Epson SGPM01 Helps Intelligent Swimming Pool Cleaning Robot Navigation Solution

Sep 04,2024
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Swimming Pool Cleaning Navigation Solution

At present, pool cleaning robots have become a new hot track, and many companies have invested in research and development in this new field, mainly related to companies that have been engaged in household sweeping machines. This is because the intelligence of pool cleaning robots is close to that of previous sweeping robots, and they are still in the initial stage of technology.

The same part as household sweeping robots is that currently pool cleaning robots mainly walk randomly without adding path planning, resulting in lower cleaning efficiency. In the future, they will soon enter the era of planning. The difference is that the environment inside the swimming pool is completely different from the working environment of a household sweeping machine, and the navigation method cannot adopt the current mainstream laser navigation or visual navigation methods. In the future, inertial navigation+ultrasound may be the main navigation method. At present, ultrasonic radar is mainly used for obstacle avoidance and other functions, so the most reliable way for swimming pool cleaning robots to navigate is still inertial navigation.

Firstly, let's analyze the working environment of the swimming pool robot. The main task of the swimming pool robot is to clean the bottom and walls of the pool. The cleaning of the walls can provide very clear pitch angle data due to the general acceleration, and its function is similar to that of past window cleaning robots, so there are not many technical difficulties in wall cleaning. Due to the fact that swimming pool robots need to climb walls, they cannot be equipped with front collision switches like household sweeping machines in terms of structure. Therefore, the wall is generally judged based on the pitch angle changes caused by the swimming pool robot climbing up the wall, resulting in pitch angle changes every time the robot touches the wall.

Frequent changes in pitch angle can cause significant interference with the accuracy of yaw angle, so swimming pool robots not only require high accuracy in the Z-axis, but also have the same requirements for the X-axis and Y-axis. Regarding working hours, a typical household swimming pool is around 20 to 50 square meters. Although the area is relatively small, the movement speed of the swimming pool robot is also relatively low, usually 10CM/SEC, which is about one-third of that of a household sweeping robot. It takes about an hour to clean the bottom of a 30 square meter swimming pool, so inertial navigation also requires high accuracy from the gyroscope.

If ultrasonic sensors are used to solve the problem of robots not having to climb walls, then only a gyroscope needs to be used in the Z-axis to achieve this requirement. The technical solution is the 1+6 scheme commonly used by inertial navigation sweeping robots in the past, which is one Epson high-precision gyroscope and one 6-axis gyroscope sensor. If the robot needs to frequently climb the wall, then this solution is not very suitable and requires a higher end IMU for navigation. Considering the cost requirements, Epson has collaborated with a third party to develop the SGPM01 series gyroscope module. In this type of working environment, it has been tested and can achieve a deviation of 5 degrees per hour, which can meet the general requirements of the industry.

About SGPM01 series gyroscope module

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Description:

SGPM01 is a module developed based on high-performance gyroscope sensors, accelerometers, and magnetometers, with built-in 3-axis gyroscope, 3-axis accelerometer sensors, and 3-axis geomagnetic sensors.

Relying on high-precision sensors, high-performance and advanced processing, it outputs very stable angular velocity values, acceleration values, magnetometer and attitude angles. The module can support SPI data communication, and the overall size of the product is 24 * 22 * 8mm

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Product Features

High precision 9-axis gyroscope module

Output three-axis acceleration value, three-axis angular velocity value, three-axis geomagnetic field, attitude angle (tch, Roll, Yaw), temperature

Digital Communication UART and SPI

Product size: 24 * 22 * 8mm

Low power consumption

*The product data is sourced from a third-party laboratory and may differ from the actual data due to differences in usage and settings.