A control method, device and controller for a cleaning robot

Abstract

This invention relates to a control method, device, and controller for a cleaning robot, belonging to the field of cleaning robot technology. The control method includes: acquiring the operating parameters of the cleaning robot; determining the position of the cleaning robot based on the operating parameters; determining the operating speed of the roller brush and the corresponding cleaning time based on the position; and controlling the roller brush to clean the pool according to the operating speed and cleaning time. By determining the position of the cleaning robot through its operating parameters, targeted cleaning can be performed. By determining the different positions of the cleaning robot and correspondingly controlling the operating speed of the roller brush and the cleaning time at that speed, the cleaning robot can perform different cleaning operations for different locations when cleaning the pool. This allows for increased roller brush speed and cleaning time for hard-to-clean areas, resulting in better cleaning effects and higher cleaning efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of cleaning robots, and in particular to a control method, device and controller of a cleaning robot. Background Art

[0002] The existing pool cleaning robot cannot effectively clean all the positions of the pool during the cleaning process. For example, when cleaning the water line of the pool, it is difficult to clean the stubborn stains on the water line of the pool, and it is difficult for the cleaning robot to clean it effectively. Therefore, the existing pool cleaning robot cannot clean the pool according to the position to be cleaned, and the cleaning efficiency is low. Summary of the invention

[0003] The invention provides a control method, a device and a controller for a cleaning robot to solve the problem of low cleaning efficiency in the prior art.

[0004] In order to solve the above problems, the present invention adopts the following solutions:

[0005] In a first aspect, the present invention provides a control method for a cleaning robot, wherein the cleaning robot includes a roller brush; the method includes:

[0006] Obtaining operating parameters of the cleaning robot;

[0007] Determining the position of the cleaning robot according to the operating parameters;

[0008] Determining the operating speed of the roller brush and the cleaning time corresponding to the position according to the position;

[0009] The roller brush is controlled to perform cleaning operations according to the operating speed and the cleaning time.

[0010] A further technical solution is that the cleaning robot includes a pump motor, the operating parameters include the rotation speed of the pump motor, and the position includes the swimming pool wall and the swimming pool waterline; and determining the position of the cleaning robot according to the operating parameters includes:

[0011] If the rotation speed of the pump motor is within a first preset rotation speed range, determining that the location is a swimming pool wall;

[0012] If the rotation speed of the pump motor is within a second preset rotation speed range, the position is determined to be the swimming pool waterline.

[0013] A further technical solution is that the cleaning robot includes a pump blade, the operating parameters include the rotation speed of the pump blade, and the position includes the swimming pool wall and the swimming pool waterline; and determining the position of the cleaning robot according to the operating parameters includes:

[0014] Obtaining a fluctuation value of the rotation speed of the pump blade within a preset time;

[0015] Determining whether the fluctuation value is greater than a preset fluctuation value threshold;

[0016] If the fluctuation value is greater than a preset fluctuation value threshold, the position is determined to be the swimming pool waterline;

[0017] If the fluctuation value is less than or equal to a preset fluctuation value threshold, the position is determined to be a swimming pool wall.

[0018] A further technical solution is that determining the running speed of the roller brush and the cleaning time corresponding to the position according to the position includes:

[0019] If the location is the swimming pool wall, determining the operating speed of the roller brush to be a first preset operating speed and determining the cleaning time to be a first preset cleaning time;

[0020] If the position is the waterline of the swimming pool, the operating speed of the roller brush is determined to be a second preset operating speed and the cleaning time is determined to be a second preset cleaning time.

[0021] A further technical solution is that the second preset cleaning time includes a third preset cleaning time and a fourth preset cleaning time, and the step of controlling the roller brush to perform cleaning according to the operating speed and the cleaning time includes:

[0022] If the position is the waterline of the swimming pool, controlling the cleaning robot to maintain the position unchanged during the third preset cleaning time, so that the roller brush performs the in-situ cleaning operation at the operating speed;

[0023] When the third preset cleaning time ends, the cleaning robot is controlled to move within the fourth preset cleaning time so that the roller brush performs a moving brushing operation at the operating speed.

[0024] A further technical solution is that the cleaning robot further includes track wheels and a water switch, and the method further includes:

[0025] Obtaining the working state of the track wheel and the power-on state of the water switch;

[0026] The cleaning robot is controlled to be powered on / off according to the working state and the power-on state.

[0027] A further technical solution is that the working state includes idling and carrying load, the power-on state includes power-on and power-off, and the power-on / power-off control of the cleaning robot according to the working state and the power-on state includes:

[0028] If the working state is idling and the power-on state is power-on, controlling the cleaning robot to be powered on;

[0029] If the working state is the loaded state and the power-on state is the powered state, controlling the cleaning robot to be powered on;

[0030] If the working state is idling and the power-on state is power-off, the cleaning robot is controlled to be powered off.

[0031] A further technical solution is that the method further comprises:

[0032] If the rotation speed of the track wheel is lower than the preset track wheel rotation speed, determining whether the load current of the cleaning robot is higher than the preset current threshold;

[0033] If the load current of the cleaning robot is higher than a preset current threshold, it is determined that the track wheels of the cleaning robot are blocked, and the direction of the cleaning robot is adjusted to keep the cleaning robot away from obstacles.

[0034] In a second aspect, the present invention provides a control device for a cleaning robot, comprising a unit for executing the method described in the first aspect.

[0035] In a third aspect, the present invention further provides a controller, the controller comprising a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus;

[0036] Memory, used to store computer programs;

[0037] The processor is used to implement the steps of the method described in the first aspect when executing the program stored in the memory.

[0038] Beneficial effects:

[0039] The position of the cleaning robot is determined by the operating parameters of the cleaning robot, and targeted cleaning is performed according to the position. By determining the different positions of the cleaning robot to control the operating speed of the roller brush and the cleaning time of the roller brush at the operating speed, the cleaning robot can perform different cleaning operations for different positions when cleaning the swimming pool, and thus increase the operating speed and cleaning time of the roller brush for some difficult-to-clean areas to achieve better cleaning effects and higher cleaning efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0041] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0042] Figure 1 A schematic flow chart of a control method for a cleaning robot provided in Embodiment 1 of the present invention;

[0043] Figure 2 A schematic flow chart of a control method for a cleaning robot provided in Embodiment 2 of the present invention;

[0044] Figure 3 A structural diagram of a control method device for a cleaning robot provided in Example 3 of the present invention;

[0045] Figure 4 A structural diagram of a control device for a cleaning robot provided in Example 4 of the present invention;

[0046] Figure 5 A structural diagram of a controller provided by the present invention. DETAILED DESCRIPTION

[0047] In order to more fully understand the technical content of the present invention, the technical solution of the present invention is further introduced and illustrated in conjunction with specific embodiments below, but is not limited thereto.

[0048] 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 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.

[0049] It should be understood that when used in this specification and the appended claims, the terms "include" and "comprises" indicate the presence of described features, integers, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0050] It should also be understood that the term "and / or" used in the present description and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0051] Example 1

[0052] See also Figure 1Embodiment 1 of the present invention provides a control method for a cleaning robot, the cleaning robot comprising a pump motor, a pump blade and a roller brush; the control method for the cleaning robot of embodiment 1 comprises steps: S101-S104.

[0053] S101, obtaining the operating parameters of the cleaning robot.

[0054] Specifically, the cleaning robot includes a pump motor, a pump blade and a roller brush, and the swimming pool is cleaned by the roller brush. The operating parameters of the cleaning robot are used to determine the current position of the cleaning robot, such as the swimming pool wall, the swimming pool waterline and other positions. The current position of the cleaning robot is determined by obtaining the operating parameters of the cleaning robot, so as to perform different cleaning operations for different positions. It should be noted that the operating parameters can be the speed parameters of the pump motor, and the operating parameters can also be the real-time current of the pump motor, the voltage of the pump motor and the speed fluctuation of the pump blade. The real-time current of the pump motor or the voltage of the pump motor can be obtained as a judgment parameter to determine the position of the swimming pool in which the current cleaning robot is located. Among them, a speed sensor, a current sensor and a voltage sensor are arranged at the front end of the pump motor. At the same time, a track wheel is arranged at the front end of the swimming pool cleaning robot, and a certain number of axial reinforcing ribs are arranged on the track wheel to increase the resistance to rotation in water. In the water, the track wheels are affected by water resistance and have a low rotation speed. When the pool cleaning robot crawls up the pool wall to the waterline, the track wheels are partially exposed to the water surface, the resistance is reduced, and the rotation speed increases. The motor speed sensor detects the signal of increased rotation speed and transmits it to the control circuit. The control circuit determines that this is the waterline cleaning condition and issues a waterline cleaning instruction to the pool.

[0055] S102: Determine the position of the cleaning robot according to the operating parameters.

[0056] Specifically, the position of the cleaning robot is determined by the operating parameters. For example, if the current speed of the pump motor is low, it means that the cleaning robot has a large resistance in the water, which affects the speed of the pump motor; if the speed of the pump motor is high, it means that the cleaning robot is partially exposed to the water surface, and the water resistance to the cleaning robot is small, which makes the speed of the pump motor higher. The speed fluctuation of the pump blade can also be used as a judgment condition. In the water, the resistance of the pump blade is relatively constant, and the speed fluctuation is not large; at the water surface, the suction part in the flow channel is controlled, and the blade rotates in the mixture of water and air, and the speed fluctuation is relatively large.

[0057] In one embodiment, the cleaning robot includes a pump motor, the operating parameters include the rotation speed of the pump motor, and the position includes the swimming pool wall and the swimming pool waterline; step S102 includes steps S1021-S1022.

[0058] S1021: If the rotation speed of the pump motor is within a first preset rotation speed range, determine that the location is a swimming pool wall.

[0059] In an embodiment of the present invention, the first preset speed range can be specifically 900 rpm-1100 rpm. At this time, the speed of the pump motor is relatively low, indicating that the water in the swimming pool has a greater resistance to the cleaning robot. Therefore, it can be confirmed that the current position of the cleaning robot is at the wall of the swimming pool and is not exposed to the water.

[0060] S1022: If the rotation speed of the pump motor is within a second preset rotation speed range, determine that the position is the swimming pool waterline.

[0061] In the embodiment of the present invention, the second preset speed range can be specifically 1100 rpm-1300 rpm. At this time, the speed of the pump motor is relatively high, indicating that the water in the swimming pool has less resistance to the cleaning robot. Then it can be confirmed that the current position of the cleaning robot is at the swimming pool waterline, out of the water. The swimming pool waterline refers to the position where the swimming pool wall contacts the water surface.

[0062] In one embodiment, the cleaning robot includes a pump blade, the operating parameter includes the rotation speed of the pump blade, and the position includes the swimming pool wall and the swimming pool waterline; step S102 includes steps: S121-S124.

[0063] S121, obtaining a fluctuation value of the rotation speed of the pump blade within a preset time.

[0064] In the embodiment of the present invention, the preset time can be set according to actual needs. Specifically, in the water, the resistance of the pump blade is relatively constant, so the speed fluctuation of the pump blade is not large; at the water surface, the suction part in the flow channel is controlled, and the pump blade rotates in the mixture of water and air, so the speed fluctuation of the pump blade is relatively large. Therefore, by obtaining the fluctuation value of the speed of the pump blade within the preset time, it can be determined whether the fluctuation is large and then the position of the cleaning robot can be determined.

[0065] S122, determining whether the fluctuation value is greater than a preset fluctuation value threshold.

[0066] In an embodiment of the present invention, the preset fluctuation value threshold may be specifically 35 rpm, that is, the current position of the cleaning robot may be determined by judging whether the fluctuation value of the rotation speed of the pump blade within a preset time is greater than 35 rpm.

[0067] S123: If the fluctuation value is greater than a preset fluctuation value threshold, determine that the position is the waterline of the swimming pool.

[0068] Specifically, if the fluctuation value of the rotation speed of the pump blade is greater than 35 rpm, it means that the cleaning robot has switched to the water surface, that is, the position of the cleaning waterline. At this time, it is determined that the position is the swimming pool waterline.

[0069] S124: If the fluctuation value is less than or equal to a preset fluctuation value threshold, determine that the location is a swimming pool wall.

[0070] Specifically, if the fluctuation value of the pump blade rotation speed is less than or equal to 35 rpm, it means that the cleaning robot has been maintaining a relatively stable state, that is, it remains below the waterline for cleaning operations, that is, at the position of the swimming pool wall. At this time, the position is determined to be the swimming pool wall.

[0071] S103, determining the operating speed of the roller brush and the cleaning time corresponding to the position according to the position.

[0072] Specifically, different cleaning operations can be performed by determining the location of the cleaning robot. For example, if the current location of the cleaning robot is the waterline of the swimming pool, which is usually the dirtiest place in the swimming pool and is difficult to clean, the running speed of the roller brush can be increased and the cleaning time of the swimming pool waterline can be increased accordingly. This can improve the cleaning effect and cleaning efficiency.

[0073] In one embodiment, step S103 includes steps S1031 - S1032 .

[0074] S1031: If the location is the swimming pool wall, determine that the operating speed of the roller brush is a first preset operating speed and determine that the cleaning time is a first preset cleaning time.

[0075] In the embodiment of the present invention, the first preset operating speed is 120 rpm, and the first preset cleaning time is 1 second. Specifically, when the cleaning robot is located at the wall of a swimming pool, the required rotation speed of the roller brush is 120 rpm, and the cleaning time can be appropriately reduced, and only 1 second is needed to clean the current swimming pool wall.

[0076] S1032: If the position is the waterline of the swimming pool, determine that the operating speed of the roller brush is a second preset operating speed and determine that the cleaning time is a second preset cleaning time.

[0077] In the embodiment of the present invention, the second preset operating speed is 160 rpm, and the first preset cleaning time is 5 seconds. Specifically, when the cleaning robot is located at the waterline of the swimming pool, the required rotation speed of the roller brush is 160 rpm, and the cleaning time can be appropriately increased. The roller brush needs to work at a speed of 160 rpm and needs to work for 5 seconds to clean the current swimming pool waterline.

[0078] S104, controlling the roller brush to clean the swimming pool according to the operating speed and the cleaning time.

[0079] Specifically, the roller brush is controlled to clean the swimming pool according to the running speed of the roller brush and the corresponding cleaning time. When cleaning the waterline of the swimming pool, it is necessary to control the cleaning robot to perform cleaning operations in situ for a period of time, and then control the roller brush to clean the waterline of the swimming pool. In the water, the track wheel is affected by the water resistance and has a low rotation speed. When the swimming pool cleaning robot crawls up on the swimming pool wall to the waterline position, the track wheel is partially exposed to the water surface, the resistance is reduced, and the rotation speed is increased. The speed sensor of the motor detects the signal of the increased rotation speed and transmits it to the control circuit. The control circuit determines that this is the waterline cleaning working condition and issues a waterline cleaning instruction to the swimming pool.

[0080] In one embodiment, the second preset cleaning time includes a third preset cleaning time and a fourth preset cleaning time, and controlling the roller brush to perform the cleaning operation according to the operating speed and the cleaning time includes:

[0081] If the position is the waterline of the swimming pool, controlling the cleaning robot to maintain the position unchanged during the third preset cleaning time, so that the roller brush performs the in-situ cleaning operation at the operating speed;

[0082] When the third preset cleaning time ends, the cleaning robot is controlled to move within the fourth preset cleaning time so that the roller brush performs a moving brushing operation at the operating speed.

[0083] In an embodiment of the present invention, the third preset cleaning time is 2 seconds, and the fourth preset cleaning time is 3 seconds. The swimming pool cleaning robot has two symmetrical drains, and the drains have a certain lateral angle, the left drain has a certain left angle, and the right drain has a certain right angle. When the control circuit determines that the working condition is to clean the water line, it sends a command to the swimming pool to clean the water line, first performs a certain period of in-situ scrubbing operation, and then performs a lateral movement. The motor speed of the drain on the other side of the lateral movement direction increases, and the generated lateral component force pushes the swimming pool cleaning robot to move sideways. Specifically, as mentioned above, for example, when the current position of the cleaning robot is at the swimming pool water line, the required speed of the roller brush is 160 rpm, and the cleaning time can be appropriately increased. The roller brush needs to work at a speed of 160 rpm and needs to work for 5 seconds to clean the current swimming pool water line.

[0084] Example 2

[0085] See also Figure 2Embodiment 2 of the present invention provides a control method for a cleaning robot, wherein the cleaning robot comprises a pump motor, a pump blade, a roller brush, a track wheel, and a water switch. The control method for the cleaning robot of embodiment 2 comprises steps: S201-S208.

[0086] S201, obtaining the operating parameters of the cleaning robot.

[0087] Specifically, the cleaning robot includes a pump motor, a pump blade and a roller brush, and the swimming pool is cleaned by the roller brush. The operating parameters of the cleaning robot are used to determine the current position of the cleaning robot, such as the swimming pool wall, the swimming pool waterline and other positions. The current position of the cleaning robot is determined by obtaining the operating parameters of the cleaning robot, so as to perform different cleaning operations for different positions. It should be noted that the operating parameters can be the speed parameters of the pump motor, and the operating parameters can also be the real-time current of the pump motor, the voltage of the pump motor and the speed fluctuation of the pump blade. The real-time current of the pump motor or the voltage of the pump motor can be obtained as a judgment parameter to determine the position of the swimming pool in which the current cleaning robot is located. Among them, a speed sensor, a current sensor and a voltage sensor are arranged at the front end of the pump motor. At the same time, a track wheel is arranged at the front end of the swimming pool cleaning robot, and a certain number of axial reinforcing ribs are arranged on the track wheel to increase the resistance to rotation in water. In the water, the track wheels are affected by water resistance and have a low rotation speed. When the pool cleaning robot crawls up the pool wall to the waterline, the track wheels are partially exposed to the water surface, the resistance is reduced, and the rotation speed increases. The motor speed sensor detects the signal of increased rotation speed and transmits it to the control circuit. The control circuit determines that this is the waterline cleaning condition and issues a waterline cleaning instruction to the pool.

[0088] S202: Determine the position of the cleaning robot according to the operating parameters.

[0089] Specifically, the position of the cleaning robot is determined by the operating parameters. For example, if the current speed of the pump motor is low, it means that the cleaning robot has a large resistance in the water, which affects the speed of the pump motor; if the speed of the pump motor is high, it means that the cleaning robot is partially exposed to the water surface, and the water resistance to the cleaning robot is small, which makes the speed of the pump motor higher. The speed fluctuation of the pump blade can also be used as a judgment condition. In the water, the resistance of the pump blade is relatively constant, and the speed fluctuation is not large; at the water surface, the suction part in the flow channel is controlled, and the blade rotates in the mixture of water and air, and the speed fluctuation is relatively large.

[0090] In one embodiment, the cleaning robot includes a pump motor, the operating parameters include the rotation speed of the pump motor, and the position includes the swimming pool wall and the swimming pool waterline; step S202 includes steps S2021-S2022.

[0091] S2021: If the rotation speed of the pump motor is within a first preset rotation speed range, determine that the location is a swimming pool wall.

[0092] In an embodiment of the present invention, the first preset speed range can be specifically 900 rpm-1100 rpm. At this time, the speed of the pump motor is relatively low, indicating that the water in the swimming pool has a greater resistance to the cleaning robot. Therefore, it can be confirmed that the current position of the cleaning robot is at the wall of the swimming pool and is not exposed to the water.

[0093] S2022: If the rotation speed of the pump motor is within a second preset rotation speed range, determine that the position is the swimming pool waterline.

[0094] In the embodiment of the present invention, the second preset speed range can be specifically 1100 rpm-1300 rpm. At this time, the speed of the pump motor is relatively high, indicating that the water in the swimming pool has less resistance to the cleaning robot. Then it can be confirmed that the current position of the cleaning robot is at the swimming pool waterline, out of the water. The swimming pool waterline refers to the position where the swimming pool wall contacts the water surface.

[0095] In one embodiment, the cleaning robot includes a pump blade, the operating parameter includes the rotation speed of the pump blade, and the position includes the swimming pool wall and the swimming pool waterline; step S202 includes steps: S221-S224.

[0096] S221, obtaining the fluctuation value of the rotation speed of the pump blade within a preset time.

[0097] In the embodiment of the present invention, the preset time can be set according to actual needs. Specifically, in the water, the resistance of the pump blade is relatively constant, so the speed fluctuation of the pump blade is not large; at the water surface, the suction part in the flow channel is controlled, and the pump blade rotates in the mixture of water and air, so the speed fluctuation of the pump blade is relatively large. Therefore, by obtaining the fluctuation value of the speed of the pump blade within the preset time, it can be determined whether the fluctuation is large and then the position of the cleaning robot can be determined.

[0098] S222, determining whether the fluctuation value is greater than a preset fluctuation value threshold.

[0099] In an embodiment of the present invention, the preset fluctuation value threshold may be specifically 35 rpm, that is, the current position of the cleaning robot may be determined by judging whether the fluctuation value of the rotation speed of the pump blade within a preset time is greater than 35 rpm.

[0100] S223: If the fluctuation value is greater than a preset fluctuation value threshold, determine that the position is the waterline of the swimming pool.

[0101] Specifically, if the fluctuation value of the rotation speed of the pump blade is greater than 35 rpm, it means that the cleaning robot has switched to the water surface, that is, the position of the cleaning waterline. At this time, it is determined that the position is the swimming pool waterline.

[0102] S224: If the fluctuation value is less than or equal to a preset fluctuation value threshold, determine that the location is a swimming pool wall.

[0103] Specifically, if the fluctuation value of the pump blade rotation speed is less than or equal to 35 rpm, it means that the cleaning robot has been maintaining a relatively stable state, that is, it remains below the waterline for cleaning operations, that is, at the position of the swimming pool wall. At this time, the position is determined to be the swimming pool wall.

[0104] S203: Determine the operating speed of the roller brush and the cleaning time corresponding to the position according to the position.

[0105] Specifically, different cleaning operations can be performed by determining the location of the cleaning robot. For example, if the current location of the cleaning robot is the waterline of the swimming pool, which is usually the dirtiest place in the swimming pool and is difficult to clean, the running speed of the roller brush can be increased and the cleaning time of the swimming pool waterline can be increased accordingly. This can improve the cleaning effect and cleaning efficiency.

[0106] In one embodiment, step S203 includes steps S2031 - S2032 .

[0107] S2031: If the location is the swimming pool wall, determine that the operating speed of the roller brush is a first preset operating speed and determine that the cleaning time is a first preset cleaning time.

[0108] In the embodiment of the present invention, the first preset operating speed is 120 rpm, and the first preset cleaning time is 1 second. Specifically, when the cleaning robot is located at the wall of a swimming pool, the required rotation speed of the roller brush is 120 rpm, and the cleaning time can be appropriately reduced, and only 1 second is needed to clean the current swimming pool wall.

[0109] S2032: If the position is the waterline of the swimming pool, determine that the operating speed of the roller brush is a second preset operating speed and determine that the cleaning time is a second preset cleaning time.

[0110] In the embodiment of the present invention, the second preset operating speed is 160 rpm, and the first preset cleaning time is 5 seconds. Specifically, when the cleaning robot is located at the waterline of the swimming pool, the required rotation speed of the roller brush is 160 rpm, and the cleaning time can be appropriately increased. The roller brush needs to work at a speed of 160 rpm and needs to work for 5 seconds to clean the current swimming pool waterline.

[0111] S204: Control the roller brush to clean the swimming pool according to the operating speed and the cleaning time.

[0112] Specifically, the roller brush is controlled to clean the swimming pool according to the running speed of the roller brush and the corresponding cleaning time. When cleaning the waterline of the swimming pool, it is necessary to control the cleaning robot to perform cleaning operations in situ for a period of time, and then control the roller brush to clean the waterline of the swimming pool. In the water, the track wheel is affected by the water resistance and has a low rotation speed. When the swimming pool cleaning robot crawls up on the swimming pool wall to the waterline position, the track wheel is partially exposed to the water surface, the resistance is reduced, and the rotation speed is increased. The speed sensor of the motor detects the signal of the increased rotation speed and transmits it to the control circuit. The control circuit determines that this is the waterline cleaning working condition and issues a waterline cleaning instruction to the swimming pool.

[0113] In one embodiment, the second preset cleaning time includes a third preset cleaning time and a fourth preset cleaning time, and controlling the roller brush to perform the cleaning operation according to the operating speed and the cleaning time includes:

[0114] If the position is the waterline of the swimming pool, controlling the cleaning robot to maintain the position unchanged during the third preset cleaning time, so that the roller brush performs the in-situ cleaning operation at the operating speed;

[0115] When the third preset cleaning time ends, the cleaning robot is controlled to move within the fourth preset cleaning time so that the roller brush performs a moving brushing operation at the operating speed.

[0116] In an embodiment of the present invention, the third preset cleaning time is 2 seconds, and the fourth preset cleaning time is 3 seconds. The swimming pool cleaning robot has two symmetrical drains, and the drains have a certain lateral angle, the left drain has a certain left angle, and the right drain has a certain right angle. When the control circuit determines that the working condition is to clean the water line, it sends a command to the swimming pool to clean the water line, first performs a certain period of in-situ scrubbing operation, and then performs a lateral movement. The motor speed of the drain on the other side of the lateral movement direction increases, and the generated lateral component force pushes the swimming pool cleaning robot to move sideways. Specifically, as mentioned above, for example, when the current position of the cleaning robot is at the swimming pool water line, the required speed of the roller brush is 160 rpm, and the cleaning time can be appropriately increased. The roller brush needs to work at a speed of 160 rpm and needs to work for 5 seconds to clean the current swimming pool water line.

[0117] S205, obtaining the working status of the track wheel and the power-on status of the water switch.

[0118] Specifically, the motor of the existing pool cleaning robot idles after leaving the water, which is prone to overheating and damage. When the pool cleaning robot cleans the water line, the track wheel at the front end will also idle, and it will also misjudge the working condition as out of water when cleaning the water line, which will affect the cleaning. In fact, the sealed shell of the motor is in contact with water at this time, and there is no overheating problem. Shutdown will also affect the operation. Therefore, by obtaining the working state of the track wheel and the power-on state of the water switch, the real working state of the current cleaning robot can be obtained.

[0119] S206, controlling the cleaning robot to be powered on / off according to the working state and the power-on state.

[0120] Specifically, by controlling the power on / off of the cleaning robot through the working status and the power-on status, the working status of the track wheel and the power-on status of the water switch can be obtained to obtain the real working status of the current cleaning robot, and then control the power on / off of the cleaning robot, making cleaning more energy-saving and efficient.

[0121] In one embodiment, step S206 includes steps S2061 - S2063 .

[0122] S2061, if the working state is idling and the power-on state is power-on, control the cleaning robot to be powered on.

[0123] Specifically, if the current track wheel is in an idling working state, but the water switch is still powered on, then it is determined that the robot is in a water line cleaning state and the power is not cut off.

[0124] S2062: If the working state is the loaded state and the power-on state is the powered state, control the cleaning robot to be powered on.

[0125] Specifically, if the current track wheel is in a loaded working state, that is, in a normal operating state, the water switch is in an energized state at this time, and it is determined that the cleaning robot is in a pool wall cleaning or pool bottom cleaning state, and the power is not cut off at this time.

[0126] S2063, if the working state is idling and the power-on state is power-off, control the cleaning robot to power off.

[0127] Specifically, if the track wheel is currently in an idling working state, the water switch is in a power-off state, and the robot is determined to be out of water, and the power is cut off at this time.

[0128] S207, if the rotation speed of the track wheel is lower than the preset track wheel rotation speed, determine whether the load current of the cleaning robot is higher than the preset current threshold.

[0129] In one embodiment, the preset current threshold is 2A, and the preset track wheel speed is 15 rpm. When the track wheel speed is lower than 15 rpm, it indicates that the cleaning robot may be out of water or stalled. If the cleaning robot stalls, the direction of the cleaning robot needs to be adjusted in time. At this time, it is determined whether the load current of the cleaning robot is higher than the preset current threshold 2A to determine whether the cleaning robot is stalled.

[0130] S208, if the load current of the cleaning robot is higher than a preset current threshold, it is determined that the track wheels of the cleaning robot are blocked, and the direction of the cleaning robot is adjusted to keep the cleaning robot away from obstacles.

[0131] Specifically, the obstacle may be the contact between the bottom wall of the swimming pool and the side wall of the swimming pool. When the rotation speed of the track wheel is lower than 15 rpm and the load current of the cleaning robot is higher than the preset current threshold of 2A, the track wheel of the cleaning robot is blocked, and the blockage occurs at the contact between the bottom wall of the swimming pool and the side wall of the swimming pool. Therefore, the direction of the cleaning robot needs to be adjusted to make the cleaning robot stay away from the swimming pool wall to prevent the track wheel and roller brush of the cleaning robot from being damaged.

[0132] Example 3

[0133] See also Figure 3 Embodiment 3 of the present invention provides a control device 400 for a cleaning robot. The control device 400 for a cleaning robot of Embodiment 3 includes a first acquisition unit 401 , a first determination unit 402 , a second determination unit 403 , and a first control unit 404 .

[0134] The first acquisition unit 401 is used to acquire the operating parameters of the cleaning robot.

[0135] The first determining unit 402 is used to determine the position of the cleaning robot according to the operating parameters.

[0136] The second determining unit 403 is used to determine the running speed of the roller brush and the cleaning time corresponding to the position according to the position.

[0137] The first control unit 404 is used to control the roller brush to clean the swimming pool according to the operating speed and the cleaning time.

[0138] In one embodiment, the cleaning robot includes a pump motor, the operating parameters include a rotation speed of the pump motor, and the position includes a swimming pool wall and a swimming pool waterline; and determining the position of the cleaning robot according to the operating parameters includes:

[0139] If the rotation speed of the pump motor is within a first preset rotation speed range, determining that the location is a swimming pool wall;

[0140] If the rotation speed of the pump motor is within a second preset rotation speed range, the position is determined to be the swimming pool waterline.

[0141] In one embodiment, the cleaning robot includes a pump blade, the operating parameter includes a rotation speed of the pump blade, and the position includes a swimming pool wall and a swimming pool waterline; determining the position of the cleaning robot according to the operating parameter includes:

[0142] Obtaining a fluctuation value of the rotation speed of the pump blade within a preset time;

[0143] Determining whether the fluctuation value is greater than a preset fluctuation value threshold;

[0144] If the fluctuation value is greater than a preset fluctuation value threshold, the position is determined to be the swimming pool waterline;

[0145] If the fluctuation value is less than or equal to a preset fluctuation value threshold, the position is determined to be a swimming pool wall.

[0146] In one embodiment, determining the operating speed of the roller brush and the cleaning time corresponding to the position according to the position includes:

[0147] If the location is the swimming pool wall, determining the operating speed of the roller brush to be a first preset operating speed and determining the cleaning time to be a first preset cleaning time;

[0148] If the position is the waterline of the swimming pool, the operating speed of the roller brush is determined to be a second preset operating speed and the cleaning time is determined to be a second preset cleaning time.

[0149] In one embodiment, the second preset cleaning time includes a third preset cleaning time and a fourth preset cleaning time, and controlling the roller brush to perform the cleaning operation according to the operating speed and the cleaning time includes:

[0150] If the position is the waterline of the swimming pool, controlling the cleaning robot to maintain the position unchanged during the third preset cleaning time, so that the roller brush performs the in-situ cleaning operation at the operating speed;

[0151] When the third preset cleaning time ends, the cleaning robot is controlled to move within the fourth preset cleaning time so that the roller brush performs a moving brushing operation at the operating speed.

[0152] Example 4

[0153] See also Figure 4Embodiment 4 of the present invention provides a control device 400 for a cleaning robot. The difference between the control device 400 for the cleaning robot in Embodiment 4 and the control device 400 for the cleaning robot in Embodiment 3 is that it also includes a second acquisition unit 405, a second control unit 406, a judgment unit 407, and an adjustment unit 408.

[0154] The second acquisition unit 405 is used to acquire the working state of the track wheel and the power-on state of the water switch.

[0155] The second control unit 406 is used to control the power on / off of the cleaning robot according to the working state and the power on state.

[0156] The judgment unit 407 is used to judge whether the load current of the cleaning robot is higher than a preset current threshold value if the rotation speed of the track wheel is lower than a preset track wheel rotation speed.

[0157] The adjustment unit 408 is used to determine that the track wheels of the cleaning robot are blocked if the load current of the cleaning robot is higher than a preset current threshold, and adjust the direction of the cleaning robot to keep the cleaning robot away from obstacles.

[0158] In one embodiment, the cleaning robot includes a pump motor, the operating parameters include a rotation speed of the pump motor, and the position includes a swimming pool wall and a swimming pool waterline; and determining the position of the cleaning robot according to the operating parameters includes:

[0159] If the rotation speed of the pump motor is within a first preset rotation speed range, determining that the location is a swimming pool wall;

[0160] If the rotation speed of the pump motor is within a second preset rotation speed range, the position is determined to be the swimming pool waterline.

[0161] In one embodiment, the cleaning robot includes a pump blade, the operating parameter includes a rotation speed of the pump blade, and the position includes a swimming pool wall and a swimming pool waterline; determining the position of the cleaning robot according to the operating parameter includes:

[0162] Obtaining a fluctuation value of the rotation speed of the pump blade within a preset time;

[0163] Determining whether the fluctuation value is greater than a preset fluctuation value threshold;

[0164] If the fluctuation value is greater than a preset fluctuation value threshold, the position is determined to be the swimming pool waterline;

[0165] If the fluctuation value is less than or equal to a preset fluctuation value threshold, the position is determined to be a swimming pool wall.

[0166] In one embodiment, determining the operating speed of the roller brush and the cleaning time corresponding to the position according to the position includes:

[0167] If the location is the swimming pool wall, determining the operating speed of the roller brush to be a first preset operating speed and determining the cleaning time to be a first preset cleaning time;

[0168] If the position is the waterline of the swimming pool, the operating speed of the roller brush is determined to be a second preset operating speed and the cleaning time is determined to be a second preset cleaning time.

[0169] In one embodiment, the second preset cleaning time includes a third preset cleaning time and a fourth preset cleaning time, and controlling the roller brush to perform the cleaning operation according to the operating speed and the cleaning time includes:

[0170] If the position is the waterline of the swimming pool, controlling the cleaning robot to maintain the position unchanged during the third preset cleaning time, so that the roller brush performs the in-situ cleaning operation at the operating speed;

[0171] When the third preset cleaning time ends, the cleaning robot is controlled to move within the fourth preset cleaning time so that the roller brush performs a moving brushing operation at the operating speed.

[0172] In one embodiment, the working state includes idling and carrying load, the power-on state includes power-on and power-off, and controlling the power-on / power-off of the cleaning robot according to the working state and the power-on state includes:

[0173] If the working state is idling and the power-on state is power-on, controlling the cleaning robot to be powered on;

[0174] If the working state is the loaded state and the power-on state is the powered state, controlling the cleaning robot to be powered on;

[0175] If the working state is idling and the power-on state is power-off, the cleaning robot is controlled to be powered off.

[0176] Example 5

[0177] See also Figure 5 A controller provided by an embodiment of the present invention includes a processor 111, a communication interface 112, a memory 113 and a communication bus 114, wherein the processor 111, the communication interface 112 and the memory 113 communicate with each other through the communication bus 114.

[0178] Memory 113, used for storing computer programs;

[0179] The processor 111 is used to execute the program stored in the memory 113 to implement the control method of the cleaning robot provided in Example 1 or Example 2.

[0180] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0181] The above description is only a specific embodiment of the present invention, so that those skilled in the art can understand or implement the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but should conform to the widest scope consistent with the principles and novel features invented herein.

Claims

1. A control method for a cleaning robot, characterized in that: The cleaning robot includes a roller brush; the method includes: Acquiring operating parameters of the cleaning robot, wherein the cleaning robot includes a pump motor, and the operating parameters include a rotation speed of the pump motor; Determine the position of the cleaning robot according to the operating parameters, wherein the position includes a swimming pool waterline; if the rotation speed of the pump motor is within a second preset rotation speed range, determine that the position is the swimming pool waterline; Determining the operating speed of the roller brush and the cleaning time corresponding to the position according to the position; The roller brush is controlled to perform cleaning operations according to the operating speed and the cleaning time.

2. The control method according to claim 1, characterized in that: The position includes a swimming pool wall; and determining the position of the cleaning robot according to the operating parameters includes: If the rotation speed of the pump motor is within a first preset rotation speed range, it is determined that the location is a swimming pool wall.

3. The control method according to claim 1, characterized in that: The cleaning robot includes a pump blade, the operating parameter includes a rotation speed of the pump blade, and the position includes a swimming pool wall and a swimming pool waterline; determining the position of the cleaning robot according to the operating parameter includes: Obtaining a fluctuation value of the rotation speed of the pump blade within a preset time; Determining whether the fluctuation value is greater than a preset fluctuation value threshold; If the fluctuation value is greater than a preset fluctuation value threshold, the position is determined to be the swimming pool waterline; If the fluctuation value is less than or equal to a preset fluctuation value threshold, the position is determined to be a swimming pool wall.

4. The control method according to claim 2 or 3, characterized in that: The step of determining the operating speed of the roller brush and the cleaning time corresponding to the position according to the position includes: If the location is the swimming pool wall, determining the operating speed of the roller brush to be a first preset operating speed and determining the cleaning time to be a first preset cleaning time; If the position is the waterline of the swimming pool, the operating speed of the roller brush is determined to be a second preset operating speed and the cleaning time is determined to be a second preset cleaning time.

5. The control method according to claim 4, characterized in that: The second preset cleaning time includes a third preset cleaning time and a fourth preset cleaning time, and the controlling the roller brush to perform the cleaning operation according to the operating speed and the cleaning time includes: If the position is the waterline of the swimming pool, controlling the cleaning robot to maintain the position unchanged during the third preset cleaning time, so that the roller brush performs the in-situ cleaning operation at the operating speed; When the third preset cleaning time ends, the cleaning robot is controlled to move within the fourth preset cleaning time so that the roller brush performs a moving brushing operation at the operating speed.

6. The control method according to claim 1, characterized in that: The cleaning robot further comprises track wheels and a water switch, and the method further comprises: Obtaining the working state of the track wheel and the power-on state of the water switch; The cleaning robot is controlled to be powered on / off according to the working state and the power-on state.

7. The control method according to claim 6, characterized in that: The working state includes idling and carrying load, the power-on state includes power-on and power-off, and controlling the power-on / power-off of the cleaning robot according to the working state and the power-on state includes: If the working state is idling and the power-on state is power-on, controlling the cleaning robot to be powered on; If the working state is the loaded state and the power-on state is the powered state, controlling the cleaning robot to be powered on; If the working state is idling and the power-on state is power-off, the cleaning robot is controlled to be powered off.

8. The control method according to claim 6, characterized in that: The method further comprises: If the rotation speed of the track wheel is lower than the preset track wheel rotation speed, determining whether the load current of the cleaning robot is higher than the preset current threshold; If the load current of the cleaning robot is higher than a preset current threshold, it is determined that the track wheels of the cleaning robot are blocked, and the direction of the cleaning robot is adjusted to keep the cleaning robot away from obstacles.

9. A control device for a cleaning robot, characterized in that: The method comprises means for executing the method according to any one of claims 1 to 8.

10. A controller, characterized in that: The controller includes a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus; Memory, used to store computer programs; A processor, configured to implement the steps of the method according to any one of claims 1 to 8 when executing a program stored in a memory.

Images