Pool Cleaner Path Control Using Infrared Wall Sensing
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Solution Overview
Problem
Conventional pool cleaning equipment is inefficient and imprecise, especially when cleaning irregularly shaped pools, due to reliance on manual operation, fixed 90-degree turns, and inadequate distance and angle measurement, leading to incomplete cleaning and reduced efficiency.
Innovation Solution
Equipping cleaning equipment with infrared and angular velocity sensors to dynamically adjust cleaning paths, using ADC values to control straight running, turning, and calculating turn angles and distances based on sensor data to ensure precise pool coverage.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If conventional cleaning equipment performs 90-degree turns in a square wave pattern, then the cleaning path is simple to implement, but the cleaning coverage is incomplete for irregularly shaped pools
Solution Approach 1:
The cleaning equipment transitions from fixed 90-degree turns to dynamic turning angles. The control system calculates optimal turning angles in real-time based on pool wall positions detected by sensors, allowing the equipment to adapt to irregular pool shapes while maintaining efficient cleaning coverage.
Solution Approach 2:
The system changes the turning angle parameter dynamically instead of using a fixed 90-degree turn. By adjusting the turning angle based on real-time sensor data and pool geometry, the equipment can navigate irregular shapes effectively. The linear velocity and angular velocity parameters are also adjusted based on distance to pool walls.
2Measurement precision
If the cleaning equipment uses only a gyroscope to detect wall contact, then the device complexity is low, but the measurement precision of distance and angle to the pool wall is insufficient
Solution Approach 1:
The system merges multiple sensor types (infrared sensors, angular velocity sensors, gyroscopes) into an integrated measurement system. The infrared sensors detect pool wall positions and distances, while angular velocity sensors measure turning rates, and gyroscopes provide orientation data. This combination achieves high measurement precision without excessive complexity.
Solution Approach 2:
The control system acts as an intermediary that processes data from multiple sensors and translates it into precise control commands. It integrates infrared sensor readings with angular velocity data to calculate optimal turning angles and linear velocities, achieving accurate wall-following behavior.
3Manufacturing precision
If the cleaning equipment brakes after touching the pool wall, then the control logic is simple, but the path accuracy deviates from the preset path at the moment of touching
Solution Approach 1:
The control system performs preliminary actions by detecting pool wall proximity using infrared sensors before actual contact occurs. It calculates the optimal turning angle and adjusts linear velocity in advance based on the distance to the wall, ensuring the equipment follows the preset path accurately without deviating at the moment of touching.
Solution Approach 2:
The system implements continuous feedback by constantly monitoring infrared sensor readings and angular velocity data. Based on this feedback, the control system dynamically adjusts the turning angle and linear velocity to maintain accurate path following, preventing path deviation before it occurs.
4Adaptability or versatility
If the cleaning equipment follows a fixed square wave path, then the productivity is high for rectangular pools, but the cleaning coverage is insufficient for irregularly shaped pools
Solution Approach 1:
The cleaning path transitions from a fixed square wave pattern to a dynamic adaptive path. The equipment continuously adjusts its turning angle and linear velocity based on real-time detection of pool wall positions, enabling it to efficiently clean both rectangular and irregularly shaped pools without sacrificing productivity.
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
Achieves full coverage and improved efficiency in cleaning irregularly shaped pools by allowing dynamic path adjustments and preventing wall collisions, ensuring consistent path spacing and accurate cleaning.
Implementation Method 1
conventional cleaning equipment in the prior art determines whether it touches the pool wall or not only by means of a gyroscope
Implementation Method 2
acquiring a first ADC (analog to digital converter) value collected by means of the infrared sensor
Implementation Method 3
calculating a first turn angle and a first running distance based on angle data uploaded by means of the angular velocity sensor
Data Source
AI summary
Disclosed herein is a control method and a control device of cleaning equipment, the method including: controlling the cleaning equipment to stop running straight, when a collected first ADC value is greater than a first preset value; and then controlling the cleaning equipment to turn in a preset direction, then controlling the cleaning equipment to stop turning, when a collected second ADC value is less than a second preset value; and then calculating a first turn angle and a first running distance; next, controlling the cleaning equipment to run straight forward for the first running distance and then stop running straight, and finally controlling the cleaning equipment to turn the first turn angle in the preset direction, then controlling the cleaning equipment to run straight. By adopting embodiments of the present disclosure, efficiency and precision of cleaning equipment in cleaning a pool can be improved.