Pool Cleaning Robot Wall-Edge Tracking With Guide Contact
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Solution Overview
Problem
Existing swimming pool cleaning robots face inefficiencies in cleaning narrow areas like corners and wall edges due to signal attenuation of optical sensors and limited detection distance of ultrasonic sensors, leading to inaccurate wall edge identification and positioning issues.
Innovation Solution
Equipping the robot with distance detection sensors and a guide device on the same side, allowing the robot to adjust its direction and move forward using sliding friction when the distance from the wall deviates from a target, ensuring precise cleaning along the wall edge.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Difficulty of detecting and measuring
If optical sensors are used to detect wall edge, then detection capability is provided, but signal attenuation occurs due to water quality and mobility factors
Solution Approach 1:
The patent introduces an intermediary mechanical guide device that physically contacts the pool wall to provide positioning information, mediating between the unreliable optical detection and the robot's navigation system. This mechanical intermediary compensates for signal attenuation by providing direct tactile feedback about wall position.
Solution Approach 2:
The patent replaces the purely optical detection system with a hybrid system that incorporates mechanical contact through the guide device. This substitution addresses the reliability issue by using mechanical principles (direct contact) to verify and supplement optical detection in the challenging underwater environment.
2Length of stationary object
If ultrasonic sensors are used to detect wall edge, then detection range is extended, but detection precision is reduced due to limited detecting distance
Solution Approach 1:
The patent segments the detection function into two parts: ultrasonic sensors provide long-range preliminary detection, while the mechanical guide device provides precise contact-based positioning when near the wall. This segmentation allows each sensor type to operate in its optimal range, combining extended detection distance with high precision.
Solution Approach 2:
The ultrasonic sensors perform preliminary detection at a distance to locate the general area of the wall, allowing the robot to approach the wall. The mechanical guide device then performs the precise positioning action when the robot is close to the wall, ensuring accurate wall edge identification.
3Productivity
If robot moves closer to wall for precise cleaning, then cleaning effectiveness improves, but positioning accuracy deteriorates due to signal attenuation
Solution Approach 1:
The mechanical guide device serves as an intermediary that provides direct tactile feedback about wall position when the robot is close to the wall. This allows the robot to maintain precise positioning for effective cleaning while the guide device compensates for optical signal attenuation in the near-wall region.
Solution Approach 2:
The guide device provides continuous tactile feedback about contact with the wall, allowing the control system to adjust the robot's position in real-time. This feedback mechanism ensures the robot maintains the optimal distance from the wall for effective cleaning while compensating for positioning errors caused by signal attenuation.
4Measurement precision
If guide device contacts wall for positioning, then positioning accuracy improves, but friction force affects movement smoothness
Solution Approach 1:
The patent makes the guide device dynamically adjustable in its contact pressure with the wall. The contact force can be modulated based on operational needs, allowing the system to switch between high-precision positioning mode (higher contact force) and smooth movement mode (lower contact force), optimizing both positioning accuracy and movement smoothness.
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 solution enables the robot to accurately identify and clean along the pool wall, improving efficiency and effectiveness in cleaning narrow areas by maintaining a consistent distance and adjusting direction as needed.
Implementation Method 1
driving the swimming pool robot to move forward by a sliding friction generated by the guide device and the swimming pool wall
Data Source
AI summary
The present disclosure provides a method for a swimming pool robot to clean along a wall edge, including when a task of cleaning along the wall edge is performed, determining a distance between the swimming pool robot and a swimming pool wall; determining whether the distance between the swimming pool robot and the swimming pool wall matches a target distance when moving along the wall edge, and when the distance does not match the target distance, controlling the swimming pool robot to turn a preset angle towards the swimming pool wall, and driving the swimming pool robot to move forward; determining whether the guide device touches the swimming pool wall, and when the guide device touches the swimming pool wall, driving the swimming pool robot to move forward, until the distance between the swimming pool robot and the swimming pool wall matches the target distance.