Robot Cleaner Rolling Mop Control for Stable Travel
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Solution Overview
Problem
Existing robot cleaners face challenges in performing stable traveling operations, maintaining speed and trajectory consistency, and detecting floor contamination without additional sensors, especially when using rotating mops for mopping.
Innovation Solution
A robot cleaner equipped with a rolling cleaning module and sensors that detect 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
1Ease of manufacture
If the robot cleaner travels using rotating mops disposed in the leftward-rightward direction, then the mopping function is achieved, but the traveling stability deteriorates due to frequently changing frictional forces
Solution Approach 1:
The driving system is segmented into multiple independent rotating members (first rotary member and second rotary member) disposed in the leftward-rightward direction. Each rotary member can be independently controlled, allowing the robot to maintain stable travel by coordinating the rotation of multiple mops rather than relying on a single mop's friction with the floor.
2Ease of manufacture
If the robot cleaner uses rotating mops for travel, then the mopping operation is performed, but the traveling speed and trajectory control deteriorate
Solution Approach 1:
The robot cleaner employs dynamic control of the rotating mops' rotational speeds and directions. The controller can independently adjust the rotation parameters of the first and second rotary members, enabling flexible adjustment of traveling speed and trajectory while maintaining the mopping function. This dynamic adjustment capability allows the robot to adapt to different cleaning scenarios and navigate efficiently.
3Measurement precision
If additional sensors are added to detect floor contamination, then the detection capability is improved, but the device complexity increases
Solution Approach 1:
The existing sensors in the robot cleaner are designed to serve multiple functions. The same sensors used for navigation and obstacle detection are also utilized for detecting floor contamination levels. By programming the controller to interpret sensor data for both navigation and contamination detection, the system achieves multi-functionality without adding dedicated contamination sensors, thereby avoiding increased 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 and varied traveling motions, effective mopping operations, and contamination detection without additional sensors, improving cleaning efficiency and adaptability.
Implementation Method 1
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
Implementation Method 2
a sensor unit including a plurality of sensors, and a controller configured to detect a change in the position of the robot cleaner and a change in the load current of a motor connected to the rolling member
Data Source
AI summary
A 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, 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. When there is a change in position and a change in load current, a specific area of a floor is determined to be a contaminated area.