Method and system for preventing swimming pool robot from colliding with wall, and medium

Abstract

Disclosed in the present invention are a method and system for preventing a swimming pool robot from colliding with a wall, and a medium. The method comprises: acquiring the distance between a swimming pool robot and the wall of a swimming pool; comparing the distance between the swimming pool robot and the wall of the swimming pool with a first preset distance; and if the distance between the swimming pool robot and the wall of the swimming pool is less than or equal to the first preset distance, controlling the swimming pool robot to perform braking, such that the swimming pool robot stops forward movement before touching the wall of the swimming pool. The present invention can effectively prevent a swimming pool robot from touching the wall of a swimming pool during a cleaning process, thereby improving the intelligence and safety of the swimming pool robot; and the cleaning effect is good.

Description

[Corrected 09.04.2024 according to Rule 26] A method, system and storage medium for avoiding wall collisions for a swimming pool robot Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a method, system and medium for preventing a swimming pool robot from colliding with a wall. Background Art

[0002] Swimming pool cleaning robots are household consumer robots used to clean swimming pools. Their functions are similar to those of sweeping robots. However, unlike sweeping robots, swimming pool cleaning robots are used underwater and need to work in swimming pools. Swimming pool cleaning has always been a pain point, and manual cleaning is tedious and time-consuming. The industry has generally begun to use swimming pool cleaning robots to clean swimming pools. Many companies are studying path planning-related algorithms to allow swimming pool cleaning robots to clean the swimming pool according to the set route to achieve higher cleaning efficiency.

[0003] Many pool cleaning robots currently on the market rely on collision to detect walls, and use built-in accelerometers to detect collisions. This method is not smart enough and can easily damage the machine, or cause the machine to shift position after a collision, resulting in a deviation from the set path.

[0004] Summary of the Invention

[0005] The main purpose of the present invention is to propose a method, system and medium for preventing a swimming pool robot from colliding with a wall. The method aims to detect the distance between the swimming pool robot and the swimming pool wall, control the speed of the swimming pool robot, perform corresponding braking actions in advance, prevent the swimming pool robot from directly colliding with the wall, and improve the intelligence and safety of the swimming pool robot.

[0006] To achieve the above object, the present invention provides a method for a swimming pool robot to avoid colliding with a wall, the method comprising the following steps:

[0007] Step S10, obtaining the distance between the swimming pool robot and the swimming pool wall;

[0008] Step S20, comparing the distance between the swimming pool robot and the swimming pool wall with a first preset distance;

[0009] Step S30: If the distance between the swimming pool robot and the swimming pool wall is less than or equal to the first preset distance, the swimming pool robot is controlled to brake so that the swimming pool robot stops moving before hitting the swimming pool wall.

[0010] A further technical solution of the present invention is that the first preset distance is 40 cm.

[0011] A further technical solution of the present invention is that, after the step S30 of braking the swimming pool robot to stop before hitting the swimming pool wall if the distance between the swimming pool robot and the swimming pool wall is less than or equal to the first preset distance, the method further includes:

[0012] Step S40: Control the swimming pool robot to turn 180 degrees and move forward to clean the bottom and corners of the swimming pool.

[0013] A further technical solution of the present invention is that the step S40 of controlling the swimming pool robot to turn 180 degrees and move forward to clean the bottom and corners of the swimming pool includes:

[0014] Step S401, controlling the swimming pool robot to first retreat a second preset distance and then turn 90 degrees;

[0015] Step S402, after completing the 90° turn, controlling the swimming pool robot to move forward a third preset distance;

[0016] Step S403: Control the swimming pool robot to continue turning 90 degrees, and then control the swimming pool robot to move forward to clean the bottom and corners of the swimming pool.

[0017] A further technical solution of the present invention is that the third preset distance is 20 to 30 cm.

[0018] A further technical solution of the present invention is that the step S403 of controlling the swimming pool robot to continue turning 90 degrees and then controlling the swimming pool robot to move forward to clean the bottom and corners of the swimming pool includes:

[0019] The swimming pool robot is controlled to continue turning 90 degrees, then controlled to retreat a fourth preset distance, and then controlled to move forward to clean the bottom and corners of the swimming pool.

[0020] A further technical solution of the present invention is that an ultrasonic probe is provided in front of the swimming pool robot.

[0021] A further technical solution of the present invention is that the step S10 of obtaining the distance between the swimming pool robot and the swimming pool wall includes:

[0022] The ultrasonic probe is used to obtain the distance between the swimming pool robot and the swimming pool wall.

[0023] To achieve the above objectives, the present invention also proposes a swimming pool robot wall collision avoidance system, which includes a memory, a processor, and a swimming pool robot wall collision avoidance program stored on the processor. When the swimming pool robot wall collision avoidance program is run by the processor, the steps of the method described above are executed.

[0024] To achieve the above objectives, the present invention also proposes a computer-readable storage medium, which stores a swimming pool robot avoiding wall collision program. When the swimming pool robot avoiding wall collision program is run by a processor, the steps of the above method are executed.

[0025] The beneficial effects of the method, system and medium for preventing a swimming pool robot from colliding with a wall are as follows:

[0026] The present invention uses the above technical solution to obtain the distance between the swimming pool robot and the swimming pool wall; compare the distance between the swimming pool robot and the swimming pool wall with a first preset distance; if the distance between the swimming pool robot and the swimming pool wall is less than or equal to the first preset distance, control the swimming pool robot to brake so that the swimming pool robot stops moving before hitting the swimming pool wall, which can effectively prevent the swimming pool robot from hitting the swimming pool wall during the cleaning process, thereby improving the intelligence and safety of the swimming pool robot and achieving a good cleaning effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0028] FIG1 is a flow chart of a first embodiment of a method for preventing a swimming pool robot from colliding with a wall according to the present invention;

[0029] FIG2 is a schematic diagram showing the principle of using an ultrasonic probe to obtain the distance between the swimming pool robot and the swimming pool wall;

[0030] FIG3 is a flow chart of a second embodiment of a method for preventing a swimming pool robot from colliding with a wall according to the present invention;

[0031] FIG4 is a detailed flowchart of step S40 .

[0032] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings and in conjunction with the embodiments. DETAILED DESCRIPTION

[0033] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0034] The present invention proposes a method for a swimming pool robot to avoid colliding with a wall. The technical solution adopted by the present invention is mainly to obtain the distance between the swimming pool robot and the swimming pool wall, and compare the distance between the swimming pool robot and the swimming pool wall with a first preset distance. If the distance between the swimming pool robot and the swimming pool wall is less than or equal to the first preset distance, the swimming pool robot is controlled to perform corresponding braking actions in advance, so that the swimming pool robot stops moving before hitting the swimming pool wall, thereby preventing the swimming pool robot from directly colliding with the wall, thereby improving the intelligence and safety of the swimming pool robot.

[0035] Specifically, referring to FIG. 1 , a first embodiment of a method for preventing a swimming pool robot from colliding with a wall includes the following steps:

[0036] Step S10: obtaining the distance between the swimming pool robot and the swimming pool wall.

[0037] Specifically, in this embodiment, an ultrasonic probe is provided in front of the swimming pool robot.

[0038] Step S10, obtaining the distance between the swimming pool robot and the swimming pool wall, specifically includes:

[0039] An ultrasonic probe is used to obtain the distance between the swimming pool robot and the swimming pool wall.

[0040] As an implementation plan, this embodiment adopts underwater ultrasonic ranging technology. An underwater ultrasonic probe is installed in front of the swimming pool robot. The ultrasonic probe uses electric ceramics and a waterproof structure. A 20hkz~2MHz voltage signal is applied to the ultrasonic probe through a software control circuit. As shown in Figure 2, the ultrasonic probe will emit 20hkz~2MHz ultrasonic waves in front of the swimming pool robot. At this time, the single-chip microcomputer starts timing and waits for receiving the echo. If there is a wall in front of the swimming pool robot, the corresponding echo can be detected. The circuit amplifies and filters the weak echo signal and feeds the echo signal back to the single-chip microcomputer. At this time, the single-chip microcomputer reads the timing time and calculates the distance to the wall based on the echo time. The propagation speed of ultrasonic waves underwater is approximately 1500 meters per second. The echo time is the sum of the transmission and reflection. Therefore, the distance calculated by time and speed divided by 2 is the actual distance. The calculation formula is: distance = 1500*time / 2.

[0041] Step S20: Compare the distance between the swimming pool robot and the swimming pool wall with a first preset distance.

[0042] After obtaining the distance between the swimming pool robot and the swimming pool wall through the ultrasonic probe, the distance is compared with the first preset distance to determine whether it is necessary to control the swimming pool robot to brake and slow down in advance to avoid colliding with the swimming pool wall.

[0043] The first preset distance can be set based on experience, for example, to 40 cm.

[0044] Step S30: If the distance between the swimming pool robot and the swimming pool wall is less than or equal to the first preset distance, the swimming pool robot is controlled to brake so that the swimming pool robot stops moving before hitting the swimming pool wall.

[0045] In this embodiment, if the result of comparing the distance between the swimming pool robot and the swimming pool wall with the first preset distance is that the distance between the swimming pool robot and the swimming pool wall is less than or equal to the first preset distance, the walking motor of the swimming pool robot is controlled to brake in advance, stop moving before hitting the wall, and stop as close to the wall as possible to prevent the swimming pool robot from directly hitting the wall, thereby improving the safety of the swimming pool robot.

[0046] Please refer to FIG. 3 , which is a flow chart of a second embodiment of a method for preventing a swimming pool robot from colliding with a wall according to the present invention.

[0047] The difference between this embodiment and the first embodiment shown in FIG1 is that, in this embodiment, after the step S30 of braking the swimming pool robot to stop before hitting the swimming pool wall if the distance between the swimming pool robot and the swimming pool wall is less than or equal to the first preset distance, the following steps are further included:

[0048] Step S40: Control the swimming pool robot to turn 180 degrees and move forward to clean the bottom and corners of the swimming pool.

[0049] This embodiment controls the swimming pool robot to turn 180 degrees and move forward to clean the bottom and corners of the swimming pool, which can effectively clean the bottom and corners of the swimming pool and improve the cleaning effect.

[0050] Further, referring to FIG. 4 , in this embodiment, step S40 of controlling the swimming pool robot to turn 180° and move forward to clean the bottom and corners of the swimming pool includes:

[0051] Step S401: Control the swimming pool robot to first retreat a second preset distance and then turn 90 degrees.

[0052] The purpose of controlling the swimming pool robot to retreat the second preset distance in this embodiment is to prevent the front of the swimming pool robot from colliding with the swimming pool wall during the process of turning 90 degrees.

[0053] The second preset distance may be set based on actual experience, and this embodiment does not limit this.

[0054] Step S402: After the 90° turn is completed, the swimming pool robot is controlled to move forward a third preset distance. The third preset distance can also be set based on actual experience, such as 20 to 30 cm.

[0055] In this embodiment, after the 90° turn is completed, the swimming pool robot is controlled to move forward a third preset distance, thereby controlling the swimming pool robot to move 20 to 30 cm to the left or right.

[0056] Step S403: Control the swimming pool robot to continue turning 90 degrees, and then control the swimming pool robot to move forward to clean the bottom and corners of the swimming pool.

[0057] In this embodiment, the swimming pool robot is controlled to turn 90° in the same direction twice, thereby achieving a 180° reversal of the direction of the swimming pool robot from its original direction.

[0058] Specifically, in step S403, the steps of controlling the swimming pool robot to continue turning 90 degrees and then controlling the swimming pool robot to move forward to clean the bottom and corners of the swimming pool include:

[0059] The swimming pool robot is controlled to continue turning 90 degrees, and then the swimming pool robot is controlled to retreat a fourth preset distance, and then the swimming pool robot is controlled to move forward to clean the bottom and corners of the swimming pool.

[0060] The purpose of controlling the swimming pool robot to retreat the fourth preset distance in this embodiment is to take into account that after the swimming pool robot continues to turn 90°, the tail of the swimming pool robot is at a distance from the wall, and a small amount of cleaning is required on the bottom of the swimming pool within this distance. Therefore, after controlling the swimming pool robot to retreat the fourth preset distance, the swimming pool robot is controlled to move forward to clean the bottom and corners of the swimming pool, so as to expand the cleaning area of ​​the swimming pool and improve the cleaning effect of the swimming pool.

[0061] The beneficial effects of the method for preventing a swimming pool robot from hitting a wall according to the present invention are:

[0062] The present invention uses the above technical solution to obtain the distance between the swimming pool robot and the swimming pool wall; compare the distance between the swimming pool robot and the swimming pool wall with a first preset distance; if the distance between the swimming pool robot and the swimming pool wall is less than or equal to the first preset distance, control the swimming pool robot to brake so that the swimming pool robot stops moving before hitting the swimming pool wall, which can effectively prevent the swimming pool robot from hitting the swimming pool wall during the cleaning process, thereby improving the intelligence and safety of the swimming pool robot and achieving a good cleaning effect.

[0063] To achieve the above-mentioned objectives, the present invention also proposes a swimming pool robot wall collision avoidance system, which includes a memory, a processor, and a swimming pool robot wall collision avoidance program stored on the processor. When the swimming pool robot wall collision avoidance program is run by the processor, the steps of the method described in the above embodiment are executed, which will not be repeated here.

[0064] To achieve the above objectives, the present invention also proposes a computer-readable storage medium, which stores a program for avoiding wall collisions for a swimming pool robot. When the program for avoiding wall collisions for a swimming pool robot is run by a processor, the steps of the method described in the above embodiment are executed, which will not be repeated here.

[0065] The above description is only a preferred embodiment of the present invention and does not limit the patent scope of the present invention. All equivalent structural transformations made by using the contents of the present invention description and drawings under the concept of the present invention, or direct / indirect application in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A method for a swimming pool robot to avoid hitting a wall, characterized in that: The method comprises the following steps: Step S10, obtaining the distance between the swimming pool robot and the swimming pool wall; Step S20, comparing the distance between the swimming pool robot and the swimming pool wall with a first preset distance; Step S30: If the distance between the swimming pool robot and the swimming pool wall is less than or equal to the first preset distance, the swimming pool robot is controlled to brake so that the swimming pool robot stops moving before hitting the swimming pool wall.

2. The method for avoiding a swimming pool robot from hitting a wall according to claim 1, characterized in that: The first preset distance is 40 cm.

3. The method for avoiding a swimming pool robot from hitting a wall according to claim 1, characterized in that: In step S30, if the distance between the swimming pool robot and the swimming pool wall is less than or equal to the first preset distance, the swimming pool robot is controlled to brake so that the swimming pool robot stops moving before hitting the swimming pool wall, and the method further includes: Step S40, controlling the swimming pool robot to turn 180 degrees and move forward to clean the bottom and corners of the swimming pool.

4. The method for avoiding a swimming pool robot from hitting a wall according to claim 3, characterized in that: The step S40 of controlling the swimming pool robot to turn 180° and move forward to clean the bottom and corners of the swimming pool includes: Step S401, controlling the swimming pool robot to first retreat a second preset distance, and then turn 90 degrees; Step S402, after the 90° turn is completed, controlling the swimming pool robot to move forward a third preset distance; Step S403, controlling the swimming pool robot to continue turning 90 degrees, and then controlling the swimming pool robot to move forward to clean the bottom and corners of the swimming pool.

5. The method for avoiding a swimming pool robot from hitting a wall according to claim 4, characterized in that: The third preset distance is 20 to 30 cm.

6. The method for avoiding a swimming pool robot from hitting a wall according to claim 4, characterized in that: The step S403, controlling the swimming pool robot to continue to turn 90 degrees, and then controlling the swimming pool robot to move forward, and the step of cleaning the bottom and corners of the swimming pool includes: The swimming pool robot is controlled to continue to turn 90 degrees, and then the swimming pool robot is controlled to retreat a fourth preset distance, and then the swimming pool robot is controlled to move forward to clean the bottom and corners of the swimming pool.

7. The method for preventing a swimming pool robot from hitting a wall according to any one of claims 1 to 6, characterized in that: The swimming pool robot is provided with an ultrasonic probe in front.

8. The method for avoiding a swimming pool robot from hitting a wall according to claim 7, characterized in that: The step S10 of obtaining the distance between the swimming pool robot and the swimming pool wall includes: The ultrasonic probe is used to obtain the distance between the swimming pool robot and the swimming pool wall.

9. A swimming pool robot avoiding wall collision system, characterized in that: The system includes a memory, a processor, and a swimming pool robot wall avoidance program stored on the processor. When the swimming pool robot wall avoidance program is executed by the processor, the steps of the method described in any one of claims 1 to 8 are executed.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a swimming pool robot wall-avoidance program, and the swimming pool robot wall-avoidance program, when executed by a processor, performs the steps of the method described in any one of claims 1 to 8.

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