Swimming pool robot recalling and stopping method and device, swimming pool robot and storage medium
By acquiring the yaw angle and obstacle distance parameters of the pool robot, and combining buoyancy adjustment and water depth control, the problem of the pool robot's unsmooth rotation was solved, enabling a safe and intelligent recall and docking process.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-12-29
- Publication Date
- 2026-04-14
AI Technical Summary
The pool robot experienced malfunctions while rotating along the wall, leading to unsafe and unintelligent recall and docking processes.
By acquiring yaw angle parameters and obstacle distance parameters, the pool robot is controlled to climb the wall to the water level line, and its buoyancy is adjusted to rotate at a preset angle on the wall. Combined with the current water depth at the front end, it is recalled and docked.
It enables safe and intelligent recall and docking of the pool robot, ensuring smooth rotation and precise docking, making it convenient for users to operate.
Smart Images
Figure CN121857684A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of robotics, and in particular to a method, apparatus, swimming pool robot, and storage medium for recalling and docking a swimming pool robot. Background Technology
[0002] A pool cleaning robot is an intelligent device used to automatically clean the inner walls and bottom surfaces of swimming pools. When recalling and docking a pool robot, it typically needs to perform a certain angle of posture adjustment on a vertical wall; that is, the robot needs to rotate on the wall before docking at the designated position so that the user can manually retrieve it. However, in practical applications, some pool robots experience difficulties rotating smoothly along the wall. Summary of the Invention
[0003] In view of this, the purpose of the present invention is to overcome the shortcomings of the prior art and provide a method, device, swimming pool robot and storage medium for recalling and docking a swimming pool robot, which can solve the problem of the swimming pool robot rotating along the wall and realize intelligent control of the safe recall and docking process of the swimming pool robot.
[0004] This invention provides the following technical solution: In a first aspect, the present invention proposes a method for recalling and docking a swimming pool robot, comprising: Obtain the yaw angle parameters and obstacle distance parameters of the pool robot; Based on the yaw angle parameter and the obstacle distance parameter, the pool robot is controlled to climb the wall to the water outlet line; By adjusting the buoyancy of the pool robot, the rotation angle of the pool robot on the wall can be controlled. Obtain the current water depth at the front end of the pool robot, and recall and dock the pool robot based on the current water depth.
[0005] In one embodiment, controlling the pool robot to rotate at a preset angle on the wall by adjusting its buoyancy includes: Control the pool robot to rotate at the preset angle on the wall; If the rotation fails, the pool robot is controlled to adjust its buoyancy to adjust the buoyancy state until the pool robot can rotate the preset angle on the wall.
[0006] In one embodiment, controlling the pool robot to adjust its buoyancy to regulate the buoyancy state until the pool robot can rotate the preset angle on the wall includes: Adjust the water pump power of the pool robot to control the pool robot to move a preset time or preset distance in a first preset direction; Control the pool robot to rotate the preset angle on the wall. If the rotation fails, repeat the above steps until the pool robot can rotate the preset angle on the wall.
[0007] In one embodiment, the pool robot is equipped with at least two water pumps, which are located on opposite sides of the pool robot. Adjusting the power of the water pumps of the pool robot includes: One of the water pumps is turned off, and the power of the other water pump is reduced.
[0008] In one embodiment, controlling the pool robot to climb to the outlet water level line by climbing the wall based on the yaw angle parameter and the obstacle distance parameter includes: The wall position is determined based on the yaw angle parameter and the obstacle distance parameter; The pool robot is controlled to mount its front end onto the wall in an upright position based on the wall's location, so that the pool robot is in the mounted state. After the pool robot is in the wall-climbing state, control the pool robot to climb the wall until the pool robot reaches the water outlet line.
[0009] In one embodiment, obtaining the current water depth at the front end of the pool robot and recalling and docking the pool robot based on the current water depth includes: Obtain the initial front-end water depth; the initial front-end water depth is the sum of the distance from the front-end sensor of the pool robot to the water surface and the length of the pool robot when the pool robot is in the wall-mounted state; The current front-end water depth is obtained; the current front-end water depth is the sum of the distance from the front-end sensor to the bottom of the pool and the length of the pool robot during the process of the pool robot moving in the second preset direction after rotating the preset angle on the wall. Calculate the depth difference between the initial front water depth and the current front water depth; When the depth difference is a preset value, the docking position corresponding to the depth difference is taken as the target docking position of the pool robot; The pool robot is controlled to recall and dock according to the target docking location.
[0010] In one embodiment, the preset angle is 180°, and the handle of the pool robot is pointing backward.
[0011] Secondly, the present invention provides a pool robot recall and docking device, comprising: The acquisition module is used to acquire the yaw angle parameters and obstacle distance parameters of the pool robot; The wall-climbing module is used to control the pool robot to climb to the water outlet line by climbing the wall based on the yaw angle parameter and the obstacle distance parameter; An adjustment module is used to control the swimming pool robot to rotate at a preset angle on the wall by adjusting the buoyancy state of the swimming pool robot. The recall module is used to obtain the current water depth at the front end of the pool robot and recall and dock the pool robot according to the current water depth at the front end.
[0012] Thirdly, the present invention proposes a pool robot, including a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, it implements the pool robot recall and docking method as described in the first aspect.
[0013] Fourthly, the present invention provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the pool robot recall and docking method as described in the first aspect.
[0014] This invention discloses a method, apparatus, robot, and storage medium for recalling and docking a swimming pool robot. The method involves acquiring the yaw angle and obstacle distance parameters of the swimming pool robot; controlling the robot to climb a wall to the water level line based on these parameters; adjusting the buoyancy of the robot to control its rotation at a preset angle on the wall; and acquiring the current water depth at the robot's front end, then recalling and docking the robot based on this depth. This approach utilizes the yaw angle and obstacle distance parameters to achieve environmental perception and attitude recognition, providing a basis for subsequent decision-making. Adjustable buoyancy enables rotation at a preset angle on a vertical wall, while the current water depth controls the robot's recall and docking position, facilitating precise retrieval by the user. Attached Figure Description
[0015] To more clearly illustrate the technical solution of the present invention, the accompanying drawings used in the embodiments will be briefly described below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope of protection of the present invention. In the various drawings, similar components are numbered similarly.
[0016] Figure 1 A flowchart illustrating the pool robot recall and docking method proposed in this application is shown. Figure 2Another flowchart of the pool robot recall and docking method proposed in this application embodiment is shown; Figure 3 This illustration shows another flowchart of the pool robot recall and docking method proposed in an embodiment of this application; Figure 4 This paper illustrates another flowchart of the pool robot recall and docking method proposed in an embodiment of this application. Figure 5 A top view schematic diagram of the pool robot proposed in an embodiment of this application is shown; Figure 6 A schematic diagram of the structure of the pool robot recall and docking device proposed in an embodiment of this application is shown.
[0017] Explanation of reference numerals in the attached diagram: 500-Pool robot; 501-Ultrasonic sensor; 502-Handle; 600-Pool robot recall and docking device; 601-Acquisition module; 602-Wall climbing module; 603-Adjustment module; 604-Recall module. Detailed Implementation
[0018] The technical solutions of the present invention will be clearly and completely described below 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, and not all embodiments.
[0019] The components of the embodiments of the invention described and illustrated herein can typically be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.
[0020] In the following, the terms “comprising,” “having,” and their cognates, which may be used in various embodiments of the invention, are intended only to indicate a particular feature, number, step, operation, element, component, or combination thereof, and should not be construed as excluding, firstly, the presence of one or more other features, numbers, steps, operations, elements, components, or combinations thereof, or adding the possibility of one or more features, numbers, steps, operations, elements, components, or combinations thereof.
[0021] Furthermore, the terms "first," "second," and "third" are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.
[0022] Unless otherwise specified, all terms used herein (including technical and scientific terms) shall have the same meaning as commonly understood by one of ordinary skill in the art to which the various embodiments of the invention pertain. Terms (such as those defined in commonly used dictionaries) shall be interpreted as having the same meaning as in their contextual meaning in the relevant technical field and shall not be interpreted as having an idealized or overly formal meaning, unless clearly defined in the various embodiments of the invention.
[0023] This application provides a method for recalling and docking a swimming pool robot, which can solve the problem of the swimming pool robot rotating along the wall and realize intelligent control of the safe recall and docking process of the swimming pool robot.
[0024] It should be noted that, in the embodiments of this application, the direction "forward" refers to the forward direction of the pool robot, and the direction "backward" refers to the backward direction of the pool robot. The directions "forward" and "backward" are two opposite directions along the length of the pool robot.
[0025] Please see Figure 1 The method for recalling and docking the pool robot includes steps S101 to S104, and each step is described in detail below.
[0026] Step S101: Obtain the yaw angle parameters and obstacle distance parameters of the pool robot.
[0027] In this embodiment, after receiving the recall and docking command, the pool robot controls the movement of its left and right side wheels, causing the robot to rotate once in place. The pool robot obtains its current yaw angle parameters and obstacle distance parameters through its inertial measurement unit (IMU) and the ultrasonic sensor located at the front end, enabling it to perceive the surrounding environment. This can be used to locate the direction of obstacle walls and improve recall efficiency.
[0028] Step S102: Control the pool robot to climb to the water level line by climbing the wall according to the yaw angle parameter and the obstacle distance parameter.
[0029] In this embodiment, after locating the wall based on yaw angle and obstacle distance parameters, the pool robot is controlled to climb the wall safely to the water level line. To prevent the pool robot's buoyancy from becoming too low, which could cause it to fall due to its own weight, the front part of the pool robot is exposed above the water surface. This allows outside air to enter the internal cavity of the pool robot through the assembly gap, increasing its buoyancy. At this point, the pool robot's buoyancy reaches its maximum.
[0030] Please see Figure 2In one specific embodiment, step S102 includes steps S1021 to S1022, and each step is described in detail below.
[0031] Step S1021: Determine the wall position based on the yaw angle parameter and the obstacle distance parameter.
[0032] In this embodiment, after the pool robot rotates once in place, if multiple obstacles exist, their numerical values are compared to find the minimum measurable distance. Simultaneously, the yaw angle under the minimum obstacle distance parameter is recorded. After the robot completes one rotation, based on the final minimum obstacle distance parameter and the corresponding yaw angle, the left and right side wheels are controlled to rotate to the specified yaw angle to quickly locate the wall. If the ultrasonic sensor does not detect a wall within its range, the robot continues walking in the current direction to the next destination. During this process, the presence of walls can still be determined by the ultrasonic sensor's measurement data. Upon reaching the destination, the robot rotates once more and scans the surrounding area with the ultrasonic sensor to determine if there are any walls. This cycle continues until the wall's location is finally found. The walking distance to the next destination when the pool robot's ultrasonic sensor does not detect a wall within its range can be, but is not limited to, 5m, 10m, or 20m.
[0033] Step S1022: Control the pool robot to climb the wall according to the wall position until the pool robot climbs to the water outlet line.
[0034] In this embodiment, the pool robot is controlled to climb the wall according to its position until it safely reaches the water level line, providing a basis for the pool robot to adjust its buoyancy to achieve rotation.
[0035] In one specific embodiment, step S1022 includes: controlling the pool robot to mount its front end onto the wall in an upright position based on the wall's location, so that the pool robot is in the mounted state; after the pool robot is in the mounted state, controlling the pool robot to climb the wall until the pool robot reaches the water outlet line. Here, "mounted state" means that after the pool robot mounts the wall at the mounting point, the pool robot is entirely flush against the wall surface, and the rear of the pool robot is flush with the pool bottom.
[0036] In this embodiment, the pool robot is controlled to be in an upright position for its front end to climb the wall, thus placing the pool robot in the wall-climbing state. Once the pool robot is in the wall-climbing state, it is controlled to climb upwards until it reaches the water outlet line. The pool robot's upright position for front-end climbing ensures that it approaches the wall at the optimal angle, avoiding failure to adhere or loss of control due to improper collision angles, thereby improving the success rate and stability of the climbing action.
[0037] Step S103: By adjusting the buoyancy of the pool robot, the pool robot is controlled to rotate at a preset angle on the wall.
[0038] In this embodiment, when the pool robot is unable to rotate at a preset angle on the wall, the buoyancy state of the pool robot is adjusted, thereby changing the force analysis of the pool robot and thus controlling the pool robot to rotate at a preset angle on the wall.
[0039] Please see Figure 3 In one specific embodiment, step S103 includes steps S1031 to S1032, and each step is described in detail below.
[0040] Step S1031: Control the pool robot to rotate at the preset angle on the wall.
[0041] In this embodiment, after the pool robot climbs the wall to the water outlet line, it is controlled to rotate the pool robot on the wall at a preset angle.
[0042] Step S1032: If the rotation fails, control the pool robot to adjust the buoyancy state until the pool robot can rotate the preset angle on the wall.
[0043] In this embodiment, if the pool robot cannot rotate to a preset angle on the wall, the robot is controlled to adjust its buoyancy until it can rotate to the preset angle. Excessive buoyancy may cause the robot to experience significant water resistance during rotation, requiring additional power to overcome buoyancy and maintain its position on the wall, resulting in a substantial decrease in the effective torque allocated to the rotational motion. Therefore, by dynamically adjusting the buoyancy to reduce it, the robot can have sufficient effective torque for rotational motion, thus achieving flexible rotational capability.
[0044] In one specific embodiment, step S1032 includes: adjusting the water pump power of the pool robot, controlling the pool robot to move for a preset time or a preset distance in a first preset direction; controlling the pool robot to rotate the preset angle on the wall, and if the rotation fails, repeating the above steps until the pool robot can rotate the preset angle on the wall.
[0045] In this embodiment, when the pool robot adjusts its buoyancy, the water pump power is adjusted to reduce the pressure between the pool robot and the wall. The pool robot is then controlled to move in a first preset direction for a preset time or a preset distance, thereby adjusting the buoyancy of the internal cavity by reducing the air content. After controlling the pool robot to move in the first preset direction for a preset time or a preset distance, the pool robot is controlled to rotate on the wall by a preset angle. If the rotation fails, the steps of adjusting the water pump power and controlling the pool robot to move in the first preset direction for a preset time or a preset distance are repeated until the pool robot can rotate on the wall by a preset angle.
[0046] In one specific embodiment, the pool robot is equipped with at least two water pumps, which are located on opposite sides of the pool robot. Both water pumps are used to drain water from the pool robot. Adjusting the power of the water pumps includes: controlling one water pump to be off and reducing the power of the other water pump. Here, "opposite sides" refers to both sides in the width direction of the pool robot.
[0047] In this embodiment, the pool robot is equipped with at least two water pumps, which are respectively installed on opposite sides of the pool robot and both are installed inside the internal cavity of the pool robot. Both water pumps are configured to discharge water from inside the pool robot to the outside.
[0048] By shutting down one of the water pumps on one side and simultaneously reducing the output power of the other pump on the opposite side to allow it to run at a low speed for slow drainage, asymmetrical pump control is achieved. This allows for fine-tuning of the robot's center of gravity distribution and local force conditions without significantly altering the robot's total drainage volume, thereby creating torque conditions favorable for rotation on the vertical wall. Furthermore, asymmetrical pump control facilitates the expulsion of air from the side with the shut-down pump, improving buoyancy adjustment and preventing air from being simultaneously drawn into the internal cavity by water flow disturbances near both pumps, thus avoiding any impact on buoyancy adjustment.
[0049] In other embodiments, the output power of both pumps can be reduced simultaneously, and their power settings can be unequal. For example, when it is necessary to adjust the center of gravity or generate rotational torque, one pump can be controlled to operate at a lower power, while the other operates at a lower speed or even close to a standstill. Through this differential drainage method, while the overall buoyancy is gradually reduced by slowly draining water, a small torque difference is formed along the lateral side of the robot, assisting the robot in completing attitude adjustment movements on a vertical wall.
[0050] When the pool robot is equipped with only one water pump, the power of that pump is reduced to put it into a low-speed drainage mode. At this time, although active attitude control cannot be achieved through multi-pump differential operation, it can still effectively reduce the air expulsion rate in the internal cavity, thereby gradually adjusting the overall buoyancy.
[0051] Step S104: Obtain the current water depth at the front end of the pool robot, and recall and dock the pool robot according to the current water depth at the front end.
[0052] In this embodiment, after the wall rotation is completed, the target docking position needs to be located using the current front water depth to achieve precise docking of the pool robot, thereby facilitating the user to retrieve the machine.
[0053] Please see Figure 4 In one specific embodiment, step S104 includes steps S1041 to S1045, and each step is described in detail below.
[0054] Step S1041: Obtain the initial front water depth; the initial front water depth is the sum of the distance from the front sensor of the pool robot to the water surface and the length of the pool robot when the pool robot is in the wall-mounted state.
[0055] In this embodiment, the initial front-end water depth is obtained. The initial front-end water depth is the sum of the distance from the front-end sensor to the water surface and the length of the pool robot when the pool robot is in the wall-mounted state. It reflects the overall height of the pool robot's wall-mounted point relative to the water surface, that is, the overall water depth, and serves as a reference benchmark.
[0056] Step S1042: Obtain the current front-end water depth; the current front-end water depth is the sum of the distance from the front-end sensor to the bottom of the pool and the length of the pool robot during the process of the pool robot moving in the second preset direction after rotating the preset angle on the wall.
[0057] In this embodiment, the current front-end water depth is obtained. The current front-end water depth is the sum of the distance from the front-end sensor to the bottom of the pool and the length of the robot body during the process of the pool robot rotating at a preset angle on the wall and moving in a second preset direction. Moving in the second preset direction can be backward.
[0058] Step S1043: Calculate the depth difference between the initial front water depth and the current front water depth.
[0059] In this embodiment, the difference between the initial front water depth and the current front water depth is used as the depth difference.
[0060] Step S1044: When the depth difference is a preset value, the docking position corresponding to the depth difference is taken as the target docking position of the pool robot.
[0061] In this embodiment, when the depth difference reaches a preset value (e.g., 0.04m when the initial front water depth is 1m), it can be determined that the pool robot is basically located at the water surface. The position of the pool robot is the optimal docking position, which is recorded as the target docking position. This achieves low-cost and highly robust autonomous docking and positioning by using the water level as a natural reference plane and avoiding reliance on high-cost external positioning systems (such as visual recognition or multi-point beacons). The preset value can also be set according to user operation requirements and is not limited here.
[0062] Step S1045: Control the pool robot to recall and dock according to the target docking location.
[0063] In this embodiment, after determining the target docking location, the robot stops moving at that location, and the user retrieves the pool robot at this location.
[0064] like Figure 5 As shown, in this embodiment, the pool robot 500 has an ultrasonic sensor 501 at the front end and a handle 502 at the rear end. The handle 502 and the ultrasonic sensor 501 are facing opposite directions. At the same time, the preset angle is 180°. The first preset direction and the second preset direction are both backward. Therefore, the pool robot is in the handle backward posture at the target docking position, which makes it convenient for the user to manually retrieve the robot.
[0065] The swimming pool robot recall and docking method proposed in this embodiment obtains the yaw angle parameters and obstacle distance parameters of the swimming pool robot; controls the swimming pool robot to climb to the water level line by climbing the wall based on the yaw angle parameters and obstacle distance parameters; controls the swimming pool robot to rotate at a preset angle on the wall by adjusting the buoyancy state of the swimming pool robot; obtains the current water depth in front of the swimming pool robot, and recalls and docks the swimming pool robot based on the current water depth in front of the swimming pool robot. In this way, the yaw angle parameters and obstacle distance parameters are used to realize environmental perception and attitude recognition, providing a basis for subsequent decision-making; and the adjustable buoyancy is used to realize the attitude rotation at a preset angle on the vertical wall, while the current water depth in front of the swimming pool robot is used to control the recall and docking position of the swimming pool robot, so that the user can accurately retrieve the robot.
[0066] In addition, this application provides a swimming pool robot recall and docking device 600, please refer to [link to relevant documentation]. Figure 6 ,include: The acquisition module 601 is used to acquire the yaw angle parameters and obstacle distance parameters of the pool robot; The wall-climbing module 602 is used to control the pool robot to climb to the water level line by climbing the wall according to the yaw angle parameter and the obstacle distance parameter; The adjustment module 603 is used to control the swimming pool robot to rotate at a preset angle on the wall by adjusting the buoyancy state of the swimming pool robot. The recall module 604 is used to obtain the current water depth at the front end of the pool robot and recall and dock the pool robot according to the current water depth at the front end.
[0067] Optionally, the adjustment module 603 is also used to control the pool robot to rotate the preset angle on the wall; if the rotation fails, the pool robot is controlled to adjust the buoyancy to adjust the buoyancy state until the pool robot can rotate the preset angle on the wall.
[0068] Optionally, the adjustment module 603 is also used to adjust the water pump power of the pool robot, control the pool robot to move in the first preset direction for a preset time or a preset distance, control the pool robot to rotate the preset angle on the wall, and if the rotation fails, repeat the above steps until the pool robot can rotate the preset angle on the wall.
[0069] Optionally, the pool robot is equipped with at least two water pumps, which are located on opposite sides of the pool robot. The adjustment module 603 is also used to control one of the water pumps to be off and reduce the power of the other water pump.
[0070] Optionally, the wall-climbing module 602 is further configured to determine the wall position based on the yaw angle parameter and the obstacle distance parameter; control the pool robot to climb the wall in an upright state based on the wall position, so that the pool robot is in the wall-climbing state; after the pool robot is in the wall-climbing state, control the pool robot to climb the wall until the pool robot climbs to the water outlet line.
[0071] Optionally, the recall module 604 is further configured to: acquire an initial front-end water depth; the initial front-end water depth being the sum of the distance from the front-end sensor of the pool robot to the water surface and the length of the pool robot when the pool robot is in the wall-mounted state; acquire the current front-end water depth; the current front-end water depth being the sum of the distance from the front-end sensor to the bottom of the pool and the length of the pool robot during the process of the pool robot rotating at the preset angle on the wall and moving in the second preset direction; calculate the depth difference between the initial front-end water depth and the current front-end water depth; when the depth difference is a preset value, use the docking position corresponding to the depth difference as the target docking position of the pool robot; and control the pool robot to recall and dock according to the target docking position.
[0072] Optionally, the preset angle is 180°, and the handle of the pool robot is pointing backward.
[0073] The apparatus provided in this application embodiment can execute the steps of the pool robot recall and docking method provided in this application embodiment. To avoid repetition, it will not be described again.
[0074] The swimming pool robot recall and docking device proposed in this embodiment acquires the yaw angle parameters and obstacle distance parameters of the swimming pool robot; controls the swimming pool robot to climb to the water level line by climbing the wall based on the yaw angle parameters and obstacle distance parameters; controls the swimming pool robot to rotate at a preset angle on the wall by adjusting the buoyancy state of the swimming pool robot; acquires the current water depth in front of the swimming pool robot, and recalls and docks the swimming pool robot based on the current water depth in front of the swimming pool robot. In this way, the yaw angle parameters and obstacle distance parameters are used to realize environmental perception and attitude recognition, providing a basis for subsequent decision-making; and the adjustable buoyancy is used to realize the attitude rotation at a preset angle on the vertical wall, while the current water depth in front of the swimming pool robot controls the recall and docking position of the swimming pool robot, making it convenient for users to accurately retrieve the robot.
[0075] Furthermore, embodiments of this application provide a computer device, including a memory and a processor. The memory stores a computer program, and when the computer program is executed by the processor, it implements the pool robot recall and docking method provided in embodiments of this application.
[0076] The device provided in this application embodiment can execute the steps of the pool robot recall and docking method provided in this application embodiment. To avoid repetition, it will not be described again.
[0077] This application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the pool robot recall and docking method described in this application.
[0078] In this embodiment, the computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, etc.
[0079] The computer-readable storage medium provided in this application embodiment can implement the pool robot recall and docking method provided in this application embodiment. To avoid repetition, it will not be described again here.
[0080] In all examples shown and described herein, any specific values should be interpreted as merely exemplary and not as limitations; therefore, other examples of exemplary embodiments may have different values.
[0081] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.
[0082] The above-described embodiments are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention.
Claims
1. A method for recalling and docking a swimming pool robot, characterized in that, include: Obtain the yaw angle parameters and obstacle distance parameters of the pool robot; Based on the yaw angle parameter and the obstacle distance parameter, the pool robot is controlled to climb the wall to the water outlet line; By adjusting the buoyancy of the pool robot, the rotation angle of the pool robot on the wall can be controlled. Obtain the current water depth at the front end of the pool robot, and recall and dock the pool robot based on the current water depth.
2. The method for recalling and docking a swimming pool robot according to claim 1, characterized in that, The method of adjusting the buoyancy of the pool robot to control its rotation at a preset angle on the wall includes: Control the pool robot to rotate at the preset angle on the wall; If the rotation fails, the pool robot is controlled to adjust its buoyancy to adjust the buoyancy state until the pool robot can rotate the preset angle on the wall.
3. The method for recalling and docking a swimming pool robot according to claim 2, characterized in that, The control of the pool robot to adjust its buoyancy state until the pool robot can rotate at the preset angle on the wall includes: Adjust the water pump power of the pool robot to control the pool robot to move a preset time or preset distance in a first preset direction; Control the pool robot to rotate the preset angle on the wall. If the rotation fails, repeat the above steps until the pool robot can rotate the preset angle on the wall.
4. The method for recalling and docking a swimming pool robot according to claim 3, characterized in that, The pool robot is equipped with at least two water pumps, which are located on opposite sides of the pool robot. Adjusting the power of the water pumps of the pool robot includes: One of the water pumps is turned off, and the power of the other water pump is reduced.
5. The method for recalling and docking a swimming pool robot according to claim 1, characterized in that, The step of controlling the pool robot to climb to the outlet water level line by climbing the wall based on the yaw angle parameter and the obstacle distance parameter includes: The wall position is determined based on the yaw angle parameter and the obstacle distance parameter; The pool robot is controlled to mount its front end onto the wall in an upright position based on the wall's location, so that the pool robot is in the mounted state. After the pool robot is in the wall-climbing state, control the pool robot to climb the wall until the pool robot reaches the water outlet line.
6. The method for recalling and docking a swimming pool robot according to claim 5, characterized in that, The step of obtaining the current water depth at the front end of the pool robot and recalling and docking the pool robot based on the current water depth includes: Obtain the initial front-end water depth; the initial front-end water depth is the sum of the distance from the front-end sensor of the pool robot to the water surface and the length of the pool robot when the pool robot is in the wall-mounted state; The current front-end water depth is obtained; the current front-end water depth is the sum of the distance from the front-end sensor to the bottom of the pool and the length of the pool robot during the process of the pool robot moving in the second preset direction after rotating the preset angle on the wall. Calculate the depth difference between the initial front water depth and the current front water depth; When the depth difference is a preset value, the docking position corresponding to the depth difference is taken as the target docking position of the pool robot; The pool robot is controlled to recall and dock according to the target docking location.
7. The method for recalling and docking a swimming pool robot according to claim 1, characterized in that, The preset angle is 180°, and the handle of the pool robot is pointing backward.
8. A swimming pool robot recall and docking device, characterized in that, include: The acquisition module is used to acquire the yaw angle parameters and obstacle distance parameters of the pool robot; The wall-climbing module is used to control the pool robot to climb to the water outlet line by climbing the wall based on the yaw angle parameter and the obstacle distance parameter; An adjustment module is used to control the swimming pool robot to rotate at a preset angle on the wall by adjusting the buoyancy state of the swimming pool robot. The recall module is used to obtain the current water depth at the front end of the pool robot and recall and dock the pool robot according to the current water depth at the front end.
9. A swimming pool robot, characterized in that, It includes a memory and a processor, the memory storing a computer program that, when executed by the processor, implements the pool robot recall and docking method as described in any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that, It stores a computer program that, when executed by a processor, implements the pool robot recall and docking method as described in any one of claims 1 to 7.