A pool cleaning robot with motion state detection and its control method

Abstract

A pool cleaning robot with motion state detection and its control method, including a main body. An electromagnetic flow detector is provided on the upper end surface of the main body, and the opening direction of the electromagnetic flow detector is consistent with the straight line where the pool robot moves forward / backward. A first propulsion propeller and a second propulsion propeller are respectively provided on both sides of the main body. A control box is provided inside the main body, and a first motor, a second motor, a detection module and a control module are provided inside the control box. The motors are connected to the propulsion propellers, the control module is connected to the first motor and the second motor, and the detection module is electrically connected to the electromagnetic flow detector and the control module. When the machine starts to move, the electromagnetic flow detector starts to transmit an electrical signal to the detection module, and the detection module is numerically transmitted to the control module of the pool robot. The detection module can obtain the flow rate to determine whether the pool robot is moving smoothly, so as to control its direction.

Description

Technical Field

[0001] The present invention relates to the field of robots, and particularly to a pool cleaning robot with motion state detection and its control method. Background Art

[0002] A swimming pool is a venue for people to engage in swimming activities. Some garbage or bacteria will appear in the pool during use. Therefore, the pool needs to be cleaned regularly. Pool cleaning robots (including surface and underwater robots) can perform pool cleaning work, and their main task is to carry a cleaning mechanism and move in the water. In order to ensure the cleaning effect, it is necessary to effectively improve the motion coverage rate of the robot. Therefore, it is necessary to control the motion trajectory of the robot to effectively reach all areas that need to be cleaned, and it is necessary to have a certain ability to get out of trouble. This requires real-time detection of the motion speed, direction and other states of the robot to facilitate control and correction using a supporting algorithm. Since most propeller-driven underwater robots cannot directly obtain their own motion state information, it must be indirectly measured through an additional detection device.

[0003] CN115556118A discloses a pool robot and its moving method, including a main body, a wall-touching detection module, and a driving module. The wall-touching detection module includes a detection component and a detection switch. The detection component is arranged on the top of the main body. The detection switch is arranged at both ends of the top of the main body close to the detection component. When the detection component approaches the detection switch, an electrical signal can be formed. The wall-touching detection module is connected to the driving module, and the pool robot cannot continue to move forward after touching the wall. The above wall-touching detection module is arranged in the middle of the upper end face of the pool robot, and its detection accuracy is poor, and it cannot control the pool robot to change direction and get out of trouble. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to overcome the above-mentioned defects existing in the prior art and provide a pool robot that can detect the motion state, control it, and change its direction and speed.

[0005] The technical solution adopted by the present invention to solve its technical problems is as follows: A pool cleaning robot with motion state detection, including a main body, on which an electromagnetic flow detector is provided. The opening direction of the electromagnetic flow detector is consistent with the straight line where the pool robot moves forward / backward. On both sides of the main body, a first propulsion propeller and a second propulsion propeller are respectively provided. Inside the main body, there is a control box, and inside the control box, there are a first motor, a second motor, a detection module, and a control module. The first motor is connected to the first propulsion propeller, the second motor is connected to the second propulsion propeller, the control module is connected to the first motor and the second motor, and respectively controls the operation of the first motor and the second motor. The detection module is electrically connected to the electromagnetic flow detector and the control module, and transmits the electrical signal generated by the electromagnetic flow detector to the control module.

[0006] An electromagnetic flow detector is installed on the upper end surface of the pool robot. When the pool robot moves underwater, water flow will pass through the electromagnetic flowmeter. When the water flow moves, it will cut the electromagnetic wires in the channel of the electromagnetic flow detector, thereby generating flow rate and velocity. The faster the cutting, the faster the velocity and the greater the flow rate. The machine monitors the data of this flow rate. When the flow rate of the electromagnetic flow detector is greater than the set value, it can be determined that the machine is in motion; when the machine hits the wall and stops moving, the electromagnetic flow detector will return to zero within the set time. At this time, the control module will think that the machine has stopped moving and thus perform a reversing motion.

[0007] Further, grounding the detection module can prevent the detection result from being interfered by leakage of the detection circuit or other currents, making the detection result more accurate and stable.

[0008] Further, the electromagnetic flow detector includes a measuring tube for water flow to pass through, an excitation coil, an iron core surrounded by the excitation coil, and electrodes provided on both sides of the measuring tube. The iron core surrounds the measuring tube, so that the magnetic induction lines generated by the excitation coil are perpendicular to the water flow direction of the measuring tube.

[0009] Further, the openings at both ends of the electromagnetic flow detector are trumpet-shaped. The trumpet-shaped openings can amplify the speed of the water flow when moving forward, preventing the water flow from being too slow and causing inaccurate detection and judgment results.

[0010] Further, traveling wheels are provided at the bottom of the main body.

[0011] Further, a water inlet valve plate for water to pass through is provided at the bottom of the main body.

[0012] Further, a drain port for water to pass through is provided at the upper part of the main body near the propulsion propeller.

[0013] Water flow enters from the inlet valve plate provided at the bottom of the main body and then discharges through the drain port provided at the upper part of the main body, which can greatly reduce the buoyancy of the pool robot and enable the pool robot to move smoothly.

[0014] Furthermore, a filter screen is provided inside the main body. The filter screen can filter out impurities in the water entering from the bottom of the pool robot to avoid affecting the normal operation of the propulsion propeller.

[0015] The further technical problem to be solved by the present invention is to overcome the above-mentioned defects existing in the prior art and provide a control method to detect and control the motion state of the pool robot so as to change its direction and speed.

[0016] The technical solution adopted by the present invention to solve its technical problems is: a motion state control method for a pool robot, including the following steps:

[0017] S1. The electromagnetic flow detector continuously detects the water flow passing through it;

[0018] S2. When the water flow passing through the electromagnetic flow detector is less than the preset value or the water flow is 0, the detection module determines that the pool robot is blocked or stopped during movement. When the water flow passing through the electromagnetic flow detector is greater than the preset value, the detection module determines that the pool robot moves smoothly;

[0019] S3. When the detection module determines that the pool robot is blocked or stopped during movement, the detection module transmits an electrical signal to the control module, and the control module controls the switched-on motor to make the propulsion propeller in the direction opposite to the movement direction of the pool robot work to change the movement path of the pool robot;

[0020] S4. When the detection module determines that the pool robot moves smoothly, the pool robot moves forward normally.

[0021] Among them, the measurement principle of the electromagnetic flow detector is based on Faraday's law of electromagnetic induction. When a conductive liquid flows in a magnetic field, an electromotive force E will be generated, and it has a certain proportional relationship with the magnetic induction intensity B and the average flow velocity v of the conductive liquid: E = KBDv

[0022] In the formula:

[0023] E - the electromotive force V generated by the conductive fluid in the magnetic field;

[0024] K - the proportionality coefficient, in the case where the inner diameter D of the pipeline and the magnetic induction intensity;

[0025] When B remains unchanged, K is a constant 1;

[0026] B - the magnetic induction intensity T;

[0027] D - the inner diameter of the measuring tube m;

[0028] v——The average flow velocity of the conductive liquid, m / s.

[0029] The electromagnetic flow detector uses the above functional relationship to deduce that v = E / (KBD). The actually measured value is the liquid flow velocity v, and then the volume flow rate QV of the conductive fluid medium is calculated through QV = πD2v / 4.

[0030] When the pool robot moves underwater, the operating speed state of the robot can be obtained in real time by using the present invention, so that the operating speed of the robot can be controlled. Combining with the control of the movement direction, the trajectory of the robot can be controlled. When the machine starts to move, the electromagnetic flow detector starts to transmit electrical signals to the detection module. The detection module is numerically converted (converting the analog signal into a digital signal) and sent to the control module of the pool robot. The detection module can obtain the flow velocity to determine whether the machine is moving. If the flow velocity detected by the electromagnetic flow detector is greater than the preset value (such as 3 m / s), it is determined that the pool robot is moving; when the pool robot stops moving after hitting the wall and the flow velocity detected by the electromagnetic flow detector returns to zero, the detection module will then feedback to the control module, so that the other propulsion propeller moving in the opposite direction to the advancing direction of the pool robot starts to work and the machine moves in the reverse direction. In addition, the device can also detect the situation where the robot is stuck or trapped, and is used to provide information for the robot to get out of trouble. Description of the Drawings

[0031] Figure 1 It is a schematic structural diagram of an embodiment of the present invention;

[0032] Figure 2 is Figure 1 a schematic structural diagram of the electromagnetic flow detector in the shown embodiment;

[0033] Figure 3 It is a schematic working diagram of the detection module.

[0034] In the figure: 1, main body; 2, electromagnetic flow detector; 3, first propulsion propeller; 4, second propulsion propeller; 5, first motor; 6, second motor; 7, detection module; 8, control module; 201, measuring tube; 202, exciting coil; 203, iron core; 204, electrode; 9, traveling wheel; 10, water inlet valve plate; 11, drain port; 12, filter screen. Detailed Embodiments

[0035] The present invention will be further described in detail below with reference to the drawings and specific embodiments.

[0036] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0037] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. In addition, the terms "first", "second", and "third" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0038] In the description of the present invention, it should be noted that unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0039] As Figure 1-2 shown, this embodiment includes a main body 1. An electromagnetic flow detector 2 is provided on the upper end surface of the main body 1. The opening direction of the electromagnetic flow detector 2 is consistent with the straight line where the pool robot moves forward / backward. First propulsion propellers 3 and second propulsion propellers 4 are respectively provided on both sides of the main body 1. A control box is provided inside the main body 1. A first motor 5, a second motor 6, a detection module 7, and a control module 8 are provided inside the control box. The first motor 5 is connected to the first propulsion propeller 3. The second motor 6 is connected to the second propulsion propeller 4. The control module 8 is connected to the first motor 5 and the second motor 6 to respectively control the operation of the first motor 5 and the second motor 6. The detection module 7 is electrically connected to the electromagnetic flow detector 2 and the control module 8, and numerically transmits the signal generated by the electromagnetic flow detector 2 to the control module 8.

[0040] The electromagnetic flow detector 2 is far from the water inlet and outlet of the pool robot, and the disturbance of the water flow generated by the propulsion propellers of the pool robot is small.

[0041] In this embodiment, the electromagnetic flow detector 2 includes a measuring pipe 201 for water flow to pass through, an exciting coil 202, an iron core 203 surrounded by the exciting coil 202, and electrodes 204 arranged on both sides of the measuring pipe 201. The iron core 203 is arranged around the measuring pipe 201 such that the magnetic induction lines generated by the exciting coil 202 are perpendicular to the water flow direction of the measuring pipe 201. As Figure 2 shown, magnetic induction lines with direction B are generated by the exciting coil 202, and the measured liquid is a conductor. When the measured liquid passes through the measuring pipe 201, it cuts the magnetic induction lines along direction v, thereby generating an electromotive force with direction E. The magnitude of this electromotive force is detected by the electrodes, and the water flow velocity (v) can be determined.

[0042] As Figure 3 shown, in this embodiment, by arranging three electrodes on the measuring pipe 201 and connecting them to the detection module 7, and grounding the circuit of the detection module 7, it is possible to prevent the detection result from being interfered by leakage of the detection module or other currents, making the detection result more accurate and stable.

[0043] In this embodiment, the openings at both ends of the electromagnetic flow detector 2 are trumpet-shaped. The trumpet-shaped openings can amplify the water flow velocity when moving forward, preventing the water flow from being too slow and causing inaccurate detection and judgment results.

[0044] In this embodiment, traveling wheels 9 are provided at the bottom of the main body.

[0045] In this embodiment, a water inlet valve plate 10 for water to pass through is provided at the bottom of the main body.

[0046] In this embodiment, a drain port 11 for water to pass through is provided near the propulsion propeller at the upper part of the main body.

[0047] Water enters from the water inlet valve plate 10 provided at the bottom of the main body 1 and then is discharged through the drain port 11 provided at the upper part of the main body 1, which can greatly reduce the buoyancy of the pool robot and make the pool robot move smoothly.

[0048] In this embodiment, a filter screen 12 is provided inside the main body 1. The filter screen 12 can filter out impurities in the water entering from the bottom of the pool robot, avoiding affecting the normal operation of the propulsion propeller.

[0049] An electromagnetic flow detector is installed on the upper end face of the pool robot. When the pool robot moves underwater, water flow will pass through the electromagnetic flowmeter. When the water flow moves, it will cut the electromagnetic wires in the channel of the electromagnetic flow detector, thereby generating flow rate and velocity. The faster the cutting, the faster the velocity and the greater the flow rate. The machine monitors the data of this flow rate. When the flow rate of the electromagnetic flow detector is greater than the set value, it can be determined that the machine is moving; when the machine hits the wall and stops moving, the electromagnetic flow detector will return to zero within the set time. At this time, the control module will think that the machine has stopped moving and thus perform a reversing movement.

[0050] In addition, the present invention also provides a method for controlling the motion state of a pool robot, including the following steps:

[0051] S1. The electromagnetic flow detector continuously detects the water flow passing through it;

[0052] S2. If the water flow passing through the electromagnetic flow detector is less than the preset value or the water flow is 0, the detection module determines that the pool robot is blocked or stopped. If the water flow passing through the electromagnetic flow detector is greater than the preset value, the detection module determines that the pool robot is moving smoothly;

[0053] S3. When the detection module determines that the pool robot is blocked or stopped, the detection module is numerically converted (converting analog signals into digital signals) and sent to the control module of the pool robot. The control module controls the switched-on motor so that the propulsion propeller opposite to the movement direction of the pool robot works to change the movement path of the pool robot;

[0054] S4. When the detection module determines that the pool robot is moving smoothly, the pool robot moves forward normally.

[0055] When the pool robot moves underwater, the operating speed state of the robot can be obtained in real time by using the present invention, so that the operating speed of the robot can be controlled. Combining with the control of the movement direction, the trajectory of the robot can be controlled. When the machine starts to move, the electromagnetic flow detector starts to transmit electrical signals to the detection module. The detection module is numerically converted and sent to the control module of the pool robot. The detection module can obtain the flow rate to determine whether the machine is moving. If the flow rate through the electromagnetic flow detector is greater than the preset value (such as 3 m / s), it is determined that the pool robot is moving; when the pool robot hits the wall and stops moving, the flow rate through the electromagnetic flow detector returns to zero. At this time, the detection module will feedback to the control module, so that the other propulsion propeller opposite to the traveling direction of the pool robot starts to work and the machine moves in the reverse direction. In addition, the device can also detect the situation where the robot is stuck or trapped, and is used to provide information for the robot to escape from trouble.

[0056] Those skilled in the art can make various modifications and variations to the present invention. Provided that these modifications and variations are within the scope of the claims of the present invention and its equivalent technologies, these modifications and variations are also within the protection scope of the present invention.

[0057] The content not described in detail in the specification is the prior art well-known to those skilled in the art.

Claims

1. A pool cleaning robot with motion state detection, comprising a main body, characterized in that: An electromagnetic flow detector is provided on the main body. The opening direction of the electromagnetic flow detector is consistent with the straight line where the pool robot moves forward / backward. A first propulsion propeller and a second propulsion propeller are respectively provided on both sides of the main body. A control box is provided inside the main body, and the control box is provided with: A first motor, connected to the first propulsion propeller; A second motor, connected to the second propulsion propeller; A control module, connected to the first motor and the second motor, and respectively controlling the first motor and the second motor to work; A detection module, electrically connected to the electromagnetic flow detector and the control module, and transmitting the electrical signal generated by the electromagnetic flow detector to the control module.

2. The pool cleaning robot with motion state detection according to claim 1, characterized in that: The electromagnetic flow detector includes a measuring tube through which water flows, an excitation coil, an iron core surrounded by the excitation coil, and electrodes provided on both sides of the measuring tube. The iron core surrounds the measuring tube, so that the magnetic induction lines generated by the excitation coil are perpendicular to the water flow direction of the measuring tube.

3. The pool cleaning robot with motion state detection according to claim 1, characterized in that: The openings at both ends of the electromagnetic flow detector are trumpet-shaped.

4. The pool cleaning robot with motion state detection according to claim 1, characterized in that: Travel wheels are provided at the bottom of the main body.

5. The pool cleaning robot with motion state detection according to claim 1, characterized in that: An inlet valve plate for water to pass through is provided at the bottom of the main body.

6. The pool cleaning robot with motion state detection according to claim 1, wherein: A drain port for water to pass through is provided near the propulsion propeller at the upper part of the main body.

7. The pool cleaning robot with motion state detection according to claim 1, characterized in that: A filter screen is provided inside the main body.

8. A control method for the motion state of a pool cleaning robot as described in claim 1, characterized in that: Including the following steps: S1. The electromagnetic flow detector continuously detects the water flow passing through it; S2. When the water flow passing through the electromagnetic flow detector is less than a preset value or the water flow is 0, the detection module determines that the pool robot is blocked or stopped during travel. When the water flow passing through the electromagnetic flow detector is greater than the preset value, the detection module determines that the pool robot travels smoothly; S3. When the detection module determines that the pool robot is blocked or stopped during travel, the detection module transmits an electrical signal to the control module, and the control module controls the motor that switches to work, so that the propulsion propeller opposite to the movement direction of the pool robot works to change the movement path of the pool robot; S4. When the detection module determines that the pool robot travels smoothly, the pool robot travels normally.

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