Pool Cleaning Robot Angle Control for Waterline Wall Cleaning
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Solution Overview
Problem
Existing pool cleaning robots struggle to effectively clean the water level line on pool walls due to a lack of appropriate cleaning methods, leading to dirt accumulation.
Innovation Solution
A control method for pool cleaning robots that involves moving to a position at the water level line, rotating to a target angle, and maintaining that angle while moving horizontally to clean the pool wall, utilizing a cleaning unit such as a roller brush or water jet nozzle.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Area of stationary object
If the pool cleaning robot moves horizontally along the pool wall at the water level line, then the cleaning coverage of the water level line is improved, but the robot requires precise angle control to maintain effective cleaning contact
Solution Approach 1:
The robot dynamically adjusts its body angle during horizontal movement along the pool wall. The control system continuously monitors the robot's position and orientation, automatically adjusting the included angle between the robot's top orientation and vertical direction to maintain optimal cleaning contact at the water level line, rather than using a fixed static angle.
Solution Approach 2:
The control method implements feedback control by monitoring the robot's actual position and orientation during horizontal movement, comparing it with the target angle, and making real-time adjustments to maintain the optimal cleaning angle. This closed-loop control ensures consistent cleaning effectiveness despite variations in pool wall geometry or robot positioning.
2Reliability
If the robot maintains a fixed target angle during horizontal movement, then the cleaning effectiveness at the water level line is improved, but the robot's adaptability to different pool wall positions is reduced
Solution Approach 1:
The system transitions from a static fixed angle approach to a dynamic angle adjustment mechanism. The robot's orientation is continuously adapted during horizontal movement based on its position along the pool wall, allowing it to maintain optimal cleaning effectiveness while adapting to different locations and potential variations in pool wall geometry.
Data Source
AI summary
A control method for a pool cleaning robot includes: controlling the pool cleaning robot to move to a first position on a pool wall of a pool, in which the first position is a position where a water level line of the pool is located; controlling the pool cleaning robot to rotate by a first angle to adjust an included angle between an orientation of a top of the pool cleaning robot and a vertical direction to a target angle; and controlling the pool cleaning robot to move in a horizontal direction starting from the first position to clean the pool wall, in which the included angle between the orientation of the top of the pool cleaning robot and the vertical direction is maintained at the target angle during the horizontal movement of the pool cleaning robot.