Pool Cleaning Robot Navigation With Sonar and Bottom Scraping
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Solution Overview
Problem
Existing swimming pool cleaning robots either move randomly and inefficiently or require complex route planning, leading to potential collisions and inability to effectively clean adherent dirt at the pool bottom.
Innovation Solution
A swimming pool cleaning robot equipped with angle, gyroscope, and ultrasonic sensors that use sonar to navigate and adjust direction, combined with an anti-collision guide assembly and scraping mechanism to ensure efficient cleaning and prevent damage.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the robot moves randomly and turns around after colliding with the pool wall, then the robot can operate without complex route planning, but the robot cannot clean the swimming pool effectively and moves irregularly
Solution Approach 1:
The robot uses its own collision with the pool wall as a trigger signal to automatically initiate route planning and navigation adjustments, eliminating the need for external control or complex pre-programmed routes while maintaining effective cleaning coverage
Solution Approach 2:
The robot detects wall collisions and uses this feedback information to adjust its movement direction and planning subsequent routes, creating a closed-loop control system that adapts to the pool environment dynamically
2Productivity
If the robot walks according to certain line route rules to clean each area independently, then the robot can clean the pool bottom thoroughly, but the robot requires complex route planning and professional operation
Solution Approach 1:
The robot autonomously performs route planning based on real-time sensor data and collision feedback, eliminating the need for external professional operation or complex pre-programmed routes while maintaining systematic cleaning coverage
Solution Approach 2:
The robot's route planning is dynamic and adaptive, adjusting its path in real-time based on collision detection and environmental feedback rather than following fixed predetermined routes
3Measurement precision
If the robot uses acceleration sensor and gyroscope for inertial measurement to obtain speed and position information, then the robot can issue correct motion control commands, but the robot may easily collide with the pool wall in pools with poor implementation range
Solution Approach 1:
The patent combines inertial measurement (acceleration sensor and gyroscope) with collision detection feedback to create a hybrid navigation system that uses position data for proactive route planning and collision detection for reactive safety adjustments
Solution Approach 2:
The robot uses inertial measurement data to proactively plan routes that avoid walls before collisions occur, taking preliminary actions to prevent collisions rather than only reacting after contact
4Device complexity
If the robot uses ordinary cleaning mechanisms, then the robot structure is simple, but the robot cannot remove dirt with strong adhesion at the bottom of the swimming pool
Solution Approach 1:
The patent introduces vibration mechanisms to the cleaning system that enhance the robot's ability to dislodge and remove adherent dirt from the pool bottom through vibrational forces that break the adhesion bonds
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 robot cleans the pool bottom effectively without manual route planning, avoids collisions, and efficiently removes stubborn dirt, improving cleaning efficiency and safety.
Implementation Method 1
the first sonar and the second sonar fixed on a forward side of the cleaning robot body 1
Implementation Method 2
an angle sensor, a gyroscope sensor and an acceleration sensor, and the angle sensor, the gyroscope sensor and the acceleration sensor are arranged inside the cleaning robot body 1
Implementation Method 3
The inertial measurement method of the combination of acceleration sensor and gyroscope used in the swimming pool cleaning robot can obtain the speed and position information through the acceleration and rotation angle of the robot
Data Source
AI summary
The present disclosure belongs to the technical field of swimming pool cleaning, in particular to a swimming pool cleaning robot and a steering method, which including a cleaning robot body, an angle sensor, a gyroscope sensor and an acceleration sensor arranged inside the cleaning robot body, as well as first sonar and second sonar fixed on the forward side of the cleaning machine body. The present disclosure solves the problem of low random cleaning efficiency of the traditional cleaning robot, and there is no need to plan the cleaning route, and can be directly used in the swimming pool. The scraping assembly can scrape the dirty at the bottom of the swimming pool, and then facilitate the suction of the sewage suction port. It has a strong cleaning effect for some dirty stuck at the bottom of the swimming pool that is difficult to suck.