Pool Cleaning Robot Path Control Across Walls, Floor, and Waterline
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Solution Overview
Problem
Existing pool cleaning robots struggle to simultaneously clean side surfaces, bottom surfaces, junctions between side and bottom surfaces, and waterline areas efficiently, resulting in long cleaning times and unsatisfactory cleaning effects.
Innovation Solution
A path control method for pool cleaning robots that involves controlling the robot to move along multiple working paths across different surfaces, including moving along and across boundary lines, rotating at switching points, and adjusting distances based on water depth and proximity to the waterline to ensure comprehensive coverage of junctions, corners, and waterline areas.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the pool cleaning robot uses traditional cleaning paths that treat different surfaces separately, then the control system is simple, but the cleaning coverage is incomplete and cleaning time is long
Solution Approach 1:
The cleaning path is segmented into multiple working paths (first, second, third, fourth working paths) corresponding to different pool surfaces (bottom surface, side surface). Each working path is optimized for specific cleaning tasks, allowing the robot to systematically cover all surfaces including junctions and waterline areas without overwhelming control complexity
Solution Approach 2:
The patent transitions from two-dimensional bottom surface cleaning to three-dimensional multi-surface cleaning by adding vertical dimension movement. The robot moves between bottom surface and side surface through boundary lines, enabling comprehensive coverage of junctions, corners, and waterline areas that were previously inaccessible or difficult to reach
2Productivity
If the pool cleaning robot focuses on bottom surface cleaning only, then the control system is simple, but the side surfaces and waterline areas are not cleaned
Solution Approach 1:
The cleaning action continues uninterrupted across different surfaces through seamlessly connected working paths. The robot moves continuously from bottom surface to side surface via boundary lines, maintaining cleaning operation without stopping or repositioning, thus achieving comprehensive coverage while minimizing idle time
Solution Approach 2:
The robot performs preliminary movement along the boundary line before transitioning to side surface cleaning. This preliminary action ensures proper positioning and orientation for efficient side surface coverage, preventing unnecessary movements and time loss during surface transitions
3Productivity
If the pool cleaning robot uses complex multi-surface paths, then the cleaning coverage is complete, but the control system becomes complex and difficult to implement
Solution Approach 1:
The complex multi-surface cleaning task is divided into manageable segments (first, second, third, fourth working paths) with clear start and end points. Each segment handles a specific surface or transition, making the overall control system easier to implement and debug while maintaining complete cleaning coverage
Solution Approach 2:
The working paths are designed to be dynamically adaptable based on pool geometry and cleaning progress. The robot can adjust its movement along boundary lines and switching points to accommodate different pool shapes and sizes, providing ease of operation across various pool configurations
Data Source
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AI summary
The present disclosure relates to the field of underwater robots, and in particular to a path control method, a pool cleaning robot, and a non-transitory computer-readable storage medium. The path control method for a pool cleaning robot includes: controlling the pool cleaning robot to move along a first working path in a first direction on a first working surface of the pool to a boundary line between the first working surface and a second working surface; controlling the pool cleaning robot to cross the boundary line and move a first predetermined distance along a second working path in a second direction on the second working surface to reach a first switching point; and controlling the pool cleaning robot to move from the first switching point to the starting point of a third working path on the second working surface and move along the third working path in the second direction.