Pool Cleaner Guiding Structure for Stable Wall-Edge Tracking
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Solution Overview
Problem
Swimming pool cleaning robots face challenges in maintaining a parallel path along the pool edge due to limited sensor range and driving control lag, leading to uneven paths and missed cleaning areas.
Innovation Solution
A pool automatic cleaning device equipped with a guiding structure that touches the pool wall, allowing the robot to maintain parallel movement by adjusting its yaw angle and ensuring close attachment to the wall, using sensors for real-time mapping and cleaning adjustments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If the robot uses distance measurement sensors to maintain distance from the pool edge, then the robot can operate autonomously, but the limited sensor range causes the robot to be too far or too close to the pool edge
Solution Approach 1:
The patent introduces a guiding structure as an intermediary mechanical element that physically contacts the pool edge to provide direct tactile feedback for positioning. This mechanical intermediary complements the optical distance sensors, allowing the robot to maintain precise distance from the pool edge even when sensor range is limited, thereby resolving the contradiction between autonomous operation and measurement precision.
2Adaptability or versatility
If the robot constantly adjusts its distance from the pool wall through driving control, then the robot can adapt to varying pool edge conditions, but the control lag results in an uneven path
Solution Approach 1:
The guiding structure enables the robot to self-correct its position relative to the pool edge through direct mechanical contact. When the guiding structure touches the pool edge, it naturally guides the robot's movement without requiring active control intervention, thereby eliminating control lag and achieving smooth, even paths while maintaining adaptability to varying pool edge conditions.
3Measurement precision
If the robot moves parallel to the pool wall using sensor data, then mapping quality can be maintained, but the robot may collide with or rub against the pool wall due to distance variations
Solution Approach 1:
Instead of using sensors to actively control distance maintenance, the patent inverts the approach by using the guiding structure to passively maintain distance through mechanical contact. The robot allows the guiding structure to touch the pool edge, which naturally maintains a consistent offset distance, thereby preventing collisions while preserving mapping quality through stable positioning.
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
Ensures smooth movement along the pool edge, improves mapping quality, and enhances cleaning coverage by preventing collisions and maintaining consistent proximity to the pool wall.
Implementation Method 1
in a case where the guiding structure touches a pool wall, a friction force caused by the touch is able to cause the guiding structure to rotate
Data Source
AI summary
The present application provides a pool automatic cleaning device, including: a main body; a moving mechanism which is located on a side of the main body and enables the pool automatic cleaning device to move; and a guiding structure which is disposed on the moving mechanism or the main body and protrudes from the moving mechanism or the main body; wherein during a movement of the pool automatic cleaning device, in a case where the guiding structure touches a pool wall, a friction force caused by the touch is able to cause the guiding structure to rotate. The present application may control the pool automatic cleaning device to keep the main body closely attached to the pool wall when moving along a pool edge through the guiding structure, thereby improving the mapping quality and the cleaning coverage rate in the pool edge region.