Underwater cleaning robot and control method and control device thereof

Abstract

The present invention discloses an underwater cleaning robot and a control method and a control device thereof, wherein the method comprises: when the underwater cleaning robot touches a wall, obtaining real-time angle change data of the underwater cleaning robot, and calculating a first actual wall climbing time according to the real-time angle change data; when the first actual wall climbing time is greater than a preset time, increasing the speed level of a water pump motor and a speed level of a travel drive motor of the underwater cleaning robot, and calculating a second actual wall climbing time according to the real-time angle change data; when the second actual wall climbing time is less than or equal to the preset time, controlling the water pump motor and the travel drive motor of the underwater cleaning robot to clean the pool wall at the current speed level. The wall climbing cleaning efficiency of the underwater cleaning robot is improved by using the embodiments of the present invention.

Description

Technical Field

[0001] The present invention relates to the field of automatic control technology, and in particular to an underwater cleaning robot and a control method and a control device thereof. Background Art

[0002] In the prior art, when an underwater cleaning robot cleans a swimming pool, it needs to clean the bottom and the wall of the pool. In the prior art, during the transition from the bottom of the pool to the wall, some machines usually take a long time to climb the wall, and the efficiency of climbing the wall is low; after successfully climbing the wall, the machine does not stably control the driving force of the walking motor and the driving force of the water pump motor, and the two do not work well together, resulting in unstable crawling of the machine, unstable adhesion to the wall and easy flipping, affecting the efficiency of the machine climbing the wall and cleaning.

[0003] As can be seen from the above, the existing control method of the underwater cleaning robot has a problem of low wall-climbing cleaning efficiency of the underwater cleaning robot due to its low stability during the wall-climbing cleaning process. Summary of the invention

[0004] The embodiments of the present invention provide an underwater cleaning robot and a control method and a control device thereof, which improve the wall climbing and cleaning efficiency of the underwater cleaning robot.

[0005] A first aspect of an embodiment of the present application provides a control method for an underwater cleaning robot, comprising:

[0006] When the underwater cleaning robot touches the wall, real-time angle change data of the underwater cleaning robot is obtained, and the first actual wall-touching time is calculated according to the real-time angle change data;

[0007] When the first actual wall-climbing time is longer than the preset time, the speed level of the water pump motor and the speed level of the walking drive motor of the underwater cleaning robot are increased, and the second actual wall-climbing time is calculated according to the real-time angle change data;

[0008] When the second actual wall-touching time is less than or equal to the preset time, the water pump motor and the travel drive motor of the underwater cleaning robot are controlled to clean the pool wall at the current speed level.

[0009] In a possible implementation of the first aspect, after the underwater cleaning robot has successfully climbed onto the wall, the method further includes:

[0010] Obtain real-time X-axis acceleration data of the underwater cleaning robot;

[0011] When the real-time X-axis acceleration data changes, the speed level of the water pump motor of the underwater cleaning robot is increased until the real-time X-axis acceleration data meets the preset conditions, and the water pump motor of the underwater cleaning robot is controlled to clean the pool wall at the current speed level.

[0012] In a possible implementation of the first aspect, after the underwater cleaning robot has successfully climbed onto the wall, the method further includes:

[0013] Obtain the real-time wall-climbing running speed of the underwater cleaning robot, and calculate the first actual cleaning time according to the real-time wall-climbing running speed;

[0014] When the first actual cleaning time is longer than the preset cleaning time, the speed level of the walking drive motor of the underwater cleaning robot is increased, and the second actual cleaning time is calculated according to the real-time wall climbing running speed;

[0015] When the second actual cleaning time is less than the preset cleaning time, the travel drive motor of the underwater cleaning robot is controlled to clean the pool wall at the current speed level.

[0016] In a possible implementation of the first aspect, after the underwater cleaning robot touches the wall, the method further includes:

[0017] Improve the speed level of the water pump motor and the speed level of the travel drive motor of the underwater cleaning robot.

[0018] In a possible implementation manner of the first aspect, the method further includes:

[0019] When the water outlet sensor of the underwater cleaning robot is triggered, the left walking unit and the right walking unit of the underwater cleaning robot are controlled and driven with a preset rotation speed difference.

[0020] In a possible implementation manner of the first aspect, the method further includes:

[0021] Acquire a first distance collected by an infrared sensor of the underwater cleaning robot;

[0022] When it is determined according to the first distance that the underwater cleaning robot is close to the pool wall, the speed level of the travel drive motor of the underwater cleaning robot is reduced, and the water pump motor and the travel drive motor of the underwater cleaning robot are controlled to clean the pool wall at the current speed level.

[0023] A second aspect of an embodiment of the present application provides a control device for an underwater cleaning robot, comprising: a computing module, a first control module, and a second control module;

[0024] The calculation module is used to obtain the real-time angle change data of the underwater cleaning robot after the underwater cleaning robot touches the wall, and calculate the first actual wall contact time according to the real-time angle change data;

[0025] The first control module is used to increase the speed level of the water pump motor and the speed level of the walking drive motor of the underwater cleaning robot when the first actual wall-reaching time is longer than the preset time, and calculate the second actual wall-reaching time according to the real-time angle change data;

[0026] The second control module is used to control the water pump motor and the travel drive motor of the underwater cleaning robot to clean the pool wall at the current speed level when the second actual wall duration is less than or equal to the preset duration.

[0027] In a possible implementation manner of the second aspect, after the underwater cleaning robot has successfully climbed onto the wall, the method further includes:

[0028] Obtain real-time X-axis acceleration data of the underwater cleaning robot;

[0029] When the real-time X-axis acceleration data changes, the speed level of the water pump motor of the underwater cleaning robot is increased until the real-time X-axis acceleration data meets the preset conditions, and the water pump motor of the underwater cleaning robot is controlled to clean the pool wall at the current speed level.

[0030] In a possible implementation manner of the second aspect, after the underwater cleaning robot has successfully climbed onto the wall, the method further includes:

[0031] Obtain the real-time wall-climbing running speed of the underwater cleaning robot, and calculate the first actual cleaning time according to the real-time wall-climbing running speed;

[0032] When the first actual cleaning time is longer than the preset cleaning time, the speed level of the walking drive motor of the underwater cleaning robot is increased, and the second actual cleaning time is calculated according to the real-time wall climbing running speed;

[0033] When the second actual cleaning time is less than the preset cleaning time, the travel drive motor of the underwater cleaning robot is controlled to clean the pool wall at the current speed level.

[0034] A third aspect of the embodiments of the present application provides an underwater cleaning robot, comprising: a walking wheel, a walking drive motor, a water inlet, a water outlet, a water pump motor, an infrared sensor and a gyroscope;

[0035] Wherein, the travel drive motor is used to drive the travel wheels;

[0036] The walking wheels are used to realize the crawling of the underwater cleaning robot;

[0037] The water pump motor is used to pump water from the water inlet to the water outlet, so that the underwater cleaning robot can crawl along the wall; wherein the water inlet is arranged at the bottom of the underwater cleaning robot, and the water outlet is arranged at the top of the underwater cleaning robot;

[0038] The infrared sensor is used to detect the distance between the underwater cleaning robot and the pool wall in front;

[0039] The gyroscope is used to obtain real-time angle change data of the underwater cleaning robot.

[0040] Compared with the prior art, an embodiment of the present invention provides an underwater cleaning robot and a control method and a control device thereof, the method comprising: when the underwater cleaning robot touches the wall, obtaining real-time angle change data of the underwater cleaning robot, and calculating a first actual wall contact time according to the real-time angle change data; when the first actual wall contact time is greater than a preset time, increasing the speed level of the water pump motor and the speed level of the travel drive motor of the underwater cleaning robot, and calculating a second actual wall contact time according to the real-time angle change data; when the second actual wall contact time is less than or equal to the preset time, controlling the water pump motor and the travel drive motor of the underwater cleaning robot to clean the pool wall at the current speed level.

[0041] Its beneficial effect is that: in the embodiment of the present invention, when the first actual wall climbing time is greater than the preset time, the speed level of the water pump motor and the speed level of the travel drive motor of the underwater cleaning robot are respectively increased by one level, and the new actual wall climbing time is recalculated until the new actual wall climbing time is less than or equal to the preset time, so as to ensure that the underwater cleaning robot can complete the wall climbing within the preset time, thereby improving the cleaning efficiency of the underwater cleaning robot. Furthermore, while increasing the speed level of the travel drive motor to quickly climb the wall, since the water pump motor is used to pump water from the water inlet to the water outlet, by increasing the speed level of the water pump motor, the underwater cleaning robot can be guaranteed to crawl against the wall; thereby ensuring the stability of the underwater cleaning robot crawling against the wall during the rapid wall climbing process, avoiding the problem of the underwater cleaning robot flipping due to low stability during the rapid wall climbing process, and ensuring the cleaning efficiency of the underwater cleaning robot.

[0042] Secondly, after the underwater cleaning robot has successfully climbed the wall, the embodiment of the present invention adjusts and controls the water pump motor speed level and the walking drive motor speed level according to the real-time X-axis acceleration data and the real-time wall-climbing running speed, respectively. During the process of the underwater cleaning robot crawling on the pool wall, the wall-climbing speed and the water pump motor speed can be flexibly adjusted according to actual conditions to ensure that the machine thrust formed by pumping water at the water outlet is compatible with the wall-climbing speed of the underwater cleaning robot, avoiding problems such as insufficient thrust causing the underwater cleaning robot to be unable to stick to the wall and flip over, or excessive thrust causing the underwater cleaning robot to run too slowly, thereby ensuring the stability of the operating state and operating speed of the underwater cleaning robot and efficiently completing the pool wall cleaning task. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 It is a flow chart of a control method of an underwater cleaning robot provided by one embodiment of the present invention;

[0044] Figure 2 is a schematic structural diagram of an underwater cleaning robot provided by an embodiment of the present invention;

[0045] Figure 3 It is a structural schematic diagram of a control device of an underwater cleaning robot provided by one embodiment of the present invention. DETAILED DESCRIPTION

[0046] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0047] Reference Figure 1 , is a flow chart of a control method of an underwater cleaning robot provided by an embodiment of the present invention, including S101-S103:

[0048] S101: When the underwater cleaning robot touches a wall, real-time angle change data of the underwater cleaning robot is obtained, and a first actual wall-touching time is calculated according to the real-time angle change data.

[0049] The angle change data is specifically vertical angle change data.

[0050] In this embodiment, it also includes:

[0051] Acquire a first distance collected by an infrared sensor of the underwater cleaning robot;

[0052] When it is determined that the underwater cleaning robot is close to the pool wall based on the first distance, the speed level of the travel drive motor of the underwater cleaning robot is reduced, and the water pump motor and the travel drive motor of the underwater cleaning robot are controlled to clean the pool wall at the current speed level.

[0053] In this embodiment, after the underwater cleaning robot touches the wall, the method further includes:

[0054] The speed level of the water pump motor and the speed level of the travel drive motor of the underwater cleaning robot are improved.

[0055] Furthermore, when the underwater cleaning robot touches the wall, the speed level of the water pump motor and the speed level of the travel drive motor of the underwater cleaning robot are respectively increased by one level, and the real-time angle change data of the underwater cleaning robot is obtained at the same time, in preparation for the underwater cleaning robot to move up the wall. When the real-time angle change data is zero, it is determined that the angle of the underwater cleaning robot has not changed, and the speed level of the water pump motor and the speed level of the travel drive motor of the underwater cleaning robot are respectively increased by one level until the real-time angle change data is not equal to zero, that is, until the angle of the underwater cleaning robot has changed, and the first actual wall duration is calculated according to the real-time angle change data.

[0056] S102: When the first actual wall-reaching time is longer than the preset time, the speed level of the water pump motor and the speed level of the travel drive motor of the underwater cleaning robot are increased, and the second actual wall-reaching time is calculated according to the real-time angle change data.

[0057] S103: When the second actual wall-touching time is less than or equal to the preset time, the water pump motor and the travel drive motor of the underwater cleaning robot are controlled to clean the pool wall at the current speed level.

[0058] Among them, when the second actual wall climbing time is greater than the preset time, the speed level of the water pump motor and the speed level of the walking drive motor of the underwater cleaning robot are respectively increased by one level, and the new actual wall climbing time is recalculated until the new actual wall climbing time is less than or equal to the preset time, so as to ensure that the underwater cleaning robot can complete the transition from the pool bottom to the pool wall (i.e., complete the wall climbing) within the preset time, thereby improving the cleaning efficiency of the underwater cleaning robot. Furthermore, while increasing the speed level of the walking drive motor to quickly climb the wall, since the water pump motor is used to pump water from the water inlet to the water outlet, by increasing the speed level of the water pump motor, the underwater cleaning robot can be guaranteed to crawl against the wall; thereby ensuring the stability of the underwater cleaning robot crawling against the wall during the rapid wall climbing process, avoiding the problem of the underwater cleaning robot flipping due to low stability during the rapid wall climbing process, and ensuring the cleaning efficiency of the underwater cleaning robot.

[0059] In a preferred embodiment, it is assumed that the preset duration is 3 seconds. If the underwater cleaning robot fails to successfully climb the wall within 3 seconds with the current speed level of the water pump motor and the speed level of the walking drive motor, and it is determined that the actual wall climbing time is longer than the preset time, the speed level of the water pump motor and the speed level of the walking drive motor of the underwater cleaning robot are increased, and the timing is restarted. At the same time, it is determined whether the real-time vertical angle data of the underwater cleaning robot changes from 0° to 90° within 3 seconds under the premise of the new speed level of the water pump motor and the speed level of the walking drive motor. If so, the actual wall climbing time is less than or equal to the preset time, and the timing is stopped; if not, the speed level of the water pump motor and the speed level of the walking drive motor of the underwater cleaning robot are continued to be increased after 3 seconds, and the timing is restarted.

[0060] Furthermore, when the real-time X-axis acceleration data of the underwater cleaning robot is greater than a preset threshold, it is determined that the underwater cleaning robot has successfully climbed onto the wall.

[0061] In this embodiment, after the underwater cleaning robot has successfully climbed onto the wall, the method further includes:

[0062] Acquiring real-time X-axis acceleration data of the underwater cleaning robot;

[0063] When the real-time X-axis acceleration data changes, the speed level of the water pump motor of the underwater cleaning robot is increased until the real-time X-axis acceleration data meets the preset conditions, and the water pump motor of the underwater cleaning robot is controlled to clean the pool wall at the current speed level.

[0064] Furthermore, when the real-time X-axis acceleration data changes, it is determined that the underwater cleaning robot has low wall-crawling stability, so it is necessary to increase the speed level of the underwater cleaning robot's water pump motor until the real-time X-axis acceleration data meets the preset conditions, and it is determined that the underwater cleaning robot has stably crawled against the wall. The real-time X-axis acceleration data meets the preset conditions, specifically: when the real-time X-axis acceleration data belongs to the preset value range and no longer changes, it is determined that the real-time X-axis acceleration data meets the preset conditions; otherwise, it is determined that the real-time X-axis acceleration data does not meet the preset conditions.

[0065] In this embodiment, after the underwater cleaning robot has successfully climbed onto the wall, the method further includes:

[0066] Acquire a real-time wall-climbing running speed of the underwater cleaning robot, and calculate a first actual cleaning duration according to the real-time wall-climbing running speed;

[0067] When the first actual cleaning time is greater than the preset cleaning time, the speed level of the walking drive motor of the underwater cleaning robot is increased, and a second actual cleaning time is calculated according to the real-time wall climbing running speed;

[0068] When the second actual cleaning time is less than the preset cleaning time, the travel drive motor of the underwater cleaning robot is controlled to clean the pool wall at the current speed level.

[0069] The preset cleaning time is calculated based on the real-time wall climbing speed and the pool wall area to be cleaned. When the actual cleaning time is longer than the preset cleaning time, the speed level of the underwater cleaning robot's walking drive motor is increased to ensure that the underwater cleaning robot can complete the cleaning of the pool wall within the preset cleaning time to ensure the cleaning efficiency of the underwater cleaning robot. Furthermore, the calculation process of the preset cleaning time is as follows:

[0070] T = X / (V*Z);

[0071] Among them, T is the preset cleaning time, X is the area of ​​the pool wall to be cleaned, V is the real-time wall climbing speed of the underwater cleaning robot, and Z is the roller brush width of the underwater cleaning robot.

[0072] In a specific embodiment, it also includes:

[0073] When the water outlet sensor of the underwater cleaning robot is triggered, it is determined that the underwater cleaning robot is at the waterline position, and the left walking unit and the right walking unit of the underwater cleaning robot are driven by controlling the preset speed difference, so that the underwater cleaning robot turns around and crawls.

[0074] Furthermore, the left walking unit and the right walking unit of the underwater cleaning robot are controlled and driven with a preset speed difference, so that the underwater cleaning robot turns around and crawls, specifically:

[0075] The left and right wheels are controlled to rotate in opposite directions to achieve a preset speed difference, or the two sides rotate in the same direction but at different speeds to achieve a preset speed difference.

[0076] For example: when turning right, the speed of the left walking unit of the underwater cleaning robot is controlled to be greater than the speed of the right walking unit; when turning left, the speed of the right walking unit of the underwater cleaning robot is controlled to be greater than the speed of the left walking unit. During the U-turn process, the angle change data of the underwater cleaning robot is detected in real time to determine whether the underwater cleaning robot has completed the U-turn. If completed, the underwater cleaning robot is controlled to walk in a straight line. During the walking process, the angle changes of the underwater cleaning robot in the X, Y, and Z axes are detected in real time to determine whether the underwater cleaning robot deviates from the predetermined route. If so, the speed difference between the left and right wheels is adjusted according to the actual situation until the underwater cleaning robot continues to move forward in the direction of the predetermined route.

[0077] For further explanation of the structure of the underwater cleaning robot, please refer to Figure 2 , Figure 2 2 is a schematic diagram of the structure of an underwater cleaning robot provided by an embodiment of the present invention, comprising: a walking unit 201, a walking drive motor 202, a water inlet 203, a water outlet 204, a water pump motor 205, a distance sensor and an acceleration sensor;

[0078] Wherein, the walking drive motor 202 is used to drive the walking unit 201;

[0079] The walking unit 201 is used to realize the crawling of the underwater cleaning robot;

[0080] The water pump motor 205 is used to pump water from the water inlet 203 to the water outlet 204, and the angle formed by the water outlet 204 and the plane where the fuselage is located is less than or equal to 90 degrees;

[0081] The distance measuring sensor is used to detect the distance between the underwater cleaning robot and the pool wall in front or whether it is close to the pool wall;

[0082] The acceleration sensor is used to obtain real-time angle change data of the underwater cleaning robot.

[0083] For further explanation of the control device of the underwater cleaning robot, please refer to Figure 3 , Figure 3 3 is a schematic diagram of the structure of a control device of an underwater cleaning robot provided by an embodiment of the present invention, comprising: a calculation module 301, a first control module 302 and a second control module 303;

[0084] The calculation module 301 is used to obtain real-time angle change data of the underwater cleaning robot after the underwater cleaning robot touches the wall, and calculate the first actual wall contact time according to the real-time angle change data;

[0085] The first control module 302 is used to increase the speed level of the water pump motor and the speed level of the travel drive motor of the underwater cleaning robot when the first actual wall-reaching time is greater than a preset time, and calculate a second actual wall-reaching time according to the real-time angle change data;

[0086] The second control module 303 is used to control the water pump motor and the travel drive motor of the underwater cleaning robot to clean the pool wall at the current speed level when the second actual wall duration is less than or equal to the preset duration.

[0087] In this embodiment, after the underwater cleaning robot has successfully climbed onto the wall, the method further includes:

[0088] Acquiring real-time X-axis acceleration data of the underwater cleaning robot;

[0089] When the real-time X-axis acceleration data changes, it means that the underwater cleaning robot is unstable against the wall, and the speed level of the water pump motor of the underwater cleaning robot is increased until the real-time X-axis acceleration data meets the preset conditions, and the water pump motor of the underwater cleaning robot is controlled to clean the pool wall at the current speed level.

[0090] In this embodiment, after the underwater cleaning robot has successfully climbed onto the wall, the method further includes:

[0091] Acquire a real-time wall-climbing running speed of the underwater cleaning robot, and calculate a first actual cleaning duration according to the real-time wall-climbing running speed;

[0092] When the first actual cleaning time is greater than the preset cleaning time, the speed level of the walking drive motor of the underwater cleaning robot is increased, and a second actual cleaning time is calculated according to the real-time wall climbing running speed;

[0093] When the second actual cleaning time is less than the preset cleaning time, the travel drive motor of the underwater cleaning robot is controlled to clean the pool wall at the current speed level.

[0094] In a specific embodiment, after the underwater cleaning robot touches the wall, the process further includes:

[0095] The speed level of the water pump motor and the speed level of the travel drive motor of the underwater cleaning robot are improved.

[0096] In a specific embodiment, it also includes:

[0097] When the water outlet sensor of the underwater cleaning robot is triggered, it is determined that the underwater cleaning robot is at the waterline position, and the left walking unit and the right walking unit of the underwater cleaning robot are driven by controlling the preset speed difference, so that the underwater cleaning robot turns around and crawls.

[0098] In a specific embodiment, it also includes:

[0099] Acquire a first distance collected by an infrared sensor of the underwater cleaning robot;

[0100] When it is determined that the underwater cleaning robot is close to the pool wall based on the first distance, the speed level of the travel drive motor of the underwater cleaning robot is reduced, and the water pump motor and the travel drive motor of the underwater cleaning robot are controlled to clean the pool wall at the current speed level.

[0101] The embodiment of the present invention obtains real-time angle change data of the underwater cleaning robot after the underwater cleaning robot touches the wall through a calculation module, and calculates a first actual wall contact time according to the real-time angle change data; increases the speed level of the water pump motor and the speed level of the travel drive motor of the underwater cleaning robot when the first actual wall contact time is greater than a preset time through a first control module, and calculates a second actual wall contact time according to the real-time angle change data; controls the water pump motor and the travel drive motor of the underwater cleaning robot to clean the pool wall at the current speed level when the second actual wall contact time is less than or equal to the preset time through a second control module.

[0102] In the embodiment of the present invention, when the first actual wall climbing time is greater than the preset time, the speed level of the water pump motor and the speed level of the travel drive motor of the underwater cleaning robot are respectively increased by one level, and the new actual wall climbing time is recalculated until the new actual wall climbing time is less than or equal to the preset time, so as to ensure that the underwater cleaning robot can complete the wall climbing within the preset time, thereby improving the cleaning efficiency of the underwater cleaning robot. Furthermore, while increasing the speed level of the travel drive motor to quickly climb the wall, since the water pump motor is used to pump water from the water inlet to the water outlet, by increasing the speed level of the water pump motor, the underwater cleaning robot can be guaranteed to crawl against the wall; thereby ensuring the stability of the underwater cleaning robot crawling against the wall during the rapid wall climbing process, avoiding the problem of the underwater cleaning robot flipping due to low stability during the rapid wall climbing process, and ensuring the cleaning efficiency of the underwater cleaning robot.

[0103] Secondly, after the underwater cleaning robot has successfully climbed the wall, the embodiment of the present invention adjusts and controls the water pump motor speed level and the walking drive motor speed level according to the real-time X-axis acceleration data and the real-time wall-climbing running speed, respectively. During the process of the underwater cleaning robot crawling on the pool wall, the wall-climbing speed and the water pump motor speed can be flexibly adjusted according to actual conditions to ensure that the machine thrust formed by pumping water at the water outlet is compatible with the wall-climbing speed of the underwater cleaning robot, avoiding problems such as insufficient thrust causing the underwater cleaning robot to be unable to stick to the wall and flip over, or excessive thrust causing the underwater cleaning robot to run too slowly, thereby ensuring the stability of the operating state and operating speed of the underwater cleaning robot and efficiently completing the pool wall cleaning task.

[0104] The above is a preferred embodiment of the present invention. It should be pointed out that a person skilled in the art can make several improvements and modifications without departing from the principle of the present invention. These improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A control method for an underwater cleaning robot, characterized in that: include: When the underwater cleaning robot touches the wall, real-time angle change data of the underwater cleaning robot is obtained, and a first actual wall-touching time is calculated according to the real-time angle change data; wherein the first actual wall-touching time includes: the time when the real-time vertical angle of the underwater cleaning robot changes from 0 degrees to 90 degrees; When the first actual wall-reaching time is longer than a preset time, the speed level of the water pump motor and the speed level of the travel drive motor of the underwater cleaning robot are increased, and a second actual wall-reaching time is calculated according to the real-time angle change data; When the second actual wall-touching time is less than or equal to the preset time, the water pump motor and the travel drive motor of the underwater cleaning robot are controlled to clean the pool wall at the current speed level; After the underwater cleaning robot has successfully climbed onto the wall, the method further includes: Acquire a real-time wall-climbing running speed of the underwater cleaning robot, and calculate a first actual cleaning duration according to the real-time wall-climbing running speed; When the first actual cleaning time is greater than the preset cleaning time, the speed level of the walking drive motor of the underwater cleaning robot is increased, and a second actual cleaning time is calculated according to the real-time wall climbing running speed; When the second actual cleaning time is less than the preset cleaning time, controlling the travel drive motor of the underwater cleaning robot to clean the pool wall at the current speed level; The preset cleaning time is expressed by the formula: ； in, To preset the cleaning time, is the pool wall area to be cleaned, The real-time wall climbing speed of the underwater cleaning robot. It is the roller brush speed of the underwater cleaning robot.

2. The control method of an underwater cleaning robot according to claim 1, characterized in that: After the underwater cleaning robot has successfully climbed onto the wall, the method further includes: Acquiring real-time X-axis acceleration data of the underwater cleaning robot; When the real-time X-axis acceleration data changes, the speed level of the water pump motor of the underwater cleaning robot is increased until the real-time X-axis acceleration data meets the preset conditions, and the water pump motor of the underwater cleaning robot is controlled to clean the pool wall at the current speed level.

3. The control method of an underwater cleaning robot according to claim 1, characterized in that: After the underwater cleaning robot touches the wall, the method further comprises: The speed level of the water pump motor and the speed level of the travel drive motor of the underwater cleaning robot are improved.

4. The control method of an underwater cleaning robot according to claim 3, characterized in that: Also includes: When the water outlet sensor of the underwater cleaning robot is triggered, the left walking unit and the right walking unit of the underwater cleaning robot are controlled and driven with a preset rotation speed difference.

5. The control method of an underwater cleaning robot according to claim 4, characterized in that: Also includes: Acquire a first distance collected by an infrared sensor of the underwater cleaning robot; When it is determined that the underwater cleaning robot is close to the pool wall based on the first distance, the speed level of the travel drive motor of the underwater cleaning robot is reduced, and the water pump motor and the travel drive motor of the underwater cleaning robot are controlled to clean the pool wall at the current speed level.

6. A control device for an underwater cleaning robot, characterized in that: include: A calculation module, a first control module and a second control module; The calculation module is used to obtain the real-time angle change data of the underwater cleaning robot after the underwater cleaning robot touches the wall, and calculate the first actual wall-touching time according to the real-time angle change data; wherein the first actual wall-touching time includes: the time when the real-time vertical angle of the underwater cleaning robot changes from 0 degrees to 90 degrees; The first control module is used for increasing the speed level of the water pump motor and the speed level of the travel drive motor of the underwater cleaning robot when the first actual wall-reaching time is greater than a preset time, and calculating a second actual wall-reaching time according to the real-time angle change data; The second control module is used to control the water pump motor and the travel drive motor of the underwater cleaning robot to clean the pool wall at the current speed level when the second actual wall contact time is less than or equal to the preset time; After the underwater cleaning robot has successfully climbed onto the wall, the method further includes: Acquire a real-time wall-climbing running speed of the underwater cleaning robot, and calculate a first actual cleaning duration according to the real-time wall-climbing running speed; When the first actual cleaning time is greater than the preset cleaning time, the speed level of the walking drive motor of the underwater cleaning robot is increased, and a second actual cleaning time is calculated according to the real-time wall climbing running speed; When the second actual cleaning time is less than the preset cleaning time, controlling the travel drive motor of the underwater cleaning robot to clean the pool wall at the current speed level; The preset cleaning time is expressed by the formula: ； in, To preset the cleaning time, is the pool wall area to be cleaned, The real-time wall climbing speed of the underwater cleaning robot. It is the roller brush speed of the underwater cleaning robot.

7. The control device of an underwater cleaning robot according to claim 6, characterized in that: After the underwater cleaning robot has successfully climbed onto the wall, the method further includes: Acquiring real-time X-axis acceleration data of the underwater cleaning robot; When the real-time X-axis acceleration data changes, the speed level of the water pump motor of the underwater cleaning robot is increased until the real-time X-axis acceleration data meets the preset conditions, and the water pump motor of the underwater cleaning robot is controlled to clean the pool wall at the current speed level.

8. An underwater cleaning robot using the control method according to any one of claims 1 to 5, characterized in that: include: Travel unit, travel drive motor, water inlet, water outlet, water pump motor, distance sensor and acceleration sensor; Wherein, the walking drive motor is used to drive the walking unit; The walking unit is used to realize the crawling of the underwater cleaning robot; The water pump motor is used to pump water from the water inlet to the water outlet, and the angle formed by the water outlet and the plane where the fuselage is located is less than or equal to 90 degrees; The distance measuring sensor is used to detect the distance between the underwater cleaning robot and the pool wall in front or whether it is close to the pool wall; The acceleration sensor is used to obtain real-time angle change data of the underwater cleaning robot.

Images