Pool Cleaner Wall Tracking at the Waterline
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Solution Overview
Problem
Existing pool cleaning robots struggle to effectively clean the water level line on pool walls due to a lack of appropriate methods, leading to dirt accumulation in this area.
Innovation Solution
A control method and device for pool cleaning robots that involve moving the robot to a position at the water level line, rotating to a target angle, and then moving horizontally while maintaining that angle to clean the pool wall, utilizing a roller brush or water jet nozzle for effective cleaning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the pool cleaning robot moves horizontally along the pool wall at the water level line, then the cleaning coverage and effectiveness at the water level line is improved, but the robot requires precise angle control and positioning capabilities which increases device complexity
Solution Approach 1:
The robot employs dynamic angle adjustment capabilities, allowing it to rotate and maintain optimal contact angles with the pool wall during horizontal movement. The cleaning assembly can dynamically adapt its position and orientation to maintain effective cleaning contact while moving along the water level line, resolving the contradiction between cleaning effectiveness and control complexity through adaptive dynamic control.
Solution Approach 2:
The control system incorporates feedback mechanisms that monitor the robot's position, angle, and cleaning effectiveness in real-time. Sensors detect deviations from the optimal cleaning angle or water level line position, and the controller automatically adjusts motor commands to maintain precise positioning, thereby achieving high cleaning efficiency without requiring overly complex manual control systems.
2Reliability
If the robot maintains a fixed target angle during horizontal movement, then consistent cleaning contact is achieved, but the robot loses adaptability to variations in pool wall geometry and obstacles
Solution Approach 1:
The system implements dynamic angle maintenance rather than rigid fixed-angle control. The robot continuously monitors its contact angle with the pool wall and makes real-time adjustments to maintain the target angle, allowing it to adapt to slight variations in wall geometry while preserving consistent cleaning contact. This dynamic approach enables the robot to navigate around obstacles and accommodate different pool wall conditions.
Solution Approach 2:
The control system allows for parameter adjustments including angle variations, speed modifications, and position corrections based on real-time sensor feedback. When encountering obstacles or geometric variations, the robot can temporarily deviate from the target angle, adjust its position, and then return to the optimal cleaning angle, thereby maintaining both consistency and adaptability through controlled parameter changes.
3Device complexity
If the pool cleaning robot uses only battery power, then the device structure is simpler, but the operating duration and energy efficiency are limited compared to solar-powered options
Solution Approach 1:
The patent describes a hybrid power system that merges battery power with solar panel power. The solar panels are integrated into the robot's structure, allowing it to recharge or supplement power during outdoor operation. This combination of power sources extends operating duration beyond what a battery alone could provide, while maintaining a relatively simple overall structure by using off-the-shelf solar and battery components working together.
Data Source
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AI summary
The present application discloses a robotic pool cleaner control method. The method comprises: controlling a robotic pool cleaner to move to a first position on the pool wall of a pool, the first position being a position where the water line of the pool is located; controlling the robotic pool cleaner to rotate by a first angle, so as to adjust the included angle between the orientation of the top of the robotic pool cleaner and the vertical direction to be a target angle; and controlling the robotic pool cleaner to move in the horizontal direction with the first position as a starting point to clean the pool wall, wherein the included angle between the orientation of the top of the robotic pool cleaner and the vertical direction remains at the target angle in the process that the robotic pool cleaner moves in the horizontal direction.