Touching bottom detection method and device of underwater automatic cleaning equipment

Abstract

The application discloses a bottom-touching detection method and device for an underwater automatic cleaning device, judges whether the underwater automatic cleaning device is put into water from water surface, if the device has been put into water from water surface, judges whether the underwater automatic cleaning device is in a steady state, if the underwater automatic cleaning device is in the steady state, judges that the underwater automatic cleaning device has touched the bottom, and controls the underwater cleaning device to perform a cleaning operation after touching the bottom. After the application identifies that the device is in water, whether the device touches the bottom is judged according to the state of the device itself, so that the invalid waiting time is reduced, the starting efficiency of the automatic cleaning device is improved, and the user experience is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of underwater equipment, in particular to a bottom-touching detection method and device for underwater automatic cleaning equipment. BACKGROUND

[0002] Currently, underwater automatic cleaning equipment faces certain technical problems in operation after being launched. After the equipment enters the water, it needs to go through a process of air exhaust sinking. This process is that the equipment sinks to the bottom of the pool by exhausting air or adjusting its own buoyancy. However, during the sinking process of the equipment, if the cleaning operation is started too early, the equipment may not have touched the bottom, resulting in the equipment floating and colliding in the water, and unable to effectively perform the cleaning task. This situation will seriously affect the working efficiency and user experience of the equipment.

[0003] In order to solve this problem, the traditional method usually sets a maximum sinking time according to the type of the equipment, the sinking speed of the equipment and the actual depth of the pool. After the equipment is launched, a timeout is counted, and after waiting for the set timeout time (much longer than the expected sinking time), it is judged whether the equipment has touched the bottom, and then the cleaning operation is started. Although this judgment method based on sinking time can avoid starting when the equipment floats to a certain extent, it has obvious shortcomings: the sinking time is difficult to accurately match: different sinking speeds of the equipment, different pool depths and environmental changes (such as water temperature, equipment weight, etc.) will affect the sinking time of the equipment. In order to avoid misjudgment, a longer timeout time is usually set, which will cause the equipment to wait for a long time in a shallow pool, affecting the user experience. SUMMARY

[0004] The technical problem to be solved by the present application is to provide a bottom-touching detection method and device for underwater automatic cleaning equipment, which solves the problem of timeout waiting for underwater equipment bottom-touching determination.

[0005] In order to solve the above technical problems, the technical scheme adopted by the present application is:

[0006] A bottom-touching detection method for underwater automatic cleaning equipment, characterized in that the method comprises:

[0007] determining whether the underwater automatic cleaning equipment has entered the water from the water;

[0008] If the equipment has entered the water from the water, it is determined whether the underwater automatic cleaning equipment is in a steady state, and if the underwater automatic cleaning equipment is in a steady state, it is determined that the underwater automatic cleaning equipment has touched the bottom;

[0009] controlling the underwater cleaning equipment to perform cleaning operation after touching the bottom.

[0010] In order to solve the above technical problems, another technical scheme adopted by the present application is:

[0011] The underwater automatic cleaning device performs the bottom detection method of the underwater automatic cleaning device.

[0012] The underwater automatic cleaning device provided by the application has the beneficial effects that after recognizing that the device is in water, whether the device touches the bottom is judged according to the state of the device itself, the invalid waiting time is reduced by avoiding judging according to the falling time of the device in water, the starting efficiency of the automatic cleaning device is improved, and the user experience is improved. BRIEF DESCRIPTION OF DRAWINGS

[0013] Figure 1 The flowchart of the bottom detection method of the underwater automatic cleaning device in the embodiment of the application. DETAILED DESCRIPTION

[0014] In order to describe the technical content, purposes and effects of the application in detail, the following will be described in combination with the embodiments and the accompanying drawings.

[0015] In the description of the present application, it should be understood that the terms "up, down, in, out, top, bottom" and the like indicate the orientation or positional relationship shown in the drawings, or are directed to the components themselves in the vertical, vertical or gravity direction, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. The terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, the features limited by "first", "second" can be explicitly or implicitly included one or more features.

[0016] Unless otherwise defined, the technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used herein is for descriptive purposes only and is not intended to limit the scope of this application. Terms such as “part” or “component” appearing herein can refer to a single part or a combination of multiple parts. Terms such as “installation,” “setup,” and “connection” appearing herein should be interpreted broadly; for example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can indicate that one component is directly attached to another component or that one component is attached to another component via an intermediate component; they can refer to the internal connection of two elements. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances. A feature described in one embodiment herein may be applied alone or in combination with other features to another embodiment, unless that feature is not applicable in that other embodiment or is otherwise stated.

[0017] Please refer to Figure 1 In Embodiment 1 of the present invention, a method for detecting bottom contact in an underwater automatic cleaning device includes:

[0018] Determine whether the underwater automatic cleaning equipment enters the water from the surface;

[0019] If the device has entered the water from the surface, determine whether the underwater automatic cleaning device is in a steady state. If the underwater automatic cleaning device is in a steady state, then determine that the underwater automatic cleaning device has reached the bottom.

[0020] The underwater cleaning equipment is controlled to perform cleaning operations after touching the bottom.

[0021] It is understandable that steady state refers to the state in which underwater cleaning equipment reaches a state of equilibrium and stability. For example, it can be evaluated from two aspects: time and state. That is, if there is no significant tendency for the underwater cleaning equipment to move within a set time, the underwater cleaning equipment can be considered to be in steady state.

[0022] In some possible implementations, detecting whether the underwater cleaning device is in a steady state includes the following steps:

[0023] Determine whether the underwater cleaning equipment is in a non-tilted state and whether it is in a stationary state. If the cleaning equipment is in a non-tilted state and in a stationary state, then the underwater automatic cleaning equipment is determined to be in a steady state.

[0024] In this context, "non-tilted state" refers to the equipment's posture being nearly horizontal, without significant tilt. When operating in water, the equipment's posture may change due to water flow, obstacles, or its own movement. To determine whether the equipment is in a non-tilted state, the equipment's tilt angle (i.e., the angle of the equipment relative to the horizontal plane) can be used as a measure. Preferably, a first threshold is set; if the equipment's tilt angle is less than the first threshold (e.g., 5-10 degrees) and remains so for at least a first preset time, the equipment is considered to be in a non-tilted state. If the equipment's tilt angle is greater than or equal to the first threshold, it indicates that the equipment has not yet stabilized, and may not have fully contacted the pool bottom or has encountered an obstacle.

[0025] A stationary state refers to a state where the equipment no longer exhibits significant movement, especially when its angular velocity is close to zero. During descent, the equipment may rotate or move due to factors such as water flow and inertia. By detecting the equipment's angular velocity (i.e., the speed of its rotation), it can be determined whether the equipment is in a stationary state. Preferably, a second threshold is set; if the angular velocity is less than the second threshold (e.g., 2-4° / second) and remains so for at least a second preset time, the equipment is considered to be in a stationary state. If the angular velocity is greater than or equal to the second threshold, it indicates that the equipment is still moving and has not yet stopped.

[0026] Specifically, in some possible implementations, the step of determining whether the underwater automatic cleaning equipment is in a steady state includes using an IMU (Inertial Measurement Unit) to determine whether the underwater automatic cleaning equipment is in a steady state. An IMU is a sensor device, typically including an accelerometer and a gyroscope, capable of measuring the equipment's acceleration, tilt angle, angular velocity, linear velocity, rotation angle, rotation direction, and other motion and attitude information. In underwater cleaning equipment, the IMU is used to detect the equipment's motion state and attitude, helping to determine whether the equipment is in a non-tilted state or a stationary state. Specifically:

[0027] The tilt angle (attitude angle) of a device can be measured using an accelerometer in an IMU (Integrated Device Unit) to determine whether the device is in a non-tilted state. The accelerometer measures the acceleration components of the device along three axes (typically the X, Y, and Z axes). Understandably, when the machine is in a non-tilted state, the acceleration component along the Z-axis (the device's vertical positive direction) is approximately equal to the acceleration due to gravity. By analyzing these components, the tilt angle of the device relative to the direction of Earth's gravity can be calculated. If the Z-axis acceleration is less than a preset threshold (when the device is horizontal, the Z-axis acceleration is equal to or close to the preset threshold), the device is considered to be in a tilted state.

[0028] The angular velocity (rotational speed) of the device can also be detected using a gyroscope in the IMU to determine whether the device is stationary. The gyroscope can accurately measure the angular velocity of the device around each axis. When the angular velocity is close to zero, it indicates that the device is not rotating or moving and is stationary. Preferably, the angular velocity values ​​(gx, gy, gz) of the three axes are calculated, and the magnitude of the angular velocity vector is also calculated. When the equipment is stationary, the machine's modulus is close to 0. The value of the vector modulus is used to assess whether the equipment is in a stationary state.

[0029] When the equipment is not tilted, it indicates that its posture is close to horizontal. Simultaneously, if the equipment is also stationary, it means that it no longer exhibits significant rotation or movement and has touched or is close to the bottom of the pool, indicating that the equipment has stabilized in one position. Both states confirm that the equipment is in a steady state, indicating that its posture and position have reached ideal working conditions.

[0030] In some possible implementations, if it is determined that the cleaning equipment is tilted and stationary, the equipment is controlled to move forward or backward a certain distance or duration, and then it is further determined whether the underwater cleaning equipment is in a non-tilted state and whether the underwater cleaning equipment is stationary. This is because the equipment is prone to encountering abnormal states (tilted but stationary) during its descent in water, and the above steps provide the equipment with the ability to adaptively adjust, as detailed below:

[0031] When underwater cleaning equipment is tilted, it indicates that the equipment's attitude angle is greater than a preset threshold, and the equipment is not in a horizontal position. Possible reasons include the equipment getting stuck on a slope, obstacle, or uneven pool bottom. Meanwhile, a stationary state indicates that the equipment's angular velocity is close to zero, and the equipment is not moving or rotating further. Therefore, although the equipment has stopped moving in this situation, it is not in a correct horizontal position and cannot effectively perform cleaning tasks. To address this situation, the equipment can be controlled to move forward or backward a certain distance or continue moving for a period of time. This adjustment can prevent the equipment from staying in an undesirable position. For example, the equipment may be stuck on a slope or in a depression. Moving forward or backward allows the equipment to move out of this unfavorable position and find a more suitable surface to perform cleaning tasks. Specifically, moving forward or backward can be done by controlling the equipment to move forward or backward a certain distance or for a certain period of time: from a spatial or temporal perspective, controlling the equipment to move forward or backward a few centimeters or more, attempting to reach a flatter and more stable starting area.

[0032] After advancing or adjusting, the system rechecks the equipment's tilt angle and movement. If the equipment becomes level and stationary, it has reached a stable state and cleaning can begin; if it remains tilted, adjustments continue until it reaches a steady state. This adjustment strategy allows the equipment to adapt to complex terrain, avoiding getting stuck on obstacles or slopes and being unable to work effectively. This interconnected judgment ensures the equipment is always in the optimal position to perform cleaning tasks, improving its adaptability and work efficiency.

[0033] In some optional embodiments, the step of determining whether the underwater automatic cleaning device has entered the water from the surface includes using a water ingress detection sensor to determine whether the underwater automatic cleaning device has entered the water from the surface. Using a water ingress detection sensor to determine whether the device has entered the water from the surface allows for more accurate identification of the device's operating environment, ensuring that bottom-touching detection is initiated under the correct conditions and preventing false judgments before the device has entered the water. Specifically, the water ingress detection sensor includes a capacitive sensor, an optical sensor, an ultrasonic sensor, or a water pump power detection module.

[0034] In a second embodiment of the present invention, an underwater automatic cleaning device is provided, along with a method for detecting bottom contact. Preferably, the underwater automatic cleaning device includes an IMU and a water ingress sensor. The IMU includes an accelerometer and a gyroscope. The accelerometer is used to acquire the acceleration of the device along its three axes, and the gyroscope is used to acquire the rotational angular velocity of the device.

[0035] In summary, the bottom-contact detection method and device for underwater automatic cleaning equipment provided by this invention have the following beneficial effects:

[0036] Automatic water immersion detection: Using water immersion detection sensors (such as capacitive, optical, ultrasonic, or pump power detection modules), the system can accurately determine whether the equipment has entered the water from above, preventing accidental activation of bottom-touching detection and cleaning operations when the equipment is not submerged. This automatic detection function ensures the equipment performs cleaning tasks in the correct environment, improving work efficiency.

[0037] Steady-state-based bottom-reach detection: This method determines whether the equipment is in a steady state by detecting its tilt angle and angular velocity. The definition of steady state combines the requirements of both time and state (non-tilting and stationary). This judgment mechanism effectively avoids misjudgments when the equipment is cleaning before bottom-reaching or on uneven ground, ensuring that the equipment begins cleaning operations in the most stable state.

[0038] Adaptive adjustment when tilted but stationary: When the equipment is tilted but stationary, this invention provides an automatic adjustment function. The equipment can move forward or for a certain distance or time through the control system, thereby getting out of the slope or depression and stabilizing the equipment on flat ground, effectively coping with complex terrain and enabling the equipment to maintain optimal working condition continuously.

[0039] High-precision detection based on IMU: Utilizing an IMU (Inertial Measurement Unit), combined with an accelerometer and gyroscope, the attitude angle and rotational speed of the equipment are accurately measured. The accelerometer is used to detect the tilt angle of the equipment in real time, and the gyroscope is used to detect the rotational angular velocity. Combining these two sets of data allows for accurate determination of whether the equipment has reached a steady state, providing higher reliability and accuracy for bottom-out detection and stable operation.

[0040] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent modifications made based on the content of the present invention specification and drawings, or direct or indirect applications in related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A method for detecting bottom contact in an underwater automatic cleaning device, characterized in that: The method includes: Determine whether the underwater automatic cleaning equipment enters the water from the surface; If the device has entered the water from the surface, determine whether the underwater automatic cleaning device is in a steady state. If the underwater automatic cleaning device is in a steady state, then determine that the underwater automatic cleaning device has reached the bottom. Control the underwater cleaning equipment to perform cleaning operations after it touches the bottom; The steps for detecting whether the underwater cleaning equipment is in a steady state include: Determine whether the underwater cleaning equipment is in a non-tilted state and whether it is in a stationary state. If the cleaning equipment is in a non-tilted state and in a stationary state, then the underwater automatic cleaning equipment is determined to be in a steady state.

2. The bottom contact detection method for underwater automatic cleaning equipment according to claim 1, characterized in that: Determining whether the underwater cleaning equipment is in a non-tilted state includes determining whether the tilt angle of the equipment is less than a first threshold.

3. The bottom contact detection method for underwater automatic cleaning equipment according to claim 2, characterized in that: Determining whether the underwater cleaning equipment is stationary includes determining whether the angular velocity of the equipment is less than a second threshold.

4. The bottom contact detection method for underwater automatic cleaning equipment according to claim 1, characterized in that: If it is determined that the cleaning equipment is in a tilted state and in a stationary state, then the equipment is controlled to move forward a certain distance or time, and then it is determined whether the underwater cleaning equipment is in a non-tilted state and whether the underwater cleaning equipment is in a stationary state.

5. The method for detecting bottom contact of an underwater automatic cleaning device according to any one of claims 1-4, characterized in that: The non-tilted state includes a non-tilted state lasting for a first preset time, and the stationary state includes a stationary state lasting for a second preset time.

6. The method for detecting bottom contact of an underwater automatic cleaning device according to any one of claims 1-4, characterized in that: The steps to determine whether an underwater automatic cleaning device is in a steady state include using an IMU to determine whether the underwater automatic cleaning device is in a steady state.

7. The method for detecting bottom contact of an underwater automatic cleaning device according to any one of claims 1-4, characterized in that: The step of determining whether the underwater automatic cleaning device enters the water from the surface includes determining whether the underwater automatic cleaning device enters the water from the surface using a water entry detection sensor.

8. The method for detecting bottom contact in an underwater automatic cleaning device according to claim 7, characterized in that, The water ingress detection sensor includes a capacitive sensor, an optical sensor, an ultrasonic sensor, or a water pump power detection module.

9. An underwater automatic cleaning device, characterized in that: The underwater automatic cleaning device implements the bottom contact detection method of the underwater automatic cleaning device according to any one of claims 1-8.

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