Underwater Robot Heading Correction for Full-Coverage Pool Cleaning
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Solution Overview
Problem
Swimming pool cleaning robots face challenges in maintaining a pre-planned cleaning route due to external factors like uneven pool bottoms and obstacles, leading to incomplete coverage cleaning.
Innovation Solution
A control method for underwater robots that involves determining the attitude and heading angles using inertial sensor data, calculating deviation angles, and adjusting the rotation speed of traveling and water pumping motors to correct the robot's path and maintain the target heading.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the underwater robot follows a pre-planned cleaning route, then the cleaning coverage is ensured, but the robot cannot adapt to external factors such as uneven pool bottom and obstacles causing route deviation
Solution Approach 1:
The patent implements a feedback control mechanism by continuously detecting the robot's actual heading angle through inertial sensors and comparing it with the target heading angle from the pre-planned route. Based on the detected deviation angle, the system automatically adjusts the rotation speed of traveling motors to correct the robot's trajectory, ensuring the robot returns to the intended cleaning path while adapting to external disturbances such as uneven pool bottoms and obstacles.
2Adaptability or versatility
If the robot adjusts its heading to avoid obstacles and uneven pool bottom, then the adaptability improves, but the cleaning coverage becomes incomplete due to route deviation
Solution Approach 1:
The system continuously monitors the deviation between actual and target heading angles through inertial sensors and implements real-time corrections by adjusting motor rotation speeds. This feedback mechanism ensures that while the robot can adapt to obstacles and uneven surfaces, it automatically returns to the pre-planned cleaning route, maintaining complete cleaning coverage.
3Measurement precision
If the robot uses inertial sensors to detect heading angle, then the heading accuracy improves, but the device complexity increases
Solution Approach 1:
The patent replaces complex mechanical heading measurement systems with inertial sensors that utilize electromagnetic and optical principles. The inertial measurement unit (IMU) combines accelerometers and gyroscopes to calculate heading angles through mathematical algorithms, providing high-precision orientation data without the mechanical complexity of traditional compasses or mechanical heading indicators.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Ensures full-coverage cleaning of specific areas in swimming pools by continuously correcting the underwater robot's heading angle, allowing it to follow the pre-planned cleaning route despite external deviations.
Implementation Method 1
determining an attitude angle of the underwater robot according to inspection data of an inertial sensor
Implementation Method 2
the inertial sensor includes a 3-axis gyroscope and a 3-axis accelerometer, the inspection data of the inertial sensor includes gyroscope parameters and acceleration parameters
Implementation Method 3
the inertial sensor includes a 3-axis gyroscope and a 3-axis accelerometer
Implementation Method 4
determining a rotation speed adjustment amount of a traveling motor and/or a water pumping motor according to the deviation angle
Implementation Method 5
determining a rotation speed adjustment amount of a traveling motor and/or a water pumping motor according to the deviation angle
Data Source
AI summary
A control method applied in an underwater robot, an underwater robot, and a storage medium are provided, wherein the control method applied in comprises: determining an attitude angle of the underwater robot according to inspection data of an inertial sensor, and determining a heading angle according to the attitude angle; determining a deviation angle between the heading angle and a target heading angle when there is a deviation between the heading angle and the target heading angle; determining a rotation speed adjustment amount of a travelling motor and/or a water pumping motor according to the deviation angle, and adjusting a rotation speed of the travelling motor and/or the water pumping motor according to the rotation speed adjustment amount. The current heading angle is calculated through the inertial sensor, and the traveling direction of the underwater robot is continuously corrected according to the deviation of the heading angle.