Pool wall cleaning machine water line positioning control system based on handle inclination angle detection

Abstract

According to the pool wall cleaning machine water line positioning control system based on handle inclination angle detection, the inclination angle detection module is arranged in cooperation with the buoyancy induction handle, and the inclination angle of the buoyancy induction handle relative to the machine body datum plane is detected in real time; the control module receives the inclination angle signal and outputs a motor speed regulation instruction; the real-time inclination angle theta of the buoyancy sensing handle relative to the datum plane of the machine body is obtained through the inclination angle detection module, when the real-time inclination angle falls into the preset angle range [theta1, theta2] and changes in the angle range, a water line recognition signal is triggered, and the control module controls the pool wall cleaning machine to start the water line cleaning mode and execute the water line cleaning mode. The water level line positioning control system of the pool wall cleaning machine based on handle inclination angle detection can stably identify the water level line under complex working conditions.

Description

Technical Field

[0001] The present invention belongs to the technical field of cleaning equipment, and particularly relates to a water level line positioning control system for a pool wall cleaning machine based on handle inclination detection. Background Art

[0002] Existing pool cleaning machines are a new type of equipment that replaces manual labor and moves in the pool to clean and absorb debris in the pool. In order to collect the debris in the pool, a filtering device is provided inside the cleaning machine to filter and collect debris such as leaves and hair.

[0003] The pool wall cleaning machine walks along the cleaning route on the pool wall to perform the pool wall cleaning task. When returning to the water level line, the following typical problems exist: Due to the sudden change in surface tension and buoyancy change in the water level line area, when the cleaning machine approaches this area at a conventional power, the excessive driving force of the walking motor easily causes the machine to rush out of the water line due to inertia, that is, the running-out effect. And the continuous high-pressure operation of the water pump motor will generate a strong adsorption force, causing the fuselage to be overly pressed against the pool wall, and triggering lateral slip under the coupling of buoyancy and mechanical reaction force, ultimately resulting in the cleaning machine deviating from the predetermined cleaning trajectory, causing missed cleaning or repeated cleaning in the water level line area. For how to identify whether the front roller brush of the cleaning machine reaches the water level line to control the pool wall cleaning, the existing technologies mainly identify whether the roller brush reaches the water level line through mechanical, sensor or optical means, but all have obvious defects: Chinese Patent Application for Invention CN116025202A, with the invention name of a pool cleaning robot capable of detecting out-of-water and its out-of-water detection method, a pool robot out-of-water detection scheme based on a buoyancy block - slide bar mechanism. This scheme realizes detection by triggering a position sensor through the displacement of the buoyancy block on the slide bar, but has the following defects: First, it is difficult to optimize the fitting clearance between the buoyancy block and the slide bar: if it is too large, debris is easily stuck; if it is too small, the friction increases; Second, the slide bar is easily worn and corroded after long-term use; Third, dirt accumulation affects the detection accuracy, resulting in false triggering or missed detection. These problems reduce the reliability of the mechanical structure and environmental adaptability.

[0004] Chinese Patent Application for Invention CN116290952A, with the invention name of a water level line detection device for a pool, a pool cleaning device, a detection method and a control method, identifies the water level line by an auxiliary container and a detection unit emitting detection signals, but has the following problems: First, infrared / laser is easily interfered by water quality and light; Second, ultrasonic signals are unstable at the water - gas interface; Third, high installation accuracy is required; Fourth, the active detection consumes a large amount of energy. These factors affect the detection accuracy and practicality.

[0005] In addition, for Chinese invention patent CN108189031A, with the patent name of "Underwater robot motion path planning method and system", a floating handle mechanism is adopted to balance the robot's attitude, but there are obvious limitations: First, it only solves the stability problem and cannot directly detect the water level; Second, if combined with other detection schemes, it still cannot overcome inherent defects such as mechanical jamming and signal interference. This solution has deficiencies in achieving accurate water level detection.

[0006] The existing water level line recognition technologies of pool wall cleaning machines generally have problems of insufficient reliability: Mechanical detection is easily affected by debris jamming and mechanical wear, and the accuracy decreases after long-term use; The sensor scheme is greatly affected by water quality, waves and vibration, and has a high misjudgment rate; Optical detection is sensitive to installation accuracy and ambient light, and has poor adaptability. These methods cannot stably identify the water level line under complex working conditions, resulting in problems such as missed detection, false triggering or deviation of the cleaning machine from the trajectory, and it is difficult to balance detection accuracy and long-term reliability. Summary of the Invention

[0007] The purpose of the present invention is to provide a water level line positioning control system for a pool wall cleaning machine based on handle inclination detection in view of the problems in the prior art.

[0008] To achieve this, the above object of the present invention is realized through the following technical solutions: A water level line positioning control system for a pool wall cleaning machine based on handle inclination detection, comprising: A fuselage, with a reference plane for attaching to the pool wall at the bottom and an integrated control module inside; A rotary brush, installed at the front end of the fuselage and driven to rotate by a motor; A buoyancy sensing handle, with an average density less than that of water and rotatably connected to the fuselage through a transverse rotating shaft; An inclination detection module, arranged in cooperation with the buoyancy sensing handle to detect the inclination of the buoyancy sensing handle relative to the reference plane of the fuselage in real time; A control module: receiving the inclination signal and outputting a motor speed regulation instruction; Obtain the real-time inclination angle θ of the buoyancy sensing handle relative to the reference plane of the fuselage through the inclination detection module. When the real-time inclination angle falls within the preset angle range [θ1, θ2] and changes within the angle range, trigger a water level line recognition signal, and the control module controls the pool wall cleaning machine to start the water level line cleaning mode and execute the water level line cleaning mode; Among them, the preset angle range is calculated through the mechanical model of the buoyancy center and the center of gravity.

[0009] While adopting the above technical solutions, the present invention can also adopt or combine the following technical solutions: As a preferred technical solution of the present invention: The inclination detection module includes an angle sensor, and the angle sensor adopts Hall sensor group, including a magnet disposed at the rotating shaft and three linear Hall elements disposed on the body; Or, a six-axis IMU sensor, installed inside the handle near the rotating shaft.

[0010] As a preferred technical solution of the present invention: In the inclination detection module, an inclination continuous verification step is set: when θ ∈ [θ1, θ2], start a timer, and continuously monitor the residence time T of the angle within the preset angle range [θ1, θ2]; When T exceeds the preset time T0, it is confirmed that the roller brush reaches the water level line, and a water level line recognition signal is triggered.

[0011] As a preferred technical solution of the present invention: the preset time T0 = 2 ± 0.5 seconds.

[0012] As a preferred technical solution of the present invention: the water level line cleaning program mode includes: First, control the roller brush to maintain at the water level line position, and adjust the position of the roller brush so that the upper edge of the bristles is flush with the water surface; Second, start the high-speed cleaning mode, and the rotation speed of the roller brush increases; Third, reciprocate horizontally along the water level line for at least 2 stroke cycles; Finally: dive after confirming the removal of dirt through the pressure sensor disposed above the roller brush.

[0013] As a preferred technical solution of the present invention: The connection method between the rotating shaft and the handle is any one of the following: a) The rotating shaft is fixed to the handle and rotatably installed in the shaft holes on both sides of the body; b) The rotating shaft is fixed to the body and rotatably installed in the shaft hole on the handle; The rotating shaft extends along the transverse direction of the body.

[0014] As a preferred technical solution of the present invention: The front end of the buoyancy induction handle extends 5 - 15 mm beyond the front end of the roller brush; There is a sealed cavity inside the buoyancy induction handle; The rotation axis of the buoyancy induction handle is parallel to the transverse axis of the cleaning machine and 10 - 20 mm higher than the center of gravity of the body.

[0015] As a preferred technical solution of the present invention: the preset angle range [θ1, θ2] is calculated through the mechanical model of the center of buoyancy and the center of gravity: First, according to the mechanical balance relationship between the center of gravity position of the buoyancy induction handle and the rotation axis, calculate the critical inclination angle θ0 for maintaining stable operation; Secondly, based on the water flow resistance, a safety margin of ±Δθ is extended on the basis of θ0 to form the preset angle range [θ0 - Δθ, θ0 + Δθ], where Δθ is determined by statistically analyzing the amplitude of the handle jitter under dynamic conditions; The real-time inclination angle θ is monitored in real time through an inclination angle detection module. When θ ∈ [θ0 - Δθ, θ0 + Δθ], it is determined as a stable state. The critical inclination angle θ0 is calculated by the formula tanθ0 = x 1 / x 2, where x 1 is the horizontal distance from the buoyancy center to the rotation axis x 2 is the vertical distance from the center of gravity to the rotation axis.

[0016] Compared with the prior art, the water level line positioning control system of the pool wall cleaning machine based on handle inclination angle detection of the present invention has the following beneficial effects: By real-time monitoring the angle θ between the handle and the fuselage through an inclination angle detection module such as a MEMS gyroscope, and combining with the preset angle range (such as θ0 ± Δθ), the position of the brush head is dynamically adjusted to ensure that it always fits the water level line, realizing high-precision water level line tracking; According to the water flow resistance and the change of the pool wall inclination angle, the handle inclination angle is automatically compensated to avoid the problem of "slipping out of the water", improving the anti-water flow interference ability, reducing the jitter amplitude, and enhancing the ability to adapt to the dynamic environment; Through the adjustable preset angle range, combined with the arc-shaped pool or the straight wall pool, different types of swimming pools are adapted, realizing multi-scenario compatibility.

[0017] Through the organic combination of buoyancy-driven mechanical triggering and intelligent signal verification, the present invention transforms the complex water level detection problem into a stable physical motion recognition, making the system have both the robustness of the mechanical structure and the accuracy of the detection process, and has great application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 FIG. is a schematic structural diagram of the water level line positioning control system of the pool wall cleaning machine based on handle inclination angle detection of the present invention when crawling on the pool wall; Figure 2 FIG. is a schematic structural diagram of the water level line positioning control system of the pool wall cleaning machine based on handle inclination angle detection of the present invention when the buoyancy induction handle gradually emerges from the water surface; In the drawings, the fuselage 1; the rotary brush 2; the buoyancy induction handle 3; the inclination angle detection module 4. DETAILED DESCRIPTION OF THE INVENTION

[0019] The present invention will be further described in detail with reference to the accompanying drawings and specific embodiments.

[0020] The water level line positioning control system of the pool wall cleaning machine based on handle inclination angle detection includes: The fuselage is provided with a reference plane at the bottom for attaching to the pool wall, and a control module is integrated inside; The rotary brush is installed at the front end of the fuselage and driven to rotate by a motor; The buoyancy induction handle, whose average density is less than that of water, is rotatably connected to the fuselage through a transverse rotating shaft; The inclination detection module is fixed on the buoyancy induction handle and real-time detects the inclination angle of the buoyancy induction handle relative to the reference plane of the fuselage; The control module: receives the inclination signal and outputs a motor speed regulation instruction; Obtain the real-time inclination angle θ of the buoyancy induction handle relative to the reference plane of the fuselage through the inclination detection module. When the real-time inclination angle falls within the preset angle range [θ1, θ2] and changes within the angle range, trigger the water level line recognition signal, and the control module controls the pool wall cleaner to start the water level line cleaning mode and execute the water level line cleaning mode; Among them, the preset angle range is calculated through the mechanical model of the buoyancy center and the center of gravity.

[0021] The inclination detection module includes an angle sensor, and the angle sensor adopts A Hall sensor group, including a magnet arranged at the rotating shaft and three linear Hall elements arranged on the fuselage; Or, a six-axis IMU sensor, installed inside the handle near the rotating shaft. In the inclination detection module, set an inclination continuous verification step: when θ ∈ [θ1, θ2], start a timer and continuously monitor the residence time T of the angle within the preset angle range [θ1, θ2]; When T exceeds the preset time T0, confirm that the rotary brush reaches the water level line and trigger the water level line recognition signal. The preset time T0 = 2 ± 0.5 seconds. The water level line cleaning program mode includes: First, control the rotary brush to maintain at the water level line position and adjust the position of the rotary brush so that the upper edge of the brush bristles is flush with the water surface; Second, start the high-speed cleaning mode and increase the rotation speed of the rotary brush; Third, reciprocate horizontally along the water level line for at least 2 stroke cycles; Finally: dive after confirming the removal of dirt through the pressure sensor arranged above the rotary brush.

[0022] The connection method of the rotating shaft and the handle is: The rotating shaft is fixed to the handle and rotatably installed in the shaft holes on both sides of the fuselage; Or, the rotating shaft is fixed to the fuselage and rotatably installed in the shaft hole on the handle; The rotating shaft extends along the transverse direction of the fuselage.

[0023] The front end of the buoyancy induction handle extends 5 - 15 mm beyond the front end of the rotary brush; There is a sealed cavity inside the buoyancy induction handle; The rotation axis of the buoyancy induction handle is parallel to the transverse axis of the cleaning machine and 10-20 mm higher than the center of gravity of the fuselage.

[0024] The preset angle range [θ1, θ2] is calculated through the mechanical model of the buoyancy center and the center of gravity: First, according to the mechanical balance relationship between the center of gravity position of the buoyancy induction handle and the rotation axis, calculate the critical inclination angle θ0 for maintaining stable operation; Secondly, based on the water flow resistance, expand the safety margin ±Δθ on the basis of θ0 to form the preset angle range [θ0 - Δθ, θ0 + Δθ], where Δθ is determined by statistically analyzing the jitter amplitude of the handle under dynamic working conditions; The real-time inclination angle θ is monitored in real time through the inclination angle detection module. When θ ∈ [θ0 - Δθ, θ0 + Δθ], it is determined to be in a stable state. The critical inclination angle θ0 is calculated by the formula tanθ0 = x 1 / x 2, where x 1 is the horizontal distance from the buoyancy center to the rotation axis x 2 is the vertical distance from the center of gravity to the rotation axis.

[0025] Embodiment 1 As Figure 1 - Figure 2 shown, the water level line positioning control system of the pool wall cleaning machine based on the inclination angle detection of the buoyancy induction handle of the present invention. The cleaning machine includes a fuselage 1, a rotary brush 2, and a buoyancy induction handle 3. The buoyancy induction handle 3 is rotatably connected to both sides of the fuselage 1 through a rotating shaft, and the rotating shaft extends along the transverse - Y axis direction of the cleaning machine.

[0026] The inclination angle detection module 4 is arranged in cooperation with the buoyancy induction handle to detect the inclination angle of the buoyancy induction handle relative to the reference plane of the fuselage in real time; The control module: receives the inclination angle signal and outputs a motor speed regulation instruction.

[0027] The average density of the buoyancy induction handle is less than that of water. The buoyancy induction handle can rotate relative to the fuselage under the action of buoyancy in water. The rotating shaft is the transverse axis of the cleaning machine or the rotating shaft is parallel to the transverse axis of the cleaning machine. The rotating shaft is located on the buoyancy induction handle or on the fuselage, and the rotary brush is located at one end of the fuselage.

[0028] The water level line positioning control system of the pool wall cleaning machine based on the inclination angle detection of the buoyancy induction handle specifically includes the following steps: S100: Control the cleaning machine to move along the cleaning route on the pool wall to perform the pool wall cleaning task; obtain the real-time inclination angle θ of the buoyancy induction handle in real time. S200: Determine whether the real-time inclination angle θ is within the preset angle range [θ1, θ2], where θ1 < θ2 and θ1 and θ2 are constants. If not, it is determined that the roller brush at the front end of the cleaning machine has not reached the water level line, and S100 is returned. If so, it is determined that the roller brush at the front end of the cleaning machine has reached the water level line, and S300 is executed. S300: If not cleaning the water level line, execute S400. If cleaning the water level line, execute S500. S400: Control the cleaning machine to return below the water level line and travel along the cleaning route on the pool wall to continue executing the pool wall cleaning task. S500: Control the roller brush at the front end of the cleaning machine to clean the dirt at the water level line on the pool wall. After the cleaning is completed or after a period of time, the cleaning machine returns below the water level line and travels along the cleaning route on the pool wall to continue executing the pool wall cleaning task.

[0029] In S200, the real-time inclination angle θ refers to the real-time angle between the buoyancy induction handle and the XY plane of the fuselage. The preset angle range [θ1, θ2] refers to the pre-stored angle range between the buoyancy induction handle and the fuselage.

[0030] Among them, the preset angle range is determined by the following method: (a) According to the mechanical equilibrium relationship between the center of gravity position of the buoyancy induction handle and the rotation axis, calculate the critical inclination angle θ0 for maintaining stable operation. (b) Combining the experimental data of water flow resistance, expand the safety margin ±Δθ on the basis of θ0 to form the preset angle range [θ0 - Δθ, θ0 + Δθ], where Δθ is determined by statistically analyzing the jitter amplitude of the buoyancy induction handle under dynamic working conditions. (c) Real-time monitor the real-time inclination angle θ through the inclination angle detection module. When θ ∈ [θ0 - Δθ, θ0 + Δθ], it is determined as the stable state.

[0031] The critical inclination angle θ0 is calculated by the formula tanθ0 = x 1 / x 2, where x 1 is the horizontal distance from the buoyancy center to the rotation axis, x 2 is the vertical distance from the center of gravity to the rotation axis.

[0032] The value of the safety margin Δθ is determined by the following steps: Under the maximum designed water flow velocity, measure the extreme value of the inclination angle fluctuation δ of the buoyancy induction handle. Set Δθ = k·δ, where k is the safety factor (k ≥ 1.5) The average density of the buoyancy induction handle is less than the density of water. When the cleaning machine operates in water, the buoyancy induction handle generates a rotational torque around the rotation axis under the action of buoyancy, enabling the buoyancy induction handle to rotate relative to the fuselage.

[0033] The cleaning machine in this application can be, but is not limited to, an automatic pool cleaning machine, including a cleaning machine with a centrifugal pump, a cleaning machine with an axial flow pump, or other types of cleaning machines capable of cleaning the pool wall. It can be a wall-climbing cleaning machine that can clean the pool bottom and the pool wall, or a wall-climbing cleaning machine that can only clean the pool wall.

[0034] In this application, an orthogonal rectangular coordinate system OXYZ of the cleaning machine in this application is established. This coordinate system is the coordinate system used throughout the text. The origin O of this coordinate system is the geometric center of the cleaning machine. Any two of the three axes, namely the X-axis, the Y-axis, and the Z-axis, are perpendicular to each other. The X-axis is perpendicular to the YZ plane, the Y-axis is perpendicular to the XZ plane, and the Z-axis is perpendicular to the ZY plane.

[0035] The X-axis of this coordinate system is the front-back axis of the cleaning machine. The X-axis is located in the walking direction of the cleaning machine. When the cleaning machine walks on the pool bottom, the X-axis is parallel to the pool bottom. When the cleaning machine walks on the pool wall, the X-axis is parallel to the pool wall. The positive direction of the X-axis is in front of the forward direction of the cleaning machine.

[0036] The Y-axis of this coordinate system is the transverse axis of the cleaning machine. The Y-axis is perpendicular to the walking direction of the cleaning machine. When the cleaning machine walks on the pool bottom, the Y-axis is parallel to the pool bottom. When the cleaning machine walks on the pool wall, the Y-axis is parallel to the pool wall. The positive direction of the Y-axis is to the right of the cleaning machine.

[0037] The Z-axis of this coordinate system is the vertical axis of the cleaning machine. When the cleaning machine walks on the pool bottom, the Z-axis is perpendicular to the pool bottom. When the cleaning machine walks on the pool wall, the Z-axis is perpendicular to the pool wall. The positive direction of the Z-axis is above the cleaning machine.

[0038] In this application, the front end of the cleaning machine refers to the end of the cleaning machine in the positive direction of the X-axis.

[0039] The average density of the buoyancy induction handle in this application is less than that of water. The buoyancy induction handle can be designed with a hollow interior or filled with materials having a density less than that of water.

[0040] The cleaning route can be, but is not limited to, a downward cleaning section, an upward cleaning section, or / and a transverse cleaning section.

[0041] The average density of the buoyancy sensing handle is less than that of water. The buoyancy sensing handle can rotate around the rotating axis relative to the fuselage under the action of the buoyancy of water. The rotating axis is located on the Y-axis of the cleaning machine or is parallel to the Y-axis of the cleaning machine. The rotating axis is located on the buoyancy sensing handle or on the fuselage. When the cleaning machine moves along the cleaning route on the pool wall to perform the pool wall cleaning task, if the roller brush at the front end of the cleaning machine has not reached the water level line, the buoyancy sensing handle floats up and approaches the front end of the fuselage under the action of the buoyancy of the water. The buoyancy center of the buoyancy sensing handle is higher than the center of gravity of the fuselage and close to the front end of the fuselage. When the cleaning machine climbs out of the water, the buoyancy sensing handle rotates around the rotating axis relative to the fuselage under the action of the buoyancy of the water. The buoyancy sensing handle gradually floats out of the water, the buoyancy center of the buoyancy sensing handle gradually moves away from the fuselage, and the height of the buoyancy center of the buoyancy sensing handle gradually approaches the height of the center of gravity of the fuselage, and the real-time angle between the buoyancy sensing handle and the fuselage gradually increases.

[0042] If the roller brush at the front end of the cleaning machine has reached the water level line, the buoyancy sensing handle rotates around the rotating axis relative to the machine body under the action of the buoyancy of the water, and the buoyancy sensing handle floats out of the water. The buoyancy center of the buoyancy sensing handle is far away from the machine body, and the buoyancy center height of the buoyancy sensing handle is close to the center of gravity height of the machine body. The real-time angle between the buoyancy sensing handle and the machine body reaches the maximum. The machine body is affected by the water jet force of the water outlet, the friction force of the wheels on the wall, and the combined effect of gravity and buoyancy. The resultant force of these forces is not constant, but slightly changes. Due to the influence of the force, the cleaning machine has a small rise and fall on the pool wall at this time, and the buoyancy sensing handle has a small shake relative to the machine body. Therefore, the real-time inclination angle θ between the buoyancy sensing handle and the machine body varies within a certain angle range. This angle range is the preset angle range [θ1,θ2], θ1<θ2, θ1 and θ2 are constants, and the preset angle range [θ1,θ2] is pre-stored in the memory in advance.

[0043] The two ends of the buoyancy sensing handle are rotatably mounted on the left and right sides of the fuselage.

[0044] In the present application, the rotating shaft is located on the buoyancy sensing handle or on the fuselage. If the rotating shaft is located on the buoyancy sensing handle, then the axis hole is on the fuselage, and the rotating shaft rotates in the axis hole of the fuselage. If the rotating shaft is located on the fuselage, then the axis hole is on the buoyancy sensing handle, and the rotating shaft rotates in the axis hole of the buoyancy sensing handle.

[0045] In another way, the rotating shaft is located on the buoyancy sensing handle, and shaft holes are respectively provided on both sides of the fuselage, and the rotating shaft rotates in the shaft holes on both sides of the fuselage.

[0046] When the cleaning machine moves along the cleaning route on the pool wall to perform the pool wall cleaning task, the buoyancy sensing handle floats up under the buoyancy of the water and approaches the front end of the machine body, and the front side of the buoyancy sensing handle is aligned with the front side of the roller brush, or the front side of the buoyancy sensing handle exceeds the front side of the roller brush.

[0047] The front side of the buoyancy sensing handle is aligned with the front side of the roller brush, or the front side of the buoyancy sensing handle exceeds the front side of the roller brush. In this way, when the roller brush at the front end of the cleaning machine has reached the water level line, the buoyancy sensing handle floats out of the water, the buoyancy center of the buoyancy sensing handle is away from the fuselage, and the buoyancy center height of the buoyancy sensing handle is close to the center of gravity height of the fuselage, and the real-time angle between the buoyancy sensing handle and the fuselage reaches the maximum.

[0048] If, when the cleaning machine moves along the cleaning route on the pool wall to perform the pool wall cleaning task, the buoyancy sensing handle floats up and approaches the front end of the machine body under the buoyancy of the water, and the front side of the roller brush exceeds the front side of the buoyancy sensing handle, then the roller brush has reached the water level, and the buoyancy sensing handle is still under the water surface and cannot float out of the water. The buoyancy sensing handle floats up and approaches the front end of the machine body under the buoyancy of the water, and the real-time angle between the buoyancy sensing handle and the machine body cannot reach the preset angle range [θ1, θ2]. In this way, it is impossible to determine whether the roller brush at the front end of the cleaning machine has reached the water level.

[0049] In S200, there are three ways to determine whether the real-time tilt angle θ is within the preset angle range [θ1, θ2]: The first method is to use a magnetic sensor and a magnetic material. The magnetic sensor is mounted on the buoyancy sensing handle and the magnetic material is mounted on the fuselage. Alternatively, the magnetic sensor is mounted on the fuselage and the magnetic material is mounted on the buoyancy sensing handle. The magnetic sensor and the magnetic material cooperate with each other. When the magnetic material reaches the corresponding position of the magnetic sensor, the magnetic sensor sends a signal to the control device. The second method is to use an angular velocity sensor. The angular velocity sensor is installed on the buoyancy sensing handle, and the angular velocity sensor sends an angular velocity signal to the control device.

[0050] For the first method, when the cleaning machine moves along the cleaning route on the pool wall to perform the pool wall cleaning task, if the roller brush at the front end of the cleaning machine has not reached the water level, the buoyancy sensing handle floats up under the buoyancy of the water and approaches the front end of the fuselage, and the buoyancy center of the buoyancy sensing handle is higher than the center of gravity of the fuselage and approaches the front end of the fuselage. At this time, the real-time inclination angle θ is not within the preset angle range [θ1, θ2], the magnetic material is separated from the corresponding position of the magnetic sensor, and the magnetic sensor does not send a signal to the control device. The control device determines that the real-time inclination angle θ is not within the preset angle range [θ1, θ2], and the roller brush at the front end of the cleaning machine has not reached the water level, and the control device returns to S100; When the roller brush at the front end of the cleaning machine reaches the water level line, the buoyancy induction handle rotates around the rotating shaft relative to the fuselage under the buoyancy of water. The buoyancy induction handle emerges from the water surface, the center of buoyancy of the buoyancy induction handle moves away from the fuselage, and the height of the center of buoyancy of the buoyancy induction handle is close to the height of the center of gravity of the fuselage. The real-time angle between the buoyancy induction handle and the fuselage reaches the maximum. At this time, the real-time inclination angle θ is within the preset angle range [θ1, θ2], the magnetic substance reaches the corresponding position of the magnetic sensor, the magnetic sensor sends a signal to the control device, the control device determines that the real-time inclination angle θ is within the preset angle range [θ1, θ2], the roller brush at the front end of the cleaning machine has reached the water level line, and the control device executes S300.

[0051] Both the magnetic sensor and the magnet have a certain volume. Although the real-time inclination angle θ is within the preset angle range [θ1, θ2] at this time, the magnetic sensor can detect it.

[0052] The magnetic sensor can also be installed on the buoyancy induction handle, and the magnetic substance is installed on the fuselage.

[0053] The magnetic sensor is a Hall sensor, and the magnetic substance is a magnet.

[0054] The magnetic sensor is a reed switch, and the magnetic substance is two reed pieces made of soft magnetic materials. A reed switch is a sensor that can sense a magnetic field and controls the on / off of a circuit based on the presence or absence of a magnetic field. The working principle of the reed switch is based on two reed pieces made of soft magnetic materials. When a magnet approaches, the reed pieces are magnetized and connected.

[0055] In this application, the magnetic sensor is installed in the box of the fuselage, and the magnetic substance is installed in the swing part on the buoyancy induction handle. The swing part is fixedly connected to the rotating shaft and rotates around the rotating shaft. During the process that the buoyancy induction handle rotates around the rotating shaft relative to the fuselage under the buoyancy of water, the real-time inclination angle θ also changes, and the position of the magnetic substance relative to the magnetic sensor also changes.

[0056] For the second method, when the cleaning machine walks along the cleaning route on the pool wall to perform the pool wall cleaning task, if the roller brush at the front end of the cleaning machine does not reach the water level line, the buoyancy induction handle floats up and approaches the front end of the fuselage under the buoyancy of water. The center of buoyancy of the buoyancy induction handle is higher than the center of gravity of the fuselage and close to the front end of the fuselage. At this time, the real-time inclination angle θ is not within the preset angle range [θ1, θ2]. The angular velocity sensor sends the angular velocity signal to the control device, the control device calculates the real-time inclination angle θ, and the real-time inclination angle θ calculated by the control device is not within the preset angle range [θ1, θ2]. The roller brush at the front end of the cleaning machine has not reached the water level line, and the control device executes to return to S100; When the roller brush at the front end of the cleaning machine has reached the water level line, the buoyancy induction handle rotates relative to the fuselage around the rotating shaft under the buoyancy of water. The buoyancy induction handle emerges from the water surface, the center of buoyancy of the buoyancy induction handle moves away from the fuselage, and the height of the center of buoyancy of the buoyancy induction handle approaches the height of the center of gravity of the fuselage. The real-time angle between the buoyancy induction handle and the fuselage reaches the maximum. At this time, the real-time inclination angle θ is within the preset angle range [θ1, θ2]. The control device calculates the real-time inclination angle θ. The real-time inclination angle θ calculated by the control device is within the preset angle range [θ1, θ2], and the roller brush at the front end of the cleaning machine has reached the water level line. The control device executes S300.

[0057] Preferably, the angular velocity sensor is a gyroscope, and the gyroscope is installed on the buoyancy induction handle.

[0058] In the water level line positioning control system of the pool wall cleaning machine based on the inclination angle detection of the buoyancy induction handle, Between the steps "If yes" and "Then determine that the roller brush at the front end of the cleaning machine has reached the water level line and execute S300" in S200, it also includes: obtaining the real-time residence time T of the buoyancy induction handle within the preset angle range [θ1, θ2], judging the magnitude of the real-time residence time T and the preset time T0, where T0 is a constant. If T < T0, then the roller brush at the front end of the cleaning machine has not reached the water level line and returns to S100. If T > T0, then determine that the roller brush at the front end of the cleaning machine has reached the water level line and execute S300.

[0059] During the process of the cleaning machine walking along the cleaning route on the pool wall to perform the pool wall cleaning task, if the cleaning machine suddenly changes speed, the buoyancy induction handle rotates relative to the fuselage around the rotating shaft. The center of buoyancy of the buoyancy induction handle moves away from the fuselage, and the height of the center of buoyancy of the buoyancy induction handle approaches the height of the center of gravity of the fuselage. A real-time inclination angle θ is formed between the buoyancy induction handle and the fuselage. The real-time inclination angle θ may fall within the preset angle range [θ1, θ2]. If the real-time inclination angle θ falls within the preset angle range [θ1, θ2], then the cleaning machine will make a misjudgment, misjudging that the roller brush at the front end of the cleaning machine has reached the water level line. To avoid this kind of misjudgment, we further judge the real-time residence time T, obtain the real-time residence time T of the buoyancy induction handle within the preset angle range [θ1, θ2], and judge whether the real-time residence time T is less than the preset time T0. If T < T0, then the roller brush at the front end of the cleaning machine has not reached the water level line and returns to S100. If T > T0, then determine that the roller brush at the front end of the cleaning machine has reached the water level line and execute S300.

[0060] Because if the cleaning machine suddenly changes speed, the buoyancy induction handle only shakes once, and the real-time residence time T of the buoyancy induction handle is very short, T < T0. While if the roller brush at the front end of the cleaning machine has reached the water level line, the real-time residence time T of the buoyancy induction handle will be longer, T > T0.

[0061] The measurement of the real-time residence time T is carried out in the following two ways: The first way is to use a magnetic sensor and a magnetic substance. The magnetic sensor is installed on the buoyancy induction handle, and the magnetic substance is installed on the fuselage. Or, the magnetic sensor is installed on the fuselage, and the magnetic substance is installed on the buoyancy induction handle. The magnetic sensor and the magnetic substance cooperate with each other. When the magnetic substance reaches the corresponding position of the magnetic sensor, the magnetic sensor sends a signal to the control device, and the timer of the control device calculates the time when the signal is received. The control device judges the magnitude relationship between the real-time residence time T and the preset time T0.

[0062] The second way is to use an angular velocity sensor. The angular velocity sensor is installed on the buoyancy induction handle. The angular velocity sensor sends the angular velocity signal to the control device, and the timer of the control device calculates the time of the signal when the real-time inclination angle θ is within the preset angle range [θ1, θ2]. The control device judges the magnitude relationship between the real-time residence time T and the preset time T0.

[0063] The water level line positioning control system of the pool wall cleaning machine based on the inclination angle detection of the buoyancy induction handle of the present invention has the following beneficial effects: The floating buoyancy induction handle + rotating shaft structure is adopted to replace the buoyancy block slide rod. The buoyancy induction handle rotates freely by buoyancy without precise fitting requirements, avoiding jamming or friction problems and solving the reliability problem of the mechanical structure; The buoyancy induction handle floats adaptively: when the water level fluctuates, the buoyancy induction handle dynamically adjusts the angle without recalibration. The non-contact detection of the Hall / gyroscope is not affected by water turbidity, foam or electromagnetic interference, improving the environmental adaptability; The water level is indirectly detected by the change of the angle of the buoyancy induction handle instead of relying on the acceleration or optical signal that is vulnerable to interference, solving the problem of insufficient sensor accuracy; The buoyancy induction handle and the roller brush are aligned in design to ensure that the roller brush just reaches the water level line when the buoyancy induction handle emerges from the water surface, solving the problem of sensitivity to the installation position; Combining a multi-level verification mechanism with double thresholds of angle + time can effectively filter short-term interferences such as the robot's speed change and waves, solving the dynamic interference problem. Through the mechanical trigger driven by buoyancy + intelligent signal verification, the complex water level detection problem is transformed into the recognition of stable physical motion, combining mechanical robustness and detection accuracy.

[0064] The above specific embodiments are used to explain the present invention, which are only the preferred embodiments of the present invention, rather than limiting the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and scope of the claims of the present invention fall within the protection scope of the present invention.

Claims

1. A water level line positioning control system for a pool wall cleaning machine based on handle inclination detection, characterized in that: It includes: A fuselage with a reference plane for attaching to the pool wall at the bottom and an integrated control module inside; A rotary brush installed at the front end of the fuselage and driven to rotate by a motor; A buoyancy induction handle with an average density less than that of water and rotatably connected to the fuselage through a horizontal rotating shaft; An inclination detection module arranged in cooperation with the buoyancy induction handle to detect the inclination of the buoyancy induction handle relative to the reference plane of the fuselage in real time; A control module: receiving the inclination signal and outputting a motor speed regulation instruction; Obtain the real-time inclination angle θ of the buoyancy induction handle relative to the reference plane of the fuselage through the inclination detection module. When the real-time inclination angle falls within the preset angle range [θ1, θ2] and changes within the angle range, trigger a water level line recognition signal, and the control module controls the pool wall cleaning machine to start the water level line cleaning mode and execute the water level line cleaning mode; Among them, the preset angle range is calculated through the mechanical model of the buoyancy center and the center of gravity.

2. The water level line positioning control system of the pool wall cleaning machine based on the handle inclination detection according to claim 1, characterized in that: The inclination detection module includes an angle sensor, and the angle sensor adopts A Hall sensor group, including a magnet arranged at the rotating shaft and 3 linear Hall elements arranged on the fuselage; Or, a six-axis IMU sensor installed near the rotating shaft inside the handle.

3. The water level line positioning control system of the pool wall cleaning machine based on handle inclination detection according to claim 1, wherein: In the inclination detection module, set an inclination continuous verification step: when θ ∈ [θ1, θ2], start a timer and continuously monitor the residence time T of the angle within the preset angle range [θ1, θ2]; When T exceeds the preset time T0, confirm that the rotary brush reaches the water level line and trigger a water level line recognition signal.

4. The water level line positioning control system of the pool wall cleaning machine based on the handle inclination detection according to claim 3, wherein: The preset time T0 = 2 ± 0.5 seconds.

5. The water level line positioning control system of the pool wall cleaning machine based on handle inclination detection according to claim 1, characterized in that: The water level line cleaning program mode includes: First, control the rotary brush to maintain at the water level line position and adjust the position of the rotary brush so that the upper edge of the brush bristles is flush with the water surface; Secondly, start the high-speed cleaning mode and increase the rotation speed of the rotary brush; Thirdly, reciprocate horizontally along the water level line for at least 2 stroke cycles; Finally: dive after confirming the removal of dirt through a pressure sensor arranged above the rotary brush.

6. The water level line positioning control system of the pool wall cleaning machine based on the handle inclination detection according to claim 1, characterized in that: The connection method between the rotating shaft and the handle is: The rotating shaft is fixed to the handle and rotatably installed in the shaft holes on both sides of the fuselage; Or, the rotating shaft is fixed to the fuselage and rotatably installed in the shaft hole on the handle; The rotating shaft extends along the transverse direction of the fuselage.

7. The water level line positioning control system of the pool wall cleaning machine based on the handle inclination detection according to claim 1, characterized in that: The front end of the buoyancy induction handle extends 5 - 15 mm beyond the front end of the rotary brush; There is a sealed cavity inside the buoyancy induction handle; The rotation axis of the buoyancy induction handle is parallel to the transverse axis of the cleaning machine and 10 - 20 mm higher than the center of gravity of the fuselage.

8. The water level line positioning control system of the pool wall cleaning machine based on the handle inclination detection according to claim 1, wherein: The preset angle range [θ1, θ2] is calculated through the mechanical model of the buoyancy center and the center of gravity: First, according to the mechanical balance relationship between the center of gravity position and the rotating shaft, calculate the critical inclination angle θ0 for maintaining stable operation; Secondly, based on the water flow resistance, expand the safety margin ±Δθ on the basis of θ0 to form the preset angle range [θ0 - Δθ, θ0 + Δθ], where Δθ is determined by statistically analyzing the handle jitter amplitude under dynamic working conditions; Real-time monitor the real-time inclination angle θ through the inclination detection module. When θ ∈ [θ0 - Δθ, θ0 + Δθ], it is determined as a stable state. The critical inclination angle θ0 is calculated by the formula tanθ0 = x 1 / x 2, where x 1 is the horizontal distance from the center of buoyancy to the rotation axis x 2 is the vertical distance from the center of gravity to the rotation axis.

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