Control method and apparatus for an underwater cleaning robot

Abstract

The application discloses a control method and device of an underwater cleaning robot, the underwater cleaning robot and a computer readable storage medium, and belongs to the technical field of robots. Through the technical scheme provided by the embodiment of the application, the first water pump of the underwater cleaning robot is started, liquid is pumped from the sewage suction port of the underwater cleaning robot to the first water outlet, the direction of the first water outlet is the second direction, so that the underwater cleaning robot moves to the first direction opposite to the second direction at the bottom of the pool. In the case that the underwater cleaning robot moves to the pool wall of the pool, the second water pump of the underwater cleaning robot is started, so as to improve the liquid flow rate of the sewage suction port, that is, to improve the cleaning capacity of the underwater cleaning robot, the power of the first water pump and the second water pump is adjusted, so that the underwater cleaning robot keeps in contact with the pool wall, thereby realizing effective cleaning of the connection between the pool wall and the pool bottom and improving the cleaning capacity of the underwater cleaning robot.

Description

Technical Field

[0001] This application relates to the field of robotics, and in particular to a control method, apparatus, underwater cleaning robot, and computer-readable storage medium for an underwater cleaning robot. Background Technology

[0002] With the development of science and technology, robotics technology has also developed rapidly, and there are more and more types of robots available on the market. For example, users use sweeping robots to clean the floors of their houses, window cleaning robots to clean the windows of their houses, and underwater cleaning robots to clean pools, etc.

[0003] In related technologies, underwater cleaning robots are unable to effectively clean the bottom of the pool below the pool walls when cleaning a pool, resulting in poor cleaning performance. Summary of the Invention

[0004] This application provides a control method, apparatus, underwater cleaning robot, and computer-readable storage medium for an underwater cleaning robot, which can improve the cleaning effect of the underwater cleaning robot. The technical solution is as follows:

[0005] On the one hand, a control method for an underwater cleaning robot is provided, the method comprising:

[0006] The first water pump of the underwater cleaning robot is started so that the underwater cleaning robot moves in a first direction at the bottom of the pool. The first water pump is used to pump liquid from the suction port of the underwater cleaning robot to the first water outlet of the underwater cleaning robot. The first water outlet is oriented in a second direction. The first direction and the second direction are opposite to each other. The suction port is located at the bottom of the underwater cleaning robot.

[0007] When the underwater cleaning robot moves to the wall of the pool, the second water pump of the underwater cleaning robot is activated to increase the liquid flow rate at the suction port. The second water pump is used to pump the liquid from the suction port to the second water outlet of the underwater cleaning robot, and the orientation of the second water outlet is the first direction.

[0008] Adjust the power of the first and second water pumps so that the underwater cleaning robot remains in contact with the pool wall.

[0009] In one possible implementation, activating the second water pump of the underwater cleaning robot when it moves to the pool wall includes:

[0010] When the underwater cleaning robot moves to the wall of the pool, the first water pump is turned off; after a first preset time, the first water pump and the second water pump are started simultaneously.

[0011] Alternatively, if the underwater cleaning robot moves to the wall of the pool, the power of the first water pump is increased and the second water pump is started.

[0012] In one possible implementation, adjusting the power of the first water pump and the second water pump includes:

[0013] The power of the first water pump is increased to a first target power, and the power of the second water pump is adjusted to a second target power, wherein the first target power is greater than the second target power.

[0014] In one possible implementation, before increasing the power of the first water pump to a first target power and adjusting the power of the second water pump to a second target power, the method further includes:

[0015] Determine the pitch angle of the underwater cleaning robot;

[0016] Based on the pitch angle, the first target power and the second target power are determined, wherein the first target power is positively correlated with the pitch angle and the second target power is negatively correlated with the pitch angle.

[0017] In one possible implementation, determining the first target power and the second target power based on the pitch angle includes:

[0018] When the pitch angle is greater than or less than a first preset angle, the first target power and the second target power are determined based on the cleaning gear of the underwater cleaning robot, the pitch angle, and the mass of the underwater cleaning robot.

[0019] When the pitch angle is equal to the first preset angle, the first target power and the second target power are determined based on the cleaning power level of the underwater cleaning robot.

[0020] In one possible implementation, after increasing the power of the first water pump to a first target power and adjusting the power of the second water pump to a second target power, the method further includes:

[0021] At preset time intervals, the power of the first water pump is increased to a third target power, and the power of the second water pump is adjusted to a fourth target power. The power difference between the third target power and the first target power is greater than or equal to the power difference between the fourth target power and the second target power.

[0022] In one possible implementation, before activating the second water pump of the underwater cleaning robot when the underwater cleaning robot moves to the pool wall, the method further includes:

[0023] When the underwater cleaning robot includes a collision detection unit, the collision detection unit determines whether the underwater cleaning robot has moved to the wall of the pool.

[0024] Alternatively, if the underwater cleaning robot includes an acoustic transceiver unit, the acoustic transceiver unit is controlled to transmit an acoustic signal in the first direction; based on the first echo signal received by the acoustic transceiver unit and the acoustic signal, it is determined whether the underwater cleaning robot has moved to the wall of the pool.

[0025] Alternatively, if the underwater cleaning robot includes an image acquisition unit, the image acquisition unit is controlled to acquire an image in the first direction; based on the image, it is determined whether the underwater cleaning robot has moved to the wall of the pool.

[0026] Alternatively, if the underwater cleaning robot includes radar, the radar is controlled to emit a detection signal in the first direction; based on the second echo signal received by the radar and the detection signal, it is determined whether the underwater cleaning robot has moved to the wall of the pool.

[0027] In one possible implementation, after adjusting the power of the first water pump and the second water pump, the method further includes:

[0028] When the underwater cleaning robot moves in the second direction, the power of the first water pump is increased and / or the power of the second water pump is decreased.

[0029] In one possible implementation, after adjusting the power of the first water pump and the second water pump, the method further includes:

[0030] After a second preset time period, the first water pump is turned off while the power of the second water pump remains constant, so that the underwater cleaning robot moves in the second direction;

[0031] Alternatively, after the second preset time period, the first water pump may be turned off and the power of the second water pump may be increased, so that the underwater cleaning robot moves in the second direction;

[0032] Alternatively, the first and second water pumps may be turned off after the second preset time period, and the second water pump may be turned on after the third preset time period, so that the underwater cleaning robot moves in the second direction.

[0033] On one hand, a control device for an underwater cleaning robot is provided, the device comprising:

[0034] The first start-up module is used to start the first water pump of the underwater cleaning robot so that the underwater cleaning robot moves in a first direction at the bottom of the pool. The first water pump is used to pump liquid from the suction port of the underwater cleaning robot to the first water outlet of the underwater cleaning robot. The first water outlet is oriented in a second direction. The first direction and the second direction are opposite to each other. The suction port is located at the bottom of the underwater cleaning robot.

[0035] The second start-up module is used to start the second water pump of the underwater cleaning robot when the underwater cleaning robot moves to the wall of the pool, so as to increase the liquid flow rate of the suction port. The second water pump is used to pump the liquid from the suction port to the second water outlet of the underwater cleaning robot, and the orientation of the second water outlet is the first direction.

[0036] A power adjustment module is used to adjust the power of the first water pump and the second water pump so that the underwater cleaning robot maintains contact with the pool wall.

[0037] In one possible implementation, the second start-up module is configured to: shut down the first water pump when the underwater cleaning robot moves to the wall of the pool; start the first water pump and the second water pump simultaneously after a first preset time period; or, increase the power of the first water pump and start the second water pump when the underwater cleaning robot moves to the wall of the pool.

[0038] In one possible implementation, the power adjustment module is used to increase the power of the first water pump to a first target power and adjust the power of the second water pump to a second target power, wherein the first target power is greater than the second target power.

[0039] In one possible implementation, the device further includes a power determination module for determining the pitch angle of the underwater cleaning robot; and based on the pitch angle, determining a first target power and a second target power, wherein the first target power is positively correlated with the pitch angle and the second target power is negatively correlated with the pitch angle.

[0040] In one possible implementation, the power determination module is configured to determine the first target power and the second target power based on the cleaning mode of the underwater cleaning robot, the pitch angle, and the mass of the underwater cleaning robot when the pitch angle is greater than or less than a first preset angle; and to determine the first target power and the second target power based on the cleaning mode of the underwater cleaning robot when the pitch angle is equal to the first preset angle.

[0041] In one possible implementation, the power adjustment module is further configured to increase the power of the first water pump to a third target power at preset time intervals, and adjust the power of the second water pump to a fourth target power, wherein the power difference between the third target power and the first target power is greater than or equal to the power difference between the fourth target power and the second target power.

[0042] In one possible implementation, the device further includes a detection module, configured to: if the underwater cleaning robot includes a collision detection unit, determine whether the underwater cleaning robot has moved to the wall of the pool via the collision detection unit; or, if the underwater cleaning robot includes an acoustic transceiver unit, control the acoustic transceiver unit to transmit an acoustic signal in the first direction; and determine whether the underwater cleaning robot has moved to the wall of the pool based on a first echo signal received by the acoustic transceiver unit and the acoustic signal; or, if the underwater cleaning robot includes an image acquisition unit, control the image acquisition unit to acquire an image in the first direction; and determine whether the underwater cleaning robot has moved to the wall of the pool based on the image; or, if the underwater cleaning robot includes a radar, control the radar to transmit a detection signal in the first direction; and determine whether the underwater cleaning robot has moved to the wall of the pool based on a second echo signal received by the radar and the detection signal.

[0043] In one possible implementation, the power adjustment module is further configured to increase the power of the first water pump and / or decrease the power of the second water pump when the underwater cleaning robot moves in the second direction.

[0044] In one possible implementation, the power adjustment module is further configured to: shut down the first water pump after a second preset time period while maintaining the power of the second water pump unchanged, so that the underwater cleaning robot moves in the second direction; or, shut down the first water pump after the second preset time period while increasing the power of the second water pump, so that the underwater cleaning robot moves in the second direction; or, shut down both the first and second water pumps after the second preset time period and start the second water pump after a third preset time period, so that the underwater cleaning robot moves in the second direction.

[0045] On one hand, a computer device is provided, the computer device including one or more processors and one or more memories, the one or more memories storing at least one computer program, the computer program being loaded and executed by the one or more processors to implement the control method of the underwater cleaning robot.

[0046] On one hand, a computer-readable storage medium is provided, wherein at least one computer program is stored in the computer-readable storage medium, the computer program being loaded and executed by a processor to implement the control method of the underwater cleaning robot.

[0047] On one hand, a computer program product or computer program is provided, which includes program code stored in a computer-readable storage medium. The processor of a computer device reads the program code from the computer-readable storage medium and executes the program code, causing the computer device to perform the control method of the underwater cleaning robot described above.

[0048] The technical solution provided in this application embodiment activates the first water pump of the underwater cleaning robot, pumping liquid from the robot's suction port to a first outlet. The first outlet faces a second direction, allowing the underwater cleaning robot to move along the bottom of the pool in a first direction opposite to the second. Once the underwater cleaning robot reaches the pool wall, the second water pump is activated, increasing the liquid flow rate at the suction port, thus enhancing the robot's cleaning ability. The power of the first and second water pumps is adjusted to maintain contact between the underwater cleaning robot and the pool wall, effectively cleaning the junction between the pool wall and bottom, thereby improving the robot's cleaning capacity. Attached Figure Description

[0049] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0050] Figure 1 This is a schematic diagram of an underwater cleaning robot provided in an embodiment of this application;

[0051] Figure 2 This is a schematic diagram of an underwater cleaning robot moving in a pool, as provided in an embodiment of this application.

[0052] Figure 3 This is a flowchart of a control method for an underwater cleaning robot provided in an embodiment of this application;

[0053] Figure 4 This is a flowchart of another control method for an underwater cleaning robot provided in an embodiment of this application;

[0054] Figure 5 This is a schematic diagram of another underwater cleaning robot moving in a pool, as provided in an embodiment of this application;

[0055] Figure 6 This is a schematic diagram of another underwater cleaning robot moving in a pool, as provided in the embodiments of this application;

[0056] Figure 7 This is a flowchart of another control method for an underwater cleaning robot provided in the embodiments of this application;

[0057] Figure 8 This is a flowchart of another control method for an underwater cleaning robot provided in an embodiment of this application;

[0058] Figure 9 This is a schematic diagram of the structure of a control device for an underwater cleaning robot provided in an embodiment of this application;

[0059] Figure 10 This is a structural schematic diagram of an underwater cleaning robot provided in an embodiment of this application. Detailed Implementation

[0060] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0061] In this application, the terms "first," "second," etc., are used to distinguish identical or similar items with essentially the same function. It should be understood that there is no logical or temporal dependency between "first," "second," and "nth," nor are there any restrictions on quantity or execution order.

[0062] First, the terms used in the embodiments of this application will be introduced.

[0063] Underwater cleaning robot: A robot used to perform underwater cleaning tasks. For example, an underwater cleaning robot can be placed in a pool to clean the bottom and walls of the pool.

[0064] A water pump is a machine that transports or pressurizes liquids. It transfers the mechanical energy of a prime mover or other external energy to the liquid, increasing the liquid's energy. Its main purpose is to transport liquids.

[0065] Radar: A transliteration of the English term Radar (Radio Detection and Ranging), it refers to the use of radio waves to detect targets and determine their spatial location. Therefore, radar is also known as "radio positioning." Radar is an electronic device that uses electromagnetic waves to detect targets. It emits electromagnetic waves to illuminate a target and receives its echo, thereby obtaining information such as the distance from the target to the electromagnetic wave emission point, the rate of change of distance (radial velocity), azimuth, and altitude.

[0066] Ultrasound: Ultrasound is a mechanical wave with an extremely short wavelength, generally less than 2 cm in air. It relies on a medium to propagate and cannot exist in a vacuum (such as space). It travels farther in water than in air; in some scenarios, ultrasound can travel hundreds of meters in water.

[0067] After introducing the terms used in the embodiments of this application, the application scenarios of the embodiments of this application will be described below.

[0068] The technical solution provided in this application can be applied to scenarios involving the control of underwater cleaning robots with at least two water pumps. Taking an underwater cleaning robot with two water pumps as an example, see [link to example]. Figure 1 The underwater cleaning robot 100 includes a first water pump 101 and a second water pump 102. The first water pump 101 pumps liquid towards the left side of the underwater cleaning robot 100, spraying it out from the left side. The second water pump 102 pumps liquid towards the right side of the underwater cleaning robot 100, spraying it out from the right side. See also... Figure 2The underwater cleaning robot 100 also includes a suction port 103, which faces downwards. Through this suction port 103, dirt below the underwater cleaning robot 100 can be sucked into its filter box, thus cleaning the pool. When the first water pump 101 is activated, liquid is pumped from the suction port 103 to the left side of the underwater cleaning robot 100, allowing it to draw in liquid. Simultaneously, the liquid sprayed from the left side of the underwater cleaning robot 100 also propels it to the right, achieving simultaneous movement and suction. When the second water pump 102 is activated, liquid is pumped from the suction port 103 to the right side of the underwater cleaning robot 100, allowing the underwater cleaning robot 100 to suck in liquid from the suction port 103. Simultaneously, the liquid sprayed from the right side of the underwater cleaning robot 100 also propels it to the left, achieving simultaneous movement and suction. The underwater cleaning robot 100 also includes wheels 104, the number of which can be two, four, or more; this embodiment does not limit the number.

[0069] Without the control method for the underwater cleaning robot provided in this application embodiment, when the underwater cleaning robot moves to the pool wall, it will bounce off the pool wall upon contact, thus failing to effectively clean the connection between the pool wall and the pool bottom. However, with the control method for the underwater cleaning robot provided in this application embodiment, two water pumps can be activated simultaneously when the underwater cleaning robot 100 moves to the pool wall to increase the suction force for removing dirt from the suction port 102. In addition, activating two water pumps also allows the underwater cleaning robot 100 to remain in position on the pool wall, thereby improving the cleaning effect on the connection between the pool bottom and the pool wall, and improving the overall cleaning effect of the underwater cleaning robot on the pool.

[0070] After introducing the application scenarios of this application, the control method of the underwater cleaning robot provided in this application will be described below. (See attached image.) Figure 3 Taking the robot controller as the executing entity as an example, the method includes the following steps.

[0071] 301. The robot controller starts the first water pump of the underwater cleaning robot so that the underwater cleaning robot moves in a first direction at the bottom of the pool. The first water pump is used to pump liquid from the suction port of the underwater cleaning robot to the first water outlet of the underwater cleaning robot. The first water outlet is oriented in a second direction. The first direction and the second direction are opposite to each other. The suction port is located at the bottom of the underwater cleaning robot.

[0072] The robot controller is built into the underwater cleaning robot and is used to control it. The underwater cleaning robot is used to clean the bottom and walls of a pool. When the underwater cleaning robot is located on the bottom of the pool, it can move and perform cleaning actions on the pool bottom. A first water pump is built into the underwater cleaning robot and connects the suction port and the first water outlet; that is, the first water pump pumps liquid from the suction port to the first water outlet, from which the liquid is sprayed out. In some embodiments, a filter box is provided between the suction port and the first water pump. Liquid drawn from the suction port passes through the filter box, and dirt in the liquid remains in the filter box and does not reach the first water outlet with the liquid, thereby cleaning the pool. The first water outlet faces a second direction; that is, liquid sprayed from the first water outlet is sprayed in the second direction, thereby generating a reaction force in the first direction to drive the underwater cleaning robot to move in the first direction. The suction port is located at the bottom of the underwater cleaning robot, which means that the underwater cleaning robot will draw up the liquid below to clean the area where the underwater cleaning robot passes.

[0073] 302. When the underwater cleaning robot moves to the wall of the pool, the robot controller activates the second water pump of the underwater cleaning robot to increase the liquid flow rate at the suction port. The second water pump is used to pump the liquid from the suction port to the second outlet of the underwater cleaning robot, and the orientation of the second outlet is the first direction.

[0074] The underwater cleaning robot moving to the pool wall means that the underwater cleaning robot comes into contact with the pool wall, or that the distance between the underwater cleaning robot and the pool wall is less than or equal to a preset distance. The pool wall is located in the first direction of the underwater cleaning robot. The second water pump is built into the underwater cleaning robot and connects the suction port and the second water outlet. That is, the second water pump pumps liquid from the suction port to the second water outlet, and the liquid is sprayed out from the second water outlet. In some embodiments, a filter box is provided between the suction port and the second water pump. The liquid sucked from the suction port passes through the filter box, and the dirt in the liquid remains in the filter box and does not reach the second water outlet with the liquid, thereby cleaning the pool. The second water outlet is oriented in the first direction, that is, the liquid sprayed from the second water outlet is sprayed in the first direction, thereby generating a reaction force in the second direction to drive the underwater cleaning robot to move in the second direction. Compared to starting a single first water pump, simultaneously starting the first and second water pumps can increase the liquid flow rate at the suction port, thereby enhancing the cleaning capability of the underwater cleaning robot.

[0075] 303. The robot controller adjusts the power of the first water pump and the second water pump so that the underwater cleaning robot maintains contact with the pool wall.

[0076] When both the first and second water pumps are activated, the first water pump will drive the underwater cleaning robot to move in a first direction, and the second water pump will drive the underwater cleaning robot to move in a second direction. In order to keep the underwater cleaning robot in contact with the pool wall, the power of the first and second water pumps needs to be adjusted so that the underwater cleaning robot maintains the tendency to move in the first direction.

[0077] The technical solution provided in this application embodiment activates the first water pump of the underwater cleaning robot, pumping liquid from the robot's suction port to a first outlet. The first outlet faces a second direction, allowing the underwater cleaning robot to move along the bottom of the pool in a first direction opposite to the second. Once the underwater cleaning robot reaches the pool wall, the second water pump is activated, increasing the liquid flow rate at the suction port, thus enhancing the robot's cleaning ability. The power of the first and second water pumps is adjusted to maintain contact between the underwater cleaning robot and the pool wall, effectively cleaning the junction between the pool wall and bottom, thereby improving the robot's cleaning capacity.

[0078] Steps 301-303 above are a brief introduction to the control method of the underwater cleaning robot provided in the embodiments of this application. The technical solutions provided in the embodiments of this application will be explained more clearly below with some examples. See [link to relevant documentation]. Figure 4 Taking the robot controller as the executing entity as an example, the method includes the following steps.

[0079] 401. The robot controller receives a cleaning instruction for the underwater cleaning robot, which instructs the underwater cleaning robot to perform a cleaning task.

[0080] The robot controller is built into the underwater cleaning robot and is used to control it. The underwater cleaning robot is used to clean the bottom and walls of a pool. When positioned on the bottom of the pool, the underwater cleaning robot can move and perform cleaning actions. In this embodiment, performing a cleaning action means activating the underwater cleaning robot's water pump to extract and filter liquid from the pool, thereby cleaning the pool. Cleaning tasks include temporary cleaning tasks and scheduled cleaning tasks. Temporary cleaning tasks are triggered temporarily, while scheduled cleaning tasks are periodic.

[0081] 402. In response to the cleaning command, the robot controller activates the first water pump of the underwater cleaning robot, so that the underwater cleaning robot moves in a first direction at the bottom of the pool. The first water pump is used to pump liquid from the suction port of the underwater cleaning robot to the first water outlet of the underwater cleaning robot. The first water outlet is oriented in a second direction. The first direction and the second direction are opposite to each other. The suction port is located at the bottom of the underwater cleaning robot.

[0082] The first water pump is built into the underwater cleaning robot and connects the suction port and the first water outlet. That is, the first water pump pumps liquid from the suction port to the first water outlet, from which the liquid is sprayed out. In some embodiments, a filter box is provided between the suction port and the first water pump. Liquid drawn from the suction port passes through the filter box, and dirt in the liquid remains in the filter box, preventing it from reaching the first water outlet, thus cleaning the pool. The first water outlet faces a second direction, meaning the liquid sprayed from the first water outlet is directed towards the second direction, generating a reaction force in the first direction to drive the underwater cleaning robot to move in the first direction. The suction port is located at the bottom of the underwater cleaning robot, meaning the underwater cleaning robot draws in liquid from below, cleaning the area it passes through. The number of first water pumps can be one or more; this embodiment does not limit this, but for ease of explanation, the following description uses one first water pump as an example.

[0083] In one possible implementation, in response to the cleaning command, the robot controller obtains a cleaning level from the cleaning command, which indicates the cleaning power of the underwater cleaning robot. The robot controller determines a first power corresponding to the cleaning level. The robot controller sends a start command to the first water pump, the start command carrying the first power, the start command instructing the first water pump to start and operate at the first power. When the first water pump is started, liquid below the underwater cleaning robot is pumped towards the first outlet of the underwater cleaning robot, and the liquid is sprayed out from the first outlet, thereby driving the underwater cleaning robot to move in the first direction.

[0084] The correspondence between the cleaning level and the first power is set by technicians according to actual conditions, and this application embodiment does not limit this. The greater the power of the first water pump, the greater the speed at which liquid is drawn from below the underwater cleaning robot, and the stronger the cleaning ability. Correspondingly, the liquid flow velocity sprayed from the first outlet is also greater, and the movement speed of the underwater cleaning robot is faster.

[0085] In this implementation, in response to a cleaning command, a cleaning level is obtained from the cleaning command, and a first power corresponding to the cleaning level is determined. A first water pump is then started and operates at that first power, thereby driving the underwater cleaning robot to move and clean the bottom of the pool.

[0086] In one possible implementation, in response to the cleaning command, the robot controller determines the remaining battery power of the underwater cleaning robot. If the remaining battery power is greater than or equal to a battery threshold, the robot controller sends a start command to the first water pump, instructing the first water pump to start. When the first water pump starts, liquid below the underwater cleaning robot is pumped towards the first outlet of the underwater cleaning robot, and the liquid is ejected from the first outlet, thereby driving the underwater cleaning robot to move in the first direction.

[0087] The power threshold is set by technicians according to the actual situation, and this application embodiment does not limit it.

[0088] In this implementation, before starting the first water pump, the remaining power of the underwater cleaning robot is determined. The first water pump is then started only if the remaining power is greater than or equal to the power threshold, thus ensuring the normal operation of the underwater cleaning robot.

[0089] 403. The robot controller determines whether the underwater cleaning robot has moved to the pool wall.

[0090] The underwater cleaning robot moving to the pool wall means that the underwater cleaning robot comes into contact with the pool wall, or that the underwater cleaning robot moves to a distance less than or equal to a preset distance from the pool wall. The pool wall is located in the first direction of the underwater cleaning robot.

[0091] In one possible implementation, where the underwater cleaning robot includes a collision detection unit, the robot controller uses the collision detection unit to determine whether the underwater cleaning robot has moved to the wall of the pool.

[0092] The collision detection unit is used to detect collisions between the underwater cleaning robot and the pool wall. Multiple collision detection units are installed around the underwater cleaning robot.

[0093] In this implementation, the collision detection unit can determine whether the underwater cleaning robot has moved to the pool wall, which is highly efficient.

[0094] For example, when the underwater cleaning robot includes a collision detection unit, the robot controller determines the collision parameters collected by the collision detection unit. If the collision parameters meet preset collision conditions, the robot controller determines that the underwater cleaning robot has moved to the pool wall. If the collision parameters do not meet the preset collision conditions, the robot controller determines that the underwater cleaning robot has not moved to the pool wall.

[0095] In this context, the collision parameters meeting the preset collision conditions indicate that the underwater cleaning robot has collided with the pool wall, specifically in the scenario of cleaning a pool. In some embodiments, meeting the preset collision conditions means that the collision parameters are greater than or equal to a collision parameter threshold. In this case, the collision parameters reflect the degree of collision, and the collision parameters are positively correlated with the degree of collision. This collision parameter threshold is set by a technician based on actual conditions, and this application does not limit its implementation.

[0096] For example, the underwater cleaning robot includes multiple collision detection units, and the robot controller determines the collision parameters collected by each collision detection unit. If the collision parameters collected by a target collision detection unit meet preset collision conditions, the robot controller determines that the underwater cleaning robot has moved to the pool wall. The target collision detection unit is the collision detection unit corresponding to the underwater cleaning robot's forward direction (first direction). For example, if the underwater cleaning robot's forward direction is forward, then the target collision detection unit is the collision detection unit installed in front of the underwater cleaning robot. If the collision parameters of the target collision detection unit do not meet the preset collision conditions, the robot controller determines that the underwater cleaning robot has not moved to the pool wall.

[0097] In one possible implementation, where the underwater cleaning robot includes an acoustic transceiver unit, the robot controller controls the acoustic transceiver unit to transmit an acoustic signal in the first direction. Based on the first echo signal received by the acoustic transceiver unit and the acoustic signal, the robot controller determines whether the underwater cleaning robot has moved to the wall of the pool.

[0098] The acoustic transceiver unit is used to transmit and receive acoustic waves, and in some embodiments, acoustic waves refer to ultrasonic waves.

[0099] In this implementation, the acoustic transceiver unit can be used to determine whether the underwater cleaning robot has moved to the pool wall, which is highly efficient.

[0100] For example, in the case where the underwater cleaning robot includes an acoustic transceiver unit, the robot controller controls the acoustic transceiver unit to emit acoustic signals in the first direction. Based on the time difference between the first echo signal received by the acoustic transceiver unit and the acoustic signal, the robot controller determines the distance between the underwater cleaning robot and the pool wall. Based on the distance between the underwater cleaning robot and the pool wall, the robot controller determines whether the underwater cleaning robot has moved to the pool wall.

[0101] For example, in the case where the underwater cleaning robot includes an acoustic transceiver unit, the robot controller controls the acoustic transceiver unit to transmit acoustic signals in the first direction. Based on the time difference between the first echo signal received by the acoustic transceiver unit and the acoustic signal, and the speed of sound propagation underwater, the robot controller determines the distance between the underwater cleaning robot and the pool wall. If this distance is greater than or equal to a preset distance, the robot controller determines that the underwater cleaning robot has not moved to the pool wall. If the distance is less than the preset distance, the robot controller determines that the underwater cleaning robot has moved to the pool wall.

[0102] In one possible implementation, where the underwater cleaning robot includes an image acquisition unit, the robot controller controls the image acquisition unit to acquire images in the first direction. Based on these images, the robot controller determines whether the underwater cleaning robot has moved to the wall of the pool.

[0103] In this implementation, the underwater cleaning robot is determined to have moved to the pool wall by using images acquired by the image acquisition unit, thus making full use of the image acquisition unit.

[0104] For example, when the underwater cleaning robot includes an image acquisition unit, the robot controller controls the image acquisition unit to acquire images in the first direction. The robot controller identifies the images and determines the distance between the underwater cleaning robot and the pool wall. If the distance is greater than or equal to a preset distance, the robot controller determines that the underwater cleaning robot has not moved to the pool wall. If the distance is less than the preset distance, the robot controller determines that the underwater cleaning robot has moved to the pool wall.

[0105] In one possible implementation, where the underwater cleaning robot includes radar, the robot controller controls the radar to emit a detection signal in the first direction. Based on a second echo signal received by the radar and the detection signal, the robot controller determines whether the underwater cleaning robot has moved to the pool wall.

[0106] The radar in this application is either a lidar or a millimeter-wave radar, and this embodiment does not limit the specific type of radar. Correspondingly, the detection signal is either a laser detection signal or a millimeter-wave detection signal; millimeter waves refer to electromagnetic waves with wavelengths of 1 to 10 millimeters.

[0107] In this implementation, radar can be used to determine whether the underwater cleaning robot has moved to the pool wall, which is highly efficient.

[0108] For example, in the case where the underwater cleaning robot includes radar, the robot controller controls the radar to emit a detection signal in the first direction. Based on the time difference between the second echo signal received by the radar and the detection signal, the robot controller determines the distance between the underwater cleaning robot and the pool wall. Based on this distance, the robot controller determines whether the underwater cleaning robot has moved to the pool wall.

[0109] For example, in the case where the underwater cleaning robot includes radar, the robot controller controls the radar to emit a detection signal in the first direction. Based on the time difference between the second echo signal received by the radar and the detection signal, and the speed of sound propagation underwater, the robot controller determines the distance between the underwater cleaning robot and the pool wall. If this distance is greater than or equal to a preset distance, the robot controller determines that the underwater cleaning robot has not moved to the pool wall. If the distance is less than the preset distance, the robot controller determines that the underwater cleaning robot has moved to the pool wall.

[0110] It should be noted that the robot controller can determine whether the underwater cleaning robot has moved to the pool wall through any of the above methods, and this application embodiment does not limit this.

[0111] 404. When the underwater cleaning robot moves to the wall of the pool, the robot controller activates the second water pump of the underwater cleaning robot to increase the liquid flow rate at the suction port. The second water pump is used to pump liquid from the suction port to the second outlet of the underwater cleaning robot, and the orientation of the second outlet is the first direction.

[0112] The second water pump is built into the underwater cleaning robot and connects the suction port and the second outlet. Specifically, the second water pump pumps liquid from the suction port to the second outlet, from which it is sprayed out. In some embodiments, a filter box is provided between the suction port and the second water pump. Liquid drawn from the suction port passes through the filter box, and dirt in the liquid remains in the filter box, preventing it from reaching the second outlet, thus cleaning the pool. The second outlet faces a first direction, meaning the liquid sprayed from the second outlet is directed in this first direction, generating a reaction force in a second direction to drive the underwater cleaning robot in that second direction. Compared to activating a single first water pump, activating both the first and second water pumps simultaneously increases the liquid flow rate at the suction port, thereby enhancing the cleaning capability of the underwater cleaning robot. The number of second water pumps can be one or more; this embodiment does not limit this, but for ease of explanation, we will use one second water pump as an example below. In the embodiments of this application, the first water pump is also referred to as the forward water pump, and the second water pump is also referred to as the backward water pump.

[0113] In one possible implementation, when the underwater cleaning robot moves to the pool wall, the robot controller shuts off the first water pump. After a first preset time, the robot controller simultaneously starts the first and second water pumps.

[0114] The first preset duration is set by technicians according to the actual situation, and this application embodiment does not limit it.

[0115] In this implementation, when the underwater cleaning robot moves to the wall of the pool, the robot controller shuts off the first water pump and waits for a first preset time before simultaneously starting the first and second water pumps. This avoids sudden changes in force that could cause abrupt changes in the underwater cleaning robot's posture, thus ensuring that the underwater cleaning robot maintains a stable posture.

[0116] For example, when the underwater cleaning robot moves to the pool wall, the robot controller sends a shutdown command to the first water pump. The first water pump receives the shutdown command and, in response, shuts down. After a first preset time, the robot controller simultaneously sends a start command to both the first and second water pumps. The first and second water pumps receive the start command and, in response, start.

[0117] In one possible implementation, when the underwater cleaning robot moves to the wall of the pool, the robot controller increases the power of the first water pump and starts the second water pump.

[0118] In this implementation, when the underwater cleaning robot moves to the wall of the pool, the robot controller increases the power of the first water pump and starts the second water pump to ensure that the underwater cleaning robot has a tendency to move in the first direction and to maintain the relative positional relationship between the underwater cleaning robot and the pool wall.

[0119] For example, when the underwater cleaning robot moves to the wall of the pool, the robot controller sends a power increase command to the first water pump and a start command to the second water pump. The first water pump receives the power increase command and, in response, increases its power. The second water pump receives the start command and, in response, starts its operation.

[0120] In one possible implementation, when the underwater cleaning robot moves to the wall of the pool, the robot controller directly starts the second water pump.

[0121] In this implementation, the second water pump is started directly without controlling the first water pump, making the control method relatively simple.

[0122] For example, when the underwater cleaning robot moves to the wall of the pool, the robot controller sends a start command to the second water pump. The second water pump receives the start command and starts in response.

[0123] It should be noted that the robot controller can start the second water pump in any of the above methods, and this application embodiment does not limit this.

[0124] 405. The robot controller adjusts the power of the first water pump and the second water pump so that the underwater cleaning robot remains in contact with the pool wall.

[0125] When both the first and second water pumps are activated, the first water pump will drive the underwater cleaning robot to move in a first direction, and the second water pump will drive the underwater cleaning robot to move in a second direction. In order to keep the underwater cleaning robot in contact with the pool wall, the power of the first and second water pumps needs to be adjusted so that the underwater cleaning robot maintains the tendency to move in the first direction.

[0126] It should be noted that when two water pumps operate simultaneously, the thrust generated will be inconsistent due to differences in structural water channels and impellers, etc. (See [reference needed]). Figure 5When the thrust generated by the second water pump 502 is greater than that generated by the first water pump 501, the underwater cleaning robot 500 will move away from the pool wall 503. Although simultaneously activating the pumps increases the suction power of the suction port, the underwater cleaning robot 500 will gradually move away from the pool wall 503 over time, weakening the cleaning effect. The first water pump 501 and the second water pump 502 of the underwater cleaning robot 500 can be controlled independently. By controlling the output power of the first water pump 501 to be greater than the output power of the second water pump 502, the thrust generated by both pumps will ensure that the underwater cleaning robot 500 stays close to the pool wall 503, guaranteeing the cleaning effect.

[0127] Additionally, underwater cleaning robots move forward using the thrust of a water pump. When they approach the pool wall, they sometimes collide with it. After a collision, the robot will bounce backward. (See [link to relevant documentation]). Figure 6 In order to make the underwater cleaning robot 600 approach the pool wall 603 to suck up the dirt, the above method can still be used to control the output power of the first water pump 601 to be greater than the output power of the second water pump 602. In this way, the thrust generated by the first water pump 601 and the second water pump 602 will ensure that the underwater cleaning robot 600 slowly approaches the pool wall 603, thus ensuring the cleaning effect.

[0128] In one possible implementation, the robot controller increases the power of the first water pump to a first target power and adjusts the power of the second water pump to a second target power, wherein the first target power is greater than the second target power.

[0129] The first target power being greater than the second target power is intended to maintain the underwater cleaning robot's tendency to move in the first direction, thereby ensuring that the underwater cleaning robot remains in contact with the pool wall.

[0130] For example, the robot controller sends a first power adjustment command to the first water pump and a second power adjustment command to the second water pump. The first power adjustment command carries the first target power, and the second power adjustment command carries the second target power. The first water pump receives the first power adjustment command, obtains the first target power from the command, and adjusts its power to the first target power. The second water pump receives the second power adjustment command, obtains the second target power from the command, and adjusts its power to the second target power.

[0131] To provide a clearer explanation of the above embodiments, the method for determining the first target power and the second target power will be described below.

[0132] In one possible implementation, the robot controller determines the pitch angle of the underwater cleaning robot. Based on the pitch angle, the robot controller determines a first target power and a second target power, wherein the first target power is positively correlated with the pitch angle and the second target power is negatively correlated with the pitch angle.

[0133] The pitch angle reflects the slope of the pool bottom where the underwater cleaning robot is located, and combining the pitch angle to determine the first target power and the second target power is highly accurate.

[0134] For example, the robot controller obtains the pitch angle of the underwater cleaning robot through an attitude sensor. If the pitch angle is greater than or less than a first preset angle, the robot controller determines the first target power and the second target power based on the cleaning mode of the underwater cleaning robot, the pitch angle, and the mass of the underwater cleaning robot. If the pitch angle is equal to the first preset angle, the robot controller determines the first target power and the second target power based on the cleaning mode of the underwater cleaning robot.

[0135] The first preset angle is set by technicians according to actual conditions. For example, setting the first preset angle to 0° means that the slope of the pool wall where the underwater cleaning robot is located is 0°. This embodiment does not limit this. The cleaning level reflects the cleaning power of the underwater cleaning robot. For example, the higher the cleaning level, the greater the cleaning power. The mass of the underwater cleaning robot is pre-stored by technicians in the robot controller.

[0136] To illustrate the above examples more clearly, the methods for determining the first and second target powers in the examples will be explained in several parts below.

[0137] In the first part, when the pitch angle is greater than or less than a first preset angle, the robot controller determines the first target power and the second target power based on the cleaning gear of the underwater cleaning robot, the pitch angle and the mass of the underwater cleaning robot.

[0138] In one possible implementation, when the pitch angle is greater than the first preset angle, indicating that the underwater cleaning robot is going uphill, the robot controller determines the gravitational component of the underwater cleaning robot in the second direction based on the pitch angle and the mass of the underwater cleaning robot. The robot controller determines the cleaning power corresponding to the cleaning level. Based on the cleaning power and the gravitational component, the robot controller determines the first target power and the second target power, such that the first thrust generated by the first water pump in the first direction when operating at the first target power is greater than the sum of the gravitational component and the second thrust, where the second thrust is the thrust generated by the second water pump in the second direction when operating at the second target power, and the sum of the first target power and the second target power is the cleaning power. When the pitch angle is less than the first preset angle, indicating that the underwater cleaning robot is going downhill, the robot controller determines the gravitational component of the underwater cleaning robot in the first direction based on the pitch angle and the mass of the underwater cleaning robot. The robot controller determines the first target power and the second target power based on the cleaning power and the gravitational component, such that the sum of the first thrust generated by the first pump in the first direction when the first pump is operating at the first target power and the gravitational component is greater than the second thrust, and the sum of the first target power and the second target power is the cleaning power.

[0139] In the second part, when the pitch angle is equal to the first preset angle, the robot controller determines the first target power and the second target power based on the cleaning level of the underwater cleaning robot.

[0140] In one possible implementation, when the pitch angle is equal to the first preset angle, the robot controller determines the cleaning power corresponding to the cleaning level. Based on the cleaning power, the robot controller determines the first target power and the second target power, such that the first target power and the second target power are equal, and the sum of the first target power and the second target power is the cleaning power.

[0141] Optionally, after step 405, any one of the following steps 406-410 can also be performed.

[0142] 406. When the underwater cleaning robot moves in the second direction, the robot controller increases the power of the first water pump and / or decreases the power of the second water pump.

[0143] When the underwater cleaning robot moves in the second direction, it means that the thrust applied to the underwater cleaning robot in the first direction is insufficient. As the underwater cleaning robot gradually moves away from the pool wall, increasing the power of the first water pump and / or decreasing the power of the second water pump can increase the thrust applied to the underwater cleaning robot in the first direction, thereby allowing the underwater cleaning robot to remain in the position of the pool wall and achieve cleaning of the pool wall area.

[0144] 407. The robot controller increases the power of the first water pump to a third target power at preset time intervals and adjusts the power of the second water pump to a fourth target power. The power difference between the third target power and the first target power is greater than or equal to the power difference between the fourth target power and the second target power.

[0145] The preset duration is set by technicians according to actual conditions, and this application embodiment does not limit this. At preset time intervals, the power of the first water pump is increased to a third target power, and the power of the second water pump is adjusted to a fourth target power. That is, the cleaning power of the underwater cleaning robot is increased at each preset time interval, thereby improving the cleaning effect of the underwater cleaning robot.

[0146] 408. After a second preset time, the robot controller shuts off the first water pump and keeps the power of the second water pump constant, so that the underwater cleaning robot moves in the second direction.

[0147] The second preset duration is the time required for the underwater cleaning robot to clean the bottom of the pool below the pool wall. This second preset duration is set by technicians based on actual conditions, and this embodiment does not limit it. After the first water pump is turned off, the second water pump applies a ground-direction thrust to the underwater cleaning robot, pushing it away from the pool wall to continue cleaning other areas in the pool.

[0148] The technical solutions provided in steps 401-405 and step 408 above can be used... Figure 7 To express.

[0149] See Figure 7 The underwater cleaning robot moves in a first direction, driven by a first water pump. Before reaching the pool wall, the robot continues moving in the first direction. Once the robot reaches the pool wall, a second water pump is activated, and the power of both the first and second pumps is adjusted so that the thrust in the first direction is greater than the thrust in the second direction. After waiting for a second preset time, the first water pump is turned off, while the power of the second water pump remains constant, allowing the underwater cleaning robot to move in the second direction.

[0150] 409. After the second preset time period, the robot controller shuts off the first water pump and increases the power of the second water pump so that the underwater cleaning robot moves in the second direction.

[0151] The principle of step 409 and step 408 belong to the same inventive concept, and will not be repeated here.

[0152] 410. The robot controller shuts off the first water pump and the second water pump after the second preset time period, and starts the second water pump after the third preset time period, so that the underwater cleaning robot moves in the second direction.

[0153] The third preset duration is set by technicians according to actual conditions, and this embodiment does not limit this setting. Waiting for the second preset duration before shutting down the first and second water pumps, and then starting the second water pump after the third preset duration, ensures the stability of the underwater cleaning robot's posture.

[0154] The technical solutions provided in steps 401-405 and step 410 above can be used... Figure 8 To express.

[0155] See Figure 8 The underwater cleaning robot moves in a first direction, driven by a first water pump. If the underwater cleaning robot does not reach the pool wall, it continues to move in the first direction. Once the underwater cleaning robot reaches the pool wall, the first water pump is shut off. After a first preset time, the first and second water pumps are activated. The power of the first and second water pumps is adjusted so that the thrust in the first direction is greater than the thrust in the second direction. After a second preset time, the first and second water pumps are shut off. After a third preset time, the second water pump is activated to move the underwater cleaning robot in the second direction.

[0156] All of the above-mentioned optional technical solutions can be combined in any way to form the optional embodiments of this application, and will not be described in detail here.

[0157] The technical solution provided in this application embodiment activates the first water pump of the underwater cleaning robot, pumping liquid from the robot's suction port to a first outlet. The first outlet faces a second direction, allowing the underwater cleaning robot to move along the bottom of the pool in a first direction opposite to the second. Once the underwater cleaning robot reaches the pool wall, the second water pump is activated, increasing the liquid flow rate at the suction port, thus enhancing the robot's cleaning ability. The power of the first and second water pumps is adjusted to maintain contact between the underwater cleaning robot and the pool wall, effectively cleaning the junction between the pool wall and bottom, thereby improving the robot's cleaning capacity.

[0158] Figure 9 This is a schematic diagram of the control device structure of an underwater cleaning robot provided in an embodiment of this application. See also... Figure 9 The device includes: a first start-up module 901, a second start-up module 902, and a power adjustment module 903.

[0159] The first start-up module 901 is used to start the first water pump of the underwater cleaning robot, so that the underwater cleaning robot moves in a first direction at the bottom of the pool. The first water pump is used to pump liquid from the suction port of the underwater cleaning robot to the first water outlet of the underwater cleaning robot. The first water outlet is oriented in a second direction. The first direction and the second direction are opposite to each other. The suction port is located at the bottom of the underwater cleaning robot.

[0160] The second start-up module 902 is used to start the second water pump of the underwater cleaning robot when the underwater cleaning robot moves to the wall of the pool, so as to increase the liquid flow rate of the suction port. The second water pump is used to pump the liquid from the suction port to the second water outlet of the underwater cleaning robot, and the orientation of the second water outlet is the first direction.

[0161] The power adjustment module 903 is used to adjust the power of the first water pump and the second water pump so that the underwater cleaning robot keeps in contact with the pool wall.

[0162] In one possible implementation, the second start-up module 902 is used to shut down the first water pump when the underwater cleaning robot moves to the pool wall. After a first preset time, both the first and second water pumps are started simultaneously. Alternatively, when the underwater cleaning robot moves to the pool wall, the power of the first water pump is increased and the second water pump is started.

[0163] In one possible implementation, the power adjustment module 903 is used to increase the power of the first water pump to a first target power and adjust the power of the second water pump to a second target power, wherein the first target power is greater than the second target power.

[0164] In one possible implementation, the device further includes a power determination module for determining the pitch angle of the underwater cleaning robot. Based on the pitch angle, a first target power and a second target power are determined, wherein the first target power is positively correlated with the pitch angle and the second target power is negatively correlated with the pitch angle.

[0165] In one possible implementation, the power determination module is configured to determine a first target power and a second target power based on the cleaning mode of the underwater cleaning robot, the pitch angle, and the mass of the underwater cleaning robot when the pitch angle is greater than or less than a first preset angle. When the pitch angle is equal to the first preset angle, the first target power and the second target power are determined based on the cleaning mode of the underwater cleaning robot.

[0166] In one possible implementation, the power adjustment module 903 is further configured to increase the power of the first water pump to a third target power at preset time intervals, and adjust the power of the second water pump to a fourth target power, wherein the power difference between the third target power and the first target power is greater than or equal to the power difference between the fourth target power and the second target power.

[0167] In one possible implementation, the device further includes a detection module for determining, if the underwater cleaning robot includes a collision detection unit, whether the underwater cleaning robot has moved to the pool wall. Alternatively, if the underwater cleaning robot includes an acoustic transceiver unit, the module controls the acoustic transceiver unit to emit an acoustic signal in the first direction. Based on a first echo signal received by the acoustic transceiver unit and the acoustic signal, it determines whether the underwater cleaning robot has moved to the pool wall. Alternatively, if the underwater cleaning robot includes an image acquisition unit, the module controls the image acquisition unit to acquire an image in the first direction. Based on the image, it determines whether the underwater cleaning robot has moved to the pool wall. Alternatively, if the underwater cleaning robot includes radar, the module controls the radar to emit a detection signal in the first direction. Based on a second echo signal received by the radar and the detection signal, it determines whether the underwater cleaning robot has moved to the pool wall.

[0168] In one possible implementation, the power adjustment module 903 is also used to increase the power of the first water pump and / or decrease the power of the second water pump when the underwater cleaning robot moves in the second direction.

[0169] In one possible implementation, the power adjustment module 903 is further configured to shut off the first water pump after a second preset time period while maintaining the power of the second water pump unchanged, so that the underwater cleaning robot moves in the second direction. Alternatively, after the second preset time period, the first water pump is shut off and the power of the second water pump is increased, so that the underwater cleaning robot moves in the second direction. Alternatively, after the second preset time period, both the first and second water pumps are shut off, and the second water pump is started after a third preset time period, so that the underwater cleaning robot moves in the second direction.

[0170] It should be noted that the control device for the underwater cleaning robot provided in the above embodiments is only illustrated by the division of the above functional modules. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the computer device can be divided into different functional modules to complete all or part of the functions described above. Furthermore, the control device for the underwater cleaning robot provided in the above embodiments and the control method embodiments for the underwater cleaning robot belong to the same concept, and their specific implementation process can be found in the method embodiments, which will not be repeated here.

[0171] The technical solution provided in this application embodiment activates the first water pump of the underwater cleaning robot, pumping liquid from the robot's suction port to a first outlet. The first outlet faces a second direction, allowing the underwater cleaning robot to move along the bottom of the pool in a first direction opposite to the second. Once the underwater cleaning robot reaches the pool wall, the second water pump is activated, increasing the liquid flow rate at the suction port, thus enhancing the robot's cleaning ability. The power of the first and second water pumps is adjusted to maintain contact between the underwater cleaning robot and the pool wall, effectively cleaning the junction between the pool wall and bottom, thereby improving the robot's cleaning capacity.

[0172] This application also provides an underwater cleaning robot. Figure 10 This is a schematic diagram of the structure of a robot controller provided in an embodiment of this application. Typically, an underwater cleaning robot includes a robot controller 1000, which includes one or more processors 1001 and one or more memories 1002.

[0173] Processor 1001 may include one or more processing cores, such as a quad-core processor, an octa-core processor, etc. Processor 1001 may be implemented using at least one hardware form selected from DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array). Processor 1001 may also include a main processor and a coprocessor. The main processor, also known as a CPU (Central Processing Unit), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, processor 1001 may integrate a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the screen. In some embodiments, processor 1001 may also include an AI (Artificial Intelligence) processor, which is used to handle computational operations related to machine learning.

[0174] The memory 1002 may include one or more computer-readable storage media, which may be non-transitory. The memory 1002 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In some embodiments, the non-transitory computer-readable storage media in the memory 1002 are used to store at least one computer program, which is executed by the processor 1001 to implement the control method for the underwater cleaning robot provided in the method embodiments of this application.

[0175] In some embodiments, the underwater cleaning robot 1000 may also optionally include: a peripheral device interface 1003 and at least one peripheral device. The processor 1001, memory 1002, and peripheral device interface 1003 can be connected via a bus or signal line. Each peripheral device can be connected to the peripheral device interface 1003 via a bus, signal line, or circuit board.

[0176] Those skilled in the art will understand that Figure 10 The structure shown does not constitute a limitation on the underwater cleaning robot 1000, and may include more or fewer components than shown, or combine certain components, or use different component arrangements.

[0177] In an exemplary embodiment, a computer-readable storage medium is also provided, such as a memory including a computer program that can be executed by a processor to perform the control method for the underwater cleaning robot described in the above embodiments. For example, the computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a compact disc read-only memory (CD-ROM), magnetic tape, a floppy disk, or an optical data storage device, etc.

[0178] In an exemplary embodiment, a computer program product or computer program is also provided, which includes program code stored in a computer-readable storage medium. The processor of the robot controller reads the program code from the computer-readable storage medium and executes the program code, causing the robot controller to perform the control method of the underwater cleaning robot described above.

[0179] Those skilled in the art will understand that all or part of the steps of the above embodiments can be implemented by hardware or by a program instructing related hardware. The program can be stored in a computer-readable storage medium, such as a read-only memory, a disk, or an optical disk.

[0180] The above are merely optional embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A control method for an underwater cleaning robot, characterized in that, The method includes: The first water pump of the underwater cleaning robot is started so that the underwater cleaning robot moves in a first direction at the bottom of the pool. The first water pump is used to pump liquid from the suction port of the underwater cleaning robot to the first water outlet of the underwater cleaning robot. The first water outlet is oriented in a second direction. The first direction and the second direction are opposite to each other. The suction port is located at the bottom of the underwater cleaning robot. When the underwater cleaning robot moves to the wall of the pool, the second water pump of the underwater cleaning robot is activated to increase the liquid flow rate at the suction port. The second water pump is used to pump the liquid from the suction port to the second water outlet of the underwater cleaning robot, and the orientation of the second water outlet is the first direction. Adjust the power of the first and second water pumps so that the underwater cleaning robot remains in contact with the pool wall.

2. The method according to claim 1, characterized in that, When the underwater cleaning robot moves to the pool wall, activating the second water pump of the underwater cleaning robot includes: When the underwater cleaning robot moves to the wall of the pool, the first water pump is turned off; after a first preset time, the first water pump and the second water pump are started simultaneously. Alternatively, if the underwater cleaning robot moves to the wall of the pool, the power of the first water pump is increased and the second water pump is started.

3. The method according to claim 1, characterized in that, The adjustment of the power of the first water pump and the second water pump includes: The power of the first water pump is increased to a first target power, and the power of the second water pump is adjusted to a second target power, wherein the first target power is greater than the second target power.

4. The method according to claim 3, characterized in that, Before increasing the power of the first water pump to the first target power and adjusting the power of the second water pump to the second target power, the method further includes: Determine the pitch angle of the underwater cleaning robot; Based on the pitch angle, the cleaning mode of the underwater cleaning robot, and the mass of the underwater cleaning robot, the first target power and the second target power are determined. The first target power is positively correlated with the pitch angle, and the second target power is negatively correlated with the pitch angle.

5. The method according to claim 4, characterized in that, Determining the first target power and the second target power based on the pitch angle, the cleaning mode of the underwater cleaning robot, and the mass of the underwater cleaning robot includes: When the pitch angle is greater than or less than a first preset angle, the first target power and the second target power are determined based on the cleaning gear of the underwater cleaning robot, the pitch angle, and the mass of the underwater cleaning robot. When the pitch angle is equal to the first preset angle, the first target power and the second target power are determined based on the cleaning power level of the underwater cleaning robot.

6. The method according to claim 3, characterized in that, After increasing the power of the first water pump to a first target power and adjusting the power of the second water pump to a second target power, the method further includes: At preset time intervals, the power of the first water pump is increased to a third target power, and the power of the second water pump is adjusted to a fourth target power. The power difference between the third target power and the first target power is greater than or equal to the power difference between the fourth target power and the second target power.

7. The method according to claim 1, characterized in that, Before activating the second water pump of the underwater cleaning robot when the underwater cleaning robot moves to the pool wall, the method further includes: When the underwater cleaning robot includes a collision detection unit, the collision detection unit determines whether the underwater cleaning robot has moved to the wall of the pool. Alternatively, if the underwater cleaning robot includes an acoustic transceiver unit, the acoustic transceiver unit is controlled to transmit an acoustic signal in the first direction; based on the first echo signal received by the acoustic transceiver unit and the acoustic signal, it is determined whether the underwater cleaning robot has moved to the wall of the pool. Alternatively, if the underwater cleaning robot includes an image acquisition unit, the image acquisition unit is controlled to acquire an image in the first direction; based on the image, it is determined whether the underwater cleaning robot has moved to the wall of the pool. Alternatively, if the underwater cleaning robot includes radar, the radar is controlled to emit a detection signal in the first direction; based on the second echo signal received by the radar and the detection signal, it is determined whether the underwater cleaning robot has moved to the wall of the pool.

8. The method according to claim 1, characterized in that, After adjusting the power of the first water pump and the second water pump, the method further includes: When the underwater cleaning robot moves in the second direction, the power of the first water pump is increased and / or the power of the second water pump is decreased.

9. The method according to claim 1, characterized in that, After adjusting the power of the first water pump and the second water pump, the method further includes: After a second preset time period, the first water pump is turned off while the power of the second water pump remains unchanged, so that the underwater cleaning robot moves in the second direction; Alternatively, after the second preset time period, the first water pump may be turned off and the power of the second water pump may be increased, so that the underwater cleaning robot moves in the second direction; Alternatively, the first and second water pumps may be turned off after the second preset time period, and the second water pump may be turned on after the third preset time period, so that the underwater cleaning robot moves in the second direction.

10. A control device for an underwater cleaning robot, characterized in that, The device includes: The first start-up module is used to start the first water pump of the underwater cleaning robot so that the underwater cleaning robot moves in a first direction at the bottom of the pool. The first water pump is used to pump liquid from the suction port of the underwater cleaning robot to the first water outlet of the underwater cleaning robot. The first water outlet is oriented in a second direction. The first direction and the second direction are opposite to each other. The suction port is located at the bottom of the underwater cleaning robot. The second start-up module is used to start the second water pump of the underwater cleaning robot when the underwater cleaning robot moves to the wall of the pool, so as to increase the liquid flow rate of the suction port. The second water pump is used to pump the liquid from the suction port to the second water outlet of the underwater cleaning robot, and the orientation of the second water outlet is the first direction. A power adjustment module is used to adjust the power of the first water pump and the second water pump so that the underwater cleaning robot maintains contact with the pool wall.

Images