Walking control method and system for swimming pool cleaning robot

Abstract

The invention discloses a swimming pool cleaning robot walking control method which is characterized by comprising the steps that when it is detected that a swimming pool cleaning robot enters a narrow area in a swimming pool; and the swimming pool cleaning robot is controlled to directly execute the escape operation, or after the swimming pool cleaning robot reaches a preset condition, the swimming pool cleaning robot is controlled to execute the escape operation. Correspondingly, the invention further discloses a walking control system for the swimming pool cleaning robot, and the walking control system is used for implementing the walking control method for the swimming pool cleaning robot. According to the walking control method and system for the swimming pool cleaning robot, the narrow area in the swimming pool can be effectively recognized, corresponding operation control is conducted on the narrow area, walking control is conducted on the swimming pool cleaning robot, and therefore the swimming pool cleaning robot is prevented from rotating in the narrow area, the coverage rate of swimming pool cleaning can be effectively increased, and the service life of the swimming pool cleaning robot is prolonged. The cleaning time is shortened, the cleaning efficiency is improved, and energy is effectively saved.

Description

Technical Field

[0001] The present invention relates to the technical field of swimming pool cleaning equipment, and in particular to a walking control method and system for a swimming pool cleaning robot. Background Art

[0002] As we all know, swimming pools are the main places for people to swim, and some garbage or bacteria will appear in swimming pools during use, so swimming pools need to be cleaned regularly. Among them, underwater cleaning equipment is currently commonly used to clean swimming pools, such as swimming pool cleaning robots. Swimming pool cleaning robots are mainly equipped with cleaning mechanisms to move on the bottom and side walls of the swimming pool to move in the swimming pool.

[0003] In the existing pool cleaning robot, it is generally moved in the pool by random walking or simple path planning to clean the pool for a long time, so as to cover and clean the entire pool. However, research has found that when the pool cleaning robot is controlled to walk in the pool by random movement or simple path planning, once there is a semi-enclosed narrow area in the pool, the pool cleaning robot is easily trapped in the narrow area, causing the pool cleaning robot to repeatedly clean the narrow area for a long time, which not only reduces the cleaning efficiency of the pool cleaning robot, but may even cause the pool cleaning robot to lose the ability to clean other areas.

[0004] Therefore, there is an urgent need for a swimming pool cleaning robot walking control method and system to solve the problems existing in the above-mentioned prior art. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide a walking control method for a swimming pool cleaning robot to solve the problem that the existing swimming pool cleaning robot is trapped in a small area when cleaning the swimming pool.

[0006] In order to solve the above technical problems, the technical solution of the present invention is: a walking control method of a swimming pool cleaning robot, which comprises the steps of:

[0007] When the pool cleaning robot is detected entering a small area in the pool;

[0008] The swimming pool cleaning robot is controlled to directly perform the escape operation, or the swimming pool cleaning robot is controlled to perform the escape operation after the swimming pool cleaning robot meets a preset condition.

[0009] Furthermore, in the walking control method of the swimming pool cleaning robot described in the present invention, the preset condition includes: the continuous operation time of the swimming pool cleaning robot in the narrow area is greater than a preset time threshold.

[0010] Furthermore, in the walking control method of the swimming pool cleaning robot described in the present invention, the preset condition includes: the cleanliness of the narrow area is greater than a preset cleanliness threshold.

[0011] Furthermore, in the walking control method of the swimming pool cleaning robot described in the present invention, the escape operation is specifically:

[0012] The swimming pool cleaning robot is controlled to move and / or rotate until the traveling direction of the swimming pool cleaning robot is parallel to at least one side wall of the swimming pool, and the swimming pool cleaning robot is controlled to walk parallel to the side wall.

[0013] Further, in the swimming pool cleaning robot walking control method of the present invention, controlling the swimming pool cleaning robot to move and / or rotate until the traveling direction of the swimming pool cleaning robot is parallel to at least one side wall of the swimming pool includes the following steps:

[0014] Controlling the swimming pool cleaning robot to approach the side wall;

[0015] adjusting the inclination angle of the swimming pool cleaning robot relative to the side wall so that the moving direction of the swimming pool cleaning robot is perpendicular to the side wall;

[0016] The swimming pool cleaning robot is controlled to rotate ±90° on the spot so that the moving direction of the swimming pool cleaning robot is parallel to the side wall.

[0017] Furthermore, in the walking control method of the swimming pool cleaning robot of the present invention, when the traveling direction of the swimming pool cleaning robot is perpendicular to the side wall, and before the swimming pool cleaning robot is controlled to rotate ±90° in situ, the method further includes the following steps:

[0018] The swimming pool cleaning robot is controlled to retreat perpendicularly to the side wall in a direction away from the side wall for a preset distance, or the swimming pool cleaning robot is controlled to retreat perpendicularly to the side wall in a direction away from the side wall for a preset time.

[0019] Furthermore, in the walking control method of the swimming pool cleaning robot of the present invention, the controlling the swimming pool cleaning robot to approach the side wall is specifically:

[0020] The driving members on the left and right sides of the swimming pool cleaning robot are controlled to move at differential speeds, so that one side of the swimming pool cleaning robot is close to the side wall.

[0021] Furthermore, in the swimming pool cleaning robot walking control method of the present invention, adjusting the inclination angle of the swimming pool cleaning robot relative to the side wall so that the moving direction of the swimming pool cleaning robot is perpendicular to the side wall comprises the following steps:

[0022] When the swimming pool cleaning robot approaches the side wall, recording the inclination angle of the swimming pool cleaning robot compared to the side wall;

[0023] According to the inclination angle, the driving parts on the left and right sides of the swimming pool cleaning robot are controlled to move at differential speeds, so as to control the swimming pool cleaning robot to retreat and move away from the side wall, until the inclination angle of the swimming pool cleaning robot relative to the side wall is adjusted to 90°.

[0024] Furthermore, the swimming pool cleaning robot walking control method of the present invention further includes the steps of:

[0025] Detect whether the pool cleaning robot has left a narrow area;

[0026] If it is detected that the pool cleaning robot has left the narrow area, a path planning scheme for the area outside the narrow area is generated;

[0027] The swimming pool cleaning robot is controlled to perform cleaning operations according to the path planning scheme.

[0028] Accordingly, another object of the present invention is to disclose a swimming pool cleaning robot walking control system, which is used to implement the swimming pool cleaning robot walking method of the present invention, and specifically includes:

[0029] A first distance sensing unit, which is used to collect the distance value between the left front of the swimming pool cleaning robot and the side wall of the swimming pool;

[0030] A second distance sensor unit is used to collect the distance between the right front of the swimming pool cleaning robot and the side wall of the swimming pool;

[0031] A third distance sensor unit is used to collect the distance value between the left rear of the swimming pool cleaning robot and the side wall of the swimming pool;

[0032] A fourth distance sensor unit, which is used to collect the distance value between the right rear of the swimming pool cleaning robot and the side wall of the swimming pool;

[0033] A driving device, comprising a plurality of driving members disposed on the left and right sides of the swimming pool cleaning robot;

[0034] An image acquisition device, which is used to acquire image information of the swimming pool;

[0035] A controller, which is connected to the driving device, the image acquisition device, the first distance sensing unit, the second distance sensing unit, the third distance sensing unit and the fourth distance sensing unit respectively;

[0036] The controller is used to send control instructions to the driving device according to the distance values ​​collected by the first distance sensing unit, the second distance sensing unit, the third distance sensing unit and the fourth distance sensing unit, so that the swimming pool cleaning robot walks according to the set motion strategy.

[0037] The beneficial effects of the present invention are as follows: the inventor has optimized and designed a walking control method for a swimming pool cleaning robot, which controls the walking of the swimming pool cleaning robot by identifying a small area in the swimming pool and making corresponding operational controls, thereby preventing the swimming pool cleaning robot from spinning in the small area. The method can effectively improve the coverage rate of swimming pool cleaning, shorten the cleaning time, improve the cleaning efficiency, and effectively save energy, and has good promotion prospects and application value.

[0038] Correspondingly, in the present invention, a swimming pool cleaning robot walking control system is also designed, and the swimming pool cleaning robot walking control system is used to implement the above-mentioned swimming pool cleaning robot walking control method of the present invention, which also has the above-mentioned advantages and beneficial effects. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 A schematic top view showing the shape of a small area in a swimming pool.

[0040] Figure 2 The present invention is a schematic diagram of a step flow chart of a walking control method of a swimming pool cleaning robot according to an embodiment of the present invention.

[0041] Figure 3 The schematic diagram shows the structure of the swimming pool cleaning robot moving straight and sideways when applying the walking control method of the present invention.

[0042] Figure 4 The schematic diagram shows the structure of the swimming pool cleaning robot walking at differential speed when the walking control method of the present invention is applied.

[0043] Figure 5 The schematic diagram shows the structure of the swimming pool cleaning robot moving backward and away from the side wall when applying the walking control method of the present invention.

[0044] Figure 6 The schematic diagram shows the structure of the swimming pool cleaning robot in which the traveling direction of the swimming pool cleaning robot is parallel to the side wall when the walking control method of the present invention is applied.

[0045] Figure 7 The figure schematically shows a differential speed walking trajectory of a swimming pool cleaning robot when the walking control method of the present invention is applied.

[0046] Description of labels:

[0047] 1. Pool cleaning robot;

[0048] 2. distance sensing unit; 21. first distance sensing unit; 22. second distance sensing unit; 23. third distance sensing unit; 24. fourth distance sensing unit;

[0049] 3. Side wall. DETAILED DESCRIPTION

[0050] In order to explain the technical content, achieved objectives and effects of the present invention in detail, the following is an explanation in combination with the implementation modes and the accompanying drawings.

[0051] The study found that Figure 1 As shown, in the current prior art, once there is a semi-enclosed narrow area A in the swimming pool, the swimming pool cleaning robot 1 can be easily trapped in the narrow area A, causing the swimming pool cleaning robot 1 to repeatedly clean the narrow area A for a long time. However, the current swimming pool cleaning robot 1 lacks a walking control method that can better control the swimming pool cleaning robot 1 to escape from the narrow area A.

[0052] To do this, please refer to Figure 2-Figure 7 As shown, Figure 3-Figure 7 The dotted line B shown in FIG. 1 is the walking track of the swimming pool cleaning robot 1. Figure 3-Figure 7 The direction of the “airplane”-shaped shadow C is the direction of the swimming pool cleaning robot 1 .

[0053] Therefore, if Figure 2 As shown, the present invention designs a walking control method for a swimming pool cleaning robot, which includes the steps of:

[0054] When the swimming pool cleaning robot 1 is detected to enter a narrow area in the swimming pool;

[0055] The swimming pool cleaning robot 1 is controlled to directly perform the escape operation, or the swimming pool cleaning robot 1 is controlled to perform the escape operation after the swimming pool cleaning robot 1 meets a preset condition.

[0056] From the above description, it can be seen that in the present invention, the inventor has optimized and designed a swimming pool cleaning robot walking control method, so that when the swimming pool cleaning robot 1 enters a narrow area, the swimming pool cleaning robot 1 can use the escape operation to escape from the narrow area of ​​the swimming pool. In actual application, the escape operation of the swimming pool cleaning robot walking control method is not limited to the shape of the narrow area of ​​the swimming pool. The narrow area can be an irregular polygon, and the swimming pool cleaning robot 1 can escape from the narrow area by running the above escape operation.

[0057] Accordingly, when the walking control method is actually applied to the swimming pool cleaning robot 1, even in a narrow area of ​​the swimming pool, the swimming pool cleaning robot 1 can still clean the swimming pool wall in the narrow area, that is, in actual application, it can be detected that the swimming pool cleaning robot 1 enters a narrow area in the swimming pool, and after certain preset conditions are set to be met, the swimming pool cleaning robot 1 can be controlled to perform an escape operation to escape from the narrow area.

[0058] Furthermore, in the swimming pool cleaning robot walking control method of the present invention, the preset condition includes: the continuous operation time of the swimming pool cleaning robot 1 in the narrow area is greater than a preset time threshold.

[0059] Furthermore, in the walking control method of the swimming pool cleaning robot described in the present invention, the preset condition includes: the cleanliness of the narrow area is greater than a preset cleanliness threshold.

[0060] In the above technical solution of the present invention, the above preset conditions can be pre-set according to specific usage requirements, so that after the pool cleaning robot 1 enters a narrow area, it still needs to meet certain preset conditions before it can perform the escape operation. For example, the preset condition can be limited to a preset time threshold of the continuous operation time of the pool cleaning robot 1 in the narrow area, that is, the pool cleaning robot 1 is controlled to perform the escape operation only after it has been cleaning in the narrow area for a period of time.

[0061] Of course, in actual application, an image acquisition device can also be set on the pool cleaning robot 1, and the image acquisition device can effectively acquire images of the pool. When the pool cleaning robot 1 enters a narrow area of ​​the pool, the image acquisition device can correspondingly acquire images of the narrow area and transmit the relevant image data to the controller of the pool cleaning robot 1. The controller of the pool cleaning robot 1 can identify the cleanliness of the narrow area based on the image data of the narrow area; for example, the controller compares the acquired image data of the narrow area with the color and / or brightness of the standard image to determine the cleanliness of the narrow area. When the cleanliness of the narrow area exceeds the preset cleanliness threshold, it is determined that the narrow area has been cleaned, and then the pool cleaning robot 1 is controlled to get out of trouble.

[0062] It should be noted that, in some preferred embodiments, the preset conditions may also be controlled to include: "the continuous operation time of the pool cleaning robot 1 in the narrow area is greater than the preset time threshold" and "the cleanliness of the narrow area is greater than the preset cleanliness threshold". And, only after the above two preset conditions are met at the same time, the pool cleaning robot 1 is controlled to perform the escape operation. Based on such a setting, the possibility of misjudgment can be reduced and the cleaning reliability of the pool cleaning robot 1 in narrow areas can be improved.

[0063] Furthermore, in the walking control method of the swimming pool cleaning robot described in the present invention, the escape operation is specifically:

[0064] The swimming pool cleaning robot 1 is controlled to move and / or rotate until the traveling direction of the swimming pool cleaning robot 1 is parallel to at least one side wall 3 of the swimming pool, and the swimming pool cleaning robot 1 is controlled to walk parallel to the side wall 3 .

[0065] In the above technical solution of the present invention, the escape operation that the swimming pool cleaning robot 1 needs to perform can specifically be to control its own movement and / or rotation until the travel direction of the swimming pool cleaning robot 1 can be parallel to at least one side wall 3 of the swimming pool, and control the swimming pool cleaning robot 1 to walk parallel to the above side wall 3. Based on this setting, the swimming pool cleaning robot 1 can walk along the side wall 3 of the swimming pool and finally escape from the narrow area of ​​the swimming pool.

[0066] It should be noted that even if the narrow area of ​​the swimming pool is an arc-shaped swimming pool side wall 3, the swimming pool cleaning robot 1 can also walk along the arc-shaped swimming pool side wall 3 to get out through the above-mentioned escape operation. Therefore, the escape operation set in the swimming pool cleaning robot walking control method of the present invention has good applicability, and can assist the swimming pool cleaning robot 1 to get out of various semi-enclosed narrow areas.

[0067] Further, in the swimming pool cleaning robot walking control method of the present invention, the controlling the swimming pool cleaning robot 1 to move and / or rotate until the traveling direction of the swimming pool cleaning robot 1 is parallel to at least one side wall 3 of the swimming pool comprises the following steps:

[0068] Controlling the swimming pool cleaning robot 1 to approach the side wall 3;

[0069] Adjusting the inclination angle of the swimming pool cleaning robot 1 relative to the side wall 3 so that the moving direction of the swimming pool cleaning robot 1 is perpendicular to the side wall 3;

[0070] The swimming pool cleaning robot 1 is controlled to rotate ±90° on the spot, so that the moving direction of the swimming pool cleaning robot 1 is parallel to the side wall 3 .

[0071] Furthermore, in the swimming pool cleaning robot walking control method of the present invention, when the traveling direction of the swimming pool cleaning robot 1 is perpendicular to the side wall 3, and before controlling the swimming pool cleaning robot 1 to rotate ±90° in situ, the method further includes the following steps:

[0072] The swimming pool cleaning robot 1 is controlled to retreat perpendicularly to the side wall 3 in a direction away from the side wall 3 for a preset distance, or the swimming pool cleaning robot 1 is controlled to retreat perpendicularly to the side wall 3 in a direction away from the side wall 3 for a preset time.

[0073] Furthermore, in the swimming pool cleaning robot walking control method of the present invention, the swimming pool cleaning robot 1 is controlled to approach the side wall 3, specifically:

[0074] The driving members on the left and right sides of the swimming pool cleaning robot 1 are controlled to move at differential speeds, so that one side of the swimming pool cleaning robot 1 is close to the side wall 3 .

[0075] Furthermore, in the swimming pool cleaning robot walking control method of the present invention, adjusting the inclination angle of the swimming pool cleaning robot 1 relative to the side wall 3 so that the moving direction of the swimming pool cleaning robot 1 is perpendicular to the side wall 3 includes the following steps:

[0076] When the swimming pool cleaning robot 1 approaches the side wall 3, the inclination angle of the swimming pool cleaning robot 1 compared to the side wall 3 is recorded;

[0077] According to the inclination angle, the driving parts on the left and right sides of the swimming pool cleaning robot 1 are controlled to move at differential speeds, so as to control the swimming pool cleaning robot 1 to retreat and move away from the side wall 3, until the inclination angle of the swimming pool cleaning robot 1 relative to the side wall 3 is adjusted to 90°.

[0078] Furthermore, the swimming pool cleaning robot walking control method of the present invention further includes the steps of:

[0079] Detecting whether the swimming pool cleaning robot 1 has left the narrow area;

[0080] If it is detected that the swimming pool cleaning robot 1 has left the narrow area, a path planning scheme for the area outside the narrow area is generated;

[0081] The swimming pool cleaning robot 1 is controlled to perform cleaning operations according to the path planning scheme.

[0082] See also Figure 2 It can be seen that when the walking control method of the swimming pool cleaning robot 1 is actually applied, the swimming pool cleaning robot 1 can detect and determine whether it has left the narrow area. If it is detected that it has not left the narrow area, it will continue to perform the above-mentioned escape operation and walk along the side wall 3 of the swimming pool; if it is detected that it has left the narrow area, the swimming pool cleaning robot 1 can use its own controller to generate a path planning plan for the swimming pool area outside the narrow area, and control the swimming pool cleaning robot 1 to perform cleaning operations according to the above-mentioned path planning plan.

[0083] Correspondingly, the present invention also discloses a swimming pool cleaning robot walking control system, which is used to implement the walking control method of the present invention, and specifically includes:

[0084] A first distance sensor unit 21, which is used to collect the distance value between the left front of the swimming pool cleaning robot 1 and the side wall 3 of the swimming pool;

[0085] A second distance sensor unit 22, which is used to collect the distance value between the right front of the swimming pool cleaning robot 1 and the side wall 3 of the swimming pool;

[0086] A third distance sensor unit 23, which is used to collect the distance value between the left rear of the swimming pool cleaning robot 1 and the side wall 3 of the swimming pool;

[0087] A fourth distance sensor unit 24, which is used to collect the distance value between the right rear of the swimming pool cleaning robot 1 and the side wall 3 of the swimming pool;

[0088] A driving device, which includes a plurality of driving components arranged on the left and right sides of the swimming pool cleaning robot 1;

[0089] An image acquisition device, which is used to acquire image information of the swimming pool;

[0090] A controller, which is connected to the driving device, the image acquisition device, the first distance sensing unit 21, the second distance sensing unit 22, the third distance sensing unit 23 and the fourth distance sensing unit 24 respectively;

[0091] The controller is used to send control instructions to the driving device according to the distance values ​​collected by the first distance sensor unit 21, the second distance sensor unit 22, the third distance sensor unit 23 and the fourth distance sensor unit 24, so that the swimming pool cleaning robot 1 walks according to the set motion strategy.

[0092] Combined with reference Figure 2-7 It can be seen that in the above technical solution of the present invention, the swimming pool cleaning robot 1 can specifically detect and obtain the distances between the left front, right front, left rear and right rear of the swimming pool cleaning robot 1 and the side wall 3 of the swimming pool respectively through the distance sensing unit 2.

[0093] It should be pointed out that, in order to ensure the detection effect, a distance sensor unit 2, namely, a first distance sensor unit 21, a second distance sensor unit 22, a third distance sensor unit 23 and a fourth distance sensor unit 24, can be provided on the left front, right front, left rear and right rear of the swimming pool cleaning robot 1. When the swimming pool cleaning robot 1 has a rectangular shape, the first distance sensor unit 21, the second distance sensor unit 22, the third distance sensor unit 23 and the fourth distance sensor unit 24 can be specifically provided at the four rectangular corners of the swimming pool cleaning robot 1, and the number of distance sensor units 2 used is small, the cost is low, the detection is accurate and the calculation is convenient.

[0094] Based on this configuration, it can be ensured that two distance sensing units 2 are included on the four sides of the swimming pool cleaning robot 1, thereby ensuring the distance detection capability of the swimming pool cleaning robot 1. The swimming pool cleaning robot 1 can use the distance values ​​between the left front, right front, left rear and right rear positions of the swimming pool cleaning robot 1 and the side wall 3 of the swimming pool detected by the four distance sensing units 2 to determine whether the current swimming pool cleaning robot 1 enters a narrow area of ​​the swimming pool or leaves a narrow area of ​​the swimming pool.

[0095] For example, when the swimming pool cleaning robot 1 is moving, it can use its four distance sensor units 2 to detect the wall and record the cleaning area through the driving device. When the distance value between the distance sensor unit 2 of the swimming pool cleaning robot 1 and the side wall 3 of the swimming pool in the covered cleaning area is continuously less than a preset distance threshold, it can be determined that the swimming pool cleaning robot 1 has entered a narrow area of ​​the swimming pool; otherwise, it has not entered the narrow area.

[0096] In actual application, the above-mentioned swimming pool cleaning robot 1 can determine whether the current swimming pool cleaning robot 1 enters a narrow area according to the distance values ​​collected by the first distance sensing unit 21, the second distance sensing unit 22, the third distance sensing unit 23 and the fourth distance sensing unit 24, and implement the walking control method of the swimming pool cleaning robot 1 according to the specific working conditions, that is, the controller sends a control instruction to the driving device to make the swimming pool cleaning robot 1 walk according to the set motion strategy.

[0097] Embodiment 1:

[0098] Please refer to Figure 2-Figure 7As shown, the first embodiment of the present invention is: a swimming pool cleaning robot 1, the swimming pool cleaning robot 1 includes a shell and a controller and a first distance sensing unit 21, a second distance sensing unit 22, a third distance sensing unit 23, and a fourth distance sensing unit 24 arranged in the shell, and the four distance sensing units are all connected to the controller; at the same time, the swimming pool cleaning robot 1 is also provided with a driving device and an image acquisition device, and the driving device and the image acquisition device are both connected to the controller. The driving device includes a plurality of driving members arranged on the left and right sides of the swimming pool cleaning robot 1, and the driving members are arranged at the bottom of the shell of the swimming pool cleaning robot 1, so as to drive the swimming pool cleaning robot 1 to walk in the swimming pool; the image acquisition device is used to collect image information of the swimming pool.

[0099] See also Figure 3-Figure 7 It can be seen that in the present embodiment, the shell of the swimming pool cleaning robot 1 is a rectangular shell, and the four distance sensing units are specifically arranged at the four corners of the rectangular shell, that is, the first distance sensing unit 21, the second distance sensing unit 22, the third distance sensing unit 23, and the fourth distance sensing unit 24 are respectively arranged on the left front, right front, left rear and right rear of the swimming pool cleaning robot 1, so as to detect the distance between the left front, left rear, right front and right rear of the swimming pool cleaning robot 1 and the side wall 3 of the swimming pool.

[0100] When the swimming pool cleaning robot 1 is actually used, the swimming pool cleaning robot 1 can clean the swimming pool underwater, and the four distance sensing units 2 arranged on the left front, left rear, right front and right rear of the swimming pool cleaning robot 1 can work together when the swimming pool cleaning robot 1 is working. However, since the existing distance sensing units 2 have limited detection capabilities underwater, when the left side of the swimming pool cleaning robot 1 is closer to the side wall 3 of the swimming pool, it is possible that only the first distance sensing unit 21 and the third distance sensing unit 23 arranged on the left front and left rear of the swimming pool cleaning robot 1 can detect the distance values ​​of the left front and left rear of the swimming pool cleaning robot 1 from the side wall 3 of the swimming pool, respectively, while the other two cannot obtain the corresponding distances.

[0101] In actual application, the swimming pool cleaning robot 1 can determine whether the swimming pool cleaning robot 1 currently enters a narrow area according to the distance values ​​collected by the first distance sensor unit 21 , the second distance sensor unit 22 , the third distance sensor unit 23 and the fourth distance sensor unit 24 .

[0102] like Figure 2 As shown, refer to Figure 3-Figure 7 It can be seen that when it is detected that the swimming pool cleaning robot 1 enters a narrow area in the swimming pool, the swimming pool cleaning robot 1 can be controlled to directly perform an escape operation:

[0103] When performing the escape operation, the controller of the swimming pool cleaning robot 1 outputs a control instruction to the driving device of the swimming pool cleaning robot 1 to control the driving parts on the left and right sides of the swimming pool cleaning robot 1 to move at differential speeds, so that one side of the swimming pool cleaning robot 1 approaches a side wall 3 of the swimming pool, and when the swimming pool cleaning robot 1 approaches the side wall 3, the inclination angle of the swimming pool cleaning robot 1 compared to the side wall 3 is recorded (e.g. Figure 3 As shown, Figure 3-Figure 7 The dotted line B shown in FIG. 1 is the walking track of the swimming pool cleaning robot 1. Figure 3-Figure 7 The direction of the “airplane”-shaped shadow C is the direction of the swimming pool cleaning robot 1).

[0104] According to the above-mentioned inclination angle, the driving parts on the left and right sides of the swimming pool cleaning robot 1 are controlled to move at differential speeds, so as to control the swimming pool cleaning robot 1 to retreat and move away from the side wall 3, until the inclination angle of the swimming pool cleaning robot 1 relative to the side wall 3 is adjusted to 90° (such as Figure 4 and Figure 5 shown).

[0105] Accordingly, the swimming pool cleaning robot 1 is controlled to retreat perpendicularly to the side wall 3 in a direction away from the side wall 3 for a preset distance or for a preset time (e.g. Figure 5 As shown), at this time, the swimming pool cleaning robot 1 is still oriented perpendicular to the side wall 3 of the swimming pool.

[0106] Thus, the swimming pool cleaning robot 1 is controlled to rotate ±90° in situ, so that the moving direction of the swimming pool cleaning robot 1 is parallel to the side wall 3 (such as Figure 6 As shown), the swimming pool cleaning robot 1 is controlled to walk parallel to the side wall 3. It should be noted that, considering that the distance between the side wall 3 of the swimming pool and the swimming pool cleaning robot 1 may be constantly changing when the swimming pool cleaning robot 1 is running, the swimming pool cleaning robot 1 can still use its four distance sensing units to detect the distance between itself and the side wall 3 of the swimming pool when the driving member drives the swimming pool cleaning robot 1 to walk, so as to continuously use the controller to control the left and right driving members of the driving device to walk at differential speeds, thereby correcting the travel direction of the swimming pool cleaning robot 1 (as shown). Figure 7 As shown), the swimming pool cleaning robot 1 moves along the wall until the swimming pool cleaning robot 1 leaves the narrow area of ​​the swimming pool.

[0107] Accordingly, when the controller determines that the current swimming pool cleaning robot 1 has left the narrow area, the controller can generate a path planning scheme for the swimming pool area outside the narrow area, and control the driving member to drive the swimming pool cleaning robot 1 to perform cleaning operations according to the above path planning scheme.

[0108] Embodiment 2

[0109] In the second embodiment, the structure of the swimming pool cleaning robot 1 designed in the second embodiment is exactly the same as that of the swimming pool cleaning robot 1 in the first embodiment. However, it should be noted that the walking control method adopted by the swimming pool cleaning robot 1 in the second embodiment is somewhat different from the walking control method adopted by the swimming pool cleaning robot 1 in the first embodiment.

[0110] The difference between the second embodiment and the first embodiment is:

[0111] In the second embodiment, when it is detected that the pool cleaning robot 1 enters a narrow area in the pool, the controller controls the pool cleaning robot 1 to perform an escape operation after determining that the pool cleaning robot 1 meets a preset condition. The preset condition includes: the continuous operation time of the pool cleaning robot 1 in the narrow area is greater than a preset time threshold and the cleanliness of the narrow area is greater than a preset cleanliness threshold.

[0112] It should be pointed out that in this embodiment, the image acquisition device provided on the pool cleaning robot 1 can effectively acquire images of the pool. When the pool cleaning robot 1 enters a narrow area of ​​the pool, the image acquisition device can acquire images of the narrow area accordingly and transmit the relevant image data to the controller of the pool cleaning robot 1. The controller of the pool cleaning robot 1 can compare the acquired image data of the narrow area with the color and / or brightness of the standard image based on the image data of the narrow area, thereby determining the cleanliness of the narrow area. When the cleanliness of the narrow area exceeds the preset cleanliness threshold, and the continuous operation time of the pool cleaning robot 1 in the narrow area is greater than the preset time threshold, it is determined that the narrow area has been cleaned, and then the pool cleaning robot 1 is controlled to perform the escape operation.

[0113] Accordingly, in the second embodiment, the escape operation adopted by the swimming pool cleaning robot 1 of the second embodiment is the same as that of the swimming pool cleaning robot 1 of the first embodiment, and will not be described in detail here.

[0114] From the above, it can be seen that in the present invention, the inventor has optimized and designed a walking control method for a swimming pool cleaning robot, which identifies the narrow area in the swimming pool and makes corresponding operational controls to control the walking of the swimming pool cleaning robot, thereby preventing the swimming pool cleaning robot from spinning in the narrow area. It can effectively improve the coverage of swimming pool cleaning, shorten the cleaning time, improve the cleaning efficiency, and effectively save energy. It has good promotion prospects and application value.

[0115] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent transformations made using the contents of the present invention's specification and drawings, or directly or indirectly applied in related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A walking control method for a swimming pool cleaning robot, characterized in that: Includes steps: When the pool cleaning robot is detected entering a small area in the pool; The swimming pool cleaning robot is controlled to directly perform the escape operation, or the swimming pool cleaning robot is controlled to perform the escape operation after the swimming pool cleaning robot meets a preset condition.

2. The walking control method of the swimming pool cleaning robot according to claim 1, characterized in that: The preset condition includes: the continuous operation time of the swimming pool cleaning robot in the narrow area is greater than a preset time threshold.

3. The walking control method of the swimming pool cleaning robot according to claim 1 or claim 2, characterized in that: The preset condition includes: the cleanliness of the narrow area is greater than a preset cleanliness threshold.

4. The walking control method of the swimming pool cleaning robot according to claim 1, characterized in that: The escape operation is specifically as follows: The swimming pool cleaning robot is controlled to move and / or rotate until the traveling direction of the swimming pool cleaning robot is parallel to at least one side wall of the swimming pool, and the swimming pool cleaning robot is controlled to walk parallel to the side wall.

5. The walking control method of the swimming pool cleaning robot according to claim 4, characterized in that: The controlling the swimming pool cleaning robot to move and / or rotate until the traveling direction of the swimming pool cleaning robot is parallel to at least one side wall of the swimming pool comprises the following steps: Controlling the swimming pool cleaning robot to approach the side wall; adjusting the inclination angle of the swimming pool cleaning robot relative to the side wall so that the moving direction of the swimming pool cleaning robot is perpendicular to the side wall; The swimming pool cleaning robot is controlled to rotate ±90° on the spot so that the moving direction of the swimming pool cleaning robot is parallel to the side wall.

6. The walking control method of the swimming pool cleaning robot according to claim 5, characterized in that: When the swimming pool cleaning robot moves in a direction perpendicular to the side wall, and before controlling the swimming pool cleaning robot to rotate ±90° in situ, the method further includes the following steps: The swimming pool cleaning robot is controlled to retreat perpendicularly to the side wall in a direction away from the side wall for a preset distance, or the swimming pool cleaning robot is controlled to retreat perpendicularly to the side wall in a direction away from the side wall for a preset time.

7. The walking control method of the swimming pool cleaning robot according to claim 5, characterized in that: The controlling the swimming pool cleaning robot to approach the side wall is specifically as follows: The driving members on the left and right sides of the swimming pool cleaning robot are controlled to move at differential speeds, so that one side of the swimming pool cleaning robot is close to the side wall.

8. The walking control method of the swimming pool cleaning robot according to claim 5, characterized in that: The step of adjusting the inclination angle of the swimming pool cleaning robot relative to the side wall so that the moving direction of the swimming pool cleaning robot is perpendicular to the side wall comprises the following steps: When the swimming pool cleaning robot approaches the side wall, recording the inclination angle of the swimming pool cleaning robot compared to the side wall; According to the inclination angle, the driving parts on the left and right sides of the swimming pool cleaning robot are controlled to move at differential speeds, so as to control the swimming pool cleaning robot to retreat and move away from the side wall, until the inclination angle of the swimming pool cleaning robot relative to the side wall is adjusted to 90°.

9. The walking control method of the swimming pool cleaning robot according to claim 1, characterized in that: Also includes the steps: Detect whether the pool cleaning robot has left a narrow area; If it is detected that the pool cleaning robot has left the narrow area, a path planning scheme for the area outside the narrow area is generated; The swimming pool cleaning robot is controlled to perform cleaning operations according to the path planning scheme.

10. A swimming pool cleaning robot walking control system, applied to the swimming pool cleaning robot walking method according to any one of claims 1 to 9, characterized in that: include: A first distance sensing unit, which is used to collect the distance value between the left front of the swimming pool cleaning robot and the side wall of the swimming pool; A second distance sensor unit is used to collect the distance between the right front of the swimming pool cleaning robot and the side wall of the swimming pool; A third distance sensor unit is used to collect the distance value between the left rear of the swimming pool cleaning robot and the side wall of the swimming pool; A fourth distance sensor unit, which is used to collect the distance value between the right rear of the swimming pool cleaning robot and the side wall of the swimming pool; A driving device, comprising a plurality of driving members disposed on the left and right sides of the swimming pool cleaning robot; An image acquisition device, which is used to acquire image information of the swimming pool; A controller, which is connected to the driving device, the image acquisition device, the first distance sensing unit, the second distance sensing unit, the third distance sensing unit and the fourth distance sensing unit respectively; The controller is used to send control instructions to the driving device according to the distance values ​​collected by the first distance sensing unit, the second distance sensing unit, the third distance sensing unit and the fourth distance sensing unit, so that the swimming pool cleaning robot walks according to the set motion strategy.

Images