Cleaning Logic
1. Edge-following:
builds a map of the entire pool and simultaneously plans the cleaning path for the pool bottom.
2. Pool bottom cleaning path:
A. If planning succeeds: two S-shaped passes (edge-following + bow-shaped).
B. If planning fails: two DeepSense passes (large bow shapes with constant direction changes).
3. Pool wall cleaning: one N-shaped cleaning pass.
4. Transition from bottom to surface waiting:
randomly chooses a direction to climb the wall, robot surfaces, pump starts a 20-minute docked waiting for user retrieval.
这篇文章有帮助吗？
很好！
感谢您的反馈。
抱歉我们没能带来帮助
感谢您的反馈。
反馈已发送
感谢，我们将试着改善此文档。