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

Abstract

The application is suitable for the field of robot technology, and particularly relates to a water level line cleaning method and device, an underwater cleaning robot and a storage medium. The method uses a distance sensor to collect the real-time distance from the water surface in real time, and uses a posture sensor to collect the posture of the robot in real time. When the robot is below the water surface, the robot is controlled to move upward according to the posture of the robot. When the robot reaches the water surface, the rolling brush is controlled to move. After the movement of the rolling brush is completed, the robot is controlled to move vertically downward. When the robot is below the water surface, the robot is controlled to rotate by a preset angle, and the process of controlling the robot to move upward according to the posture of the robot when the robot is below the water surface is executed until the cleaning is completed. Through the control of the upward and downward movement and rotation of the robot, and the detection of the distance from the water surface, the robot can clean the water level line without manual intervention, and gradually move laterally to complete the water level line cleaning work of the entire pool wall.

Description

Technical Field

[0001] This application relates to the field of robotics, and in particular to a water level cleaning method, apparatus, underwater cleaning robot, and storage medium. Background Technology

[0002] Currently, pool cleaning methods rely on manual labor or simple automated cleaning equipment, which are often inefficient and fail to thoroughly remove dirt from the waterline. With technological advancements, automated cleaning equipment has become a research hotspot; however, most existing equipment lacks precise positioning and cleaning capabilities, especially when cleaning the waterline, where it may fail to clean effectively or misalign.

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

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

[0005] In a first aspect, embodiments of this application provide a water level cleaning method, the water level cleaning method comprising: A distance sensor mounted on the robot at the same height as the robot's roller brush is used to collect the real-time distance to the water surface, and an attitude sensor mounted on the robot is used to collect the robot's attitude in real time. When the robot is below the water surface, the robot is controlled to move upward according to its posture; when the robot reaches the water surface, the roller brush is controlled to move. After the roller brush movement ends, the robot is controlled to move vertically downwards. When the robot is below the water surface, the robot is controlled to rotate by a preset angle and return to the starting position. When the robot is below the water surface, the robot is controlled to move upwards according to its posture until the cleaning is completed.

[0006] Optionally, the robot includes a left wheel and a right wheel, and controlling the robot to rotate at a preset angle includes: The left and right wheels are controlled differentially, and the real-time angle is determined according to the robot's posture; When the real-time angle reaches the preset angle, the left wheel and the right wheel are controlled to stop differentially.

[0007] Optionally, controlling the robot to move upward based on its posture includes: If the robot is detected to be in a vertical orientation, then the robot is controlled to move vertically upwards based on the vertical orientation.

[0008] Optionally, after controlling the robot to rotate by a preset angle, the robot is controlled to move upward according to its posture, including: The robot is determined to be in a non-vertical posture; Based on the non-vertical posture, the robot is controlled to move diagonally upwards.

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

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

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

[0012] Secondly, embodiments of this application provide a water level cleaning device, the water level cleaning device comprising: The sensor module is used to collect the real-time distance to the water surface using a distance sensor mounted on the robot at the same height as the robot's roller brush, and to collect the robot's attitude in real time using an attitude sensor mounted on the robot. The first control module is used to control the robot to move upward according to the robot's posture when the robot is below the water surface, and to control the movement of the roller brush 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 ends, and to control the robot to rotate by a preset angle when the robot is below the water surface, and to return to the starting position when the robot is below the water surface, and to control the robot to move upward according to the robot's posture until the cleaning is finished.

[0013] Optionally, the robot includes a left wheel and a right wheel, and the second control module includes: A differential control unit is used to control the differential movement of the left wheel and the right wheel, and to determine the real-time angle based on the robot's posture; The differential stop unit is used to control the left wheel and the right wheel to stop differential operation when the real-time angle reaches the preset angle.

[0014] Optionally, the first control module includes: A first control unit is configured to, if the robot is detected to be in a vertical orientation, control the robot to move vertically upwards based on the vertical orientation.

[0015] Optionally, after controlling the robot to rotate by a preset angle, the first control module includes: An attitude determination unit is used to determine that the robot is in a non-vertical attitude; The second control unit is used to control the robot to move diagonally upward based on the non-vertical posture.

[0016] Optionally, the first control module includes: A roller brush control unit is used to control the movement of the roller brush when the robot reaches the water surface and the robot is detected to be 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] Thirdly, embodiments of this application provide 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, it implements the waterline cleaning method as described in the first aspect.

[0020] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the water level cleaning method as described in the first aspect.

[0021] The beneficial effects of this application embodiment compared with the prior art are as follows: This application uses a distance sensor mounted on the robot at the same height as the robot's roller brush to collect the real-time distance to the water surface, and uses an attitude sensor mounted on the robot to collect the robot's attitude in real time. When the robot is below the water surface, the robot is controlled to move upward according to its attitude. When the robot reaches the water surface, the roller brush is controlled to move. After the roller brush movement ends, the robot is controlled to move vertically downward. When the robot is below the water surface, the robot is controlled to rotate by a preset angle and return to the starting position. When the robot is below the water surface, the robot is controlled to move upward according to its attitude until the cleaning is completed. By controlling the robot's up-and-down movement and rotation, combined with distance detection of the water surface, the robot can clean the water level line without human intervention and can gradually move sideways to complete the cleaning of the entire pool wall's water level line. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a schematic flowchart of a water level cleaning method provided in Embodiment 1 of this application; Figure 2 This is a schematic flowchart of a water level cleaning method provided in Embodiment 2 of this application; Figure 3 This is a schematic diagram of a robot cleaning operation provided in Embodiment 2 of this application; Figure 4 This is a schematic diagram of the structure of a water level cleaning device provided in Embodiment 3 of this application; Figure 5 This is a structural schematic diagram of an underwater cleaning robot provided in Embodiment 4 of this application. Detailed Implementation

[0024] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0025] It should be understood that, when used in this application specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or a collection thereof.

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

[0027] As used in this application specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determined" or "if detected [the described condition or event]" may be interpreted, depending on the context, as meaning "once determined," "in response to determination," "once detected [the described condition or event]," or "in response to detection [the described condition or event]."

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

[0029] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0030] It should be understood that the sequence number of each step in the following embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0031] To illustrate the technical solution of this application, specific embodiments are described below.

[0032] See Figure 1This is a flowchart illustrating a water level cleaning method provided in Embodiment 1 of this application. This water level cleaning method is applied to a robot that can move on the wall of a pool to clean the pool wall. The robot can be an underwater cleaning robot, or it can be a multifunctional robot capable of cleaning other environments.

[0033] like Figure 1 As shown, the water level cleaning method may include the following steps: Step S101: Using a distance sensor mounted on the robot at the same height as the robot's roller brush, the real-time distance to the water surface is collected, and using an attitude sensor mounted on the robot, the robot's attitude is collected in real time.

[0034] In this embodiment, the robot is equipped with a roller brush, a distance sensor, and an attitude sensor. The roller brush can be positioned anywhere on the robot. When the robot is vertically upright, a distance sensor is positioned at the same height as the roller brush, ensuring that the roller brush and the distance sensor are on the same horizontal plane when the robot is in a vertical position. This means that the distance detected by the distance sensor reflects the distance between the roller brush and the water surface. For example, when the distance sensor detects a distance of zero, it indicates that the roller brush is at the water surface, thus enabling the cleaning of the water level line formed by the water surface and the pool wall.

[0035] Distance sensors can detect distances to water surfaces by transmitting wireless signals or in conjunction with other beacons. In one embodiment, the distance sensor is an ultrasonic distance sensor (UDS), which is a sensor that uses ultrasonic signals to measure distances by emitting ultrasonic waves and receiving the reflected echoes to calculate the distance to obstacles.

[0036] Attitude sensors can determine a robot's attitude by detecting its motion. For example, in a vertical orientation, the robot's motion mechanism is in a vertical direction. If a roller brush is defined as the robot's front or rear end, then in a vertical orientation, the roller 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 to measure and report specific forces, angular velocities, and, in certain cases, the state of a magnetic field around an object. Inertial Navigation System (INS) is an autonomous navigation technology that does not rely on external reference information and determines its position, velocity, 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 robot's posture; when the robot reaches the water surface, control the roller brush to move.

[0038] In this embodiment, the robot is below the water surface, that is, the distance sensor detects that the distance from the water surface has not reached the preset value (for example, the preset value is 0). At this time, the robot needs to move upward so that the roller brush reaches the water level line, and the roller brush is controlled to move when the robot reaches the water surface in order to achieve the washing of the water level line.

[0039] When the robot moves upward, it needs to be controlled differently depending on its underwater posture. 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 occurs during the initial movement of the robot from underwater to the water level for cleaning. Or, if the robot is in a tilted posture to the left or right underwater, its next movement is to move diagonally upward, thus realizing the robot's movement in both the horizontal and vertical directions.

[0040] The roller brush can be a horizontally oriented brush body that rotates along a horizontal axis, or a vertically oriented brush body that rotates along a vertical axis, so as to scrub the water level line formed by the water surface and the pool wall when it reaches the water surface.

[0041] Step S103: After the roller brush movement ends, control the robot to move vertically downwards, and when the robot is below the water surface, control the robot to rotate by a preset angle and return to the starting position. When the robot is below the water surface, control the robot to move upwards according to the robot's posture until the cleaning is finished.

[0042] In this embodiment, the brushing motion can be controlled to stop by setting a timer or detecting the cleanliness level. For example, the brush can be set to clean for 10 seconds by setting a timer for 10 seconds. Alternatively, a camera can be used to capture images of the water level and analyze the cleanliness level of the captured images until the cleanliness level is met, at which point the brushing motion stops.

[0043] After controlling the robot to rotate at a preset angle, the robot moves upward to the water level line, completing the horizontal translation and then cleaning at the water level line. The entire cycle realizes the robot's up-and-down and horizontal movement on the pool wall, thereby completing the cleaning of the water level line on the pool wall.

[0044] A corresponding rotation mechanism can be set on the robot to control its rotation, and the posture can be recorded by sensors such as IMU. Of course, if the robot has left and right wheels, rotation can be achieved by differential wheel movement to achieve the purpose of angle adjustment without designing a rotation mechanism.

[0045] Optionally, the robot includes a left wheel and a right wheel, and controlling the robot to rotate at a preset angle includes: The left and right wheels are controlled differentially, and the real-time angle is determined according to the robot's posture; When the real-time angle reaches the preset angle, the left wheel and the right wheel are controlled to stop differentially.

[0046] The robot is designed with left and right wheels. By outputting different rotational speeds between the left and right wheels, the robot can rotate. Combined with sensors such as IMU to monitor the rotation angle in real time, the robot's rotation can be controlled differentially by the left and right wheels.

[0047] This embodiment uses a distance sensor mounted on a robot at the same height as the robot's roller brush to collect real-time distance data from the water surface. An attitude sensor mounted on the robot collects the robot's attitude data in real-time. When the robot is below the water surface, the robot is controlled to move upwards based on its attitude. When the robot reaches the water surface, the roller brush is controlled to move. After the roller brush movement ends, the robot is controlled to move vertically downwards. When the robot is below the water surface, it is controlled to rotate by a preset angle and return to the starting position. The process of controlling the robot's vertical movement and rotation, combined with distance detection of the water surface, enables the robot to clean the water level line gradually, sideways, without human intervention, completing the cleaning of the entire pool wall's water level line.

[0048] See Figure 2 This is a schematic flowchart of a water level cleaning method provided in Embodiment 2 of this application. Figure 2 As shown, after controlling the robot to rotate by a preset angle in step S103 above, controlling the robot to move upward according to the robot's posture may include the following steps: Step S201: Determine that the robot is in a non-vertical posture.

[0049] After the robot rotates, it changes from its original vertical posture to a non-vertical posture. Since step S101 specifies that the robot should move vertically downwards after the brush motion ends, the robot was in a vertical posture before rotating.

[0050] Step S202: Based on the non-vertical posture, control the robot to move diagonally upward.

[0051] In the non-vertical orientation, the robot is tilted. Therefore, controlling the robot to move upwards means moving diagonally upwards, resulting in a certain displacement in the horizontal direction. The magnitude of the displacement is related to the tilt angle. This preset angle can be designed to match the distance the robot moves vertically downwards, ensuring that after the robot moves diagonally upwards, the brush connects to the position of the previous sleep cleaning, avoiding any gap between two brush cleaning movements.

[0052] Optionally, controlling the robot to move upward based on its posture includes: If the robot is detected to be in a vertical orientation, then the robot is controlled to move vertically upwards based on the vertical orientation.

[0053] Initially, the robot is in a vertical position underwater, so its first upward movement is vertical. If the robot moves vertically downward from the water surface to below the water surface, it will perform a rotation control action to change the vertical position to a non-vertical position, thereby enabling the robot to move in the horizontal direction.

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

[0055] The robot is designed to change from a non-vertical to a vertical posture when it reaches the water surface due to buoyancy. The posture is detected by sensors such as IMU, and the movement of the roller brush is controlled when the posture changes to a vertical posture to clean the water level.

[0056] For example, such as Figure 3 The diagram shown is a schematic representation of the operation of a robot cleaning system according to Embodiment 2 of this application. The motion flow is as follows: 1) When the robot moves to the starting position on the pool wall, the ultrasonic sensor starts working 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 cleaning as soon as it contacts the water level line, and the roller brush washes the water level line. 3) After cleaning, the robot moves vertically downwards and returns to the water. The ultrasonic sensor detects the robot in the water again, indicating 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 move differentially, so that the robot tilts at a certain angle and moves upward. In the tilted state, the robot continues to move upward until it leaves the water surface. The robot's attitude will return to vertical due to the buoyancy. Repeat step 3) to achieve the lateral movement of the robot in the water level plane. 5) After the robot finishes cleaning one area, it adjusts its posture through IMU control and prepares to move to the next cleaning area. The robot repeats steps 2) to 4) until the water level of the entire pool is cleaned.

[0057] Corresponding to the water level cleaning method in the above embodiment, Figure 4 A structural block diagram of the water level cleaning device provided in Embodiment 3 of this application is shown. For ease of explanation, only the parts relevant to the embodiments of this application are shown.

[0058] See Figure 4 The water level cleaning device includes: The sensor module 41 is used to collect the real-time distance to the water surface using a distance sensor mounted on the robot and at the same height as the robot's roller brush, and to collect the robot's attitude in real time using an attitude sensor mounted on the robot. The first control module 42 is used to control the robot to move upward according to the robot's posture when the robot is below the water surface, and to control the movement of the roller brush when the robot reaches the water surface. The second control module 43 is used to control the robot to move vertically downward after the roller brush movement ends, and to control the robot to rotate by a preset angle when the robot is below the water surface, and to return to the previous operation. When the robot is below the water surface, the module controls the robot to move upward according to the robot's posture until the cleaning is finished.

[0059] Optionally, the robot includes a left wheel and a right wheel, and the second control module 43 includes: A differential control unit is used to control the differential movement of the left wheel and the right wheel, and to determine the real-time angle based on the robot's posture; The differential stop unit is used to control the left wheel and the right wheel to stop differential operation when the real-time angle reaches the preset angle.

[0060] Optionally, the first control module 42 includes: A first control unit is configured to, if the robot is detected to be in a vertical orientation, control the robot to move vertically upwards based on the vertical orientation.

[0061] Optionally, after controlling the robot to rotate by a preset angle, the first control module 42 includes: An attitude determination unit is used to determine that the robot is in a non-vertical attitude; The second control unit is used to control the robot to move diagonally upward based on the non-vertical posture.

[0062] Optionally, the first control module 42 includes: A roller brush control unit is used to control the movement of the roller brush when the robot reaches the water surface and the robot is detected to be 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.

[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 and execution process between the above modules are based on the same concept as the method embodiments of this application. For details on their specific functions and technical effects, please refer to the method embodiments section, and they will not be repeated here.

[0066] Figure 5 This is a structural schematic diagram of an underwater cleaning robot provided in Embodiment 4 of this application. Figure 5 As shown, the underwater cleaning robot of this embodiment includes: at least one processor ( Figure 5 Only one is shown in the diagram), a memory, and a computer program stored in the memory and executable on at least one processor, which, when executed by the processor, implements the steps in any of the above-described embodiments of the waterline cleaning method.

[0067] The underwater cleaning robot may include, but is not limited to, a processor and memory. Those skilled in the art will understand that... Figure 5 This is merely an example of an underwater cleaning robot and does not constitute a limitation on underwater cleaning robots. Underwater cleaning robots may include more or fewer parts than shown in the illustration, or a combination of certain parts, or different parts, such as network interfaces, displays, and input devices.

[0068] The processor referred to can be a CPU, but it can 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. A general-purpose processor can be a microprocessor or any conventional processor.

[0069] The memory includes readable storage media, internal memory, etc., wherein the internal memory can be the RAM of the underwater cleaning robot, providing an environment for the operation of the operating system and computer-readable instructions stored in the readable storage media. The readable storage media can be the hard drive of the underwater cleaning robot, or in other embodiments, it can be an external storage device of the underwater cleaning robot, such as a plug-in hard drive, Smart Media Card (SMC), Secure Digital (SD) card, or Flash Card equipped on the underwater cleaning robot. Furthermore, the memory can include both internal storage units and external storage devices of the underwater cleaning robot. The memory is used to store the operating system, applications, bootloader, data, and other programs, such as program code for computer programs. The memory can also be used to temporarily store data that has been output or will be output.

[0070] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is used as an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, 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. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above device can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here. If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments of this application can be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the above method embodiments. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. A computer-readable medium can include at least: any entity or device capable of carrying computer program code, a recording medium, a computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media. Examples include USB flash drives, portable hard drives, magnetic disks, or optical disks. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electrical carrier signals or telecommunication signals.

[0071] The implementation of all or part of the processes in the above-described embodiments can also be accomplished by a computer program product. When the computer program product is run on the underwater cleaning robot, the underwater cleaning robot executes the steps in the above-described method embodiments.

[0072] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0073] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond 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 instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

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

[0076] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A method for cleaning water level lines, characterized in that, The water level cleaning method includes: A distance sensor is used on the robot at the same height as the robot's roller brush. When the distance sensor detects that the distance between it and the water surface is zero, it means that the roller brush is at the water surface. The real-time distance to the water surface is collected in real time. An attitude sensor is also used on the robot to collect the robot's attitude in real time. When the robot is below the water surface, the robot is controlled to move upward according to its posture; when the robot reaches the water surface, the roller brush is controlled to move. After the roller brush movement ends, the robot is controlled to move vertically downwards. When the robot is below the water surface, the robot is controlled to rotate by a preset angle and return to the starting position. When the robot is below the water surface, the robot is controlled to move upwards according to its posture until the cleaning is finished. The step of controlling the robot to move upward based on the robot's posture includes: If the robot is detected to be in a vertical orientation, then the robot is controlled to move vertically upwards based on the vertical orientation. After controlling the robot to rotate by a preset angle, controlling the robot to move upward according to the robot's posture includes: The robot is determined to be in a non-vertical posture; Based on the non-vertical posture, control the robot to move diagonally upwards; The step of controlling the movement of the roller brush when the robot reaches the water surface includes: When the robot reaches the water surface and is detected to be in the vertical posture, the roller brush is controlled to move, and the robot changes from the non-vertical posture to the vertical posture under the action of buoyancy when it reaches the water surface.

2. The water level cleaning method according to claim 1, characterized in that, The robot includes a left wheel and a right wheel, and controlling the robot to rotate at a preset angle includes: The left and right wheels are controlled differentially, and the real-time angle is determined according to the robot's posture; When the real-time angle reaches the preset angle, the left wheel and the right wheel are controlled to stop differentially.

3. The water level cleaning method according to claim 1, characterized in that, The distance sensor is an ultrasonic ranging sensor.

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

5. A water level cleaning device, characterized in that, The water level cleaning device includes: The sensor module is used to use a distance sensor mounted on the robot at the same height as the robot's roller brush. When the distance sensor detects that its distance from the water surface is zero, it indicates that the roller brush is at the water surface. The module collects the real-time distance from the water surface and uses an attitude sensor mounted on the robot to collect the robot's attitude in real time. The first control module is used to control the robot to move upward according to the robot's posture when the robot is below the water surface, and to control the movement of the roller brush 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 ends, and to control the robot to rotate by a preset angle when the robot is below the water surface, and to return to the previous operation when the robot is below the water surface, and to control the robot to move upward according to the robot's posture until the cleaning is finished. The first control module includes: The first control unit is configured to, if the robot is detected to be in a vertical posture, control the robot to move vertically upward according to the vertical posture; After controlling the robot to rotate by a preset angle, the first control module includes: An attitude determination unit is used to determine that the robot is in a non-vertical attitude; The second control unit is used to control the robot to move diagonally upward based on the non-vertical posture; The first control module includes: A roller brush control unit is used to control the movement of the roller brush when the robot reaches the water surface and the robot is detected to be 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.

6. 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, it implements the waterline cleaning method as described in any one of claims 1 to 4.

7. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the water level cleaning method as described in any one of claims 1 to 4.

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