Pool Cleaning Robot Path Switching for Multi-Surface Coverage
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Solution Overview
Problem
Existing pool cleaning robots struggle to simultaneously clean side surfaces, bottom surfaces, junctions, pool corners, and waterline areas efficiently, resulting in long cleaning times and unsatisfactory results.
Innovation Solution
A path control method for pool cleaning robots that involves controlling the robot to move along multiple working paths across different surfaces, including the bottom and side surfaces, to cover junctions, corners, and waterline areas, with path planning adjusted based on water depth and distance from the liquid surface.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the pool cleaning robot uses traditional cleaning paths, then the robot can clean the bottom surface, but it cannot simultaneously clean side surfaces, junctions, corners, and waterline areas efficiently
Solution Approach 1:
The cleaning path is segmented into multiple working paths including first working path on bottom surface, second working path crossing to side surface, third working path along side surface, fourth working path returning to bottom surface, and fifth working path for waterline cleaning. Each segment targets specific areas (bottom, side, junction, corner, waterline) to achieve comprehensive coverage while maintaining efficient cleaning speed
Solution Approach 2:
The cleaning path transitions from two-dimensional bottom surface cleaning to three-dimensional multi-surface cleaning by adding vertical dimension through side surface cleaning. The robot moves from bottom surface to side surface via boundary line crossing, cleans side surface and waterline areas, then returns to bottom surface, achieving comprehensive coverage of multiple working surfaces at different spatial levels
2Manufacturing precision
If the pool cleaning robot cleans all areas comprehensively including junctions and waterlines, then cleaning effect improves, but cleaning time increases
Solution Approach 1:
The robot performs preliminary actions by pre-planning the multi-surface cleaning path before cleaning begins. The control device calculates optimal switching points between working paths in advance, determining the exact locations where the robot should transition from bottom surface to side surface and back, ensuring comprehensive coverage of junctions and waterlines while minimizing unnecessary movements and time loss
Solution Approach 2:
The cleaning action continues without interruption across different surfaces through seamless path transitions. The robot maintains continuous cleaning motion by smoothly transitioning between first working path on bottom surface, second working path to side surface, third working path along side surface, fourth working path back to bottom, and fifth working path for waterline, eliminating idle time and ensuring useful action persists throughout the entire cleaning cycle
3Adaptability or versatility
If the pool cleaning robot switches between bottom surface and side surface cleaning, then comprehensive coverage is achieved, but path complexity increases
Solution Approach 1:
The control device uses feedback from the robot's current position and orientation to dynamically adjust the cleaning path. Sensors detect the robot's location on the pool surface and provide feedback to the control device, which then determines the appropriate working path and switching points. This feedback mechanism enables the robot to automatically adapt to different pool geometries and water levels while maintaining systematic coverage of all working surfaces
Solution Approach 2:
The cleaning path is dynamic rather than fixed, allowing real-time adjustments based on pool conditions. The robot can modify switching points between bottom and side surface cleaning based on water depth, pool geometry, and cleaning progress. This dynamic path planning reduces control complexity by adapting to actual conditions rather than following rigid pre-programmed sequences
Data Source
AI summary
The present disclosure relates to the field of underwater robots, and in particular to a path control method, a pool cleaning robot, and a non-transitory computer-readable storage medium. The path control method for a pool cleaning robot includes: controlling the pool cleaning robot to move along a first working path in a first direction on a first working surface of the pool to a boundary line between the first working surface and a second working surface; controlling the pool cleaning robot to cross the boundary line and move a first predetermined distance along a second working path in a second direction on the second working surface to reach a first switching point; and controlling the pool cleaning robot to move from the first switching point to the starting point of a third working path on the second working surface and move along the third working path in the second direction.