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Robotic pool cleaning for better hygiene

4. Swimming pool cleaning robot algorithm Algorithm I. Algorithm for swimming pool robot
design
The operational process of the swimming pool robot a. Power on the robot, calibrate sensors, and ensure all
given in algorithm I, which begin with powering on the components are functioning correctly
system and calibrating all sensors to ensure they function b. Establish a connection with the remote human-machine
correctly. 20,25 It establishes a connection with a remote interface using the wireless unit and transmit the initial
human-machine interface through the wireless unit to status to the interface
transmit initial status updates. The robot continuously c. Continuously measure water quality parameters using
monitors water quality parameters using its dedicated the water quality monitoring unit. If parameters exceed
unit, sending alerts to the interface if any readings acceptable limits, send an alert to the human-machine
exceed acceptable limits. It then activates the sensor unit interface
to scan the pool surface for floating debris, employing d. Activate the sensor unit to scan the pool surface for
image processing algorithms such as color moments floating debris and use image processing algorithms
(color moment) to identify and classify debris
for identification and classification. Based on the sensor e. Based on sensor data, determine the location and type
data, the robot determines the location and type of of debris
debris and calculates the trajectory toward it using X f. If debris is detected, calculate the trajectory toward it
and Y coordinates. The motor unit adjusts its movement using X and Y coordinates
accordingly – turning left or right depending on the g. Adjust the motor unit’s movement accordingly:
debris’s position or moving straight ahead if the debris i. If debris is on the left, turn left (e.g., 30° or 15°)
is directly in front. Once the debris is reached, the robot ii. If debris is straight ahead, move forward
lowers its salvage net to collect it and then raises the net iii. If debris is on the right, turn right (e.g., 30° or 15°).
to return to its cleaning path. Throughout the operation, h. Lower the salvage net and use the motor unit to collect
ultrasonic sensors detect obstacles, triggering a threshold- the identified debris
based avoidance algorithm that directs the robot to turn or i. Raise the net once the debris is captured and return to
the cleaning path
reverse as necessary. The robot repeats the debris detection j. Utilize ultrasonic sensors to detect obstacles in the
and cleaning cycle while continuously monitoring water robot’s path
quality. After completing the cleaning tasks, it returns to k. Implement a threshold-based avoidance algorithm:
the charging station, powers down non-essential systems, i. If an obstacle is detected on the left, turn right
and prepares for the next operational cycle. ii. If an obstacle is detected on the right, turn left
This algorithm provides a structured approach to iii. If an obstacle is directly ahead, reverse or turn around.
designing the swimming pool robot, enabling it to l. Repeat the debris detection and cleaning process
efficiently monitor and maintain water cleanliness while m. Continuously monitor water quality throughout the
ensuring user safety through real-time communication operation
and obstacle avoidance. n. Once cleaning is completed, return to the charging
station
4.1. Comparison with manual cleaning o. Power down non-essential systems and prepare for the
Robotic cleaning offers several advantages over next operation cycle.
traditional manual maintenance, which relies on human
labor and comes with challenges such as being labor- maintenance personnel are often exposed to chlorine and
intensive, time-consuming, and inconsistent due to cleaning chemicals that may cause respiratory and skin
variations in skill, availability, and fatigue. In addition, issues, a risk that can be eliminated through automation.
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manual cleaning is typically performed at scheduled Furthermore, modern robotic systems are designed for
intervals, such as weekly or monthly, which can result energy and resource optimization, reducing operational
in lapses in hygiene between sessions. In contrast, costs compared to employing human workers for
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robotic cleaning systems provide enhanced efficiency frequent clean-ups. Thus, robotic cleaning systems
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by operating continuously or on demand, ensuring present a more efficient, reliable, and cost-effective
immediate removal of debris and contaminants. solution for maintaining swimming pool hygiene.
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They also offer greater consistency, as robots follow
predefined algorithms and cleaning patterns, covering 4.2. Explicit problem statement
the entire pool area uniformly without missing spots. Maintaining swimming pools presents significant
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Another significant advantage is safety, as pool hygiene challenges if not managed properly. One

Volume 22 Issue 2 (2025) 27 doi: 10.36922/ajwep.6564