Swimming Pool Cleaning Robot Path Control for Wall Junction Coverage
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Solution Overview
Problem
Swimming pool cleaning robots often miss cleaning regions near the junctions of two walls due to their size and turn radius limitations, resulting in a lower cleaning coverage rate.
Innovation Solution
A control method for a swimming pool cleaning robot that involves monitoring its proximity to obstacles, descending to the pool bottom, and moving towards the adjacent wall to climb it, thereby approaching the obstacle and improving cleaning coverage.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the robot follows a straight-line wall cleaning path, then the cleaning path is simple and easy to control, but the regions near the junction between walls are missed and cleaning coverage is reduced
Solution Approach 1:
The robot transitions from two-dimensional wall surface cleaning to three-dimensional movement by descending to the pool bottom and approaching the obstacle from below, then climbing the adjacent wall. This dimensional change enables the robot to access junction regions that are inaccessible via straight-line wall cleaning paths.
Solution Approach 2:
The robot monitors its position in advance and detects when it is close to an obstacle before reaching the junction. It performs preliminary descent to the pool bottom and repositioning actions ahead of time, allowing it to approach the obstacle from a favorable position and subsequently climb the adjacent wall to clean the junction region.
2Ease of operation
If the robot maintains a sufficient turn radius for switching walls, then the robot can make smooth turns, but the required space increases and junction regions cannot be reached
Solution Approach 1:
Instead of turning in the two-dimensional wall plane which requires large space, the robot utilizes the third dimension (pool bottom) to reposition itself. By descending to the bottom and moving horizontally, then climbing the adjacent wall, the robot achieves wall switching without requiring large turn radii on the wall surface.
Solution Approach 2:
The pool bottom serves as an intermediary space that facilitates the robot's transition between adjacent walls. The robot uses the bottom region as a temporary platform to reposition itself close to the next wall before climbing, eliminating the need for large turn radii on the wall surface itself.
3Productivity
If the robot approaches the obstacle closely, then the cleaning coverage near junctions is improved, but the risk of collision with the obstacle increases
Solution Approach 1:
The robot approaches the obstacle from a different dimension (from the pool bottom rather than parallel to the wall). This vertical approach allows the robot to get close to the junction region for effective cleaning while maintaining spatial separation that reduces collision risk compared to horizontal approaches along the wall.
Solution Approach 2:
The robot continuously monitors its position relative to obstacles using sensors. When the robot detects it is close to an obstacle, it triggers the descent and repositioning sequence. This feedback mechanism ensures the robot maintains appropriate distance while still achieving close proximity to junction regions for effective cleaning.
Data Source
AI summary
A control method of a swimming pool cleaning device and a device are disclosed. The method comprises monitoring whether the swimming pool cleaning robot traveling on a first wall is close to an obstacle; if the swimming pool cleaning robot is close to the obstacle, controlling the robot to descend to a bottom of the pool; controlling the robot to move from the bottom of the pool towards a second wall and climb the second wall; wherein the robot is approaching the obstacle in a process of moving from the bottom of the pool towards the second wall and climbing the second wall. In the present disclosure, the second position on the second wall is taken as the starting point for the cleaning device to move forward, and the second position is closer to the first wall than the starting point on the second wall used in the prior art.