Water level line cleaning method and device, underwater cleaning robot and storage medium

Abstract

The invention is suitable for the technical field of robots, and particularly relates to a water line cleaning method and device, an underwater cleaning robot and a storage medium. According to the method, a distance sensor is used for collecting the real-time distance between the robot and the water surface in real time, a posture sensor is used for collecting the posture of the robot in real time, when the robot is lower than the water surface, the robot is controlled to move upwards according to the posture of the robot, when the robot reaches the water surface, a rolling brush is controlled to move, and after rolling brush movement is finished, the robot is controlled to move upwards. The robot is controlled to vertically move downwards, when the robot is lower than the water surface, the robot is controlled to rotate by a preset angle, and when the robot is lower than the water surface, the robot is controlled to move upwards according to the posture of the robot until cleaning is finished. And the robot can gradually and laterally advance without manual intervention, and the water line cleaning work of the whole pool wall is completed.

Description

Technical Field

[0001] This application is applicable to the field of robotics, and particularly relates to a water level line cleaning method, device, underwater cleaning robot, and storage medium. Background Art

[0002] Currently, pool cleaning methods rely on manual labor or simple automatic cleaning equipment. These methods are often inefficient and difficult to thoroughly remove dirt on the water level line. With the development of technology, automated cleaning equipment has gradually become a research hotspot. However, most of the existing equipment lacks precise positioning and cleaning capabilities. Especially when cleaning this special area of the water level line, there are situations such as being unable to clean thoroughly or having positioning errors.

[0003] Therefore, how to accurately identify the water level line and control the cleaning action to improve the cleaning efficiency has become an urgent problem to be solved. Summary of the Invention

[0004] In view of this, the embodiments of this application provide a water level line cleaning method, device, underwater cleaning robot, and storage medium to solve the problem of how to accurately identify the water level line and control the cleaning action to improve the cleaning efficiency.

[0005] In a first aspect, the embodiments of this application provide a water level line cleaning method, and the water level line cleaning method includes: Using a distance sensor disposed on the robot and at the same height as the robot's rotary brush to collect the real-time distance from the water surface in real time, and using an attitude sensor disposed on the robot to collect the attitude of the robot in real time. When the robot is below the water surface, control the robot to move upward according to the attitude of the robot. When the robot reaches the water surface, control the rotary brush to move. After the movement of the rotary brush ends, control the robot to move vertically downward, and when the robot is below the water surface, control the robot to rotate a preset angle, and then return to execute the step of controlling the robot to move upward according to the attitude of the robot when the robot is below the water surface until the cleaning ends.

[0006] Optionally, the robot includes a left wheel and a right wheel, and the step of controlling the robot to rotate a preset angle includes: Control the left wheel and the right wheel to perform differential movement, and determine the real-time angle according to the attitude of the robot. When the real-time angle reaches the preset angle, control the left wheel and the right wheel to stop differential movement.

[0007] Optionally, controlling the robot to move upward according to the posture of the robot includes: If it is detected that the robot is in a vertical posture, then control the robot to move vertically upward according to the vertical posture.

[0008] Optionally, after controlling the robot to rotate a preset angle, controlling the robot to move upward according to the posture of the robot includes: Determine that the robot is in a non-vertical posture; Control the robot to move obliquely upward according to the non-vertical posture.

[0009] Optionally, controlling the rotary brush to move when the robot reaches the water surface includes: When the robot reaches the water surface and it is detected that the robot is in the vertical posture, control the rotary brush to move. When the robot reaches the water surface, it changes from the non-vertical posture to the vertical posture under the action of buoyancy.

[0010] Optionally, the distance sensor is an ultrasonic ranging sensor.

[0011] Optionally, the attitude sensor is an IMU sensor.

[0012] In a second aspect, an embodiment of the present application provides a water level cleaning device, and the water level cleaning device includes: A sensor module, configured to use a distance sensor disposed on the robot and at the same height as the rotary brush of the robot to collect the real-time distance from the water surface in real time, and use an attitude sensor disposed on the robot to collect the attitude of the robot in real time; A first control module, configured to control the robot to move upward according to the posture of the robot when the robot is below the water surface, and control the rotary brush to move when the robot reaches the water surface; A second control module, configured to control the robot to move vertically downward after the movement of the rotary brush ends, and when the robot is below the water surface, control the robot to rotate a preset angle, and return to execute controlling the robot to move upward according to the posture of the robot when the robot is below the water surface until the cleaning ends.

[0013] Optionally, the robot includes a left wheel and a right wheel, and the second control module includes: A differential control unit, configured to control the differential of the left wheel and the right wheel and determine a real-time angle according to the posture of the robot; A stop differential unit, configured to control the left wheel and the right wheel to stop differential when the real-time angle reaches the preset angle.

[0014] Optionally, the first control module includes: A first control unit, configured to control the robot to move vertically upward according to the vertical posture if it is detected that the robot is in a vertical posture.

[0015] Optionally, after controlling the robot to rotate a preset angle, the first control module includes: An attitude determination unit, configured to determine that the robot is in a non-vertical posture; A second control unit, configured to control the robot to move obliquely upward according to the non-vertical posture.

[0016] Optionally, the first control module includes: A rotary brush control unit, configured to control the rotary brush to move when the robot reaches the water surface and it is detected that the robot is in the vertical posture. When the robot reaches the water surface, it changes from the non-vertical posture to the vertical posture under the action of buoyancy.

[0017] Optionally, the distance sensor is an ultrasonic ranging sensor.

[0018] Optionally, the attitude sensor is an IMU sensor.

[0019] In a third aspect, an embodiment of the present application provides an underwater cleaning robot, which includes a processor, a memory, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the water level cleaning method described in the first aspect is implemented.

[0020] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the water level cleaning method described in the first aspect is implemented.

[0021] The beneficial effects of the embodiments of the present application compared with the prior art are as follows: The present application uses a distance sensor disposed on the robot and at the same height as the rotary brush of the robot to collect the real-time distance from the water surface in real time, and uses an attitude sensor disposed on the robot to collect the attitude of the robot in real time. When the robot is below the water surface, according to the attitude of the robot, the robot is controlled to move upward. When the robot reaches the water surface, the rotary brush is controlled to move. After the movement of the rotary brush ends, the robot is controlled to move vertically downward, and when the robot is below the water surface, the robot is controlled to rotate a preset angle, and then return to execute the step of controlling the robot to move upward according to the attitude of the robot when the robot is below the water surface until the cleaning is completed. By controlling the up and down movement and rotation of the robot, combined with the distance detection of the water surface, etc., the robot can clean the water level line, and can gradually move laterally without manual intervention to complete the cleaning work of the water level line of the entire pool wall. Brief Description of the Drawings

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the accompanying drawings required for the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0023] Figure 1 It is a schematic flow chart of a water level line cleaning method provided by Embodiment 1 of the present application; Figure 2 It is a schematic flow chart of a water level line cleaning method provided by Embodiment 2 of the present application; Figure 3 It is a schematic operation diagram of robot cleaning provided by Embodiment 2 of the present application; Figure 4 It is a schematic structural diagram of a water level line cleaning device provided by Embodiment 3 of the present application; Figure 5 It is a schematic structural diagram of an underwater cleaning robot provided by Embodiment 4 of the present application. Detailed Description of the Invention

[0024] In the following description, specific details such as specific system structures and technologies are presented for the purpose of illustration rather than limitation, so as to thoroughly understand the embodiments of the present application. However, those skilled in the art should clearly understand that the present application can also be implemented in other embodiments without these specific details. In other cases, the detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid unnecessary details from interfering with the description of the present application.

[0025] It should be understood that, as used in the specification of this application and the appended claims, the term "comprising" indicates the presence of the described features, integers, steps, operations, elements and / or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or their groups.

[0026] It should also be understood that the term "and / or" as used in the specification of this application and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0027] As used in the specification of this application and the appended claims, the term "if" may be construed, depending on the context, as "when" or "once" or "in response to determining" or "in response to detecting". Similarly, the phrase "if determined" or "if [the described condition or event] is detected" may be construed, depending on the context, to mean "once determined" or "in response to determining" or "once [the described condition or event] is detected" or "in response to detecting [the described condition or event]".

[0028] In addition, in the description of the specification of this application and the appended claims, the terms "first", "second", "third", etc. are only used for distinguishing descriptions and should not be construed as indicating or implying relative importance.

[0029] Reference to "one embodiment" or "some embodiments" or the like described in the specification of this application means that a particular feature, structure or characteristic described in connection with that embodiment is included in one or more embodiments of this application. Thus, statements such as "in one embodiment", "in some embodiments", "in other some embodiments", "in still other embodiments", etc. that appear in different places in this specification do not necessarily all refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "comprising", "including", "having" and their variants all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0030] It should be understood that the magnitudes of the sequence numbers of the steps in the following embodiments do not mean the order of execution is prior or posterior, and the order of execution of each process should be determined according to its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of this application.

[0031] In order to illustrate the technical solutions of this application, the following specific embodiments are used for illustration.

[0032] See Figure 1, which is a schematic flowchart of a water level cleaning method provided in the first embodiment of the present application. The water level cleaning method is applied to a robot that can move on the pool wall to clean the pool wall. The robot can be an underwater cleaning robot. Of course, it can also be a multi-functional robot that can clean other environments.

[0033] As Figure 1 shown, the water level cleaning method may include the following steps: Step S101, use a distance sensor disposed on the robot and at the same height as the rolling brush of the robot to collect the real-time distance from the water surface in real time, and use an attitude sensor disposed on the robot to collect the attitude of the robot in real time.

[0034] In this embodiment, a rolling brush, a distance sensor, an attitude sensor, etc. are installed on the robot. Among them, the rolling brush can be set at any part of the robot. When the robot is vertically upward, the distance sensor is set at the same height as the rolling brush so that when the robot is in a vertical attitude, the rolling brush and the distance sensor are in the same horizontal plane, that is, the distance detected by the distance sensor from the water surface can reflect the distance between the rolling brush and the water surface. For example, when the distance sensor detects that its distance from the water surface is zero, it can indicate that the rolling brush is at the water surface, so that the water level line formed by the water surface and the pool wall can be washed and cleaned.

[0035] The distance sensor can detect the distance from the water surface by sending a wireless signal or cooperating with other beacons. In one embodiment, the distance sensor is an ultrasonic ranging sensor. The ultrasonic ranging sensor (Ultrasonic Distance Sensor, UDS) is a sensor that uses ultrasonic signals to measure distance. It calculates the distance from an obstacle by emitting ultrasonic waves and receiving the echo reflected back.

[0036] The attitude sensor can determine the attitude of the robot by detecting the movement process of the robot. For example, when the robot is in a vertical attitude, it means that the movement mechanism of the robot is in the vertical direction. If the rolling brush is defined as the front end or the rear end of the robot, then when the robot is in a vertical attitude, the rolling brush is directly above or below the robot. In one embodiment, the attitude sensor is an IMU sensor, an Inertial Measurement Unit (IMU) is a device that integrates an accelerometer and a gyroscope, which is used to measure and report the state of a specific force, angular velocity, and in some cases, the magnetic field around an object. Inertial Navigation Technology (Inertial Navigation System, INS): An autonomous navigation technology that does not rely on external reference information and determines its position, speed, and attitude by measuring the acceleration and angular velocity of the carrier.

[0037] Step S102: When the robot is below the water surface, control the robot to move upward according to the posture of the robot. When the robot reaches the water surface, control the rotary brush to move.

[0038] In this embodiment, when the robot is below the water surface, that is, when the distance sensor detects that the distance from the water surface does not reach the preset value (for example, the preset value is 0), the robot needs to move upward so that the rotary brush reaches the water level line, and control the rotary brush to move when the robot reaches the water surface to achieve scrubbing of the water level line.

[0039] When the robot moves upward, different controls need to be combined with the posture of the robot underwater. For example, if the robot is in a vertical posture underwater, its next movement is to move vertically upward. This vertical posture and vertical upward movement occur during the process when the robot first moves from underwater to the water level line for cleaning. Another example is that if the robot is in a tilted posture to the left or right underwater, its next movement is to move obliquely upward to achieve the movement of the robot in the horizontal direction and the vertical direction.

[0040] The rotary brush can be a brush body arranged in the horizontal direction and rotating along the horizontal axis, or a brush body arranged in the vertical direction and rotating along the vertical axis, so as to scrub the water level line formed by the water surface and the pool wall when reaching the water surface.

[0041] Step S103: After the movement of the rotary brush ends, control the robot to move vertically downward. When the robot is below the water surface, control the robot to rotate a preset angle, and then return to execute the step of controlling the robot to move upward according to the posture of the robot when the robot is below the water surface until the cleaning is completed.

[0042] In this embodiment, the scrubbing by the movement of the rotary brush can be controlled to stop scrubbing by setting a time limit or detecting the cleanliness. For example, the rotary brush moves for 10 seconds for cleaning by setting a time limit of 10 seconds. Another example is to collect images of the water level line through a camera and analyze the cleanliness of the collected images until the cleanliness reaches the standard and then stop the movement of the rotary brush.

[0043] After controlling the robot to rotate a preset angle, let the robot move upward to reach the water level line, which not only completes the translation in the horizontal direction but also reaches the water level line for cleaning. The overall cycle realizes the up-and-down movement and horizontal movement of the robot on the pool wall, thus completing the overall cleaning of the water level line on the pool wall.

[0044] A corresponding rotation mechanism can be set on the robot to control the rotation of the robot, and sensors such as IMU are used to record the posture. Of course, in the case where no rotation mechanism is designed, if the robot includes left and right wheels, rotation can also be achieved by wheel differential to achieve the purpose of angle adjustment.

[0045] Optionally, the robot includes a left wheel and a right wheel. Controlling the robot to rotate a preset angle includes: Controlling the differential of the left wheel and the right wheel, and determining the real-time angle according to the posture of the robot; When the real-time angle reaches the preset angle, controlling the left wheel and the right wheel to stop differential.

[0046] Among them, by designing left and right wheels for the robot, the rotation speed between the left wheel and the right wheel can be output at different rotation speed values, so that the rotation of the robot can be realized. Combining sensors such as IMU to monitor the rotation angle in real time, the purpose of controlling the rotation of the robot by left and right wheel differential can be achieved.

[0047] In the embodiment of the present application, a distance sensor is used, which is set on the robot and at the same height as the rotary brush of the robot, to collect the real-time distance from the water surface in real time, and an attitude sensor is used, which is set on the robot, to collect the attitude of the robot in real time. When the robot is below the water surface, according to the attitude of the robot, the robot is controlled to move upward. When the robot reaches the water surface, the rotary brush is controlled to move. After the movement of the rotary brush ends, the robot is controlled to move vertically downward, and when the robot is below the water surface, the robot is controlled to rotate a preset angle, and then return to execute the step of controlling the robot to move upward according to the attitude of the robot when the robot is below the water surface until the cleaning is completed. By controlling the up and down movement and rotation of the robot, combined with the detection of the distance from the water surface, etc., the robot can clean the water level line, and can gradually move laterally without manual intervention to complete the cleaning work of the water level line of the entire pool wall.

[0048] See Figure 2 , which is a schematic flow chart of a water level line cleaning method provided by the second embodiment of the present application. As Figure 2 shown, after controlling the robot to rotate a preset angle in the above step S103, controlling the robot to move upward according to the attitude of the robot may include the following steps: Step S201, determining that the robot is in a non-vertical posture.

[0049] Among them, after the robot rotates, its original vertical posture becomes a non-vertical posture. Since it is limited in step S101 that after the movement of the rotary brush ends, the robot is controlled to move vertically downward, the robot is in a vertical posture before rotation.

[0050] Step S202: Control the robot to move obliquely upward according to the non-vertical posture.

[0051] Among them, in the non-vertical posture, the robot is in an inclined state. Therefore, controlling the robot to move upward means moving obliquely upward, thereby generating a certain displacement in the horizontal direction. The magnitude of the displacement is related to the inclination angle. This preset angle can be designed in coordination with the distance that the robot moves vertically downward to ensure that after the robot moves obliquely upward, the roller brush is connected to the position of the previous sleep cleaning, avoiding gaps between two roller brush movements for cleaning.

[0052] Optionally, the controlling the robot to move upward according to the posture of the robot includes: If it is detected that the robot is in a vertical posture, control the robot to move vertically upward according to the vertical posture.

[0053] Among them, initially, the robot is in a vertical posture underwater, so it moves vertically upward during the first upward movement. If the robot moves vertically downward from the water surface to below the water surface, an action of controlling the robot to rotate is executed, thereby changing the vertical posture to a non-vertical posture to achieve the movement of the robot in the horizontal direction.

[0054] Optionally, the controlling the roller brush to move when the robot reaches the water surface includes: When the robot reaches the water surface and it is detected that the robot is in the vertical posture, control the roller brush to move. When the robot reaches the water surface, it changes from the non-vertical posture to the vertical posture under the action of buoyancy.

[0055] Among them, it is set that when the robot reaches the water surface, under the action of buoyancy, the robot changes from the non-vertical posture to the vertical posture. The posture is detected by sensors such as IMU. When the posture becomes the vertical posture, the roller brush is controlled to move to achieve the cleaning of the water level line.

[0056] For example, as Figure 3 shown, it is a schematic diagram of the operation of a robot cleaning provided in Embodiment 2 of the present application. The movement process is as follows: 1) The robot moves to the starting position of the pool wall, and the ultrasonic sensor starts to work to detect the distance between the robot and the water surface; 2) The robot moves upward along the pool wall until the ultrasonic sensor detects that it has left the water surface, indicating that the roller brush has contacted the water level line. The robot starts the cleaning action while contacting the water level line, and the roller brush brushes the water level line; 3) After cleaning is completed, the robot moves vertically downward and returns to the water again. When the ultrasonic sensor detects the robot in the water again, it indicates that the robot has returned to the initial cleaning position; 4) Using the attitude detection of the IMU, control the left and right wheels of the robot to perform differential motion, so that the robot tilts and moves upward at a certain angle. In the tilted state, the robot continues to move upward until it leaves the water surface. The attitude of the robot will return to vertical due to the buoyancy force. Repeat step 3) to achieve the lateral movement of the robot on the water level plane; 5) After the robot completes cleaning in one area, through the control of the IMU, adjust the attitude and prepare to move to the next cleaning area. The robot repeats steps 2) to 4) until the water level line of the entire pool is cleaned.

[0057] Corresponding to the water level line cleaning method in the above embodiment, Figure 4 The structural block diagram of the water level line cleaning device provided in the third embodiment of the present application is shown. For the sake of convenience of description, only the parts related to the embodiments of the present application are shown.

[0058] See Figure 4 , the water level line cleaning device includes: The sensor module 41 is used to use a distance sensor disposed on the robot and at the same height as the rotary brush of the robot to collect the real-time distance from the water surface in real time, and use an attitude sensor disposed on the robot to collect the attitude of the robot in real time; The first control module 42 is used to control the robot to move upward according to the attitude of the robot when the robot is below the water surface, and control the rotary brush to move when the robot reaches the water surface; The second control module 43 is used to control the robot to move vertically downward after the movement of the rotary brush ends, and when the robot is below the water surface, control the robot to rotate a preset angle, and return to execute controlling the robot to move upward according to the attitude of the robot when the robot is below the water surface until the cleaning ends.

[0059] Optionally, the robot includes a left wheel and a right wheel, and the second control module 43 includes: The differential control unit is used to control the differential of the left wheel and the right wheel and determine the real-time angle according to the attitude of the robot; The stop differential unit is used to control the left wheel and the right wheel to stop differential when the real-time angle reaches the preset angle.

[0060] Optionally, the first control module 42 includes: The first control unit is used to control the robot to move vertically upward according to the vertical attitude if it detects that the robot is in a vertical attitude.

[0061] Optionally, after controlling the robot to rotate a preset angle, the first control module 42 includes: An attitude determination unit for determining that the robot is in a non-vertical attitude; A second control unit for controlling the robot to move obliquely upward according to the non-vertical attitude.

[0062] Optionally, the first control module 42 includes: A rotary brush control unit for controlling the movement of the rotary brush when the robot reaches the water surface and detects that the robot is in the vertical attitude. When the robot reaches the water surface, it changes from the non-vertical attitude to the vertical attitude under the action of buoyancy.

[0063] Optionally, the distance sensor is an ultrasonic ranging sensor.

[0064] Optionally, the attitude sensor is an IMU sensor.

[0065] It should be noted that the information interaction, execution process, etc. between the above modules, due to being based on the same concept as the method embodiment of the present application, for their specific functions and the technical effects brought, please refer to the method embodiment part specifically, and will not be elaborated here.

[0066] Figure 5 This is a schematic structural diagram of an underwater cleaning robot provided in Embodiment 4 of the present application. As Figure 5 shown, the underwater cleaning robot of this embodiment includes: at least one processor ( Figure 5 only one is shown in the figure), a memory, and a computer program stored in the memory and executable on at least one processor. When the processor executes the computer program, it implements the steps in any of the above-mentioned method embodiments for cleaning water level lines.

[0067] The underwater cleaning robot may include, but is not limited to, a processor and a memory. Those skilled in the art can understand that Figure 5 this is only an example of an underwater cleaning robot and does not constitute a limitation on the underwater cleaning robot. The underwater cleaning robot may include more or fewer components than shown in the figure, or combine some components, or different components. For example, it may also include a network interface, a display screen, and an input device, etc.

[0068] The so-called processor may be a CPU, and the processor may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0069] The memory includes a readable storage medium, an internal memory, etc. Among them, the internal memory may be the memory of the underwater cleaning robot, and the internal memory provides an environment for the operation of the operating system and computer-readable instructions in the readable storage medium. The readable storage medium may be the hard disk of the underwater cleaning robot, and in some other embodiments, it may also be an external storage device of the underwater cleaning robot. For example, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the underwater cleaning robot. Further, the memory may also include both the internal storage unit of the underwater cleaning robot and the external storage device. The memory is used to store the operating system, application programs, a boot loader, data, and other programs, such as the program code of a computer program. The memory may also be used to temporarily store the data that has been output or will be output.

[0070] Those skilled in the art can clearly understand that, for the convenience and conciseness of description, only the division of the above-mentioned functional units and modules is used as an example. In actual applications, the above-mentioned functions can be allocated to different functional units and modules according to needs, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment can be integrated into a processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of a software functional unit. In addition, the specific names of the functional units and modules are only for the convenience of mutual distinction and do not limit the protection scope of this application. The specific working processes of the units and modules in the above-mentioned device can refer to the corresponding processes in the foregoing method embodiments and will not be elaborated here. If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, to implement all or part of the processes in the above-mentioned method embodiments of this application, a computer program can be used to instruct the relevant hardware to complete. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, the steps of the above-mentioned method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in the form of source code, object code, executable file or some intermediate form, etc. The computer-readable medium can at least include: any entity or device capable of carrying the computer program code, recording medium, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal, and software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk or an optical disc, etc. In some jurisdictions, according to legislation and patent practice, the computer-readable medium cannot be an electrical carrier signal and a telecommunication signal.

[0071] All or part of the processes in the above-mentioned method embodiments of this application can also be completed by a computer program product. When the computer program product runs on an underwater cleaning robot, the underwater cleaning robot can be made to execute the steps in the above-mentioned method embodiments.

[0072] In the above embodiments, the descriptions of the respective embodiments have their own emphases. For the parts not detailed or recorded in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0073] Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of this application.

[0074] In the embodiments provided in this application, it should be understood that the disclosed device / underwater cleaning robot and method can be implemented in other ways. For example, the device / underwater cleaning robot embodiments described above are merely illustrative. For example, the division of modules or units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections to each other can be through some interfaces. The indirect couplings or communication connections of devices or units can be electrical, mechanical or other forms.

[0075] The units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they can be located in one place, or they can be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0076] The above embodiments are only used to illustrate the technical solutions of this application, rather than to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features. And these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of each embodiment of this application, and should all be included in the protection scope of this application.

Claims

1. A water level cleaning method, characterized in that: The water level cleaning method comprises: Using a distance sensor disposed on the robot and at the same height as the roller brush of the robot, real-time distance to the water surface is collected, and using a posture sensor disposed on the robot, real-time posture of the robot is collected; When the robot is below the water surface, the robot is controlled to move upward according to the posture of the robot, and when the robot reaches the water surface, the roller brush is controlled to move; After the roller brush movement is completed, the robot is controlled to move vertically downward, and when the robot is below the water surface, the robot is controlled to rotate a preset angle, and returns to execute when the robot is below the water surface, according to the posture of the robot, the robot is controlled to move upward until the cleaning is completed.

2. The water level cleaning method according to claim 1, characterized in that: The robot comprises a left wheel and a right wheel, and the controlling the robot to rotate a preset angle comprises: Controlling the left wheel and the right wheel to move differentially, and determining a real-time angle according to the posture of the robot; When the real-time angle reaches a preset angle, the left wheel and the right wheel are controlled to stop differential movement.

3. The water level cleaning method according to claim 1, characterized in that: According to the posture of the robot, controlling the robot to move upwards comprises: If it is detected that the robot is in a vertical posture, the robot is controlled to move vertically upward according to the vertical posture.

4. The water level cleaning method according to claim 3, characterized in that: After controlling the robot to rotate by a preset angle, controlling the robot to move upward according to the posture of the robot comprises: Determining that the robot is in a non-vertical posture; According to the non-vertical posture, the robot is controlled to move obliquely upward.

5. The water level cleaning method according to claim 4, characterized in that: When the robot reaches the water surface, controlling the rolling brush to move comprises: When the robot reaches the water surface and it is detected that the robot is in the vertical posture, the roller brush is controlled to move, and when the robot reaches the water surface, the robot changes from the non-vertical posture to the vertical posture under the action of buoyancy.

6. The water level cleaning method according to claim 1, characterized in that: The distance sensor is an ultrasonic distance measuring sensor.

7. The water level cleaning method according to claim 1, characterized in that: The attitude sensor is an IMU sensor.

8. A water level cleaning device, characterized in that: The water level cleaning device comprises: A sensor module, used to collect the real-time distance from the water surface using a distance sensor provided on the robot and at the same height as the roller brush of the robot, and to collect the real-time posture of the robot using a posture sensor provided on the robot; A first control module is used to control the robot to move upward according to the posture of the robot when the robot is below the water surface, and to control the roller brush to move when the robot reaches the water surface; The second control module is used to control the robot to move vertically downward after the roller brush movement is completed, and to control the robot to rotate by a preset angle when the robot is below the water surface, and return to execute the control of the robot to move upward according to the posture of the robot when the robot is below the water surface until cleaning is completed.

9. An underwater cleaning robot, characterized in that: The underwater cleaning robot includes a processor, a memory, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the water level cleaning method according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the water level line cleaning method according to any one of claims 1 to 7 is implemented.

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