Pool Cleaner Corner Turning with Adaptive Angle Sensing

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Solution Overview

Problem

Cleaning apparatuses face challenges in accurately predicting rotation angles when encountering pool edges with non-right angles, leading to inefficiencies and increased risk of hitting walls due to insufficient map information and obstacle avoidance accuracy.

Innovation Solution

The apparatus determines a second angle based on collected distance data and posture information to rotate precisely, using sensors like ultrasonic range finders and inertial measurement units to adjust its direction, ensuring it remains at a safe distance from the pool walls.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Device complexity

If the cleaning apparatus uses a simple rotation control method, then the device complexity is reduced, but the manufacturing precision of rotation angle is insufficient leading to collision risk

Engineering Contradiction:

Improverotation control mechanismVSAvoidrotation angle accuracy

Core Design Contradiction:

Device complexityVSManufacturing precision

Solution Approach 1:

The system uses sensors to detect distance to pool edges and walls in real-time, feeds this information back to the controller, and dynamically adjusts rotation angles based on the feedback data. This closed-loop feedback mechanism enables precise rotation control without requiring complex mechanical precision, resolving the contradiction between simple device structure and high rotation accuracy.

Inventive Principle:

Principle #23Feedback

Solution Approach 2:

The patent replaces mechanical precision systems with electronic sensing and computational control. Instead of relying on mechanically precise rotation mechanisms, the system uses ultrasonic sensors, infrared sensors, or cameras to detect environment, processes the data through algorithms, and controls rotation electronically, achieving high precision without mechanical complexity.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

2Reliability

If the cleaning apparatus collects extensive distance data and performs complex calculations, then the obstacle avoidance accuracy is improved, but the loss of time increases

Engineering Contradiction:

Improveobstacle avoidance accuracyVSAvoiddata processing time

Core Design Contradiction:

ReliabilityVSLoss of time

Solution Approach 1:

The system performs preliminary actions by continuously collecting distance data to pool edges and walls before actual rotation decisions are needed. By maintaining up-to-date environmental information in advance, the system avoids time-consuming data collection during critical rotation moments, thus improving response speed while maintaining high obstacle avoidance accuracy.

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The patent applies partial action by selectively processing only the most relevant distance data for rotation decisions rather than analyzing all collected data. The controller identifies key parameters (such as distance to nearest wall, angle to pool edge) and processes only those, reducing computational overhead while maintaining sufficient obstacle avoidance accuracy.

Inventive Principle:

Principle #16Partial or excessive action

3Ease of operation

If the cleaning apparatus rotates by a fixed angle, then the ease of operation is improved, but the adaptability to different pool corner angles deteriorates

Engineering Contradiction:

Improverotation control simplicityVSAvoidcorner angle adaptation

Core Design Contradiction:

Ease of operationVSAdaptability or versatility

Solution Approach 1:

The system transitions from static fixed-angle rotation to dynamic adaptive rotation. The rotation angle is no longer fixed but dynamically adjusted based on real-time sensor data about pool corner angles. The controller calculates optimal rotation angles adaptively, allowing the simple rotation mechanism to handle diverse corner configurations effectively.

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The patent changes the parameter of rotation angle from a fixed constant to a variable determined by environmental parameters. Based on detected pool edge angles and wall positions, the system adjusts the rotation angle parameter dynamically, enabling the simple rotation control to adapt to different corner geometries without increasing operational complexity.

Inventive Principle:

Principle #35Parameter changes

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

This method enhances the accuracy and safety of obstacle avoidance by allowing the cleaning apparatus to make precise rotations, reducing the risk of collisions and improving map building efficiency.

Implementation Method 1

sensors like ultrasonic range finders

Methodology Applied

Scientific EffectUltrasonic wave reflection: Echo

Implementation Method 2

inertial measurement units

Methodology Applied

Scientific EffectInertial sensing: Accelerometer

Data Source

PatentEP4671904A1Apparatus for cleaning pool and controlling method

Publication Date: 2025.12.31 SHENZHEN AIPER INTELLIGENT CO LTD

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AI summary

Disclosed are an apparatus for cleaning a pool and a method for controlling the apparatus. The method includes rotating the apparatus by a first angle in response to an arrival of the apparatus at a corner formed by edges of walls of a pool, determining (210) a plurality of distances between the apparatus and the edges of the walls in front of the apparatus during rotating by the first angle, determining (230) a second angle based on the plurality of distances, and rotating (250) the apparatus by the second angle.