Underwater Cleaning Robot Positioning Against Acoustic Multipath
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Solution Overview
Problem
Existing underwater cleaning robots for swimming pools face inaccuracies in positioning due to sound multipath effects, leading to errors in path planning and reduced cleaning efficiency.
Innovation Solution
A positioning method and system using a base station, positioning sensor, and controller to improve accuracy by obtaining and determining the position of the underwater cleaning robot based on the position information of the sensor and the base station, employing techniques like TDOA and TOA models to reduce errors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional underwater positioning methods are used, then the system is simple to implement, but positioning accuracy deteriorates due to sound multipath effects
Solution Approach 1:
The patent introduces a base station as an intermediary component between the underwater cleaning robot and the positioning system. The base station receives signals from the robot's positioning sensor and processes them to determine position information, thereby improving positioning accuracy while isolating the robot from complex processing requirements
Solution Approach 2:
The positioning system is segmented into distinct functional components: a positioning sensor on the robot, a communication module, a base station, and a controller. This segmentation allows each component to perform its specific function optimally, with the base station handling signal processing and the controller managing path planning based on position data
2Manufacturing precision
If positioning accuracy is improved through multiple base stations and sensors, then path planning precision increases, but device complexity increases
Solution Approach 1:
The base station is designed with multi-functionality, serving both as a signal receiver for positioning and as a communication node for transmitting position information to the controller. This universal design reduces the need for separate dedicated components for each function
Solution Approach 2:
The patent merges the positioning sensor and communication functions into an integrated system on the robot, and combines the base station's signal processing and data transmission capabilities, reducing the overall number of separate components while maintaining high path planning precision
Data Source
AI summary
The present disclosure provides a positioning method and system for an underwater cleaning robot, an apparatus, and a storage medium, and relates to the field of cleaning robots. The method includes: obtaining position information of the underwater cleaning robot relative to a base station; and determining a position of the underwater cleaning robot based on position information of a positioning sensor connected to the base station and the position information of the underwater cleaning robot relative to the base station. The method can improve the positioning accuracy of the underwater cleaning robot to a certain extent.