Cleaning Robot Pad Assembly Control for Obstacle Navigation
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Solution Overview
Problem
Conventional cleaning robots face limitations in efficiently navigating and cleaning areas with obstacles and stains, particularly due to restricted angular rotation and movement patterns, which can lead to slower movement and incomplete cleaning.
Innovation Solution
A cleaning robot equipped with multiple pad assemblies and drive assemblies that adjust friction and orientation based on obstacle detection and stain presence, allowing for adaptive movement patterns and enhanced cleaning efficiency by varying the application of friction and pad orientation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the cleaning robot uses two wheels to move about the cleaning region in a curvilinear pattern, then the cleaning robot can change orientation freely, but the cleaning robot may need great angular rotation which causes slower movement and extended cleaning time
Solution Approach 1:
The cleaning robot is divided into multiple independent pad assemblies (first pad assembly, second pad assembly, third pad assembly, fourth pad assembly) that can be independently controlled. Each pad assembly can generate friction forces separately, allowing the robot to achieve complex movement patterns including orientation changes without requiring the entire body to rotate, thus maintaining cleaning speed while achieving adaptability.
Solution Approach 2:
The invention introduces a new dimension of control by independently adjusting the friction forces of multiple pad assemblies rather than relying on single-wheel rotation. This multi-dimensional friction control enables the robot to change orientation and move efficiently simultaneously, resolving the contradiction between adaptability and productivity.
2Adaptability or versatility
If the cleaning robot rotates the main body by rotating two wheels at different velocities, then the cleaning robot can change movement direction, but the cleaning robot has a limit to rotate within a radius of the main body
Solution Approach 1:
By segmenting the drive system into four independently controllable pad assemblies positioned at different locations on the main body, the robot can generate differential friction forces to achieve rotation and direction changes without being constrained by the main body radius. This allows omnidirectional movement capability while maintaining ease of operation.
Solution Approach 2:
The invention replaces the traditional wheel-based mechanical rotation system with a friction-based pad assembly system. This substitution allows the robot to change movement direction by controlling friction forces rather than physically rotating the main body, eliminating the rotation radius limitation while preserving directional control capability.
3Productivity
If the cleaning robot uses a pad to wipe the floor, then the cleaning robot can clean impurities adhered to the floor, but the cleaning robot may not efficiently navigate around obstacles and stains
Solution Approach 1:
The cleaning robot uses four separately controllable pad assemblies instead of a single pad. This segmentation allows different pads to perform different functions simultaneously - some pads can apply friction for movement while others can apply cleaning force, enabling the robot to navigate around obstacles and stains efficiently while maintaining cleaning effectiveness.
Solution Approach 2:
The pad assemblies can dynamically adjust their friction application based on real-time conditions. When obstacles or stains are detected, the control unit can modify the friction forces of individual pads to navigate around them while continuing to clean, providing both adaptability and productivity.
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 efficient navigation and cleaning around obstacles and stains with improved movement speed and efficiency, reducing cleaning time and ensuring thorough floor coverage.
Implementation Method 1
The drive power may be based on an application direction and application position of friction to be applied to the pad coming into contact with a floor.
Data Source
AI summary
A cleaning robot includes a main body; a plurality of pad assemblies mounted on the bottom of the main body for doing cleaning; a drive assembly for applying drive power for each of the plurality of pad assemblies; and a detection unit for detecting an obstacle. The drive assembly adjusts slopes of the plurality of pad assemblies individually based on the height of the obstacle.