Robotic Pool Cleaner Localization Using Edge Mapping and Magnetometer Data
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Solution Overview
Problem
Robotic pool cleaners face challenges in obtaining accurate absolute location information due to underwater operations and limitations in manufacturing cost and underwater communication, leading to reliance on local coordinate system maps that cannot be used for precise localization without initial location information.
Innovation Solution
A localizing method involving the robotic pool cleaner walking along the pool edge to collect edge data and magnetometer data, generating to-be-matched data, and matching it with a saved swimming pool map to obtain current location information, utilizing sensors like distance sensors, laser ladar, cameras, and magnetometers for direction and coordinate system alignment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If a robotic pool cleaner uses local coordinate system maps for navigation, then manufacturing cost is reduced and device complexity is lowered, but accurate absolute location information cannot be obtained without initial location information
Solution Approach 1:
The system performs preliminary map collection to build a local coordinate system map of the pool environment before actual navigation. This pre-collected map serves as a reference that enables subsequent localization without requiring expensive absolute positioning devices, thus resolving the contradiction between low cost and accurate location information.
Solution Approach 2:
The patent introduces magnetometer data as an intermediary element that provides directional reference information. By combining edge data with magnetometer readings, the system creates a reference framework that mediates between the simple local coordinate system and the need for accurate location information, enabling localization without expensive GPS-like devices.
2Measurement precision
If the robotic pool cleaner collects and processes extensive edge data and magnetometer data for localization, then location accuracy is improved, but processing time and computational complexity increase
Solution Approach 1:
The system extracts only the essential features from collected edge data and magnetometer data that are necessary for localization. By selecting and processing only the most relevant data elements rather than all available data, the system achieves accurate localization while minimizing processing time and computational burden.
Solution Approach 2:
The patent collects more data than strictly necessary (excessive action) during the mapping phase, but then uses only the critical portions of this data during actual localization operations. This approach allows the system to have rich reference data available while keeping real-time processing efficient and fast.
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
Enables quick and accurate localization of the robotic pool cleaner without initial location information by matching local features with the swimming pool map, enhancing efficiency and accuracy through magnetometer direction identification.
Implementation Method 1
collecting edge data of the swimming pool and magnetometer data in a walking process
Implementation Method 2
point cloud data that is of the edge of the swimming pool and collected by a laser ladar
Data Source
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AI summary
The present disclosure relates to a localizing method for a robotic pool cleaner and a robotic pool cleaner. The localizing method includes: controlling the robotic pool cleaner to walk along an edge of a swimming pool, and collecting edge data of the swimming pool and magnetometer data in a walking process; generating to-be-matched data based on the edge data of the swimming pool and direction information provided by a magnetometer; and matching the to-be-matched data with a saved swimming pool map to obtain current location information of the robotic pool cleaner in the swimming pool map. The present disclosure quickly matches the collected edge information of the swimming pool with the swimming pool map to achieve rapid localization.