Swimming pool underwater equipment station returning method and system

Abstract

The invention discloses a method for returning underwater equipment of a swimming pool to a station. The method comprises the following steps: controlling the equipment to clean a pool wall; acquiring detection information, wherein the detection information at least comprises distance information between the equipment and a base station; and when the equipment meets the station returning condition, controlling the equipment to return to the base station based on the detection information. Correspondingly, the invention further discloses a swimming pool underwater equipment station returning system which comprises swimming pool underwater equipment and a base station, and the equipment cleans the pool wall; the base stations are positioned on the same pool wall; the detection sensor is configured to be capable of acquiring detection information, and the detection information at least comprises distance information between the equipment and a base station; and the processor is used for controlling the equipment to return to the base station based on the detection information when the equipment meets the station return condition. According to the method and the system for returning the underwater equipment of the swimming pool to the station, accurate measurement of the relative position of the underwater equipment of the swimming pool and the base station is realized under the design concept of low cost, so that subsequent station returning charging is facilitated.

Description

Technical Field

[0001] The present invention relates to the field of underwater positioning technology, and in particular to a method and system for returning underwater equipment to a swimming pool. Background Art

[0002] Among the existing underwater equipment in swimming pools, the charging task of underwater equipment in swimming pools puts a great test on its navigation and positioning capabilities. The process of finding the charging base station requires the underwater equipment in swimming pools to accurately locate itself and plan a path to avoid obstacles and safely reach the charging base station. In underwater environments, robots are usually limited by factors such as water flow, water quality, and limited vision, which increases the difficulty of positioning and navigation.

[0003] In an underwater environment, affected by multiple factors such as water flow, pool shape, and limitations of sensors such as vision and sonar, how to make underwater equipment in the swimming pool find the location of the charging base station and return to the charging base station for charging is a complex and challenging task.

[0004] At present, some researchers have developed and designed means for swimming pool underwater equipment to find charging base stations and recharge, but without exception, many sensors need to be installed on the swimming pool underwater equipment / charging base stations to assist in positioning. The manufacturing cost is high and the power consumption of the swimming pool underwater equipment is increased, which will not only affect the endurance of the swimming pool underwater equipment to a certain extent. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide a method and system for returning underwater swimming pool equipment to a station, so as to solve the problems of high manufacturing cost, increased power consumption of underwater swimming pool equipment and, to a certain extent, affecting the endurance of underwater swimming pool equipment due to the return station positioning of existing underwater swimming pool equipment.

[0006] In order to solve the above technical problems, the technical solution of the present invention is: a method for returning underwater equipment to a swimming pool, which comprises the following steps:

[0007] Controlling the device to move on the pool wall;

[0008] Acquire detection information, where the detection information at least includes distance information between the device and the base station;

[0009] When the device meets the return condition, the device is controlled to return to the base station based on the detection information.

[0010] In the above technical solution of the present invention, the inventor proposed a method for returning the underwater equipment to the base station of a swimming pool, which aims to use the underwater equipment of the swimming pool to climb the wall of the swimming pool. When the underwater equipment of the swimming pool moves to the same pool wall as the base station, that is, at the same reference plane, the pool wall is used to limit the dimensions of the equipment and the base station. At this time, since the underwater equipment of the swimming pool and the base station are at the same reference plane, it is not necessary to set up too many sensor devices. Only one sensor needs to be set up on the underwater equipment of the swimming pool or the base station to use the sensor for detection and obtain the detection information between the equipment and the base station; and based on the detection information, the subsequent return process of the underwater equipment of the swimming pool is realized to achieve the purpose of recharging.

[0011] It should be pointed out that since the above-mentioned swimming pool underwater equipment and the base station are on the same pool wall, the sensor installed on the swimming pool underwater equipment or the base station only needs to detect the information on the reference surface of the pool wall, and it does not need to detect objects in a wide spatial area. Therefore, the sensor has a narrow detection range, low power consumption and simple working content, and it can obtain higher detection accuracy to obtain more accurate detection information.

[0012] Moreover, in actual application, when the sensor obtains the detection information of the device and the base station, it is assumed that the above-mentioned swimming pool underwater device and the base station are on the reference plane of the same pool wall. At this time, when the detection information obtained is: the distance information between the swimming pool underwater device and the base station on the pool wall, the relative position information between the swimming pool underwater device and the base station can be indirectly obtained based on the detection information, thereby facilitating the subsequent planning of the recharging path and controlling the swimming pool underwater device to move and return to the base station.

[0013] The method for returning underwater swimming pool equipment to the base station described in the present invention will greatly enhance the recharging capability of the underwater equipment, enabling it to simply, quickly and reliably obtain detection information between the underwater swimming pool equipment and the base station in the underwater swimming pool environment, providing important technical support and guarantee for the subsequent recharging of the underwater swimming pool equipment.

[0014] A major feature of the present invention is that it realizes the relative positioning of the swimming pool underwater equipment and the base station in a low-cost manner, so as to facilitate the recharging of the swimming pool underwater equipment. At the same time, it has low dependence on electronic components, which can effectively reduce the power consumption of the swimming pool underwater equipment during positioning and improve the endurance of the swimming pool underwater equipment.

[0015] Furthermore, in the method described in the present invention, the detection information at least includes distance information between the device and the base station.

[0016] Furthermore, in the method described in the present invention, the detection information is obtained through a detection sensor, and the detection sensor includes at least one of the following: an ultrasonic sensor, a laser radar, an infrared sensor or an image sensor.

[0017] In the present invention, ultrasonic sensors, laser radar (LIDAR), infrared sensors and image sensors are four common detection sensors, each of which has a unique working principle and application field.

[0018] Ultrasonic sensor: measures distance by emitting sound waves above the human hearing range and listening to the reflected sound waves; the working principle of ultrasonic sensor is based on time-of-flight (TOF) measurement, that is, measuring the time from the emission of ultrasonic pulses to the reflection of the object, and indirectly measuring the distance based on the transmission speed of ultrasonic waves.

[0019] Laser radar (LIDAR): LIDAR technology determines the distance of an object by emitting laser pulses and measuring the time it takes for these pulses to reflect back. LiDAR can provide high-precision three-dimensional spatial data and is widely used in fields such as self-driving cars and walking robots.

[0020] Infrared sensor: Infrared sensors are divided into two types: active and passive. Active infrared sensors contain a transmitter and a receiver, and work by emitting infrared radiation and detecting the reflected radiation. Passive infrared sensors only contain a detector, which is used to detect the infrared radiation emitted by the object itself.

[0021] Image sensors: Image sensors are widely used to capture visual images and convert them into electrical signals. They can detect a wide range of spectra from visible light to short-wave infrared (SWIR). Image sensor technologies include hyperspectral imaging, event-based vision, wavefront imaging, quantum image sensors, and micro-spectrometers.

[0022] Each sensor has its specific application scenarios and advantages. The actual selection of the sensor in the swimming pool underwater equipment return method depends on the specific usage requirements and environmental conditions.

[0023] Further, in the method of the present invention, the detection sensor is arranged at one side of the base station and is configured to be able to detect the distance between the device moving on the pool wall;

[0024] Alternatively, the detection sensor is disposed on one side of the device and is configured to detect the distance to the base station.

[0025] Furthermore, in the method described in the present invention, the return condition includes at least one of the following: receiving a return instruction sent from a user terminal or the power of the device is lower than a preset threshold or the device completes the current task.

[0026] Furthermore, in the method described in the present invention, controlling the device to return to the base station based on the detection information includes: the device obtains a return path from the current location of the device to the base station based on the detection information, and returns to the base station according to the return path.

[0027] Furthermore, in the method described in the present invention, the return path at least partially passes through the bottom surface of the swimming pool.

[0028] Furthermore, in the method described in the present invention, the return path includes: controlling the device to move vertically from the pool wall to the bottom of the swimming pool, and after traveling a first distance along the pool wall on the bottom of the swimming pool, climbing up the wall and returning to the base station; wherein the first distance is based on detection information obtained when executing the return path.

[0029] Furthermore, in the method described in the present invention, the device and the base station are located on the same pool wall.

[0030] Furthermore, in the method described in the present invention, the device moves up and down on the pool wall, and can acquire detection information at least part of the time during the up and down movement.

[0031] Furthermore, in the method described in the present invention, the up and down movement is a periodic motion, and the device is identified based on the periodic motion.

[0032] Accordingly, another object of the present invention is to disclose a swimming pool underwater equipment return station system, which comprises swimming pool underwater equipment and a base station, wherein the equipment moves on the pool wall; the base station is located on the same pool wall;

[0033] a detection sensor, configured to obtain detection information between the base station and the device;

[0034] The processor controls the device to return to the base station based on the detection information and the device meeting a return condition.

[0035] The beneficial effects of the present invention are as follows: the inventor has optimized and designed a method and system for returning underwater equipment to a swimming pool. The method and system for returning underwater equipment to a swimming pool controls the underwater equipment and the base station to be on the same pool wall, and then detects and obtains the detection information of the equipment and the base station. It does not need to detect objects in a wide spatial area. The sensors on the underwater equipment or the base station of the swimming pool only need to detect the information on the reference surface of the pool wall. The power consumption is low and the working content is simple, and it can obtain higher detection accuracy. Based on this, the method and system for returning underwater equipment to a swimming pool designed by the present invention can realize the relative positioning of the underwater equipment and the base station of the swimming pool at a relatively low cost, and provide important technical support and guarantee for the subsequent recharging of the underwater equipment of the swimming pool. At the same time, it has a low dependence on electronic components, which can effectively reduce the power consumption of the underwater equipment of the swimming pool during positioning, and improve the endurance of the underwater equipment of the swimming pool. It has good promotion prospects and application value. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 The schematic diagram shows the structure of the swimming pool underwater equipment and base station.

[0037] Figure 2 The present invention is a flowchart of the steps of the method for returning underwater equipment to a swimming pool according to one embodiment of the present invention.

[0038] Description of labels:

[0039] 1. Swimming pool underwater equipment; 2. Base station; 3. Pool wall; 4. Water level line. DETAILED DESCRIPTION

[0040] 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.

[0041] In the prior art, the current recharging solutions in the pool cleaning robot industry are roughly divided into surface recharging and wall-mounted recharging. For recharging without positioning conditions, the relative position perception between the pool cleaning robot and the base station is the key difficulty in various recharging solutions. Generally, the machine's orientation, angle, distance and other information relative to the base station can be indirectly sensed by identification signals or communication signals.

[0042] However, research has found that many solutions have stringent requirements for underwater sensors, and underwater communications are limited by factors such as water depth, range, and frequency, making it difficult to achieve accurate identification.

[0043] To this end, different from the above-mentioned traditional swimming pool underwater equipment recharging means, the present invention designs a new swimming pool underwater equipment recharging method, which is applied to the swimming pool underwater equipment recharging system. The swimming pool underwater equipment recharging system specifically includes swimming pool underwater equipment and a base station. The above-mentioned swimming pool underwater equipment can be specifically selected as a swimming pool cleaning robot, and the above-mentioned base station can be specifically an underwater charging base station. The underwater charging base station can be installed and fixed on the pool wall, and is specifically used to charge the above-mentioned swimming pool cleaning robot, and it is at least partially arranged below the water level line of the swimming pool to facilitate the identification of the underwater swimming pool cleaning robot.

[0044] It should be pointed out that, in actual settings, in order to facilitate disassembly and assembly, the above-mentioned base station can be fixedly installed on one side of the swimming pool wall. When the above-mentioned swimming pool underwater equipment is performing underwater cleaning, it is often necessary to move from cleaning the bottom of the swimming pool to walking up and down along the wall and cleaning the pool wall.

[0045] Regardless of the shape and outline of the swimming pool, when the above-mentioned swimming pool underwater equipment moves up and down along the wall of the swimming pool to clean it, the above-mentioned swimming pool underwater equipment can obtain detection information at least part of the time during the process of moving up and down the pool wall, that is, within a certain period of time, the swimming pool underwater equipment will move until it is on the same pool wall as the base station, thereby limiting the dimensions of the equipment and the base station, and obtaining detection information of the swimming pool underwater equipment and the base station.

[0046] Since the swimming pool underwater device and the base station are on the same reference plane, there is no need to set up too many sensor devices. Only one detection sensor needs to be set up on the swimming pool underwater device or the base station. The detection sensor can be used for detection to obtain detection information between the device and the base station. At this time, the processor can be used to determine whether the device meets the return to the station conditions based on the detection information obtained above, so that when it is determined that the return to the station conditions are met, the above-mentioned swimming pool underwater device can be controlled to plan a path and return to the base station for charging.

[0047] Specifically, in the method described in the present invention, the above-mentioned swimming pool underwater equipment planning path is determined based on the detection information. For example, when the cleaning equipment needs to return to the base station, the current position of the cleaning equipment and the distance between the cleaning equipment and the base station are obtained, so as to plan a return path to the base station, and the cleaning equipment returns to the base station according to the return path. According to the actual scene requirements, the return path of the cleaning equipment can only pass through the wall, or can be planned to return to the base station through the wall and the pool bottom.

[0048] It can be seen that, see Figure 1 and Figure 2It can be seen that in the present invention, the swimming pool underwater equipment return station system specifically implements the following swimming pool underwater equipment return station method for recharging: controlling the swimming pool underwater equipment to move on the wall of the swimming pool; obtaining detection information, the detection information at least including the distance information between the equipment and the base station; when the swimming pool underwater equipment meets the return station conditions, controlling the swimming pool underwater equipment to return to the above-mentioned base station based on the above-mentioned detection information.

[0049] In the present invention, since the above-mentioned swimming pool underwater equipment and the base station are on the same pool wall, the detection sensor arranged on the swimming pool underwater equipment or the base station only needs to detect the distance information between the swimming pool underwater equipment and the base station in one dimension, and it does not need to detect objects in a wide spatial area. Therefore, the detection sensor has a narrow detection range, low power consumption and simple working content, and it can obtain higher detection accuracy to obtain more accurate detection information.

[0050] It can be seen that the present invention can set a detection sensor on the swimming pool underwater equipment or base station in a low-cost manner, and use the detection sensor to detect the distance information between the equipment and the base station in a single dimension, thereby realizing the relative positioning of the swimming pool underwater equipment and the base station, and facilitating the subsequent recharging of the swimming pool underwater equipment; at the same time, the present invention has a low dependence on electronic components, which can effectively reduce the power consumption of the swimming pool underwater equipment during positioning, reduce production costs, and improve the endurance of the swimming pool underwater equipment.

[0051] Accordingly, in the present invention, when actually selecting a detection sensor, the detection sensor may be selected to include at least one of the following: an ultrasonic sensor, a laser radar, an infrared sensor, or an image sensor.

[0052] In the present invention, ultrasonic sensors, laser radar (LIDAR), infrared sensors and image sensors are four common detection sensors, each of which has a unique working principle and application field.

[0053] Ultrasonic sensor: measures distance by emitting sound waves above the human hearing range and listening to the reflected sound waves; the working principle of ultrasonic sensor is based on time-of-flight (TOF) measurement, that is, measuring the time from the emission of ultrasonic pulses to the reflection of the object, and indirectly measuring the distance based on the transmission speed of ultrasonic waves.

[0054] Laser radar (LIDAR): LIDAR technology determines the distance of an object by emitting laser pulses and measuring the time it takes for these pulses to reflect back. LiDAR can provide high-precision three-dimensional spatial data and is widely used in fields such as self-driving cars and walking robots.

[0055] Infrared sensor: Infrared sensors are divided into two types: active and passive. Active infrared sensors contain a transmitter and a receiver, and work by emitting infrared radiation and detecting the reflected radiation. Passive infrared sensors only contain a detector, which is used to detect the infrared radiation emitted by the object itself.

[0056] Image sensors: Image sensors are widely used to capture visual images and convert them into electrical signals. They can detect a wide range of spectra from visible light to short-wave infrared (SWIR). Image sensor technologies include hyperspectral imaging, event-based vision, wavefront imaging, quantum image sensors, and micro-spectrometers.

[0057] Each sensor has its specific application scenarios and advantages. In this swimming pool underwater equipment return method, users can choose the appropriate detection sensor according to actual usage requirements and environmental conditions.

[0058] In addition, when installing and deploying the above-mentioned detection sensors, according to actual application requirements, the detection sensors can also be specifically set on one side of the base station or one side of the swimming pool underwater equipment, and they can be configured to detect the distance between the base station and the swimming pool underwater equipment at a certain time. In addition, it should be noted that in actual application, the processor in the swimming pool underwater equipment return station system must also determine whether the swimming pool underwater equipment meets the return station conditions, and only after the return station conditions are met can the swimming pool underwater equipment be controlled to return to the base station. Among them, in the present invention, the return station condition includes at least one of the following: receiving a return pile instruction sent from a user terminal or the power of the swimming pool underwater equipment is lower than a preset threshold or the swimming pool underwater equipment completes the current task.

[0059] Once the processor determines that the swimming pool underwater device meets the conditions for returning to the station, the processor needs to perform path planning based on the distance information between the swimming pool underwater device and the base station detected by the detection sensor, so as to facilitate the recharging of the swimming pool underwater device.

[0060] like Figure 1As shown, in this embodiment, the swimming pool underwater device can specifically adopt the above steps S1-S7 to move, that is, during the above steps S1 and S2, the swimming pool underwater device can move from the bottom of the swimming pool to the top along the pool wall, and at this time the swimming pool underwater device and the base station are on the same pool wall, and the detection sensor can obtain the detection information between the base station and the swimming pool underwater device; based on the above detection information and when judging that the swimming pool underwater device meets the above return condition, the processor controls the swimming pool underwater device to execute subsequent steps S3-S7, so that the swimming pool underwater device moves from the pool wall to the bottom of the swimming pool again, and controls the swimming pool underwater device to walk along the wall to complete the above step S5 until it moves to the bottom of the base station; at this time, the above swimming pool underwater device executes the movements of steps S6 and step S7 to walk along the wall back to the above base station, thereby realizing recharging.

[0061] Specifically, in one case, when the power of the device is lower than the preset threshold, the base station will execute S3-S7 to return to the pile after detecting the underwater device in the swimming pool, and the S5 path is longer at this time; in another case, after the base station detects the underwater device in the swimming pool, the underwater device has sufficient power and can continue to complete the cleaning task. When the device completes the current task, it will execute S3-S7 to return to the pile, and the S5 path is shorter at this time. In addition, as long as the underwater device in the swimming pool is within the detection range of the base station, after receiving the return command sent by the user terminal, the underwater device in the swimming pool will execute S3-S7 to return to the pile.

[0062] Preferably, the S3 path is to walk vertically along the wall downward to the bottom of the pool, the S4 path is to travel a certain distance away from the wall in a direction perpendicular to the wall, the S5 path is for the swimming pool underwater equipment to walk the first distance along the wall at the bottom of the pool, the S6 path is to travel a certain distance vertically close to the wall and then prepare to climb the wall, and the S7 path is to walk upward along the wall back to the base station.

[0063] It should be emphasized that step S5 indicates the path that the swimming pool underwater device walks along the wall at the bottom of the pool. The length of the path is determined based on the distance information between the swimming pool underwater device and the base station. For example, when the swimming pool underwater device executes S3, the distance information between the swimming pool underwater device and the base station at the current position is measured as D1. Then the length of the S5 path is determined based on D1. For example, in one case, the length of the S5 path is equal to the sum of D1 and half of the width of the base station. In addition, the S5 path can also select other forms of paths, which will not be repeated here.

[0064] It should be noted that see Figure 1 In actual application, the swimming pool underwater device can periodically move to the same pool wall as the base station, and the movement of the swimming pool underwater device up and down the pool wall is a periodic motion, so as to identify the swimming pool underwater device during the periodic motion.

[0065] From the above, it can be seen that in the present invention, the swimming pool underwater equipment return station method described in the present invention will greatly enhance the recharging capability of the underwater equipment, so that it can simply, quickly and reliably obtain the detection information between the swimming pool underwater equipment and the base station in the swimming pool underwater environment, and provide important technical support and guarantee for the subsequent recharging of the swimming pool underwater equipment. It has good promotion prospects and application value.

[0066] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent transformations made using the contents of the present invention's specification and drawings, or directly or indirectly applied in related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A method for returning underwater equipment to a swimming pool, characterized in that: The steps include: Controlling the equipment to clean the pool wall; Acquire detection information, where the detection information at least includes distance information between the device and a base station; When the device meets the return condition, the device is controlled to return to the base station based on the detection information.

2. The method according to claim 1, characterized in that The detection information is acquired through a detection sensor, and the detection sensor includes at least one of the following: an ultrasonic sensor, a laser radar, an infrared sensor, or an image sensor.

3. The method according to claim 2, characterized in that The detection sensor is arranged at one side of the base station and is configured to detect the distance between the device moving on the pool wall and the base station; Alternatively, the detection sensor is disposed on one side of the device and is configured to detect the distance to the base station.

4. The method according to claim 1, characterized in that: The return condition includes at least one of the following: receiving a return instruction sent from a user terminal, or the power of the device is lower than a preset threshold, or the device completes a current task.

5. The method according to claim 1, characterized in that The controlling the device to return to the base station based on the detection information includes: the device acquiring a return path from the current position of the device to the base station based on the detection information, and returning to the base station according to the return path.

6. The method according to claim 5, characterized in that The return path at least partially passes through the bottom surface of the swimming pool.

7. The method according to claim 6, characterized in that The return path includes: The device is controlled to move vertically from the pool wall to the bottom of the swimming pool, and after traveling a first distance along the pool wall on the bottom of the swimming pool, it then climbs up the wall and returns to the base station; wherein the first distance is based on detection information obtained when executing the return path.

8. The method according to any one of claims 1 to 7, characterized in that: The device and the base station are located on the same pool wall.

9. The method according to any one of claims 1 to 7, characterized in that: The device moves up and down the pool wall, and can acquire the detection information at least part of the time during the up and down movement.

10. The method according to claim 8, characterized in that The up and down movement is a periodic motion, and the device is identified based on the periodic motion.

11. A swimming pool underwater equipment return station system, characterized in that: It includes swimming pool underwater equipment and a base station, the equipment cleans the pool wall; the base station is located on the same pool wall; A detection sensor configured to obtain detection information, wherein the detection information at least includes distance information between the device and a base station; The processor controls the device to return to the base station based on the detection information when the device meets the return condition.

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