Introduction

Swimming pool maintenance is a critical yet challenging task, as neglect can lead to costly repairs and operational downtime. This project aims to address a key aspect of pool upkeep through the development of an autonomous pool mapping system. By creating a reliable and efficient solution, this system seeks to aid in maintaining pool infrastructure and ensuring timely intervention for potential issues.

The project focuses on designing and implementing a water vehicle capable of mapping pool floors and walls autonomously. Using advanced sensors and real-time processing, the system generates accurate 3D maps, which are vital for monitoring pool conditions. While existing pool cleaning robots specialize in removing debris, they lack the capability to provide detailed maps or insights into structural conditions, highlighting the need for this innovative solution.

The deliverables include:

• Autonomous Mapping: A robust system for generating precise 3D maps of the pool environment.
• User Application: A user-friendly interface via the Foxglove application, providing real-time mapping visualization and controls. This document outlines the project's scope, implementation, and features, emphasizing the system's contributions to efficient pool maintenance and management

Deliverables

Autonomous Mapping

Deliverable	Description
3D Mapping	Generates a map of the pool floor and walls.
Surface-Level Mapping	Operates at the water surface to complete the mapping process.
Initial Positioning	Requires the boat to start with a wall .5-2 meters to the left and open space in front (2+meters). For proper mapping the boat must start facing in the direction that the depth changes
Wireless Communication	Transmits data and messages via Wi-Fi to the user app (Foxglove).
Rectangular Pools Only	Optimized for rectangular-shaped pools.
Excludes Objects	Does not include floating objects, ladders, or stairs in the map.

User Application (Foxglove)

Deliverable	Description
Near Real-Time Mapping	Renders the map dynamically during data collection
Start/Stop Controls	Includes a button to start/stop the navigation.
Start Notification	Notifies the user upon initiation of automatic mapping triggered by the user pressing the start button.
Completion Notification	Alerts the user when mapping is complete.
Interruption Alerts	Sends notifications for manual stops during the mapping process.