Swimming Pool Robot Sensor Control for Full-Coverage Cleaning
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Solution Overview
Problem
Swimming pool robots exhibit irregular motion paths, leading to inappropriate distances from pool walls and incomplete cleaning due to random direction changes, resulting in poor cleaning efficiency.
Innovation Solution
A robot control method utilizing dual sensors to monitor distances in perpendicular directions, adjusting the robot's direction based on sensing information to maintain optimal distance from obstacles and ensure thorough cleaning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the robot randomly selects a direction after meeting a wall, then the robot can continue moving and performing cleaning, but the distance between the robot and the wall becomes inappropriate, resulting in poor full-coverage cleaning effect and severe missed cleaning
Solution Approach 1:
The robot uses sensors to detect the distance to walls and obstacles in real-time, and adjusts its moving direction based on this feedback information. This closed-loop control ensures the robot maintains an appropriate distance from walls (e.g., 0.5-1.5 meters) while cleaning, preventing both collision and excessive distance that would cause missed cleaning areas
Solution Approach 2:
The robot dynamically adjusts its movement parameters (speed, direction, distance from wall) based on the cleaning progress and environmental feedback. Instead of fixed random direction changes, the robot adaptively modifies its trajectory to maintain optimal cleaning coverage throughout the process
2Area of stationary object
If the robot moves forward and randomly changes direction, then the robot can cover the swimming pool area, but the motion path becomes extremely irregular and cleaning coverage is incomplete
Solution Approach 1:
The robot performs preliminary detection of the swimming pool environment using sensors before starting the cleaning process. It pre-plans a systematic cleaning path that ensures complete coverage while maintaining regular motion patterns, avoiding random direction changes that would create irregular paths
Solution Approach 2:
The cleaning process is divided into systematic segments or zones. The robot follows a structured approach to clean different areas of the pool in an organized sequence, ensuring complete coverage while maintaining path regularity through methodical progression rather than random movement
3Reliability
If the robot maintains a fixed distance from the wall, then the cleaning path becomes predictable, but the robot cannot adapt to varying pool geometries and obstacles
Solution Approach 1:
The robot dynamically adjusts its distance from walls and obstacles based on real-time sensor feedback and the specific geometry being cleaned. The system transitions from fixed-distance movement to adaptive distance control, allowing it to maintain path consistency while adapting to varying pool shapes, corners, and obstacles
Solution Approach 2:
The robot changes its operational parameters (distance from wall, speed, direction angle) based on the detected pool geometry and cleaning progress. This parameter adaptation allows the robot to maintain reliable cleaning coverage while versatility across different pool configurations
Data Source
AI summary
Embodiments of this application provide a robot control method and apparatus. A first sensor is disposed at a front portion of a swimming pool robot. The first sensor is configured to collect first sensing information in a forward direction of the swimming pool robot. A second sensor is disposed on a left side and/or a right side of the swimming pool robot. The second sensor disposed on the left side is configured to collect second sensing information in a leftward direction of the swimming pool robot. The second sensor disposed on the right side is configured to collect second sensing information in a rightward direction of the swimming pool robot. The method includes: controlling, based on the first sensing information and the second sensing information, the swimming pool robot to move in a target swimming pool.