Robot control method to prevent wire tangling

Abstract

The present invention discloses a robot control method for preventing wire knots, which includes using a wired swimming pool robot, the swimming pool robot has a built-in controller, the controller includes a geomagnetic chip, a three-axis angular acceleration sensor and a processor, and can execute: a. After the swimming pool robot enters the water, the processor locates the initial running position and running direction through the geomagnetic sensor and the parameters of the three-axis angular acceleration sensor; b. The processor determines the starting running direction, and during the operation of the robot, obtains the robot rotation angle through the parameter offset of the geomagnetic sensor; c. When the cumulative calculation of the rotation angle reaches a preset limit value, the processor controls the swimming pool robot to enter a self-untangling process; d. The processor continuously monitors the rotation angle of the swimming pool robot, returns the running angle of the swimming pool robot to the initial position, and then repeats steps b to d. The robot control method for preventing wire knots obtained by the present invention simplifies the hardware structure of the swimming pool robot and improves the production efficiency of the product.

Description

Technical Field

[0001] The invention relates to a robot control method, in particular to a robot control method for preventing electric wires from getting tangled. Background Art

[0002] At present, swimming pool cleaning robots have become one of the devices that meet the cleaning needs of small swimming pools in communities and homes and improve living standards. In the prior art, swimming pool cleaning robots include wireless and wired types. Wireless devices have built-in batteries and are heavier, while wired devices require power cords. In order to prevent the wires from getting tangled underwater, anti-tangling connectors need to be provided at the interfaces of the swimming pool robots. However, the manufacturing process of anti-tangling connectors is complicated and production is not convenient. Summary of the invention

[0003] The purpose of the present invention is to solve the above-mentioned deficiencies of the prior art and to provide a simple and convenient robot control method for preventing wire tangling.

[0004] In order to achieve the above object, the present invention is designed to prevent the robot from tangling wires, which includes using a wired swimming pool robot, the swimming pool robot has a built-in controller, the controller includes a geomagnetic chip and a processor, and can perform the following steps:

[0005] a. After the pool robot enters the water, the geomagnetic sensor and the three-axis angular acceleration sensor maintain communication with the processor, and the processor uses the geomagnetic sensor parameters obtained after the pool robot enters the water as the robot's initial running direction and position;

[0006] b. When the swimming pool robot moves underwater and turns during the movement, the processor determines the rotation angle deviation generated during the current operation of the robot based on the changes in the geomagnetic parameters detected by the geomagnetic sensor and the angular velocity measured by the three-axis angular acceleration sensor;

[0007] c. The rotation angle deviation of the pool robot is accumulated and calculated during the turning process until the rotation angle deviation reaches the limit value preset in the processor program;

[0008] d. The processor executes the set self-release program and controls the pool robot to turn in the opposite direction in the next movement, thereby performing the self-release process;

[0009] e. During the execution of step d, the processor continuously monitors the rotation angle of the swimming pool robot according to the geomagnetic sensor parameters and angular velocity parameters. When the swimming pool robot returns to the initial position and the wires are untangled, steps b to e are repeated. In actual installation, in order to avoid the influence of the motor magnetic field, the geomagnetic chip needs to be installed away from the motor. The geomagnetic chip monitors the rotation angle of the swimming pool robot by identifying the angle change of the body relative to the geomagnetic field.

[0010] In order to reduce the number of steering adjustments, the limit value preset in the geomagnetic chip includes two positive and negative limit values. When step b is repeatedly performed, the steering direction of the swimming pool robot is the same as the steering direction during the self-disintegration process.

[0011] In order to improve the degree of automation, the swimming pool robot is built with a three-axis gravity acceleration sensor. The three-axis gravity acceleration sensor and the three-axis angular acceleration sensor constitute a six-axis acceleration sensor. When the swimming pool robot enters the water, the three-axis gravity acceleration sensor detects the acceleration change of the swimming pool robot at the moment of entering the water, and sends a signal to the processor, so that the processor and the geomagnetic chip start communicating. After entering the water, the processor confirms the robot's posture through the six-axis sensor parameters, and determines whether the robot has fallen to the bottom of the swimming pool in a normal posture. Then, the robot's running angle and initial running direction are determined according to the geomagnetic sensor and the six-axis acceleration.

[0012] In order to strike a balance between the number of steering adjustments and the anti-winding effect, the limit value is based on the angle covered by the swimming pool robot in two rotations.

[0013] The robot control method for preventing wire tangling obtained by the present invention controls the movement of the robot through software, replaces the structure of the anti-entanglement joint, simplifies the hardware structure of the swimming pool robot, and improves the production efficiency of the product. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 is a flow chart of Example 1 of a robot control method for preventing wire knotting according to the present invention;

[0015] Figure 2 It is a flow chart of Example 2 of the robot control method for preventing wire knotting of the present invention. DETAILED DESCRIPTION

[0016] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the specific implementation mode, structure, characteristics and effects of the present invention are described in detail below in combination with the accompanying drawings and preferred embodiments.

[0017] Embodiment 1:

[0018] The robot control method for preventing wire knotting described in this embodiment is as follows: Figure 1 As shown, it includes using a wired swimming pool robot, the swimming pool robot has a built-in controller, the controller includes a geomagnetic chip and a processor, and can perform the following steps:

[0019] a. After the pool robot enters the water, the geomagnetic sensor and the three-axis angular acceleration sensor maintain communication with the processor. At the same time, the processor uses the geomagnetic sensor parameters obtained after the pool robot enters the water as the robot's initial running direction and position; the geomagnetic chip needs to perform position detection and setting after the pool robot enters the water. Therefore, the switch on the pool robot can be manually started before entering the water to enable the processor to establish communication with the geomagnetic chip.

[0020] b. When the swimming pool robot moves underwater and turns during the movement, the processor determines the rotation angle deviation generated during the current operation of the robot based on the changes in the geomagnetic parameters detected by the geomagnetic sensor and the angular velocity measured by the three-axis angular acceleration sensor;

[0021] c. The rotation angle deviation of the pool robot is accumulated and calculated during the turning process until the rotation angle deviation reaches the limit value preset in the processor program;

[0022] d. The processor executes the set self-release program and controls the pool robot to turn in the opposite direction in the next movement, thereby performing the self-release process;

[0023] e. During the execution of step d, the processor continuously monitors the rotation angle of the swimming pool robot according to the geomagnetic sensor parameters and the angular velocity parameters. When the swimming pool robot returns to the initial position and the wires are untangled, steps b to e are repeated.

[0024] The limit value is based on the angle covered by the swimming pool robot in two rotations.

[0025] In actual use, the swimming pool robot moves in circles in the swimming pool. The setting of the limit value evenly divides and quantifies the angle change of the swimming pool robot for two circles, totaling 720 degrees. The initial position is recorded as 0, and the clockwise or counterclockwise rotation of 90 degrees is recorded as 1, and the limit value is recorded as 8. When the swimming pool robot moves and rotates underwater to the limit value of 8, the processor sends a self-solution signal to drive the swimming pool robot to circle in the opposite direction until it returns to the initial position 0.

[0026] After returning to the initial position 0, the swimming pool robot in this embodiment turns to the opposite direction again to move in a circle, and after reaching the limit value 8, it releases itself again, and cleans the bottom and walls of the swimming pool by repeatedly circling the bottom of the swimming pool with a motion trajectory similar to concentric circles.

[0027] Embodiment 2:

[0028] The robot control method for preventing wire knotting described in this embodiment is as follows: Figure 2 As shown, a wired swimming pool robot is used, and the swimming pool robot has a built-in controller, which includes a geomagnetic chip and a processor and can perform the following steps:

[0029] a. After the pool robot enters the water, the geomagnetic sensor and the three-axis angular acceleration sensor maintain communication with the processor, and the processor uses the geomagnetic sensor parameters obtained after the pool robot enters the water as the robot's initial running direction and position;

[0030] b. When the swimming pool robot moves underwater and turns during the movement, the processor determines the rotation angle deviation generated during the current operation of the robot based on the changes in the geomagnetic parameters detected by the geomagnetic sensor and the angular velocity measured by the three-axis angular acceleration sensor;

[0031] c. The rotation angle deviation of the pool robot is accumulated and calculated during the turning process until the rotation angle deviation reaches the limit value preset in the processor program;

[0032] d. The processor executes the set self-release program and controls the pool robot to turn in the opposite direction in the next movement, thereby performing the self-release process;

[0033] e. During the execution of step d, the processor continuously monitors the rotation angle of the swimming pool robot according to the geomagnetic sensor parameters and the angular velocity parameters. When the swimming pool robot returns to the initial position and the wires are untangled, steps b to e are repeated.

[0034] In order to reduce the number of steering adjustments, the limit value preset in the geomagnetic chip includes two positive and negative limit values. When step b is repeatedly performed, the steering direction of the swimming pool robot is the same as the steering direction during the self-disintegration process.

[0035] In order to improve the degree of automation, the swimming pool robot is equipped with a three-axis gravity acceleration sensor. The three-axis gravity acceleration sensor and the three-axis angular acceleration sensor form a six-axis acceleration sensor. When the swimming pool robot enters the water, the three-axis gravity acceleration sensor detects the acceleration change at the moment the swimming pool robot enters the water, and sends a signal to the processor, so that the processor starts communicating with the geomagnetic chip. After entering the water, the processor confirms the robot's posture through the six-axis sensor parameters, and determines whether the robot has fallen to the bottom of the swimming pool in a normal posture. Then, the robot's operating angle and initial running direction are determined based on the geomagnetic sensor and the six-axis acceleration.

[0036] The limit value is based on the angle of the swimming pool robot after two rotations. In this embodiment, since there are two positive and negative limit values, that is, there are two positive rotations or two reverse rotations, when the rotation angle is quantified, it can be divided into positive and negative according to the rotation direction, that is, the initial position is 0, 90 degrees clockwise rotation is 1, and 90 degrees counterclockwise rotation is -1. At this time, the limit value is 8 for 720 degrees clockwise rotation and -8 for 720 degrees counterclockwise rotation.

[0037] In this embodiment, taking a swimming pool with a square bottom as an example, after the swimming pool robot falls into the water, the three-axis acceleration sensor detects the acceleration change at the moment of entering the water, thereby automatically starting, the processor establishes communication with the geomagnetic chip, determines the initial position, and then the swimming pool robot circles counterclockwise along the square path at the bottom of the swimming pool. Every time it turns 90 degrees, the rotation angle is accumulated by -1 until it reaches the limit value -8. At this time, the swimming pool robot enters the self-release process, rotates in the opposite clockwise direction, and every time it turns 90 degrees, the rotation angle is accumulated by 1 until it returns to zero, that is, it meets the return to the initial position described in step e. After that, unlike Example 1, the swimming pool robot does not rotate in the opposite direction, but continues to circle in the clockwise direction. Similarly, every time it turns 90 degrees, the rotation angle is accumulated by 1 until it reaches another limit value 8. At this time, the swimming pool robot enters the self-release process again, circles counterclockwise, and repeats the process of returning to zero and reaching another limit value, thereby avoiding the entanglement of the power cord during the cleaning of the swimming pool bottom.

[0038] The robot control method for preventing wire tangling provided in this embodiment can not only effectively prevent wire tangling, but also further reduce the number of reversals performed by the swimming pool robot to prevent tangling during cleaning, thereby reducing the control difficulty.

[0039] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Although the present invention has been disclosed as a preferred embodiment as above, it is not used to limit the present invention. Any technical personnel in this field can make some changes or modify the technical contents disclosed above into equivalent embodiments without departing from the scope of the technical solution of the present invention. However, any brief modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A robot control method for preventing wire tangling, which includes using a wired swimming pool robot, characterized in that The swimming pool robot has a built-in controller, which includes a geomagnetic chip, a three-axis angular acceleration sensor and a processor, and can perform the following steps: a. After the pool robot enters the water, the geomagnetic sensor and the three-axis angular acceleration sensor maintain communication with the processor, and the processor uses the geomagnetic sensor parameters obtained after the pool robot enters the water as the robot's initial running direction and position; b. When the pool robot moves underwater and turns during the movement, the processor determines the rotation angle deviation generated during the current operation of the robot based on the changes in the geomagnetic parameters detected by the geomagnetic sensor and the angular velocity measured by the three-axis angular acceleration sensor; c. The rotation angle deviation of the pool robot is accumulated and calculated during the turning process until the rotation angle deviation reaches the limit value preset in the processor program; d. The processor executes the set self-release program and controls the pool robot to turn in the opposite direction in the next movement, thereby performing the self-release process; e. During the execution of step d, the processor continuously monitors the rotation angle of the swimming pool robot according to the geomagnetic sensor parameters and the angular velocity parameters. When the swimming pool robot returns to the initial position and the wires are untangled, steps b to e are repeated.

2. The robot control method for preventing wire tangling according to claim 1 is characterized in that The limit value preset in the geomagnetic chip includes two positive and negative limit values. When step b is repeatedly performed, the turning direction of the swimming pool robot is the same as the turning direction in the self-solution process.

3. The robot control method for preventing wire tangling according to claim 1 or 2, characterized in that The swimming pool robot has a built-in three-axis gravity acceleration sensor, which together with the three-axis angular acceleration sensor form a six-axis acceleration sensor. When the swimming pool robot enters the water, the three-axis gravity acceleration sensor detects the acceleration change at the moment the swimming pool robot enters the water, and sends a signal to the processor, so that the processor starts communicating with the geomagnetic chip. After entering the water, the processor confirms the robot's posture through the six-axis sensor parameters, and determines whether the robot has fallen horizontally to the bottom of the swimming pool in a normal posture, and then determines the robot's running angle and initial running direction based on the geomagnetic sensor and the six-axis acceleration.

4. The robot control method for preventing wire tangling according to claim 1 or 2, characterized in that The limit value is based on the angle covered by the swimming pool robot in two rotations.

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