Pool Cleaning Robot Wall Path Planning at the Waterline
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Solution Overview
Problem
Existing pool cleaning robots lack effective path planning methods for cleaning pool walls, resulting in incomplete cleaning of these surfaces.
Innovation Solution
A path planning method and apparatus for pool cleaning robots that control the robot to move to a position corresponding to the pool's waterline, adjust its direction, and then move along the pool wall in a horizontal and vertical manner to ensure comprehensive cleaning of the pool walls.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the pool cleaning robot uses conventional cleaning paths, then the cleaning process is simple, but the pool walls cannot be completely cleaned
Solution Approach 1:
The cleaning path is segmented into distinct phases: waterline positioning phase, horizontal cleaning phase, and vertical cleaning phase. Each phase has specific movement patterns and cleaning objectives, allowing the robot to systematically cover different areas of the pool wall without missing any sections.
Solution Approach 2:
The cleaning path transitions from two-dimensional horizontal movement at the waterline to three-dimensional vertical movement along the pool wall. This dimensional change enables the robot to access and clean the entire pool wall surface, including areas that would be inaccessible with purely horizontal movement.
2Reliability
If the pool cleaning robot performs comprehensive wall cleaning, then cleaning effectiveness improves, but cleaning time increases
Solution Approach 1:
The cleaning action continues uninterrupted along the defined path. The robot maintains continuous contact with the pool wall surface while moving horizontally at the waterline and then vertically downward, ensuring no area is missed and cleaning efficiency is maximized without redundant movements.
Solution Approach 2:
The robot first positions itself at the waterline before beginning the cleaning process. This preliminary positioning ensures optimal starting point for both horizontal and vertical cleaning phases, allowing the cleaning to proceed systematically without needing to reposition mid-task.
Data Source
AI summary
A path planning method for a pool cleaning robot is provided. The method includes: controlling a pool cleaning robot to move to a first position on a pool wall of a pool, the first position being a position corresponding to a waterline of the pool; controlling the pool cleaning robot to turn a first angle, so as to adjust a moving direction of the pool cleaning robot to be a first direction; controlling the pool cleaning robot to move in the first direction on the pool wall; when the pool cleaning robot has moved a first distance in the first direction, controlling the pool cleaning robot to turn a second angle, so as to adjust the moving direction of the pool cleaning robot to be downward along the pool wall; and controlling the pool cleaning robot to move downwards along the pool wall.