Pool Robot Edge-Following Navigation for Dock Return Accuracy
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Solution Overview
Problem
Pool robots struggle to accurately determine their enter-into-water position and charging dock location due to the lack of global positioning data, leading to unstable ashore positions and inefficient traversal methods.
Innovation Solution
The automatic pool cleaning device uses edge-following movements and sensor-based positioning to construct a relative coordinate map, enabling precise determination of enter-into-water and charging dock positions through multiple positioning steps along the pool's edge.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If the pool robot uses local positioning data to return to the enter-into-water position, then it can navigate without global positioning data, but the positioning accuracy deteriorates due to data errors
Solution Approach 1:
The robot performs preliminary actions by moving along the pool edge to collect and store positioning information about the enter-into-water position and charging dock location before needing to return. This preliminary data collection enables accurate navigation back to these positions without relying on error-prone local positioning data alone.
Solution Approach 2:
The patent introduces an intermediary mechanism by using the pool edge as a reference path and collecting positioning information indirectly through sensor-based mapping of the pool environment. This intermediary approach allows the robot to establish accurate position relationships without direct global positioning.
2Reliability
If the pool robot uses traversal methods to find the charging dock, then it can locate the dock without positioning data, but the time consumption increases significantly
Solution Approach 1:
The robot performs preliminary exploration along the pool edge to locate and memorize the charging dock position before actual cleaning tasks. This preliminary action stores the dock's location in the constructed map, enabling rapid navigation back to the dock without time-consuming traversal searches.
Solution Approach 2:
The system uses sensor feedback during edge-following movement to continuously update the robot's position relative to the charging dock. This feedback mechanism allows the robot to efficiently navigate to the dock by comparing current sensor readings with stored positional information.
3Measurement precision
If the pool robot moves along the edge for positioning, then it can establish accurate position references, but the complexity of the positioning system increases
Solution Approach 1:
The pool edge serves multiple functions: it acts as a physical boundary for cleaning, a navigation reference path, and a positioning baseline for establishing coordinate relationships. This multi-functionality reduces the need for separate positioning infrastructure, simplifying the overall system while maintaining accuracy.
Solution Approach 2:
The robot uses its own movement along the pool edge to generate positioning information rather than requiring external positioning infrastructure. By self-generating the reference frame through edge-following navigation and sensor-based mapping, the system achieves accurate positioning without complex external equipment.
Data Source
AI summary
The present application provides an automatic pool cleaning device and a control method thereof. The method comprises: controlling the device to move from a first position on a pool bottom to a second position on the bottom surface of the pool and performing positioning there to obtain first positioning information, wherein at least a first part of the movement path from the first position to the second position is along an edge of the pool; controlling the device to move from the second position to a third position on the bottom surface and performing a cleaning operation on the bottom surface; controlling the device to move from the third position to a fourth position on the bottom surface and performing positioning there to obtain second positioning information; and controlling the device to move from the fourth position back to the first position based on the first and second positioning information.