Cleaning Robot Pad Control for Omnidirectional Wiping
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Solution Overview
Problem
Conventional cleaning robots face limitations in efficiently cleaning large areas with curvilinear movement patterns, particularly when great angular rotation is required, leading to slower movement and extended cleaning times, and they struggle to navigate obstacles and stains effectively.
Innovation Solution
A cleaning robot equipped with multiple pad assemblies and drive assemblies that adjust friction and rotation based on obstacle detection and stain size, allowing for adaptive movement patterns and enhanced cleaning efficiency by varying the application of friction and rotation direction.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Area of stationary object
If the cleaning robot uses curvilinear movement pattern with great angular rotation, then cleaning coverage is improved, but movement speed decreases and cleaning time is extended
Solution Approach 1:
The patent applies dynamics by making the pad assemblies rotatable and tiltable to change friction application directions dynamically. This allows the robot to achieve omni-directional movement without rotating the main body, enabling efficient curvilinear movement patterns while maintaining higher speeds through adaptive friction control rather than mechanical rotation
Solution Approach 2:
The patent changes parameters by adjusting the rotation angles and tilting angles of multiple pad assemblies to vary friction application directions. This parameter control enables the robot to achieve different movement patterns including curvilinear paths, while maintaining optimal movement speed through coordinated pad assembly adjustments
2Ease of operation
If the cleaning robot rotates the main body for curvilinear movement, then movement direction change is achieved, but the rotation radius is limited to the main body radius
Solution Approach 1:
The patent makes the pad assemblies dynamically adjustable in rotation and tilting, allowing friction application directions to be changed independently of main body rotation. This enables the robot to achieve curvilinear movement with variable radii, including tight turns and omnidirectional movement, without being constrained by the main body's physical dimensions
Solution Approach 2:
The patent segments the driving function into multiple independent pad assemblies that can be controlled separately. Each pad assembly can be rotated and tilted independently to apply friction in different directions, enabling complex movement patterns and variable rotation radii without requiring main body rotation
3Device complexity
If the cleaning robot uses fixed friction application to the pad, then simple control is maintained, but adaptive cleaning of obstacles and stains is not achieved
Solution Approach 1:
The patent implements dynamic control by adjusting the rotation and tilting angles of pad assemblies based on sensor feedback from obstacle and stain detectors. This allows the system to adapt friction application to different cleaning scenarios while maintaining manageable complexity through centralized control of the adjustable parameters
Solution Approach 2:
The patent incorporates feedback mechanisms through obstacle detectors and stain detectors that provide information to the control system. This feedback enables adaptive adjustment of pad assembly friction application, allowing the robot to respond to different cleaning conditions and optimize cleaning performance
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 achieves efficient cleaning with reduced movement time and improved navigation of obstacles and stains, enabling omni-directional movement without main body rotation, mimicking human wiping patterns for enhanced cleaning efficiency.
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 including a main body, a pad mounted below the main body to implement cleaning, and a drive assembly to apply drive power to the pad. The drive assembly moves the main body to a target position by adjusting the drive power. The cleaning robot may move at a high speed owing to omni-directional movement thereof without rotation of the main body. Further, the cleaning robot may imitate a human wiping pattern, thus achieving enhanced cleaning efficiency. Furthermore, various cleaning patterns including a straight pattern and a curvilinear pattern may be applied to the cleaning robot.