Control method of cleaning equipment and cleaning equipment

Abstract

The invention discloses a control method and device for cleaning equipment, and the method comprises the steps: controlling the cleaning equipment to clean a pool wall according to a preset path which at least comprises a plurality of preset cleaning cycle paths; acquiring obstacle information in the preset path; and adjusting a cleaning cycle path where the obstacle is located based on the obstacle information so as to avoid the obstacle. While the cleaning equipment is controlled to clean the pool wall according to the preset path, the obstacle information in the path is obtained in real time in the running process, so that the cleaning cycle path where the obstacle is located can be adjusted in advance based on the obstacle information, the cleaning equipment can avoid the obstacle when running to the cleaning cycle, and the cleaning efficiency is improved. Obstacle avoidance does not need to be carried out through 3D positioning information, obstacle sensing and obstacle avoidance are achieved through machine motion planning and obstacle information, and the method can be suitable for sensing and processing obstacles on most swimming pool walls.

Description

Technical Field

[0001] This invention relates to the field of automated machine cleaning technology, and in particular to a control method for cleaning equipment and a cleaning equipment. Background Technology

[0002] Currently, cleaning robots encounter obstacles during pool cleaning. Most existing solutions for handling obstacles like walls rely on obstacle detection and escape mechanisms. However, escaping these obstacles often requires the robot to push against obstacles such as wall lamps for a period of time, leading to reduced efficiency in both escaping and cleaning. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a control method and cleaning equipment for cleaning equipment, so as to improve cleaning efficiency.

[0004] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows:

[0005] A method for controlling a cleaning device, comprising:

[0006] The cleaning robot is controlled to clean the pool wall according to a preset path, which includes at least a number of preset cleaning cycle paths;

[0007] Obstacle information in the preset path;

[0008] The cleaning cycle path is adjusted based on the obstacle information to avoid the obstacle.

[0009] To solve the above-mentioned technical problems, another technical solution adopted by the present invention is as follows:

[0010] A cleaning device is characterized by including a processor that performs the control method of the cleaning device described above.

[0011] The beneficial effects of the invention are as follows: while controlling the cleaning equipment to clean the pool wall according to a preset path, it can also acquire obstacle information in the path in real time during operation. Based on the obstacle information, the cleaning cycle path of the obstacle can be adjusted in advance, so that the cleaning equipment can avoid the obstacle when it reaches the cleaning cycle. It does not need to use 3D positioning information for obstacle avoidance, but uses machine motion planning and obstacle information to realize the perception and avoidance of obstacles. It can be applied to the perception and handling of obstacles on most pool walls. Attached Figure Description

[0012] Figure 1 This is a flowchart illustrating the steps of a control method for a cleaning device according to an embodiment of the present invention.

[0013] Figure 2 This is a schematic diagram of a preset path in a control method for a cleaning device according to an embodiment of the present invention;

[0014] Figure 3 This is a schematic diagram of the detection of a cleaning device in a control method for a cleaning device according to an embodiment of the present invention;

[0015] Figure 4 This is a schematic diagram of the first obstacle avoidance path in a control method for a cleaning device according to an embodiment of the present invention;

[0016] Figure 5 This is a schematic diagram of the second obstacle avoidance path in a control method for a cleaning device according to an embodiment of the present invention;

[0017] Figure 6 This is a schematic diagram of the third obstacle avoidance path in a control method for a cleaning device according to an embodiment of the present invention. Detailed Implementation

[0018] To explain in detail the technical content, objectives, and effects of the present invention, the following description is provided in conjunction with the embodiments and accompanying drawings.

[0019] Please refer to Figure 1 A method for controlling a cleaning device, comprising:

[0020] The cleaning equipment is controlled to clean the pool wall according to a preset path, wherein the preset path includes at least a plurality of preset cleaning cycle paths;

[0021] Obstacle information in the preset path;

[0022] The cleaning cycle path is adjusted based on the obstacle information to avoid the obstacle.

[0023] As can be seen from the above description, the beneficial effects of the present invention are as follows: while controlling the cleaning equipment to clean the pool wall according to a preset path, the obstacle information in the path is acquired in real time during operation. Based on the obstacle information, the cleaning cycle path where the obstacle is located can be adjusted in advance, so that the cleaning equipment can avoid the obstacle when it reaches the cleaning cycle. There is no need to use 3D positioning information for obstacle avoidance. Instead, the perception and avoidance of obstacles are achieved by using machine motion planning and obstacle information. It can be applied to the perception and handling of obstacles on most pool walls.

[0024] In some embodiments, the preset cleaning cycle path includes: the cleaning device descends from the waterline position to the bottom of the pool, moves to the first inflection point, then shifts laterally a preset distance, and finally returns to the waterline position. That is, when the cleaning device does not obtain obstacle information, it can continuously clean the waterline, corners, and walls of the pool based on the preset cleaning cycle path.

[0025] In some embodiments, the position of the first inflection point is determined based on the water depth along the current preset cleaning cycle path. In an optional embodiment, the first inflection point is located on the pool wall. That is, the cleaning equipment can dynamically select the most suitable inflection point position based on the current water depth and height above the water surface, thereby efficiently achieving turning operations.

[0026] In some embodiments, after reaching the first inflection point, the device rotates a preset angle along a first direction and advances a preset distance. After advancing the preset distance, it rotates the preset angle along a second direction and returns to the waterline position, wherein the first and second directions are opposite. That is, when the cleaning device reaches the first inflection point, it performs a turning operation and sequentially performs a preset angle rotation along the first direction, an advance of a preset distance, and a preset angle rotation along the second direction, enabling the cleaning device to translate its position horizontally and clean the path that has not yet been cleaned. It should be noted that the preset angles for rotation along the first direction and rotation along the second direction can be set to be the same, but it is possible that there is a slight error between them, which may be caused when advancing the preset distance. This error can be calibrated using sensors, such as inertial measurement units.

[0027] In some embodiments, adjusting the cleaning cycle path of the obstacle based on the obstacle information includes: determining a second inflection point position based on the obstacle information, and adjusting the cleaning cycle path of the obstacle based on the second inflection point position. The obstacle information includes one of the following: obstacles located high or low on the pool wall, or obstacles on the pool wall that cannot be crossed. After identifying the obstacle, it is classified according to its location as either a barrier located high or low on the pool wall, or an obstacle on the pool wall that cannot be crossed. Then, the inflection point position is further selected based on the specific location of the obstacle, enabling the cleaning equipment to execute different obstacle avoidance strategies for different obstacle distributions, thereby improving cleaning efficiency. It should be emphasized that the first inflection point position is set based on the absence of obstacles on the pool wall; when there are obstacles on the pool wall, obstacle avoidance is performed based on the second inflection point position.

[0028] In some embodiments, when the obstacle is located high or low on the pool wall, the second inflection point is positioned on the pool wall; when the obstacle is an insurmountable obstacle on the pool wall, the second inflection point is positioned at the bottom of the pool. This allows the cleaning equipment to effectively avoid obstacles and clean the pool wall, walls, and other similar surfaces.

[0029] Specifically, when the obstacle is located high or low on the pool wall, the position of the second inflection point is further determined based on the boundary information of the obstacle. For example, when the obstacle is located high on the pool wall, the height at which the cleaning equipment climbs can be adjusted based on the cleaning cycle path, causing the cleaning equipment to turn before encountering the obstacle and only clean the area below the obstacle. Conversely, when the obstacle is located low on the pool wall, the height of the second inflection point can be increased based on the cleaning cycle path, causing the cleaning equipment to pass over the obstacle and only clean the area above the obstacle.

[0030] Another embodiment of the present invention provides a cleaning device, including a processor that performs the control method of the cleaning device as described above.

[0031] The cleaning equipment provided by this invention is applied to waterline cleaning scenarios such as swimming pools and reservoirs. The following detailed embodiments illustrate its application:

[0032] Example 1

[0033] Please refer to Figure 1 A method for controlling a cleaning device, comprising:

[0034] S1. Control the cleaning equipment to clean the pool wall according to a preset path, which includes at least multiple preset cleaning cycle paths. The preset cleaning cycle path includes: the cleaning equipment descends from the waterline position to the bottom of the pool, moves to a first inflection point, then shifts laterally a preset distance, and then returns to the waterline position. The first inflection point position is determined based on the water depth of the current preset cleaning cycle path. In one optional embodiment, the first inflection point position is located on the pool wall; in other optional embodiments, the first inflection point can be set at the bottom of the pool. Simultaneously, after the cleaning equipment reaches the first inflection point position, it rotates a preset angle in a first direction and advances a preset distance, then rotates a preset angle in a second direction and returns to the waterline position. The first and second directions are opposite, allowing the cleaning equipment to move horizontally and clean the remaining areas.

[0035] like Figure 2The diagram shows an optional preset path mode. This path mainly performs the following actions: descending from the waterline position to the bottom of the pool, retreating a certain distance, then advancing again to the pool wall, climbing onto the wall and selecting an inflection point, moving horizontally to the width of one machine body at the inflection point, and then moving vertically towards the water surface until reaching the waterline position. Path 1-2-3 represents the initial actions, indicating that the cleaning equipment moves from the starting position to the waterline position; Path 1: 5-6-7-8-9-10 represents the first cycle, with the first inflection point between steps 8 and 9; Path 2: 12-13-14-15-16-17 represents the second cycle, with the first inflection point between steps 15 and 16.

[0036] The specific movement includes the following steps: Step 1: After the cleaning equipment falls from the water surface to the bottom of the pool, it rotates once in place to select a point to climb onto the wall, such as finding a specific wall or selecting the nearest wall to begin cleaning. Step 2: Move to the bottom of the wall to clean the pool corner. Step 3: Perform gravity-based motion control cleaning until reaching the waterline. Step 4: Clean the waterline. Step 5: Retreat to the bottom of the pool. Step 6: Continue retreating, moving away from the pool wall. Step 7: Perform cleaning motion towards the pool corner. Step 8: During the wall-climbing process, the cleaning equipment dynamically selects inflection points based on the current water depth and distance from the water surface. Step 9: Perform a turning motion, controlling the cleaning equipment to move horizontally to the width of one body. Step 10: Turn to a vertical direction relative to the water surface and move to the waterline. Step 11: Clean the waterline. This motion logic is repeated.

[0037] S2. Obtain obstacle information along the preset path; wherein, the cleaning equipment is equipped with a sensor device capable of acquiring distance information, used to detect obstacles and obtain obstacle information. Please refer to... Figure 3 For example, when moving in the manner described in step S1, the cleaning equipment uses a sensor on the left to acquire real-time information about obstacles on the left. Based on the distance to the obstacle and the duration of that distance, obstacle information is obtained. The equipment then calculates the movement cycle of the obstacle and determines its coordinates, height, width, and other relevant information. For instance, based on the obstacle information, obstacles are categorized as follows: obstacles located high or low on the pool wall, or obstacles on the pool wall that cannot be crossed. The equipment then determines whether the obstacle is a wall lamp, a wall, or a ladder.

[0038] S3. Adjust the cleaning cycle path containing the obstacle based on obstacle information to avoid it. Specifically, determine the second inflection point position based on obstacle information, and adjust the cleaning cycle path containing the obstacle based on the second inflection point position. That is, adjust the first inflection point position in step S1 according to the obstacle information, and replace the first inflection point position with the second inflection point position, so that the cleaning equipment turns at an appropriate position. Specifically, when the obstacle is located high or low on the pool wall, the second inflection point position is set on the pool wall; and when the obstacle is high or low on the pool wall, the second inflection point position is further determined based on the boundary information of the obstacle. When the obstacle is an insurmountable obstacle on the pool wall, the second inflection point position is set at the bottom of the pool.

[0039] Please refer to Figure 4 When obstacles are located high up in the pool, the cleaning equipment's climbing height can be adjusted based on the cleaning cycle path. This allows the equipment to turn before encountering the obstacle and clean only the area below it. For example... Figure 4 As shown, when the cleaning equipment encounters an obstacle at a high position, the cleaning equipment stops moving upward and performs a downward movement.

[0040] Please refer to Figure 5 When obstacles are located low on the pool wall, the position of the first turning point can be raised based on the cleaning cycle path. For example, if the obstacle is 50cm high, the turning point in the preset path should be set to turn after rising at least 50cm, meaning the second turning point should be at least 50cm high. This controls the cleaning equipment to turn after rising at least 50cm, allowing it to pass over the obstacle and clean only the area above it. Simultaneously, when the cleaning equipment encounters an obstacle while descending the wall, steps 8-9-10-11 in step S1 can be repeated until the obstacle is avoided; or a turning maneuver can be used to avoid the obstacle.

[0041] Please refer to Figure 6 When the obstacle distribution consists of insurmountable obstacles on the wall, such as a wall itself, the cleaning equipment cannot turn on the pool wall. In this case, after reversing a certain distance in the cleaning cycle path, the robot adjusts its direction at the bottom of the pool to bypass the obstacle. That is, the second turning point is set at the bottom of the pool, allowing the cleaning robot to turn at the bottom to avoid the obstacle.

[0042] The present invention also discloses a cleaning device, including a processor, the processor being used to control the cleaning device to perform steps S1-S3.

[0043] In summary, the present invention provides a control method and apparatus for cleaning equipment. By controlling the cleaning equipment to clean the pool wall according to a preset path, it simultaneously acquires obstacle information along the path in real time during operation. Based on this obstacle information, the cleaning cycle path for obstacles can be adjusted in advance, enabling the cleaning equipment to avoid obstacles when it reaches that cleaning cycle. This eliminates the need for obstacle avoidance using 3D positioning information; instead, it achieves obstacle perception and avoidance through machine motion planning and obstacle information. This method is applicable to the perception and handling of obstacles on most pool walls.

[0044] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent modifications made based on the content of the present invention specification and drawings, or direct or indirect applications in related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A control method for cleaning equipment, characterized in that, include: The cleaning equipment is controlled to clean the pool wall according to a preset path, wherein the preset path includes at least a plurality of preset cleaning cycle paths; Obstacle information in the preset path; The cleaning cycle path is adjusted based on the obstacle information to avoid the obstacle.

2. The method according to claim 1, characterized in that, The preset cleaning cycle path includes: The cleaning device descends from the waterline position to the bottom of the pool, moves to the first inflection point, then shifts a preset distance laterally, and finally returns to the waterline position.

3. The method according to claim 2, characterized in that, The location of the first inflection point is determined based on the water depth along the current preset cleaning cycle path.

4. The method according to claim 2, characterized in that, The first inflection point is located on the pool wall.

5. The method according to claim 2, characterized in that, After reaching the first inflection point, the device rotates along the first direction by a preset angle and then advances a preset distance. After advancing the preset distance, it rotates along the second direction by the preset angle and then returns to the waterline position. The first direction and the second direction are opposite.

6. The method according to any one of claims 1-5, characterized in that, Adjusting the cleaning cycle path of the obstacle based on the obstacle information includes: The location of the second inflection point is determined based on the obstacle information, and the cleaning cycle path of the obstacle is adjusted based on the location of the second inflection point.

7. The method according to claim 6, characterized in that, The obstacle information includes one of the following: Obstacles located high or low on the pool wall, or obstacles on the pool wall that cannot be overcome.

8. The method according to claim 7, characterized in that, When the obstacle is located high or low on the pool wall, the second inflection point is set on the pool wall; when the obstacle is an insurmountable obstacle on the pool wall, the second inflection point is set at the bottom of the pool.

9. The method according to any one of claims 8, characterized in that, When the obstacle is located high or low on the pool wall, the position of the second inflection point is determined based on the boundary information of the obstacle.

10. A cleaning device, characterized in that, Includes a processor that performs the control method for the cleaning equipment as described in any one of claims 1-9.

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