Pool Cleaner Path Control Using Image-Guided Debris Detours
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Solution Overview
Problem
Existing pool cleaning devices face inefficiencies in achieving full coverage cleaning while minimizing power consumption and avoiding cleaning omissions, particularly when dealing with sparse debris distribution.
Innovation Solution
A method and device that utilizes image sensors to identify cleaning targets within a predetermined range and temporarily deviate from a main path to clean these targets before returning, optimizing the cleaning route to be sparser and more efficient.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the pool cleaning device follows a dense main path to ensure full coverage cleaning, then cleaning coverage is improved, but power consumption increases and cleaning efficiency decreases
Solution Approach 1:
The image sensor captures images of the pool bottom ahead of the cleaning device's current position, allowing the controller to identify cleaning targets and plan route deviations in advance. This preliminary detection enables the device to follow a sparser main path while still ensuring thorough cleaning by dynamically adjusting to detected debris locations.
2Reliability
If the pool cleaning device follows a dense main path to avoid cleaning omissions, then cleaning completeness is improved, but cleaning efficiency and productivity decrease
Solution Approach 1:
The cleaning device dynamically adjusts its cleaning path based on real-time image processing results. The controller continuously monitors detected cleaning targets and modifies the main path by generating deviation sub-paths, transforming the static dense grid pattern into a dynamic adaptive route that maintains cleaning completeness while improving efficiency.
Solution Approach 2:
The invention extracts the function of detecting cleaning targets from the main cleaning path execution. By using image sensors to separately identify debris locations ahead of time, the system can plan efficient routes that only deviate when necessary, rather than following a predetermined dense pattern for the entire cleaning cycle.
3Use of energy by moving object
If the pool cleaning device uses image sensors to identify and deviate to cleaning targets, then power consumption is reduced, but device complexity increases
Solution Approach 1:
The image sensor serves multiple functions: it captures images for cleaning target detection, provides spatial information for route planning, and enables the device to adapt to varying debris distributions. This multi-functionality reduces the need for separate dedicated sensors while achieving intelligent path optimization with reduced power consumption.
Data Source
AI summary
Disclosed are a pool cleaning device and a method for controlling the pool cleaning device. The method includes: controlling the device to move by a main path in a pool; obtaining at least one image about a current environment within an angle of view of at least one image sensor of the device; determining at least one cleaning target in the current environment based on the at least one image; controlling the device to leave the main path in the main route to clean the at least one cleaning target; and controlling the device to return to the main path to continue moving by the main path after cleaning the at least one cleaning target.