Swimming pool wall cleaning method and system, and medium

Abstract

Disclosed in the present invention are a swimming pool wall cleaning method and system, and a medium. The method comprises: acquiring the distance between a swimming pool cleaning robot located at the bottom of a swimming pool and a swimming pool wall; determining whether the distance between the swimming pool cleaning robot and the swimming pool wall satisfies a wall climbing condition; if the wall climbing condition is satisfied, controlling the swimming pool cleaning robot to execute a wall climbing strategy, the wall climbing strategy comprising: controlling the swimming pool cleaning robot to climb to the waterline of the swimming pool wall along the swimming pool wall, and to clean the swimming pool wall of a climbing area of the swimming pool cleaning robot; and controlling the swimming pool cleaning robot to retreat from the waterline to the bottom of the swimming pool and to advance to the next position of the bottom of the swimming pool in a preset direction. The present invention ensures that the swimming pool cleaning robot can be attached to swimming pool walls of different shapes to perform cleaning throughout, and avoids circulating cleaning at the same place, thereby improving the swimming pool cleaning efficiency.

Description

A swimming pool wall cleaning method, system and medium Technical Field

[0001] The present invention relates to the field of robotics technology, and in particular to a swimming pool wall cleaning method, system and medium. Background Art

[0002] Pool cleaning robots are household consumer robots used for pool cleaning, similar in function to sweeping robots. Unlike sweeping robots, however, they operate underwater, performing their tasks within a swimming pool. Pool cleaning has always been a pain point, as manual cleaning is tedious and time-consuming. The industry is now widely adopting robots for pool cleaning, and many companies are researching path planning algorithms to enable robots to clean pools along pre-defined routes, achieving higher cleaning efficiency.

[0003] Currently, some cleaning robots on the market do not have path planning and clean completely randomly, resulting in relatively low cleaning efficiency. Some cleaning robots with path planning are prone to repeating routes or getting stuck somewhere, because many machines cannot adapt to different walls. The machines follow specific routes and are prone to slipping or displacement. When encountering certain walls, they are prone to repeating routes, causing them to be stuck in a specific area.

[0004] Summary of the Invention

[0005] The main purpose of the present invention is to propose a swimming pool wall cleaning method, system and medium, aiming to ensure that the swimming pool cleaning robot can continue to clean swimming pool walls of different shapes and ensure that it will not circulate and clean in the same place, thereby improving the swimming pool cleaning efficiency.

[0006] To achieve the above objectives, the present invention provides a method for cleaning the walls of a swimming pool, which is applied to a swimming pool cleaning robot and comprises the following steps:

[0007] Step S10, obtaining the distance between the swimming pool cleaning robot located at the bottom of the swimming pool and the swimming pool wall;

[0008] Step S20, determining whether the distance between the swimming pool cleaning robot and the swimming pool wall meets the wall climbing condition;

[0009] Step S30: If the wall climbing condition is met, controlling the swimming pool cleaning robot to execute a wall climbing strategy, wherein the wall climbing strategy includes: controlling the swimming pool cleaning robot to crawl along the swimming pool wall to the waterline of the swimming pool wall, and cleaning the swimming pool wall in the crawling area of ​​the swimming pool cleaning robot;

[0010] Step S40, controlling the swimming pool cleaning robot to retreat from the waterline to the bottom of the swimming pool, and advance along a preset direction to the next position on the bottom of the swimming pool;

[0011] Step S50 , returning to step S10 to step S40 to clean the swimming pool wall in the next crawling area of ​​the swimming pool cleaning robot.

[0012] A further technical solution of the present invention is that the wall-climbing condition is that the distance between the swimming pool cleaning robot located at the bottom of the swimming pool and the swimming pool wall is less than or equal to a first preset distance.

[0013] A further technical solution of the present invention is that an ultrasonic probe is provided at the front end of the swimming pool cleaning robot, and the step of obtaining the distance between the swimming pool cleaning robot located at the bottom of the swimming pool and the swimming pool wall comprises:

[0014] The ultrasonic probe is used to detect the distance between the swimming pool cleaning robot located at the bottom of the swimming pool and the swimming pool wall.

[0015] A further technical solution of the present invention is that the swimming pool cleaning robot is provided with a pumping motor, a gyroscope, and a speedometer. In step S30, the swimming pool cleaning robot is controlled to execute a wall climbing strategy. The wall climbing strategy includes: controlling the swimming pool cleaning robot to crawl along the swimming pool wall to the waterline of the swimming pool wall, and the steps of cleaning the swimming pool wall in the crawling area of ​​the swimming pool cleaning robot include:

[0016] Step S301, turning off the pumping motor and maintaining the forward speed so that the swimming pool cleaning robot changes from a horizontal state to a vertical state when encountering a swimming pool wall;

[0017] Step S302: detecting the posture of the swimming pool cleaning robot using the gyroscope and the accelerometer, and turning on the pumping motor when the swimming pool cleaning robot reaches a nearly vertical position, so that the swimming pool cleaning robot presses against the swimming pool wall and climbs up the wall;

[0018] Step S303: Detect the distance between the swimming pool cleaning robot and the water surface by using the ultrasonic probe until the robot reaches the waterline and stays on the waterline for a first preset time.

[0019] A further technical solution of the present invention is that the step S40 of controlling the swimming pool cleaning robot to retreat from the waterline to the bottom of the swimming pool and advance in a preset direction to the next position on the bottom of the swimming pool includes:

[0020] Step S401: obtaining an angle between the swimming pool cleaning robot and the bottom of the swimming pool using the gyroscope and the accelerometer, and determining whether the swimming pool cleaning robot has returned to the bottom of the swimming pool based on the angle;

[0021] Step S402: If yes, control the swimming pool cleaning robot to continue to retreat for a second preset time period to increase the distance from the swimming pool wall;

[0022] Step S403 : Controlling the swimming pool cleaning robot to turn toward a preset direction and at a predetermined angle, and moving the swimming pool cleaning robot to a next position on the bottom of the swimming pool.

[0023] A further technical solution of the present invention is that the step S402 of controlling the swimming pool cleaning robot to continue to retreat for a second preset time period to increase the distance from the swimming pool wall further includes:

[0024] When the swimming pool cleaning robot retreats to a distance from the swimming pool wall that is a second preset distance, the swimming pool cleaning robot is controlled to turn 90 degrees and detect whether there is a wall on the side of the swimming pool cleaning robot by the ultrasonic probe;

[0025] If there is, then the next time you step back, just switch to the wall to clean it;

[0026] If not, the swimming pool cleaning robot is controlled to turn again, rotating 90 degrees to return to the normal direction.

[0027] A further technical solution of the present invention is that, before step S10, the following steps are further included:

[0028] The swimming pool cleaning robot is controlled to move forward at a set speed, and the moving direction of the swimming pool cleaning robot is not locked during the moving process.

[0029] A further technical solution of the present invention is that when the swimming pool cleaning robot is cleaning the swimming pool wall, if the swimming pool wall is arc-shaped, the swimming pool cleaning robot climbs up along the tangent of the wall.

[0030] To achieve the above objectives, the present invention also proposes a swimming pool wall cleaning system, which includes a memory, a processor, and a swimming pool wall cleaning program stored on the processor. When the swimming pool wall cleaning program is run by the processor, the steps of the above method are executed.

[0031] To achieve the above objectives, the present invention further provides a computer-readable storage medium storing a swimming pool wall cleaning program. When the swimming pool wall cleaning program is executed by a processor, the steps of the above method are executed.

[0032] The beneficial effects of the swimming pool wall cleaning method, system and medium of the present invention are:

[0033] Through the above technical solution, the present invention obtains the distance between the swimming pool cleaning robot located at the bottom of the swimming pool and the swimming pool wall; determines whether the distance between the swimming pool cleaning robot and the swimming pool wall meets the wall-climbing condition; if the wall-climbing condition is met, controls the swimming pool cleaning robot to execute the wall-climbing strategy, and the wall-climbing strategy includes: controlling the swimming pool cleaning robot to crawl along the swimming pool wall to the waterline of the swimming pool wall, and clean the swimming pool wall in the crawling area of ​​the swimming pool cleaning robot; controlling the swimming pool cleaning robot to retreat from the waterline to the bottom of the swimming pool, and advance to the next position of the swimming pool bottom along a preset direction; returns to execute the above steps to clean the swimming pool wall in the next crawling area of ​​the swimming pool cleaning robot, thereby ensuring that the swimming pool cleaning robot can continue to clean along the swimming pool walls of different shapes, and ensures that it will not keep cleaning in a cycle at the same place, thereby improving the cleaning efficiency of the swimming pool. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] 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.

[0035] FIG1 is a schematic diagram of the overall process of a first embodiment of a method for cleaning a swimming pool wall according to the present invention;

[0036] FIG2 is a schematic diagram of a detailed process of step S30;

[0037] FIG3 is a schematic diagram of a detailed flow chart of step S40;

[0038] FIG4 is a schematic diagram of the steering of the swimming pool cleaning robot.

[0039] 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

[0040] 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.

[0041] The present invention proposes a swimming pool wall cleaning method, which is applied to a swimming pool wall cleaning robot. By adopting the swimming pool wall cleaning method of the present invention, the swimming pool cleaning robot can continue cleaning along walls of different shapes, thereby ensuring the cleaning efficiency as much as possible and ensuring that the swimming pool cleaning robot does not keep cleaning in a cycle at the same place.

[0042] 1 to 4 , a preferred embodiment of the swimming pool wall cleaning method of the present invention includes the following steps:

[0043] Step S10: obtaining the distance between the swimming pool cleaning robot located at the bottom of the swimming pool and the swimming pool wall.

[0044] In this embodiment, an ultrasonic probe is provided at the front end of the swimming pool cleaning robot, and step S10 specifically includes:

[0045] An ultrasonic probe is used to detect the distance between the swimming pool cleaning robot located at the bottom of the swimming pool and the swimming pool wall.

[0046] Step S20: determining whether the distance between the swimming pool cleaning robot and the swimming pool wall meets the wall climbing condition.

[0047] As an implementation scheme, in this embodiment, the wall climbing condition is that the distance between the swimming pool cleaning robot located at the bottom of the swimming pool and the swimming pool wall is less than or equal to a first preset distance. The first preset distance can be set based on experience, for example, set to 40 cm.

[0048] When the ultrasonic probe detects that the distance between the swimming pool cleaning robot and the swimming pool wall is less than or equal to 40 cm, the wall climbing strategy program is activated.

[0049] Step S30: If the wall climbing condition is met, the swimming pool cleaning robot is controlled to execute the wall climbing strategy, which includes: controlling the swimming pool cleaning robot to crawl along the swimming pool wall to the waterline of the swimming pool wall, and cleaning the swimming pool wall in the crawling area of ​​the swimming pool cleaning robot.

[0050] In this embodiment, the swimming pool cleaning robot is provided with a pumping motor, a gyroscope, and a speedometer. In step S30, the swimming pool cleaning robot is controlled to execute a wall climbing strategy. The wall climbing strategy includes: controlling the swimming pool cleaning robot to crawl along the swimming pool wall to the waterline of the swimming pool wall, and cleaning the swimming pool wall in the swimming pool cleaning robot's crawling area. Specifically, the steps include:

[0051] Step S301: Turn off the pumping motor and maintain the forward speed so that the swimming pool cleaning robot changes from a horizontal state to a vertical state when encountering the swimming pool wall.

[0052] It should be noted that in this embodiment, when the pumping motor is turned on to pump water, negative pressure is generated between the bottom of the pool cleaning robot and the bottom or wall of the pool. Under the action of pressure, the pool cleaning robot sticks to the bottom or wall of the pool to prevent it from falling off the wall. When the pumping motor is turned off to pump water, the negative pressure between the bottom of the pool cleaning robot and the bottom or wall of the pool disappears.

[0053] Step S302: Detect the posture of the swimming pool cleaning robot through the gyroscope and accelerometer. When the swimming pool cleaning robot reaches a nearly vertical state, turn on the pumping motor so that the swimming pool cleaning robot presses against the swimming pool wall and climbs up the wall.

[0054] After detecting that the swimming pool cleaning robot's posture changes from a horizontal state to a nearly vertical state through the gyroscope and accelerometer, the pumping motor is turned on to pump water, allowing the swimming pool cleaning robot to climb up the wall.

[0055] Step S303: Detect the distance between the swimming pool cleaning robot and the water surface by using an ultrasonic probe until the robot reaches the waterline and stays on the waterline for a first preset time.

[0056] After the swimming pool cleaning robot climbs up the wall, it uses an ultrasonic probe to detect the distance between the swimming pool cleaning robot and the water surface until it reaches the waterline (if the distance is very small, it means it has reached the waterline), and stays on the waterline for 1 to 120 seconds.

[0057] Step S40: Control the swimming pool cleaning robot to retreat from the waterline to the bottom of the swimming pool, and advance along a preset direction to the next position on the bottom of the swimming pool.

[0058] After the waterline is cleaned, the swimming pool cleaning robot begins to retreat, retreating from the waterline to the bottom of the swimming pool, and advancing to the next position on the bottom of the swimming pool along a preset direction.

[0059] Specifically, step S40 includes the following steps:

[0060] Step S401: obtaining the angle between the swimming pool cleaning robot and the bottom of the swimming pool through the gyroscope and the accelerometer, and judging whether the swimming pool cleaning robot has returned to the bottom of the swimming pool according to the angle.

[0061] After cleaning the waterline, the robot begins to retreat, moving away from the waterline. The robot uses the angle calculated from the gyroscope and accelerometer data to determine whether it has returned to the flat pool floor. When the robot returns to the flat pool floor, the angle between the robot's bottom and the pool floor is 0 degrees.

[0062] Step S402: If yes, control the swimming pool cleaning robot to continue to retreat for a second preset time period to increase the distance from the swimming pool wall.

[0063] The second preset time period can be set based on actual experience, for example, 1 to 30 seconds. The purpose of controlling the swimming pool cleaning robot to continue to retreat for the second preset time period in this embodiment is to increase the distance between the swimming pool cleaning robot and the swimming pool wall, so that the swimming pool cleaning robot can handle different obstacles or walls.

[0064] Step S403 , controlling the swimming pool cleaning robot to turn in a preset direction and at a predetermined angle, and pushing the swimming pool cleaning robot to the next position on the bottom of the swimming pool.

[0065] After the swimming pool cleaning robot continues to retreat for a second preset time, the swimming pool cleaning robot is controlled to turn toward a preset direction at a predetermined angle, for example, 5° to 45° to the left or right, so as to switch to the next place on the wall for cleaning.

[0066] Step S50 , returning to step S10 to step S40 to clean the swimming pool wall in the next crawling area of ​​the swimming pool cleaning robot.

[0067] Furthermore, in this embodiment, after the step S402 of controlling the swimming pool cleaning robot to continue to retreat for a second preset time period to increase the distance from the swimming pool wall, the step further includes:

[0068] When the swimming pool cleaning robot retreats to a distance from the swimming pool wall that is a second preset distance, the swimming pool cleaning robot is controlled to turn 90 degrees, and an ultrasonic probe is used to detect whether there is a wall on the side of the swimming pool cleaning robot.

[0069] If there is, the next time you step back, just switch to the wall to clean it.

[0070] If not, the swimming pool cleaning robot is controlled to turn again, rotating 90 degrees to return to the normal direction.

[0071] In this embodiment, when the swimming pool cleaning robot retreats to the bottom of the swimming pool and is a certain distance away from the swimming pool wall, the swimming pool cleaning robot is controlled to turn 90 degrees and use ultrasonic waves to detect whether there is a wall on the side of the swimming pool cleaning robot. If there is a wall, the next time it retreats, it will directly switch to the wall for cleaning. After the detection is completed, the swimming pool cleaning robot is controlled to turn again and return to the normal direction to continue executing the original program. This wall detection operation can be performed every time or more times, and the present invention is not limited to this.

[0072] Furthermore, in this embodiment, before step S10 , the method further includes: controlling the swimming pool cleaning robot to move forward at a set speed, and not locking the moving direction of the swimming pool cleaning robot during the moving process.

[0073] In this embodiment, when the swimming pool cleaning robot is cleaning the swimming pool wall, if the swimming pool wall is arc-shaped, the swimming pool cleaning robot climbs up along the tangent of the wall.

[0074] In this embodiment, the swimming pool cleaning robot changes a certain angle to propel the swimming pool cleaning robot to a set direction. Regardless of whether the wall is flat, arc-shaped, or other special shapes, the swimming pool cleaning robot can move forward and clean smoothly. Each time it climbs up the wall, it will climb up along the tangent of the wall, realizing the function of adaptively adapting to different walls.

[0075] The beneficial effects of the swimming pool wall cleaning method of the present invention are:

[0076] Through the above technical solution, the present invention obtains the distance between the swimming pool cleaning robot located at the bottom of the swimming pool and the swimming pool wall; determines whether the distance between the swimming pool cleaning robot and the swimming pool wall meets the wall-climbing condition; if the wall-climbing condition is met, controls the swimming pool cleaning robot to execute the wall-climbing strategy, and the wall-climbing strategy includes: controlling the swimming pool cleaning robot to crawl along the swimming pool wall to the waterline of the swimming pool wall, and clean the swimming pool wall in the crawling area of ​​the swimming pool cleaning robot; controlling the swimming pool cleaning robot to retreat from the waterline to the bottom of the swimming pool, and advance to the next position of the swimming pool bottom along a preset direction; returns to execute the above steps to clean the swimming pool wall in the next crawling area of ​​the swimming pool cleaning robot, thereby ensuring that the swimming pool cleaning robot can continue to clean along the swimming pool walls of different shapes, and ensures that it will not keep cleaning in a cycle at the same place, thereby improving the cleaning efficiency of the swimming pool.

[0077] To achieve the above objectives, the present invention also proposes a swimming pool wall cleaning system, which includes a memory, a processor, and a swimming pool wall cleaning program stored on the processor. When the swimming pool wall cleaning program is run by the processor, the steps of the method described above are executed, which will not be repeated here.

[0078] To achieve the above objectives, the present invention also proposes a computer-readable storage medium, which stores a swimming pool wall cleaning program. When the swimming pool wall cleaning program is run by a processor, the steps of the method described above are executed, which will not be repeated here.

[0079] 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 cleaning the wall of a swimming pool, characterized in that: The method is applied to a swimming pool cleaning robot, and the method comprises the following steps: Step S10, obtaining the distance between the swimming pool cleaning robot located at the bottom of the swimming pool and the swimming pool wall; Step S20, determining whether the distance between the swimming pool cleaning robot and the swimming pool wall meets the wall climbing condition; Step S30, if the wall climbing condition is met, the swimming pool cleaning robot is controlled to execute a wall climbing strategy, wherein the wall climbing strategy includes: controlling the swimming pool cleaning robot to crawl along the swimming pool wall to the waterline of the swimming pool wall, and cleaning the swimming pool wall in the crawling area of ​​the swimming pool cleaning robot; Step S40, controlling the swimming pool cleaning robot to retreat from the waterline to the bottom of the swimming pool, and to advance to the next position on the bottom of the swimming pool along a preset direction; Step S50, returning to execute steps S10 to S40 to clean the swimming pool wall in the next crawling area of ​​the swimming pool cleaning robot.

2. The method for cleaning the swimming pool wall according to claim 1, characterized in that: The wall climbing condition is that the distance between the swimming pool cleaning robot located at the bottom of the swimming pool and the swimming pool wall is less than or equal to a first preset distance.

3. The method for cleaning the swimming pool wall according to claim 1, characterized in that: The front end of the swimming pool cleaning robot is provided with an ultrasonic probe, and the step of obtaining the distance between the swimming pool cleaning robot located at the bottom of the swimming pool and the swimming pool wall comprises: The ultrasonic probe is used to detect the distance between the swimming pool cleaning robot located at the bottom of the swimming pool and the swimming pool wall.

4. The method for cleaning the swimming pool wall according to claim 3, characterized in that: The swimming pool cleaning robot is provided with a pumping motor, a gyroscope and a speedometer. In the step S30, the swimming pool cleaning robot is controlled to execute a wall climbing strategy, and the wall climbing strategy includes: controlling the swimming pool cleaning robot to crawl along the swimming pool wall to the water line of the swimming pool wall, and the steps of cleaning the swimming pool wall in the crawling area of ​​the swimming pool cleaning robot include: Step S301, turning off the pumping motor and maintaining the forward speed so that the swimming pool cleaning robot changes from a horizontal state to a vertical state when encountering a swimming pool wall; Step S302, detecting the posture of the swimming pool cleaning robot by using the gyroscope and the accelerometer. When the swimming pool cleaning robot reaches a nearly vertical state, the pumping motor is turned on, so that the swimming pool cleaning robot presses the swimming pool wall and climbs up along the wall; Step S303: Detect the distance between the swimming pool cleaning robot and the water surface by using the ultrasonic probe until the robot reaches the water line and stays on the water line for a first preset time.

5. The method for cleaning the swimming pool wall according to claim 4, characterized in that: The step S40 of controlling the swimming pool cleaning robot to retreat from the waterline to the bottom of the swimming pool and advance to the next position of the bottom of the swimming pool along a preset direction comprises: Step S401, obtaining an angle between the swimming pool cleaning robot and the bottom of the swimming pool by using the gyroscope and the accelerometer, and judging whether the swimming pool cleaning robot has returned to the bottom of the swimming pool according to the angle; Step S402: If yes, control the swimming pool cleaning robot to continue to retreat for a second preset time period to increase the distance from the swimming pool wall; Step S403, controlling the swimming pool cleaning robot to turn in a preset direction at a predetermined angle, and pushing the swimming pool cleaning robot to a next position at the bottom of the swimming pool.

6. The method for cleaning the wall of a swimming pool according to claim 5, characterized in that: The step S402 of controlling the swimming pool cleaning robot to continue to retreat for a second preset time to increase the distance from the swimming pool wall also includes: When the swimming pool cleaning robot retreats to a distance from the swimming pool wall that is a second preset distance, the swimming pool cleaning robot is controlled to turn 90 degrees, and the ultrasonic probe is used to detect whether there is a wall on the side of the swimming pool cleaning robot; If there is, the next time you step back, just switch to the wall to clean it; If not, the swimming pool cleaning robot is controlled to turn again, rotating 90° to return to the normal direction.

7. The method for cleaning the wall of a swimming pool according to any one of claims 1 to 6, characterized in that: Before step S10, the following steps are also included: The swimming pool cleaning robot is controlled to move forward at a set speed, and the moving direction of the swimming pool cleaning robot is not locked during the moving process.

8. The method for cleaning the wall of a swimming pool according to claim 7, characterized in that: When the swimming pool cleaning robot is cleaning the swimming pool wall, if the swimming pool wall is in an arc shape, the swimming pool cleaning robot climbs up along the tangent of the wall.

9. A swimming pool wall cleaning system, characterized in that: The system comprises a memory, a processor and a swimming pool wall cleaning program stored on the processor, and the swimming pool wall cleaning program is executed by the processor to perform the steps of any one of the methods according to claims 1 to 8.

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

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