Robot Side Brush Retraction During Obstacle-Tracing Turns
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Solution Overview
Problem
Current cleaning robots face challenges in efficiently navigating and cleaning areas with obstacles, particularly in tracing obstacles and adjusting cleaning tool operations based on obstacle proximity and battery power, while also ensuring proper insertion and protrusion of sub-cleaning tools.
Innovation Solution
A cleaning robot with a controller that manages the insertion and protrusion of side arms on sub-cleaning tools based on obstacle detection, rotation direction, and battery power, adjusting the rotational speed of brushes and controlling tool movements to optimize cleaning efficiency and prevent jamming.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the main body rotates during obstacle tracing, then the cleaning robot can navigate around obstacles, but the side arm of the sub-cleaning tool may become jammed or damaged due to protrusion
Solution Approach 1:
The controller predicts the rotation direction of the main body before rotation occurs and proactively controls the side arm to be inserted into the main body in advance. This preliminary action prevents the side arm from protruding during rotation, eliminating the risk of jamming or damage while maintaining obstacle tracing capability.
Solution Approach 2:
The controller continuously monitors the rotation state of the main body and adjusts the side arm position accordingly. When rotation is detected, the controller receives feedback and controls the side arm to insert, creating a closed-loop control system that prevents jamming while enabling safe rotation for obstacle tracing.
2Productivity
If sub-cleaning tools are protruded to clean areas with obstacles, then cleaning coverage is improved, but the risk of jamming during rotation increases
Solution Approach 1:
The side arm is designed to dynamically change its position between protruded and inserted states based on real-time operating conditions. During obstacle cleaning, the side arm protrudes to extend coverage; during rotation, it inserts to prevent jamming. This dynamic adaptation resolves the contradiction between cleaning coverage and jamming risk.
3Productivity
If the cleaning robot maintains full cleaning operation with low battery power, then cleaning efficiency is preserved, but the risk of component failure increases
Solution Approach 1:
The controller monitors battery power levels and adjusts operational parameters accordingly. When low battery power is detected, the controller reduces the rotational speed of brushes and motors to lower power consumption while maintaining cleaning operation. This parameter adjustment preserves cleaning efficiency under battery constraints while reducing the risk of component failure from excessive power draw.
Data Source
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Figure 1B
Figure 2
AI summary
A cleaning robot and a control method thereof include a main body travelling on a floor, and a first sub-cleaning tool and a second sub-cleaning tool mounted at left and right sides of the main body so as to be protruded from the inside to the outside of the main body and selectively performing cleaning Insertion of at least one of the first sub-cleaning tool and the second sub-cleaning tool is controlled when the main body is rotated under the condition that an obstacle is detected. Side brushes of the sub-cleaning tools are inserted into the main body according to the rotation direction of the main body when the main body is rotated during travelling, thus preventing collision with the obstacle.