Robot Cleaner Auxiliary Wheel System for Obstacle Navigation
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Solution Overview
Problem
Existing robot cleaners face difficulties in navigating obstacles and tilted surfaces due to insufficient suspension power, leading to wheel idling, damage, and battery consumption.
Innovation Solution
Incorporation of auxiliary wheels with a transfer unit that selectively powers and aligns them to assist the robot cleaner in overcoming obstacles and tilted routes, using main driving wheels and casters without additional structures.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the robot cleaner uses main driving wheels and casters for movement, then it can perform automatic cleaning while changing direction, but it fails to run over obstacles when the obstacle height exceeds the preset height
Solution Approach 1:
The robot cleaner is divided into multiple independent wheel systems: main driving wheels for propulsion, casters for directional assistance, and auxiliary wheels for obstacle overcoming. Each wheel type performs a specific function, allowing the robot to handle various terrain conditions including obstacles taller than the preset height by coordinating different wheel segments.
Solution Approach 2:
The casters are designed to rotate freely and align dynamically with the running direction of the robot cleaner. When encountering tilted surfaces or obstacles, the casters automatically adjust their orientation to maintain contact with the floor and provide continuous support, enabling the robot to navigate dynamic terrain changes without losing stability.
2Reliability
If the robot cleaner encounters a titled surface, then the wheels may not contact the floor properly, but adding suspension power increases device complexity
Solution Approach 1:
The casters are designed to self-align with the running direction of the robot cleaner automatically through their rotational freedom. This self-aligning mechanism eliminates the need for complex active suspension systems with sensors and actuators, as the casters naturally adapt to tilted surfaces by rotating to maintain floor contact, providing a passive yet effective solution.
Solution Approach 2:
The auxiliary wheels are configured to rotate freely and can dynamically adjust their position and orientation in response to terrain changes. This dynamic adaptability allows the wheels to maintain contact with the floor on tilted surfaces without requiring complex suspension mechanisms, achieving reliability through simple mechanical freedom of movement.
3Strength
If the robot cleaner is trapped and wheels are caught at obstacles, then continuous motor rotation causes wheel damage or battery consumption, but stopping the motor reduces cleaning productivity
Solution Approach 1:
The auxiliary wheels are designed with free rotation capability and can dynamically adjust their orientation when encountering obstacles. This dynamic adaptability allows the wheels to bypass obstacles without getting caught, preventing continuous motor rotation and associated damage or battery consumption while maintaining cleaning productivity through uninterrupted movement.
Solution Approach 2:
The robot cleaner uses multiple independent wheel systems that can operate semi-independently. When main driving wheels encounter obstacles, the auxiliary wheels with free rotation can continue to provide support and propulsion, preventing complete system failure and allowing the robot to maintain cleaning productivity even when one wheel system encounters difficulties.
4Adaptability or versatility
If additional motors and sensors are added to enable obstacle crossing, then the robot can run over thresholds, but the technical features and structure become complex
Solution Approach 1:
The casters and auxiliary wheels are designed to self-align and self-adjust to obstacles through their free rotation capability, eliminating the need for additional sensors to detect obstacles or additional motors to provide lifting force. The passive mechanical design allows the robot to cross thresholds using existing motor power combined with the self-aligning wheel mechanisms.
Solution Approach 2:
The existing main driving wheels and casters are designed to perform multiple functions: propulsion, directional control, and obstacle crossing. By enabling the casters to rotate freely and align with the running direction, the same wheel components serve both navigation and obstacle negotiation purposes, avoiding the need for separate specialized systems for each function.
Data Source
AI summary
The present disclosure relates to a robot cleaner, more particularly, to a robot cleaner that may rotate auxiliary wheels to run over a tilted route or an obstacle, when cannot run over a tilted route or an obstacle because main wheels are not contacting with the floor.