Cleaning Robot Side Brush Retraction During Obstacle Tracing
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Solution Overview
Problem
Current cleaning robots face challenges in efficiently navigating and cleaning around obstacles, particularly in tracing obstacles and adjusting their tools' positions and speeds to optimize cleaning efficiency and prevent jamming, while also managing battery power and communication with virtual guards.
Innovation Solution
The cleaning robot includes a main body with obstacle detectors and sub-cleaning tools that can protrude or retract based on obstacle detection, with a controller managing the tools' positions and speeds, adjusting the main brush and side brushes' rotational speeds, and communicating with virtual guards to optimize cleaning and prevent jamming, and managing battery power for docking.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If sub-cleaning tools protrude outward to clean regions with obstacles, then cleaning coverage is improved, but risk of jamming increases
Solution Approach 1:
The sub-cleaning tools are designed with dynamic protrusion and retraction capabilities. The controller dynamically adjusts the position of sub-cleaning tools based on real-time obstacle detection and robot motion state. When the robot rotates for obstacle tracing, the controller retracts the sub-cleaning tool in the rotation direction to prevent jamming, while maintaining protrusion in other directions to preserve cleaning coverage.
2Adaptability or versatility
If the cleaning robot rotates for obstacle tracing, then cleaning adaptability is improved, but sub-cleaning tools may get jammed
Solution Approach 1:
The controller receives feedback from obstacle detection sensors and robot motion sensors to determine the robot's rotation direction. Based on this feedback, the controller automatically adjusts the position of sub-cleaning tools by retracting them in the rotation direction before or during obstacle tracing, preventing jamming while maintaining the ability to trace obstacles effectively.
3Productivity
If multiple sub-cleaning tools are used for comprehensive cleaning, then cleaning efficiency is improved, but control complexity increases
Solution Approach 1:
Multiple sub-cleaning tools are designed with identical structures and control mechanisms, allowing them to perform the same cleaning function independently. Each sub-cleaning tool has its own protrusion/retraction actuator and is controlled by the same control logic, simplifying the overall control system while maintaining comprehensive cleaning capability through parallel operation of multiple identical units.
Data Source
AI summary
A cleaning robot and a control method thereof include a main body traveling on a floor, and a first sub-cleaning tool and a second sub-cleaning tool mounted at left and right sides of the main body so as to be protruded from the inside to the outside of the main body and selectively performing cleaning Insertion of at least one of the first sub-cleaning tool and the second sub-cleaning tool is controlled when the main body is rotated under the condition that an obstacle is detected. Side brushes of the sub-cleaning tools are inserted into the main body according to the rotation direction of the main body when the main body is rotated during traveling, thus preventing collision with the obstacle.