Robot Cleaner Wall-Following Control for Corner and Edge Cleaning
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Solution Overview
Problem
Conventional cleaning robots are ineffective in removing foreign materials adhered to surfaces and struggle to maintain close contact with wall surfaces during cleaning, leading to incomplete cleaning, especially in areas like corners and edges.
Innovation Solution
The cleaning robot utilizes a control method that employs rotational force from multiple rotation members to drive itself along surfaces, maintaining close contact with walls by generating a pushing force and adjusting rotational speed based on distance detection, allowing it to effectively clean areas like corners and edges while avoiding obstacles.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If the cleaning robot maintains a predetermined distance from the wall surface for smooth driving, then the driving stability is improved, but the cleaning effectiveness in corner areas deteriorates
Solution Approach 1:
The robot dynamically adjusts its driving behavior based on proximity to wall surfaces. When detecting corner areas or wall edges through sensors, the robot transitions from maintaining a predetermined distance to actively approaching and cleaning along the wall surface, optimizing both stability and cleaning effectiveness for different spatial conditions
Solution Approach 2:
The robot applies different cleaning strategies for different areas: in open spaces it maintains stable driving at a predetermined distance, while in corner areas and along wall surfaces it switches to a wall-following mode with close contact, providing locally optimized cleaning quality for each specific area
2Device complexity
If the cleaning robot attaches a simple mop to the bottom portion, then the device complexity is reduced, but the cleaning effectiveness for adhered foreign materials deteriorates
Solution Approach 1:
The robot incorporates a vibration mechanism in the mop assembly that generates vertical oscillations during cleaning operation. This vibration enhances the mop's ability to dislodge and remove adhered foreign materials and ingrained dirt from floor surfaces, significantly improving cleaning effectiveness without requiring complex additional structures
Solution Approach 2:
The vibration mechanism operates continuously during the mop cleaning process, ensuring that the beneficial vibratory action is maintained throughout the entire cleaning operation in corner areas and along walls, rather than being intermittent or conditional
3Device complexity
If the cleaning robot uses conventional suction methods, then the device complexity is reduced, but the ability to remove ingrained dirt deteriorates
Solution Approach 1:
The robot merges the suction cleaning mechanism with a vibration mechanism in the mop assembly. The vibration component is integrated into the existing suction structure, creating a combined cleaning system that leverages both mechanical vibration for dislodging dirt and suction for removing particles, achieving enhanced cleaning power without substantially increasing 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
This approach enables intensive cleaning of floor areas near walls, ensures satisfactory cleaning by preventing the robot from being driven away from the wall surface, and allows for efficient obstacle avoidance and restarts, mimicking human cleaning effectiveness.
Implementation Method 1
a first rotation member performing a rotational motion around a first rotation axis and a second rotation member performing a rotational motion around a second rotation axis
Data Source
AI summary
Provided are a cleaning robot and a control method thereof. A control method of a cleaning robot using a rotational force of a plurality of rotation members as a motive power source for its driving, includes: driving the cleaning robot by rotating at least one of a first rotation member performing a rotational motion around a first rotation axis and a second rotation member performing a rotational motion around a second rotation axis; determining whether the cleaning robot reaches a wall surface during its driving; and driving the cleaning robot along the wall surface by rotating at least one of the first and second rotation members while maintaining one side surface of the cleaning robot to be in close contact with the wall surface when it is determined that the cleaning robot reaches the wall surface.