Waterline cleaning method of pool cleaning robot

Abstract

The waterline cleaning method comprises the steps that in a waterline cleaning mode, waterline cleaning equipment is controlled to climb upwards to the water surface along the pool wall, the pool cleaning robot is controlled to move and clean on the pool wall in the waterline direction, and waterline cleaning data of the current waterline cleaning path section are recorded; judging whether the current waterline cleaning data meets a preset cleaning condition or not, and if yes, controlling the pool cleaning robot to descend along the pool wall; whether the historical waterline cleaning path section meets a preset waterline cleaning condition or not is judged, and if not, the pool cleaning robot is controlled to move to the next wall climbing position underwater; and the pool cleaning robot is controlled to climb upwards to the water surface along the pool wall from the wall climbing position, and the waterline cleaning step is executed circularly. In this way, the situation that the pool cleaning robot is clamped at the waterline can be reduced, the waterline cleaning efficiency is improved, meanwhile, part of the wall surface can be covered for cleaning, and the overall cleaning effect is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a cleaning method of a pool cleaning robot. BACKGROUND

[0002] Modern people pay more and more attention to the quality of life, and many families and public service configurations have pools for people to exercise. The market of pool cleaning robots is becoming larger and larger. The existing pool cleaning robots are mainly used for cleaning the bottom and side wall of the pool, and filtering the water in the pool during the cleaning process to maintain the cleanliness of the pool.

[0003] In actual cleaning scenarios, the line where the water surface contacts the wall (water line) is more likely to accumulate pollutants. If not cleaned by hand in time, stubborn dirt is likely to form. However, the traditional pool cleaning robot does not have a water line cleaning mode and cannot clean the water line. Some improved pool cleaning robots use a floating component to make the cleaning device float on the water line of the water surface to achieve a circular cleaning of the water line. However, the cleaning effect of the cleaning device in the floating posture on the pool wall at the water line is poor, and the cleaning effect is not good. Moreover, the water line usually has a corner at the junction of the wall, and in some scenarios, a pool lamp or other obstacles are arranged at the water line of the wall. The pool cleaning robot is likely to be stuck in the obstacle and cannot pass through smoothly, resulting in low water line cleaning efficiency and poor user experience. SUMMARY

[0004] To solve the above technical problems, the present application provides a water line cleaning method of a pool cleaning robot.

[0005] The embodiment of the present application provides a water line cleaning method of a pool cleaning robot, which comprises the following steps: S10, in response to a water line cleaning instruction, controlling the pool cleaning robot to enter a water line cleaning mode; S20, in the water line cleaning mode, controlling the water line cleaning device to climb up along the pool wall to the water surface, controlling the pool cleaning robot to move and clean along the water line direction on the pool wall, and recording water line cleaning data of a current water line cleaning path segment; S30, judging whether the water line cleaning data of the current water line cleaning path segment meets a preset cleaning condition, and if so, controlling the pool cleaning robot to descend along the pool wall; S40, judging whether a historical water line cleaning path segment meets a preset water line cleaning condition, and if not, controlling the pool cleaning robot to move underwater to a next wall climbing position; S50, controlling the pool cleaning robot to climb up along the pool wall from the wall climbing position to the water surface, and jumping to step S20.

[0006] Preferably, in step S40, if the historical waterline cleaning path segment satisfies the preset waterline cleaning condition, it is determined that the pool cleaning robot completes the waterline cleaning task, and the pool cleaning robot is controlled to exit the waterline cleaning mode.

[0007] Preferably, in step S40, the "controlling the pool cleaning robot to move underwater to the next wall-climbing position" comprises: confirming whether the pool cleaning robot has descended to the pool bottom, if so, controlling the pool cleaning robot to adjust the direction to travel a first preset distance or for a first preset time along the cleaning direction of the waterline cleaning path, and controlling the pool cleaning robot to perform a vertical wall-approaching action, so that the pool cleaning robot reaches the next wall-climbing position when it abuts against the pool wall.

[0008] Preferably, in step S40, the "controlling the pool cleaning robot to move underwater to the next wall-climbing position" comprises: confirming whether the position of the pool cleaning robot on the pool wall satisfies a preset position condition, if so, confirming that the pool cleaning robot reaches the next wall-climbing position.

[0009] Preferably, the method further comprises: in the case that the pool cleaning robot reaches the next wall-climbing position, controlling the pool cleaning robot to rotate by a first preset angle to one side of the cleaning direction of the waterline cleaning path; controlling the pool cleaning robot to travel along the first preset angle for a second preset distance or for a second preset time, and then adjusting the orientation of the pool cleaning robot to the vertical direction, and controlling the pool cleaning robot to climb upward to the water surface.

[0010] Preferably, the method further comprises: in the case that the pool cleaning robot reaches the next wall-climbing position, controlling the pool cleaning robot to rotate by a second preset angle to one side of the cleaning direction of the waterline cleaning path; controlling the pool cleaning robot to travel along the second preset angle until the pool cleaning robot is detected to climb to the water surface.

[0011] Preferably, the "confirming whether the position of the pool cleaning robot on the pool wall satisfies a preset position condition" comprises: confirming whether the lower end of the pool cleaning robot collides with the bottom by a collision sensor, if so, confirming that the pool cleaning robot satisfies the preset position condition; and / or, confirming the body inclination angle of the pool cleaning robot by an IMU, if the body inclination angle is less than a preset inclination threshold, confirming that the pool cleaning robot satisfies the preset position condition.

[0012] Preferably, the method further comprises: detecting new wall information, and if the detected new wall information meets the wall changing condition, determining to start the wall changing action; controlling the pool cleaning robot to retreat to the pool bottom, adjusting the cleaning direction of the pool cleaning robot towards the cleaning path of the previous water line, controlling the pool cleaning robot to move forward until it encounters a new wall, and confirming that the current wall is a wall to be cleaned.

[0013] Preferably, after confirming that the current wall is a wall to be cleaned, the method further comprises: if the current wall is not cleaned for the first time, obtaining the starting wall climbing position of the wall in the previous water line cleaning, and controlling the starting wall climbing position of the current cleaning to be different from the starting wall climbing position of the previous water line cleaning.

[0014] Preferably, the pool cleaning robot comprises a cleaning body, a first traveling mechanism for driving the cleaning body to move, a second traveling mechanism, and a first impeller assembly and a second impeller assembly symmetrically arranged on both sides of the center line of the cleaning body in the front-rear direction, the first traveling mechanism and the second traveling mechanism are arranged on both sides of the cleaning body, and from a top view, the drainage directions of the first impeller assembly and the second impeller assembly are both inclined backward relative to the center line of the cleaning body, and the "controlling the pool cleaning robot to move and clean along the water line direction on the pool wall" comprises: controlling the first traveling mechanism and the second traveling mechanism to drive the cleaning body to reciprocate up and down at the water line, and controlling the rotation speed of the first impeller assembly to be different from the rotation speed of the second impeller assembly during the reciprocating movement, and the horizontal resultant force of the reaction forces of the first impeller assembly and the second impeller assembly on the pool cleaning robot is generated to push the pool cleaning robot to move horizontally along the water line direction.

[0015] Preferably, the pool cleaning robot comprises a cleaning body, a first traveling mechanism for driving the cleaning body to move, and a second traveling mechanism, and the "controlling the pool cleaning robot to move and clean along the water line direction on the pool wall" comprises: controlling the first traveling mechanism and the second traveling mechanism to alternately differentially advance and differentially retreat, so as to move the pool cleaning robot horizontally along the water line direction.

[0016] Preferably, the lengths of the water line cleaning path segments of the same circle around the water line of the pool are substantially the same, and the method further comprises: confirming whether the pool cleaning robot completes the water line cleaning work around the pool, and if so, adjusting the preset cleaning condition so that the length of the water line cleaning path segment of the next circle is different from that of the previous water line cleaning path segment.

[0017] Preferably, the pool cleaning robot cleans the water line in a clockwise direction or in a counterclockwise direction. The right and / or left sides of the pool cleaning robot are equipped with obstacle sensors for emitting obstacle detection signals laterally. The method further includes: Obtain the obstacle detection signal from the obstacle sensor on one side of the cleaning direction of the waterline cleaning path segment; In response to the detection of an obstacle, the pool cleaning robot is controlled to retreat down the pool wall to the water or the bottom of the pool, and its direction of travel is adjusted to advance to the next climbing position.

[0018] In the technical solution provided by this invention, the pool cleaning robot adopts a segmented, circular cleaning path for the waterline, including multiple discontinuous waterline cleaning path segments. After completing the cleaning of one waterline cleaning path segment, it retreats underwater to perform a line-changing operation, that is, switches to the next wall-mounted position to continue cleaning the next waterline cleaning path segment. This reduces the likelihood of the pool cleaning robot getting stuck at the waterline, improves the efficiency of waterline cleaning, and also covers part of the wall surface for cleaning, improving the overall cleaning effect. Attached Figure Description

[0019] Figure 1 This is a schematic flowchart of a waterline cleaning method for a water tank cleaning robot according to the present invention. Figure 2 This is a top view of the structure of a water tank cleaning robot according to the present invention; Figure 3 This is a schematic diagram of the movement path of the water tank cleaning robot of the present invention when cleaning water lines; Figure 4 , Figure 5 and Figure 6 The diagrams show the trajectories of the pool cleaning robot switching water line cleaning path segments according to three different embodiments; Figure 7 This is a schematic diagram showing the path trajectory relationship between two adjacent cleaning operations on the same wall surface, provided for one embodiment of the present invention. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] It should be noted that when an element is described as "connected" or "linked" to another element, it can be directly connected to the other element, or there may be one or more intermediate elements between them. The terms "upper," "lower," "inner," and "outer," etc., used in this specification indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention.

[0022] As described in the background section, traditional pool cleaning robots lack a separate waterline cleaning mode. Some improved surface cleaning robots clean the waterlines by floating on the water surface, but this method is ineffective, resulting in poor cleaning and the robots are prone to getting stuck in obstacles along the waterline, leading to low waterline cleaning efficiency.

[0023] This embodiment provides a waterline cleaning method for a water tank cleaning robot.

[0024] For specific implementation scenarios, please refer to Figure 2 As shown, the pool cleaning robot 100 includes a cleaning body 10, a cleaning unit 20, an impeller assembly 40, and a control unit (not shown). Figure 2 The front side represents the robot's forward direction, and the opposite side represents its backward direction. The cleaning body 10 includes a head section near the forward direction and a tail section near the backward direction. Specifically, the cleaning unit 20 includes a front roller brush and a rear roller brush. The front roller brush is located at the bottom front side of the cleaning body 10, and the rear roller brush is located below the tail section of the cleaning body. The front roller brush and the rear roller brush respectively clean the pool wall.

[0025] The impeller assembly 40 is used to drive the pool water into and out of the cleaning body 10. The cleaning body 10 is also equipped with a filter assembly located in the water flow path of the impeller assembly 40, which is used to filter out dirt and impurities in the water flowing into the cleaning body 10, thereby achieving the filtration and cleaning of the pool water.

[0026] The cleaning body 10 is also equipped with two sets of traveling mechanisms (31, 32) for driving the pool cleaning robot, namely the first traveling mechanism 31 and the second traveling mechanism 32, which are respectively located on the left and right sides of the cleaning body 10. Please refer to [link / reference]. Figure 2As shown, the first traveling mechanism 31 is located on the left side of the cleaning body 10, and the second traveling mechanism 32 is located on the right side of the cleaning body 10. The control unit can adjust the direction of the pool cleaning robot by controlling the different rotation speeds of the two traveling mechanisms (31, 32). For example, the first traveling mechanism 31 and the second traveling mechanism 32 are basically the same, both being tracked traveling mechanisms. Each traveling mechanism includes a drive motor, two wheels (at least one of which is a drive wheel), and a track wound around the two wheels. The drive wheel is connected to the drive motor and is driven to rotate, thereby driving the track wound around it to rotate, realizing the traveling drive of the pool cleaning robot 100.

[0027] Please see Figure 1 As shown, in practical implementation, this method includes the following steps: S10. In response to the waterline cleaning command, control the pool cleaning robot to enter the waterline cleaning mode; S20. In the waterline cleaning mode, control the waterline cleaning device to climb up the pool wall to the water surface, control the pool cleaning robot to move and clean along the waterline direction on the pool wall, and record the waterline cleaning data of the current waterline cleaning path segment. S30. Determine whether the waterline cleaning data of the current waterline cleaning path segment meets the preset cleaning conditions. If it does, control the pool cleaning robot to descend along the pool wall. S40. Determine whether the historical waterline cleaning path segment meets the preset waterline cleaning conditions. If not, control the pool cleaning robot to move underwater to the next wall-climbing position. S50. Control the pool cleaning robot to climb up the pool wall from the wall-climbing position to the water surface, and proceed to step S20.

[0028] The waterline cleaning command can be issued manually or automatically triggered by the pool cleaning robot during its corresponding cleaning cycle. Manual waterline cleaning commands can be issued via the robot's own mode button or through wireless communication with the robot. Waterline cleaning commands can be executed independently or included in other cleaning modes. For example, the pool cleaning robot may have a comprehensive cleaning mode, in which it cleans the pool bottom, walls, and waterline in sequence. When the comprehensive cleaning mode is selected, the waterline cleaning mode is automatically triggered.

[0029] In one implementation scenario, a pool cleaning robot performs bottom cleaning work on the underwater surface. After completing the bottom cleaning, it automatically triggers a waterline cleaning command and enters waterline cleaning mode. Please refer to [link / reference]. Figure 3As shown, according to the waterline cleaning command, the waterline cleaning robot climbs from the bottom of the pool along the pool wall to the water surface, at least partially emerging from the water. Once the robot reaches the waterline, it is controlled to move and clean along the waterline direction on the pool wall. In other embodiments, the waterline cleaning robot can also switch to waterline cleaning mode according to the waterline cleaning command while cleaning the pool wall. In this implementation scenario, the robot climbs upwards from the pool wall until it is detected that it has reached the water surface, at which point it is controlled to move and clean along the waterline direction on the pool wall. It is understood that during waterline cleaning, the robot's direction of movement is approximately horizontal.

[0030] Specifically, the pool cleaning robot 100 is equipped with a detection unit to detect whether the cleaning device 100 has reached the water surface. For example, the detection unit can be a water pressure sensor to detect the depth of the cleaning device 100; when the depth is less than a predetermined threshold, it is determined that the cleaning device has reached the water surface. In another example, the detection unit can be an electrical signal detection element, such as an electrode detection terminal, which determines whether water is flowing by detecting the continuity of the two electrodes; or a capacitance detection sensor, which identifies whether water is flowing by detecting the change in capacitance before and after water flow. The detection unit can also be configured as a distance detection sensor to detect the distance between the pool cleaning robot and the water surface, thereby determining whether it has reached the water surface. There are various specific implementation schemes for the detection unit, which will not be listed here.

[0031] From a top-down view of the pool, the pool cleaning robot can clean in a clockwise direction or counter-clockwise around the waterline. See also... Figure 3 As shown, during waterline cleaning, the pool cleaning robot 100 moves and cleans along the waterline direction F on the pool wall, recording the waterline cleaning data for the current waterline cleaning path segment. It can be understood that the pool cleaning robot 100 can clean around the waterline along direction F, or it can clean around the waterline in the opposite direction to F.

[0032] During the cleaning process, the pool cleaning robot 100 cleans the water lines in a segmented manner, including multiple continuous water line cleaning path segments. During the cleaning of each continuous water line cleaning path segment, it records the water line cleaning data for that segment and determines whether the data meets preset cleaning conditions. If it does, the cleaning work for that water line cleaning path segment is considered complete, and the pool cleaning robot 100 is controlled to descend along the pool wall.

[0033] Furthermore, the system determines whether the predetermined waterline cleaning work has been completed by reviewing historical waterline cleaning path segments. If not, it continues with the next waterline cleaning path segment. Specifically, preset waterline cleaning conditions are used to determine whether the predetermined waterline cleaning work has been completed. The system checks whether historical waterline cleaning path segments meet these conditions. If not, the system controls the pool cleaning robot to move underwater to the next wall-climbing position. The robot then climbs up the pool wall from the wall-climbing position to the water surface, and the process jumps to step S20 to continue cleaning the next waterline cleaning path segment.

[0034] In a specific implementation scenario, the pool cleaning robot is equipped with an inertial sensing unit that can detect the total angle the robot rotates during the waterline cleaning mode. A rotation angle of 360° is considered one complete cleaning cycle around the waterline, and a rotation angle of 720° is considered two complete cleaning cycles. In this embodiment, the number of times the pool cleaning robot has circled the waterline can be determined by the rotation angle of historical waterline cleaning path segments. The inertial sensing unit is not the focus of this application and will not be described in detail here.

[0035] The waterline cleaning method provided in this embodiment employs a segmented, circular cleaning path for the waterline using a water tank cleaning robot. This path consists of multiple discontinuous segments. After completing the cleaning of one segment, the robot retreats underwater to switch to the next wall-mounted position and continues cleaning the next waterline segment. This reduces the likelihood of the robot getting stuck at the waterline, improving cleaning efficiency, and also allows for partial wall surface cleaning, enhancing the overall cleaning effect.

[0036] In one specific embodiment, in step S40, if the historical waterline cleaning path segment meets the preset waterline cleaning conditions, it is determined that the pool cleaning robot has completed the waterline cleaning task, and the pool cleaning robot is controlled to exit the waterline cleaning mode. The preset waterline cleaning conditions are specifically the angle (viewed from a top view) the pool cleaning robot rotates during the waterline cleaning process. The preset waterline cleaning condition is cleaning the waterline 3 times; therefore, when the historical waterline cleaning path shows the cleaning robot has rotated 1080°, the waterline cleaning work is confirmed to be complete, and the waterline cleaning mode is exited.

[0037] There are several ways to implement the underwater movement trajectory of a pool cleaning robot when switching to the next waterline cleaning path. This application mainly describes three implementation schemes. Figure 4 , Figure 5 and Figure 6 Three different trajectory schemes for switching water line cleaning path segments are shown. These three methods will be explained in detail below.

[0038] Figure 4The diagram illustrates a trajectory for changing the waterline at the bottom of the pool. In the embodiment shown, after completing a waterline cleaning path segment, the pool cleaning robot retreats downwards along the pool wall until it reaches the bottom. It adjusts its direction of travel on the bottom wall, moving a first preset distance or a first preset time in the direction of waterline cleaning. The robot's head is then aligned with the wall, and it performs a vertical wall-hugging action. When the robot touches the pool wall, it reaches the next wall-climbing position. From this position, it climbs upwards onto the wall until it reaches the water surface. Specifically, after reaching the bottom, the robot rotates 90°, aligning the head of the cleaning body 10 with the direction of the previous waterline cleaning path segment N11. After reaching the designated position, it turns 90° to one side of the pool wall, making the head approximately perpendicular to the wall, and moves close to the wall until it touches it. The pool cleaning robot... Figure 4 The waterline cleaning path segments of the pool wall shown are N11, N12, and N13, and there is a distance between adjacent waterline cleaning path segments. N11 is the first waterline cleaning path segment of the current pool wall, and its climbing position is A11. The climbing position corresponding to waterline cleaning path segment N12 is A12, and the climbing position corresponding to waterline cleaning path segment N13 is A13.

[0039] Figure 5 and Figure 6 Two different trajectories for changing lines on the pool wall are shown. Figure 5 and Figure 6 In the illustrated embodiment, after completing a section of the waterline cleaning path, the pool cleaning robot descends backward along the pool wall. When it descends to a certain extent, it checks whether the position of the pool cleaning robot on the pool wall meets the preset position conditions. If so, it confirms that the pool cleaning robot will move to the next wall-climbing position and directly perform the wall-climbing action at the current position.

[0040] exist Figure 5 In the illustrated embodiment, after the pool cleaning robot completes cleaning the waterline cleaning path segment N11 and retreats downwards along the pool wall, upon reaching the next wall-climbing position B12, the robot rotates by a first preset angle towards the cleaning direction of waterline cleaning path N11. After traveling a second preset distance or a second preset time along this angle, the robot's orientation is adjusted to vertical, and it climbs upwards to the water surface to perform cleaning of waterline cleaning path segment N12. Similarly, after completing cleaning of waterline cleaning path segment N12, the robot retreats to the next wall-climbing position B13, performing the aforementioned turning and climbing actions until it reaches the starting point of waterline cleaning path segment N13, at which point cleaning of waterline cleaning path segment N13 begins.

[0041] Figure 6 The illustrated embodiments and Figure 5 The wiring schemes shown in the embodiments are basically the same, the difference being that...Figure 6 In the illustrated embodiment, when the pool cleaning robot reaches the next wall-climbing positions B12 and B13, the robot is controlled to rotate a second preset angle towards the cleaning direction of the waterline cleaning path, and then moves along this second preset angle until it is detected that the robot has climbed to the water surface. In this line-changing action, there is only one angle adjustment step from the wall-climbing position to the waterline position. Figure 5 The illustrated embodiment has two angle adjustment steps.

[0042] In one specific embodiment, the step of "confirming whether the position of the pool cleaning robot on the pool wall meets the preset position conditions" may include, in practice: The collision detection sensor confirms whether the bottom of the pool cleaning robot has touched the bottom and collided. If so, the robot is confirmed to have met the preset position conditions. Specifically, the collision detection sensor is an accelerometer, which determines a collision by detecting the instantaneous change in acceleration in the direction of travel. Alternatively, a collision sensing element can be placed at the rear of the robot body, and a collision can be identified by a trigger signal from the element. The collision sensing element can be a Hall effect collision detection unit.

[0043] In other embodiments, the pool cleaning robot uses an IMU to determine its tilt angle. If the tilt angle is less than a preset tilt angle threshold, the robot is confirmed to meet a preset position condition. Since the pool cleaning robot continues to move downwards and backwards after touching the bottom, the tilt of the cleaning body 10 decreases. The IMU detects the change in tilt angle, and based on the preset tilt angle threshold, if the tilt angle is less than the preset threshold, the robot is confirmed to meet the preset position condition.

[0044] The two methods described above for confirming whether the position of the pool cleaning robot on the pool wall meets the preset position conditions can be used in combination, thus ensuring the reliability of the preset position detection even if one of them fails.

[0045] In specific implementation scenarios, water tanks typically have multiple walls, and after cleaning the current wall, it is necessary to switch to the next wall. To ensure waterline cleaning efficiency, in one specific embodiment, the above method further includes: Detect new wall information; if the detected new wall information meets the wall replacement conditions, then determine to start the wall replacement action. Control the pool cleaning robot to retreat to the bottom of the pool, adjust the cleaning direction of the pool cleaning robot towards the previous water line cleaning path, and control the pool cleaning robot to move forward until it encounters a new wall and confirms that the current wall is the wall to be cleaned.

[0046] Using the above method, a new wall surface to be cleaned can be accurately and quickly located, and the waterline cleaning process can be started on the new wall surface. The "wall switching condition" refers to the distance from the wall. If the distance is less than a preset distance threshold, the wall switching action is confirmed, the waterline cleaning process on the current wall surface ends, and the waterline cleaning process is switched to the new wall surface.

[0047] In practice, obstacle detection sensors can be used to detect wall information. A feasible implementation plan is described below.

[0048] The pool cleaning robot 100 is equipped with obstacle sensors on its right and / or left sides for transmitting obstacle detection signals to the side to detect obstacles on the side of its waterline cleaning direction F.

[0049] Specifically, if the pool cleaning robot is pre-planned to clean the water line in a clockwise direction, an obstacle sensor is installed on the right side of the cleaning body 10; if the pool cleaning robot is pre-planned to clean the water line in a counter-clockwise direction, an obstacle sensor is installed on the left side of the cleaning body 10. This invention allows for the rotational installation of one or more sensors depending on the obstacle detection direction.

[0050] To identify new walls, the control unit analyzes obstacle data returned by obstacle sensors. When the obstacle data matches the wall obstacle, it determines that new wall information has been detected. If the detected new wall information meets the wall replacement criteria, it determines to initiate the wall replacement action. The wall replacement action takes place at the bottom of the pool. The pool cleaning robot moves towards the new wall and determines the wall's position based on the location of any obstacles it encounters.

[0051] When the pool cleaning robot moves clockwise, if the obstacle sensor detects an obstacle on the right and the obstacle's distance characteristics match the wall's characteristics, the robot is considered to have reached a wall corner. The control unit then controls the robot to move downwards along the pool wall. After descending the wall, the robot turns right to face the new wall, and the control unit controls it to climb the wall from the bottom of the pool to the waterline to clean it. If the robot is cleaning the waterline counterclockwise, and the obstacle sensor on the left detects an obstacle with distance characteristics matching the wall's characteristics, the robot is considered to have reached a wall corner. The control unit then controls the robot to move downwards along the pool wall. After descending the wall, the robot turns left to face the new wall, and the control unit controls it to climb the wall from the bottom of the pool to the waterline to clean it.

[0052] Understandably, a pool cleaning robot cannot clean all water lines by circling the pool once; it needs to circle the pool multiple times to ensure complete coverage of the water lines.

[0053] To improve the efficiency of waterline cleaning, in one embodiment, if the current wall surface is not being cleaned for the first time, the starting position of the wall surface during the previous waterline cleaning cycle is obtained, and the starting position of the current cleaning operation is controlled to be different from the starting position of the previous cycle. Please refer to [link to relevant documentation]. Figure 7 As shown, the starting position of the previous cleaning cycle is A11, and the starting position of the current cleaning operation is A11'. There is a certain distance L between A11' and A11. Preferably, this distance L is less than the length of the waterline cleaning path segment N11. The starting position of the second cleaning cycle is different from the previous starting position. Under the premise of partial overlap, the efficiency of waterline coverage is maximized, and as much of the waterline that was not cleaned in the previous cycle is covered as much as possible.

[0054] In one specific embodiment, the lengths of the waterline cleaning path segments surrounding the waterline in the same ring are basically the same. To achieve higher cleaning efficiency, the above method further includes: Confirm whether the pool cleaning robot has completed the waterline cleaning work around the pool. If so, adjust the preset cleaning conditions so that the length of the waterline cleaning path segment in the next loop is different from that in the previous loop.

[0055] In other words, the lengths of the waterline cleaning path segments in adjacent loops are different, effectively reducing repeated cleaning and ensuring waterline cleaning efficiency. Preferably, the preset cleaning conditions are adjusted so that the length of the waterline cleaning path segment in the next loop is different from that in the previous loop. For an example, please refer to... Figure 7 As shown, the current water line cleaning path segments on the wall are N21 and N22, both with a length of m2. The previous water line cleaning path segment is N11, with a length of m1. Note that m2 is not equal to m1, but preferably m2 is greater than m1, meaning the current water line cleaning path segment on the wall is longer than the previous water line cleaning path segment on the same wall.

[0056] See again Figure 3 As shown, in one specific embodiment, the cleaning robot 100's main body 10 is tilted during water line cleaning, with the head of the main body 10 tilted towards the cleaning direction F. In this embodiment, please refer to... Figure 2 The impeller assembly 40 includes a first impeller assembly 41 and a second impeller assembly 42 positioned on either side of the centerline in the front-rear direction of the cleaning body 10. From a top view, the drainage direction of both the first impeller assembly 41 and the second impeller assembly 42 is inclined rearward relative to the centerline of the cleaning body 10, thereby providing a forward thrust and a lateral thrust. The pool cleaning robot 100 achieves "controlling the pool cleaning robot to move and clean along the waterline direction on the pool wall" in the following manner: The first and second traveling mechanisms 31 and 32 are controlled to drive the cleaning robot to move up and down reciprocally along the waterline. During this reciprocating motion, the rotational speed of the first impeller assembly 41 is controlled to be different from that of the second impeller assembly 42. The drainage volume of the first and second impeller assemblies 41 and 42 generates a lateral resultant force on the reaction force of the water tank cleaning robot, thereby propelling the water tank cleaning robot to move laterally along the waterline. Specifically, when cleaning the waterline along direction F, the rotational speed of the first impeller assembly 41 is greater than that of the second impeller assembly 42, thus causing the lateral resultant force to be directed towards direction F.

[0057] Of course, in other embodiments, the pool cleaning robot can also achieve "controlling the pool cleaning robot to move and clean along the waterline direction on the pool wall" in other ways, which may specifically include: The first traveling mechanism 31 and the second traveling mechanism 32 are controlled to move forward and backward at different speeds, so that the water tank cleaning robot moves laterally along the water line.

[0058] Specifically, if the pool cleaning robot cleans the waterline in a clockwise direction, i.e., the cleaning device moves horizontally to the right (F), the control unit controls the forward rotation speed of the first traveling mechanism 31 of the pool cleaning robot to be greater than the forward rotation speed of the second traveling mechanism 32, causing the pool cleaning robot to tilt to the right and climb upwards. When the body is out of water to a certain extent, the buoyancy is less than the gravity, and the pool cleaning robot will descend. The control unit then controls the backward rotation speed of the first traveling mechanism 31 to be greater than the backward rotation speed of the second traveling mechanism 32, restoring the cleaning body angle to a vertical state. Then, the above forward rotation speed control and backward rotation speed control logic is repeated, causing the pool cleaning robot to have a lateral movement tendency at the waterline.

[0059] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A waterline cleaning method for a pool cleaning robot, characterized in that, The method includes: S10. In response to the waterline cleaning command, control the pool cleaning robot to enter the waterline cleaning mode; S20. In the waterline cleaning mode, control the waterline cleaning device to climb up the pool wall to the water surface, control the pool cleaning robot to move and clean along the waterline direction on the pool wall, and record the waterline cleaning data of the current waterline cleaning path segment. S30. Determine whether the waterline cleaning data of the current waterline cleaning path segment meets the preset cleaning conditions. If it does, control the pool cleaning robot to descend along the pool wall. S40. Determine whether the historical waterline cleaning path segment meets the preset waterline cleaning conditions. If not, control the pool cleaning robot to move underwater to the next wall-climbing position. S50. Control the pool cleaning robot to climb up the pool wall from the wall-climbing position to the water surface, and proceed to step S20.

2. The method according to claim 1, characterized in that, In step S40, if the historical waterline cleaning path segment meets the preset waterline cleaning conditions, it is determined that the water tank cleaning robot has completed the waterline cleaning task, and the water tank cleaning robot is controlled to exit the waterline cleaning mode.

3. The method according to claim 1, characterized in that, The phrase "controlling the pool cleaning robot to move underwater to the next wall-climbing position" in step S40 includes: Confirm whether the pool cleaning robot has descended to the bottom of the pool. If it has, control the pool cleaning robot to adjust its direction and travel a first preset distance or a first preset time in the cleaning direction of the water line cleaning path. Control the pool cleaning robot to perform a vertical wall-hugging action. When the pool cleaning robot touches the pool wall, it reaches the next wall-climbing position.

4. The method according to claim 1, characterized in that, The phrase "controlling the pool cleaning robot to move underwater to the next wall-climbing position" in step S40 includes: Confirm whether the position of the pool cleaning robot on the pool wall meets the preset position conditions. If so, confirm that the pool cleaning robot moves to the next wall-climbing position.

5. The method according to claim 4, characterized in that, The method further includes: When the pool cleaning robot reaches the next wall-climbing position, control the pool cleaning robot to rotate a first preset angle towards the cleaning direction of the water line cleaning path; After controlling the pool cleaning robot to travel a second preset distance or a second preset time along a first preset angle, adjust the orientation of the pool cleaning robot to the vertical direction and control the pool cleaning robot to climb upward to the water surface.

6. The method according to claim 4, characterized in that, The method further includes: When the pool cleaning robot reaches the next wall-climbing position, control the pool cleaning robot to rotate a second preset angle towards the cleaning direction of the water line cleaning path; The water tank cleaning robot is controlled to move along a second preset angle until it is detected that the water tank cleaning robot has climbed to the water surface.

7. The method according to claim 4, characterized in that, The phrase "confirming whether the position of the pool cleaning robot on the pool wall meets the preset position conditions" includes: The collision sensor confirms whether the lower end of the pool cleaning robot has touched the bottom and collided. If so, the pool cleaning robot is confirmed to meet the preset position condition; and / or, The tilt angle of the pool cleaning robot is confirmed by the IMU. If the tilt angle is less than the preset tilt angle threshold, it is confirmed that the pool cleaning robot meets the preset position condition.

8. The method according to claim 1, characterized in that, The method further includes: Detect new wall information; if the detected new wall information meets the wall replacement conditions, then determine to start the wall replacement action. Control the pool cleaning robot to retreat to the bottom of the pool, adjust the cleaning direction of the pool cleaning robot towards the previous water line cleaning path, control the pool cleaning robot to move forward until it encounters a new wall, and confirm that the current wall is the wall to be cleaned.

9. The method according to claim 8, characterized in that, After confirming that the current wall surface is the one to be cleaned, the method further includes: If the current wall is not being cleaned for the first time, obtain the starting position of the wall during the previous water line cleaning and control the starting position of the current cleaning work to be different from the starting position of the previous cleaning.

10. The method according to claim 1, characterized in that, The pool cleaning robot includes a cleaning body, a first traveling mechanism for driving the cleaning body to move, a second traveling mechanism, and a first impeller assembly and a second impeller assembly symmetrically arranged on both sides of the centerline in the front-rear direction of the cleaning body. The first traveling mechanism and the second traveling mechanism are respectively arranged on both sides of the cleaning body. From a top view, the drainage direction of the first impeller assembly and the second impeller assembly is inclined backward relative to the centerline of the cleaning body. The "controlling the pool cleaning robot to move and clean along the waterline direction on the pool wall" includes: The first and second traveling mechanisms are controlled to drive the cleaning body to move up and down at the waterline. During the reciprocating motion, the rotation speed of the first impeller assembly is controlled to be different from that of the second impeller assembly. The drainage volume of the first and second impeller assemblies generates a lateral resultant force on the reaction force of the pool cleaning robot, thereby pushing the pool cleaning robot to move laterally along the waterline direction.

11. The method according to claim 1, characterized in that, The pool cleaning robot includes a cleaning body, a first traveling mechanism for driving the cleaning body to move, and a second traveling mechanism. The "controlling the pool cleaning robot to move and clean along the waterline direction on the pool wall" includes: The first and second traveling mechanisms are controlled to alternately move forward and backward at different speeds, causing the pool cleaning robot to move laterally along the waterline.

12. The method according to claim 1, characterized in that, The lengths of the waterline cleaning path segments encircling the waterline in the pool are basically the same, and the method further includes: Confirm whether the water tank cleaning robot has completed the waterline cleaning work around the water tank. If so, adjust the preset cleaning conditions so that the length of the waterline cleaning path segment in the next loop is different from that in the previous loop.

13. The method according to claim 1, characterized in that, A pool cleaning robot cleans the waterline in a clockwise or counterclockwise direction. The robot's right and / or left sides are equipped with obstacle sensors for emitting obstacle detection signals laterally. The method further includes: Obtain the obstacle detection signal from the obstacle sensor on one side of the cleaning direction of the waterline cleaning path segment; In response to the detection of an obstacle, the pool cleaning robot is controlled to retreat down the pool wall to the water or the bottom of the pool, and its direction of travel is adjusted to advance to the next climbing position.

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