Pool Cleaner Corner Rotation Using Sensor-Based Angle Prediction

Resolve Bottlenecks,
Find Innovative SolutionsGenerate Solutions

Solution Overview

Problem

Existing pool cleaning apparatuses face challenges in accurately predicting rotation angles when encountering corners, leading to reduced map building efficiency and increased risk of hitting walls due to insufficient map information and obstacle avoidance inaccuracies.

Innovation Solution

The apparatus determines a second angle based on collected distance data and posture data during a first angle rotation, using sensors and calculators to ensure precise obstacle avoidance by rotating by the predicted second angle, thereby improving accuracy and safety.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If the apparatus rotates by a fixed angle when encountering a corner, then the control logic is simple, but the accuracy of obstacle avoidance is reduced leading to increased risk of hitting walls

Engineering Contradiction:

Improveobstacle avoidance accuracyVSAvoidcontrol logic complexity

Core Design Contradiction:

ReliabilityVSDevice complexity

Solution Approach 1:

The system performs preliminary actions by collecting distance data from multiple sensors before determining the rotation angle. The angle calculation is prepared in advance based on sensor readings, allowing the apparatus to execute the optimal rotation angle without real-time complex computations during the critical avoidance moment.

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The system uses feedback from multiple distance sensors to continuously monitor the apparatus's position relative to pool edges and corners. The rotation angle is dynamically adjusted based on feedback from sensor data, enabling accurate obstacle avoidance while maintaining manageable control complexity through adaptive control.

Inventive Principle:

Principle #23Feedback

2Measurement precision

If the apparatus collects extensive distance data during rotation, then the angle determination accuracy is improved, but the time consumption increases

Engineering Contradiction:

Improveangle determination precisionVSAvoiddata collection time

Core Design Contradiction:

Measurement precisionVSLoss of time

Solution Approach 1:

Distance data collection is performed as a preliminary action before the apparatus completes its corner rotation. By gathering sensor data in advance during the initial rotation phase, the system ensures accurate angle determination without delaying the subsequent movement execution.

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The distance data collection continues throughout the rotation process rather than being a separate discrete step. This continuous data acquisition ensures that measurements are taken at optimal moments during the rotation, maintaining high precision while minimizing total time loss by integrating measurement with the motion itself.

Inventive Principle:

Principle #20Continuity of useful action

Data Source

PatentUS12524020B2Apparatus for cleaning pool and controlling method

Publication Date: 2026.01.13 SHENZHEN AIPER INTELLIGENT CO LTD

AI summary

Disclosed are an apparatus for cleaning a pool and a method for controlling the apparatus. The method includes rotating the apparatus by a first angle in response to an arrival of the apparatus at a corner formed by edges of walls of a pool, determining a plurality of distances between the apparatus and the edges of the walls in front of the apparatus during rotating by the first angle, determining a second angle based on the plurality of distances, and rotating the apparatus by the second angle.