Robotic Pool Cleaner Cable-Pull Sensing for Wall Climbing
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Solution Overview
Problem
Robotic pool cleaners face challenges in efficiently navigating and cleaning pool surfaces, particularly in navigating around obstacles and transitioning from cleaning the pool floor to the walls, due to limitations in directional control and remote operation.
Innovation Solution
Incorporation of a cable pull sensing mechanism with a bendable component and sensors to detect cable bending and proximity, allowing the robotic pool cleaner to change direction based on cable tension and position, enabling it to autonomously climb walls and adjust its cleaning path.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the robotic pool cleaner uses traditional propulsion mechanisms without cable pull sensing, then the device complexity is reduced, but the directional control and ability to navigate obstacles deteriorates
Solution Approach 1:
The cable pull sensor acts as an intermediary between the external cable and the robot's control system. It converts physical cable tension into directional signals that the controller can process, enabling remote directional control without requiring complex onboard navigation systems.
Solution Approach 2:
The patent replaces complex mechanical directional control systems with a sensing-based approach. Instead of using mechanical linkages or complex drive mechanisms for directional control, the system uses cable pull sensors to detect tension and electronically controls the propulsion mechanism to respond to pulling forces from any direction.
2Adaptability or versatility
If the robotic pool cleaner lacks cable pull sensing capability, then the manufacturing cost is reduced, but the ability to autonomously navigate and climb walls deteriorates
Solution Approach 1:
The cable pull sensor system serves multiple functions: it enables directional control, obstacle detection, wall-climbing capability, and operator intervention response. A single sensing mechanism provides versatile navigation capabilities across different cleaning scenarios without requiring separate specialized systems.
Solution Approach 2:
The robot uses the cable pull sensor to autonomously determine its own direction of travel and navigate around obstacles without external guidance. The system self-adjusts its path based on cable tension feedback, enabling autonomous navigation while maintaining simplicity in manufacturing.
3Productivity
If the robotic pool cleaner uses simple propulsion without pull sensors, then the device complexity is lower, but the productivity and cleaning coverage deteriorates
Solution Approach 1:
The cable pull sensor provides continuous feedback to the controller about the direction and magnitude of pulling forces on the cable. This feedback loop enables the robot to dynamically adjust its direction and maintain optimal cleaning coverage by responding to changes in cable tension caused by obstacles, pool geometry, or operator intervention.
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
Enhances the robotic pool cleaner's ability to efficiently clean pool surfaces by allowing it to autonomously navigate and climb walls, while also enabling remote control for operator intervention, improving coverage and accessibility.
Implementation Method 1
a bendable component to which the cable is attached and a bending sensor, wherein the generated signal is indicative of bending of the bendable component relative to the housing
Implementation Method 2
the proximity sensor includes at least one magnetic sensor that is configured to measure a magnetic field that is indicative of proximity of one or a plurality of magnets to the sensor
Implementation Method 3
the one or a plurality of magnets are mounted on the bendable component, and the one or a plurality of magnetic sensors are mounted to the housing
Data Source
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Figure 5
AI summary
A robotic pool cleaner (10) including: a housing (14); a propulsion mechanism (58) configured to propel the robotic pool cleaner along an interior surface of a pool and a suction mechanism to draw liquid from the pool into the housing. A cable (24) extends outward from the housing and a pull sensor (12) is configured to generate a signal indicative of at least a direction in which the cable is pulled. A controller is configured to receive the signal and to operate the propulsion mechanism to propel the robot in accordance with the received signal.