Cleaning Robot Wheel Frame for Escaping Stuck Obstacles
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Solution Overview
Problem
Cleaning robots often become undriveable due to obstacles, such as steps or furniture, causing them to become stuck, caught, or have lifted wheels, which prevents them from navigating through various environments effectively.
Innovation Solution
A driving unit with a wheel frame that can rotate between different positions, supported by an elastic member and powered by multiple motors, allowing the robot to adjust its wheel position and traction to escape stuck states by controlling the length of the driving wheel's movement downward.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the cleaning robot uses a fixed wheel position, then the structure is simple, but the robot becomes stuck when encountering obstacles like steps or furniture
Solution Approach 1:
The wheel frame is designed to be rotatable relative to the motor shaft, allowing the driving wheel to dynamically adjust its position between a first position (normal operation) and a second position (escape from stuck state). This dynamic structure enables the robot to adapt to different terrain conditions without requiring completely separate driving systems for different scenarios.
Solution Approach 2:
The driving unit integrates multiple functions into a single system: the wheel frame serves both as a structural support and as a position-adjustment mechanism. The same driving motors control both normal forward movement and the escape maneuver from stuck states, eliminating the need for separate specialized mechanisms.
2Reliability
If the wheel frame is pressurized by elastic member only, then the structure is simple, but the robot cannot escape from severe stuck states where additional power is needed
Solution Approach 1:
The power delivery system dynamically switches between two modes: normal operation where the elastic member provides continuous pressurization, and escape mode where the second driving motor actively rotates the wheel frame to a different position. This dynamic power delivery enables the system to handle both routine terrain and severe obstacles.
Solution Approach 2:
The wheel frame acts as an intermediary element between the power sources (elastic member and second driving motor) and the driving wheel. It receives power from either the elastic member's elastic force or the second driving motor's rotational power, and transmits this power to the driving wheel, enabling flexible escape strategies.
3Adaptability or versatility
If the driving wheel maintains constant contact with ground, then traction is stable, but the robot cannot adjust to uneven surfaces or climb obstacles
Solution Approach 1:
The system dynamically adjusts wheel contact stability based on terrain conditions. On stable surfaces, the wheel frame remains in the first position providing stable contact. When obstacles are detected or the robot becomes stuck, the system transitions to the second position to adjust the contact point, enabling the robot to climb or escape from difficult terrain.
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 the cleaning robot to escape undriveable states by adjusting wheel position and traction, ensuring continued operation and effective navigation around obstacles.
Implementation Method 1
an elastic member to pressurize the wheel frame
Data Source
AI summary
Disclosed herein is a cleaning robot including an improved driving unit to escape from an undriveable state occurring under various driving conditions. The cleaning robot includes a body, and a driving unit that drives the body. The driving unit includes a first driving motor and a second driving motor that generate driving power; a driving wheel that rotates when the driving power is delivered to the driving wheel from the first driving motor; and a wheel frame that supports the driving wheel to be rotatable and rotates between a first position and a second position with respect to a motor shaft of the first driving motor. The wheel frame rotates in at least one section between the first position and the second position when the driving power is delivered to the wheel frame from the second driving motor.