Adaptive Side Brush Speed Control for Robot Edge Cleaning
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Solution Overview
Problem
Traditional robotic vacuum cleaners with circular-shaped bodies are unable to effectively clean corners and edges due to their shape, which restricts their ability to move into tight spaces and collect debris efficiently.
Innovation Solution
A method of controlling the rotational speed of rotating side brushes on a robotic cleaning device based on its movement speed, allowing the brushes to reach and clean areas that would otherwise be inaccessible, such as corners and edges, by positioning them at the periphery of the device and using a controller to adjust the brush speed in response to changing cleaning conditions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the robotic cleaning device moves at high speed across the surface, then productivity is improved, but the rotating side brush cannot effectively collect debris from hard-to-reach areas
Solution Approach 1:
The side brush rotational speed is dynamically adjusted based on the device's movement speed. When the device moves faster, the side brush rotates faster to maintain effective debris collection. This dynamic adjustment ensures the side brush can keep up with the device's movement and effectively sweep debris into the suction opening across varying speeds.
Solution Approach 2:
The system changes the rotational speed parameter of the side brush according to the movement speed parameter of the device. By varying the side brush speed as a function of device speed, the system maintains optimal cleaning performance across different operating conditions, preventing debris from being left behind during high-speed movement.
2Reliability
If the side brush rotational speed is increased to match high device movement speed, then debris collection is improved, but energy consumption increases
Solution Approach 1:
The control unit continuously monitors the device's movement speed and uses this feedback to adjust the side brush rotational speed accordingly. This feedback mechanism ensures the side brush operates at the minimum necessary speed to maintain effective debris collection, avoiding unnecessary energy consumption when the device moves slowly or stops.
Solution Approach 2:
The side brush speed is dynamically coupled to device movement speed, creating an energy-efficient system that only consumes high power when actually needed for debris collection during high-speed movement. During low-speed operation or pauses, the side brush operates at lower speed, reducing overall energy consumption while maintaining cleaning effectiveness.
3Use of energy by moving object
If the side brush rotational speed is decreased to save energy, then energy consumption is reduced, but debris is left behind on the surface
Solution Approach 1:
The system adjusts the side brush rotational speed parameter in direct response to device movement speed parameter changes. This parameter coupling ensures that cleaning coverage is maintained across all operating speeds - the side brush rotates faster when the device moves faster, preventing debris from being left behind, while rotating slower when the device moves slower to conserve energy.
4Ease of operation
If the robotic cleaning device uses a circular-shaped body, then ease of operation is improved, but adaptability to clean corners and edges is worsened
Solution Approach 1:
The cleaning device employs asymmetric side brush placement and rotational control to compensate for the circular body shape. The side brushes are positioned and controlled to sweep debris laterally as the device moves, enabling effective corner and edge cleaning despite the circular main body that provides easy movement and control.
Data Source
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AI summary
The invention relates to a method of controlling rotating side brushes of a robotic cleaning device and a robotic cleaning device performing the method. The robotic cleaning device comprises a main body (11), a propulsion system (12, 13, 15a, 15b) arranged to move the robotic cleaning device across a surface to be cleaned, and a controller (16) arranged to control the propulsion system to move the robotic cleaning device across the surface to be cleaned in accordance with navigation information. Further, the robotic cleaning device comprises an opening (17) arranged in a bottom side of the main body via which opening debris is removed from the surface to be cleaned and at least one rotating side brush (24) arranged adjacent to the opening. The controller is arranged to register a speed with which the robotic cleaning device moves across the surface to be cleaned, and further to control rotational speed of the rotating side brush on the basis of the registered speed of movement of the robotic cleaning device.