Pool Cleaning Robot IMU Layout for Accurate Position Sensing
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Solution Overview
Problem
Existing pool cleaning robots suffer from reduced working efficiency due to improper sensing of the real-time state and coordinate position by the accelerometer and gyroscope when the control board is vertically attached to the housing, leading to increased time costs.
Innovation Solution
The control board is connected to a first sealed chamber through a suspension arm, positioned parallel to the housing bottom, with an inertial measurement unit (IMU) and accelerometer and gyroscope disposed on it, and the power supply assembly is flatly laid below the control board to improve stability and sensing accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If the control board is vertically attached to the housing, then the structure is simple, but the accelerometer and gyroscope cannot properly sense the real-time state and coordinate position
Solution Approach 1:
The control board is rotated from a vertical attachment to a horizontal placement parallel to the bottom of the housing, changing the spatial dimension of mounting. This dimensional change allows the IMU to properly sense the robot's orientation and position, resolving the contradiction between structural simplicity and sensing accuracy.
Solution Approach 2:
Instead of attaching the control board vertically to the housing wall, the invention inverts the approach by placing the control board horizontally at the bottom of the housing. This inversion enables the accelerometer and gyroscope to correctly detect the robot's state, transforming a sensing failure into a successful measurement system.
2Device complexity
If the control board is vertically attached to the housing, then the assembly is simple, but the working efficiency is reduced and time costs are increased
Solution Approach 1:
By changing the mounting dimension from vertical to horizontal, the control board can properly process sensor data for navigation and cleaning tasks. This dimensional reconfiguration enables the robot to operate efficiently with accurate position sensing, directly improving productivity while maintaining assembly simplicity.
3Measurement precision
If the control board is horizontally positioned parallel to the housing bottom, then the sensing accuracy is improved, but the device complexity increases
Solution Approach 1:
The horizontal mounting structure serves multiple functions: it provides accurate IMU sensing for position determination, creates a stable platform for the control board, and facilitates proper orientation of the water pump motor and power supply assembly. This multi-functionality justifies the moderate increase in structural complexity by achieving superior sensing accuracy.
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 configuration allows precise determination of the robot's position, enhancing working efficiency, reducing time costs, and improving user experience by ensuring accurate sensing and stable operation.
Implementation Method 1
an accelerometer and a gyroscope are disposed in the IMU
Implementation Method 2
an accelerometer and a gyroscope are disposed in the IMU
Implementation Method 3
the control board is connected to the first sealed chamber through a suspension arm
Implementation Method 4
a power supply assembly, where the power supply assembly is flatly laid in the first sealed chamber
Data Source
AI summary
A pool cleaning robot is provided. The pool cleaning robot includes a housing and a control board. The housing is internally provided with a first sealed chamber. The control board is connected to the first sealed chamber through a suspension arm, and the control board is disposed in a first direction, so that the control board is parallel to a bottom of the housing. An inertial measurement unit (IMU) is disposed on the control board, and an accelerometer and a gyroscope are disposed in the IMU.