Robotic cleaner and controlling method therefor
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Solution Overview
Problem
Existing robot cleaners face challenges in performing stable and optimized traveling operations, particularly when navigating straight paths near walls and detecting floor contamination conditions without additional sensors.
Innovation Solution
A robot cleaner equipped with a rolling module and sensor unit that detects changes in position and motor load current to determine contaminated areas, allowing for optimized traveling based on pollutant position and floor type.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If the robot cleaner travels using only a pair of left and right mops, then the structure is simple, but the traveling speed and trajectory are restricted and stable straight travel is difficult
Solution Approach 1:
The robot cleaner is divided into three independent moving units: a left spin mop, a right spin mop, and a rear rolling mop. Each unit can rotate independently around its own axis, allowing the robot to achieve complex motions through coordinated rotation of these segmented components, thereby overcoming the trajectory limitations of a simple two-mop design.
Solution Approach 2:
The invention adds a new dimension of motion by introducing the rolling mop that rotates around an axis perpendicular to the spin mops' axes. This creates a three-dimensional motion capability where the robot can simultaneously control rotation around vertical axes (spin mops) and lateral axes (rolling mop), enabling stable straight travel and various trajectories that were impossible with only horizontal rotation.
2Device complexity
If the robot cleaner uses only spin mops for traveling, then the structure is simple, but it is difficult to perform mopping operation without rotational motion in place or straight motion
Solution Approach 1:
The robot cleaner dynamically adjusts the rotation speeds and directions of the three mops independently. By varying the rotational parameters of each mop unit, the robot can perform multiple operations: traveling in straight lines, turning at various angles, and rotating in place. This dynamic control of multiple rotational degrees of freedom enables flexible mopping operations adapted to different cleaning scenarios.
3Measurement precision
If additional sensors are provided to detect floor contamination conditions, then the detection capability is improved, but the device complexity increases
Solution Approach 1:
The robot cleaner uses its existing motor load current sensors to detect floor contamination conditions. When the mops encounter contaminated areas, the friction and resistance change the motor's electrical characteristics. By monitoring these self-generated electrical signals during normal operation, the system detects contamination without requiring separate sensing hardware, thus maintaining simplicity while improving measurement capability.
Solution Approach 2:
The motor load current sensors, originally designed solely for controlling motor speed and torque, are also utilized to detect floor contamination conditions. This multi-functional use of existing components allows the robot to perform both motion control and environmental sensing functions, eliminating the need for additional dedicated sensors and reducing overall device complexity.
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
Enables stable traveling, various motion combinations, and effective mopping operations while standing in place, without the need for additional sensors, by using the rolling module and sensor data to adjust the cleaning path accordingly.
Implementation Method 1
frictional forces generated between the rotating mops and the floor frequently change
Data Source
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AI summary
A robot cleaner and a method of controlling the same are disclosed. The robot cleaner includes a rolling cleaning module including a rolling member configured to rotate clockwise or counterclockwise when viewed from a left side while in contact with a floor, a sensor unit including a plurality of sensors, and a controller configured to detect a change in position of the robot cleaner and a change in load current of a motor connected to the rolling member based on data detected by the sensor unit and to, when it is determined that there is a change in position and a change in load current, determine a specific area of a floor to be a contaminated area, thereby performing an optimized traveling operation according to the position of the pollutant and the kind of floor.