Robotic pool cleaner recovery method and system and medium

Abstract

Disclosed in the present invention are a robotic pool cleaner recovery method and system and a medium. The method comprises the following steps: acquiring the current operating state of a robotic pool cleaner; when it is detected that the current operating state is an abnormal operating state, determining the type of the trouble of the robotic pool cleaner on the basis of the type of the abnormal operating state; and, on the basis of the type of the trouble of the robotic pool cleaner, executing a corresponding recovery strategy. The present invention can improve the recovery capabilities of robotic pool cleaners to prevent the robotic pool cleaners from getting stuck at certain positions for a long time, thus improving the adaptability of the robotic pool cleaners to different environments and enabling the robotic pool cleaners to normally clean more swimming pools.

Description

A swimming pool robot escape method, system and medium Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a method, system and medium for escaping a swimming pool robot. 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, pool cleaning robots are used underwater and need to work in swimming pools. Swimming pool cleaning has always been a pain point. Manual cleaning is tedious and time-consuming. The industry has generally begun to use machines to clean swimming pools. Many companies are studying path planning-related algorithms to allow machines to clean swimming pools according to set routes to achieve higher cleaning efficiency.

[0003] Currently, the cleaning robots on the market lack some escape algorithms. Sometimes there are some stones or raised obstacles at the bottom of the swimming pool, which will get the chassis of the machine stuck and make the machine unable to move. If they cannot be effectively detected and identified, and no special treatment is performed, the machine will stay in one place, making it difficult to carry out normal cleaning work.

[0004] Summary of the Invention

[0005] The main purpose of the present invention is to propose a swimming pool robot escape method, system and medium, aiming to improve the swimming pool robot's escape ability and the swimming pool robot's adaptability to different environments.

[0006] To achieve the above object, the present invention provides a method for escaping a swimming pool robot, the method comprising the following steps:

[0007] Step S10, obtaining the current working status of the swimming pool robot;

[0008] Step S20, when it is detected that the current working state is an abnormal working state, determining the type of distress of the swimming pool robot according to the type of the abnormal working state;

[0009] Step S30: executing a corresponding escape strategy according to the type of distress of the swimming pool robot.

[0010] A further technical solution of the present invention is that, in step S20, when it is detected that the current working state is an abnormal working state, the step of determining the type of distress of the swimming pool robot according to the type of the abnormal working state includes:

[0011] Step S201: If the abnormal working state is a deviation from a set course, it is determined that the swimming pool robot is stuck by an external obstacle.

[0012] A further technical solution of the present invention is that the swimming pool robot is provided with a pumping motor. When the pumping motor is turned on, the pressure between the swimming pool robot and the bottom of the swimming pool increases, and when the pumping motor is turned off, the pressure between the swimming pool robot and the bottom of the swimming pool decreases.

[0013] The step S30 of executing a corresponding escape strategy according to the type of distress of the swimming pool robot includes:

[0014] Step S301: Turn off the pumping motor and control the swimming pool robot to move forward for a first preset time to cross an obstacle.

[0015] A further technical solution of the present invention is that the first preset time length is 3 to 30 seconds.

[0016] A further technical solution of the present invention is that, in step S20, when it is detected that the current working state is an abnormal working state, the step of determining the type of distress of the swimming pool robot according to the type of the abnormal working state includes:

[0017] Step S202: If the type of the abnormal working state is that the distance between the swimming pool robot and the swimming pool wall remains unchanged or changes slightly when the swimming pool robot moves forward, it is determined that the swimming pool robot encounters an obstacle that prevents it from moving forward.

[0018] A further technical solution of the present invention is that the step S30 of executing a corresponding escape strategy according to the type of distress of the swimming pool robot comprises:

[0019] Step S302: Control the swimming pool robot to move backward for a second preset time period, and then control the swimming pool robot to turn.

[0020] A further technical solution of the present invention is that the second preset time length is 2 to 20 seconds.

[0021] A further technical solution of the present invention is that the swimming pool robot is provided with an IMU sensor, an acceleration sensor and an ultrasonic sensor. The IMU sensor and the acceleration sensor are used to obtain the motion state and posture angle of the swimming pool robot, and adjust the heading angle of the swimming pool robot according to the posture angle; the ultrasonic sensor is used to detect the distance between the swimming pool robot and the swimming pool wall.

[0022] To achieve the above objectives, the present invention also proposes a swimming pool robot escape system, which includes a memory, a processor, and a swimming pool robot escape program stored on the processor. When the swimming pool robot escape program is run by the processor, the steps of the method described above are executed.

[0023] To achieve the above objectives, the present invention further proposes a computer-readable storage medium, on which a swimming pool robot escape program is stored. When the swimming pool robot escape program is run by a processor, the steps of the above method are executed.

[0024] The beneficial effects of the swimming pool robot escape method, system and medium of the present invention are:

[0025] The swimming pool robot escape method of the present invention obtains the current working status of the swimming pool robot through the above-mentioned technical scheme; when it is detected that the current working status is an abnormal working status, the type of distress of the swimming pool robot is judged according to the type of abnormal working status; according to the type of distress of the swimming pool robot, a corresponding escape strategy is executed, which can improve the escape ability of the swimming pool robot, prevent the swimming pool robot from being stuck in a certain place for a long time, and further improve the adaptability of the swimming pool robot to different environments, so that cleaning work can be carried out normally in more swimming pools. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] 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.

[0027] FIG1 is a schematic flow chart of a first embodiment of a method for escaping a swimming pool robot according to the present invention;

[0028] FIG2 is a schematic flow chart of a second embodiment of a method for escaping a swimming pool robot according to the present invention;

[0029] FIG3 is a schematic diagram of the swimming pool robot when it is tilting its head forward;

[0030] FIG4 is a flow chart of a third embodiment of a method for escaping a swimming pool robot according to the present invention.

[0031] 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

[0032] 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.

[0033] The present invention proposes a method for escaping a swimming pool robot. The technical solution adopted by the present invention is mainly to judge whether the swimming pool robot is trapped through the posture data and distance data fed back by the swimming pool robot's IMU sensor, acceleration sensor and ultrasonic sensor. If it is trapped and unable to move, the corresponding escape strategy is executed to resume normal cleaning work, preventing the swimming pool robot from being stuck in a certain place for a long time, thereby improving the adaptability of the swimming pool robot to different environments and enabling it to perform cleaning work normally in more swimming pools.

[0034] Please refer to FIG. 1 , which is a flow chart of a first embodiment of a method for escaping a swimming pool robot according to the present invention.

[0035] In this embodiment, the swimming pool robot escape method includes the following steps:

[0036] Step S10, obtaining the current working status of the swimming pool robot.

[0037] In this embodiment, the swimming pool robot is provided with an IMU sensor, an acceleration sensor and an ultrasonic sensor, and the current working status of the swimming pool robot can be obtained through the IMU sensor, the acceleration sensor and the ultrasonic sensor.

[0038] For example, the motion state and attitude angle of the swimming pool robot can be calculated through the IMU sensor and acceleration sensor. The swimming pool robot will move according to the set heading angle. The heading angle of the swimming pool robot can be adjusted in real time according to the attitude angle of the swimming pool robot calculated by the IMU sensor and acceleration sensor to ensure that the swimming pool robot does not deviate from the set direction.

[0039] The distance between the swimming pool robot and the swimming pool wall can be detected by ultrasonic sensors.

[0040] Step S20: When it is detected that the current working state is an abnormal working state, the type of distress of the swimming pool robot is determined according to the type of the abnormal working state.

[0041] Among them, the types of abnormal working states of the swimming pool robot may be, for example, deviation from the set heading, the distance between the swimming pool robot and the swimming pool wall remains unchanged or changes slightly when the swimming pool robot moves forward, and the forward speed does not meet the normal requirements.

[0042] When the type of abnormal working state of the swimming pool robot is deviation from the set heading, it can be determined that the type of distress of the swimming pool robot is that it is stuck by an external obstacle, resulting in an inability to adjust the heading normally.

[0043] When the abnormal working state of the swimming pool robot is that the distance between the swimming pool robot and the swimming pool wall remains unchanged or changes slightly when the swimming pool robot moves forward, and does not meet the normal forward speed, it can be determined that the swimming pool robot is in trouble because it encounters an obstacle that prevents it from moving forward.

[0044] Step S30: executing a corresponding escape strategy according to the type of distress the swimming pool robot is in.

[0045] After determining the type of distress of the swimming pool robot based on the type of abnormal working state, a corresponding escape strategy can be executed according to the corresponding distress type, controlling the swimming pool robot to cross the obstacle or turn to avoid the obstacle, and switch to other places for cleaning.

[0046] This embodiment uses the above-mentioned technical solution to obtain the current working status of the swimming pool robot; when it is detected that the current working status is an abnormal working status, the type of distress of the swimming pool robot is determined according to the type of abnormal working status; according to the type of distress of the swimming pool robot, a corresponding escape strategy is executed, which can improve the escape ability of the swimming pool robot and prevent the swimming pool robot from being stuck in a certain place for a long time, thereby improving the adaptability of the swimming pool robot to different environments and allowing it to perform cleaning work normally in more swimming pools.

[0047] Further, please refer to FIG. 2 , which is a flow chart of a second embodiment of a method for escaping a swimming pool robot according to the present invention.

[0048] The difference between this embodiment and the first embodiment shown in FIG1 is that, in this embodiment, in step S20, when it is detected that the current working state is an abnormal working state, the step of determining the type of distress of the swimming pool robot according to the type of the abnormal working state includes:

[0049] In step S201 , if the abnormal working state is a deviation from a set course, it is determined that the swimming pool robot is stuck by an external obstacle.

[0050] In this embodiment, the swimming pool robot is provided with a water-pumping motor. When the water-pumping motor is turned on, the pressure between the swimming pool robot and the bottom of the swimming pool increases. When the water-pumping motor is turned off, the pressure between the swimming pool robot and the bottom of the swimming pool decreases, and the resistance of the swimming pool robot during movement is reduced, thereby facilitating the improvement of the forward momentum of the swimming pool robot so as to overcome obstacles.

[0051] Step S30, executing a corresponding escape strategy according to the type of distress the swimming pool robot is in, includes:

[0052] Step S301: Turn off the pumping motor and control the swimming pool robot to move forward for a first preset time to cross the obstacle.

[0053] The first preset time length can be set based on experience. In this embodiment, the first preset time length is preferably 3 to 30 seconds.

[0054] In this embodiment, the attitude angle of the swimming pool robot can be calculated by the IMU sensor and the acceleration sensor. Under normal circumstances, the swimming pool robot will move according to the set heading angle, and the heading of the swimming pool robot will be adjusted in real time through the algorithm to ensure that the swimming pool robot will not deviate from the set direction; but if the detection finds that the swimming pool robot deviates from the set heading for 5 to 60 consecutive seconds, it means that the swimming pool robot is stuck by an external obstacle, resulting in the inability to adjust the heading normally. At this time, the corresponding escape strategy is executed. The specific operation is to turn off the machine pumping motor, and then the swimming pool robot starts to move forward at full speed. Under normal circumstances, the swimming pool robot will start to move forward with its head tilted (as shown in Figure 3). If there are stones or other obstacles under the chassis of the swimming pool robot, the machine can directly cross the obstacle. After executing the escape strategy for 3 to 30 seconds, the escape program exits and returns to normal program execution.

[0055] Please refer to FIG. 4 , which is a flow chart of a third embodiment of a method for escaping a swimming pool robot according to the present invention.

[0056] The difference between this embodiment and the first embodiment shown in FIG1 is that, in this embodiment, in step S20, when it is detected that the current working state is an abnormal working state, the step of determining the type of distress of the swimming pool robot according to the type of the abnormal working state includes:

[0057] Step S202: If the type of abnormal working state is that the distance between the swimming pool robot and the swimming pool wall remains unchanged when the swimming pool robot moves forward, it is determined that the swimming pool robot encounters an obstacle that prevents it from moving forward.

[0058] Step S30, executing a corresponding escape strategy according to the type of distress the swimming pool robot is in, includes:

[0059] Step S302: Control the swimming pool robot to move backward for a second preset time, and then control the swimming pool robot to turn. The second preset time can be set based on experience. In this embodiment, the second preset time is preferably 2 to 20 seconds.

[0060] This embodiment uses an ultrasonic sensor to detect the distance between the swimming pool robot and the swimming pool wall. When the swimming pool robot moves forward, if it is found that the distance changes slightly or remains unchanged, which does not conform to the normal forward speed, it is determined that the swimming pool robot has encountered an obstacle that prevents it from moving forward.

[0061] Under normal circumstances, the swimming pool robot moves forward at a constant speed and the distance will continue to decrease. If the swimming pool robot is stuck, the distance will remain near a certain value. When the distance changes little or remains unchanged, it will be judged that the swimming pool robot is stuck somewhere and cannot move forward. The corresponding escape program will be executed. The swimming pool robot will start to retreat at full speed for 2 to 20 seconds, and then the swimming pool robot will start to turn and switch to other places to clean up, avoiding obstacles on the way forward.

[0062] The beneficial effects of the swimming pool robot escape method of the present invention are:

[0063] The swimming pool robot escape method of the present invention obtains the current working status of the swimming pool robot through the above-mentioned technical scheme; when it is detected that the current working status is an abnormal working status, the type of distress of the swimming pool robot is judged according to the type of abnormal working status; according to the type of distress of the swimming pool robot, a corresponding escape strategy is executed, which can improve the escape ability of the swimming pool robot, prevent the swimming pool robot from being stuck in a certain place for a long time, and further improve the adaptability of the swimming pool robot to different environments, so that cleaning work can be carried out normally in more swimming pools.

[0064] To achieve the above objectives, the present invention also proposes a swimming pool robot escape system, which includes a memory, a processor, and a swimming pool robot escape program stored on the processor. When the swimming pool robot escape program is run by the processor, the steps of the method described above are executed and will not be repeated here.

[0065] To achieve the above objectives, the present invention also proposes a computer-readable storage medium, which stores a swimming pool robot escape program. When the swimming pool robot escape program is run by a processor, the steps of the method described in the above embodiment are executed, which will not be repeated here.

[0066] 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 swimming pool robot escape method, characterized in that: The method comprises the following steps: Step S10, obtaining the current working status of the swimming pool robot; Step S20, when it is detected that the current working state is an abnormal working state, determining the type of distress of the swimming pool robot according to the type of the abnormal working state; Step S30, executing a corresponding escape strategy according to the type of distress of the swimming pool robot.

2. The swimming pool robot escape method according to claim 1, characterized in that: In step S20, when it is detected that the current working state is an abnormal working state, the step of judging the type of distress of the swimming pool robot according to the type of the abnormal working state includes: Step S201: If the type of the abnormal working state is deviation from a set course, it is determined that the type of distress of the swimming pool robot is being stuck by an external obstacle.

3. The swimming pool robot escape method according to claim 2, characterized in that: The swimming pool robot is provided with a pumping motor. When the pumping motor is turned on, the pressure between the swimming pool robot and the bottom of the swimming pool increases, and when the pumping motor is turned off, the pressure between the swimming pool robot and the bottom of the swimming pool decreases. The step S30 of executing a corresponding escape strategy according to the type of distress of the swimming pool robot comprises: Step S301, turning off the water pumping motor, and controlling the swimming pool robot to move forward for a first preset time to cross an obstacle.

4. The swimming pool robot escape method according to claim 3, characterized in that: The first preset time length is 3 to 30 seconds.

5. The swimming pool robot escape method according to claim 1, characterized in that: In step S20, when it is detected that the current working state is an abnormal working state, the step of judging the type of distress of the swimming pool robot according to the type of the abnormal working state includes: Step S202: If the type of the abnormal working state is that the distance between the swimming pool robot and the swimming pool wall remains unchanged or changes slightly when the swimming pool robot moves forward, it is determined that the swimming pool robot encounters an obstacle that prevents it from moving forward.

6. The swimming pool robot escape method according to claim 5, characterized in that: The step S30 of executing a corresponding escape strategy according to the type of distress of the swimming pool robot comprises: Step S302, controlling the swimming pool robot to retreat for a second preset time, and then controlling the swimming pool robot to Pool robot steering motion.

7. The swimming pool robot escape method according to claim 5, characterized in that: The second preset time length is 2 to 20 seconds.

8. The swimming pool robot escape method according to any one of claims 1 to 7, characterized in that: The swimming pool robot is provided with an IMU sensor, an acceleration sensor and an ultrasonic sensor. The IMU sensor and the acceleration sensor are used to obtain the motion state and posture angle of the swimming pool robot, and adjust the heading angle of the swimming pool robot according to the posture angle; the ultrasonic sensor is used to detect the distance between the swimming pool robot and the swimming pool wall.

9. A swimming pool robot escape system, the system comprising a memory, a processor, and a swimming pool robot escape program stored on the processor, the swimming pool robot escape program when executed by the processor executes the steps of the method described in any one of claims 1 to 8.

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

Images