Mobile robot operation control method for safety management of cleaning module and apparatus therefor
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Solution Overview
Problem
Mobile robots face challenges in safely managing overload and abnormal operations of their cleaning modules, particularly the main brush, due to varying floor environments, which can lead to motor damage and increased energy consumption.
Innovation Solution
A mobile robot operation control method that measures current values from the cleaning module's motor, determines the state of the module based on these measurements, and adjusts the operation mode to prevent overload, abnormal stoppages, and jamming by controlling the motor voltage and notifying errors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the mobile robot operates on deep carpet, then the cleaning capability is improved, but the motor current increases and internal temperature rises rapidly causing damage
Solution Approach 1:
The control unit performs preliminary detection of current values before the motor reaches dangerous temperature levels. By continuously monitoring current during operation and comparing it against threshold values, the system takes preventive action before damage occurs, rather than waiting for thermal damage to manifest
Solution Approach 2:
The system implements continuous feedback by measuring current values during motor operation, comparing them against predetermined thresholds, and automatically adjusting motor voltage or stopping operation when thresholds are exceeded. This closed-loop control prevents motor damage while allowing optimal cleaning performance
2Productivity
If the mobile robot moves in reverse direction of carpet texture, then the cleaning path is covered, but high load is applied causing cleaning module damage
Solution Approach 1:
The system detects current values in advance during reverse-direction movement on carpet and compares them against threshold values before damage occurs. This preliminary detection allows the robot to complete its cleaning path coverage while preventing mechanical damage to the cleaning module
Solution Approach 2:
Continuous current monitoring provides real-time feedback during reverse-direction operation. When high current indicating excessive load is detected, the control unit automatically reduces motor voltage or stops the motor, allowing the robot to navigate carpet textures safely while maintaining cleaning effectiveness
3Reliability
If the motor voltage is reduced to prevent overload, then the motor safety is improved, but the cleaning efficiency decreases
Solution Approach 1:
The motor voltage is dynamically adjusted based on real-time current measurements rather than being fixed. The control unit increases voltage when current is within safe thresholds to maintain cleaning efficiency, and reduces voltage only when current approaches dangerous levels, optimizing both safety and performance
Solution Approach 2:
The system changes the motor operating parameter (voltage) based on measured current values. By continuously monitoring current and adjusting voltage accordingly, the system maintains motor safety while maximizing cleaning efficiency during normal operation conditions
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 solution effectively prevents damage to the cleaning module's motor and extends its lifespan by managing overload and abnormal conditions, while also detecting and notifying errors due to low voltage or jamming, ensuring safe and efficient operation across different floor environments.
Implementation Method 1
a current measuring unit which measures a current value by sensing a current for a motor which is connected to a cleaning module to be driven
Data Source
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AI summary
Disclosed are a mobile robot operation control method for safety management of a cleaning module and an apparatus therefor. The mobile robot operation control method for safety management according to an exemplary embodiment of the present disclosure includes a current measuring step of measuring a current value by sensing a current for a motor which is connected to a cleaning module to be driven; a cleaning module safety management step of determining a state of the cleaning module based on the measured current value and determining a safety management control mode based on the determination result; and an operation control step of controlling an operation of a mobile robot based on the safety management control mode.