Multi-Robot Pool Cleaning With Cable Entanglement Avoidance
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Solution Overview
Problem
Large swimming pools often require a single commercial pool cleaner, which can lead to downtime and inefficiencies if the cleaner needs servicing or repair, and there is a need to reduce human intervention and improve cleaning efficiency.
Innovation Solution
A set of pool cleaning robots that can work together, with different configurations and capabilities, such as varying propulsion units and cleaning brushes, to clean the pool simultaneously or cooperatively, including collision and cable entanglement avoidance mechanisms, allowing for efficient and overlapping cleaning tasks.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a single commercial pool cleaner is used, then the cleaning equipment is simple and cost-effective, but the pool cleaning operation is interrupted when servicing or repair is needed
Solution Approach 1:
The system divides the pool cleaning task into multiple independent robots, each capable of autonomous operation. This segmentation allows the pool to be cleaned by multiple units working in parallel, ensuring continuous operation even when one unit requires maintenance or repair.
Solution Approach 2:
The system changes the operational parameter from single-unit sequential cleaning to multi-unit parallel cleaning. By deploying multiple robots simultaneously, the overall cleaning capability and reliability are enhanced while maintaining individual unit simplicity.
2Productivity
If multiple pool cleaners are deployed to ensure continuous operation, then reliability and continuous cleaning are improved, but the device complexity and coordination requirements increase
Solution Approach 1:
Each robot is equipped with autonomous navigation and collision avoidance capabilities, allowing them to independently manage their own operation without requiring complex external coordination systems. The robots self-regulate their paths and avoid conflicts automatically.
Solution Approach 2:
The system employs sensors and communication mechanisms that provide real-time feedback between robots and the central control system. This feedback enables dynamic adjustment of cleaning paths and coordination of operations, optimizing productivity while managing complexity through intelligent control.
3Productivity
If multiple pool cleaners work simultaneously, then cleaning efficiency and thoroughness are improved, but the risk of cable entanglement and collisions increases
Solution Approach 1:
The system dynamically adjusts the cleaning paths of multiple robots in real-time based on their positions and movements. The control system continuously updates navigation routes to prevent cable entanglement and collisions, allowing multiple units to operate efficiently and safely simultaneously.
Solution Approach 2:
A central control system acts as an intermediary that coordinates between multiple robots, managing their movements and cable routing. This intermediary layer prevents direct conflicts between robots by mediating their paths and operations, reducing the risk of entanglement and collisions.
Data Source
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Figure 1C
AI summary
A pool cleaning robot (21) comprises a housing (251), a propulsion mechanism configured to propel the pool cleaning robot along an interior surface of a pool; brushes to clean surfaces of the pool during a cleaning cycle, a filtering system (252), a suction mechanism to draw liquid from the pool through an inlet into the housing and to discharge it from an outlet; and a detachable sensor that is detachably coupled to the housing (251) and comprises inductive electrical and data transfer connections.