Cleaning Robot Obstacle Detection for Wall Distance Control
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Solution Overview
Problem
Conventional cleaning robots face challenges in maintaining a constant distance from obstacles, especially when navigating uneven surfaces or corners, due to limitations in their intake port design and control algorithms, which affect cleaning efficiency and precision.
Innovation Solution
A robot equipped with an obstacle detection unit that includes a main body, a driving unit, an auxiliary body projecting from the main body to detect obstacles, and a control unit that adjusts the direction of movement based on distance and surface irregularities, allowing the robot to maintain a predetermined distance from obstacles using sensors and a contact detection mechanism.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If the intake port is integrated with the main body, then the structure is simple, but the cleaning performance in corners and along walls is insufficient
Solution Approach 1:
The intake port is separated from the main body and mounted on a movable module that can independently rotate and adjust its position. This segmentation allows the intake port to be positioned optimally for cleaning corners and walls while keeping the main body structure simple.
Solution Approach 2:
The intake port is mounted on a movable module with rotational capability driven by a rotation driver. This dynamic structure allows the intake port to automatically adjust its orientation and position during movement, enabling effective cleaning along walls and in corners without increasing overall system complexity.
2Ease of operation
If the intake port is manufactured as a separate part with an intake tube and nozzle, then the intake port can be controlled separately from the main body, but the control algorithm and joint structure become very complicated and manufacturing cost increases
Solution Approach 1:
The movable module integrates the intake port, rotation driver, and driving wheels into a single unified structure. This merging eliminates the need for complex separate control systems for the intake port, as the rotation driver directly controls both the intake port orientation and the module's position relative to the main body.
Solution Approach 2:
The movable module serves multiple functions: it houses the intake port for cleaning, provides rotation capability through the rotation driver, and acts as an additional driving unit with its own wheels. This multi-functionality reduces the need for separate control mechanisms while maintaining ease of operation.
3Ease of operation
If the intake port is configured to freely rotate using frictional force and inertia, then the intake port can maintain perpendicular orientation during movement, but the rotational response lags behind the main body movement
Solution Approach 1:
The passive friction-based rotation mechanism is replaced with an active rotation driver that uses mechanical actuation (motor or actuator) to control the intake port's rotation. This substitution provides immediate and precise rotational response to match the main body's movement direction without lag.
4Adaptability or versatility
If the intake port has a freely rotated structure, then the structure is flexible, but it is difficult to clean uneven areas or carpets and precisely control the intake port
Solution Approach 1:
A sensor detects the contact force between the intake port and the surface, providing feedback to the control unit. The control unit adjusts the rotation driver's output based on this feedback, enabling precise control of the intake port's position and orientation even on uneven surfaces or carpets, while maintaining the flexibility to adapt to different terrains.
Data Source
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AI summary
A robot having an obstacle detection unit and a method of controlling the robot. The robot includes a main body, a driving unit, an auxiliary body, and a control unit. The driving unit drives the main body along a given surface. The auxiliary body projects from the main body and contacts an obstacle around the main body. The control unit controls the driving unit according to results of the detection so that the main body and the obstacle are maintained at a predetermined distance from each other.