Water level positioning control system for pool wall cleaning machine based on handle inclination detection

Abstract

The present invention provides a water level positioning control system for a pool wall cleaning machine based on handle tilt detection. The tilt detection module, in conjunction with the buoyancy sensing handle, detects the inclination of the buoyancy sensing handle relative to the machine's base plane in real time. The control module receives the inclination signal and outputs a motor speed control command. The inclination detection module obtains the real-time inclination angle θ of the buoyancy sensing handle relative to the machine's base plane. When the real-time inclination angle falls within the preset angle range [θ1, θ2] and varies within this range, a water level identification signal is triggered, and the control module controls the pool wall cleaning machine to initiate and execute a water level cleaning mode. The present invention's water level positioning control system for a pool wall cleaning machine based on handle tilt detection can stably identify the water level under complex operating conditions.

Description

Technical Field

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

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

[0003] The pool wall cleaning machine moves along the cleaning route on the pool wall to perform the pool wall cleaning task. When returning to the water level line, there are the following typical problems: Due to the sudden change in water surface tension and buoyancy in the water level line area, when the cleaning machine approaches this area at conventional power, the excessive driving force of the walking motor can easily cause the machine to rush out of the water line due to inertia, which is also known as the blow-out effect. The continuous high-pressure operation of the water pump motor will produce a strong adsorption force, causing the machine body to be excessively pressed against the pool wall, causing lateral slippage under the coupling of buoyancy and mechanical reaction force, and ultimately causing the cleaning machine to deviate from the predetermined cleaning trajectory, resulting in missed cleaning or repeated cleaning of the water level line area. As for how to identify whether the roller brush at the front end of the cleaning machine has reached the water level line to control the cleaning of the pool wall, the existing technology mainly uses mechanical, sensor or optical methods to identify whether the roller brush has reached the water level line, but all of them have obvious defects:

[0004] Chinese invention patent application CN116025202A, titled "A Pool Cleaning Robot with Water Outage Detection and Water Outage Detection Method," describes a pool robot water outage detection solution based on a buoyancy block-slider mechanism. This solution achieves detection by triggering a position sensor using the displacement of the buoyancy block on the slider. However, it suffers from the following drawbacks: 1. The clearance between the buoyancy block and the slider is difficult to optimize: too large a clearance can easily trap debris, while too small a clearance increases friction; 2. The slider is susceptible to wear and corrosion after long-term use; 3. Dirt accumulation can affect detection accuracy, leading to false triggering or missed detections. These issues reduce the reliability and environmental adaptability of the mechanical structure.

[0005] Chinese invention patent application CN116290952A, titled "Pool Water Level Detection Device, Pool Cleaning Equipment, Detection Method, and Control Method," utilizes an auxiliary container and detection unit to emit detection signals to identify the water level. However, these devices suffer from the following issues: 1. Infrared / laser signals are susceptible to interference from water quality and light; 2. Ultrasonic signals are unstable at the water-air interface; 3. Installation requires high precision; and 4. Active detection consumes a lot of energy. These factors affect detection accuracy and practicality.

[0006] Furthermore, Chinese invention patent CN108189031A, entitled "Underwater Robot Motion Path Planning Method and System," utilizes a floating handle mechanism to balance the robot's posture. However, this approach has significant limitations: First, it only addresses stability issues and cannot directly detect water levels; second, when combined with other detection solutions, it still cannot overcome inherent drawbacks such as mechanical stagnation and signal interference. This solution is insufficient for achieving accurate water level detection.

[0007] Existing water level recognition technologies for pool wall cleaning machines generally suffer from insufficient reliability. Mechanical detection methods are susceptible to obstruction and mechanical wear, resulting in decreased accuracy over time. Sensor solutions are susceptible to interference from water quality, waves, and vibration, leading to high rates of false positives. Optical detection is sensitive to installation accuracy and ambient light, resulting in poor adaptability. These methods are unable to reliably identify water levels under complex operating conditions, leading to missed detections, false triggering, and deviations from the machine's trajectory. This makes it difficult to achieve a balance between detection accuracy and long-term reliability. Summary of the Invention

[0008] The object of the present invention is to provide a water level positioning control system for a pool wall cleaning machine based on handle inclination angle detection, in order to solve the problems in the prior art.

[0009] To this end, the above-mentioned purpose of the present invention is achieved through the following technical solutions:

[0010] The water level positioning control system for a pool wall cleaning machine based on handle inclination detection includes:

[0011] The fuselage has a reference plane at the bottom for attaching to the pool wall and an integrated control module inside;

[0012] The roller brush is installed at the front end of the machine body and is driven to rotate by the motor;

[0013] a buoyancy sensing handle, having an average density less than that of water and rotatably connected to the fuselage via a transverse rotation axis;

[0014] The inclination detection module, in conjunction with the buoyancy sensing handle setting, detects the inclination of the buoyancy sensing handle relative to the fuselage reference plane in real time;

[0015] Control module: receives the inclination angle signal and outputs the motor speed control command;

[0016] The inclination detection module obtains the real-time inclination angle θ of the buoyancy sensing handle relative to the fuselage reference plane. When the real-time inclination angle falls within the preset angle range [θ1, θ2] and changes within the angle range, a water level line recognition signal is triggered, 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;

[0017] The preset angle range is calculated through a mechanical model of the center of buoyancy and the center of gravity.

[0018] While adopting the above technical solutions, the present invention may also adopt or combine the following technical solutions:

[0019] As a preferred technical solution of the present invention: the tilt detection module includes an angle sensor, the angle sensor adopts,

[0020] The Hall sensor assembly includes a magnet on the shaft and three linear Hall elements on the body;

[0021] Alternatively, a six-axis IMU sensor is installed inside the handle near the rotation axis.

[0022] As the preferred technical solution of the present invention:

[0023] In the tilt detection module, a tilt continuous verification step is set: when θ∈[θ1,θ2], a timer is started to continuously monitor the time T that the angle stays within the preset angle range [θ1,θ2];

[0024] When T exceeds the preset time T0, it is confirmed that the roller brush has reached the water level line, triggering a water level line recognition signal.

[0025] As a preferred technical solution of the present invention: the preset time T0=2±0.5 seconds.

[0026] As a preferred technical solution of the present invention: the water level cleaning program mode includes:

[0027] First, control the roller brush to maintain the water level position, and adjust the roller brush position so that the upper edge of the bristles is flush with the water surface;

[0028] Secondly, start the high-speed cleaning mode and increase the speed of the roller brush;

[0029] Again, move back and forth laterally along the water level line for at least 2 stroke cycles;

[0030] Finally: The pressure sensor located above the roller brush confirms that the dirt has been removed and then dives.

[0031] As the preferred technical solution of the present invention:

[0032] The connection between the rotating shaft and the handle is any of the following:

[0033] a) The rotating shaft is fixed to the handle and can be rotatably installed in the shaft holes on both sides of the fuselage;

[0034] b) The rotating shaft is fixed to the body and rotatably mounted in the shaft hole on the handle;

[0035] The rotating shaft extends along the transverse direction of the fuselage.

[0036] As the preferred technical solution of the present invention:

[0037] The front end of the buoyancy sensing handle extends 5-15 mm beyond the front end of the roller brush;

[0038] A sealed cavity is provided inside the buoyancy sensing handle;

[0039] The rotation axis of the buoyancy sensing handle is parallel to the transverse axis of the cleaning machine and is 10-20 mm higher than the center of gravity of the machine body.

[0040] As a preferred technical solution of the present invention: the preset angle range [θ1, θ2] is calculated by the mechanical model of the buoyancy center and the center of gravity:

[0041] First, the critical tilt angle θ0 for maintaining stable operation is calculated based on the mechanical equilibrium relationship between the center of gravity position of the buoyancy sensing handle and the rotation axis;

[0042] Secondly, based on the water flow resistance, a safety margin of ±Δθ is expanded on θ0 to form the preset angle range [θ0-Δθ, θ0+Δθ], where Δθ is determined by the statistical amplitude of the handlebar shake under dynamic working conditions;

[0043] The real-time tilt angle θ is monitored in real time by the tilt detection module. When θ∈[θ0-Δθ, θ0+Δθ], it is determined to be in a stable state.

[0044] The critical inclination angle θ0 is given by the formula tanθ0= x 1 / x 2 calculation, where x 1 is the horizontal distance from the center of buoyancy to the axis of rotation x 2 is the vertical distance from the center of gravity to the axis of rotation.

[0045] Compared with the existing technology, the water level positioning control system of the pool wall cleaning machine based on handle inclination detection of the present invention has the following beneficial effects: through the real-time monitoring of the angle θ between the handle and the body through the inclination detection module such as the MEMS gyroscope, combined with the preset angle range (such as θ0±Δθ), the brush head position is dynamically adjusted to ensure that it always fits the water level line, thereby achieving high-precision water level tracking; according to the water flow resistance and the change of the pool wall inclination, the handle inclination is automatically compensated to avoid the problem of "slipping out of the water", the ability to resist water flow interference is improved, the jitter amplitude is reduced, and the ability to adapt to dynamic environments is improved; through the adjustable preset angle range, it is compatible with curved pools or straight-wall pools and adapted to different types of swimming pools, thereby achieving multi-scenario compatibility.

[0046] The present invention organically combines buoyancy-driven mechanical triggering with intelligent signal verification to transform the complex water level detection problem into stable physical motion recognition, enabling the system to simultaneously possess the robustness of the mechanical structure and the accuracy of the detection process, and has great application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1This is a schematic structural diagram of the water level positioning control system of the pool wall cleaning machine based on handle inclination angle detection when crawling on the pool wall;

[0048] Figure 2 This is a schematic structural diagram of the buoyancy sensing handle of the water level positioning control system of the pool wall cleaning machine based on handle inclination angle detection of the present invention when it gradually emerges from the water;

[0049] In the accompanying drawings, there are a body 1 , a roller brush 2 , a buoyancy sensing handle 3 , and a tilt detection module 4 . DETAILED DESCRIPTION

[0050] The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

[0051] The water level positioning control system for a pool wall cleaning machine based on handle inclination detection includes:

[0052] The fuselage has a reference plane at the bottom for attaching to the pool wall and an integrated control module inside;

[0053] The roller brush is installed at the front end of the machine body and is driven to rotate by the motor;

[0054] a buoyancy sensing handle, having an average density less than that of water and rotatably connected to the fuselage via a transverse rotation axis;

[0055] The inclination detection module is fixed on the buoyancy sensing handle and detects the inclination of the buoyancy sensing handle relative to the reference plane of the fuselage in real time;

[0056] Control module: receives the inclination angle signal and outputs the motor speed control command;

[0057] The inclination detection module obtains the real-time inclination angle θ of the buoyancy sensing handle relative to the fuselage reference plane. When the real-time inclination angle falls within the preset angle range [θ1, θ2] and changes within the angle range, a water level line recognition signal is triggered, 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;

[0058] The preset angle range is calculated through a mechanical model of the center of buoyancy and the center of gravity.

[0059] The tilt detection module includes an angle sensor, which uses:

[0060] The Hall sensor assembly includes a magnet on the shaft and three linear Hall elements on the body;

[0061] Alternatively, a six-axis IMU sensor is installed inside the handle near the rotation axis. In the tilt detection module, a continuous tilt verification step is set: when θ∈[θ1,θ2], a timer is started to continuously monitor the time T that the angle stays within the preset angle range [θ1,θ2];

[0062] When T exceeds the preset time T0, it is confirmed that the roller brush has reached the water level line, triggering the water level recognition signal. The preset time T0 = 2 ± 0.5 seconds. The water level cleaning program mode includes:

[0063] First, control the roller brush to maintain the water level position, and adjust the roller brush position so that the upper edge of the bristles is flush with the water surface;

[0064] Secondly, start the high-speed cleaning mode and increase the speed of the roller brush;

[0065] Again, move back and forth laterally along the water level line for at least 2 stroke cycles;

[0066] Finally: The pressure sensor located above the roller brush confirms that the dirt has been removed and then dives.

[0067] The connection method between the rotating shaft and the handle is:

[0068] The rotating shaft is fixed to the handle and can be rotatably installed in the shaft holes on both sides of the fuselage;

[0069] Alternatively, the rotating shaft is fixed to the body and rotatably mounted in the shaft hole on the handle;

[0070] The rotating shaft extends along the transverse direction of the fuselage.

[0071] The front end of the buoyancy sensing handle extends 5-15 mm beyond the front end of the roller brush;

[0072] A sealed cavity is provided inside the buoyancy sensing handle;

[0073] The rotation axis of the buoyancy sensing handle is parallel to the transverse axis of the cleaning machine and is 10-20 mm higher than the center of gravity of the machine body.

[0074] The preset angle range [θ1, θ2] is calculated by the mechanical model of the center of buoyancy and the center of gravity:

[0075] First, the critical tilt angle θ0 for maintaining stable operation is calculated based on the mechanical equilibrium relationship between the center of gravity position of the buoyancy sensing handle and the rotation axis;

[0076] Secondly, based on the water flow resistance, a safety margin of ±Δθ is expanded on θ0 to form the preset angle range [θ0-Δθ, θ0+Δθ], where Δθ is determined by the statistical amplitude of the handlebar shake under dynamic working conditions;

[0077] The real-time tilt angle θ is monitored in real time by the tilt detection module. When θ∈[θ0-Δθ, θ0+Δθ], it is determined to be in a stable state.

[0078] The critical inclination angle θ0 is given by the formula tanθ0= x 1 / x 2 calculation, where x1 is the horizontal distance from the center of buoyancy to the axis of rotation x 2 is the vertical distance from the center of gravity to the axis of rotation.

[0079] Example 1

[0080] like Figure 1-Figure 2 As shown, the water level positioning control system of the pool wall cleaning machine based on the buoyancy sensing handle inclination angle detection of the present invention, the cleaning machine includes a body 1, a roller brush 2 and a buoyancy sensing handle 3, and the buoyancy sensing handle 3 is rotatably connected to both sides of the body 1 through a rotating shaft, and the rotating shaft extends along the horizontal -Y axis direction of the cleaning machine.

[0081] The inclination detection module 4 cooperates with the buoyancy sensing handle to detect the inclination of the buoyancy sensing handle relative to the fuselage reference plane in real time;

[0082] Control module: receives the inclination angle signal and outputs the motor speed control command.

[0083] 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 the transverse axis of the cleaning machine or the rotating axis is parallel to the transverse axis of the cleaning machine. The rotating axis is located on the buoyancy sensing handle or on the fuselage, and the roller brush is located at one end of the fuselage.

[0084] The water level positioning control system for the pool wall cleaning machine based on buoyancy sensing handle inclination angle detection specifically includes the following steps:

[0085] 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 sensing handle in real time,

[0086] S200: Determine whether the real-time inclination angle θ is within the preset angle range [θ1, θ2], θ1 < θ2, 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 return to S100. If it is, it is determined that the roller brush at the front end of the cleaning machine has reached the water level line, and execute S300.

[0087] S300: If the water level line is not cleaned, execute S400; if the water level line is to be cleaned, execute S500.

[0088] S400: Control the cleaning machine to return to below the water level and move along the cleaning route on the pool wall to continue the pool wall cleaning task.

[0089] S500: Control the roller brush at the front end of the cleaning machine to clean the dirt on the pool wall at the water level line. After cleaning is completed or after a period of time, the cleaning machine returns to below the water level line and moves along the cleaning route on the pool wall to continue the pool wall cleaning task.

[0090] In S200 , the real-time tilt angle θ refers to the real-time angle between the buoyancy sensing handle and the XY plane of the fuselage, and the preset angle range [θ1, θ2] refers to the pre-stored angle range between the buoyancy sensing handle and the fuselage.

[0091] The preset angle range is determined by:

[0092] (a) calculating a critical tilt angle θ0 for maintaining stable operation based on the mechanical equilibrium relationship between the center of gravity of the buoyancy sensing handle and the rotation axis;

[0093] (b) Based on the water flow resistance experimental data, a safety margin of ±Δθ is expanded on the basis of θ0 to form the preset angle range [θ0-Δθ, θ0+Δθ], where Δθ is determined by the statistical analysis of the vibration amplitude of the buoyancy-sensing handle under dynamic working conditions;

[0094] (c) The real-time tilt angle θ is monitored in real time by the tilt detection module, and it is determined to be in a stable state when θ∈[θ0-Δθ, θ0+Δθ].

[0095] The critical inclination angle θ0 is given by the formula tanθ0= x 1 / x 2 calculation, where x 1 is the horizontal distance from the center of buoyancy to the axis of rotation, x 2 is the vertical distance from the center of gravity to the axis of rotation.

[0096] The value of the safety margin Δθ is determined by the following steps:

[0097] At the maximum design water flow velocity, measure the extreme value δ of the inclination fluctuation of the buoyancy sensing handle;

[0098] Set Δθ=k·δ, where k is the safety factor (k≥1.5)

[0099] The average density of the buoyancy sensing handle is less than the density of water. When the cleaning machine is operating in water, the buoyancy sensing handle generates a rotational torque around the rotation axis under the action of buoyancy, so that the buoyancy sensing handle can rotate relative to the machine body.

[0100] The cleaning machine in the present application may be, but is not limited to, an automatic swimming 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 that can clean the pool wall. It can be a wall-climbing cleaning machine that can clean the pool bottom and pool wall, or it can be a wall-climbing cleaning machine that can only clean the pool wall.

[0101] 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 in the entire text. The origin O of the coordinate system is the geometric center of the cleaning machine. Any two of the three axes, X-axis, Y-axis and 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.

[0102] The X-axis of this coordinate system is the front-to-back axis of the cleaning machine. The X-axis is in the direction of the cleaning machine's movement. When the cleaning machine is moving on the pool bottom, the X-axis is parallel to the pool bottom. When the cleaning machine is moving on the pool wall, the X-axis is parallel to the pool wall. The positive direction of the X-axis is in the front of the cleaning machine's forward direction.

[0103] The Y-axis of this coordinate system is the horizontal axis of the cleaning machine. The Y-axis is perpendicular to the direction of the cleaning machine's movement. When the cleaning machine moves on the pool bottom, the Y-axis is parallel to the pool bottom. When the cleaning machine moves 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.

[0104] The Z axis of this coordinate system is the vertical axis of the cleaning machine. When the cleaning machine is moving on the pool bottom, the Z axis is perpendicular to the pool bottom. When the cleaning machine is moving 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.

[0105] 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.

[0106] The average density of the buoyancy sensing handle in the present application is less than that of water. The buoyancy sensing handle can be designed to be hollow inside or filled with a material with a lower density than that of water.

[0107] The cleaning route may include, but is not limited to, a downward cleaning section, an upward cleaning section, and / or a horizontal cleaning section.

[0108] 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 the rotating axis 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 does not reach the water level line, the buoyancy sensing handle floats up under the action of the buoyancy of the water and approaches the front end of the fuselage. 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.

[0109] 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 rotation 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 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 from the water outlet, the friction force of the wheels on the wall, and the combined force 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 rises and falls slightly on the pool wall at this time, and the buoyancy sensing handle shakes slightly 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.

[0110] Both ends of the buoyancy sensing handle are rotatably mounted on the left and right sides of the fuselage.

[0111] In this 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, 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, the axis hole is on the buoyancy sensing handle, and the rotating shaft rotates in the axis hole of the buoyancy sensing handle.

[0112] 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.

[0113] 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.

[0114] 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.

[0115] If, as the robot moves along the cleaning route on the pool wall to perform its cleaning task, the buoyancy sensing handle floats up due to the buoyancy of the water and approaches the front end of the robot body, 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, while the buoyancy sensing handle remains underwater and cannot surface. The buoyancy sensing handle floats up due to the buoyancy of the water and approaches the front end of the robot body, and the real-time angle between the buoyancy sensing handle and the robot body cannot reach the preset angle range [θ1, θ2]. Therefore, it is impossible to determine whether the roller brush at the front end of the robot has reached the water level.

[0116] In S200, there are three ways to determine whether the real-time tilt angle θ is within the preset angle range [θ1, θ2]:

[0117] The first method is to use a magnetic sensor and a magnetic material. The magnetic sensor is installed on the buoyancy sensing handle and the magnetic material is installed on the fuselage. Alternatively, the magnetic sensor is installed on the fuselage and the magnetic material is installed 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.

[0118] 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.

[0119] In 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 machine body. The buoyancy center of the buoyancy sensing handle is higher than the center of gravity of the machine body and approaches the front end of the machine body. 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. The control device returns to S100.

[0120] When 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 fuselage under the action of the buoyancy of the water, and the buoyancy sensing handle floats to the surface 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. The real-time angle between the buoyancy sensing 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 material reaches the corresponding position of the magnetic sensor, and 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.

[0121] Both the magnetic sensor and the magnet have a certain volume. Although the real-time tilt angle θ is within the preset angle range [θ1, θ2], the magnetic sensor can still detect it.

[0122] The magnetic sensor can also be installed on the buoyancy sensing handle, and the magnetic material is installed on the body.

[0123] The magnetic sensor is a Hall sensor, and the magnetic material is a magnet.

[0124] The magnetic sensor is a reed switch, whose magnetic material consists of two reed blades made of a soft magnetic material. A reed switch is a sensor that senses magnetic fields and controls the on / off state of a circuit based on the presence or absence of a magnetic field. The reed switch operates by connecting two reed blades made of a soft magnetic material. When a magnet approaches, the reed blades become magnetized, switching them on.

[0125] In this application, the magnetic sensor is installed in the box of the fuselage, and the magnetic material is installed in the swinging part on the buoyancy sensing handle. The swinging part is fixedly connected to the rotating shaft and rotates around the rotating shaft. In the process of the buoyancy sensing handle rotating around the rotating shaft relative to the fuselage under the action of buoyancy in water, the real-time inclination angle θ is also changing, and the position of the magnetic material relative to the magnetic sensor is also changing.

[0126] In the second 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 machine body. The buoyancy center of the buoyancy sensing handle is higher than the center of gravity of the machine body and approaches the front end of the machine body. At this time, the real-time inclination angle θ is not within the preset angle range [θ1, θ2]. The angular velocity sensor sends an angular velocity signal to the control device, and the control device calculates the real-time inclination angle θ. If 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, and the control device returns to S100.

[0127] When 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 fuselage under the action of the buoyancy of the water, and the buoyancy sensing handle floats to the surface 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. The real-time angle between the buoyancy sensing 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]. The roller brush at the front end of the cleaning machine has reached the water level line, and the control device executes S300.

[0128] Preferably, the angular velocity sensor is a gyroscope, and the gyroscope is mounted on the buoyancy sensing handle.

[0129] In the water level positioning control system of the pool wall cleaning machine based on the buoyancy sensing handle inclination detection,

[0130] In S200, the steps "if" and "then determine that the roller brush at the front end of the cleaning machine has reached the water level line, and execute S300" also include: obtaining the real-time residence time T of the buoyancy sensing handle within the preset angle range [θ1, θ2], and determining the difference between the real-time residence time T and the preset time T0, where T0 is a constant. If T<T0, 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, it is determined that the roller brush at the front end of the cleaning machine has reached the water level line, and execute S300.

[0131] While the cleaning machine is moving along the cleaning route on the pool wall to perform its cleaning task, if the machine suddenly changes speed, the buoyancy sensing handle rotates about the rotation axis relative to the machine body, the buoyancy sensing handle's center of buoyancy moves away from the machine body, and the buoyancy sensing handle's center of buoyancy approaches the center of gravity of the machine body, forming a real-time tilt angle θ between the buoyancy sensing handle and the machine body. The real-time tilt angle θ may fall within the preset angle range [θ1, θ2]. If the real-time tilt angle θ falls within the preset angle range [θ1, θ2], the cleaning machine will misjudge that the front roller brush of the cleaning machine has reached the water level. To avoid this misjudgment, we further determine the real-time residence time T. We obtain the real-time residence time T of the buoyancy sensing handle within the preset angle range [θ1, θ2] and determine whether the real-time residence time T is less than the preset time T0. If T < T0, the front roller brush of the cleaning machine has not reached the water level, and the machine returns to S100. If T > T0, the front roller brush of the cleaning machine is determined to have reached the water level, and the process proceeds to S300.

[0132] Because if the cleaning machine suddenly changes speed, the buoyancy sensing handle will only shake once, and the real-time stay time T of the buoyancy sensing handle will be very short, T<T0. However, if the roller brush at the front end of the cleaning machine has reached the water level line, the real-time stay time T of the buoyancy sensing handle will be longer, T>T0.

[0133] The real-time residence time T is measured in the following two ways:

[0134] The first method is to use a magnetic sensor and magnetic material. The magnetic sensor is installed on the buoyancy sensing handle and the magnetic material is installed on the fuselage, or the magnetic sensor is installed on the fuselage and the magnetic material is installed 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 timer of the control device calculates the time of receiving the signal, and the control device determines the size of the real-time residence time T and the preset time T0.

[0135] The second method is to use an angular velocity sensor. The angular velocity sensor is installed on the buoyancy sensing handle. The angular velocity sensor sends the angular velocity signal to the control device. The timer of the control device calculates the time when the real-time inclination angle θ is within the preset angle range [θ1, θ2]. The control device determines the size of the real-time stay time T and the preset time T0.

[0136] The water level positioning control system of the pool wall cleaning machine based on the inclination angle detection of the buoyancy sensing handle of the present invention has the following beneficial effects: a floating buoyancy sensing handle + rotating shaft structure is adopted to replace the buoyancy block slide rod, and the buoyancy sensing handle can rotate freely by buoyancy without the requirement of precise matching, thus avoiding the problem of jamming or friction and solving the problem of mechanical structure reliability; the buoyancy sensing handle is self-adaptive in floating: when the water level fluctuates, the buoyancy sensing handle dynamically adjusts its angle without the need for recalibration; the non-contact detection of the Hall / gyroscope is not affected by turbid water, foam or electromagnetic interference, and the environmental adaptability is improved; the water level is indirectly detected by the change in the angle of the buoyancy sensing handle, rather than relying on acceleration or optical signals that are susceptible to interference, thus solving the problem of insufficient sensor accuracy; the buoyancy sensing handle is aligned with the roller brush to ensure that the roller brush reaches the water level line exactly when the buoyancy sensing handle floats to the surface, thus solving the problem of installation position sensitivity; The multi-level verification mechanism combining angle + time dual thresholds can effectively filter out short-term interference such as robot speed changes and waves, and solve dynamic interference problems. Through buoyancy-driven mechanical triggering + intelligent signal verification, the complex water level detection problem is transformed into stable physical motion recognition, combining mechanical robustness and detection accuracy.

[0137] The above-mentioned specific implementation methods are used to illustrate the present invention and are only preferred embodiments of the present invention, rather than limiting the present invention. Any modifications, equivalent substitutions, improvements, etc. made to the present invention within the spirit of the present invention and the scope of protection of the claims shall fall within the scope of protection of the present invention.

Claims

1. A water level positioning control system for a pool wall cleaning machine based on handle inclination detection, characterized by: include: The fuselage has a reference plane at the bottom for attaching to the pool wall and an integrated control module inside; The roller brush is installed at the front end of the machine body and is driven to rotate by the motor; a buoyancy sensing handle, having an average density less than that of water and rotatably connected to the fuselage via a transverse rotation axis; The inclination detection module, in conjunction with the buoyancy sensing handle setting, detects the inclination of the buoyancy sensing handle relative to the fuselage reference plane in real time; Control module: receives the inclination angle signal and outputs the motor speed control command; The inclination detection module obtains the real-time inclination angle θ of the buoyancy sensing handle relative to the fuselage reference plane. When the real-time inclination angle falls within the preset angle range [θ1, θ2] and changes within the angle range, a water level line recognition signal is triggered, 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; Wherein, the preset angle range is calculated by a mechanical model of the center of buoyancy and the center of gravity; The preset angle range [θ1, θ2] is calculated by the mechanical model of the center of buoyancy and the center of gravity: First, based on the mechanical equilibrium relationship between the center of gravity and the rotation axis, the critical inclination angle θ0 for maintaining stable operation is calculated; Secondly, based on the water flow resistance, a safety margin of ±Δθ is expanded on the basis of θ0 to form the preset angle range [θ0-Δθ,θ0+Δθ], where Δθ is determined by the statistical amplitude of the handlebar shake under dynamic working conditions; (c) The actual tilt angle θ is monitored in real time through the tilt 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=x1 / x2, where x1 is the horizontal distance from the center of buoyancy to the rotation axis and x2 is the vertical distance from the center of gravity to the rotation axis.

2. The water level positioning control system for a pool wall cleaning machine based on handle inclination detection according to claim 1, characterized in that: The tilt detection module includes an angle sensor, which uses: The Hall sensor assembly includes a magnet on the shaft and three linear Hall elements on the body; Alternatively, a six-axis IMU sensor is installed inside the handle near the rotation axis.

3. The water level positioning control system for a pool wall cleaning machine based on handle inclination detection according to claim 1, characterized in that: In the tilt detection module, a tilt continuous verification step is set: when θ∈[θ1,θ2], a timer is started to continuously monitor the time T that the angle stays within the preset angle range [θ1,θ2]; When T exceeds the preset time T0, it is confirmed that the roller brush has reached the water level line, triggering a water level line recognition signal.

4. The water level positioning control system for a pool wall cleaning machine based on handle inclination detection according to claim 3, characterized in that: The preset time T0=2±0.5 seconds.

5. The water level positioning control system for a pool wall cleaning machine based on handle inclination detection according to claim 1, characterized in that: The waterline cleaning mode includes: First, control the roller brush to maintain the water level position, and adjust the roller brush position so that the upper edge of the bristles is flush with the water surface; Secondly, start the high-speed cleaning mode and increase the speed of the roller brush; Again, move back and forth laterally along the water level line for at least 2 stroke cycles; Finally: The pressure sensor located above the roller brush confirms that the dirt has been removed and then dives.

6. The water level positioning control system for a pool wall cleaning machine based on 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 can be rotatably installed in the shaft holes on both sides of the fuselage; Alternatively, the rotating shaft is fixed to the body and rotatably mounted in the shaft hole on the handle; The rotating shaft extends along the transverse direction of the fuselage.

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

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