Swimming pool cleaning robot motion state detection system and method

Abstract

The invention discloses a swimming pool cleaning robot motion state detection system, which comprises a swimming pool cleaning robot, a posture detection device, a flow detection device and a controller, and is characterized in that the flow detection device and the posture detection device are respectively connected with the controller; wherein the swimming pool cleaning robot advances and cleans at the bottom or the side wall of a swimming pool, the posture detection device is used for detecting the real-time posture of the swimming pool cleaning robot, and the flow detection device is used for detecting the real-time water flow or flow velocity when the swimming pool cleaning robot advances. And the controller determines the real-time motion state of the swimming pool cleaning robot according to the real-time posture and the real-time water flow rate or flow velocity. Correspondingly, the invention further discloses a swimming pool cleaning robot motion state detection method which is implemented based on the swimming pool cleaning robot motion state detection system.

Description

Technical Field

[0001] The present invention relates to the technical field of swimming pool cleaning equipment, and in particular to a swimming pool cleaning robot motion state detection system and method. Background Art

[0002] As we all know, swimming pools are the main places for people to swim, and some garbage or bacteria will appear in swimming pools during use, so swimming pools need to be cleaned regularly. Therefore, swimming pool cleaning robots (including above-water swimming pool cleaning robots and underwater swimming pool cleaning robots) are often used to clean swimming pools, which can carry cleaning structures and perform cleaning in water.

[0003] At present, in order to ensure the cleaning effect of the pool cleaning robot, it is necessary to effectively improve the movement coverage of the pool cleaning robot in the swimming pool. For this reason, when actually developing the pool cleaning robot, it is often expected that the movement trajectory of the pool cleaning robot can reach all areas that need to be cleaned, and it is also expected that the pool cleaning robot has a certain ability to escape from trouble.

[0004] Therefore, in order to more conveniently and intuitively understand the movement state of the pool cleaning robot underwater, users expect to obtain a relatively simple movement state detection system to monitor the movement state of the pool cleaning robot in real time, thereby facilitating the control of the pool cleaning robot's cleaning movement underwater in the swimming pool. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide a new swimming pool cleaning robot motion state detection system and method, which are simple to use and can effectively detect the current motion state of the swimming pool cleaning robot.

[0006] In order to solve the above technical problems, the technical solution of the present invention is: a swimming pool cleaning robot motion state detection system, which includes: a swimming pool cleaning robot, a posture detection device, a flow detection device and a controller, wherein the flow detection device and the posture detection device are respectively connected to the controller; wherein the swimming pool cleaning robot moves and cleans on the bottom or side wall of the swimming pool, the posture detection device is used to detect the real-time posture of the swimming pool cleaning robot, the flow detection device is used to detect the real-time water flow or flow velocity generated by the swimming pool cleaning robot when moving, and the controller determines the real-time motion state of the swimming pool cleaning robot according to the real-time posture and the real-time water flow or flow velocity.

[0007] Furthermore, in the swimming pool cleaning robot motion state detection system described in the present invention, the flow detection device is an electromagnetic flowmeter.

[0008] Furthermore, in the swimming pool cleaning robot motion state detection system described in the present invention, the posture detection device is a gyroscope, and the gyroscope is arranged on the swimming pool cleaning robot.

[0009] Furthermore, in the swimming pool cleaning robot motion state detection system described in the present invention, the swimming pool cleaning robot also includes a shell, the controller is disposed in the shell, and the flow detection device is disposed on the shell.

[0010] Furthermore, in the swimming pool cleaning robot motion state detection system described in the present invention, the flow detection device is integrally formed with the shell.

[0011] Furthermore, in the swimming pool cleaning robot motion state detection system described in the present invention, the flow detection device is arranged above or on the side of the shell.

[0012] Correspondingly, another object of the present invention is to provide a method for detecting the motion state of a swimming pool cleaning robot. The method is implemented based on the swimming pool cleaning robot motion state detection system designed above by the present invention, and can effectively obtain the real-time posture of the swimming pool cleaning robot and the real-time water flow or flow rate during movement, so as to determine the real-time motion state of the current swimming pool cleaning robot.

[0013] Therefore, in the swimming pool cleaning robot motion state detection method designed by the present invention, it is applied to the swimming pool cleaning robot motion state detection system of the present invention, which includes the steps of:

[0014] Get the real-time posture of the pool cleaning robot;

[0015] Obtain the real-time water flow or flow rate generated by the swimming pool cleaning robot when it moves;

[0016] The real-time motion state of the current swimming pool cleaning robot is determined according to the real-time posture and the real-time water flow rate or flow velocity.

[0017] Furthermore, in the motion state detection method of the swimming pool cleaning robot described in the present invention, the real-time posture includes a horizontal moving posture or a wall-moving posture; the wall-moving posture includes a posture of the swimming pool cleaning robot moving vertically, horizontally or obliquely on the side wall of the swimming pool.

[0018] Furthermore, in the swimming pool cleaning robot motion state detection method of the present invention, the real-time motion state of the current swimming pool cleaning robot is obtained according to the real-time posture and the real-time water flow rate or flow rate, specifically:

[0019] When the swimming pool cleaning robot is in a horizontal moving posture, and the real-time water flow rate or flow rate is continuously zero within a preset first time, it is determined that the swimming pool cleaning robot hits a side wall of the swimming pool or other obstacles at the bottom of the swimming pool and stops moving;

[0020] When the swimming pool cleaning robot is in a horizontal moving posture, and the real-time water flow rate or flow rate exceeds a preset flow rate threshold or a preset flow rate threshold, it is determined that the swimming pool cleaning robot is moving normally at the bottom of the swimming pool;

[0021] When the swimming pool cleaning robot is in a wall-adjacent moving posture, and the real-time water flow rate or flow rate exceeds a preset flow rate threshold or a preset flow rate threshold, it is determined that the swimming pool cleaning robot is moving normally along the side wall of the swimming pool;

[0022] When the swimming pool cleaning robot is in a wall-adjacent moving posture, and the real-time water flow rate or flow rate remains zero within a preset second time, it is determined that the swimming pool cleaning robot has emerged from the water.

[0023] Furthermore, in the swimming pool cleaning robot motion state detection method of the present invention, the real-time motion state of the current swimming pool cleaning robot is obtained according to the real-time posture and the real-time water flow rate or flow rate, specifically:

[0024] When the swimming pool cleaning robot is in a horizontal moving posture, and the real-time water flow rate or flow rate is continuously zero within a preset first time, it is determined that the swimming pool cleaning robot hits a side wall of the swimming pool or other obstacles at the bottom of the swimming pool and stops moving;

[0025] When the swimming pool cleaning robot is in a horizontal moving posture, and the real-time water flow rate or flow rate exceeds a preset flow rate threshold or a preset flow rate threshold within a preset third time, it is determined that the swimming pool cleaning robot is moving normally at the bottom of the swimming pool;

[0026] When the swimming pool cleaning robot is in a wall-adjacent moving posture, and the real-time water flow rate or flow rate exceeds a preset flow rate threshold or a preset flow rate threshold within a preset fourth time, it is determined that the swimming pool cleaning robot is moving normally along the side wall of the swimming pool;

[0027] When the swimming pool cleaning robot is in a wall-adjacent moving posture, and the real-time water flow rate or flow rate remains zero within a preset second time, it is determined that the swimming pool cleaning robot has emerged from the water.

[0028] The beneficial effects of the present invention are as follows: the inventor has optimized and designed a new swimming pool cleaning robot motion state detection system and method, which is simple to use and can use a posture detection device to detect the real-time posture of the swimming pool cleaning robot, and use a flow detection device to detect the real-time water flow or flow velocity when the swimming pool cleaning robot is moving, so as to effectively determine the current motion state of the swimming pool cleaning robot according to the above real-time posture and real-time water flow or flow velocity, so that the controller can better control the swimming pool cleaning robot to clean and walk underwater in the swimming pool, and at the same time can facilitate users to monitor the motion state of the swimming pool cleaning robot under water, and it has high reliability and good promotion prospects and application value. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a structural schematic diagram of a swimming pool cleaning robot in one implementation manner of the swimming pool cleaning robot motion state detection system of the present invention.

[0030] Figure 2 The figure is a schematic diagram of the principle of a flow detection device of the swimming pool cleaning robot motion state detection system in one embodiment of the present invention.

[0031] Figure 3 It is a schematic structural diagram of a swimming pool cleaning robot motion state detection system according to one embodiment of the present invention when the swimming pool cleaning robot protrudes out of the water.

[0032] Figure 4 The present invention is a flowchart of the steps of the method for detecting the motion state of a swimming pool cleaning robot in one embodiment.

[0033] Description of labels:

[0034] 1. swimming pool cleaning robot; 11. housing; 111. water inlet; 112. water outlet;

[0035] 2. Flow detection device;

[0036] 3. Water pump;

[0037] 4. Controller;

[0038] 5. Posture detection device;

[0039] 6. Sealed cabin;

[0040] 7. Swimming pool;

[0041] 8. Garbage bin. DETAILED DESCRIPTION

[0042] 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.

[0043] Please refer to Figure 1 , Figure 2 and Figure 3 As shown, the present invention designs a swimming pool cleaning robot motion state detection system, which includes: a swimming pool cleaning robot 1, a posture detection device 5, a flow detection device 2 and a controller 4, wherein the flow detection device 2 and the posture detection device 5 are respectively connected to the controller 4; wherein the swimming pool cleaning robot 1 travels and cleans on the bottom or side wall of a swimming pool 7, the posture detection device 5 is used to detect the real-time posture of the swimming pool cleaning robot 1, the flow detection device 2 is used to detect the real-time water flow or flow velocity generated by the swimming pool cleaning robot 1 when traveling, and the controller 4 determines the real-time motion state of the swimming pool cleaning robot 1 according to the real-time posture and the real-time water flow or flow velocity.

[0044] From the above description, it can be seen that in the present invention, the inventor has optimized and designed a new swimming pool cleaning robot motion state detection system, which can use the posture detection device 5 to detect the real-time posture of the swimming pool cleaning robot 1, and use the flow detection device 2 to detect the real-time water flow or flow rate generated by the swimming pool cleaning robot 1 when it moves, so as to transmit the above real-time posture and real-time water flow or flow rate information to the controller 4, so as to use the controller 4 to determine and judge the current motion state of the swimming pool cleaning robot 1. It can be seen that the swimming pool cleaning robot motion state detection system designed by the present invention can effectively determine the current motion state of the swimming pool cleaning robot 1, so that the user can better monitor the motion state of the swimming pool cleaning robot 1 under water, and its reliability is high, and only two detection devices are used for detection, and the architecture is relatively simple, which has good promotion prospects and application value.

[0045] It should be noted that, see Figure 1 It can be seen that in the current swimming pool cleaning robot 1, the swimming pool cleaning robot 1 may include a housing 11 and a water inlet 111 and a water outlet 112 provided on the housing 11. The swimming pool cleaning robot 1 can pump sewage into the housing 11 from the water inlet 111, and then filter the sewage pumped into the housing 11 and discharge it from the water outlet 112, thereby achieving cleaning of the swimming pool 7. Figure 1 As shown, since the water outlet 112 is often arranged at the top of the pool cleaning robot 1, the water outlet 112 will generate a reaction force when discharging water, which is generally manifested as a downward force on the pool cleaning robot 1 toward the inner wall of the pool 7. That is to say, when the pool cleaning robot 1 of the present invention performs cleaning movements underwater, the water outlet 112 will generate a reaction force when spraying water, so that the pool cleaning robot 1 can climb the wall and move along the side wall of the pool 7 for cleaning.

[0046] In addition, it should be noted that, in some preferred embodiments, the above-mentioned swimming pool cleaning robot motion state detection system may also include a cloud server, a user terminal device, and a gateway on the shore. Among them, a communication device may be set on the swimming pool cleaning robot 1, and the real-time motion state of the swimming pool cleaning robot 1 determined by the controller 4 may be sent to the gateway on the shore through the communication device. At this time, the gateway on the shore can send the real-time motion state information of the swimming pool cleaning robot 1 to the cloud server, and the user can use the user terminal device to establish a wireless communication connection with the cloud server to obtain the real-time motion state information of the swimming pool cleaning robot 1, wherein the above-mentioned user terminal device may specifically include a mobile phone and a tablet computer.

[0047] Furthermore, in the swimming pool cleaning robot motion state detection system described in the present invention, the flow detection device 2 is an electromagnetic flowmeter.

[0048] In the above technical solution of the present invention, the above flow detection device 2 can be specifically adopted as an electromagnetic flow meter, such as Figure 1 As shown, in actual application, the electromagnetic flowmeter can be specifically installed on the housing of the swimming pool cleaning robot 1. When the swimming pool cleaning robot 1 moves underwater, the water flow will pass through the electromagnetic flowmeter (such as Figure 1 and Figure 2 As shown in the figure, the X direction indicates the flow direction of the water flow) and cuts the electromagnetic wire in the preset channel of the electromagnetic flowmeter, thereby generating a voltage (electromotive force). At this time, the electromagnetic flowmeter can obtain the water flow rate and flow velocity when the swimming pool cleaning robot 1 is currently moving based on the generated voltage. Generally speaking, the greater the voltage detected by the electromagnetic flowmeter, the faster the water flow cuts the electromagnetic wire, that is, the faster the current water flow velocity, the greater the current real-time water flow rate.

[0049] In the present invention, the measurement principle of the electromagnetic flowmeter is based on Faraday's law of electromagnetic induction. Faraday's law of electromagnetic induction stipulates that the flow of a conductive liquid in a magnetic field will generate an electromotive force E, which is proportional to the magnetic induction intensity B and the average flow velocity v of the conductive liquid:

[0050] E=KBDv

[0051] Among them, E represents the electromotive force generated by water flow in the magnetic field, and its unit parameter is V; K represents the proportional coefficient, and when the preset channel inner diameter D and the magnetic induction intensity B remain unchanged, K is a constant 1; B represents the magnetic induction intensity, and its unit parameter is T; D represents the preset channel inner diameter, and its unit parameter is m; v represents the average flow velocity of the water, and its unit parameter is m / s.

[0052] Therefore, the electromagnetic flowmeter can use the above functional relationship to derive v = E / (KBD) to measure the average flow velocity v of the water flow in the preset channel, and then use the calculation formula of the volume flow Q of the water flow: Q = πD 2 v / 4, the flow rate Q of water in the preset channel can be calculated.

[0053] Therefore, the electromagnetic flowmeter can obtain the current real-time water flow rate according to the magnitude of the electromotive force E generated by the water cutting the electromagnetic wire in the magnetic field. The electromagnetic flowmeter can obtain the real-time water flow rate without the need to install rotating parts such as blades, and has high reliability and is not easy to damage.

[0054] It should be pointed out that in some preferred embodiments, a preset flow threshold or a preset flow velocity threshold can be pre-set. When the real-time water flow rate or flow velocity obtained by the electromagnetic flowmeter exceeds the preset flow threshold or the preset flow velocity threshold, it is judged that the swimming pool cleaning robot 1 is moving. At this time, in conjunction with the real-time posture detected by the posture detection device 5, the current movement state of the swimming pool cleaning robot 1 at the bottom or side wall of the swimming pool 7 can be judged.

[0055] Furthermore, in the swimming pool cleaning robot motion state detection system described in the present invention, the posture detection device 5 is a gyroscope, and the gyroscope is arranged on the swimming pool cleaning robot 1.

[0056] In the above technical solution of the present invention, the posture detection device 5 can be specifically selected as a gyroscope, and the gyroscope can be specifically arranged on the swimming pool cleaning robot 1 to ensure that the gyroscope accurately detects the real-time posture of the current swimming pool cleaning robot 1 .

[0057] Furthermore, in the swimming pool cleaning robot motion state detection system described in the present invention, the swimming pool cleaning robot 1 also includes a shell 11 , the controller 4 is disposed in the shell 11 , and the flow detection device 2 is disposed on the shell 11 .

[0058] Furthermore, in the swimming pool cleaning robot motion state detection system of the present invention, the flow detection device 2 and the shell 11 are integrally formed.

[0059] See also Figure 1 It can be seen that, in actual settings, the above-mentioned swimming pool cleaning robot 1 can specifically include a shell 11, the above-mentioned controller 4 and the posture detection device 5 can be arranged in the shell 11 of the swimming pool cleaning robot 1, and the above-mentioned flow detection device 2 can be arranged on the outside of the shell 11, which is connected to the shell 11 to detect the real-time water flow rate or flow rate when the swimming pool cleaning robot 1 is moving.

[0060] It should be noted that, in some preferred embodiments, the flow detection device 2 can be integrally formed with the shell 11, so that the connection between the flow detection device 2 and the shell 11 is more stable and reliable, ensuring that the flow detection device 2 will not be disconnected from the swimming pool cleaning robot 1 due to abnormal working conditions of the swimming pool cleaning robot 1, thereby preventing the flow detection device 2 from falling into the swimming pool 7, thereby affecting the detection of the movement state of the swimming pool cleaning robot 1.

[0061] Accordingly, in actual settings, integrally forming the flow detection device 2 with the shell 11 can also ensure that the flow detection device 2 can be located close to the shell 11. Compared with being located far away from the shell 11 of the swimming pool cleaning robot 1, this arrangement can effectively reduce the impact of turbulence on the flow detection device 2 and improve the reliability of the detection result of the flow detection device 2.

[0062] Furthermore, in the swimming pool cleaning robot motion state detection system of the present invention, the flow detection device 2 is arranged above or on the side of the shell 11 .

[0063] In the above technical solution of the present invention, in actual application, the flow detection device 2 is only used to detect the real-time water flow or flow velocity when the pool cleaning robot 1 is moving. Therefore, the inventor does not make any special restrictions on the setting position of the flow detection device 2. The user can set the flow detection device 2 above, on the left side, or on the right side of the housing 11 according to specific usage requirements. In particular, when setting it specifically, the flow detection device 2 can be preferably set at a position facing the impact of the water flow, which can ensure that the flow detection device 2 obtains a more accurate detection result.

[0064] Accordingly, the present invention also provides a swimming pool cleaning robot motion state detection method, which is implemented based on the swimming pool cleaning robot motion state detection system designed above, and comprises the following steps:

[0065] Obtain the real-time posture of the swimming pool cleaning robot 1;

[0066] Acquire the real-time water flow rate or flow velocity generated by the swimming pool cleaning robot 1 when it moves;

[0067] The real-time motion state of the current swimming pool cleaning robot 1 is determined according to the real-time posture and the real-time water flow rate or flow velocity.

[0068] Furthermore, in the swimming pool cleaning robot motion state detection method described in the present invention, the real-time posture includes a horizontal moving posture or a wall-moving posture; the wall-moving posture includes the swimming pool cleaning robot 1 moving vertically, horizontally or obliquely on the side wall of the swimming pool 7.

[0069] like Figure 4 As shown, in the above technical solution of the present invention, the designed swimming pool cleaning robot motion state detection method can determine the real-time motion state of the current swimming pool cleaning robot 1 by acquiring the real-time posture of the swimming pool cleaning robot 1 and the real-time water flow rate or flow velocity generated by the swimming pool cleaning robot 1 when it moves.

[0070] It should be noted that, during actual detection and acquisition, the real-time posture of the above-mentioned swimming pool cleaning robot 1 may specifically include a horizontal moving posture or a wall-moving posture; wherein, the above-mentioned wall-moving posture includes the swimming pool cleaning robot 1 moving vertically, horizontally or obliquely on the side wall of the swimming pool 7.

[0071] Furthermore, in the swimming pool cleaning robot motion state detection method of the present invention, the real-time motion state of the current swimming pool cleaning robot 1 is obtained according to the real-time posture and the real-time water flow rate or flow rate, specifically:

[0072] When the swimming pool cleaning robot 1 is in a horizontal moving posture, and the real-time water flow rate or flow rate continues to be zero within the preset first time, it is determined that the swimming pool cleaning robot 1 hits the side wall of the swimming pool 7 or other obstacles at the bottom of the swimming pool 7 and stops moving;

[0073] When the swimming pool cleaning robot 1 is in a horizontal moving posture, and the real-time water flow rate or flow rate exceeds a preset flow rate threshold or a preset flow rate threshold, it is determined that the swimming pool cleaning robot 1 is moving normally at the bottom of the swimming pool 7;

[0074] When the swimming pool cleaning robot 1 is in a wall-adjacent moving posture, and the real-time water flow rate or flow rate exceeds a preset flow rate threshold or a preset flow rate threshold, it is determined that the swimming pool cleaning robot 1 is moving normally along the side wall of the swimming pool 7;

[0075] When the swimming pool cleaning robot 1 is in a wall-adjacent moving posture, and the real-time water flow rate or flow rate remains zero within a preset second time, it is determined that the swimming pool cleaning robot 1 has emerged from the water.

[0076] Furthermore, in the swimming pool cleaning robot motion state detection method of the present invention, the real-time motion state of the current swimming pool cleaning robot 1 is obtained according to the real-time posture and the real-time water flow rate or flow rate, specifically:

[0077] When the swimming pool cleaning robot 1 is in a horizontal moving posture, and the real-time water flow rate or flow rate continues to be zero within the preset first time, it is determined that the swimming pool cleaning robot 1 hits the side wall of the swimming pool 7 or other obstacles at the bottom of the swimming pool 7 and stops moving;

[0078] When the swimming pool cleaning robot 1 is in a horizontal moving posture, and the real-time water flow rate or flow rate exceeds a preset flow rate threshold or a preset flow rate threshold within a preset third time, it is determined that the swimming pool cleaning robot 1 is moving normally at the bottom of the swimming pool 7;

[0079] When the swimming pool cleaning robot 1 is in a wall-adjacent moving posture, and the real-time water flow rate or flow rate exceeds a preset flow rate threshold or a preset flow rate threshold within a preset fourth time, it is determined that the swimming pool cleaning robot 1 is moving normally along the side wall of the swimming pool 7;

[0080] When the swimming pool cleaning robot 1 is in a wall-adjacent moving posture, and the real-time water flow rate or flow rate remains zero within a preset second time, it is determined that the swimming pool cleaning robot 1 has emerged from the water.

[0081] In the above technical solution of the present invention, in order to improve the accuracy of the judgment of the motion state of the swimming pool cleaning robot and thus reduce misjudgment, in certain specific embodiments, when it is necessary to detect the real-time water flow rate or flow rate generated by the swimming pool cleaning robot 1 when it is moving, it is also possible to detect whether the real-time water flow rate or flow rate can continue to be zero within a preset period of time or exceed a preset flow threshold or a preset flow rate threshold, thereby improving the accuracy and reliability of the judgment.

[0082] In addition, it should be pointed out that when the swimming pool cleaning robot 1 is in a horizontal moving posture, it is necessary to ensure that the real-time water flow rate or flow rate remains zero within the preset first time before judging that the swimming pool cleaning robot 1 hits the side wall or obstacle of the swimming pool 7, because: when the swimming pool cleaning robot 1 hits the side wall or obstacle of the swimming pool 7, due to the water flow disturbance after the collision, the real-time water flow rate or flow rate obtained by detection will not immediately return to zero.

[0083] Embodiment 1:

[0084] Please refer to Figure 1 , Figure 2 and Figure 3 As shown, the first embodiment of the present invention is: a swimming pool cleaning robot motion state detection system, which includes: a swimming pool cleaning robot 1, a posture detection device 5, a flow detection device 2 and a controller 4. In this embodiment, the posture detection device 5 is specifically selected as a gyroscope, the flow detection device 2 is specifically selected as an electromagnetic flowmeter, and the posture detection device 5 and the controller 4 are arranged together in the housing 11 of the swimming pool cleaning robot 1, and the flow detection device 2 is specifically arranged above the housing 11 of the swimming pool cleaning robot 1.

[0085] It should be noted that in the first embodiment, the housing 11 of the swimming pool cleaning robot 1 is provided with a water inlet 111 and a water outlet 112. The housing 11 of the swimming pool cleaning robot 1 is also provided with a sealed cabin 6, a water pump 3 and a garbage bin 8. The water pump 3 can pump water into the housing 11 from the water inlet 111. After the water enters the housing 11, it will be filtered, and the filtered waste will be stored in the garbage bin 8. The filtered water will be discharged from the water outlet 112. Among them, since the water flow has a flow rate and a flow rate, a reaction force will be generated when the water outlet 112 sprays water, which is specifically manifested as a downward pressure on the swimming pool cleaning robot 1 toward the inner wall of the swimming pool 7.

[0086] like Figure 1 As shown, in the first embodiment, in order to ensure the stable operation of the electrical components, the controller 4 and the gyroscope are specifically arranged in the sealed cabin 6, and the electromagnetic flowmeter and the gyroscope are both connected to the controller 4, and the controller 4 is also connected to the water pump 3.

[0087] Before the swimming pool cleaning robot 1 of the first embodiment is actually used, a preset flow threshold value needs to be preset, and a preset first time, a preset second time, a preset third time, and a preset fourth time need to be preset. The preset first time, the preset second time, the preset third time, and the preset fourth time are obtained by pre-calibration.

[0088] When the swimming pool cleaning robot 1 is turned on, the swimming pool cleaning robot 1 can move on the bottom or side wall of the swimming pool 7 for cleaning. At this time, the gyroscope can detect the real-time posture of the swimming pool cleaning robot 1, and the electromagnetic flowmeter can be used to detect the real-time water flow rate of the swimming pool cleaning robot 1 when it moves. Figure 1 and Figure 2 The X direction shown is the water flow direction, and the above real-time posture and real-time water flow rate information are transmitted to the controller 4.

[0089] At this time, the controller 4 can make the following judgments based on the above real-time posture and real-time water flow rate:

[0090] When the swimming pool cleaning robot 1 is in a horizontal moving posture, and the real-time water flow rate collected by the electromagnetic flowmeter is continuously zero within a preset first time, the controller 4 determines that the swimming pool cleaning robot 1 hits the side wall of the swimming pool 7 or other obstacles at the bottom of the swimming pool 7 and stops moving;

[0091] When the swimming pool cleaning robot 1 is in a horizontal moving posture, and the real-time water flow rate collected by the electromagnetic flowmeter exceeds the preset flow threshold within the preset third time, the controller 4 determines that the swimming pool cleaning robot 1 is moving normally at the bottom of the swimming pool 7;

[0092] When the swimming pool cleaning robot 1 is in a wall-adjacent moving posture, and the real-time water flow rate collected by the electromagnetic flowmeter exceeds a preset flow rate threshold within a preset fourth time, it is determined that the swimming pool cleaning robot 1 is moving normally along the side wall of the swimming pool 7;

[0093] When the swimming pool cleaning robot 1 is in a wall-adjacent moving posture, and the real-time water flow rate collected by the electromagnetic flowmeter remains zero within a preset second time, it is determined that the swimming pool cleaning robot 1 has emerged from the water.

[0094] It should be noted that when the controller 4 determines that the swimming pool cleaning robot 1 stops moving due to hitting the side wall of the swimming pool 7 or other obstacles at the bottom of the swimming pool 7, it can promptly control the swimming pool cleaning robot 1 to perform a reversing movement or a wall climbing movement. Correspondingly, when the controller 4 determines that the swimming pool cleaning robot 1 has emerged from the water, the swimming pool cleaning robot 1 is at the water level A at this time, and the controller 4 can promptly control the swimming pool cleaning robot 1 to enable the side spray function to push the swimming pool cleaning robot 1 to walk and clean along the water level A close to the side wall of the swimming pool 7.

[0095] It should be noted that, in this embodiment, the electromagnetic flowmeter is also connected to a ground wire, which can effectively avoid the influence of other external currents, thereby ensuring the accuracy of the measurement results. Electromagnetic flowmeters have mature technical solutions in the current prior art, and will not be described in detail here.

[0096] Embodiment 2:

[0097] In the second embodiment, the swimming pool cleaning robot motion state detection system designed in the second embodiment can refer to the swimming pool cleaning robot motion state detection system of the first embodiment except that the flow detection device detects the real-time water flow rate generated by the swimming pool cleaning robot 1 when it moves.

[0098] In this embodiment, before the swimming pool cleaning robot 1 of the second embodiment is actually used, a preset flow rate threshold value needs to be preset, and a preset first time, a preset second time, a preset third time, and a preset fourth time need to be preset. The preset first time, the preset second time, the preset third time, and the preset fourth time are obtained by pre-calibration.

[0099] When the swimming pool cleaning robot 1 is turned on, the swimming pool cleaning robot 1 can perform cleaning movements on the bottom or side walls of the swimming pool 7. At this time, the gyroscope can detect the real-time posture of the swimming pool cleaning robot 1, and the electromagnetic flowmeter can be used to detect the real-time water flow rate of the swimming pool cleaning robot 1 when it is moving.

[0100] At this time, the controller 4 can make the following judgments based on the above real-time posture and real-time water flow rate:

[0101] When the swimming pool cleaning robot 1 is in a horizontal moving posture, and the real-time water flow velocity collected by the electromagnetic flow meter is continuously zero within a preset first time, the controller 4 determines that the swimming pool cleaning robot 1 hits the side wall of the swimming pool 7 or other obstacles at the bottom of the swimming pool 7 and stops moving;

[0102] When the swimming pool cleaning robot 1 is in a horizontal moving posture, and the real-time water flow velocity collected by the electromagnetic flowmeter exceeds the preset flow velocity threshold within the preset third time, the controller 4 determines that the swimming pool cleaning robot 1 is moving normally at the bottom of the swimming pool 7;

[0103] When the swimming pool cleaning robot 1 is in a wall-adjacent moving posture, and the real-time water flow velocity collected by the electromagnetic flowmeter exceeds the preset flow velocity threshold within the preset fourth time, it is determined that the swimming pool cleaning robot 1 is moving normally along the side wall of the swimming pool 7;

[0104] When the swimming pool cleaning robot 1 is in a wall-adjacent moving posture, and the real-time water flow velocity collected by the electromagnetic flowmeter remains zero within a preset second time, it is determined that the swimming pool cleaning robot 1 has emerged from the water.

[0105] From the above, it can be seen that in the present invention, the inventor has optimized and designed a new swimming pool cleaning robot motion state detection system and method, which is easy to use, and can use a posture detection device to detect the real-time posture of the swimming pool cleaning robot, and use a flow detection device to detect the real-time water flow or flow velocity generated by the swimming pool cleaning robot when it moves, so as to effectively determine the current motion state of the swimming pool cleaning robot according to the above real-time posture and real-time water flow or flow velocity, so that the user can better monitor the motion state of the swimming pool cleaning robot under water, and it has high reliability and good promotion prospects and application value.

[0106] 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 swimming pool cleaning robot motion state detection system, characterized in that: include: A swimming pool cleaning robot, a posture detection device, a flow detection device and a controller, wherein the flow detection device and the posture detection device are respectively connected to the controller; wherein the swimming pool cleaning robot moves and cleans on the bottom or side wall of the swimming pool, the posture detection device is used to detect the real-time posture of the swimming pool cleaning robot, the flow detection device is used to detect the real-time water flow or flow velocity generated by the swimming pool cleaning robot when it moves, and the controller determines the real-time motion state of the swimming pool cleaning robot according to the real-time posture and the real-time water flow or flow velocity.

2. The swimming pool cleaning robot motion state detection system according to claim 1, characterized in that: The flow detection device is an electromagnetic flowmeter.

3. The swimming pool cleaning robot motion state detection system according to claim 1, characterized in that: The posture detection device is a gyroscope, and the gyroscope is arranged on the swimming pool cleaning robot.

4. The swimming pool cleaning robot motion state detection system according to claim 1, characterized in that: The swimming pool cleaning robot further comprises a shell, the controller is arranged in the shell, and the flow detection device is arranged on the shell.

5. The swimming pool cleaning robot motion state detection system according to claim 4, characterized in that: The flow detection device is integrally formed with the shell.

6. The swimming pool cleaning robot motion state detection system according to claim 4, characterized in that: The flow detection device is arranged above or at the side of the shell.

7. A swimming pool cleaning robot motion state detection method, applied to the swimming pool cleaning robot motion state detection system according to any one of claims 1 to 6, characterized in that: The following steps are involved: Get the real-time posture of the pool cleaning robot; Obtain the real-time water flow or flow rate generated by the swimming pool cleaning robot when it moves; The real-time motion state of the current swimming pool cleaning robot is determined according to the real-time posture and the real-time water flow rate or flow velocity.

8. The method for detecting the motion state of a swimming pool cleaning robot according to claim 7, characterized in that: The real-time posture includes a horizontal moving posture or a wall-adjacent moving posture; the wall-adjacent moving posture includes a posture in which the swimming pool cleaning robot moves vertically, horizontally or obliquely on the side wall of the swimming pool.

9. The method for detecting the motion state of a swimming pool cleaning robot according to claim 8, characterized in that: According to the real-time posture and the real-time water flow rate or flow velocity, the real-time motion state of the current swimming pool cleaning robot is obtained, specifically: When the swimming pool cleaning robot is in a horizontal moving posture, and the real-time water flow rate or flow rate is continuously zero within a preset first time, it is determined that the swimming pool cleaning robot hits a side wall of the swimming pool or other obstacles at the bottom of the swimming pool and stops moving; When the swimming pool cleaning robot is in a horizontal moving posture, and the real-time water flow rate or flow rate exceeds a preset flow rate threshold or a preset flow rate threshold, it is determined that the swimming pool cleaning robot is moving normally at the bottom of the swimming pool; When the swimming pool cleaning robot is in a wall-adjacent moving posture, and the real-time water flow rate or flow rate exceeds a preset flow rate threshold or a preset flow rate threshold, it is determined that the swimming pool cleaning robot is moving normally along the side wall of the swimming pool; When the swimming pool cleaning robot is in a wall-adjacent moving posture, and the real-time water flow rate or flow rate remains zero for a preset second time, it is determined that the swimming pool cleaning robot has emerged from the water.

10. The method for detecting the motion state of a swimming pool cleaning robot according to claim 8, characterized in that: According to the real-time posture and the real-time water flow rate or flow velocity, the real-time motion state of the current swimming pool cleaning robot is obtained, specifically: When the swimming pool cleaning robot is in a horizontal moving posture, and the real-time water flow rate or flow rate is continuously zero within a preset first time, it is determined that the swimming pool cleaning robot hits a side wall of the swimming pool or other obstacles at the bottom of the swimming pool and stops moving; When the swimming pool cleaning robot is in a horizontal moving posture, and the real-time water flow rate or flow rate exceeds a preset flow rate threshold or a preset flow rate threshold within a preset third time, it is determined that the swimming pool cleaning robot is moving normally at the bottom of the swimming pool; When the swimming pool cleaning robot is in a wall-adjacent moving posture, and the real-time water flow rate or flow rate exceeds a preset flow rate threshold or a preset flow rate threshold within a preset fourth time, it is determined that the swimming pool cleaning robot is moving normally along the side wall of the swimming pool; When the swimming pool cleaning robot is in a wall-adjacent moving posture, and the real-time water flow rate or flow rate remains zero for a preset second time, it is determined that the swimming pool cleaning robot has emerged from the water.

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