Robot Cleaner Spin-Mop Speed Control for Straight-Path Accuracy
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Solution Overview
Problem
Conventional robot cleaners face challenges in maintaining a straight path due to slippage between the mopping cloth and the floor, leading to deviation and difficulty in returning to the target point, especially when the frictional forces between the mopping cloths and the floor surface are not constant.
Innovation Solution
A robot cleaner with a pair of rotation plates that adjust their rotation speeds based on their distance and angle from a virtual traveling line to compensate for deviations, ensuring the robot returns to the straight path and maintains cleaning efficiency.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the robot cleaner uses frictional force between mopping cloths and floor surface for propulsion, then it can effectively clean the floor surface, but it often slips and has difficulty traveling straight to a target point
Solution Approach 1:
The control unit continuously monitors the actual position of the robot cleaner during straight traveling and compares it with the intended straight path. When deviation is detected, the system provides feedback by adjusting the rotation speeds of the pair of rotation members to correct the path, enabling the robot to return to the straight trajectory dynamically
Solution Approach 2:
The system changes the rotation speed parameters of the pair of rotation members dynamically during operation. By adjusting the rotation speed of at least one rotation member based on detected positional deviation, the frictional force distribution between mopping cloths and floor is modified to correct traveling direction while maintaining cleaning effectiveness
2Ease of operation
If a pair of spin mops rotate in different directions at the same speed, then the robot cleaner moves straight, but frictional forces may be different due to floor conditions or contamination differences, causing path deviation
Solution Approach 1:
The system implements continuous feedback by detecting the robot cleaner's actual position during straight traveling and comparing it with the reference straight path. When deviation occurs due to unequal frictional forces, the control unit adjusts the rotation speeds of the spin mops to compensate and restore straight trajectory
Solution Approach 2:
The system intentionally creates asymmetric rotation speeds between the pair of rotation members that normally rotate at the same speed. By making one rotation member rotate faster or slower than the other based on detected deviation, the system compensates for unequal frictional forces and corrects path accuracy
3Reliability
If load values of rotation members are compared for control, then the robot cleaner resumes straight traveling at that position, but it is not capable of traveling to return to a straight path toward a target point
Solution Approach 1:
The control unit calculates a corrected straight path that leads directly back to the original straight traveling trajectory toward the target point, rather than simply resuming at the current position. This preliminary path correction minimizes the time and distance required to return to the intended course
Solution Approach 2:
The system replaces simple load-based control with a more advanced control mechanism that uses position detection and calculated trajectory correction. Instead of merely comparing load values, the control unit computes the optimal path back to the straight trajectory and executes it, significantly reducing return time
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
The robot cleaner effectively compensates for deviations from the straight path by adjusting rotation speeds, preventing wandering and ensuring accurate movement to the target point while maintaining cleaning performance.
Implementation Method 1
the robot cleaner may travel in a particular direction by using a frictional force generated by contact of a plurality of mopping cloths with the floor surface during rotation
Implementation Method 2
as the mopping cloth may more strongly wipe the floor surface with a greater frictional force between the mopping cloth and the floor surface, the robot cleaner may effectively clean the floor surface
Data Source
AI summary
Provided is a robot cleaner that travels along a virtual traveling line connecting a start point to a predetermined target point in a straight line. The robot cleaner includes a body having formed therein a space for accommodating a battery, a water container, and a motor, and a pair of rotation plates that have coupled to lower sides thereof, mopping cloths facing a floor surface, and are rotatably disposed on a bottom surface of the body, in which when a shortest distance between the body and the traveling line is greater than or equal to a predetermined reference distance, rotation speeds of the pair of rotation plates are different from each other.