotation to deliver water uniformly to each mop surface
2Area of stationary object
If agitator width is increased by making it protrude from body, then cleaning range is improved, but robot rotation becomes difficult and volume increases
Solution Approach 1:
The agitator is positioned in the rear direction rather than protruding laterally, utilizing the depth dimension instead of width to achieve sufficient cleaning range without interfering with rotation
Solution Approach 2:
The dry-type module components are asymmetrically arranged with the agitator at the rear and dust container positioned to allow rotation, creating an optimized layout that balances cleaning range with rotational capability
3Device complexity
If robot moves only by friction force of spin mops, then structure is simplified, but driving power becomes insufficient and straight line driving is difficult
Solution Approach 1:
The propulsion system merges friction-driven spin mops with caster wheel rotation, combining two friction-based mechanisms to achieve sufficient driving power while maintaining structural simplicity
Solution Approach 2:
The caster wheels are designed to rotate dynamically in response to spin mop friction forces, enabling the robot to maintain straight line motion and overcome insufficient driving power without complex mechanical structures
4Device complexity
If robot is supported by two points at pair of left and right mops, then structure is simplified, but stability in front-rear direction becomes poor
Solution Approach 1:
The support system is segmented into four separate contact points (two spin mops and two casters) instead of two, distributing the robot's weight and improving stability without significantly increasing structural complexity
Solution Approach 2:
Support is added in the front-rear direction through caster wheels, transitioning from a single-plane support structure to a three-dimensional support distribution that enhances stability
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 design enhances mopping efficiency by maintaining friction force regardless of water level changes, enables precise navigation, and effectively cleans corners and edges, improving overall cleaning performance.
Implementation Method 1
the mobile robot is provided with a left spin mop and a right spin mop, which rotate on vertical axes... the mobile robot moves as the first rotating member and the second rotating member rotate in a state that only the mop surfaces fixed to the first rotating member and the second rotating member are in contact with the floor
Implementation Method 2
a battery and a motor which are relatively heavy are disposed on the spin mop... a battery installed on the body and supplying power to the left-mop motor and the right-mop motor
Implementation Method 3
a center of gravity of the mobile robot is positioned at a rear side of a geometric center of the body... a center of gravity of the mobile robot, the geometric center of the body, and a center of gravity of the battery may be positioned at an inside of an imaginary quadrangle
Data Source
AI summary
A center of gravity of a mobile cleaning robot may be positioned on an imaginary central longitudinal axis of the mobile robot. The center of gravity of the mobile robot may be positioned at a front side of an imaginary central horizontal line connecting spin rotation axes of left and right spin mops of the mobile robot. The center of gravity of the mobile robot may also be positioned at a front side of a center of gravity of a battery and a center of gravity of a water tank, and at a rear side of a center of gravity of a sweep module of the mobile robot.