Swimming pool robot and method for recognizing and cleaning floating objects on water surface of swimming pool

Abstract

The invention discloses a swimming pool robot and a swimming pool water surface floating object recognizing and cleaning method. The swimming pool robot comprises a machine body, and a first cleaning channel is formed by a first dirt suction opening, a first water outlet and a garbage filtering bin which are formed in the machine body; a second dirt suction port is formed in the front end of the machine body, and the second dirt suction port formed in the machine body, a second water outlet and the garbage filtering bin form a second cleaning channel; a composite sensor group for judging whether the garbage filtering bin is full of garbage or not is further arranged in the machine body; at least four buoyancy cabins are arranged in the machine body; a first propeller is arranged at the rear end of the body, a second propeller is arranged at the bottom of the body, and traveling wheels are arranged on two sides of the body; posture adjustment of the swimming pool robot is achieved through different-direction rotation of the advancing wheels on the two sides and the inflation volume in each buoyancy cabin. The swimming pool robot provided by the invention has flexible posture adjustment capability, and the provided method enables the swimming pool robot to autonomously and continuously find floating objects in a swimming pool for cleaning.

Description

Technical Field

[0001] The present invention relates to the technical field of pool robots, and in particular, to a pool robot and a method for identifying and cleaning floating objects on the pool surface. Background Art

[0002] Pool cleaning robots can replace manual operations and have good cleaning effects, and are widely used in pool cleaning. Existing pool robots are divided into surface robots and underwater robots. Underwater robots are usually used to clean the bottom wall, side wall or water level line of the pool; surface robots are used to clean floating objects on the water surface. Currently, surface robots still follow traditional random path patterns or specific path patterns. For example, in the patent with document number CN116006001A, a method, system and readable storage medium for cleaning a surface-line pool robot are disclosed. The disclosed method includes obtaining the cleaning route information of the pool robot according to the driving wheel power information and a preset angle.

[0003] As is well known, there is not much garbage floating on the water surface of the pool. Sometimes there are only a few floating leaves or plastic garbage, etc. At this time, if the surface robot cleans according to a specific path or a random path, it may not reach the position of fixed floating garbage in more than 50% of the area floating on the water surface, resulting in too long cleaning time and excessive power consumption; or, affected by the wind, the floating objects on the water surface may gather at a certain edge or corner. At this time, if the surface robot cleans according to a specific path or a random path, it may need to clean all areas before finally reaching the gathering place of the garbage.

[0004] Therefore, there is an urgent need in the industry for an implementation method that can quickly clean floating objects on the water surface. Summary of the Invention

[0005] The present invention aims to overcome the above deficiencies in the prior art and provides an anti-collision device and a lawn mowing robot, which are used to solve the problem that when an existing lawn mowing robot encounters a hard object, it lacks an intelligent response mechanism and does not actively stop moving, resulting in the robot continuously colliding with the hard object and the cutter head continuously idling.

[0006] The technical solution adopted by the present invention is a pool robot, including a body. A garbage filtering bin is arranged inside the body. A first sewage suction port communicating with the garbage filtering bin is arranged at the bottom of the body. A first water outlet communicating with the garbage filtering bin is arranged at the top of the body. The first sewage suction port, the first water outlet and the garbage filtering bin form a first cleaning path;

[0007] A second sewage suction port communicating with the garbage filtering bin is arranged at the front end of the body. A second water outlet communicating with the garbage filtering bin is arranged at the rear end of the body. The second sewage suction port, the second water outlet and the garbage filtering bin form a second cleaning path;

[0008] A composite sensor group is also provided inside the body, which is used to comprehensively judge whether the garbage in the garbage filtration bin is full. The composite sensor group includes at least two of a differential pressure sensor, a flow sensor, and an opposed photoelectric sensor;

[0009] At least four buoyancy chambers are also provided inside the body. The buoyancy chambers can control the inflation and deflation inside them to provide different degrees of buoyancy for the body;

[0010] A first propeller is provided at the rear end of the body, a second propeller is provided at the bottom of the body, and traveling wheels are also provided on both sides of the body;

[0011] A multi-camera group is provided at the front end of the body, an ultrasonic rangefinder is also provided at the front end of the body, and a gyroscope sensor is provided inside the body;

[0012] The pool robot can move forward / backward by the same-direction rotation of the traveling wheels on both sides, and the attitude adjustment of the pool robot is achieved by the reverse rotation of the traveling wheels on both sides and the inflation amount in each buoyancy chamber. The pool robot of the present invention can autonomously clean the floating objects in the pool through its own attitude adjustment ability and floating object recognition ability.

[0013] A method for identifying and cleaning floating objects on the pool surface, based on the aforementioned pool robot, mainly includes the following steps:

[0014] S1. Adjust the attitude of the pool robot until the floating object appears in the field of view of the multi-camera group, and collect an image containing the floating object;

[0015] S2. Determine whether the volume or single dimension of the floating object exceeds the processing threshold of the pool robot. If the floating object does not exceed the processing threshold, proceed to the next step. If the floating object exceeds the processing threshold, jump to execute step S1;

[0016] S3. Identify the floating object in the current field of view as a processable target floating object. According to the current pitch angle of the body, adjust the rotation speeds of the first propeller and the second propeller so that the pool robot moves towards the processable target floating object, and adjust the attitude of the pool robot during the movement to keep the processable target floating object within the field of view of the multi-camera group;

[0017] S4. The pool robot reaches the position of the processable target floating object and collects the processable target floating object through the first sewage suction port and / or the second sewage suction port;

[0018] S5. Judge whether the garbage filtration bin inside the pool robot is full through the composite sensor group. If it is full, proceed to the next step. If it is not full, jump to execute step S1;

[0019] S6. The pool robot returns to the base station or a set point;

[0020] By designing the recognition method of floating objects and the loop processing logic of the pool robot, this method enables the pool robot to continuously and autonomously process the processable floating objects in the pool.

[0021] In one way, the method for recognizing and cleaning floating objects on the pool surface further includes step S2001, step S2002, and step S2003. After each determination in step 2 that the floating object exceeds the processing threshold, step S2001 is executed to increment the loop count by 1;

[0022] Then step S2002 is executed to determine whether the loop count exceeds the set value. If it exceeds, it jumps to execute step S6; if it does not exceed the set value, it jumps to execute step S1;

[0023] After each determination in step 2 that the floating object does not exceed the processing threshold, first step S2003 is executed to clear the loop count, and then step S3 is executed;

[0024] In this method, by introducing the loop count, the pool robot can determine whether the floating objects in the pool have been processed, thus autonomously ending the processing process.

[0025] In one way, when the pool robot floats on the water surface in the initial state, in step S1, the pool robot adjusts its attitude by the reverse rotation of the traveling wheels on both sides of the body;

[0026] In this method, by defining the attitude adjustment logic of the pool robot in step S1 in the initial state when the pool robot floats on the water surface, energy conservation is achieved.

[0027] In one way, when the pool robot is in the water body in the initial state, in step S1, the pool robot adjusts its attitude by the reverse rotation of the traveling wheels on both sides of the body and the inflation amount in each buoyancy chamber;

[0028] In step S3, the ultrasonic rangefinder is used to measure the distance to the processable target floating object in real time. When the pool robot moves towards the processable target floating object until the distance from the target floating object is 0.2 - 0.4 m, the pool robot adjusts the rotation speeds of the first propeller and the second propeller and its attitude, first emerges from the water surface and floats on the water surface, and then continues to move towards the position of the processable target floating object;

[0029] In this method, by defining the attitude adjustment logic of the pool robot in step S1 in the initial state when the pool robot is in the water body, and defining the traveling logic for approaching the floating object in step S3, the pool robot approaches the floating object in the most suitable attitude, improving the processing efficiency.

[0030] In one approach, the method for identifying and cleaning floating objects on the pool surface further includes step S201 and step S202. After determining in step S2 that the volume or single dimension of the floating object does not exceed the processing threshold of the pool robot, it enters step S201, which is the next step in the judgment. Step S202 is the next step after step S201. In step S201, the pool robot first identifies the floating object in the current field of view as a target floating object that can be processed, and then uses an ultrasonic rangefinder to determine whether there is a pool wall whose minimum distance from the target floating object that can be processed is less than half of the width of the pool robot itself;

[0031] If there is a pool wall whose minimum distance from the target floating object that can be processed is less than half of the width of the pool robot itself, it enters step S202; if not, it enters step S3.

[0032] In step S202, the pool robot first moves towards the pool wall whose minimum distance from the target floating object that can be processed is less than half of the width of the pool robot itself until the distance between the pool robot and the pool wall is less than half of the width of the pool robot itself, and then adjusts its posture until the target floating object that can be processed with the minimum distance from the pool wall less than half of the width of the pool robot itself appears in the field of view, and then continues to execute step S3;

[0033] In this method, by defining the control logic of the pool robot when the floating object is close to the pool wall, the pool robot can better collect the floating objects close to the pool wall and avoid collisions between the pool robot and the pool wall.

[0034] In a further improved approach, in step S202, the pool robot first surfaces and floats on the water surface by adjusting the rotation speeds of the first propeller and the second propeller and the posture of the pool robot, and then moves towards the pool wall whose minimum distance from the target floating object that can be processed is less than half of the width of the pool robot itself;

[0035] In this method, the process of the pool robot approaching the pool wall is further optimized, and collisions between the pool robot and the pool wall are avoided.

[0036] In a further improved method, the method for identifying and cleaning floating objects on the pool surface further includes step S501 and step S502. In step S5, if the garbage filter bin 111 in the pool robot is not full, step S501 is executed first. In step S501, it is judged whether there are floating objects in the field of view of the current multi-camera group. If there are floating objects, step S2 is executed by jumping. If there are no floating objects in the field of view of the current multi-camera group, step S502 is executed. In step S502, the posture of the pool robot is adjusted first and it turns 180 degrees in the horizontal plane, and then it continues to judge whether there are floating objects in the field of view of the current multi-camera group. At this time, if there are floating objects in the field of view of the current multi-camera group 161, step S2 is executed by jumping. If there are no floating objects in the field of view of the current multi-camera group, step S1 is executed by jumping;

[0037] In this method, by adding the re-judgment process after the pool robot finishes processing a single floating object close to the pool wall, the pool robot can process all the processable floating objects close to a single pool wall at one time, improving the floating object collection efficiency.

[0038] Compared with the prior art, the beneficial effects of the present invention are:

[0039] The pool robot provided by the present invention has flexible posture adjustment ability and floating object recognition ability. The method provided by the present invention enables the pool robot to autonomously and continuously search for floating objects in the pool and clean them, saving manpower and having high processing efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 is a perspective view of the pool robot;

[0041] Figure 2 is a perspective view of the pool robot from another angle;

[0042] Figure 3 is a perspective view of the pool robot from another angle;

[0043] Figure 4 is a perspective view showing the internal structure of the pool robot;

[0044] Figure 5 is a flowchart of the method for identifying and cleaning floating objects on the pool surface provided in Embodiment 2;

[0045] Figure 6 is a flowchart of the method for identifying and cleaning floating objects on the pool surface provided for the further improved embodiment in Embodiment 2;

[0046] Figure 7 is a flowchart of the method for identifying and cleaning floating objects on the pool surface provided in Embodiment 5;

[0047] Figure 8 Flow chart of the method for identifying and cleaning floating objects on the pool surface provided for the further improved embodiment in Embodiment 5.

[0048] Label description:

[0049] 1. Body; 11. Accommodation cavity; 111. Garbage filtration bin; 112. Buoyancy chamber; 121. First sewage suction port; 122. First water outlet; 131. Second sewage suction port; 132. Second water outlet; 141. First propeller; 142. Second propeller; 15. Traveling wheel; 161. Multi-camera group; 162. Ultrasonic rangefinder; 163. Gyroscope sensor. Specific implementation mode

[0050] The attached drawings of the present invention are only for illustrative purposes and cannot be construed as a limitation to the present invention. For better illustration of the following embodiments, some components in the attached drawings will be omitted, enlarged or reduced, which do not represent the dimensions of the actual product; for those skilled in the art, it is understandable that some well-known structures and their descriptions in the attached drawings may be omitted.

[0051] Embodiment 1

[0052] As Figure 1-4 shown, the embodiment of the present invention provides a pool robot, which includes a body 1. A garbage filtration bin 111 is arranged inside the body 1. A first sewage suction port 121 communicating with the garbage filtration bin 111 is arranged at the bottom of the body 1. A first water outlet 122 communicating with the garbage filtration bin 111 is arranged at the top of the body 1. The first sewage suction port 121, the first water outlet 122 and the garbage filtration bin 111 form a first cleaning path; a second sewage suction port 131 communicating with the garbage filtration bin 111 is arranged at the front end of the body 1. A second water outlet 132 communicating with the garbage filtration bin 111 is arranged at the rear end of the body 1. The second sewage suction port 131, the second water outlet 132 and the garbage filtration bin 111 form a second cleaning path; the first cleaning path is mainly used to handle the garbage at the bottom of the pool. When the pool robot rolls over the floating objects on the water surface, the first cleaning path can also assist in handling the floating object garbage on the water surface; the second cleaning path is mainly used to handle the floating object garbage on the pool wall and the pool surface; a plurality of buoyancy chambers 112 (at least four) are also arranged inside the body 1. The buoyancy chambers 112 can control the inflation and exhaust inside them to provide different degrees of buoyancy for the body 1 (there are various embodiments of the buoyancy chambers 112 in the prior art, and their specific structures will not be elaborated).

[0053] The motion forms of the pool robot in water mainly include turning, moving forward, surfacing, and diving. To meet the motion requirements of the pool robot, a first propeller 141 is provided at the rear end of the body 1, a second propeller 142 is provided at the bottom of the body 1, and traveling wheels 15 are also provided on both sides of the body 1. To meet the recognition function of the pool robot for floating objects, a multi-camera group 161 is provided at the front end of the body 1, an ultrasonic rangefinder 162 for distance measurement is also provided at the front end of the body 1, and a gyroscope sensor 163 for sensing the current attitude of the pool robot is provided inside the body 1. When the pool robot is in the water body, traveling forward / backward can be achieved by the same-direction rotation of the traveling wheels 15 on both sides, rotation relative to the z-axis of the body 1 can be achieved by the opposite-direction rotation of the traveling wheels 15 on both sides, and the pitch angle and roll angle of the body 1 can be adjusted by adjusting the inflation amount in each buoyancy chamber 112, thereby realizing the attitude adjustment of the pool robot.

[0054] When the pool robot recognizes a floating object, the multi-camera group 161 is used to obtain the image of the floating object and perform visual ranging, and the ultrasonic rangefinder 162 is used to assist in accurate ranging. When the pool robot adjusts its own attitude until the floating object appears in the field of view of each camera in the multi-camera group 161, it is determined that the pool robot is facing the floating object, and the floating object is ranged by the multi-camera group 161 and the ultrasonic rangefinder 162 to complete the positioning of the floating object. The current three-dimensional attitude of the body 1 is recognized by the gyroscope sensor 163, and then according to the current pitch angle of the body 1 (at this time, the pitch angle of the body 1 is approximately the angle between the line connecting the body 1 and the floating object and the horizontal plane), the rotation speeds of the first propeller 141 and the second propeller 142 are controlled so that the resultant force of the thrust generated by the first propeller 141 and the second propeller 142 drives the pool robot to move towards the floating object. In addition, the image of the floating object captured by the multi-camera group 161, after being processed by the controller in the pool robot, can identify the contour of the floating object, so as to determine whether the volume or single dimension (one of length, width, and height) of the floating object exceeds the processing threshold of the pool robot. The floating object with a volume and single dimension smaller than the processing threshold of the pool robot is recognized as a processable floating object, and the floating object with a volume or single dimension larger than the processing threshold of the pool robot is recognized as an unprocessable floating object.

[0055] Specifically, the classification and processing logic of the floating object includes the following steps:

[0056] 1. Multi-camera image acquisition and preprocessing: Synchronously acquire left and right camera images, image denoising (Gaussian filtering / median filtering), and illumination compensation (histogram equalization / CLAHE).

[0057] 2. Depth information calculation: Stereo matching (generating a disparity map using the SGBM / BM algorithm), depth map conversion (converting the disparity map into a three-dimensional depth map through camera calibration parameters), and point cloud generation (creating three-dimensional spatial coordinate data of the scene).

[0058] 3. Floating object detection: Foreground segmentation (background subtraction / motion detection), contour extraction (Canny edge detection + findContours), and three-dimensional positioning (determining the spatial coordinate range of the floating object through the depth map).

[0059] 4. Volume estimation: Performing three-dimensional bounding box calculation and fitting (fitting the minimum circumscribed cube based on the point cloud data), measuring the length, width, and height of the bounding box, and calculating the volume using the three-dimensional bounding box (calculating the volume of the bounding box as length x height x width).

[0060] 5. Classification decision: Setting processing thresholds according to the pool robot (the maximum processable volume of the pool robot and the maximum single size of the processable floating objects), and classifying the floating objects into processable and non-processable floating objects.

[0061] In addition, considering that the pool robot needs to return to the base station or a set point (such as a fixed or manually set recovery point on the pool shore) when the trash filter bin 111 is full, a composite sensor group is also provided in the body 1 for comprehensively judging whether the trash in the trash filter bin 111 has been collected full. For example, differential pressure sensors can be set at the sewage suction port and the corresponding water outlet (the first sewage suction port 121 corresponds to the first water outlet 122, and the second sewage suction port 131 corresponds to the second water outlet 132), and the differential pressure is monitored to judge whether the trash in the trash filter bin 111 has been collected full; flow sensors can be set at the first water outlet 122 and the second water outlet 132, and the water flow is used to judge whether the trash in the trash filter bin 111 has been collected full; multiple pairs of photoelectric sensors can be installed on the inner wall of the filtering device, and when all the multiple pairs of photoelectric sensors are blocked, it is determined that the trash in the trash filter bin 111 has been collected full. The composite sensor group includes at least two of the above-mentioned differential pressure sensors, flow sensors, and pairs of photoelectric sensors.

[0062] Embodiment 2

[0063] Based on the pool robot in Embodiment 1, this embodiment provides a method for identifying and cleaning floating objects on the pool surface, as Figure 5 shown, mainly including the following steps:

[0064] S1. Adjust the attitude of the pool robot until the floating object appears in the field of view of the multi-camera group 161, and collect an image containing the floating object.

[0065] S2. Determine whether the volume or single dimension of the floating object exceeds the processing threshold of the pool robot. If the floating object does not exceed the processing threshold, proceed to the next step. If the floating object exceeds the processing threshold, jump to and execute step S1;

[0066] S3. Identify the floating object in the current field of view as a target floating object to be processed. According to the current pitch angle of the body 1, adjust the rotation speeds of the first propeller 141 and the second propeller 142 so that the pool robot moves towards the target floating object to be processed, and adjust the attitude of the pool robot during the movement to keep the target floating object to be processed within the field of view of the multi-camera group 161;

[0067] S4. The pool robot reaches the position of the target floating object to be processed and collects the target floating object to be processed through the first suction port 121 and / or the second suction port 131;

[0068] S5. Use the composite sensor group to determine whether the garbage filter bin 111 in the pool robot is full. If it is full, proceed to the next step. If it is not full, jump to and execute step S1;

[0069] S6. The pool robot returns to the base station or the set point.

[0070] As a further improvement of this embodiment, considering that the pool robot also needs to return to the base station or the set point after cleaning all the target floating objects in the pool, as Figure 6 shown, further introduce step S2001, step S2002 and step S2003. After each determination in step 2 that the floating object exceeds the processing threshold, execute step S2001 to increment the loop count by 1; then execute step S2002 to determine whether the loop count exceeds the set value (such as 99 times). If it exceeds, jump to and execute step S6. If it does not exceed the set value, jump to and execute step S1; after each determination in step 2 that the floating object does not exceed the processing threshold, first execute step S2003 to clear the loop count, and then execute step S3.

[0071] Embodiment 3

[0072] Based on the method for identifying and cleaning floating objects on the pool surface in Embodiment 2, when the pool robot floats on the water surface in the initial state, in step S1, the pool robot adjusts its attitude by the reverse rotation of the traveling wheels 15 on both sides of the body 1, and the other steps are the same as the method for identifying and cleaning floating objects on the pool surface in Embodiment 2.

[0073] Embodiment 4

[0074] Based on the method for identifying and cleaning floating objects on the pool surface in Embodiment 2, when the pool robot is initially located in the water body (below the water surface), in step S1, the pool robot adjusts its attitude by the reverse rotation of the traveling wheels 15 on both sides of the body 1 and the inflation amount in each buoyancy compartment 112.

[0075] In step S3, the ultrasonic rangefinder 162 is used to measure the distance to the target floating object that can be processed in real time. When the pool robot moves towards the target floating object that can be processed until the distance from the target floating object is 0.2 - 0.4 m, the pool robot adjusts the rotation speeds of the first propeller 141 and the second propeller 142 and its attitude, first emerges from the water surface and floats on the water surface, and then continues to move towards the position of the target floating object that can be processed; other steps are the same as the method for identifying and cleaning floating objects on the pool surface in Embodiment 2.

[0076] Embodiment 5

[0077] Based on the method for identifying and cleaning floating objects on the pool surface in Embodiment 2, for the treatment of floating objects near the pool edge, as Figure 6 shown, steps S201 and S202 need to be introduced. After it is determined in step S2 that the volume or single dimension of the floating object does not exceed the processing threshold of the pool robot, step S201 is entered. The next step of the judgment, step S202 is the next step of step S201. In step S201, the pool robot first identifies the floating object in the current field of view as a target floating object that can be processed, and then uses the ultrasonic rangefinder 162 to determine whether there is a pool wall with the minimum distance to the target floating object that can be processed less than half of the width of the pool robot itself; if there is a pool wall with the minimum distance to the target floating object that can be processed less than half of the width of the pool robot itself, step S202 is entered. If not, step S3 is entered; in step S202, the pool robot first moves towards the pool wall with the minimum distance to the target floating object that can be processed less than half of the width of the pool robot itself until the distance between the pool robot and the pool wall is less than half of the width of the pool robot itself, and then adjusts its attitude until the target floating object with the minimum distance to the pool wall less than half of the width of the pool robot itself appears in the field of view, and then continues to execute step S3; other steps are the same as the method for identifying and cleaning floating objects on the pool surface in Embodiment 2.

[0078] As a further improvement of this embodiment, in step S3, the pool robot adjusts the rotation speeds of the first propeller 141 and the second propeller 142 and its attitude, first emerges from the water surface and floats on the water surface, and then moves towards the pool wall with the minimum distance to the target floating object that can be processed less than half of the width of the pool robot itself.

[0079] As a further improvement of this embodiment, considering that there may be more than one target floating object to be processed near the pool wall, as Figure 7 shown, it is also necessary to introduce step S501 and step S502. In step S5, if the garbage filter bin 111 in the pool robot is not full, step S501 is executed first. In step S501, it is judged whether there is a floating object in the field of view of the current multi-camera group 161. If there is a floating object, it jumps to execute step S2. If there is no floating object in the field of view of the current multi-camera group 161, step S502 is executed. In step S502, the attitude of the pool robot is adjusted first and it turns 180 degrees in the horizontal plane, and then it continues to judge whether there is a floating object in the field of view of the current multi-camera group 161. At this time, if there is a floating object in the field of view of the current multi-camera group 161, it jumps to execute step S2. If there is no floating object in the field of view of the current multi-camera group 161, it jumps to execute S1.

[0080] Other steps are the same as the method for identifying and cleaning floating objects on the pool surface in Embodiment 2.

[0081] Embodiment 6

[0082] Considering the case of manual control, a signal transceiver is also provided in the pool robot, which can cooperate with a controller or software for user operation to directly adjust the attitude of the pool robot and control the rotation speeds of the first propeller 141 and the second propeller 142.

[0083] When the pool robot floats on the water surface in the initial state, the operation steps are as follows:

[0084] S1. The user remotely controls and adjusts the attitude of the pool robot until the front of the pool robot is directly facing the target floating object to be processed;

[0085] S2. Adjust the rotation speeds of the first propeller 141 and the second propeller 142 so that the pool robot moves towards the target floating object to be processed;

[0086] S4. The pool robot reaches the position of the target floating object to be processed, and operates the first sewage suction port 121 and / or the second sewage suction port 131 to collect the target floating object to be processed;

[0087] S5. It is judged by the composite sensor group that the garbage filter bin 111 in the pool robot is full. If it is full, the pool robot sends a signal to the controller or software for user operation to instruct the user to recycle the pool robot. If it is not full, it sends a signal to the controller or software for user operation to instruct the user that the collection of floating objects can continue.

[0088] Embodiment 7

[0089] When the pool robot is in the water body in the initial state, the operation steps are as follows:

[0090] S1. The user remotely controls the attitude adjustment of the pool robot until the front of the pool robot is directly facing the target floating object to be processed;

[0091] S2. Adjust the rotation speeds of the first propeller 141 and the second propeller 142 so that the pool robot moves towards the target floating object to be processed;

[0092] S3. When the pool robot moves to a distance of 0.2 - 0.4 m from the target floating object, the pool robot sends a signal to the controller or software for user operation. The user adjusts the rotation speeds of the first propeller 141 and the second propeller 142 and the attitude of the pool robot, so that the pool robot first emerges from the water surface and floats on the water surface, and then continues to move towards the position of the target floating object to be processed;

[0093] S4. When the pool robot reaches the position of the target floating object to be processed, operate the first sewage suction port 121 and / or the second sewage suction port 131 to collect the target floating object to be processed;

[0094] S5. Judge whether the garbage filter bin 111 in the pool robot is full through the composite sensor group. If it is full, the pool robot sends a signal to the controller or software for user operation to indicate the user to recycle the pool robot. If it is not full, it sends a signal to the controller or software for user operation to indicate that the user can continue to collect the floating object.

[0095] Embodiment 8

[0096] Based on the operation steps when the pool robot in the initial state in the water body in Embodiment 7, in step 3, when the pool robot moves to a distance of 0.2 - 0.4 m from the target floating object, the pool robot sends a signal to the controller or software for user operation. The user adjusts the rotation speeds of the first propeller 141 and the second propeller 142 and the attitude of the pool robot, so that the pool robot first emerges from the water surface and floats on the water surface, and then continues to move towards the position of the target floating object to be processed.

[0097] The pool robot provided by the present invention has flexible attitude adjustment ability and floating object recognition ability. The method provided by the present invention enables the pool robot to autonomously and continuously search for floating objects in the pool and clean them, saving manpower and having high processing efficiency.

[0098] Obviously, the above embodiments of the present invention are only examples for clearly illustrating the technical solutions of the present invention, rather than limitations on the specific implementation manners of the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the claims of the present invention shall be included within the protection scope of the claims of the present invention.

Claims

1. A swimming pool robot, characterized in that: The machine body comprises a garbage filter chamber, a first sewage suction port connected to the garbage filter chamber is provided at the bottom of the machine body, a first water outlet connected to the garbage filter chamber is provided at the top of the machine body, and the first sewage suction port, the first water outlet and the garbage filter chamber form a first cleaning passage; The front end of the machine body is provided with a second sewage suction port connected to the garbage filter bin, and the rear end of the machine body is provided with a second water outlet connected to the garbage filter bin. The second sewage suction port, the second water outlet and the garbage filter bin form a second cleaning passage; A composite sensor group is also provided in the machine body, which is used to comprehensively judge whether the garbage in the garbage filter bin is full of garbage. The composite sensor group includes at least two of a pressure difference sensor, a flow sensor, and a beam photoelectric sensor. At least four buoyancy chambers are also provided in the body, which can control the inflation and exhaust of the air inside to provide different degrees of buoyancy for the body; A first propeller is arranged at the rear end of the body, a second propeller is arranged at the bottom of the body, and traveling wheels are arranged on both sides of the body; A multi-camera group is arranged at the front end of the machine body, an ultrasonic rangefinder is also arranged at the front end of the machine body, and a gyroscope sensor is arranged inside the machine body; The swimming pool robot can move forward / backward by rotating the traveling wheels on both sides in the same direction, and the swimming pool robot can adjust its posture by rotating the traveling wheels on both sides in different directions and the inflation amount in each buoyancy chamber.

2. A method for identifying and cleaning floating objects on the surface of a swimming pool, based on the swimming pool robot according to claim 1, characterized in that: The main steps include: S1. Adjust the posture of the swimming pool robot until the floating object appears in the field of view of the multi-camera group, and collect images containing the floating object; S2. Determine whether the volume or single size of the floating object exceeds the processing threshold of the swimming pool robot. If it does not exceed the processing threshold, proceed to the next step. If it exceeds the processing threshold, jump to step S1; S3. Identify the floating object in the current field of view as a processable target floating object, adjust the rotation speed of the first propeller and the second propeller according to the current pitch angle of the body, so that the swimming pool robot moves toward the processable target floating object, and adjust the posture of the swimming pool robot during the movement to keep the processable target floating object within the field of view of the multi-camera group; S4. The swimming pool robot reaches the position where the target floating objects can be processed, and collects the target floating objects that can be processed through the first sewage suction port and / or the second sewage suction port; S5. Determine whether the garbage filter bin in the swimming pool robot is full through the composite sensor group. If it is full, proceed to the next step. If it is not full, jump to step S1; S6. The pool robot returns to the base station or set point.

3. The method for identifying and cleaning floating objects on the surface of a swimming pool according to claim 2, characterized in that: The method further includes steps S2001, S2002 and S2003. Each time it is determined in step 2 that the floating object exceeds the processing threshold, step S2001 is executed and the loop count is increased by 1. Then, step S2002 is executed to determine whether the cycle count exceeds the set value. If it exceeds, the process jumps to step S6. If it does not exceed the set value, the process jumps to step S1. After each determination in step 2 that the floating objects do not exceed the processing threshold, step S2003 is first executed to clear the cycle count, and then step S3 is executed.

4. The method for identifying and cleaning floating objects on the surface of a swimming pool according to claim 2, characterized in that: When the swimming pool robot floats on the water in the initial state, in step S1, the swimming pool robot adjusts the posture of the swimming pool robot by rotating the traveling wheels on both sides of the body in different directions.

5. The method for identifying and cleaning floating objects on the surface of a swimming pool according to claim 2, characterized in that: When the swimming pool robot is initially located in the water, in step S1, the swimming pool robot adjusts the posture of the swimming pool robot by rotating the traveling wheels on both sides of the body in different directions and by adjusting the amount of air in each buoyancy chamber; In step S3, the ultrasonic rangefinder is used to measure the distance of the treatable target floating object in real time, and the swimming pool robot moves toward the treatable target floating object until the distance to the target floating object is 0.2-0.4m. The swimming pool robot adjusts the rotation speed of the first propeller and the second propeller and the posture of the swimming pool robot, first floats on the water surface and then continues to move toward the position of the treatable target floating object.

6. The method for identifying and cleaning floating objects on the surface of a swimming pool according to claim 2, characterized in that: The invention also includes step S201 and step S202. In step S2, after determining that the volume or single dimension of the floating object does not exceed the processing threshold of the swimming pool robot, the process proceeds to step S201. Step S202 is the next step of step S201. In step S201, the swimming pool robot first identifies the floating object in the current field of view as a processable target floating object, and then determines through an ultrasonic rangefinder whether there is a swimming pool wall whose minimum distance to the processable target floating object is less than half the width of the swimming pool robot itself. If there is a pool wall whose minimum distance to the target floating object that can be processed is less than half the width of the pool robot itself, then go to step S202; if not, then go to step S3; In step S202, the pool robot first moves toward the pool wall whose minimum distance to the processable target floating object is less than half of the pool robot's own width, until the distance between the pool robot and the pool wall is less than half of the pool robot's own width, and then adjusts its posture until the processable target floating object whose minimum distance to the pool wall is less than half of the pool robot's own width appears in the field of vision, and then continues to execute step S3.

7. The method for identifying and cleaning floating objects on the surface of a swimming pool according to claim 6, characterized in that: In step S202, the swimming pool robot first emerges from the water and floats on the water surface by adjusting the rotation speeds of the first propeller and the second propeller and the posture of the swimming pool robot, and then moves toward the swimming pool wall whose minimum distance to the target floating object that can be handled is less than half the width of the swimming pool robot itself.

8. The method for identifying and cleaning floating objects on the surface of a swimming pool according to claim 6, characterized in that: It also includes step S501 and step S502. In step S5, if the garbage filter bin 111 in the swimming pool robot is not full, step S501 is executed first. In step S501, it is determined whether there are floating objects in the field of view of the current multi-eye camera group. If there are floating objects, the process jumps to step S2. If there are no floating objects in the field of view of the current multi-eye camera group, the process jumps to step S502. In step S502, the posture of the swimming pool robot is first adjusted and turned 180 degrees in the horizontal plane, and then it is continued to be determined whether there are floating objects in the field of view of the current multi-eye camera group. At this time, if there are floating objects in the field of view of the current multi-eye camera group 161, the process jumps to step S2. If there are no floating objects in the field of view of the current multi-eye camera group, the process jumps to step S1.

Images