Pool Cleaning Step-Climbing Control for Full Surface Coverage
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Solution Overview
Problem
Conventional cleaning devices, such as pool cleaning devices, face challenges in effectively cleaning steps due to their random path planning, leading to insufficient coverage.
Innovation Solution
The cleaning device is equipped with sensors to detect obstacles and adjust its orientation to climb steps, ensuring thorough cleaning by moving from one surface to another while maintaining parallel alignment, and using water outlets to facilitate the transition.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the cleaning device moves straight in a single direction with random path planning, then the device structure and control are simple, but the cleaning coverage is insufficient and steps cannot be effectively cleaned
Solution Approach 1:
The cleaning device dynamically adjusts its motion pattern from straight-line movement to climbing motion when encountering steps. The control system enables the device to transition between different motion states (horizontal movement, climbing, descending) based on real-time sensor feedback about the pool bottom topology, thereby adapting to various cleaning scenarios including steps and irregular surfaces.
Solution Approach 2:
The device uses distance sensors to detect the pool bottom topology and provide feedback to the control system. When the sensor detects a step structure (vertical first surface followed by horizontal second surface), the control system processes this information and adjusts the climbing mechanism accordingly, creating a closed-loop control system that improves cleaning coverage through adaptive response.
2Ease of operation
If the cleaning device randomly changes direction when meeting an obstacle, then the control logic is simple, but the cleaning effectiveness on steps is poor
Solution Approach 1:
The control system is pre-programmed with climbing algorithms that activate when step structures are detected. Rather than random direction changes, the device performs preliminary analysis of the obstacle geometry using distance sensors and executes predetermined climbing sequences (approach, climb, traverse, descend), which improves cleaning efficiency while maintaining reasonable control complexity.
Solution Approach 2:
The cleaning device autonomously detects steps using its onboard distance sensors and automatically executes climbing maneuvers without external intervention. The device serves itself by making real-time decisions about when and how to climb steps based on sensor data, eliminating the need for complex external control while improving cleaning productivity.
3Area of stationary object
If the cleaning device uses sensors to detect and climb steps, then the cleaning coverage improves, but the device complexity increases
Solution Approach 1:
The distance sensors serve multiple functions: detecting steps, measuring water depth, identifying pool boundaries, and mapping the pool bottom topology. The climbing mechanism also serves dual purposes by enabling both upward climbing on steps and downward descent. This multi-functionality reduces the need for additional specialized components, thereby limiting the increase in device complexity while expanding cleaned surface area.
Solution Approach 2:
The control system changes operational parameters (motion speed, climbing angle, water flow rate) based on sensor detection results. When a step is detected, the system adjusts parameters to enable climbing mode; when on flat surfaces, it returns to normal cleaning mode. This dynamic parameter adjustment allows the same hardware to handle multiple cleaning scenarios without requiring complex specialized components for each function.
Data Source
AI summary
The present disclosure provides a method for controlling a cleaning device and a cleaning device. The cleaning device includes a first distance sensor disposed at a bottom. The control method includes: in a process in which the cleaning device moves on a bottom of a pool, when the cleaning device approaches or collides with an obstacle, controlling the cleaning device to climb the obstacle; and in a process of climbing the obstacle, if the obstacle is determined as a step, controlling the cleaning device to move from a first surface of the step to a second surface of the step, where the step at least includes the approximately vertical first surface and the approximately horizontal second surface, where the obstacle is determined as the step at least based on a detection value of the first distance sensor.