Pool Cleaner Orientation Control via Accelerometer Gravity Detection

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Solution Overview

Problem

Existing pool cleaning apparatuses face challenges in accurately detecting position and orientation on immersed surfaces, leading to imprecise movement control and unreliable operation, especially when encountering obstacles or changing environments.

Innovation Solution

Incorporating a three-axis accelerometer and processing unit to provide precise angular orientation data, allowing for real-time detection of events and adaptive control of the cleaning apparatus, enabling independent movement and efficient operation without pre-defined programs.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Device complexity

If simple detection devices like ball type inclination sensors are used, then the device complexity is reduced, but the measurement precision and reliability deteriorate

Engineering Contradiction:

Improvedetection device complexityVSAvoidposition and orientation detection precision

Core Design Contradiction:

Device complexityVSMeasurement precision

Solution Approach 1:

The patent replaces mechanical detection devices (ball type inclination sensors) with an accelerometer-based detection system. The accelerometer device measures gravitational acceleration components to determine the apparatus's orientation and position, substituting mechanical sensing with a more precise inertial measurement approach that provides both simplicity and high measurement precision.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

2Ease of operation

If predetermined movement programs are used, then the ease of operation is improved, but the adaptability to various pool conditions deteriorates

Engineering Contradiction:

Improvemovement control easeVSAvoidadaptation to pool conditions

Core Design Contradiction:

Ease of operationVSAdaptability or versatility

Solution Approach 1:

The patent implements a feedback mechanism where the accelerometer continuously monitors the apparatus's position and orientation, and the processing unit adjusts movement commands in real-time based on detected events such as obstacles, pool boundaries, or unexpected orientations. This closed-loop control maintains ease of operation while significantly improving adaptability to varying pool conditions.

Inventive Principle:

Principle #23Feedback

Solution Approach 2:

The system transitions from static predetermined programs to dynamic adaptive control. The movement trajectories and commands are continuously modified based on real-time accelerometer data, allowing the apparatus to adapt its behavior to changing pool conditions while maintaining simple operation through automated decision-making.

Inventive Principle:

Principle #15Dynamics

3Measurement precision

If complex inertial systems with double time integration are used, then the measurement precision is improved, but the device complexity and cost increase

Engineering Contradiction:

Improveposition detection precisionVSAvoidinertial system complexity

Core Design Contradiction:

Measurement precisionVSDevice complexity

Solution Approach 1:

The patent extracts only the essential function needed for pool cleaning navigation - gravitational acceleration measurement - from complex inertial systems. By using a simple accelerometer that measures gravity components directly to determine orientation and position, the system eliminates the need for complex double time integration while achieving sufficient measurement precision for the application.

Inventive Principle:

Principle #2Taking out (Extraction)

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

The solution enables reliable and efficient cleaning with reduced energy consumption by accurately detecting events and adjusting movement trajectories, ensuring precise control and adaptation to various pool conditions.

Implementation Method 1

an accelerometer device which is fixedly joined to the hollow body and which is configured to provide instantaneous acceleration measurements of at least one acceleration component of the terrestrial gravity

Methodology Applied

Scientific EffectGravitation: Gravitation

Data Source

PatentUS9631389B2Apparatus for cleaning an immersed surface provided with an accelerometer device which detects gravitational acceleration

Publication Date: 2017.04.25 ZODIAC POOL CARE EURO

AI summary

The invention relates to an apparatus for cleaning an immersed surface, comprising a hollow body, guiding and driving members, a filtration chamber which is provided in the hollow body and which has at least one liquid inlet, at least one liquid outlet and a hydraulic circuit for circulation of liquid through a filtering device. An accelerometer device is fixedly joined to the hollow body and which is adapted to provide instantaneous measurements of at least one acceleration component of the terrestrial gravity in at least one fixed direction which is fixed relative to the hollow body, and a processing unit for processing the acceleration measurements supplied by the accelerometer device.