Walking control method and walking control system of swimming pool cleaning robot

Abstract

The walking control method comprises the following steps that the swimming pool cleaning robot walks in the first direction and gets close to the side wall of a swimming pool, and a preset included angle is formed between the first direction and the side wall; the swimming pool cleaning robot walks for a preset distance along the side wall; and the swimming pool cleaning robot turns and walks in a second direction opposite to the first direction. Accordingly, the invention further discloses a walking control system which comprises a driving device, and the driving device comprises a plurality of driving pieces arranged on the left side and the right side of the swimming pool cleaning robot; and the controller is connected with the driving device, and the controller is used for sending a control instruction to the driving device, so that the swimming pool cleaning robot walks according to a set motion strategy.

Description

Technical Field

[0001] The invention relates to the technical field of swimming pool cleaning equipment, and in particular to a walking control method for a swimming pool cleaning robot. Background Art

[0002] The swimming pool is a place where people engage in swimming sports. The swimming pool needs to be cleaned regularly. With the development of automation technology, swimming pool cleaning robots have appeared on the market. The swimming pool cleaning robots are equipped with cleaning mechanisms. When the swimming pool cleaning robots move on the bottom or side walls of the swimming pool, they can clean the bottom or side walls of the swimming pool.

[0003] The walking method of existing swimming pool cleaning robots is usually random walking or simple planning detection to clean the swimming pool for a long time to cover the entire swimming pool; however, research has found that when the existing swimming pool cleaning robot walks to the side wall of the swimming pool, the swimming pool cleaning robot stops walking, and the swimming pool cleaning robot performs fixed-point reversing at the point of contact between it and the side wall. When the swimming pool cleaning robot turns, there is a blind spot in its cleaning area, which results in a low cleaning coverage rate of the swimming pool cleaning robot, and the walking method of the existing swimming pool cleaning robot will cause the swimming pool cleaning robot to repeatedly clean the same area, resulting in low cleaning efficiency of the swimming pool cleaning robot.

[0004] Therefore, there is an urgent need to design a walking control method for a swimming pool cleaning robot to solve the above-mentioned existing technical problems. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide a walking control method for a swimming pool cleaning robot to solve the problems of blind spots in the cleaning area of ​​the existing swimming pool cleaning robot during walking and low cleaning efficiency of the swimming pool cleaning robot.

[0006] In order to solve the above technical problems, the technical solution adopted by the present invention is: a walking control method of a swimming pool cleaning robot, which comprises the following steps:

[0007] The swimming pool cleaning robot walks along a first direction and approaches a side wall of the swimming pool, wherein the first direction and the side wall have a preset angle;

[0008] The swimming pool cleaning robot walks a preset distance along the side wall;

[0009] The swimming pool cleaning robot turns and walks in a second direction opposite to the first direction.

[0010] Furthermore, the swimming pool cleaning robot walks a preset distance along the side wall, specifically:

[0011] The inclination angle of the swimming pool cleaning robot relative to the side wall is adjusted, and the moving direction of the swimming pool cleaning robot is controlled to be parallel to the side wall, and the swimming pool cleaning robot walks a preset distance parallel to the side wall.

[0012] Furthermore, when the swimming pool cleaning robot collides with the side wall, the moving direction of the swimming pool cleaning robot is controlled to be parallel to the side wall.

[0013] Furthermore, a first distance value between the front of the pool cleaning robot and the side wall is obtained, and a second distance value between the rear of the pool cleaning robot and the side wall is obtained; when the first distance value and / or the second distance value is less than a preset threshold, the moving direction of the pool cleaning robot is controlled to be parallel to the side wall.

[0014] Furthermore, the first distance value is controlled to be equal to the second distance value, so that the moving direction of the swimming pool cleaning robot is parallel to the side wall.

[0015] Further, the inclination angle of the swimming pool cleaning robot relative to the side wall is adjusted to control the moving direction of the swimming pool cleaning robot to be parallel to the side wall, specifically:

[0016] The driving members on the left and right sides of the swimming pool cleaning robot are controlled to move at differential speeds, and the walking directions and walking speeds of the driving members on the left and right sides of the swimming pool cleaning robot are adjusted in real time so that the moving direction of the swimming pool cleaning robot is parallel to the side wall.

[0017] Further, the swimming pool cleaning robot turns and walks in a second direction opposite to the first direction, specifically:

[0018] The driving members on the left and right sides of the swimming pool cleaning robot are controlled to move at differential speeds, and the walking directions and walking speeds of the driving members on the left and right sides of the swimming pool cleaning robot are adjusted so that the swimming pool cleaning robot moves in a second direction opposite to the first direction and away from the side wall.

[0019] Furthermore, the preset distance is smaller than or equal to a body width of the pool cleaning robot.

[0020] Another object of the present invention is to provide a walking control system of a swimming pool cleaning robot, which is applied to the above-mentioned walking control method, and comprises:

[0021] A driving device, comprising a plurality of driving members disposed on the left and right sides of the swimming pool cleaning robot;

[0022] A distance sensing device, comprising at least two distance sensors, wherein the at least two distance sensors are respectively used to collect distance values ​​between at least two positions on the pool cleaning robot and the side wall of the pool;

[0023] A controller is connected to the driving device and the distance sensing device respectively, and the controller is used to send a control instruction to the driving device according to the distance values ​​collected by at least two distance sensors in the distance sensing device, so that the swimming pool cleaning robot walks according to the set motion strategy.

[0024] Furthermore, the distance sensing device comprises:

[0025] A first distance sensor, which is used to collect the distance value between the left front of the swimming pool cleaning robot and the side wall of the swimming pool;

[0026] A second distance sensor is used to collect the distance between the right front of the swimming pool cleaning robot and the side wall of the swimming pool;

[0027] A third distance sensor is used to collect the distance value between the left rear of the swimming pool cleaning robot and the side wall of the swimming pool;

[0028] The fourth distance sensor is used to collect the distance value between the right rear of the swimming pool cleaning robot and the side wall of the swimming pool.

[0029] The beneficial effects of the present invention are as follows: the walking control method provided by the present invention can control the swimming pool cleaning robot to approach the side wall of the swimming pool obliquely, and when the swimming pool cleaning robot moves to the area near the side wall of the swimming pool, the walking control method controls the swimming pool cleaning robot to move a certain distance along the side wall of the swimming pool, and then controls the swimming pool cleaning robot to turn, so the walking control method provided by the present invention can avoid the swimming pool cleaning robot from generating a cleaning blind spot during the walking process, and the walking path of the swimming pool cleaning robot using the walking control method is highly efficient, and its walking path will not overlap, so the walking control method can improve the cleaning coverage of the swimming pool cleaning robot and improve the cleaning efficiency of the swimming pool cleaning robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 A schematic diagram of the steps of a walking control method of a swimming pool cleaning robot according to an embodiment of the present invention;

[0031] Figure 2 The schematic diagram schematically shows the structure of the swimming pool cleaning robot when the swimming pool cleaning robot according to the present invention moves along a first direction and approaches the side wall of the swimming pool;

[0032] Figure 3 The schematic diagram schematically shows the structure of the swimming pool cleaning robot walking a preset distance along the side wall when the walking control method of the present invention is applied;

[0033] Figure 4The schematic diagram schematically shows the structure of the swimming pool cleaning robot when the swimming pool cleaning robot according to the present invention turns and walks in a second direction opposite to the first direction;

[0034] Figure 5 The schematic diagram schematically shows the structure of the swimming pool cleaning robot when the swimming pool cleaning robot according to the present invention is away from the side wall and close to the second pool wall opposite to the side wall;

[0035] Description of labels:

[0036] 1. Swimming pool cleaning robot; 2. First side wall; 3. Second side wall; 4. Left driving wheel; 5. Right driving wheel. DETAILED DESCRIPTION

[0037] 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.

[0038] When an existing swimming pool cleaning robot collides with a side wall of a swimming pool during its movement, the swimming pool cleaning robot stops moving and changes direction at the point of contact between the swimming pool cleaning robot and the side wall. During the direction change process of the swimming pool cleaning robot, a cleaning blind area will appear, resulting in a low cleaning area coverage rate of the existing swimming pool cleaning robot.

[0039] To do this, please refer to Figures 1 to 5 The present invention provides a walking control method for a swimming pool cleaning robot, comprising the following steps:

[0040] The swimming pool cleaning robot 1 walks along a first direction and approaches a side wall of the swimming pool, wherein the first direction and the side wall have a preset angle;

[0041] The swimming pool cleaning robot 1 walks a preset distance along the side wall;

[0042] The swimming pool cleaning robot 1 turns and walks in a second direction opposite to the first direction.

[0043] The working principle of the walking control method of the swimming pool cleaning robot 1 provided by the present invention is briefly described as follows:

[0044] The walking control method can control the swimming pool cleaning robot 1 to walk between the first side wall 2 and the second side wall 3 opposite to each other in the swimming pool, and the swimming pool cleaning robot 1 performs cleaning during the walking process. There will be no cleaning blind spots in the walking path of the swimming pool cleaning robot 1, thereby improving the cleaning coverage of the enclosed area between the first side wall 2 and the second side wall 3, so as to solve the problem of the existing swimming pool cleaning robot 1 having cleaning blind spots during the walking and turning process.

[0045] When the swimming pool cleaning robot 1 actually applies the walking control method of the present invention, the swimming pool cleaning robot 1 can walk along a first direction in the swimming pool, and there is a preset angle between the first direction and the first side wall 2, that is, the moving direction of the swimming pool cleaning robot 1 is inclined to the first side wall 2, so the swimming pool cleaning robot 1 can approach the first side wall 2 obliquely; wherein, the path walked by the swimming pool cleaning robot 1 along the first direction close to the side wall of the swimming pool can form a first cleaning path.

[0046] When the swimming pool cleaning robot 1 walks to the area near the first side wall 2 of the swimming pool or the swimming pool cleaning robot 1 collides with the first side wall 2, the swimming pool cleaning robot 1 can turn so that the moving direction of the swimming pool cleaning robot 1 is parallel to the side wall, and the swimming pool cleaning robot 1 can walk a preset distance along the first side wall 2. During the walking of the swimming pool cleaning robot 1 along the first side wall 2, the swimming pool cleaning robot 1 can clean the first side wall 2 of the swimming pool, wherein the preset distance can be specifically set according to the width of the cleaning area generated during the movement of the swimming pool cleaning robot 1. In some preferred embodiments, the preset distance can be equal to the body width of the swimming pool cleaning robot 1.

[0047] After walking a preset distance along the first side wall 2, the swimming pool cleaning robot 1 changes direction, so that the swimming pool cleaning robot 1 walks in a second direction opposite to the first direction, that is, the walking direction of the swimming pool cleaning robot 1 rotates 180 degrees relative to the first direction. At this time, the swimming pool cleaning robot 1 can move away from the first side wall 2 and approach the second side wall 3, and the walking path of the swimming pool cleaning robot 1 along the second direction close to the second side wall 3 can form a second cleaning path;

[0048] The first cleaning path is parallel to the second cleaning path, and the distance between the first cleaning path and the second cleaning path is equal to the preset distance. The swimming pool cleaning robot 1 does not need to walk repeatedly to ensure that there is no cleaning blind spot during its walking process. The walking control method can effectively improve the cleaning coverage rate of the swimming pool cleaning robot 1, and can improve the cleaning efficiency and cleaning quality of the swimming pool cleaning robot 1.

[0049] The swimming pool cleaning robot 1 may repeatedly execute the steps of the above walking control method, so that the cleaning path generated by the walking of the swimming pool cleaning robot 1 can cover the area between the first side wall 2 and the second side wall 3 .

[0050] From the above description, it can be seen that the beneficial effect of the walking control method provided by the present invention is that: the walking control method provided by the present invention can control the swimming pool cleaning robot 1 to approach the side wall of the swimming pool obliquely, and when the swimming pool cleaning robot 1 moves to the area near the side wall of the swimming pool, the walking control method controls the swimming pool cleaning robot 1 to move a certain distance along the side wall of the swimming pool, and then controls the swimming pool cleaning robot 1 to turn, so the walking control method provided by the present invention can avoid the swimming pool cleaning robot 1 from generating a cleaning blind spot during the walking process, and the walking path of the swimming pool cleaning robot 1 using the walking control method is highly efficient, and its walking path will not overlap, so the walking control method can improve the cleaning coverage of the swimming pool cleaning robot 1 and improve the cleaning efficiency of the swimming pool cleaning robot.

[0051] Furthermore, the swimming pool cleaning robot 1 walks a preset distance along the side wall, specifically:

[0052] The inclination angle of the swimming pool cleaning robot 1 relative to the side wall is adjusted, and the moving direction of the swimming pool cleaning robot 1 is controlled to be parallel to the side wall. The swimming pool cleaning robot 1 walks a preset distance parallel to the side wall.

[0053] From the above description, it can be seen that when the swimming pool cleaning robot 1 moves to an area close to the side wall, the swimming pool cleaning robot 1 can turn so that the swimming pool cleaning robot 1 moves parallel to the side wall, which can avoid the swimming pool cleaning robot 1 from generating a cleaning blind area during the turning process and improve the cleaning coverage of the swimming pool cleaning robot 1.

[0054] Furthermore, when the swimming pool cleaning robot 1 conflicts with the side wall, the moving direction of the swimming pool cleaning robot 1 is controlled to be parallel to the side wall.

[0055] From the above description, it can be seen that in some preferred embodiments of the present invention, when the swimming pool cleaning robot 1 walks along a first direction until the swimming pool cleaning robot 1 collides with the side wall, the swimming pool cleaning robot 1 is controlled to change its moving direction so that the swimming pool cleaning robot 1 can move a preset distance in line with the side wall of the swimming pool. At this time, the swimming pool cleaning robot 1 can clean the side wall of the swimming pool, thereby further improving the cleaning coverage of the swimming pool cleaning robot 1.

[0056] Among them, in some other preferred embodiments of the present invention, a cleaning brush can be provided on the outer wall of the swimming pool cleaning robot 1. When the swimming pool cleaning robot 1 is attached to the side wall and moves along the side wall, the cleaning brush on the swimming pool cleaning robot 1 can conflict with the side wall of the swimming pool. In the process of the swimming pool cleaning robot 1 walking parallel to the side wall, the cleaning brush can sweep and scrape off the dirt on the side wall of the swimming pool, so that the cleaning brush can clean the side wall of the swimming pool.

[0057] Therefore, the walking control method provided by the present invention can not only improve the cleaning coverage of the swimming pool cleaning robot 1, but also enable the swimming pool cleaning robot 1 to also clean the side walls of the swimming pool, thereby improving the cleaning quality of the swimming pool cleaning robot 1.

[0058] Furthermore, a first distance value between the front of the swimming pool cleaning robot 1 and the side wall is obtained, and a second distance value between the rear of the swimming pool cleaning robot 1 and the side wall is obtained; when the first distance value and / or the second distance value is less than a preset threshold, the moving direction of the swimming pool cleaning robot 1 is controlled to be parallel to the side wall.

[0059] It can be seen from the above description that in other preferred embodiments of the present invention, in order to prevent the outer wall of the pool cleaning robot 1 from colliding and being damaged with the side wall of the swimming pool during the walking process of the pool cleaning robot 1, a distance sensor can also be set on the pool cleaning robot 1 to obtain a first distance value from the front of the pool cleaning robot 1 to the side wall and a second distance value from the rear of the swimming pool to the side wall. The operator can set a preset distance value and compare the first distance value and / or the second distance value with the preset distance value, so as to control the pool cleaning robot 1 to continue walking in the first direction or control the pool cleaning robot 1 to turn; therefore, the pool cleaning robot 1 can turn when the front or rear of the pool is at a preset threshold distance from the side wall, and then control the pool cleaning robot 1 to walk a preset distance parallel to the side wall;

[0060] The walking control method can prevent the swimming pool cleaning robot 1 from colliding with the side wall of the swimming pool while ensuring the cleaning coverage of the swimming pool cleaning robot 1, thereby reducing the probability of damage to the swimming pool cleaning robot 1 and increasing the service life of the swimming pool cleaning robot 1.

[0061] Furthermore, the first distance value is controlled to be equal to the second distance value, so that the moving direction of the swimming pool cleaning robot 1 is parallel to the side wall.

[0062] From the above description, it can be seen that the swimming pool cleaning robot 1 can obtain the first distance value and the second distance value in real time, and control and adjust the moving direction of the swimming pool cleaning robot 1 so that the first distance value is always equal to the second distance value, thereby ensuring that the swimming pool cleaning robot 1 walks parallel to the side wall; the walking control method controls the walking of the swimming pool cleaning robot 1 with high accuracy, and the walking control method can effectively improve the controllability of the walking path of the swimming pool cleaning robot 1.

[0063] Furthermore, the inclination angle of the swimming pool cleaning robot 1 relative to the side wall is adjusted to control the moving direction of the swimming pool cleaning robot 1 to be parallel to the side wall, specifically:

[0064] The driving members on the left and right sides of the swimming pool cleaning robot 1 are controlled to move at differential speeds, and the walking directions and walking speeds of the driving members on the left and right sides of the swimming pool cleaning robot 1 are adjusted in real time so that the moving direction of the swimming pool cleaning robot 1 is parallel to the side wall.

[0065] Furthermore, the swimming pool cleaning robot 1 turns and walks in a second direction opposite to the first direction, specifically:

[0066] The driving members on the left and right sides of the swimming pool cleaning robot 1 are controlled to move at differential speeds, and the walking directions and walking speeds of the driving members on the left and right sides of the swimming pool cleaning robot 1 are adjusted so that the swimming pool cleaning robot 1 moves in a second direction opposite to the first direction and away from the side wall.

[0067] As can be seen from the above description, the left and right driving members can be respectively provided on the left and right sides of the swimming pool cleaning robot 1 to which the walking control method provided by the present invention is applied, and the walking control method can control the left and right driving members of the swimming pool cleaning robot 1 respectively to achieve differential walking of the left and right driving members;

[0068] In actual application, the left drive output (rotation speed of the left drive) can be set to out[0], and the right drive output (rotation speed of the right drive) can be set to out[1]; wherein, if out[0] or out[1]>0, it means that the left drive or the right drive rotates forward; if out[0] or out[1]<0, it means that the left drive or the right drive rotates backward; when out[0] or out[1]=0, it means that the left drive or the right drive stops. In actual application, the left drive output out[0] and the right drive output out[1] can be limited according to actual conditions.

[0069] Therefore, in the present invention, the left drive output out[0] and the right drive output out[1] can be obtained by the following method:

[0070] out[0]=linear_vel+ang_vel;

[0071] out[1]=linear_vel-ang_vel.

[0072] Therefore, in practical application, the sum of the current linear velocity linear_vel and the output angular velocity ang_vel of the swimming pool cleaning robot 1 can be used as the rotation speed of the left driving component of the swimming pool cleaning robot 1 (i.e., the left driving component output out[0]); the difference between the current linear velocity linear_vel and the output angular velocity ang_vel of the swimming pool cleaning robot 1 can be used as the rotation speed of the right driving component of the swimming pool cleaning robot 1 (i.e., the right driving component output out[1]).

[0073] It can be seen that the walking control method of the swimming pool cleaning robot 1 can make the left driving component output out[0] and the right driving component output out[1] different, that is, the travel linear speed on the left and right sides of the swimming pool cleaning robot 1 and the output angular velocity on the left and right sides of the swimming pool cleaning robot 1 different, thereby making the swimming pool cleaning robot 1 change its travel direction.

[0074] Furthermore, the preset distance is smaller than or equal to a body width of the pool cleaning robot 1 .

[0075] It can be seen from the above description that in some preferred embodiments of the present invention, the width of the cleaning area generated by the swimming pool cleaning robot 1 during walking is equal to the body width of the swimming pool cleaning robot 1. Therefore, when the preset distance is less than or equal to the body width of the swimming pool cleaning robot 1, not only the coverage rate of the swimming pool cleaning robot 1 can be guaranteed, but also the cleaning efficiency of the swimming pool cleaning robot 1 can be improved.

[0076] Correspondingly, the present invention also discloses a walking control system of a swimming pool cleaning robot 1, and the walking control system of the swimming pool cleaning robot 1 is used to implement the walking control method of the present invention, which specifically includes:

[0077] A driving device, which includes a plurality of driving components arranged on the left and right sides of the swimming pool cleaning robot 1;

[0078] A distance sensing device, comprising at least two distance sensors, wherein the at least two distance sensors are respectively used to collect distance values ​​between at least two positions on the pool cleaning robot 1 and the side wall of the pool;

[0079] A controller is connected to the driving device and the distance sensing device respectively, and the controller is used to send a control instruction to the driving device according to the distance values ​​collected by at least two distance sensors in the distance sensing device, so that the swimming pool cleaning robot 1 walks according to the set motion strategy.

[0080] From the above description, it can be seen that the distance sensor of the walking control system can obtain in real time the distance values ​​of at least two positions and the side wall of the swimming pool a few days before the swimming pool is cleaned. The distance values ​​obtained by the distance sensor can be transmitted to the controller, and the controller controls the walking of multiple driving parts according to the above distance values ​​to adjust the travel direction of the swimming pool cleaning robot 1 in real time.

[0081] In actual application, the above-mentioned driving member can specifically be a wheel, and the wheels arranged on the left and right sides of the swimming pool cleaning robot 1 can rotate differentially respectively; of course, according to actual application requirements, the driving member can also be other driving devices such as tracks, and it can also achieve differential rotation of the left and right sides of the swimming pool cleaning robot 1, so that the swimming pool cleaning robot 1 can adjust its travel direction.

[0082] Among them, in some preferred embodiments of the present invention, the distance sensor device can obtain in real time a first distance value from the front of the swimming pool cleaning robot 1 to the side wall and a second distance value from the rear of the swimming pool cleaning robot 1 to the side wall;

[0083] Based on the first distance value and the second distance value, the distance difference between the front and rear of the swimming pool cleaning robot 1 and the wall can be correspondingly obtained, and then according to the distance difference, the driving parts on the left and right sides of the swimming pool cleaning robot 1 can be controlled to walk at differential speeds, thereby adjusting the travel direction of the swimming pool cleaning robot 1;

[0084] Specifically, the controller of the swimming pool cleaning robot 1 may specifically include an angular velocity controller, and the angular velocity controller may adopt a P controller (i.e., a proportional controller);

[0085] Of course, in some other embodiments of the present invention, a PID controller (i.e., proportional-integral-differential controller) can also be used according to the response of the walking mechanism of the swimming pool cleaning robot 11, wherein the PID controller uses a proportional-integral-differential control method to obtain the output angular velocity, and the PID controller controls the swimming pool cleaning robot 1 to adjust its travel direction more smoothly and accurately.

[0086] Furthermore, the distance sensing device comprises:

[0087] A first distance sensor, which is used to collect the distance value between the left front of the swimming pool cleaning robot 1 and the side wall of the swimming pool;

[0088] A second distance sensor, which is used to collect the distance value between the right front of the swimming pool cleaning robot 1 and the side wall of the swimming pool;

[0089] A third distance sensor, which is used to collect the distance value between the left rear of the swimming pool cleaning robot 1 and the side wall of the swimming pool;

[0090] The fourth distance sensor is used to collect the distance value between the right rear of the swimming pool cleaning robot 1 and the side wall of the swimming pool.

[0091] From the above description, it can be seen that the swimming pool cleaning robot 1 can specifically obtain the distance between the left front and left rear of the swimming pool cleaning robot 1 and the side wall of the swimming pool respectively through the first distance sensor and the third distance sensor; or, the swimming pool cleaning robot 1 can specifically obtain the distance between the right front and right rear of the swimming pool cleaning robot 1 and the side wall of the swimming pool respectively through the second distance sensor and the fourth distance sensor.

[0092] It should be pointed out that, on the swimming pool cleaning robot 1, in order to ensure the detection effect, a distance sensor can be set on the left front, left rear, right front and right rear of the swimming pool cleaning robot 1, that is, when the shape of the swimming pool cleaning robot 1 is a rectangle, the distance sensors can be set on the four corners of the rectangle of the swimming pool cleaning robot 1. The distance sensors used are fewer, and the detection is accurate and the calculation is convenient.

[0093] Based on this configuration, it can be ensured that two distance sensors are included on the four sides of the swimming pool cleaning robot 1 to ensure the distance detection capability of the swimming pool cleaning robot 1, that is, when the left side of the swimming pool cleaning robot 1 is closer to the side wall of the swimming pool, the distance sensors arranged on the left front and left rear of the swimming pool cleaning robot 1 can effectively obtain the distance between the left front and left rear of the swimming pool cleaning robot 1 and the wall respectively; and once the right side of the swimming pool cleaning robot 1 is closer to the side wall of the swimming pool, the distance sensors arranged on the left front and left rear of the swimming pool cleaning robot 1 can effectively obtain the distance between the right front and right rear of the swimming pool cleaning robot 1 and the side wall respectively.

[0094] Accordingly, in certain specific embodiments of the present invention, in actual application, the first distance sensor, the second distance sensor, the third distance sensor and the fourth distance sensor can work together when the pool cleaning robot 1 is working. However, according to the detection properties of the distance sensor, the detection distance of the distance sensor is usually limited. When the left side of the pool cleaning robot 1 is closer to the pool wall, the first distance sensor can detect the first distance value from the left front of the pool cleaning robot 1 to the side wall of the pool, and the second distance sensor can detect the second distance value from the left rear of the pool cleaning robot 1 to the side wall of the pool, while the second distance sensor and the fourth distance sensor cannot detect the existence of a wall in the right front or right rear of the pool cleaning robot 1, and they cannot obtain the corresponding distance. To this end, the first distance sensor and the third distance sensor of the pool cleaning robot 1 can transmit the information of the first distance value and the second distance value detected to the controller of the pool cleaning robot 1. At this time, the controller of the pool cleaning robot 1 can control the differential rotation of the left driving member and the right driving member of the pool cleaning robot 1 based on the information of the first distance value and the second distance value, thereby adjusting the travel direction of the pool cleaning robot 1.

[0095] In addition, in the present invention, the above-mentioned distance sensor can specifically use a relatively low-cost TOF sensor. The TOF sensor belongs to an optical sensor, which is also a "time of flight" sensor and a type of laser radar. The TOF sensor can detect the distance to the obstacle and has a small measurement blind spot. Of course, in actual application, it is not limited to the above-mentioned TOF sensor. Manufacturers can choose any other distance sensor or other distance measurement method according to specific usage requirements, such as: infrared sensor, ultrasonic sensor, etc.

[0096] Embodiment 1

[0097] Please refer to Figures 1 to 5 , Embodiment 1 of the present invention is: a swimming pool cleaning robot 1, the swimming pool cleaning robot 1 comprises a driving device, a distance sensor device and a controller, the controller is connected to the driving device and the distance sensor device respectively;

[0098] The swimming pool cleaning robot 1 has a rectangular shape, and the distance sensing device includes a first distance sensor, a second distance sensor, a third distance sensor and a fourth distance sensor respectively arranged at the four corners of the rectangle of the swimming pool cleaning robot 1, wherein the first distance sensor is used to collect the distance value between the left front of the swimming pool cleaning robot 1 and the side wall of the swimming pool, the second distance sensor is used to collect the distance value between the right front of the swimming pool cleaning robot 1 and the side wall of the swimming pool, the third distance sensor is used to collect the distance value between the left rear of the swimming pool cleaning robot 1 and the side wall of the swimming pool, and the fourth distance sensor is used to collect the distance value between the right rear of the swimming pool cleaning robot 1 and the side wall of the swimming pool;

[0099] The driving device includes a left driving wheel 4 and a right driving wheel 5 respectively arranged on the left and right sides of the swimming pool cleaning robot 1. In actual application, the controller can control the left driving wheel 4 and the right driving wheel 5 to rotate at a differential speed.

[0100] In actual application, the swimming pool cleaning robot 1 of the first embodiment can walk between the first side wall 2 and the second side wall 3 of the swimming pool.

[0101] The swimming pool cleaning robot 1 can first walk along the first direction and approach the first side wall 2. Figure 2 It can be clearly seen that there is a preset angle between the first direction and the first side wall 2, that is, the swimming pool cleaning robot 1 approaches the first side wall 2 obliquely; and when the swimming pool cleaning robot 1 is moving, the first distance sensor can collect a first distance value d1 from the left front of the swimming pool cleaning robot 1 to the swimming pool in real time, and the third distance sensor can collect a second distance value d2 from the left rear of the swimming pool cleaning robot 1 to the swimming pool;

[0102] Please refer to Figure 3 As shown, in the first embodiment, when the first distance value d1 is less than the preset threshold, the controller can control the left driving wheel 4 and the right driving wheel 5 to move at a differential speed, so that the travel direction of the swimming pool cleaning robot 1 changes, until the first distance value d1 is equal to the second distance value d2, the swimming pool cleaning robot 1 stops turning, at which time the travel direction of the swimming pool cleaning robot 1 is parallel to the first side wall 2, and the swimming pool cleaning robot 1 can travel a preset distance parallel to the side wall;

[0103] The preset distance may be equal to the body width of the swimming pool cleaning robot 1, and the width of the cleaning area generated by the swimming pool cleaning robot 1 during walking is also exactly equal to the body width;

[0104] Please refer to further Figure 4 As shown, in the first embodiment, the controller can further control the left driving wheel 4 and the right driving wheel 5 to travel at a differential speed, so that the traveling direction of the swimming pool cleaning robot 1 is changed, and the swimming pool cleaning robot 1 can travel in a second direction opposite to the first direction. At this time, the swimming pool cleaning robot 1 is away from the first side wall 2 and close to the second side wall 3;

[0105] The swimming pool cleaning robot 1 can repeatedly perform the steps of the above walking control method, as shown in FIG. Figure 5 As shown, the swimming pool cleaning robot 1 can approach the second side wall 3, then turn and walk a preset distance parallel to the second side wall 3, and then turn again to walk in a third direction opposite to the second direction;

[0106] After the swimming pool cleaning robot 1 repeats the steps of the above-mentioned walking control method, the walking path of the swimming pool cleaning robot 1 has a high coverage rate of the area between the first side wall 2 and the second side wall 3, and the swimming pool cleaning robot 1 does not need to walk repeatedly on the same area to ensure the cleaning coverage rate of the swimming pool. Therefore, the swimming pool cleaning robot 1 can not only improve its cleaning coverage rate by executing the above-mentioned walking control method, but also effectively improve the cleaning efficiency of the swimming pool cleaning robot 1.

[0107] Embodiment 2

[0108] In the second embodiment, the structure of the swimming pool cleaning robot 1 designed in the second embodiment is improved on the distance sensing device of the swimming pool cleaning robot 1 designed in the first embodiment, wherein the difference between the second embodiment and the first embodiment is that:

[0109] In the second embodiment, the distance sensing device is also replaced by a pressure sensing device, and the pressure sensing device may include a first pressure sensor and a second pressure sensor respectively disposed at the left front and the right front of the pool cleaning robot 1;

[0110] In the second embodiment, the swimming pool cleaning robot 1 will collide with the first side wall 2 or the second side wall 3 during movement. At this time, the first pressure sensor or the second pressure sensor will be able to generate an electrical signal, and the electrical signal sensed by the pressure sensing device can be transmitted to the controller. After receiving the electrical signal, the controller can control the left drive wheel 4 and the right drive wheel 5 to operate differentially, so that the moving direction of the swimming pool cleaning robot 1 is parallel to the first side wall 2 or the second side wall 3.

[0111] In summary, the walking control method provided by the present invention can avoid the pool cleaning robot from generating cleaning blind spots during the walking process, and the walking control method can control the pool cleaning robot to walk along a reasonable path, so the walking control method can improve the cleaning coverage of the pool cleaning robot and improve the cleaning efficiency of the pool cleaning robot.

[0112] 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 walking control method for a swimming pool cleaning robot, characterized in that: The following steps are involved: The swimming pool cleaning robot walks along a first direction and approaches a side wall of the swimming pool, wherein the first direction and the side wall have a preset angle; The swimming pool cleaning robot walks a preset distance along the side wall; The swimming pool cleaning robot turns and walks in a second direction opposite to the first direction.

2. The walking control method according to claim 1, characterized in that: The swimming pool cleaning robot walks a preset distance along the side wall, specifically: The inclination angle of the swimming pool cleaning robot relative to the side wall is adjusted, and the moving direction of the swimming pool cleaning robot is controlled to be parallel to the side wall, and the swimming pool cleaning robot walks a preset distance parallel to the side wall.

3. The walking control method according to claim 2, characterized in that: When the swimming pool cleaning robot collides with the side wall, the swimming pool cleaning robot is controlled to move in a direction parallel to the side wall.

4. The walking control method according to claim 2, characterized in that: A first distance value between the front of the swimming pool cleaning robot and the side wall is obtained, and a second distance value between the rear of the swimming pool cleaning robot and the side wall is obtained; when the first distance value and / or the second distance value is less than a preset threshold value, the swimming pool cleaning robot is controlled to move in a direction parallel to the side wall.

5. The walking control method according to claim 4, characterized in that: The first distance value is controlled to be equal to the second distance value so that the moving direction of the swimming pool cleaning robot is parallel to the side wall.

6. The walking control method according to claim 2, characterized in that: The inclination angle of the swimming pool cleaning robot relative to the side wall is adjusted to control the moving direction of the swimming pool cleaning robot to be parallel to the side wall, specifically: The driving members on the left and right sides of the swimming pool cleaning robot are controlled to move at differential speeds, and the walking directions and walking speeds of the driving members on the left and right sides of the swimming pool cleaning robot are adjusted in real time so that the moving direction of the swimming pool cleaning robot is parallel to the side wall.

7. The walking control method according to claim 1, characterized in that: The swimming pool cleaning robot turns and walks in a second direction opposite to the first direction, specifically: The driving members on the left and right sides of the swimming pool cleaning robot are controlled to move at differential speeds, and the walking directions and walking speeds of the driving members on the left and right sides of the swimming pool cleaning robot are adjusted so that the swimming pool cleaning robot moves in a second direction opposite to the first direction and away from the side wall.

8. The walking control method according to claim 1, characterized in that: The preset distance is smaller than or equal to a width of a body of the pool cleaning robot.

9. A walking control system of a swimming pool cleaning robot, applied to the walking control method according to any one of claims 1 to 8, characterized in that: include: A driving device, comprising a plurality of driving members disposed on the left and right sides of the swimming pool cleaning robot; A distance sensing device, comprising at least two distance sensors, wherein the at least two distance sensors are respectively used to collect distance values ​​between at least two positions on the pool cleaning robot and the side wall of the pool; A controller is connected to the driving device and the distance sensing device respectively, and the controller is used to send a control instruction to the driving device according to the distance values ​​collected by at least two distance sensors in the distance sensing device, so that the swimming pool cleaning robot walks according to the set motion strategy.

10. The walking control system according to claim 9, characterized in that: The distance sensing device comprises: A first distance sensor, which is used to collect the distance value between the left front of the swimming pool cleaning robot and the side wall of the swimming pool; A second distance sensor is used to collect the distance between the right front of the swimming pool cleaning robot and the side wall of the swimming pool; A third distance sensor is used to collect the distance value between the left rear of the swimming pool cleaning robot and the side wall of the swimming pool; The fourth distance sensor is used to collect the distance value between the right rear of the swimming pool cleaning robot and the side wall of the swimming pool.

Images