Swimming pool cleaning robot and filter cartridge clogging detection control method thereof

Abstract

The present application belongs to the technical field of pool cleaning, and aims to solve the problems of complex detection method and sensor arrangement for existing filter box blockage detection, and the problem of untimely judgment of filter box blockage. To this end, the present application provides a pool cleaning robot and a filter box blockage detection control method thereof. The method comprises obtaining the posture of the pool cleaning robot, judging whether the posture of the pool cleaning robot is in a head-lifting posture; if so, stopping the forward movement of the pool cleaning robot; judging whether the posture of the pool cleaning robot returns to a state of being in contact with the surface to be cleaned; if so, the filter box of the pool cleaning robot is in a blocked state. The present application realizes accurate judgment of filter box blockage with a simple design and detection control method, simplifies the structure of the pool cleaning robot, improves the overall compactness, and at the same time ensures the accuracy of the filter box blockage detection of the pool cleaning robot, and guarantees the smoothness and cleaning efficiency of the pool cleaning robot operation.

Description

Technical Field

[0001] This invention relates to the field of swimming pool cleaning technology, specifically to a swimming pool cleaning robot and a method for detecting and controlling filter box blockage. Background Technology

[0002] A pool cleaning robot is an intelligent device used to automatically clean the bottom and walls of swimming pools, reducing the burden of manual maintenance. The working principle of a pool cleaning robot is generally as follows: an internal water pump continuously draws pool water through an inlet on the bottom of the robot into a filter box. A filter screen inside the filter box traps dirt, and the filtered clean pool water is discharged from the robot's outlet, thus cleaning the pool water. The thrust generated by the water pump allows the robot's bottom to adhere to the pool bottom, while the robot moves along the pool bottom using tracks or wheels. Some pool cleaning robots can also use cleaning brushes on their bottoms to clean the pool bottom, improving the cleaning effect.

[0003] In actual use, debris such as leaves, grass clippings, and hair in the pool gradually accumulate on the filter screen, causing it to become clogged. When the filter screen is clogged, the water flow rate of the pump decreases, and the thrust drops significantly. At this point, the water resistance encountered when the robot moves forward will lift its head, causing it to change from a position where it is flush with the pool bottom to a head-up position. Part of the robot's bottom will detach from the pool bottom, making it impossible to continue cleaning effectively. Therefore, it is necessary to determine whether the filter box is clogged during the cleaning process.

[0004] Current methods for detecting blockages rely on monitoring abnormal increases in pump current. However, this method only reflects changes in pump load and cannot directly indicate whether the blockage has affected the robot's normal operating posture. Furthermore, it is susceptible to interference from factors such as voltage and water flow fluctuations. Other methods involve setting fixed cleaning times or frequency to remind users to clean the filter box, but the actual blockage rate is closely related to the pool's pollution level, and fixed times may result in premature or late alerts, failing to achieve dynamic blockage detection during robot operation. Another approach involves using pressure sensors before and after the filter box to detect pressure difference changes, but this requires additional dedicated sensors, increasing hardware costs and structural complexity. Moreover, pressure sensors are prone to contamination and aging in underwater environments, resulting in poor reliability.

[0005] Therefore, there is a need in the art for a new method for detecting and controlling filter blockage in a pool cleaning robot, as well as a new pool cleaning robot. Summary of the Invention

[0006] To address the aforementioned problems, namely the complexity of existing pool cleaning robot filter box clogging detection methods and sensor arrangements, and the untimely detection of filter box clogging, the first aspect of this invention provides a filter box clogging detection and control method for a pool cleaning robot, the method comprising the following steps: Turn on the water pump and, during the forward movement, acquire the posture of the pool cleaning robot and determine whether the posture of the pool cleaning robot is in the head-raised posture. If so, the blockage detection process is triggered, stopping the forward movement of the pool cleaning robot or reducing its speed; Determine whether the swimming pool cleaning robot has returned to a state of contact with the surface to be cleaned; If so, the filter box of the pool cleaning robot is clogged.

[0007] This method, utilizing a conventional component like an attitude sensor, performs basic attitude detection while simultaneously exploiting the unique phenomenon in pool cleaning robots where insufficient thrust due to filter blockage causes the robot head to lift. By observing whether the attitude returns to normal after the robot stops moving forward, the blockage status can be indirectly determined. This completely avoids the complex control logic of adding flow sensors or detecting changes in water pump voltage in traditional solutions. Without sacrificing detection accuracy, it simplifies the system structure, reduces the risk of misjudgment, and provides a better engineering implementation path for the miniaturization and compact design of pool cleaning robots.

[0008] Preferably, the method further includes, after stopping the forward movement of the pool cleaning robot or reducing its speed: If the filter box of the pool cleaning robot is clogged, the power of the water pump of the pool cleaning robot is increased to accelerate the return of the pool cleaning robot to the state of contact with the surface to be cleaned.

[0009] By increasing the power of the water pump after detecting a clogged filter box, the downward thrust is amplified, shortening the time required for posture recovery. This allows the pool cleaning robot to resume cleaning operations more quickly, reducing cleaning interruptions caused by detection and recovery, thereby improving overall cleaning efficiency.

[0010] Preferably, increasing the power of the water pump of the pool cleaning robot specifically includes: The power of the water pump is continuously or steppedly increased until the pitch angle of the head of the pool cleaning robot drops to a preset angle and / or the rate of descent of the pitch angle of the head reaches a preset rate, and the power of the water pump is adjusted to the target power. The target power is the power of the pool cleaning robot when it is in contact with the surface to be cleaned.

[0011] By using this method, the power of the water pump is controlled in a step-by-step or continuously increasing strategy, so as to achieve attitude recovery with the minimum necessary power. As long as the power of the current level is sufficient to make the pitch angle begin to decrease at a preset rate, the power will not be increased further, which shortens the recovery time of the pool cleaning robot. At the same time, it can avoid unnecessary energy consumption caused by excessive water pump power. In addition, reasonable control of water pump power can help the pool cleaning robot to smoothly return to the state of contact with the surface to be cleaned, ensuring the stability of the recovery process. It can also prevent mechanical impact or abnormal wear caused by too rapid recovery action, and extend the service life of the various components of the pool cleaning robot.

[0012] Preferably, the method further includes: After the pool cleaning robot stops moving forward, the recovery time of the pool cleaning robot from stopping to returning to the state of contact with the surface to be cleaned is obtained; The degree of clogging of the filter cartridge is determined based on the recovery time; The cleaning mode of the pool cleaning robot is determined based on the degree of clogging of the filter box.

[0013] This method determines the degree of filter box blockage based on the recovery time from stopping to returning to contact with the surface to be cleaned. The cleaning mode is then adjusted according to the degree of blockage. On the one hand, the pool cleaning robot continues to operate while still being able to clean the pool, preventing frequent filter box cleaning from reducing cleaning efficiency. On the other hand, it can stop in time if the robot cannot operate or if continued operation would damage it, forming a coherent judgment and control logic and improving the automated management of the pool cleaning robot.

[0014] Preferably, determining the degree of clogging of the filter cartridge based on the recovery time specifically includes: If the recovery time is less than or equal to the first time threshold, the filter cartridge is slightly clogged. If the recovery time is greater than the first time threshold and less than or equal to the second time threshold, then the filter cartridge is moderately clogged. If the recovery time is greater than the second time threshold, the filter cartridge is severely clogged. Wherein, the first time threshold is less than the second time threshold.

[0015] Using this method, the grading standard is based entirely on the physical laws of underwater force and attitude recovery of robots. Different levels correspond to the actual blockage state, and the judgment results are not affected by the external environment. Mild blockage corresponds to a slight decrease in thrust, moderate blockage corresponds to a significant decrease in thrust, and severe blockage corresponds to a severe decrease in thrust. The grading results are highly consistent with the actual working conditions. No matter how much debris or how fast the blockage occurs, the level can be accurately classified, improving the product's adaptability to different scenarios.

[0016] Preferably, determining the cleaning mode of the pool cleaning robot based on the degree of clogging of the filter box specifically includes: If the filter box is slightly clogged, the pool cleaning robot continues cleaning at the first walking speed; If the filter box is moderately clogged, the pool cleaning robot continues cleaning at the second walking speed; If the filter box is severely clogged, the pool cleaning robot will stop cleaning. The normal speed is greater than the first walking speed, and the first walking speed is greater than the second walking speed.

[0017] In this way, under mild and moderate blockage conditions, the pool cleaning robot continues cleaning by reducing its walking speed, minimizing human intervention and ensuring continuous cleaning while maintaining the robot's safety. Simultaneously, varying speeds match the walking rate to the water pump thrust, reducing water flow resistance and preventing the robot from exhibiting abnormal head-lifting postures, further enhancing stability during cleaning. In cases of severe blockage, the robot immediately stops to prevent idling damage to the water pump and walking mechanism, protecting core hardware. This approach maximizes effective cleaning time while ensuring equipment safety, balancing operational efficiency and equipment protection.

[0018] Preferably, the method further includes: If the filter cartridge is slightly or moderately clogged, extend the cleaning time of the pool cleaning robot per cycle; and / or, If the filter box is moderately clogged, increase the power of the water pump.

[0019] This method, by extending the duration of each cleaning cycle, compensates for the insufficient cleaning coverage caused by the reduced speed, ensuring that the robot can complete full-pool cleaning without blind spots, guaranteeing cleaning effectiveness, and improving cleaning quality in clogged conditions. In cases of moderate clogs, increasing the pump power can compensate for the reduced thrust, ensuring the robot's contact with the pool bottom or walls.

[0020] Preferably, the method further includes: If the filter box is slightly or moderately clogged, and the continuous working time of the pool cleaning robot exceeds a preset time and the robot head does not lift up again, then the walking speed of the pool cleaning robot will be restored to the normal walking speed.

[0021] This method enables the pool cleaning robot to autonomously monitor the clogging status of the filter box and automatically restore normal speed without manual cleaning or restart. The entire process is fully automated, improving product convenience. At the same time, based on continuous operation without abnormalities, the robot dynamically identifies the clogging status, forming a closed-loop control for the pool cleaning robot's posture detection, speed reduction, continuous posture detection, and walking speed recovery. This allows the pool cleaning robot to adapt to changes in the filter box status in real time, optimizing the overall control effect.

[0022] Preferably, after the pool cleaning robot lifts its head but before triggering the blockage detection process, the method further includes: Determine whether the pool cleaning robot is in a wall-climbing cleaning state.

[0023] Preferably, determining whether the pool cleaning robot is in a wall-climbing cleaning state includes at least one of the following determination methods: Judgment Method 1: If it is determined that the posture of the pool cleaning robot has not returned to the state of being in contact with the surface to be cleaned within the set time, then the pool cleaning robot is in the state of climbing the wall for cleaning. Method 2: Detect whether the pool cleaning robot is in a wall-climbing cleaning state using a wall-climbing detection sensor.

[0024] This method, through timeout judgment logic, clearly distinguishes between abnormal head lifting caused by blockage and normal head lifting during wall climbing, solving the misjudgment problem of traditional detection and ensuring detection accuracy. Furthermore, upon determining wall climbing mode, the detection immediately exits, quickly resuming normal wall climbing cleaning, avoiding interruptions to pool wall operations and ensuring the continuity of cleaning throughout the pool. Simultaneously, the detection logic is compatible with wall climbing scenarios, covering the entire working area of ​​the pool bottom and walls, improving the robot's adaptability to different cleaning scenarios. Alternatively, wall climbing detection sensors can be specifically set up to directly determine whether the pool cleaning robot is in wall climbing cleaning mode, thereby avoiding misjudging wall climbing cleaning mode as abnormal head lifting and ensuring the continuity of wall climbing cleaning.

[0025] Another aspect of the present invention provides a swimming pool cleaning robot, the swimming pool cleaning robot comprising: The robot itself; An attitude sensor is mounted on the robot body; A walking drive mechanism is located at the bottom of the robot body; A controller, which is communicatively connected to the attitude sensor and the walking drive mechanism, is configured to perform the method described above.

[0026] With this setup, each component has a clear division of labor and simple connections, eliminating the need for complex structural modifications, reducing material costs, lowering assembly difficulty, and facilitating later maintenance and replacement. At the same time, the filter box clogging status can be detected by attitude sensors, reducing the number of other sensors, such as eliminating the traditional water pressure sensor, reducing underwater sealing difficulty, and improving the overall underwater reliability of the machine. Attached Figure Description

[0027] Figure 1 This is a flowchart of a filter box clogging detection and control method for a pool cleaning robot provided in an embodiment of the present invention. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to specific embodiments and the accompanying drawings. It should be understood that these descriptions are merely exemplary and not intended to limit the scope of the invention. Furthermore, descriptions of well-known structures and techniques are omitted in the following description to avoid unnecessarily obscuring the concept of the invention.

[0029] The accompanying drawings illustrate layer structure diagrams according to embodiments of the present invention. These drawings are not to scale, and some details have been enlarged for clarity, and some details may have been omitted. The shapes of the various regions and layers shown in the drawings, as well as their relative sizes and positional relationships, are merely exemplary and may deviate from reality due to manufacturing tolerances or technical limitations. Furthermore, those skilled in the art can design regions / layers with different shapes, sizes, and relative positions as needed.

[0030] Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0031] In the description of this invention, it should be noted that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0032] Based on the background art, existing pool cleaning robots suffer from problems such as complex detection methods and sensor arrangements for filter box clogging detection, untimely detection of filter box clogging, inability to achieve dynamic clogging status detection during robot operation, and poor long-term detection stability. This invention provides a pool cleaning robot and its filter box clogging detection and control method, aiming to achieve accurate detection of filter box clogging with a simple design and detection control method, simplifying the structure of the pool cleaning robot, improving the overall compactness, while ensuring the accuracy of filter box clogging detection, and guaranteeing the smooth operation and cleaning efficiency of the pool cleaning robot.

[0033] See Figure 1 The present invention provides a method for detecting and controlling filter box clogging in a swimming pool cleaning robot, comprising the following steps: Turn on the water pump and, during the forward movement, acquire the posture of the pool cleaning robot to determine whether the robot is in the head-up position. If so, the blockage detection process will be triggered, stopping the pool cleaning robot's forward movement or reducing its speed; Determine whether the swimming pool cleaning robot has returned to a position that is in contact with the surface to be cleaned; If so, the filter box of the pool cleaning robot is clogged.

[0034] Specifically, the water pump is turned on, and the pool cleaning robot begins its cleaning work. An attitude sensor is installed on the pool cleaning robot, which can be located inside the robot or on its outer shell. As the pool cleaning robot moves forward, it outputs the robot's pitch angle data in real time. In one optional scenario, the attitude sensor directly determines the robot's attitude based on the angle data. That is, when the pool cleaning robot's attitude is that the nose is raised, the robot is controlled to immediately stop moving forward or reduce its speed, but the water pump continues to work. In another optional scenario, a threshold for determining when the nose is raised is preset, such as a pitch angle greater than 30°, and an anti-shake confirmation time is set, such as 0.5 seconds, to eliminate the influence of momentary disturbances on the judgment result, such as the nose being raised briefly due to water waves. When the pitch angle is continuously detected to exceed the threshold for the confirmation time, it is determined that the nose is raised, and the pool cleaning robot stops moving forward or reduces its speed. When the pool cleaning robot stops or reduces its speed, the water resistance generated during forward movement disappears or decreases. The attitude sensor continues to monitor the pitch angle. If, within a preset time window, such as 5-10 seconds, the pitch angle returns to a preset angle threshold (e.g., less than 10°), it is determined that the posture has returned to a state of contact with the surface to be cleaned, thus concluding that the filter box is clogged. The principle is that clogging causes a decrease in water pump thrust, and the water resistance during forward movement lifts the robot head. After stopping or reducing its speed, the water resistance disappears or decreases, and the remaining thrust can still press the robot head back to horizontal. Specifically, the state of contact with the surface to be cleaned means that the bottom of the pool cleaning robot's body is in contact with the surface, i.e., the robot head is not lifted. The surface to be cleaned can be the bottom of the pool.

[0035] In a preferred embodiment, after the pool cleaning robot stops its forward motion or reduces its speed, the method further includes: Increase the power of the water pump in the pool cleaning robot to accelerate its return to a position that is in contact with the surface to be cleaned.

[0036] Specifically, the water pump is usually driven by a DC brushless motor. Its power can be adjusted by regulating the duty cycle of the PWM (Pulse Width Modulation) signal or by directly adjusting the drive voltage. Under normal operating conditions, the water pump operates at its rated power. When it is determined that the filter box is clogged, and it is necessary to accelerate the attitude recovery, the controller increases the PWM duty cycle to a level above the rated value, such as 120% to 180%. The higher power causes the water pump impeller to rotate at a higher speed, generating a greater axial thrust, which in turn increases the force pressing down on the robot. This force, combined with the robot's own gravity, forms a stronger downward resultant force acting on the robot body, thereby overcoming the insufficient thrust caused by the filter box clogging and pressing the robot head back to a horizontal position more quickly. Once the attitude sensor detects that the robot head pitch angle has returned to the horizontal range, the controller adjusts the water pump power back to the normal level.

[0037] In a preferred embodiment, increasing the power of the pool cleaning robot's water pump specifically includes: Continuously or stepwise increase the power of the water pump until the pitch angle of the pool cleaning robot's head drops to a preset angle and / or the rate of descent of the pitch angle reaches a preset rate, then adjust the power of the water pump to the target power. The target power is the power of the pool cleaning robot when it is in contact with the surface to be cleaned.

[0038] Specifically, when the power of the water pump is continuously increased, the controller continuously increases the pump's drive duty cycle in a linear or exponential manner, while monitoring the pitch angle or its descent rate in real time. When the pitch angle drops to a preset angle, such as 15°, or the descent rate exceeds a threshold, such as a descent rate greater than or equal to 10° / s, the power increase is immediately stopped, and the power is locked at the current value or directly reverted to normal power.

[0039] When using a stepped increase in pump power, multiple discrete power levels can be preset on the controller. For example, the first level could be 120% of the rated power, the second 150%, and the third 180%. After stopping forward, the pump power is first increased to the first level. The controller monitors the pitch angle change. If, within a preset observation time, such as 2 seconds, the pitch angle begins to decrease and the rate of decrease exceeds a threshold, it indicates that the robot head is effectively returning to its normal position. The current power is maintained until the attitude is fully restored to horizontal, and then the power is reduced to the target power, i.e., normal power. If there is no significant decrease in pitch angle within 2 seconds, the power is increased to the second level, and observation continues. If the angle still does not recover, the power is increased to the third level. Once the rate of pitch angle decrease reaches a preset rapid descent threshold, the power can be reduced in advance. It should be noted that the target power here refers to the operating power used by the robot when it is in contact with the surface to be cleaned, i.e., when cleaning normally flat against the bottom of the pool. This can be the rated power or a slightly higher power after compensation.

[0040] In a preferred embodiment, the method further includes: After the pool cleaning robot stops moving forward, obtain the recovery time from when the pool cleaning robot stops moving forward to when it resumes its state of contact with the surface to be cleaned; The degree of clogging in the filter cartridge is determined based on the recovery time; The cleaning mode of the pool cleaning robot is determined based on the degree of clogging of the filter cartridge.

[0041] Specifically, upon issuing a stop command, the controller starts an internal timer. The controller then continuously monitors the pitch angle data output by the attitude sensor, using a preset horizontal threshold as a marker for returning to contact with the surface to be cleaned. Once the pitch angle enters this horizontal range and stabilizes, the timer stops, and the time elapsed from stop to recovery is recorded as the recovery time. This recovery time directly reflects the impact of filter cartridge blockage on pump thrust. The lighter the blockage, the smaller the pump thrust loss and the faster the pump head returns; the heavier the blockage, the greater the thrust loss and the longer the recovery time. The blockage severity is categorized into different levels based on the recovery time. Then, according to different blockage levels, the controller retrieves the corresponding cleaning mode parameters from a preset strategy library and executes differentiated subsequent operations.

[0042] In a preferred embodiment, the degree of clogging of the filter cartridge is determined based on the recovery time, specifically including: If the recovery time is less than or equal to the first time threshold, the filter cartridge is slightly clogged. If the recovery time is greater than the first time threshold and less than or equal to the second time threshold, the filter cartridge is moderately clogged. If the recovery time is greater than the second time threshold, the filter cartridge is severely clogged. The first time threshold is less than the second time threshold.

[0043] Specifically, the first time threshold T1 and the second time threshold T2 are empirical values ​​obtained through pre-calibration via experiments. Those skilled in the art can flexibly select the calibration process based on practical applications or robot operation test requirements. For example, in a laboratory environment, by adding different amounts of simulated debris, such as a mixture of leaves and hair, to the filter box, three levels of blockage—mild, moderate, and severe—are artificially created. For each blockage level, the filter box blockage detection process is run multiple times, recording the time from stopping to posture recovery. Through statistical analysis, the critical time values ​​distinguishing between mild and moderate, and moderate and severe blockages are determined. For example, the recovery time for mild blockage is typically within 2-3 seconds, moderate blockage is 4-6 seconds, and severe blockage is over 7 seconds; therefore, T1 = 3 seconds and T2 = 6 seconds can be set. In actual operation, the controller compares the measured recovery time with these two thresholds: if the recovery time ≤ T1, it is determined to be mild blockage; if T1 < recovery time ≤ T2, it is determined to be moderate blockage; and if the recovery time > T2, it is determined to be severe blockage.

[0044] In a preferred embodiment, the cleaning mode of the pool cleaning robot is determined based on the degree of clogging of the filter cartridge, specifically including: If the filter box is slightly clogged, the pool cleaning robot will continue cleaning at its first walking speed. If the filter box is moderately clogged, the pool cleaning robot will continue cleaning at the second walking speed; If the filter box is severely clogged, the pool cleaning robot will stop cleaning. Among them, the normal speed is greater than the first walking speed, and the first walking speed is greater than the second walking speed.

[0045] Specifically, after classifying the degree of clogging, the controller executes a corresponding walking speed control strategy based on the level. In a lightly clogged state, once the robot's posture recovers, the water pump power returns to normal, and the robot continues cleaning at a first walking speed, such as 70% of normal speed. In other words, after the filter box becomes clogged, the pool cleaning robot slows down. This slowing down reduces water resistance during forward movement, lowering the probability of the robot head being lifted again. Furthermore, the system records this clogging event and reminds the user to clean the filter box via the app or indicator light after the current cleaning cycle ends. In a moderately clogged state, once the robot's posture recovers, it continues cleaning at a second walking speed, such as 50% of normal speed, and immediately reminds the user of the moderate clogging via app push notification or indicator light flashing, allowing for timely intervention during the robot's idle time. In a severely clogged state, the robot stops cleaning, the water pump power returns to normal, and a strong reminder is sent via app push notification and / or an audible and visual alarm, clearly informing the user that the filter box is severely clogged and needs immediate cleaning. The robot then waits in place or returns to the starting point, awaiting the user to clean the filter box before restarting. The normal speed is the speed at which the pool cleaning robot moves when it is cleaning the bottom of the pool, provided that the filter box is not clogged.

[0046] It should be noted that the first walking speed is greater than the second speed, meaning the robot moves faster during mild congestion and slower during moderate congestion. Those skilled in the art can flexibly implement speed control in practical applications. Optionally, the controller can adjust the rotational speed of the walking drive motor via a PWM signal, or reduce the wheel / track rotational speed by changing the drive pulse frequency. The lower the forward speed, the less water resistance the robot's head experiences, thus reducing the torque required to lift the head. This allows the robot to maintain a horizontal posture for cleaning even when the water pump thrust is insufficient.

[0047] In an alternative scenario, the method further includes: If the filter cartridge is slightly or moderately clogged, extend the cleaning time of the pool cleaning robot per cycle.

[0048] Specifically, in a robot's routine cleaning task, there is usually a preset single working time. When a mild or moderate blockage occurs and the speed is reduced, the area cleaned in the same time will decrease due to the reduced walking speed. The cleaning time can be extended, for example by 20%, to compensate for the loss of cleaning coverage caused by the speed reduction.

[0049] In another alternative scenario, the method also includes: If the filter box is moderately clogged, increase the power of the water pump.

[0050] Specifically, in cases of moderate blockage, due to significant thrust loss, even with speed reduction, it may not be possible to completely prevent the pump from lifting up, or excessive speed reduction may lead to a significant decrease in cleaning time and efficiency. In such cases, the controller can increase the water pump's base operating power from the rated value to a compensation value, such as 110%-120% of the rated power, and continue to operate at that power while monitoring the motor temperature to prevent overheating.

[0051] In yet another alternative scenario, the method also includes: If the filter box is moderately clogged, adjust the cleaning mode of the pool cleaning robot to the wall-climbing cleaning mode.

[0052] Specifically, when cleaning the wall, the robot relies on the adhesion between its tracks and the wall and the thrust of the water pump to overcome gravity. The normal reaction force provided by the wall helps the robot stay in contact with the wall, so the dependence on the thrust of the water pump is relatively small. After the controller detects a moderate blockage, it can call the path planning module to prioritize the cleaning of the pool wall, reducing the impact of filter box blockage on the cleaning progress. After the pool wall cleaning is completed, the robot continues to clean the pool wall at a slower speed while reminding staff to clean the filter box during their free time.

[0053] In a preferred embodiment, the method further includes: If the filter box is slightly or moderately clogged, and the continuous working time of the pool cleaning robot exceeds the preset time without the head lifting posture reappearing, then the walking speed of the pool cleaning robot will be restored to the normal walking speed.

[0054] Specifically, during the robot's deceleration cleaning process, i.e., when the filter box is slightly or moderately clogged, the controller continuously monitors the robot's continuous working time and whether the robot head lifts up again. If the continuous working time in deceleration mode exceeds a preset observation period, such as 30 minutes, and the robot head does not lift up within 30 minutes (i.e., the pitch angle remains below the horizontal threshold), the controller begins the speed recovery procedure. Furthermore, the recovery procedure employs a gradual recovery strategy, rather than a one-time jump back to normal speed, to avoid a sudden increase in water resistance due to a sudden speed change, which could cause the robot to lift up again. For example, after each recovery interval, such as 5 minutes, the walking speed is adjusted upwards by one level, such as increasing by 10% from the current speed. At each speed level, the controller continues to monitor whether the pitch angle is stable. If the robot head lifts up again at a certain speed level, it immediately reverts to the previous safe speed level and restarts the timing observation until it remains stable after returning to normal speed, at which point the deceleration mode is completely exited. The normal walking speed here refers to the speed at which the pool cleaning robot can stably clean the pool bottom when it is running normally and the filter box is not clogged, without the robot head raised.

[0055] In a preferred embodiment, after the pool cleaning robot lifts its head but before triggering the blockage detection process, the method further includes: Determine whether the pool cleaning robot is in a wall-climbing cleaning state.

[0056] Understandably, when a pool cleaning robot switches from bottom cleaning to wall-climbing cleaning, its cleaning head will lift. Therefore, before triggering the blockage detection process after the cleaning head lifts, a check is performed to determine if the robot is in wall-climbing cleaning mode. If it is determined to be in wall-climbing cleaning mode, the current cleaning continues; if it is determined not to be in wall-climbing cleaning mode, the blockage detection process is triggered. This setup avoids accidental interference with wall-climbing cleaning and ensures its continuity.

[0057] Optionally, determining whether the pool cleaning robot is in a wall-climbing cleaning state includes at least one of the following methods: Judgment Method 1: If the pool cleaning robot fails to return to a state of contact with the surface to be cleaned within the set time, the pool cleaning robot is in the wall-climbing cleaning state. Method 2: Detect whether the pool cleaning robot is in a wall-climbing cleaning state using a wall-climbing detection sensor.

[0058] Specifically, when the robot stops moving forward, the controller starts a timer with a maximum waiting time, which should be significantly longer than the time required for normal blockage recovery, for example, 10 seconds. During this time, the controller continuously monitors the pitch angle of the attitude sensor. If, at the end of this time, the pitch angle is still greater than or equal to the threshold for the robot's head to lift, meaning the robot has failed to return to contact with the surface to be cleaned, the controller determines that the robot is not lifting its head due to blockage, but is performing a normal wall-climbing cleaning task. When climbing, the robot relies on the adhesion between its tracks and the wall and the thrust of the water pump to overcome gravity. Even if it stops moving forward, because the direction of gravity is basically parallel to the robot's longitudinal axis, the robot will not automatically fall horizontally. After determining that it is in a wall-climbing state, the controller restores the power of the walking drive device, allowing the robot to continue climbing along the wall or performing other wall-climbing actions. At the same time, this determination result can also be used to reset the relevant state of blockage detection, avoiding misclassifying normal wall climbing as a blockage event. Alternatively, a wall-climbing detection sensor can be specifically installed in the pool cleaning robot to directly determine whether the robot is in a wall-climbing cleaning state. This avoids misinterpreting the wall-climbing cleaning state as an abnormality and ensures the continuity of wall-climbing cleaning. The wall-climbing detection sensor can be an existing wheel speed sensor, wall-contact sensor, etc.

[0059] Another aspect of the present invention provides a pool cleaning robot, the pool cleaning robot comprising: The robot itself; An attitude sensor, which is mounted on the robot body and configured to detect the robot body's attitude; The walking drive mechanism is located at the bottom of the robot body and is configured to drive the robot body forward. The controller, which is in communication with the attitude sensor and the walking drive mechanism, is configured to perform the above-described method.

[0060] Specifically, the robot body includes a waterproof shell, buoyancy adjustment components, and a sealed chamber to house and protect internal electronic components and batteries. The robot body typically features a streamlined design to reduce water resistance, and a cleaning brush or suction port is located at the bottom. The attitude sensor is preferably a 6-axis or 9-axis inertial measurement unit (IMU), integrating a three-axis accelerometer and a three-axis gyroscope. It outputs the robot's pitch, roll, and yaw angles relative to gravity. It is usually mounted on the control circuit board near the robot's center of gravity to minimize interference from motion acceleration in angle calculations. The attitude sensor can communicate with the controller via I2C or SPI bus, with a sampling frequency set to 20-100Hz. Alternatively, it can be wirelessly connected to the controller via WiFi or Bluetooth. The walking drive mechanism includes independent left and right drive motors, a gearbox, a drive wheel, a driven wheel, and tracks or rubber wheels, which can be flexibly configured according to the specific application. The drive motors receive commands from the controller via wired or wireless communication to achieve forward, backward, turning, and speed adjustment. The walking mechanism is mounted on both sides of the robot's bottom, providing friction with the pool bottom or wall. The controller has a built-in or external memory that stores firmware code that implements the above methods. The controller can control the water pump motor and the walking motor through a PWM interface, GPIO interface, dedicated motor driver chip or communication interface. Furthermore, those skilled in the art can flexibly set other peripheral components according to the robot's usage requirements. For example, the controller is also connected to peripherals such as a power management module, communication module, indicator lights, and buzzers. The controller can also communicate with a mobile APP via Bluetooth and can push blockage alarms and cleaning reports.

[0061] It should be understood that the specific embodiments described above are merely illustrative or explanatory of the principles of the invention and do not constitute a limitation thereof. Therefore, any modifications, equivalent substitutions, improvements, etc., made without departing from the spirit and scope of the invention should be included within the protection scope of the invention. Furthermore, the appended claims are intended to cover all variations and modifications falling within the scope and boundaries of the appended claims, or equivalent forms of such scope and boundaries.

Claims

1. A method for detecting and controlling filter box clogging in a swimming pool cleaning robot, characterized in that, The method includes the following steps: Turn on the water pump and, during the forward movement, acquire the posture of the pool cleaning robot and determine whether the posture of the pool cleaning robot is in the head-raised posture. If so, the blockage detection process is triggered, stopping the forward movement of the pool cleaning robot or reducing its speed; Determine whether the swimming pool cleaning robot has returned to a state of contact with the surface to be cleaned; If so, the filter box of the pool cleaning robot is clogged.

2. The filter box clogging detection and control method for the swimming pool cleaning robot according to claim 1, characterized in that, The method further includes, after stopping the forward movement of the pool cleaning robot or reducing its speed: Increase the power of the water pump of the pool cleaning robot to accelerate the return of the pool cleaning robot to the state of contact with the surface to be cleaned.

3. The filter box clogging detection and control method for the swimming pool cleaning robot according to claim 2, characterized in that, The improvement of the power of the water pump of the pool cleaning robot specifically includes: The power of the water pump is continuously or steppedly increased until the pitch angle of the head of the pool cleaning robot drops to a preset angle and / or the rate of descent of the pitch angle of the head reaches a preset rate, and the power of the water pump is adjusted to the target power. The target power is the power of the pool cleaning robot when it is in contact with the surface to be cleaned.

4. The filter box clogging detection and control method for the swimming pool cleaning robot according to claim 1, characterized in that, The method further includes: After the pool cleaning robot stops moving forward, the recovery time of the pool cleaning robot from stopping to returning to the state of contact with the surface to be cleaned is obtained; The degree of clogging of the filter cartridge is determined based on the recovery time; The cleaning mode of the pool cleaning robot is determined based on the degree of clogging of the filter box.

5. The filter box clogging detection and control method for the pool cleaning robot according to claim 4, characterized in that, Determining the degree of clogging of the filter cartridge based on the recovery time specifically includes: If the recovery time is less than or equal to the first time threshold, the filter cartridge is slightly clogged. If the recovery time is greater than the first time threshold and less than or equal to the second time threshold, then the filter cartridge is moderately clogged. If the recovery time is greater than the second time threshold, then the filter cartridge is severely clogged. Wherein, the first time threshold is less than the second time threshold.

6. The filter box clogging detection and control method for the swimming pool cleaning robot according to claim 5, characterized in that, The process of determining the cleaning mode of the pool cleaning robot based on the degree of clogging of the filter box specifically includes: If the filter box is slightly clogged, the pool cleaning robot continues cleaning at the first walking speed; If the filter box is moderately clogged, the pool cleaning robot continues cleaning at the second walking speed; If the filter box is severely clogged, the pool cleaning robot will stop cleaning. The normal speed is greater than the first walking speed, and the first walking speed is greater than the second walking speed.

7. The filter box clogging detection and control method for the swimming pool cleaning robot according to claim 6, characterized in that, The method further includes: If the filter box is slightly or moderately clogged, extend the cleaning time of the pool cleaning robot per cycle; and / or, If the filter box is moderately clogged, increase the power of the water pump.

8. The filter box clogging detection and control method for the swimming pool cleaning robot according to claim 6, characterized in that, The method further includes: If the filter box is slightly or moderately clogged, and the continuous working time of the pool cleaning robot exceeds a preset time and the robot head does not lift up again, then the walking speed of the pool cleaning robot will be restored to the normal walking speed.

9. The filter box clogging detection and control method for the swimming pool cleaning robot according to claim 1, characterized in that, After the pool cleaning robot lifts its head but before triggering the blockage detection process, the method further includes: Determine whether the pool cleaning robot is in a wall-climbing cleaning state.

10. The filter box clogging detection and control method for the swimming pool cleaning robot according to claim 9, characterized in that, Determining whether the pool cleaning robot is in a wall-climbing cleaning state includes at least one of the following determination methods: Judgment Method 1: If it is determined that the posture of the pool cleaning robot has not returned to the state of being in contact with the surface to be cleaned within the set time, then the pool cleaning robot is in the state of climbing the wall for cleaning. Method 2: Detect whether the pool cleaning robot is in a wall-climbing cleaning state using a wall-climbing detection sensor.

11. A swimming pool cleaning robot, characterized in that, The pool cleaning robot includes: The robot itself; An attitude sensor is mounted on the robot body; A walking drive mechanism is located at the bottom of the robot body; A controller, which is communicatively connected to the attitude sensor and the walking drive mechanism, is configured to perform the method of any one of claims 1 to 10.

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