Anti-falling method of underwater cleaning equipment, terminal, medium and equipment

Abstract

The invention discloses an anti-falling method of underwater cleaning equipment, a terminal, a medium and the equipment. The method comprises the following steps: controlling the underwater cleaning equipment to walk on an underwater boss surface; generating a deceleration point of the current path based on historical path information of the cleaning equipment; real-time position information of the underwater cleaning equipment is obtained, whether at least part of the cleaning equipment is located in the area where the deceleration point is located or not is judged based on the real-time position information, if the cleaning equipment is located in the area where the deceleration point is located, the underwater cleaning equipment is controlled to decelerate, and therefore the cleaning equipment is prevented from falling off from the boss face. The deceleration point of the current path is generated based on the historical path information, and when the cleaning equipment is recognized to be located in the area where the deceleration point is located, the underwater cleaning equipment is controlled to run in a decelerated mode, so that the situation that the cleaning equipment enters a dangerous road condition from a boss surface due to too high speed is avoided, cleaning is completed slowly at a low running speed, and shutdown or falling under the dangerous road condition is avoided; the processing efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the field of automatic cruising, and in particular to a method, terminal, medium and equipment for preventing underwater cleaning equipment from falling. Background Art

[0002] With the increasing demand for cleaning in underwater environments, underwater cleaning equipment has gradually become an important tool for maintaining underwater infrastructure and environment. However, in actual applications, underwater cleaning equipment often faces complex working environments, especially in areas with obvious height differences such as raised surfaces. These special environments can easily cause the equipment to fall due to improper operation, seriously affecting the safety and efficiency of cleaning tasks.

[0003] Traditional underwater cleaning equipment usually relies on simple path planning and sensor detection to avoid the risk of falling, but when faced with complex underwater terrain, these methods often have problems such as low processing efficiency, delayed response, and inaccurate path planning, making it difficult to cope with dynamically changing environments and emergencies. In addition, when the equipment is close to dangerous areas such as cliff platforms, due to the particularity of the underwater environment, the movement speed and direction control of the equipment become particularly critical. The slightest carelessness may cause the equipment to fall or get stuck, resulting in equipment downtime or even damage.

[0004] Although existing technologies have proposed some anti-fall solutions, most of them are limited to simple detection and emergency stop based on real-time sensors, lack in-depth use of historical path data of equipment, and cannot achieve accurate processing and efficient response to complex environments. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide a method, terminal, medium and equipment for preventing underwater cleaning equipment from falling, so as to solve the problem of low efficiency in handling working conditions on cliff platforms.

[0006] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0007] A method for preventing underwater cleaning equipment from falling, the method comprising:

[0008] Controlling the underwater cleaning equipment to move on the underwater raised platform surface;

[0009] generating a deceleration point of a current path based on historical path information of the cleaning device;

[0010] Acquire the real-time position information of the underwater cleaning equipment, and determine whether the cleaning equipment is at least partially located in the area where the deceleration point is located based on the real-time position information; if the cleaning equipment is located in the area where the deceleration point is located, control the underwater cleaning equipment to decelerate, thereby preventing the cleaning equipment from falling from the boss surface.

[0011] In order to solve the above technical problems, other technical solutions adopted by the present invention are:

[0012] An intelligent mobile terminal comprises a memory, a processor and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, a method for preventing underwater cleaning equipment from falling is completed.

[0013] A computer-readable medium stores a computer program, and when the computer program is executed by a processor, a method for preventing underwater cleaning equipment from falling is implemented.

[0014] An underwater cleaning device, which implements an anti-fall method for underwater cleaning device, wherein the cleaning device comprises a filtering device, a driving device and a motion control module, wherein the filtering device is arranged inside the cleaning device and is used to filter sewage sucked into the cleaning device, the driving device is used to drive the cleaning device to move and decelerate, and the motion control module is used to generate a control command to control the driving device.

[0015] The beneficial effects of the present invention include at least: providing an anti-fall method, terminal, medium and equipment for underwater cleaning equipment, generating a deceleration point for the current path based on historical path information, and generally setting the deceleration point includes but is not limited to the following situations: there is a cliff platform in the path, there are obstacles in the path that affect the movement of the equipment, or other road conditions that cause the equipment to be unable to operate normally, and by obtaining the real-time position of the underwater cleaning equipment and judging whether the position is in the area where the deceleration point is located, when it is identified that the cleaning equipment is in the area where the deceleration point is located, the underwater cleaning equipment is controlled to slow down to avoid entering dangerous road conditions from the convex platform due to excessive speed, and the cleaning is completed slowly at a lower running speed to avoid stopping or falling in the face of dangerous road conditions, thereby improving processing efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A schematic diagram of the deceleration point setting in an embodiment of the present invention;

[0017] Figure 2 is a schematic diagram of an intelligent mobile terminal in an embodiment of the present invention;

[0018] Description of labels:

[0019] 1. Slowdown point; 2. convex surface; 3. current path; 4. an intelligent mobile terminal; 5. memory; 6. processor. DETAILED DESCRIPTION

[0020] In order to explain the technical content, achieved objectives and effects of the present invention in detail, the following is an explanation in combination with the implementation modes and the accompanying drawings.

[0021] Please refer to Figure 1 , a method for preventing underwater cleaning equipment from falling, the method comprising:

[0022] Controlling the underwater cleaning equipment to move on the underwater raised platform surface;

[0023] generating a deceleration point of a current path based on historical path information of the cleaning device;

[0024] Acquire the real-time position information of the underwater cleaning equipment, and determine whether the cleaning equipment is at least partially located in the area where the deceleration point is located based on the real-time position information; if the cleaning equipment is located in the area where the deceleration point is located, control the underwater cleaning equipment to decelerate, thereby preventing the cleaning equipment from falling from the boss surface.

[0025] It is understandable that deceleration points refer to specific locations set on the walking path of underwater cleaning equipment. When the equipment approaches or enters the area where these locations are located, the system will automatically trigger the equipment to decelerate. The main purpose of setting deceleration points is to prevent the equipment from losing control and falling due to excessive speed when approaching potential dangerous areas (such as the edge of a raised surface), thereby ensuring the safe operation of the equipment. The setting of deceleration points is usually based on the historical path data of the equipment and the current real-time location information. Specifically, the setting of deceleration points can be based on the following methods: After the equipment has walked on the underwater raised surface many times, the terminal records the historical path information of the equipment, and by analyzing the historical path information, identifies the dangerous area where the equipment may approach the edge of the raised surface; compares the current path with the historical path to determine the location where the equipment may repeatedly enter the dangerous area, and according to the comparison results, these locations can be set as deceleration points. Specifically, the setting of general deceleration points includes but is not limited to the following situations: the existence of cliff platforms in the path, obstacles in the path that affect the movement of the equipment, or other road conditions that cause the equipment to be unable to operate normally. By obtaining the real-time position of the underwater cleaning equipment and determining whether the position is in the area where the deceleration point is located, when it is identified that the cleaning equipment is in the area where the deceleration point is located, the underwater cleaning equipment is controlled to slow down to avoid entering dangerous road conditions from the raised platform at too fast a speed. The cleaning is completed slowly at a lower operating speed to avoid stopping or falling in the face of dangerous road conditions, thereby improving processing efficiency.

[0026] In an embodiment of the present invention, the historical path is parallel to the current path and is located near the current path. The parallelism and proximity of the current path to the historical path enables the device to refer to past walking data in similar environments, especially when the device approaches dangerous areas such as the edge of a raised platform. By setting the current path near the historical path, the device can better utilize the deceleration points and other safety mechanisms of the historical path, thereby achieving more efficient and safer operation on the current path.

[0027] In an embodiment of the present invention, the historical path includes a starting point and a turning point, and the turning point is close to the edge of the convex surface. The historical path includes a starting point and a turning point close to the edge of the convex surface, so that the device can be decelerated in time when approaching the edge of the convex surface, preventing the device from falling due to inertial sliding, and further enhancing the safety of the device. Specifically, the historical path is set according to a bow-shaped path, and the bow-shaped path includes at least two parallel long paths and a short path connecting the long paths. The above-mentioned turning point is set at the connection between the long path and the short path.

[0028] In an embodiment of the present invention, the historical path information includes walking time or walking distance. When the cleaning device is at least partially located in the area where the deceleration point is located, the ratio of the walking time of the cleaning device on the current path to the walking time of the historical path is in the range of 1 / 2-2 / 3, or the ratio of the walking distance of the cleaning device on the current path to the walking distance of the historical path is in the range of 1 / 2-2 / 3. When the device is walking on the current path, the setting of the area where the deceleration point is located is based on the historical path as a reference. There are two reference methods:

[0029] (1) Time factor: when the ratio of the walking time of the device on the current path to the walking time of the historical path is between 1 / 2 and 2 / 3, the remaining area of ​​this path is set as the area where the deceleration point is located; specifically, the process of setting the deceleration point based on the time factor is: in the previous cleaning task of the device, the system recorded the walking time of the device on the historical path; when the device walks along the current path, the system monitors the walking time of the device in real time, and when the walking time of the device on the current path reaches between 1 / 2 and 2 / 3 of the walking time of the historical path, the system determines that the device may be close to dangerous areas such as the edge of the convex surface. Preferably, the walking time between the starting point and the turning point in the above historical path and between the turning points are recorded as the walking time corresponding to each path in the historical path.

[0030] (2) Distance factor: when the ratio of the walking distance of the device on the current path to the walking distance of the historical path is in the range of 1 / 2-2 / 3, the remaining area of ​​this path is set as the area where the deceleration point is located; specifically, the process of setting the deceleration point based on the distance factor is: in the historical task, the system records the walking distance of the device from the starting point to the edge of the boss surface, and in the current path, the system measures the walking distance of the device in real time. When the walking distance of the device on the current path reaches between 1 / 2 and 2 / 3 of the walking distance of the historical path, the system determines that the device is about to enter the dangerous area. Preferably, the walking distance between the starting point and the turning point in the above historical path and between the turning points are recorded as the walking distance corresponding to each path in the historical path.

[0031] In an embodiment of the present invention, the walking direction of the cleaning device in the historical path is the same as the walking direction in the current path. By maintaining the same walking direction, the device can effectively utilize the data in the historical path, such as deceleration points, obstacle locations, etc., thereby reducing the complexity of path planning and avoiding path deviation problems caused by different directions. In addition, the same walking direction can also improve the operational stability of the equipment, reduce the time for path adjustment and recalibration, and enable the equipment to enter the working state faster, thereby improving the overall efficiency and safety of the cleaning task. This design enhances the performance of the equipment in repetitive tasks, enabling it to perform tasks more accurately and reduce the risk of misoperation due to path changes.

[0032] In an embodiment of the present invention, the historical path is at most 60 cm apart from the current path. To ensure that when the device is performing a cleaning task, such a path interval design can also enable the device to more accurately utilize historical path data on repeated paths, such as deceleration points and obstacle locations, thereby optimizing the device's path planning and execution efficiency. In addition, the interval range between the historical path and the current path is set to control the error of the device's walking within 60 cm, which reduces the difficulty of device control while enabling the device to continuously and tightly cover a larger cleaning range when planning the current path with reference to the historical path, effectively reducing the appearance of uncleaned areas, improving the cleaning effect, and enhancing the device's ability to operate in complex environments, reducing duplication of work and waste of resources.

[0033] In an embodiment of the present invention, controlling the underwater cleaning equipment to decelerate includes: controlling the driving device or the water spraying mechanism of the underwater cleaning equipment to perform deceleration until the speed of the cleaning equipment is 0. It ensures that the equipment can stop quickly and safely when approaching dangerous areas or in scenarios requiring precise operation, avoiding the risk of falling or collision due to excessive speed. By gradually decelerating to zero, the equipment can stop more smoothly at a predetermined position, reducing mechanical losses and equipment instability that may be caused by sudden braking. In addition, this control method also allows the equipment to make precise path adjustments before stopping, thereby improving the accuracy and safety of the operation, especially in complex underwater environments, effectively ensuring the long-term operation of the equipment and the efficient completion of tasks.

[0034] Specifically, the drive device usually includes components such as an electric motor, a propeller or a track for moving the equipment. The specific implementation methods of the braking operation of the drive device include but are not limited to: motor reversal or deceleration braking. When it is detected that the equipment enters the area where the deceleration point is located, the control system will issue a command to let the drive device decelerate immediately. By reducing the speed of the drive motor, the equipment gradually reduces the running speed until it stops running; preferably, when the deceleration cannot be performed smoothly, the brake lock is performed, and the equipment is equipped with a mechanical brake system, which can lock the drive components when necessary to completely stop the movement of the equipment. This method can stop the equipment in a very short time, thereby preventing it from falling.

[0035] The water spray device generates a reaction force by spraying water, causing the device to quickly slow down or change direction. The water spray device usually includes multiple nozzles, which generate a reaction force by spraying high-pressure water to help the device achieve position control and braking. The specific implementation methods include but are not limited to: directional water spraying. When the device detects that it is in the area where the deceleration point is located, the control system will activate the water spray devices located in different directions of the device. By precisely controlling the spray direction and strength of the nozzle, sufficient reaction force can be generated to offset the moving inertia of the device, so that the device can quickly stop or change direction; or pulse water spraying. In some cases, the device may need to gradually slow down through multiple short water spray pulses. This can avoid instability of the device due to sudden full braking, while ensuring that the device stops smoothly in a safe position.

[0036] The present invention provides a method, terminal, medium and equipment for preventing underwater cleaning equipment from falling, which are mainly used to control the underwater cleaning equipment to pre-process dangerous road conditions in advance during operation, and are specifically described below in conjunction with embodiments.

[0037] Please refer to Figure 1 , Embodiment 1 of the present invention is:

[0038] A method for preventing underwater cleaning equipment from falling, the method comprising:

[0039] The underwater cleaning device is controlled to move on the underwater convex surface 2; based on the historical path information of the underwater cleaning device, a deceleration point 1 of the current path 3 is generated; the deceleration point 1 is set to include the presence of a cliff platform in the path, obstacles that affect the movement of the device in the path, or other road conditions that cause the device to be unable to operate normally; the real-time position information of the underwater cleaning device is obtained, and based on the real-time position information, it is determined whether the cleaning device is at least partially located in the area where the deceleration point 1 is located. If the cleaning device is located in the area where the deceleration point 1 is located, the underwater cleaning device is controlled to decelerate, thereby preventing the cleaning device from falling from the convex surface 2. By obtaining the real-time position of the underwater cleaning device and determining whether the position is in the area where the deceleration point 1 is located, when it is identified that the cleaning device is located in the area where the deceleration point 1 is located, the underwater cleaning device is controlled to decelerate, so as to avoid entering dangerous road conditions from the convex surface 2 at too fast a speed, and to complete the cleaning slowly at a lower running speed, so as to avoid stopping or falling in the face of dangerous road conditions, thereby improving processing efficiency.

[0040] Embodiment 2 of the present invention is:

[0041] On the basis of Example 1, the historical path is parallel to the current path 3 and has the same walking direction, and the interval between the historical path and the current path 3 is controlled to be 20cm-60cm. The turning point is close to the edge of the boss surface 2. The parallelism and proximity between the current path 3 and the historical path enable the device to refer to past walking data in similar environments, ensuring that when the device performs cleaning tasks, such a path spacing design can also enable the device to more accurately utilize historical path data on repeated paths, such as deceleration points 1 and obstacle locations, thereby optimizing the path planning and execution efficiency of the device. Among them, the historical path includes a starting point and a turning point, and the historical path is set according to a bow-shaped path. The bow-shaped path includes at least two parallel long paths and at least one short path connecting the two long paths. The above-mentioned turning point is set at the connection between the long path and the short path; the deceleration point 1 is set between at least part of the starting point and the turning point and between the turning point and the turning point.

[0042] Embodiment 3 of the present invention is:

[0043] Based on Example 2, the historical path information includes walking time. When the cleaning device is at least partially located in the area where the deceleration point 1 is located, the ratio of the walking time of the cleaning device on the current path 3 to the walking time of the historical path is 2 / 3; in the previous cleaning task of the equipment, the system recorded the walking time of the equipment on the historical path; when the equipment is walking along the current path 3, the system monitors the walking time of the equipment in real time. When the walking time of the equipment on the current path 3 reaches 2 / 3 of the historical path time, the system determines that the equipment may be approaching dangerous areas such as the edge of the boss surface 2, and controls the equipment to slow down and slowly approach the dangerous area.

[0044] Embodiment 4 of the present invention is:

[0045] On the basis of the second embodiment, the historical path information includes the walking distance. When the cleaning device is at least partially located in the area where the deceleration point 1 is located, the ratio of the walking distance of the cleaning device on the current path 3 to the walking distance of the historical path is 2 / 3; in the historical task, the system records the walking distance of the device from the starting point to the edge of the boss surface 2. In the current path 3, the system measures the walking distance of the device in real time. When the walking distance of the device on the current path 3 reaches 2 / 3 of the walking distance of the historical path, the system determines that the device is about to enter the dangerous area, controls the device to slow down, and slowly approaches the dangerous area.

[0046] Embodiment 5 of the present invention is:

[0047] On the basis of Example 1, controlling the underwater cleaning equipment to decelerate includes: controlling the driving device or the water spraying mechanism of the underwater cleaning equipment to decelerate until the speed of the underwater cleaning equipment is 0. It ensures that the equipment can stop quickly and safely when approaching a dangerous area or in a scene requiring precise operation, avoiding the risk of falling or collision due to excessive speed. By gradually decelerating to zero, the equipment can stop more smoothly at a predetermined position, reducing mechanical losses and equipment instability that may be caused by sudden braking. Specifically, the control device decelerates after entering the area where the deceleration point 1 is located, and controls the device to decelerate to a stop when it reaches the turning point, and then controls the device to execute the current path 3 according to the historical path planning.

[0048] Please refer to Figure 2 , Embodiment 6 of the present invention is:

[0049] An intelligent mobile terminal 4 includes a memory 5, a processor 6, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the anti-fall method for underwater cleaning equipment of any one of embodiments 1 to 5 is completed.

[0050] A computer-readable medium stores a computer program, and when the computer program is executed by a processor, the anti-fall method for underwater cleaning equipment of any one of embodiments 1 to 5 is implemented.

[0051] An underwater cleaning device, which executes the anti-fall method described in any one of embodiments one to five, wherein the cleaning device includes a filtering device, a driving device and a motion control module, wherein the filtering device is arranged inside the cleaning device and is used to filter the sewage sucked into the cleaning device, the driving device is used to drive the cleaning device to move and decelerate, and the motion control module is used to generate a control command to control the driving device.

[0052] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent transformations made using the contents of the present invention's specification and drawings, or directly or indirectly applied in related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A method for preventing underwater cleaning equipment from falling, characterized in that: The method comprises: Controlling the underwater cleaning equipment to move on the underwater raised platform surface; generating a deceleration point of a current path based on historical path information of the cleaning device; Acquire the real-time position information of the underwater cleaning equipment, and determine whether the cleaning equipment is at least partially located in the area where the deceleration point is located based on the real-time position information; if the cleaning equipment is located in the area where the deceleration point is located, control the underwater cleaning equipment to decelerate, thereby preventing the cleaning equipment from falling from the boss surface.

2. The anti-fall method according to claim 1, characterized in that: The historical path is parallel to the current path and is located near the current path.

3. The anti-fall method according to claim 2, characterized in that: The historical path includes a starting point and a turning point, and the turning point is close to the edge of the boss surface.

4. The anti-fall method according to any one of claims 1 to 3, characterized in that: The historical path information includes walking time or walking distance. When the underwater cleaning equipment is at least partially located in the area where the deceleration point is located, the ratio of the walking time of the underwater cleaning equipment on the current path to the walking time of the historical path is in a range of 1 / 2-2 / 3, or the ratio of the walking distance of the underwater cleaning equipment on the current path to the walking distance of the historical path is in a range of 1 / 2-2 / 3.

5. The anti-falling method according to claim 4, characterized in that: The walking direction of the underwater cleaning device in the historical path is the same as the walking direction in the current path.

6. The anti-fall method according to claim 4, characterized in that: The historical path is at most 60 cm away from the current path.

7. The anti-fall method according to claim 6, characterized in that: Controlling the underwater cleaning equipment to decelerate includes: controlling a driving device or a water spraying mechanism of the underwater cleaning equipment to decelerate until the speed of the underwater cleaning equipment is zero.

8. An intelligent mobile terminal, characterized in that: The invention comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor completes the anti-falling method for underwater cleaning equipment as described in any one of claims 1 to 7 when executing the computer program.

9. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the anti-fall method for underwater cleaning equipment according to any one of claims 1 to 7 is implemented.

10. An underwater cleaning device, characterized in that: The underwater cleaning equipment implements an anti-fall method for underwater cleaning equipment as described in any one of claims 1-7, and the cleaning equipment includes a filtering device, a driving device and a motion control module. The filtering device is arranged inside the cleaning equipment and is used to filter the sewage sucked into the cleaning equipment. The driving device is used to drive the cleaning equipment to move and decelerate, and the motion control module is used to generate a control command to control the driving device.

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