Rotating Mop Robot Slip Measurement for Accurate Travel Control
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Solution Overview
Problem
Moving robots that use a rotating mop face challenges in maintaining desired velocity and distance due to slip issues, particularly with microfiber or fabric mops creating little friction, leading to difficulties in traveling effectively.
Innovation Solution
A method of controlling the travel of a moving robot by measuring and compensating for slip rates using gyro and acceleration sensors, allowing for adjustments in rotational and linear movements based on detected slip rates, especially when encountering changes in floor materials.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If a rotating mop is used as a moving means, then the robot can move and clean the floor, but the robot experiences slip due to low friction between the mop and floor
Solution Approach 1:
The patent employs feedback control by measuring the actual position and orientation of the robot using sensors (gyro sensor, acceleration sensor, encoder) and comparing it with the expected position based on mop rotation. The slip rate is calculated from this difference, and the control system adjusts the mop rotation speed and direction to compensate for slip, thereby maintaining accurate travel despite low friction between the mop and floor.
Solution Approach 2:
The patent replaces direct mechanical friction-based movement with a sensor-based measurement and calculation system. Instead of relying solely on the mechanical friction between the mop and floor for accurate movement, the system uses gyro sensors, acceleration sensors, and encoders to detect actual movement and calculate slip rate, then uses this information to control the motor drive and compensate for the lack of friction.
2Productivity
If microfiber or fabric mops are used, then the robot can clean the floor effectively, but the friction between the mop and floor is reduced leading to more slip
Solution Approach 1:
The system continuously monitors the actual movement through sensors and compares it with the commanded movement based on mop rotation. When slip occurs due to low friction from microfiber mops, the feedback control calculates the slip rate and adjusts the motor control to compensate, maintaining both cleaning effectiveness and travel accuracy.
Solution Approach 2:
The patent dynamically changes the operational parameters of the rotating mop based on detected slip conditions. The control system adjusts the rotation speed, acceleration, and deceleration of the mop motor according to the calculated slip rate and environmental conditions, optimizing both cleaning performance and movement accuracy for different floor surfaces and mop types.
3Productivity
If the robot travels at desired velocity, then cleaning efficiency is improved, but slip causes the robot to travel shorter distance than expected
Solution Approach 1:
The patent uses feedback control to monitor actual travel distance and position through sensors (gyro sensor, acceleration sensor, encoder) and compares it with the expected distance calculated from mop rotation. When slip reduces travel distance, the system calculates the slip rate and adjusts subsequent mop rotation commands to compensate, ensuring the robot achieves the desired travel distance and maintains cleaning efficiency.
Solution Approach 2:
The system performs preliminary measurement of slip characteristics during basic motion (rotation and linear acceleration) to establish a slip rate model before actual cleaning operations. This preliminary action allows the control system to predict and compensate for slip during high-speed cleaning operations, ensuring accurate travel distance control while maintaining high cleaning efficiency.
4Reliability
If slip rate measurement and control is implemented, then travel accuracy is improved, but device complexity increases due to additional sensors and control algorithms
Solution Approach 1:
The patent makes the existing sensors serve multiple functions: the encoder on the mop motor measures both rotation speed for cleaning control and position for slip detection; the gyro sensor and acceleration sensor detect both robot orientation/acceleration for navigation and slip characteristics. This multi-functionality reduces the need for additional dedicated slip sensors, thereby limiting the increase in device complexity while achieving improved travel control accuracy.
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 method enables precise control of the moving robot's travel by accurately measuring and adjusting for slip rates, ensuring consistent movement and adapting to changes in the environment, thereby overcoming slip-related issues and achieving desired velocities and distances.
Implementation Method 1
measuring the slip rate of the moving robot by a gyro sensor for detecting the rotational velocity of the moving robot
Implementation Method 2
calculate the slip rate of the moving robot by an acceleration sensor for detecting the acceleration of movement of the moving robot
Implementation Method 3
microfiber or fabric mops create little friction against the floor when the moving robot moves on the rotating mop
Data Source
AI summary
A method of controlling a moving robot is provided. The method of controlling a moving robot includes the steps of: (a) performing a basic motion of the moving robot which moves on a rotating mop; (b) measuring the slip rate of the moving robot; and (c) controlling the travel of the moving robot.