Automatic Pool Cleaner Torque Feedback Control
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Solution Overview
Problem
Current automatic cleaning devices for submerged surfaces, such as swimming pools, often get blocked by obstacles, requiring human intervention and leading to incomplete cleaning, motor stress, and reduced service life, without a cost-effective solution to manage blockage situations without additional specific material elements.
Innovation Solution
A method that measures the load torque of electric drive motors periodically and compares it to a threshold value, reversing the motor direction and controlling displacements to deviate from the initial trajectory when the threshold is exceeded, utilizing standard electronic supply and control means to manage blockage situations without additional hardware.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If cleaning devices use random pulse generators or periodic reversal control to ensure complete cleaning, then cleaning quality and efficiency are improved, but the devices frequently get blocked by obstacles like ladders and filtration blocks
Solution Approach 1:
The patent implements feedback control by monitoring the actual movement of the cleaning device and comparing it with the expected trajectory. When deviation is detected (indicating potential blockage), the system adjusts the motor control to correct the path or reverse direction, preventing complete blockage while maintaining cleaning effectiveness.
Solution Approach 2:
The patent transitions from fixed periodic reversal control to dynamic trajectory-based control. The cleaning device continuously adapts its movement pattern based on real-time position feedback and detected obstacles, allowing it to navigate around ladders and filtration blocks while maintaining comprehensive cleaning coverage.
2Reliability
If cleaning devices are equipped with specific sensors and measuring means to detect blockage, then blockage situations are managed effectively, but the manufacturing cost increases substantially
Solution Approach 1:
The patent makes the existing motor position sensors and control electronics serve dual purposes: both for trajectory control and for blockage detection. By analyzing deviation from expected position using existing components, the system achieves reliable blockage management without adding dedicated sensors, thereby avoiding increased manufacturing costs.
3Ease of manufacture
If cleaning devices operate continuously without blockage detection, then manufacturing cost is reduced, but motor stress increases and service life is reduced
Solution Approach 1:
The patent uses feedback from existing position sensors to detect when the cleaning device encounters obstacles. Upon detecting blockage conditions through trajectory deviation, the system automatically reverses or adjusts motor operation, preventing abnormal stress accumulation and extending motor service life without adding cost.
4Device complexity
If cleaning devices require human intervention to free blockages, then device complexity is reduced, but cleaning completeness is compromised and operational time is lost
Solution Approach 1:
The patent enables the cleaning device to automatically detect and respond to blockage situations using existing sensors and control logic. When blockage is detected through trajectory analysis, the device autonomously reverses or adjusts its path to overcome the obstacle, eliminating the need for human intervention and ensuring complete cleaning without adding system complexity.
Data Source
AI summary
The invention relates to a method for controlling an automatic device for cleaning a surface immersed in liquid which comprises electric motors for driving a chassis along a cleanable surface. The inventive method consists in periodically measuring at least one electrical quantity which makes it possible to obtain the representative value of the resisting torque of at least one driving electric motor (7), in comparing each obtained value with the predetermined threshold representative value of a maximum acceptable value and, when said value is greater than said threshold value for the driving electric motor (7), a procedure known as a protection procedure is started. Said procedure consists in inverting the control of at least said driving electric motor (7) in such a way that the device is displaced in a direction opposite to the initial displacement direction and in controlling the device displacements in such a way that it follows the path enabling said device to deviate from the initial path which it followed when said threshold value was exceeded.