Floating Camera Guidance for Full-Coverage Pool Cleaning
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Solution Overview
Problem
Existing swimming pool cleaning robots face challenges in maximizing the cleaned area over time due to difficulties in controlling their movements effectively.
Innovation Solution
A swimming pool cleaning system equipped with an image acquisition means, such as a video camera secured to a float via a flexible tie, which allows for the detection of unclean areas and basin geometry, enabling the modification of the cleaning device's trajectory for comprehensive coverage.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the cleaning robot operates autonomously without image guidance, then the device complexity is reduced, but the cleaned area coverage efficiency deteriorates
Solution Approach 1:
An external image capture device (camera) mounted on a float serves as an intermediary between the cleaning robot and the pool environment. The camera captures images of the pool bottom and walls, which are then transmitted to a control device that processes the images and generates optimized trajectory instructions for the robot, enabling efficient cleaning without adding complexity to the robot itself.
Solution Approach 2:
The system transitions from purely local sensor-based navigation to a dimension that incorporates visual information from above. By mounting the camera on a floating device at the water surface, the system gains an aerial perspective dimension, allowing the control device to plan trajectories that maximize area coverage based on visual mapping of the entire pool environment.
2Loss of time
If the cleaning robot uses simple navigation without image feedback, then the ease of operation is improved, but the loss of time for complete cleaning increases
Solution Approach 1:
The system implements feedback through image capture of the pool environment, transmission of these images to a control device, and use of the images to generate trajectory instructions. This closed-loop feedback enables the robot to adapt its path based on actual pool conditions, optimizing cleaning duration while maintaining ease of operation through automated control.
Solution Approach 2:
The control device performs preliminary action by analyzing images of the pool environment before the robot begins cleaning. This allows pre-planning of optimized trajectories that account for pool geometry, obstacles, and debris locations, reducing cleaning time without requiring complex real-time decision-making during operation.
3Productivity
If the cleaning device operates without trajectory optimization, then the device complexity is reduced, but the productivity in terms of area cleaned per unit time deteriorates
Solution Approach 1:
The control device acts as an intermediary that separates the complexity of trajectory optimization from the cleaning robot. It processes images from the camera, analyzes pool geometry and debris distribution, and computes optimized trajectories, allowing the robot to focus solely on execution and maintaining high productivity without embedded complexity.
Data Source
AI summary
The invention relates to a swimming pool cleaning system comprising a cleaning apparatus (10) to be immersed in the pool, the system further comprising at least one moving image acquisition means (30) secured to a float (31) via a flexible tie (32).