Moving robot and control method thereof
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Solution Overview
Problem
Robot cleaners face issues with idle rotation and wheel arrest when navigating uneven surfaces, leading to reduced cleaning range and efficiency, and existing solutions require additional components like auxiliary caterpillars that increase manufacturing costs and weight.
Innovation Solution
A moving robot with a caterpillar-type driving unit that includes a support member connected to pulleys, allowing for adjustments in length, position, and angle to maintain optimal contact area with the ground or obstacles, preventing slip and enabling passage through rough surfaces without additional wheels.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the robot cleaner employs a caterpillar type driving unit to travel on uneven floor surfaces, then the robot can maintain better contact with the floor surface, but the robot cannot properly pass through obstacles and the driving unit is arrested by obstacles
Solution Approach 1:
The caterpillar driving unit is designed with flexible segments that can dynamically adjust their configuration. When encountering an obstacle, the caterpillar can deform its shape to wrap around or climb over the obstacle, transitioning from a rigid contact structure to a dynamic adaptive structure that maintains both floor contact and obstacle passing capability
Solution Approach 2:
The driving unit parameters such as segment angle, curvature, and contact pressure are dynamically changed in response to obstacle detection. The system adjusts these parameters to optimize the caterpillar's interaction with both flat surfaces and obstacles, enabling arrest prevention while maintaining reliable floor contact
2Force
If auxiliary caterpillars are added to secure frictional force regarding obstacles, then the frictional force is increased, but the manufacturing cost and weight of the robot are increased
Solution Approach 1:
The main caterpillar driving unit is designed to perform multiple functions: it serves as both the primary propulsion mechanism on flat surfaces and as the obstacle-climbing mechanism. The same caterpillar segments that provide frictional contact with the floor also provide the necessary frictional force against obstacles through dynamic deformation, eliminating the need for separate auxiliary caterpillars
Solution Approach 2:
The functions of floor contact and obstacle interaction are merged into a single integrated caterpillar driving unit. The system combines the propulsion function with the obstacle negotiation function in one unified structure, avoiding the need for separate auxiliary components and reducing overall system weight
3Reliability
If the robot cleaner recognizes all uneven bottom surface portions as obstacles, then obstacle avoidance is improved, but the cleaning range is reduced
Solution Approach 1:
The obstacle detection system uses adjustable recognition parameters such as height threshold, slope angle, and surface texture criteria. By dynamically adjusting these parameters, the system can distinguish between significant obstacles that require avoidance and minor unevenness that can be traversed, thereby maintaining accurate obstacle detection while maximizing cleaning coverage
Solution Approach 2:
The obstacle recognition system dynamically adapts its sensitivity and classification criteria based on the cleaning environment and robot state. This dynamic adjustment allows the system to be more permissive in certain conditions (allowing traversal of minor unevenness) and more restrictive in others (avoiding significant obstacles), optimizing both detection accuracy and cleaning range
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 robot effectively avoids idle rotation and wheel arrest, enhances moving performance, reduces manufacturing costs, and increases power efficiency by maintaining contact with uneven surfaces without auxiliary wheels, allowing for efficient cleaning in rough areas.
Implementation Method 1
a belt rotated in contact with the plurality of pulleys
Implementation Method 2
maintain optimal contact area with the ground or obstacles, preventing slip
Data Source
Figure 1a~1b
Figure 2a~2c
Figure 3a~3b
AI summary
A moving robot includes a main body, a driving unit moving the main body, and a cleaning unit performing cleaning on a cleaning area in which the main body is positioned, wherein the driving unit includes a plurality of pulleys, a motor connected to any one of the plurality of pulleys and generating a driving force, a belt rotated in contact with the plurality of pulleys, and a support member connected to some of the plurality of pulleys and changing a position of the pulley such that an area in which the belt is in contact with a ground or an obstacle is maintained to be equal to or greater than a reference area.