Garbage bin blockage detection method and system for swimming pool cleaning robot and medium

Abstract

The invention discloses a garbage bin blockage detection method and system for a swimming pool cleaning robot and a medium, the swimming pool cleaning robot is provided with a pressure sensor used for detecting water flow, and the method comprises the following steps that the voltage of the pressure sensor and the current of a current water pumping motor are sampled at regular time; deriving the pressure borne by the pressure sensor according to the voltage of the pressure sensor; the pressure borne by the pressure sensor and the current current of the water pumping motor are compared with the pre-calibrated pressure when the pressure sensor is still in water and the pre-calibrated current when the water pumping motor pumps water at the rated rotating speed; if the pressure borne by the pressure sensor is smaller than the pre-calibrated pressure when the pressure sensor is still in water and the current current of the water pumping motor is larger than the current when the water pumping motor pumps water at the rated rotating speed, it is judged that the swimming pool cleaning robot is blocked. According to the invention, the water flow in the flow channel can be effectively and stably detected, so that whether the garbage bin is full-loaded or blocked can be accurately speculated.

Description

Technical Field

[0001] The present invention relates to the technical field of pool cleaning robots, and particularly to a method, a system and a medium for detecting blockage of a garbage bin of a pool cleaning robot. Background Art

[0002] Pool cleaning robots belong to consumer-grade robots, which are used to clean pools and have functions similar to those of floor cleaning robots. Different from floor cleaning robots, the application scenario of pool cleaning robots is underwater, and they need to work in the pool. Pool cleaning has always been a pain point. Manual cleaning is cumbersome and time-consuming, and the industry generally starts to use machines to clean the pool.

[0003] At present, during the process of cleaning tasks performed by cleaning robots on the market, if the garbage bin is not cleaned in time after the cleaning robot is full of garbage, it will lead to a decline in the sewage suction capacity of the cleaning robot and a decline in the efficiency of subsequent cleaning tasks. However, there is currently no effective solution for detecting blockage of the garbage bin. Summary of the Invention

[0004] The main purpose of the present invention is to propose a method, a system and a medium for detecting blockage of a garbage bin of a pool cleaning robot, aiming to effectively detect whether the garbage bin is blocked, avoid the decline of the sewage suction capacity of the pool cleaning robot, and improve the efficiency of cleaning tasks.

[0005] To achieve the above object, the present invention provides a method for detecting blockage of a garbage bin of a pool cleaning robot. The pool cleaning robot is provided with a pressure sensor for detecting water flow. The method includes the following steps:

[0006] Step S10, regularly sample the voltage V of the pressure sensor meas , and the current of the current water pumping motor;

[0007] Step S20, derive the pressure F received by the pressure sensor according to the voltage V of the pressure sensor meas ;

[0008] Step S30, compare the pressure F received by the pressure sensor and the current of the current water pumping motor with the pressure of the pressure sensor at static water and the current of the water pumping motor at rated speed respectively, which are pre-calibrated;

[0009] Step S40, if the pressure F received by the pressure sensor is less than the pressure of the pressure sensor at static water which is pre-calibrated, and the current of the current water pumping motor is greater than the current of the water pumping motor at rated speed, it is determined that the pool cleaning robot is blocked.

[0010] A further technical solution of the present invention is that in step S20, according to the voltage V of the pressure sensormeas The formula used in the step of deriving the pressure F received by the pressure sensor is:

[0011]

[0012] Where V ref is the reference voltage of the ADC acquisition circuit of the pressure sensor, and R1 is the resistance value of the sampling resistor of the pressure sensor.

[0013] A further technical solution of the present invention is that the step S20 further includes:

[0014] Step S201, fitting the relationship formulas (2) and (3) between R and F according to the resistance R and the pressure F received by the pressure sensor:

[0015] R = 336.04·F -0.712 (2);

[0016]

[0017] Where R is the resistance value of the resistance R of the pressure sensor;

[0018] Step S202, calculating the detection voltage V when the sensor resistance R changes according to the series resistance voltage division formula meas Variation formula (4):

[0019]

[0020] Step S203, combining the fitting formula of R and F, and calculating the relationship formulas (5) and (1) between F and the detection voltage V meas :

[0021]

[0022] A further technical solution of the present invention is that in the step S203, the process of deriving formula (5) by combining formula (2) and formula (4) includes:

[0023] Rewrite formula (2) as:

[0024]

[0025] Take the reciprocal of both sides and take the square root to obtain the F expression:

[0026]

[0027] Cross-multiply formula (4) to obtain formula (8):

[0028] V meas ·(R1 + R) = V ref ·R (8);

[0029] Expand equation (8) to obtain equation (9):

[0030] V meas ·R1 + V meas ·R = V ref ·R (9);

[0031] Rearrange equation (9), move the terms containing R to one side to obtain equation (10):

[0032] V meas ·R1 = V ref ·R - V meas ·R (10);

[0033] Factor out R to obtain equation (11):

[0034] V meas ·R1 = R·(V ref -V meas ) (11);

[0035] Solve for the expression of R:

[0036]

[0037] Substitute the expression of R into the expression of F to obtain equation (13):

[0038]

[0039] Flip the denominator to obtain equation (5):

[0040]

[0041] A further technical solution of the present invention is that in the step S203, the steps of deriving equation (1) by combining equation (3) and equation (4) include:

[0042] Substitute the expression of R into equation (3) to obtain equation (14):

[0043]

[0044] Transpose terms:

[0045]

[0046] Solve for F:

[0047]

[0048] Simplify:

[0049]

[0050] Obtain the F expression:

[0051]

[0052] A further technical solution of the present invention is that before the step S10, it further includes:

[0053] Calibrate the pressure of the pressure sensor when it is in still water.

[0054] A further technical solution of the present invention is that before the step S10, it further includes:

[0055] When the garbage bin is empty, calibrate the current when the pumping motor rotates at the rated speed and the voltage of the thin film pressure sensor.

[0056] A further technical solution of the present invention is that after the step S40, it further includes:

[0057] Step S50, issue a warning indication that the garbage bin is full.

[0058] To achieve the above object, the present invention proposes a garbage bin blockage detection system for a pool cleaning robot. The system includes a memory, a processor, and a garbage bin blockage detection program for the pool cleaning robot stored on the processor. When the garbage bin blockage detection program for the pool cleaning robot is run by the processor, it executes the steps of the method described above.

[0059] To achieve the above object, the present invention proposes a computer-readable storage medium. The computer-readable storage medium stores a garbage bin blockage detection program for a pool cleaning robot. When the garbage bin blockage detection program for the pool cleaning robot is run by a processor, it executes the steps of the method described above.

[0060] The beneficial effects of the garbage bin blockage detection method, system, and medium of the pool cleaning robot of the present invention are:

[0061] The present invention uses a thin film pressure sensor to sense the flow velocity in the flow channel, enabling the pool robot to detect the flow rate passing through the flow port by itself, and then fusing the motor state data to determine the load rate of its own garbage bin. In addition, the thin film pressure sensor has the advantages of small structure, easy installation, and low manufacturing cost. The relationship between the force it receives and the change in its own resistance is stable, which is the fundamental reason for the reliability of its detection scheme. Combining the data of the pumping motor speed and the working current of the pumping motor, the water flow in the flow channel can be effectively and stably detected, so as to accurately infer whether the garbage bin is full or blocked. Description of the Drawings

[0062] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following briefly introduces the accompanying drawings required for use in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can be obtained based on the structures shown in these drawings.

[0063] Figure 1 is a schematic flowchart of a preferred embodiment of the method for detecting blockage of the garbage bin of the pool cleaning robot of the present invention;

[0064] Figure 2 is a schematic overall flowchart of the method for detecting blockage of the garbage bin of the pool cleaning robot of the present invention;

[0065] Figure 3 is a side view of the pool cleaning robot;

[0066] Figure 4 is a top view of the pool cleaning robot;

[0067] Figure 5 is a partial three-dimensional structure diagram of the pool cleaning robot;

[0068] Figure 6 is a partial three-dimensional structure diagram of the pool cleaning robot from another angle;

[0069] Figure 7 is a graph of the resistance R and the applied force F of the thin-film pressure sensor;

[0070] Figure 8 is a circuit schematic diagram of the thin-film pressure sensor;

[0071] Figure 9 is a hardware architecture diagram of the detection of the blockage of the garbage bin of the pool cleaning robot of the present invention.

[0072] The realization, functional features and advantages of the object of the present invention will be further described with reference to the embodiments and the accompanying drawings. Detailed implementation manners

[0073] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0074] The present invention provides a method for detecting blockage of the garbage bin of a pool cleaning robot. Please refer to Figure 1 and Figure 2, a preferred embodiment of the garbage bin blockage detection method for the pool cleaning robot of the present invention includes the following steps:

[0075] Step S10, regularly sample the voltage V of the pressure sensor meas , and the current of the current pumping motor.

[0076] Please refer to Figures 3 to 6 , in this embodiment, a thin film pressure sensor 1 is installed on the inner wall of the diversion vane 4 or the flow channel 2 at the flow port of the pool cleaning robot. When the pumping motor rotates the impeller 3 to pump water, the water flow will pass through the flow channel 2 and apply a force to the thin film pressure sensor 1. The greater the water flow rate, the greater the applied force. When the garbage bin is empty, the pumping motor can pump water smoothly, and at this time the water flow rate is extremely large; when the garbage bin is full of garbage, the water inlet of the pumping motor is blocked to a certain extent. To maintain a constant speed, the pumping motor needs to increase the current, and even if the speed is constant, the water flow rate passing through the flow channel will also decrease to a certain extent. At this time, the force exerted by the water flow in the flow channel on the thin film pressure sensor 1 becomes smaller.

[0077] Step S20, derive the pressure F received by the pressure sensor based on the voltage V of the pressure sensor meas

[0078] Step S30, compare the pressure F received by the pressure sensor and the current of the current pumping motor with the pressure of the pressure sensor when static water is pre-calibrated and the current of the pumping motor when pumping at the rated speed respectively.

[0079] Step S40, if the pressure F received by the pressure sensor is less than the pressure of the pressure sensor when static water is pre-calibrated, and the current of the current pumping motor is greater than the current of the pumping motor when pumping at the rated speed, it is determined that the pool cleaning robot is blocked.

[0080] It is worth noting that since the speed of the pumping motor can be controlled by the MCU, if it is in an unblocked state, when the pumping of the pumping motor is reduced, the force received by the thin film pressure sensor will also become smaller, but the current will become smaller. When the pumping motor increases the speed, the current will increase, and the force on the thin film pressure sensor will also increase. Only when the garbage bin is blocked, pumping becomes difficult. To maintain the speed, the current needs to be increased, and the water pumping volume also decreases due to the blockage of the garbage bin, and the force on the thin film pressure sensor will also decrease. Therefore, in this embodiment, it is necessary to simultaneously satisfy the two conditions that the pressure F received by the pressure sensor is greater than the pressure of the pressure sensor when static water is pre-calibrated and the current of the current pumping motor is greater than the current of the pumping motor when pumping at the rated speed to accurately determine whether the garbage bin is blocked.

[0081] Further, in this embodiment, in step S20, based on the voltage V of the pressure sensor measThe formula used in the step of deriving the pressure F received by the pressure sensor is:

[0082]

[0083] Wherein, V ref is the reference voltage of the ADC acquisition circuit of the pressure sensor, and R1 is the resistance value of the sampling resistor of the pressure sensor.

[0084] In this embodiment, the step S20 further includes:

[0085] Step S201, fitting the relational expressions (2) and (3) of R and F according to the resistance R of the pressure sensor and the received pressure F:

[0086] R = 336.04·F -0.712 (2);

[0087]

[0088] Wherein, R is the resistance value of the resistance R of the pressure sensor.

[0089] According to Figure 7 the curve graph of the resistance R of the thin-film pressure sensor and the applied force F shown, it can be seen that the greater the force applied to the pressure sensor, the smaller the resistance of the pressure sensor. Thus, the relational expressions (1) and (2) of R and F are fitted.

[0090] Step S202, calculating the detection voltage V meas variation formula (4) when the sensor resistance R changes according to the series resistance voltage division formula:

[0091]

[0092] Wherein, V ref is the reference voltage of the ADC, that is, Figure 4 VCC in meas V is the voltage collected by the ADC, that is, the voltage division voltage of the resistance R. R1 is Figure 4 the 10 kOhm resistor in meas The resistance value of the thin-film pressure sensor will change due to different forces. Therefore, V Figure 3 .

[0093] Please refer to Figure 8 the circuit schematic diagram of the thin-film pressure sensor shown. According to Figure 4 the schematic diagram in measChange (Equation (3)).

[0094] Step S203: Combine the fitting formula of R and F to calculate the relationships (5) and (1) between F and the detection voltage V meas :

[0095]

[0096] Furthermore, in this embodiment, in the step S203, the process of deriving Equation (5) by combining Equation (2) and Equation (4) includes:

[0097] Rewrite Equation (2) as:

[0098]

[0099] Take the reciprocal of both sides and take the square root to obtain the expression of F:

[0100]

[0101] Cross-multiply Equation (4) to obtain Equation (8):

[0102] V meas ·(R1 + R) = V ref ·R (8);

[0103] Expand Equation (8) to obtain Equation (9):

[0104] V meas ·R1 + V meas ·R = V ref ·R (9);

[0105] Rearrange Equation (9), move the terms containing R to one side to obtain Equation (10):

[0106] V meas ·R1 = V ref ·R - V meas ·R (10);

[0107] Extract R to obtain Equation (11):

[0108] V meas ·R1 = R·(V ref - V meas ) (11);

[0109] Solve for the expression of R:

[0110]

[0111] Substitute the expression of R into the expression of F to obtain Equation (13):

[0112]

[0113] Invert the denominator to obtain Equation (5):

[0114]

[0115] Furthermore, in step S203, the steps of deriving Equation (1) by combining Equation (3) and Equation (4) include:

[0116] Substitute the expression of R into Equation (3) to obtain Equation (14):

[0117]

[0118] Transpose the terms:

[0119]

[0120] Solve for F:

[0121]

[0122] Simplify:

[0123]

[0124] Obtain the expression of F:

[0125]

[0126] It should be noted that considering that the MCU of the pool cleaning robot is very slow in performing exponential operations and there is precision loss, Equations (2) and (5) can be not used. The MCU can substitute V collected by the ADC meas into Equation (1) derived from Equation (3) and Equation (4) to calculate the force on the pressure sensor, and then combine it with the current of the pumping motor collected. If the current of the pumping motor is larger than the calibrated value, and the force F on the pressure sensor is smaller than the calibrated value, when both reach a threshold, it is determined that the garbage bin is full-load or blocked, and a warning indication should be issued.

[0127] Furthermore, in this embodiment, before step S10, the following steps are further included:

[0128] Step S101, calibrate the pressure of the pressure sensor when the water is static;

[0129] Step S102, calibrate the current of the pumping motor when pumping water at the rated speed and the voltage of the thin-film pressure sensor when the garbage bin is empty.

[0130] It should be noted that in this embodiment, the execution order of step S101 and step S102 is not limited.

[0131] In this embodiment, after the step S40, the following steps are further included:

[0132] Step S50, issue a warning indication for garbage bin blockage or full load.

[0133] The beneficial effects of the garbage bin blockage detection method of the pool cleaning robot of the present invention are as follows:

[0134] The present invention uses a thin-film pressure sensor to sense the flow velocity in the flow channel, enabling the pool robot to detect the flow rate passing through the flow port by itself, and then fusing the motor state data to determine the load rate of its own garbage bin. In addition, the thin-film pressure sensor has the advantages of small size, easy installation, and low manufacturing cost. The stable relationship between the force it receives and the change in its own resistance is the fundamental reason for the reliability of its detection scheme. Combining the data of the pumping motor speed and the working current of the pumping motor can effectively and stably detect the water flow in the flow channel, so as to accurately infer whether the garbage bin is full-load or blocked.

[0135] To achieve the above object, the present invention also proposes a garbage bin blockage detection system for a pool cleaning robot, as Figure 9 shown. The system includes a processor 1001, a CPU, a network interface 1004, a user interface 1003, a memory 1005, a communication bus 1002, and a garbage bin blockage detection program for the pool cleaning robot stored on the processor. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display) and an input unit such as a keyboard (Keyboard). Optionally, the user interface 1003 may further include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a WI-FI interface). The memory 1005 may be a high-speed RAM memory or a stable memory (non-volatile memory), such as a disk memory. Optionally, the memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0136] Those skilled in the art can understand that Figure 9 the system structure shown in

[0137] does not constitute a limitation to the system, and may include more or fewer components than shown in the figure, or combine some components, or have different component arrangements. Figure 9 As shown in

[0138] In Figure 9In the system shown, the network interface 1004 is mainly used to connect to a network server and communicate data with the network server; the user interface 1003 is mainly used to interact with a user terminal and receive instructions input by the user; and the processor 1001 can be used to call the garbage bin blockage detection program of the pool cleaning robot stored in the memory 1005.

[0139] To achieve the above object, the present invention further provides a computer-readable storage medium storing a garbage bin blockage detection program of a pool cleaning robot. When the garbage bin blockage detection program of the pool cleaning robot is run by a processor, it executes the steps of the method described above, which will not be elaborated here.

[0140] The above are only the preferred embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. Any equivalent structural transformation made under the concept of the present invention by using the content of the specification and drawings of the present invention, or any direct / indirect application in other related technical fields, is included in the patent protection scope of the present invention.

Claims

1. A method for detecting blockage of a garbage bin of a pool cleaning robot, characterized in that, The pool cleaning robot is provided with a pressure sensor for detecting water flow rate, and the method includes the following steps: Step S10, periodically sample the voltage V of the pressure sensor meas , and the current of the current water pump motor; Step S20, derive the pressure F received by the pressure sensor according to the voltage V of the pressure sensor meas ​ Step S30, comparing the pressure F received by the pressure sensor and the current of the current pumping motor with the pressure of the pressure sensor at static water and the current of the pumping motor at rated speed respectively calibrated in advance; Step S40, if the pressure F received by the pressure sensor is less than the pressure of the pressure sensor at static water calibrated in advance, and the current of the current pumping motor is greater than the current of the pumping motor at rated speed, it is determined that the pool cleaning robot is blocked.

2. The method for detecting clogging of the garbage bin of the pool cleaning robot according to claim 1, wherein, In step S20, according to the voltage V of the pressure sensor meas The formula used in the step of deriving the pressure F received by the pressure sensor is: Among them, V ref is the reference voltage of the ADC acquisition circuit of the pressure sensor, and R1 is the resistance value of the sampling resistor of the pressure sensor.

3. The method for detecting clogging of the garbage bin of the pool cleaning robot according to claim 2, wherein, The step S20 further includes: Step S201, fitting the relationship formulas (2) and (3) of R and F according to the resistance R of the pressure sensor and the received pressure F: R = 336.04·F -0.712 (2); Wherein, R is the resistance value of the resistance R of the pressure sensor; Step S202, calculate the detection voltage V when the resistance R of the sensor changes according to the series resistance voltage division formula meas Variation formula (4): Step S203, combine the fitting formula of R and F to calculate the relational expressions (5) and (1) of F and the detection voltage V meas :

4. The method for detecting clogging of the garbage bin of the pool cleaning robot according to claim 3, characterized in that, In the step S203, the process of deriving formula (5) by combining formula (2) and formula (4) includes: Rewriting formula (2) as: Taking the reciprocal of both sides and taking the square root to obtain the F expression: Cross-multiplying formula (4) to obtain formula (8): V meas ·(R1 + R) = V ref ·R(8); Expanding formula (8) to obtain formula (9): V meas ·R1 + V meas ·R = V ref ·R (9); Rearranging formula (9), moving the terms containing R to one side to obtain formula (10): V meas ·R1 = V ref ·R - V meas ·R (10); Extracting R to obtain formula (11): V meas ·R1 = R·(V ref - V meas ) (11); Solving for the expression of R: Substituting the expression of R into the expression of F to obtain formula (13): Flipping the denominator to obtain formula (5):

5. The method for detecting clogging of the garbage bin of the pool cleaning robot according to claim 4, characterized in that, In the step S203, the steps of deriving formula (1) by combining formula (3) and formula (4) include: Substituting the expression of R into formula (3) to obtain formula (14): Moving the terms: Solving for F: Simplifying: Obtaining the F expression:

6. The method for detecting clogging of the garbage bin of the pool cleaning robot according to any one of claims 1 to 5, characterized in that, Before the step S10, it further includes: Calibrating the pressure of the pressure sensor at static water.

7. The method for detecting the blockage of the garbage bin of the pool cleaning robot according to any one of claims 1 to 5, characterized in that, Before the step S10, it further includes: Calibrating the current of the pumping motor at rated speed and the voltage of the thin film pressure sensor when the trash bin is empty.

8. The method for detecting clogging of the garbage bin of the pool cleaning robot according to any one of claims 1 to 5, characterized in that, After the step S40, it further includes: Step S50, issuing a warning indication that the trash bin is full.

9. A garbage bin blockage detection system for a pool cleaning robot, characterized in that, The system includes a memory, a processor, and a trash bin blockage detection program of the pool cleaning robot stored on the processor. When the trash bin blockage detection program of the pool cleaning robot is run by the processor, it executes the steps of the method according to any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a trash bin blockage detection program of the pool cleaning robot. When the trash bin blockage detection program of the pool cleaning robot is run by the processor, it executes the steps of the method according to any one of claims 1 to 8.

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