Swimming pool cleaning equipment

Abstract

The invention relates to the technical field of cleaning equipment, in particular to pool cleaning equipment which comprises the steps that the pool cleaning equipment is controlled to execute a current task, and under the condition that the pool cleaning equipment needs to be recalled in the process of executing the current task or after the current task is executed, the pool cleaning equipment needs to be recalled; whether the pool cleaning equipment can return to a first target stopping position from the current position or not is judged; if yes, the pool cleaning equipment is controlled to move to a first target stopping position; and if not, the pool cleaning equipment is controlled to move to a second target stopping position. Through the method and the device, the technical problem that the pool cleaning equipment cannot return to the target position due to abnormal conditions during active recall in related technologies is solved.

Description

Technical Field

[0001] The invention relates to the technical field of cleaning equipment, in particular to a pool cleaning equipment. Background Art

[0002] In the prior art, after the pool cleaning device completes the cleaning work, the user generally pulls the power cord of the pool cleaning device back to the shore, and then lifts it out of the water by the handle provided on the pool cleaning device, thereby completing the recovery of the pool cleaning device. However, during the above recovery process, the robot may hit the side wall of the pool due to the pulling, causing damage to the pool cleaning device. At the same time, the dirt attached to the power cord will also stick to the user's hands, making the user experience very poor. It can be seen that the recovery efficiency of the pool cleaning device in the related art is low.

[0003] At the same time, there are pool cleaning equipment on the market that have an active recall function, but if an abnormal situation occurs when executing this function, there are usually no relevant response measures, resulting in a technical problem of low recycling efficiency of pool cleaning equipment. No effective solution has been proposed yet. Summary of the invention

[0004] In order to solve the above technical problems, the present invention provides a swimming pool cleaning device. The present invention sets different control modes by judging whether the swimming pool cleaning device can return to the target position normally when actively recalled, thereby solving the problem of actively recalling the swimming pool cleaning device under abnormal circumstances and improving the recovery efficiency.

[0005] An embodiment of the present invention provides a pool cleaning device, comprising: controlling the pool cleaning device to perform a current task, wherein the current task is used to instruct the pool cleaning device to operate on a target pool; in the process of performing the current task or in the case where the pool cleaning device needs to be recalled after performing the current task, determining whether the pool cleaning device can return to a first target docking position from a current position; if so, controlling the pool cleaning device to move to the first target docking position; if not, controlling the pool cleaning device to move to a second target docking position; wherein the first target docking position is a position corresponding to a water entry point when the pool cleaning device performs the current task or a starting position when performing the current task; and the second target docking position is a position corresponding to a pool wall that is closest to the pool cleaning device at the current position.

[0006] In one embodiment, the position corresponding to the water entry point includes: a position on the pool wall closest to the water entry point; or a position on the pool bottom corresponding to the water entry point; or a position on the water surface near the water entry point.

[0007] In one embodiment, the current position is located at a position corresponding to the nearest pool wall, including: located on the nearest pool wall; or located on the water surface near the nearest pool wall; or located on the pool bottom near the nearest pool wall.

[0008] In one embodiment, controlling the pool cleaning device to move to a second target docking position includes: determining a pool wall closest to the current position; and controlling the pool cleaning device to move from the current position to the nearest pool wall until it moves to the second target docking position.

[0009] In one embodiment, when in the second target docking position, the body of the pool cleaning device is in a vertical state or a horizontal state.

[0010] In one embodiment, when in the second target docking position, a user may move the pool cleaning device out of the pool.

[0011] In one embodiment, the first target docking position and / or the second target docking position is near the waterline of the pool.

[0012] In one embodiment, the determining whether the pool cleaning device can return to the first target docking position from the current position includes: whether the remaining battery level satisfies the estimated return power level, the estimated return power level including the power required for the pool cleaning device to return to the first target docking position from the current position;

[0013] Or, the detection sensor is in an abnormal working state.

[0014] In one embodiment, there is a battery remaining capacity estimation unit, which obtains a return power estimation value based on the path that the pool cleaning device needs to travel from the current position to the first target docking position and the power consumption of the corresponding action.

[0015] In one embodiment, the path that the pool cleaning device takes to return from the current position to the first target docking position is obtained based on a target map, which is a map established by identifying the target pool when or before the pool cleaning device performs the current task.

[0016] In one embodiment, the detection sensor is a magnetometer.

[0017] In one embodiment, the abnormal working state includes: the cleaning device cannot detect the magnetometer; or the cleaning device cannot obtain the direction measured by the magnetometer; or the direction measured by the magnetometer obtained by the cleaning device has obvious deviation.

[0018] In one embodiment, a pool cleaning device includes: a filtering device for filtering water entering the pool cleaning device; a walking mechanism for driving the pool cleaning device to walk on a supporting surface; a water spraying mechanism for providing water flow force to the pool cleaning device; one or more processors; a storage device for storing one or more programs; when the one or more programs are executed by the one or more processors, the one or more processors implement the above-mentioned control method.

[0019] Implementing the embodiments of the present invention has the following beneficial effects:

[0020] The present invention sets a second target docking position so that when the pool cleaning device is actively recalled, if it is determined that it cannot return to the first target docking position, the pool cleaning device will be controlled to find the nearest pool wall to climb up and return to the vicinity of the waterline for the user to move out of the pool, thereby solving the technical problem that the pool cleaning device cannot return to the target position due to abnormal circumstances when it is actively recalled. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solution of the present invention, the following briefly introduces the drawings required for use in the embodiments or related technical descriptions. Obviously, the drawings described below are only some embodiments of the present invention, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0022] Figure 1 It is a schematic diagram of the operation of the pool cleaning device according to an embodiment of the present invention.

[0023] Figure 2 This is a schematic diagram of the pool cleaning device according to an embodiment of the present invention returning to the first target docking position.

[0024] Figure 3 This is a schematic diagram of returning to the first target docking position according to another embodiment of the present invention.

[0025] Figure 4 This is a schematic diagram of the pool cleaning device according to an embodiment of the present invention returning to the second target docking position.

[0026] Among them, the reference numerals in the figure correspond to:

[0027] 1-pool; 2-pool cleaning equipment; 3-water line; 40-current position at the time of active recall; 41-first target docking position; 42-second target docking position. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0029] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions.

[0030] In view of the defects of the related art, the present invention provides the following technical solutions.

[0031] See attached Figure 1-4 The present embodiment provides a control method for a pool cleaning device, comprising: controlling the pool cleaning device 2 to perform a current task, wherein the current task is used to instruct the pool cleaning device 2 to operate a target pool; in the process of performing the current task or in the case where the pool cleaning device 2 needs to be recalled after the current task is completed, determining whether the pool cleaning device 2 can return from the current position 40 to a first target docking position 41; if so, controlling the pool cleaning device 2 to move to the first target docking position 41; if not, controlling the pool cleaning device 2 to move to a second target docking position 42; wherein the first target docking position 41 is a position corresponding to a water entry point when the pool cleaning device performs the current task or a starting position when the pool cleaning device performs the current task; and the second target docking position 42 is a position corresponding to a pool wall that is closest to the pool cleaning device at the current position.

[0032] It is understandable that the pool cleaning device 2 can be a robot that purifies and disinfects the pool, or a robot that detects water quality, or a pool cleaning robot that cleans the pool, or other robots that work in or under water, etc. For example, taking the pool cleaning robot as an example, the pool cleaning robot can clean the bottom, side walls or water surface of the pool. When the pool robot has completed its work or is low on power or needs to be recalled, the pool robot can be controlled to move to a predetermined docking position. Generally speaking, the predetermined docking position is generally near the entry point of the cleaning equipment, which is convenient for users to take. Therefore, when an active recall is performed, it is generally returned to the vicinity of the entry point. Based on the above reasons, the first target docking position 41 is set to be the corresponding position on the nearest pool wall corresponding to the entry point of the pool cleaning device 2 when performing the current task. When it is located at this position, it is easier for users to take the cleaning equipment.

[0033] However, in order to avoid the cleaning device being unable to return to the first target docking position 41 after an active recall in some abnormal situations, resulting in the cleaning device being unable to be recovered, a second target docking position 42 is also set, and the second target docking position 42 is the corresponding position of the pool wall closest to the pool cleaning device 2 at the current position 40. Specifically, when the cleaning device cannot return to the first target docking position 41, the cleaning device can find the nearest pool wall and move to the vicinity of the pool wall, so that the user can also conveniently take it.

[0034] In an optional embodiment, the position corresponding to the water entry point includes: a position on the pool wall closest to the water entry point; or a position on the pool bottom corresponding to the water entry point; or a position on the water surface near the water entry point.

[0035] It can be understood that in addition to being the starting position when executing the current task, the first target docking position can also be selected as a position near the water entry point, such as on the pool wall closest to the water entry point, or at the bottom of the pool corresponding to the water entry point, or at a water surface position near the water entry point.

[0036] In an optional embodiment, the current position is located at a corresponding position of the nearest pool wall, including: on the nearest pool wall; or on the water surface near the nearest pool wall; or on the pool bottom near the nearest pool wall.

[0037] It can be understood that the second target docking position is set near the pool wall closest to the current position, which can be at the bottom of the pool, or on the pool wall or water surface, and only needs to be close to the nearest pool wall.

[0038] In an optional embodiment, if Figure 4As shown, controlling the pool cleaning device 2 to move to the second target docking position 42 includes: determining the pool wall closest to the current position 40; controlling the pool cleaning device 2 to move from the current position 40 to the nearest pool wall until it moves to the second target docking position 42.

[0039] It can be understood that, for example, when the second target docking position 42 is located on the waterline, the pool cleaning device 2 first determines the nearest pool wall position, then moves from the pool bottom to the pool wall position through the travel mechanism, and then vertically climbs the wall from the pool bottom, and finally moves to the second target docking position 42. Of course, what is described here is the path from the pool bottom to the second target docking position 42. If the cleaning device has the ability to sink and float autonomously, the cleaning device can also float from the current position 40 to the water surface, and then move from the water surface to the second target docking position 42. As for when the second target docking position 42 is located at the pool bottom or on the water surface, the cleaning device is controlled to perform the corresponding motion control.

[0040] In an optional embodiment, when located at the second target docking position 42, the body of the pool cleaning device 2 is in a vertical state or a horizontal state.

[0041] It can be understood that when the pool cleaning device 2 is in the second target docking position 42, the bottom of the pool cleaning device 2 is close to the pool wall, and the body of the pool cleaning device 2 is in a vertical state. In addition, the pool cleaning device 2 can also float on the water surface, at which time the head or tail of the pool cleaning device 2 abuts against the pool wall, and the body of the pool cleaning device 2 is in a horizontal state.

[0042] In an optional embodiment, when in the second target docking position 42, the user can move the pool cleaning device 2 out of the pool.

[0043] It is understandable that when the cleaning device is at the second target docking position 42, the user can directly grab the cleaning device by the handle or use a tool to fish it out, thereby achieving the purpose of active recall.

[0044] In an optional embodiment, the first target docking position 41 and / or the second target docking position 42 is near the waterline 3 of the pool.

[0045] It can be understood that the first target docking position 41 and the second target docking position 42 are set for the convenience of users to take them, so docking them near the waterline 3 is easier for users to operate.

[0046] In an optional embodiment, the determination of whether the pool cleaning device 2 can return to the first target docking position 41 from the current position 40 includes: whether the remaining battery level meets the estimated return power level, the estimated return power level includes the power required for the pool cleaning device 2 to return from the current position 40 to the first target docking position 41; or, whether the detection sensor is in an abnormal working state.

[0047] Understandable, such as Figure 2 As shown, in the case of a map, the cleaning device estimates the return power estimate required to return to the first target docking position 41 through the current position 40 and the first target docking position 41, and then compares it with the battery remaining to determine whether it can return. For example, the estimated return power estimate is 13% of the power required, and the current battery remaining is 10%, which is less than the return power estimate, then it is determined that it is impossible to return to the first target docking position 41, and at this time it will execute to go to the second target docking position 42.

[0048] In addition, in the absence of a map, the swimming pool cleaning device can return to the first target parking position 41 through the detection sensor, but the premise is that the detection sensor is in a normal working state.

[0049] In an optional embodiment, the cleaning device has a battery remaining estimation unit, which obtains a return power estimation value based on the path that the pool cleaning device 2 needs to travel from the current position 40 to the first target docking position 41 and the power consumption of the corresponding action.

[0050] It can be understood that a battery remaining estimation unit is set to obtain the path distance required for the return trip and the power consumption of the operations corresponding to the return path, such as the power consumption of walking on the bottom of the pool or climbing up the wall. These values ​​​​can be pre-calibrated before leaving the factory, and the battery power required for the return trip can be estimated through these parameters.

[0051] In an optional embodiment, the path that the pool cleaning device 2 takes from the current position 40 to return to the first target docking position 41 is obtained based on a target map, and the target map is a map established by identifying the target pool when or before the pool cleaning device 2 performs the current task.

[0052] It can be understood that the path planning can be obtained through the target map, so the path distance required for the return trip can be obtained based on the target map, and the target map can be pre-stored or obtained by moving along the edge of the current task or historical task.

[0053] In an optional embodiment, the detection sensor is a magnetometer, and whether the detection sensor meets normal working conditions includes: before the pool cleaning device 2 returns from the current position 40 to the first target docking position 41, checking whether the magnetometer is in an abnormal working state.

[0054] In an optional embodiment, the abnormal working state includes: the cleaning device cannot detect the magnetometer; or the cleaning device cannot obtain the direction measured by the magnetometer; or the direction measured by the magnetometer obtained by the cleaning device has obvious deviation.

[0055] Understandable, such as Figure 3 As shown, when there is no map, the magnetometer can be used to return to the first target docking position 41. When the cleaning device enters the water, the current position can be calibrated by the magnetometer to obtain the position of the nearest pool wall. When actively recalled, the cleaning device can return to the nearest pool wall when entering the water based on the obtained position of the nearest wall, which can also be convenient for users to pick up. However, when actively recalled, when the cleaning device cannot detect the magnetometer; or the cleaning device cannot obtain the direction measured by the magnetometer; or when the direction measured by the magnetometer obtained by the cleaning device has obvious deviations, the cleaning device cannot return to the first target docking position 41 through the magnetometer, and the cleaning device is controlled to find the pool wall closest to the current position 40, and return to the second target docking position 42 close to the pool wall.

[0056] In an optional embodiment, a pool cleaning device 2 is also disclosed, comprising:

[0057] A filtering device for filtering water entering the pool cleaning device 2;

[0058] A walking mechanism, used to drive the pool cleaning device 2 to walk on the supporting surface;

[0059] A water spray mechanism, used to provide water flow force for the pool cleaning device 2;

[0060] one or more processors;

[0061] A storage device for storing one or more programs;

[0062] When the one or more programs are executed by the one or more processors, the one or more processors implement the control method as described above.

[0063] The present invention sets a second target docking position 42 so that when actively recalled, if the pool cleaning device 2 determines that it cannot return to the first target docking position 41, it will control the pool cleaning device to find the nearest pool wall to climb up and return to the vicinity of the waterline 3 for the user to move out of the pool, thereby solving the technical problem that the pool cleaning device cannot return to the target position due to abnormal circumstances when actively recalled.

[0064] Although the present invention has been described by way of alternative embodiments, the present invention is not limited to the embodiments described herein but includes various changes and modifications that may be made without departing from the scope of the present invention.

[0065] In this document, the directional words such as front, back, top, and bottom are defined by the positions of the components in the drawings and the positions of the components relative to each other, and are only for the sake of clarity and convenience in expressing the technical solution. It should be understood that the use of the directional words should not limit the scope of protection claimed in the present invention.

[0066] In the absence of conflict, the above embodiments and features in the embodiments can be combined with each other.

[0067] The above disclosure is only a preferred embodiment of the present invention, which certainly cannot be used to limit the scope of the present invention. Therefore, equivalent changes made according to the claims of the present invention are still within the scope of the present invention.

Claims

1. A method for controlling a pool cleaning device, characterized in that: include: Controlling the pool cleaning device to perform a current task, wherein the current task is used to instruct the pool cleaning device to operate a target pool; In the case where the pool cleaning device needs to be recalled during or after the current task, determining whether the pool cleaning device can return to the first target docking position from the current position; If yes, controlling the pool cleaning device to move to a first target docking position; If not, controlling the pool cleaning device to move to a second target docking position; Wherein, the first target docking position is the position corresponding to the water entry point of the pool cleaning device when performing the current task or the starting position when performing the current task; The second target docking position is a corresponding position of the pool wall that is closest to the pool cleaning device at the current position.

2. The method according to claim 1, characterized in that: The position corresponding to the water entry point includes: The location on the pool wall nearest to the entry point; or, a pool bottom position corresponding to the water entry point; Or, at a water surface position near the entry point.

3. The method according to claim 1, characterized in that The current position is away from the corresponding position of the nearest pool wall, including: Located on the nearest pool wall; or, on the surface of the water near the nearest pool wall; or, on the pool floor near the nearest pool wall.

4. The method according to claim 1, characterized in that The controlling the pool cleaning device to move to a second target docking position comprises: Determine the pool wall closest to the current position; The pool cleaning device is controlled to move from the current position to the nearest pool wall until it moves to the second target docking position.

5. The method according to claim 1, characterized in that When in the second target docking position, the body of the pool cleaning device is in a vertical state or a horizontal state.

6. The method according to claim 1, characterized in that When in the second target docking position, the user can move the pool cleaning device out of the pool.

7. The method according to any one of claims 1 to 6, characterized in that: The first target docking position and / or the second target docking position is near the waterline of the pool.

8. The method according to any one of claims 1 to 6, characterized in that: The determining whether the pool cleaning device can return to the first target docking position from the current position includes: Whether the remaining battery level meets the return power estimate, the return power estimate including the power required for the pool cleaning device to return from the current position to the first target docking position; Or, detect whether the sensor is in an abnormal working state.

9. The method according to claim 8, characterized in that A battery remaining capacity estimation unit is provided, and the battery remaining capacity estimation unit obtains a return power estimation value based on a path that the pool cleaning device needs to travel from a current position back to the first target docking position and power consumption of a corresponding action.

10. The method according to claim 9, characterized in that The path that the pool cleaning device takes to return from the current position to the first target docking position is obtained based on a target map, where the target map is a map established by identifying the target pool when or before the pool cleaning device performs the current task.

11. The method according to claim 8, characterized in that The detection sensor is a magnetometer.

12. The method according to claim 11, characterized in that The abnormal working state includes: The cleaning device cannot detect the magnetometer; Or, the cleaning device cannot obtain the direction measured by the magnetometer; Or, there is an obvious deviation in the direction measured by the magnetometer obtained by the cleaning equipment.

13. A pool cleaning device, characterized in that: include: Filtration device for filtering water entering the pool cleaning equipment; A walking mechanism, used to drive the pool cleaning device to walk on a supporting surface; A water spray mechanism for providing water flow force to the pool cleaning device; one or more processors; A storage device for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the method according to any one of claims 1 to 12.

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