Robot Cleaner Spin Mop Slippage Detection for Movement Accuracy
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Solution Overview
Problem
Robot cleaners with rotation mops experience slippage issues due to low friction between the mop and the floor, leading to reduced movement efficiency, and existing technologies do not effectively detect or control for this slippage to ensure accurate navigation.
Innovation Solution
The robot cleaner includes a spin mop with a microfibre or fabric type mop pad, a water tank, and a pump to adjust water content, along with sensors and a controller to calculate and compensate for the slip ratio by varying the rotational direction and speed of the spin mops, and positioning the mop at an angle to enhance friction, allowing for accurate movement control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the robot cleaner uses a rotation mop to move, then cleaning function is provided, but slippage occurs between the rotation mop and floor causing reduced movement distance
Solution Approach 1:
The controller detects the actual movement distance of the robot cleaner and compares it with the expected movement distance calculated from rotation mop rotation. Based on this feedback, the controller calculates slippage and adjusts the rotation mop's rotational speed to compensate, thereby maintaining accurate movement control despite slippage occurrences.
Solution Approach 2:
The system dynamically changes the rotational speed parameter of the rotation mop based on detected slippage conditions. By adjusting this parameter in real-time, the system compensates for slippage effects and maintains the desired movement distance and cleaning efficiency.
2Speed
If the rotation mop spins at high speed to increase movement speed, then navigation efficiency improves, but slippage increases causing greater deviation from intended path
Solution Approach 1:
The controller continuously monitors the robot's actual position and movement distance, comparing these measurements with the intended trajectory. When slippage causes position deviation, the feedback mechanism triggers corrective adjustments to the rotation mop speed, maintaining position accuracy even at higher movement speeds.
Solution Approach 2:
The system dynamically adjusts the rotation mop's rotational speed based on real-time slippage detection and position feedback. This dynamic control allows the robot to maintain both high movement speed and accurate positioning by adaptively modifying operational parameters according to current conditions.
3Device complexity
If the robot cleaner uses a simple rotation mechanism without slippage detection, then device complexity is reduced, but movement control accuracy deteriorates
Solution Approach 1:
The controller performs multiple functions using a single integrated system: it controls the rotation mop's rotational speed, detects movement distance, calculates slippage, and adjusts operational parameters. This multi-functional approach maintains movement control accuracy without requiring separate dedicated components for each function, thus limiting the increase in 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
This solution enables the robot cleaner to maintain desired movement speeds and navigate accurately by compensating for slippage, ensuring efficient cleaning and improved control over movement, even on varying floor surfaces.
Implementation Method 1
detecting a movement speed of the robot cleaner which performs a reference motion
Implementation Method 2
slippage may occur between the rotation mop and the floor
Data Source
AI summary
The present disclosure relates controlling a robot cleaner that moves based on a rotation of a spin mop. The controlling the robot cleaner includes determining a control command; operating the spin mop and performing a reference motion by the robot cleaner; detecting a movement of the robot cleaner which performs a reference motion by a motion detection sensor; and controlling travel of the robot cleaner to achieve the control command.