Swimming pool cleaning robot narrow area identification method and system

Abstract

The invention discloses a method for identifying a narrow area of a swimming pool cleaning robot. The method comprises the following steps: acquiring a first distance value and a second distance value from the left side and the right side of the swimming pool cleaning robot to the side wall of a swimming pool respectively; and when the first distance value and the second distance value are both continuously smaller than a preset distance threshold value, it is judged that the swimming pool cleaning robot enters the narrow area. Accordingly, the invention further discloses a narrow area recognition system for the swimming pool cleaning robot, the narrow area recognition system comprises a controller and at least two distance sensing units connected with the controller, and the at least two distance sensing units are arranged on the left side and the right side of the swimming pool cleaning robot respectively. Collecting a first distance value and a second distance value from the left side and the right side of the swimming pool cleaning robot to the side wall of the swimming pool; the controller is used for judging whether the swimming pool cleaning robot enters the narrow area or not according to the first distance value and the second distance value.

Description

Technical Field

[0001] The present invention relates to the technical field of swimming pool cleaning equipment, and in particular to a narrow area recognition method and system of a swimming pool cleaning robot. 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 the swimming pool during use, so the swimming pool needs to be cleaned regularly. Among them, underwater cleaning equipment is currently commonly used to clean the swimming pool, such as a swimming pool cleaning robot, which can effectively move and clean in the swimming pool.

[0003] Among the existing swimming pool cleaning robots, the swimming pool cleaning robot is mainly equipped with a cleaning mechanism to move on the bottom and walls of the swimming pool. It generally moves in the swimming pool by random walking and simple path planning, thereby covering and cleaning the entire swimming pool.

[0004] However, when the pool cleaning robot is controlled to walk in the swimming pool by using random motion or simple path planning, once there is a semi-enclosed narrow area in the swimming pool, the pool cleaning robot cannot identify the narrow area of ​​the swimming pool and can be easily trapped in the narrow area, causing the pool cleaning robot to repeatedly clean the narrow area for a long time.

[0005] Therefore, there is an urgent need for a narrow area recognition method and system for a swimming pool cleaning robot so that the swimming pool cleaning robot can recognize the narrow area of ​​the swimming pool. Summary of the invention

[0006] The technical problem to be solved by the present invention is to provide a narrow area recognition method for a swimming pool cleaning robot, so as to solve the problem that the existing swimming pool cleaning robot cannot recognize the narrow area of ​​the swimming pool.

[0007] In order to solve the above technical problems, the technical solution of the present invention is: a method for identifying a narrow area of ​​a swimming pool cleaning robot, which comprises the steps of:

[0008] A first distance value and a second distance value of the left and right sides of the pool cleaning robot from the side wall of the pool are obtained respectively; when the first distance value and the second distance value are both continuously less than a preset distance threshold, it is determined that the pool cleaning robot has entered a narrow area.

[0009] Furthermore, in the narrow area recognition method of the swimming pool cleaning robot of the present invention, the first distance value and the second distance value are both continuously smaller than the preset distance threshold, including at least one of the following:

[0010] (a) the first distance value and the second distance value are continuously smaller than a preset distance threshold within a preset travel distance of the pool cleaning robot;

[0011] (b) The first distance value and the second distance value are continuously less than a preset distance threshold within a preset time when the pool cleaning robot is traveling.

[0012] Furthermore, in the narrow area identification method of the swimming pool cleaning robot described in the present invention, the first distance value is the distance from one end of the left side of the swimming pool cleaning robot to the swimming pool wall, and the second distance value is the distance from one end of the right side of the swimming pool cleaning robot to the swimming pool wall.

[0013] Furthermore, in the narrow area identification method of the swimming pool cleaning robot described in the present invention, the first distance value is the distance from the left front of the swimming pool cleaning robot to the side wall of the swimming pool, and the second distance value is the distance from the right front of the swimming pool cleaning robot to the side wall of the swimming pool.

[0014] Furthermore, in the narrow area identification method of the swimming pool cleaning robot described in the present invention, the first distance value is the distance from the left rear of the swimming pool cleaning robot to the side wall of the swimming pool, and the second distance value is the distance from the right rear of the swimming pool cleaning robot to the side wall of the swimming pool.

[0015] Furthermore, in the narrow area recognition method of the swimming pool cleaning robot described in the present invention, the preset distance threshold is 3 meters or 5 meters.

[0016] Accordingly, another object of the present invention is to disclose a narrow area recognition system for a swimming pool cleaning robot, which is used to implement the narrow area recognition method for the swimming pool cleaning robot described above, and the narrow area recognition system for the swimming pool cleaning robot specifically includes:

[0017] At least two distance sensing units, wherein the at least two distance sensing units are respectively arranged on the left and right sides of the swimming pool cleaning robot to collect a first distance value and a second distance value of the left and right sides of the swimming pool cleaning robot from the side wall of the swimming pool;

[0018] A controller is connected to at least two of the distance sensing units respectively, and the controller is used to determine whether the swimming pool cleaning robot enters a narrow area according to the first distance value and the second distance value.

[0019] Furthermore, the narrow area recognition system of the swimming pool cleaning robot described in the present invention also includes a driving device, which is connected to the controller, and is used to drive the swimming pool cleaning robot to move. The driving device collects the mileage information of the swimming pool cleaning robot and transmits the mileage information to the controller.

[0020] Furthermore, in the narrow area recognition system of the swimming pool cleaning robot described in the present invention, four distance sensor units are included, and two of the distance sensor units are respectively provided on the left and right sides of the swimming pool cleaning robot.

[0021] Furthermore, in the narrow area recognition system of the swimming pool cleaning robot described in the present invention, the distance sensing units are provided on the left front, left rear, right front and right rear of the swimming pool cleaning robot.

[0022] The beneficial effect of the present invention is that the inventor optimizes and designs a method for identifying narrow areas of a swimming pool cleaning robot, and reasonably arranges the distance sensor units on the swimming pool cleaning robot, so that the distance sensor units on the swimming pool cleaning robot can be used to effectively collect the distance values ​​of the left and right sides of the swimming pool cleaning robot from the side walls of the swimming pool, so as to judge whether the swimming pool cleaning robot has entered a narrow area. In actual application, in order to prevent misjudgment, the first distance value and the second distance value obtained by the collection need to meet the condition that they are continuously less than the preset distance threshold before it can be judged that the swimming pool cleaning robot has entered a narrow area.

[0023] Correspondingly, the present invention also designs a narrow area recognition system for a swimming pool cleaning robot, which is used to implement the narrow area recognition method for a swimming pool cleaning robot described above, and also has the above advantages and beneficial effects. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 A schematic top view showing the shape of a small area in a swimming pool.

[0025] Figure 2 A schematic diagram of the steps of a narrow area recognition method for a swimming pool cleaning robot according to an embodiment of the present invention;

[0026] Figure 3 The schematic diagram shows the structure of the swimming pool cleaning robot moving and approaching the side wall of the swimming pool when applying the narrow area recognition method described in the present invention.

[0027] Description of labels:

[0028] 1. Pool cleaning robot;

[0029] 2. distance sensing unit; 21. first distance sensing unit; 22. second distance sensing unit; 23. third distance sensing unit; 24. fourth distance sensing unit;

[0030] 3. Side wall of swimming pool. DETAILED DESCRIPTION

[0031] 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.

[0032] The study found that Figure 1 As shown, in the current prior art, once there is a semi-enclosed narrow area A in the swimming pool, the swimming pool cleaning robot 1 can be easily trapped in the narrow area A, causing the swimming pool cleaning robot 1 to repeatedly clean the narrow area A for a long time, and the current swimming pool cleaning robot 1 lacks a method for better controlling and identifying the narrow area A in the swimming pool.

[0033] To do this, please refer to Figure 2-Figure 3 As shown, the present invention designs a narrow area recognition method for a swimming pool cleaning robot, which includes the steps of:

[0034] The first distance value and the second distance value of the left and right sides of the pool cleaning robot 1 from the side wall 3 of the pool are obtained respectively; when the first distance value and the second distance value are both continuously less than the preset distance threshold, it is determined that the pool cleaning robot 1 enters a narrow area.

[0035] From the above description, it can be seen that the inventor has optimized and designed a new narrow area identification method for a swimming pool cleaning robot. In actual application, the distance sensor unit on the swimming pool cleaning robot 1 can be used to effectively collect the distance values ​​(i.e., the first distance value and the second distance value) of the left and right sides of the swimming pool cleaning robot 1 from the swimming pool side wall 3, so as to judge whether the swimming pool cleaning robot 1 has entered a narrow area. In order to prevent misjudgment, the first distance value and the second distance value obtained by the collection need to meet the condition of being continuously less than the preset distance threshold before it can be judged that the swimming pool cleaning robot 1 has entered a narrow area.

[0036] It should be noted that, in the present invention, the application of the narrow area recognition method of the swimming pool cleaning robot is not limited to the shape of the narrow area of ​​the swimming pool. The narrow area can be an irregular polygon or a fan-shaped area. Regardless of the shape, the application of the narrow area recognition method of the swimming pool cleaning robot mentioned above in the present invention can accurately identify and determine that the swimming pool cleaning robot 1 has entered the narrow area of ​​the swimming pool.

[0037] Furthermore, in the narrow area recognition method of the swimming pool cleaning robot of the present invention, the first distance value and the second distance value are both continuously smaller than the preset distance threshold, including at least one of the following:

[0038] (a) the first distance value and the second distance value are continuously smaller than a preset distance threshold within a preset travel distance of the pool cleaning robot 1;

[0039] (b) The first distance value and the second distance value are continuously smaller than a preset distance threshold value within a preset time when the swimming pool cleaning robot 1 is traveling.

[0040] In the above technical solution of the present invention, the above-mentioned continuous condition requiring that the first distance value and the second distance value are continuously less than the preset distance threshold can be pre-set according to specific usage requirements, so that when the first distance value and the second distance value of the left and right sides of the swimming pool cleaning robot 1 compared to the side wall 3 of the swimming pool are less than the preset distance threshold, certain continuous conditions still need to be met to be able to judge that the current swimming pool cleaning robot 1 has entered a narrow area.

[0041] For example, the above-mentioned continuous condition can be limited to a preset stroke, that is, when the first distance value and the second distance value are continuously smaller than a preset distance threshold within the preset stroke of the swimming pool cleaning robot 1, it is determined that the swimming pool cleaning robot 1 has entered a narrow area.

[0042] Of course, the above-mentioned continuous condition can also be limited to a preset time, that is, when the first distance value and the second distance value are continuously less than the preset distance threshold within the preset time of the swimming pool cleaning robot 1, it is determined that the swimming pool cleaning robot 1 has entered a narrow area.

[0043] It should be noted that, in certain preferred embodiments, in order to further optimize the judgment accuracy of the narrow area recognition method of the swimming pool cleaning robot, the first distance value and the second distance value of the swimming pool cleaning robot 1 can also be controlled to simultaneously meet: "Continuously less than a preset distance threshold within a preset time of the swimming pool cleaning robot 1" and "Continuously less than a preset distance threshold within a preset travel distance of the swimming pool cleaning robot 1". Only after the above two conditions are met at the same time, it is judged that the swimming pool cleaning robot 1 has entered a narrow area, which can effectively reduce the possibility of misjudgment.

[0044] Furthermore, in the narrow area identification method of the swimming pool cleaning robot described in the present invention, the first distance value is the distance from one end of the left side of the swimming pool cleaning robot 1 to the swimming pool wall, and the second distance value is the distance from one end of the right side of the swimming pool cleaning robot 1 to the swimming pool wall.

[0045] Combined with reference Figure 3 It can be seen that in actual application, in order to obtain a better implementation effect, a distance sensing unit can be respectively provided on the left and right sides of the swimming pool cleaning robot 1; wherein, the distance sensing unit arranged on the left side of the swimming pool cleaning robot 1 can be used to detect the distance between one end of the left side surface of the swimming pool cleaning robot 1 and the swimming pool wall, and use the distance as the first distance value; and the distance sensing unit arranged on the right side of the swimming pool cleaning robot 1 can detect the distance between one end of the right side surface of the swimming pool cleaning robot 1 and the swimming pool wall, and use the distance as the second distance value.

[0046] It should be pointed out that even if the narrow area of ​​the swimming pool is an arc-shaped pool side wall 3, the swimming pool cleaning robot 1 can also detect and obtain a first distance value from one end of the left side of the swimming pool cleaning robot 1 to the swimming pool wall, and a second distance value from one end of the right side of the swimming pool cleaning robot 1 to the swimming pool wall by using the distance sensor units arranged on the left and right sides of the swimming pool cleaning robot 1, and then judge whether the swimming pool cleaning robot 1 enters the narrow area of ​​the swimming pool based on the above-mentioned first distance value and the above-mentioned second distance value.

[0047] Furthermore, in the narrow area identification method of the swimming pool cleaning robot described in the present invention, the first distance value is the distance from the left front of the swimming pool cleaning robot 1 to the side wall 3 of the swimming pool, and the second distance value is the distance from the right front of the swimming pool cleaning robot 1 to the side wall 3 of the swimming pool.

[0048] Furthermore, in the narrow area identification method of the swimming pool cleaning robot described in the present invention, the first distance value is the distance from the left rear of the swimming pool cleaning robot 1 to the side wall 3 of the swimming pool, and the second distance value is the distance from the right rear of the swimming pool cleaning robot 1 to the side wall 3 of the swimming pool.

[0049] Furthermore, in the narrow area recognition method of the swimming pool cleaning robot described in the present invention, the preset distance threshold is 3 meters or 5 meters.

[0050] When the pool cleaning robot narrow area identification method of the present invention is actually applied, since the pool cleaning robot 1 is moving and cleaning in the pool underwater, the existing distance sensor unit provided on the pool cleaning robot 1 has very limited underwater detection capability in consideration of production costs and other reasons. Therefore, when actually setting the distance threshold, in order to better enable the pool cleaning robot 1 to identify narrow areas while taking into account the detection capability of the distance sensor unit, the above-mentioned preset distance threshold can be controlled to be 3 meters or 5 meters.

[0051] Of course, in the specific implementation, whether the above preset distance threshold is 3 meters or 5 meters, the user can select and adjust it according to the specific usage requirements and scenarios. The present invention does not make any special limitation on the above preset distance threshold, and the user can set it according to the cleaning requirements of his own swimming pool.

[0052] Correspondingly, the present invention further discloses a narrow area recognition system for a swimming pool cleaning robot, which can be used to implement the narrow area recognition system for a swimming pool cleaning robot mentioned above. The narrow area recognition system for a swimming pool cleaning robot specifically includes:

[0053] At least two distance sensing units, wherein the at least two distance sensing units are respectively arranged on the left and right sides of the swimming pool cleaning robot 1 to collect a first distance value and a second distance value between the left and right sides of the swimming pool cleaning robot 1 and the side wall 3 of the swimming pool;

[0054] A controller is connected to at least two of the distance sensing units respectively, and the controller is used to determine whether the swimming pool cleaning robot 1 enters a narrow area according to the first distance value and the second distance value.

[0055] Combined with reference Figure 3 It can be seen that in the above-mentioned narrow area recognition system of the swimming pool cleaning robot of the present invention, the swimming pool cleaning robot 1 can specifically detect and obtain the distances between the left and right sides of the swimming pool cleaning robot 1 and the side wall 3 of the swimming pool, that is, the first distance value and the second distance value, through at least two distance sensing units.

[0056] Accordingly, in the narrow area recognition system, the first distance value and the second distance value obtained based on the detection of the distance sensing unit can be transmitted to the controller accordingly. The controller can determine whether the first distance value and the second distance value can be continuously less than the preset distance threshold under continuous conditions based on the information of the first distance value and the second distance value, thereby determining whether the pool cleaning robot 1 has entered a narrow area.

[0057] Furthermore, the narrow area recognition system of the swimming pool cleaning robot described in the present invention also includes a driving device, which is connected to the controller, and is used to drive the swimming pool cleaning robot 1 to move. The driving device collects the mileage information of the swimming pool cleaning robot 1 and transmits the mileage information to the controller.

[0058] In the above technical solution of the present invention, considering that in some specific application cases, the user sets: the first distance value and the second distance value obtained by the distance sensor unit are continuously less than the preset distance threshold within the preset travel distance of the swimming pool cleaning robot 1, and then it is determined that the swimming pool cleaning robot 1 enters a narrow area.

[0059] Therefore, under this condition, in addition to receiving the first distance value and the second distance value transmitted by the distance sensing unit, the controller also needs to be connected to the driving device of the swimming pool cleaning robot 1, which can drive the swimming pool cleaning robot 1 to move and collect the mileage information of the swimming pool cleaning robot 1.

[0060] Based on this setting, when the pool cleaning robot 1 is moving, the controller can effectively and continuously receive the above-mentioned mileage information, and continuously receive the first distance value and the second distance value from the distance sensor unit, so as to effectively determine whether the first distance value and the second distance value are continuously less than the preset distance threshold within the preset travel range of the pool cleaning robot 1.

[0061] Furthermore, in the narrow area recognition system of the swimming pool cleaning robot described in the present invention, four distance sensor units are included, and two of the distance sensor units are respectively provided on the left and right sides of the swimming pool cleaning robot.

[0062] Furthermore, in the narrow area recognition system of the swimming pool cleaning robot described in the present invention, the distance sensing units are provided on the left front, left rear, right front and right rear of the swimming pool cleaning robot 1 .

[0063] It should be pointed out that, on the swimming pool cleaning robot 1, in order to ensure the detection effect, in the above-mentioned swimming pool cleaning robot narrow area recognition system, two distance sensing units can be respectively set on the left and right sides of the swimming pool cleaning robot 1, and the above-mentioned distance sensing units can be respectively set on the left front, right front, left rear and right rear of the swimming pool cleaning robot 1, that is, the first distance sensing unit 21, the second distance sensing unit 22, the third distance sensing unit 23 and the fourth distance sensing unit 24.

[0064] When the swimming pool cleaning robot 1 has a rectangular shape, the first distance sensing unit 21, the second distance sensing unit 22, the third distance sensing unit 23 and the fourth distance sensing unit 24 can be specifically arranged at the four rectangular corners of the swimming pool cleaning robot 1. The number of distance sensing units used is small, the cost is low, the detection is accurate, and the calculation is convenient.

[0065] Based on this configuration, it can be ensured that two distance sensing units are included on the left and right sides of the swimming pool cleaning robot 1, thereby ensuring the distance detection capability of the swimming pool cleaning robot 1. The swimming pool cleaning robot 1 can use the distance values ​​between the left front, right front, left rear and right rear positions of the swimming pool cleaning robot 1 and the swimming pool side wall 3 detected by the above four distance sensing units, so as to determine whether the current swimming pool cleaning robot 1 enters a narrow area of ​​the swimming pool or leaves a narrow area of ​​the swimming pool.

[0066] Embodiment 1:

[0067] Please refer to Figure 2 and Figure 3As shown, the first embodiment of the present invention is: a swimming pool cleaning robot 1, the swimming pool cleaning robot 1 includes a shell and a controller and a first distance sensing unit 21, a second distance sensing unit 22, a third distance sensing unit 23, and a fourth distance sensing unit 24 arranged in the shell, and the four distance sensing units are all connected to the controller; at the same time, the swimming pool cleaning robot 1 is also provided with a driving device, and the driving device is used to drive the swimming pool cleaning robot 1 to move in the swimming pool, and the driving device is also connected to the controller, so that when the swimming pool cleaning robot 1 moves, the mileage information of the swimming pool cleaning robot 1 is transmitted to the controller in real time. Among them, the driving device includes a plurality of driving members arranged on the left and right sides of the swimming pool cleaning robot 1, and these driving members are arranged at the bottom of the shell of the swimming pool cleaning robot 1, so as to drive the swimming pool cleaning robot 1 to walk in the swimming pool.

[0068] See also Figure 3 It can be seen that in the present embodiment, the shell of the swimming pool cleaning robot 1 is a rectangular shell, and the four distance sensing units are specifically arranged at the four corners of the rectangular shell, that is, the first distance sensing unit 21, the second distance sensing unit 22, the third distance sensing unit 23, and the fourth distance sensing unit 24 are respectively arranged on the left front, right front, left rear and right rear of the swimming pool cleaning robot 1, so as to detect the distances between the left front, left rear, right front and right rear of the swimming pool cleaning robot 1 and the side wall 3 of the swimming pool.

[0069] When the swimming pool cleaning robot 1 is actually used, the swimming pool cleaning robot 1 can clean the swimming pool underwater, and the four distance sensor units arranged on the left front, left rear, right front and right rear of the swimming pool cleaning robot 1 can work together when the swimming pool cleaning robot 1 is working.

[0070] However, since the existing distance sensor unit has limited detection capability underwater, when the swimming pool cleaning robot 1 approaches the swimming pool side wall 3 (such as Figure 3 As shown, Figure 3 The dotted line B shown in FIG. 1 is the walking track of the swimming pool cleaning robot 1. Figure 3 The direction of the “airplane”-shaped shadow C is the direction of the swimming pool cleaning robot 1), at this time, it is possible that only the first distance sensing unit 21 and the second distance sensing unit 22 provided at the left front and the right front of the swimming pool cleaning robot 1 can detect the distance values ​​from the left front and the right front of the swimming pool cleaning robot 1 to the swimming pool side wall 3, respectively, while the other two cannot obtain the corresponding distances, that is to say: at this time, the distance value from the left front of the swimming pool cleaning robot 1 to the swimming pool side wall 3 is the first distance value, and the distance value from the right front of the swimming pool cleaning robot 1 to the swimming pool side wall 3 is the second distance value.

[0071] In actual application, the above-mentioned swimming pool cleaning robot 1 can use the first distance sensor unit 21, the second distance sensor unit 22, the third distance sensor unit 23 and the fourth distance sensor unit 24 to detect and obtain the first distance value and the second distance value of the left and right sides of the swimming pool cleaning robot 1 from the swimming pool side wall 3 respectively.

[0072] Accordingly, when the first distance value and the second distance value meet the following two conditions: (1) they are continuously less than the preset distance threshold within the preset travel distance of the pool cleaning robot 1; and (2) they are continuously less than the preset distance threshold within the preset travel time of the pool cleaning robot 1, it is determined that the pool cleaning robot 1 has entered a narrow area. If the first distance value and the second distance value do not meet any of the above two conditions, it is determined that the pool cleaning robot 1 has not entered a narrow area.

[0073] It should be noted that, in specific applications, the controller of the pool cleaning robot 1 can determine whether the pool cleaning robot 1 has traveled a preset distance based on the mileage information of the pool cleaning robot 1 transmitted in real time by the driving device. Accordingly, the controller of the pool cleaning robot 1 can use the first distance value and the second distance value information received in real time to record the timestamp, thereby determining whether the pool cleaning robot 1 has traveled a preset time.

[0074] Embodiment 2:

[0075] In the second embodiment, the structure of the swimming pool cleaning robot 1 designed in the second embodiment is exactly the same as that of the swimming pool cleaning robot 1 in the first embodiment. However, it should be noted that the narrow area recognition method adopted by the swimming pool cleaning robot 1 in the second embodiment is different from the narrow area recognition method adopted by the swimming pool cleaning robot 1 in the first embodiment.

[0076] The difference between the second embodiment and the first embodiment is:

[0077] In the second embodiment, when the swimming pool cleaning robot 1 uses the first distance sensor unit 21, the second distance sensor unit 22, the third distance sensor unit 23 and the fourth distance sensor unit 24 to detect and obtain the first distance value and the second distance value of the left and right sides of the swimming pool cleaning robot 1 from the side wall 3 of the swimming pool, respectively, when the first distance value and the second distance value are continuously less than the preset distance threshold within the preset travel range of the swimming pool cleaning robot 1, it can be determined that the swimming pool cleaning robot 1 has entered a narrow area.

[0078] The swimming pool cleaning robot 1 designed in the second embodiment can also realize the function of identifying the narrow area of ​​the swimming pool of the swimming pool cleaning robot 1 in the first embodiment, and it also has the above advantages and beneficial effects.

[0079] Embodiment three:

[0080] In the third embodiment, the structure of the swimming pool cleaning robot 1 designed in the third embodiment is exactly the same as that of the swimming pool cleaning robot 1 in the first embodiment. However, it should be noted that the narrow area recognition method adopted by the swimming pool cleaning robot 1 in the third embodiment is different from the narrow area recognition method adopted by the swimming pool cleaning robot 1 in the first embodiment.

[0081] The differences between the third embodiment and the first embodiment are:

[0082] In the third embodiment, when the swimming pool cleaning robot 1 uses the first distance sensor unit 21, the second distance sensor unit 22, the third distance sensor unit 23 and the fourth distance sensor unit 24 to detect and obtain the first distance value and the second distance value of the left and right sides of the swimming pool cleaning robot 1 from the side wall 3 of the swimming pool, respectively, when the first distance value and the second distance value are continuously less than the preset distance threshold value within the preset time of the swimming pool cleaning robot 1 traveling, it can be determined that the swimming pool cleaning robot 1 has entered a narrow area.

[0083] The swimming pool cleaning robot 1 designed in the third embodiment can also realize the function of identifying the narrow area of ​​the swimming pool of the swimming pool cleaning robot 1 in the first embodiment, and it also has the above advantages and beneficial effects.

[0084] From the above, it can be seen that in the present invention, the inventor has optimized and designed a method and system for identifying a narrow area of ​​a swimming pool cleaning robot, and has reasonably arranged the distance sensor units on the swimming pool cleaning robot, so as to utilize the distance sensor units to effectively collect the distance values ​​of the left and right sides of the swimming pool cleaning robot from the side walls of the swimming pool, thereby determining whether the swimming pool cleaning robot has entered a narrow area, which has good promotion prospects and application value.

[0085] 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 identifying a narrow area of ​​a swimming pool cleaning robot, characterized in that: Includes steps: A first distance value and a second distance value of the left and right sides of the pool cleaning robot from the side wall of the pool are obtained respectively; when the first distance value and the second distance value are both continuously less than a preset distance threshold, it is determined that the pool cleaning robot has entered a narrow area.

2. The method for identifying a narrow area of ​​a swimming pool cleaning robot according to claim 1, characterized in that: The first distance value and the second distance value are both continuously smaller than the preset distance threshold, including at least one of the following: (a) the first distance value and the second distance value are continuously smaller than a preset distance threshold within a preset travel distance of the pool cleaning robot; (b) The first distance value and the second distance value are continuously less than a preset distance threshold within a preset time when the pool cleaning robot is traveling.

3. The narrow area recognition method of a swimming pool cleaning robot according to claim 1, characterized in that: The first distance value is the distance between one end of the left side of the swimming pool cleaning robot and the swimming pool wall, and the second distance value is the distance between one end of the right side of the swimming pool cleaning robot and the swimming pool wall.

4. The method for identifying a narrow area of ​​a swimming pool cleaning robot according to claim 3, characterized in that: The first distance value is the distance from the left front of the swimming pool cleaning robot to the side wall of the swimming pool, and the second distance value is the distance from the right front of the swimming pool cleaning robot to the side wall of the swimming pool.

5. The narrow area recognition method of a swimming pool cleaning robot according to claim 3, characterized in that: The first distance value is the distance between the left rear of the swimming pool cleaning robot and the side wall of the swimming pool, and the second distance value is the distance between the right rear of the swimming pool cleaning robot and the side wall of the swimming pool.

6. The method for identifying narrow areas of a swimming pool cleaning robot according to claim 1, characterized in that: The preset distance threshold is 3 meters or 5 meters.

7. A narrow area recognition system for a swimming pool cleaning robot, which is applied to the narrow area recognition method for a swimming pool cleaning robot as claimed in any one of claims 1 to 6, characterized in that: include: At least two distance sensing units, wherein the at least two distance sensing units are respectively arranged on the left and right sides of the swimming pool cleaning robot to collect a first distance value and a second distance value of the left and right sides of the swimming pool cleaning robot from the side wall of the swimming pool; A controller is connected to at least two of the distance sensing units respectively, and the controller is used to determine whether the swimming pool cleaning robot enters a narrow area according to the first distance value and the second distance value.

8. The narrow area recognition system of the swimming pool cleaning robot according to claim 7, characterized in that: It also includes a driving device, which is connected to the controller and is used to drive the swimming pool cleaning robot to move. The driving device collects the mileage information of the swimming pool cleaning robot and transmits the mileage information to the controller.

9. The narrow area recognition system of the swimming pool cleaning robot according to claim 7, characterized in that: It comprises four distance sensing units, and two of the distance sensing units are respectively arranged on the left and right sides of the swimming pool cleaning robot.

10. The narrow area recognition system of the swimming pool cleaning robot according to claim 9, characterized in that: The distance sensing units are arranged on the left front, left rear, right front and right rear of the swimming pool cleaning robot.

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