Pool Cleaning Robot Wall Distance Control With Dual Ultrasonic Sensing
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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
Employing dual ultrasonic sensors in perpendicular directions to control the robot's movement, adjusting speed and direction based on sensing information to maintain optimal distance from obstacles and ensure thorough cleaning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If deep learning models with large number of parameters are deployed on mobile robots, then recognition accuracy is improved, but model size and computational complexity increase
Solution Approach 1:
The patent divides the deep learning model into two separate modules: a backbone network for feature extraction and a head network for classification. This segmentation allows the backbone to be optimized for accuracy while the head can be kept lightweight, resolving the contradiction between model size and recognition accuracy by separating their functions.
Solution Approach 2:
The patent employs knowledge distillation to transfer knowledge from a large teacher model to a smaller student model by matching output distributions. This parameter transformation approach enables the smaller model to achieve comparable accuracy to larger models, effectively reducing model size while maintaining recognition performance.
2Speed
If high-performance processors are used, then computational speed is improved, but energy consumption increases
Solution Approach 1:
The patent implements dynamic computational scheduling that adapts processing power allocation based on task requirements and energy availability. The system dynamically adjusts between high-performance and energy-efficient processing modes, optimizing the balance between computational speed and energy consumption rather than using fixed high-performance processors.
Solution Approach 2:
By segmenting computational tasks into different processing stages with varying computational requirements, the system can allocate processing power appropriately to each stage, avoiding unnecessary energy consumption from using high-performance processors for all tasks.
3Measurement precision
If multiple sensors are integrated, then perception capability is improved, but device complexity increases
Solution Approach 1:
The patent merges data from multiple sensor types (depth sensors, RGB cameras, IMU) into a unified feature representation through the backbone network. This consolidation approach maintains comprehensive perception capability while reducing the complexity of handling each sensor independently by processing them through a shared feature extraction pipeline.
Solution Approach 2:
The backbone network serves as a universal feature extractor that processes inputs from multiple different sensor types, enabling a single component to handle diverse sensor data. This multi-functionality reduces overall system complexity by eliminating the need for separate processing paths for each sensor type.
Data Source
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AI summary
Embodiments of this application provide a robot control method and apparatus. The method includes: obtaining first sensing information collected by a first sensor in a first direction of a target robot; obtaining second sensing information collected by a second sensor in a second direction of the target robot, where the first direction is perpendicular to the second direction; and controlling a moving direction of the target robot in a target swimming pool based on the first sensing information and the second sensing information, where the target robot is configured to clean the target swimming pool. According to embodiments of this application, a problem of incomplete cleaning of the swimming pool due to an inappropriate distance between a swimming pool robot and a wall of the swimming pool is resolved. In this way, the swimming pool robot keeps an appropriate distance from the wall of the swimming pool, and a swimming pool cleaning effect is improved.