Pool Cleaning Robot Wall-Edge Guidance Using Sensor Feedback
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Solution Overview
Problem
Existing swimming pool cleaning robots face inefficiencies in cleaning narrow areas like corners and wall edges due to signal attenuation of optical sensors and limited detection range of ultrasonic sensors, leading to inaccurate wall edge identification and positioning issues.
Innovation Solution
Equipping the robot with distance detection sensors and a guide device on the same side, allowing the robot to adjust its direction and move forward using sliding friction when the distance from the wall deviates from a target, ensuring precise cleaning along the wall edge.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If optical sensors (lidars) are used to detect wall edges, then the robot can identify the wall edge, but signal attenuation occurs due to water quality and mobility factors, affecting positioning accuracy
Solution Approach 1:
The patent replaces optical sensors (lidars) with acoustic sensors (ultrasonic sensors) for wall edge detection. This substitution addresses the signal attenuation problem of optical sensors in water by using acoustic waves that propagate more reliably through water, thereby improving measurement precision while maintaining reliability in the aquatic environment
Solution Approach 2:
The patent changes the detection parameter from optical signals to acoustic signals. By transitioning to ultrasonic sensors that operate at specific frequencies (e.g., 40kHz), the system overcomes the limitations of optical sensors in water, achieving both accurate wall edge detection and stable signal transmission through the water medium
2Reliability
If ultrasonic sensors are used to detect wall edges, then the robot can operate in water, but the detection distance is limited, affecting cleaning effect in narrow areas
Solution Approach 1:
The patent divides the detection task into multiple segments by using multiple ultrasonic sensors positioned at different locations on the robot. This segmentation allows the robot to detect wall edges at various distances and angles, extending the effective detection range and improving accuracy in narrow areas where a single sensor would be insufficient
Solution Approach 2:
The patent transitions from single-point detection to multi-point spatial detection by arranging ultrasonic sensors in specific geometric configurations. This dimensional approach enables the robot to triangulate wall edge positions and achieve accurate detection in narrow areas while maintaining reliable operation in water
3Measurement precision
If the robot moves away from the wall edge, then the sensor has better detection range, but the cleaning effect of narrow areas cannot be guaranteed
Solution Approach 1:
The patent implements a feedback control system where ultrasonic sensors continuously monitor the distance to wall edges, and the robot's control system adjusts the robot's position based on this feedback. This closed-loop control enables the robot to maintain optimal proximity to walls while ensuring thorough cleaning of narrow areas, resolving the conflict between detection range and cleaning effectiveness
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
The solution enables the robot to accurately identify and clean along the pool wall, improving efficiency and effectiveness in cleaning narrow areas by maintaining a stable and continuous cleaning process.
Implementation Method 1
determining, by two distance detection sensors, a distance between the swimming pool robot and a swimming pool wall
Implementation Method 2
driving the swimming pool robot to move forward by a sliding friction generated by the guide device and the swimming pool wall
Data Source
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AI summary
The present disclosure provides a method for a swimming pool robot to clean along a wall edge, including when a task of cleaning along the wall edge is performed, determining a distance between the swimming pool robot and a swimming pool wall; determining whether the distance between the swimming pool robot and the swimming pool wall matches a target distance when moving along the wall edge, and when the distance does not match the target distance, controlling the swimming pool robot to turn a preset angle towards the swimming pool wall, and driving the swimming pool robot to move forward; determining whether the guide device touches the swimming pool wall, and when the guide device touches the swimming pool wall, driving the swimming pool robot to move forward, until the distance between the swimming pool robot and the swimming pool wall matches the target distance.