Water entry control method for robot, and base station, cleaning robot and robot system

Abstract

A water entry control method for a robot, and a base station, a cleaning robot and a robot system. Before a base station unlocks a robot, a relative state between the robot and a water surface can be detected, so as to ensure that the robot enters water in a correct attitude, thereby ensuring the safety and subsequent normal operation of the robot. The method is used for controlling the water entry of a robot provided on a base station, and comprises: when a water entry instruction for a robot is received (S20), detecting a relative state between the robot and a water surface (S30); and when it is determined that the relative state between the robot and the water surface meets a preset condition, unlocking the robot, such that the robot is disengaged from the base station and enters water (S40).

Description

Robot water entry control method, base station, cleaning robot and robot system

[0001] This application claims priority to Chinese Patent Application No. 2025101213484, filed with the China National Intellectual Property Administration on January 24, 2025, entitled "Robot Water Entry Control Method, Base Station, Cleaning Robot and Robot System", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This invention relates to the field of robotics, specifically to a robot water entry control method, a base station, a cleaning robot, and a robot system. Background Technology

[0003] The charging of the pool robot relies on a charging base station installed on the side wall of the pool. When the robot is performing a cleaning task at the charging base station, the robot enters the water by its own weight after the base station is unlocked. However, due to its own design defects and other reasons, the robot is prone to floating abnormally or overturning when entering the water, which seriously affects the normal operation of the robot. Summary of the Invention

[0004] The purpose of this invention is to provide a robot water entry control method, a base station, a cleaning robot, and a robot system to solve the problems mentioned in the background art.

[0005] To address the aforementioned issues, one approach is to provide a robot water entry control method for controlling a robot installed on a base station to enter water. The robot water entry control method is applied to the base station, and the robot is initially locked to the base station. The robot water entry control method includes: upon receiving a water entry command from the robot, detecting the relative state between the robot and the water surface; and when it is determined that the relative state between the robot and the water surface meets preset conditions, releasing the robot from the base station so that the robot can detach from the base station and enter the water.

[0006] The above control method can predict the stability of the robot after it enters the water by detecting the relative state between the robot and the water surface before the base station unlocks the robot. If the relative state between the robot and the water surface is not detected to meet the preset state, the robot can be adjusted before it is unlocked to ensure that the robot enters the water in the correct posture, thus ensuring its safety and subsequent normal operation.

[0007] In one embodiment, the base station includes a supporting component, and the robot is supported on the supporting surface of the supporting component. The base station also includes a first sensor disposed near the supporting surface. The detection of the relative state between the robot and the water surface includes: detecting the distance between the supporting component and the water surface through the first sensor; determining the relative state between the robot and the water surface based on the distance between the supporting component and the water surface; and determining that the relative state between the robot and the water surface satisfies a preset condition when the distance between the supporting component and the water surface is less than or equal to a preset distance.

[0008] In one embodiment, the first sensor includes a first distance sensor, and the step of detecting the distance between the bearing component and the water surface by the first sensor includes: obtaining the distance between the bearing component and the water surface by detecting the distance with the first distance sensor.

[0009] In one embodiment, the first sensor includes a first water entry detection sensor, and the step of detecting the distance of the robot from the water surface by the first sensor includes: detecting whether the carrying component is in the water by the first water entry detection sensor to determine the distance between the carrying component and the water surface; the step of determining that the distance between the robot and the water surface is less than or equal to a preset distance includes: when a trigger signal is received from the water entry detection sensor indicating that the robot is in the water, determining that the distance between the robot and the water surface is less than or equal to the preset distance.

[0010] In one embodiment, detecting the relative state of the robot and the water surface further includes: detecting the tilt angle of the bearing surface of the bearing component relative to the water surface; determining that the relative state of the robot and the water surface satisfies the preset condition when the distance between the robot and the water surface is less than or equal to a preset distance includes: determining that the relative state of the robot and the water surface satisfies the preset condition when the distance between the robot and the water surface is less than or equal to the preset distance and the tilt angle is greater than or equal to the preset tilt angle.

[0011] In one embodiment, the robot water entry control method further includes: when the tilt angle of the bearing surface of the bearing component is less than a preset tilt angle, adjusting the tilt angle of the bearing surface of the bearing component to be greater than or equal to the preset tilt angle.

[0012] In one embodiment, the robot water entry control method further includes: when the distance between the supporting component and the water surface is greater than a preset distance, controlling the supporting component to move toward the water surface to drive the robot to move toward the water surface, thereby reducing the distance between the supporting component and the water surface, and thus reducing the distance between the robot and the water surface.

[0013] On the other hand, a robot water entry control method is provided for controlling a robot installed on a base station to enter water. The robot water entry control method is applied to a robot that is initially locked to the base station. The robot includes a water pump device. The robot water entry control method includes: sending a water entry command to the base station, causing the base station to release the lock on the robot when it determines that the relative state between the robot and the water surface meets preset conditions; and controlling the water pump device of the robot to start when it is determined that the lock on the robot is released, thereby enabling the robot to enter the water smoothly.

[0014] By using the above control method, when the robot enters the water, the water pump device is activated to prevent the robot from becoming unstable or rising rapidly due to buoyancy after entering the water. This ensures that the robot can sink into the water at a stable speed and posture, maintain balance after entering the water, and guarantee the normal operation of the robot.

[0015] In one embodiment, the robot further includes a second sensor disposed near the bottom of the robot, and the robot water entry control method further includes: detecting the distance between the robot and the water surface through the second sensor, generating a corresponding distance detection signal, and transmitting it to a base station so that the base station can determine whether the relative state between the robot and the water surface meets preset conditions.

[0016] In one embodiment, the second sensor includes a second distance sensor. Detecting the distance between the robot and the water surface using the second distance sensor and generating a corresponding distance detection signal includes: obtaining the distance between the robot and the water surface by detecting the distance using the second distance sensor, and generating a corresponding distance detection signal.

[0017] In one embodiment, the second sensor includes a second water entry detection sensor. Detecting the distance between the robot and the water surface using the second sensor and generating a corresponding distance detection signal includes: detecting whether the robot is in water using the second water entry detection sensor, and generating a trigger signal as the distance detection signal when water entry is detected.

[0018] In one embodiment, the robot water entry control method further includes: detecting the tilt angle of the robot relative to the water surface to obtain an angle detection signal, transmitting it to the robot's control device, and determining whether the relative state of the robot and the water surface meets preset conditions based on the obtained angle detection signal.

[0019] In one embodiment, determining that the robot's lock has been released includes: determining that the robot's lock has been released upon receiving an unlock signal sent by a base station.

[0020] In one embodiment, the robot water entry control method further includes: detecting the robot's posture after the robot enters the water; and controlling the robot to enter a working mode when it is determined that the robot's posture meets a preset posture.

[0021] In one embodiment, detecting the robot's posture includes: detecting the robot's posture angle; determining that the robot's posture satisfies a preset posture includes: determining that the robot's posture satisfies a preset posture when the posture angle is less than a preset posture angle.

[0022] In one embodiment, the robot water entry control method further includes: when the posture angle is less than the preset posture angle, gradually reducing the robot's water pump power.

[0023] In one embodiment, controlling the robot's water pump to start when it is determined that the robot's lock has been released includes: controlling the robot's water pump to start at a first power when it is determined that the robot's lock has been released or before it is determined that the robot's lock has been released; and gradually increasing the power of the robot's water pump after the robot enters the water.

[0024] On the other hand, the present invention also provides a base station, the base station including a processor and a memory, the memory storing a computer program, the processor running the computer program to execute the robot water entry control method described in any of the foregoing embodiments.

[0025] On the other hand, the present invention also provides a cleaning robot, which includes a water pump device, a walking device, a cleaning device, a processor, and a memory. The memory stores a computer program, and the processor runs the computer program to execute the robot water entry control method described in any of the foregoing embodiments.

[0026] On the other hand, the present invention also provides a robot system, which includes the aforementioned base station and the aforementioned robot.

[0027] The robot water entry control method of the present invention is used to control a robot installed on a base station to enter water. By detecting the relative state of the robot and the water surface before the robot enters the water, its stability after entering the water can be predicted, avoiding the robot from tipping over due to poor posture. This adjusts the robot's water entry posture to ensure that the robot enters the water at a suitable position and angle, thereby reducing the impact and pressure on the robot's seals and extending the service life of the equipment. The robot enters the water in a preset state and can quickly enter the working state, improving its cleaning efficiency. Through the division of labor and cooperation between the base station and the robot, the water entry process is made more efficient, enhancing the adaptability of the system.

[0028] Additional aspects and advantages of embodiments of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of embodiments of this application. Attached Figure Description

[0029] Figure 1 is a flowchart of a robot water entry control method in some embodiments of this application.

[0030] Figure 2 is another flowchart of the robot water entry control method in some embodiments of this application.

[0031] Figure 3 is a schematic diagram of the structure of the base station and the robot in some embodiments of this application.

[0032] Figure 4 is another structural schematic diagram of the base station in some embodiments of this application.

[0033] Figure 5 is another flowchart of the robot water entry control method in some embodiments of this application.

[0034] Figure 6 is another flowchart of the robot water entry control method in some embodiments of this application.

[0035] Figure 7 is a structural block diagram of a base station in some embodiments of this application.

[0036] Figure 8 is a structural block diagram of the robot in some embodiments of this application.

[0037] Figure 9 is a structural block diagram of a robot system in some embodiments of this application.

[0038] The reference numerals in the detailed embodiments are as follows: Base 10; Bearing component 20; Bearing surface 21; First sensor 22; Limiting baffle 23; Robot 30; Second sensor 31; Transmission assembly 40; Base station 100; Processor 120; Memory 130; Sensor 140; Cleaning robot 200; Water pump device 210; Processor 220; Memory 230; Sensor 240; Walking device 250; Cleaning device 260; Robot system 300; Base station 310; Robot 320. Detailed Implementation

[0039] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0040] The terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0041] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0042] Please refer to Figure 1, which is a flowchart of a robot water entry control method in some embodiments of this application. The robot water entry control method is applied to the base station, and the robot is initially locked to the base station. As shown in Figure 1, the robot water entry control method includes the following steps:

[0043] Step S20: Upon receiving the robot's water entry command.

[0044] Specifically, the base station receives water entry instructions sent by the user or other devices. These instructions may originate from user-controlled operation instructions via an app, manual operation instructions, or instructions related to automatic task settings. Water entry instructions may also include instructions to fully charge the device, instructions to activate the operation mode, or other related instructions, which will not be elaborated here.

[0045] Step S30: Detect the relative state between the robot and the water surface.

[0046] Specifically, after receiving the water entry command, the robot detects its relative position and state with the water surface through sensors, such as detecting the distance between the robot and the water surface through distance sensors and determining the robot's tilt angle through inertial sensors.

[0047] Step S40: When it is determined that the relative state between the robot and the water surface meets the preset conditions, the robot is unlocked so that it can detach from the base station and enter the water.

[0048] Specifically, when the relative state between the robot and the water surface meets the preset conditions, the lock on the robot is released. This can be achieved by using a distance detection sensor to determine whether the robot's bottom is in contact with the water surface or whether the robot's height above the water surface is appropriate. This also ensures the robot's current posture and prevents it from capsizing when entering the water. After the relative state between the robot and the water surface meets the preset conditions, the lock between the robot and the base station is released. The unlocking process can be achieved by using a base unlocking device to release the fixing device, such as a mechanical lock or a magnetic lock, allowing the robot to slide down.

[0049] Therefore, in this application, the robot water entry control method can first detect the relative state between the robot and the water surface, and then, when it is determined that the relative state between the robot and the water surface meets the preset conditions, release the lock on the robot so that the robot can detach from the base station and enter the water. This can avoid the robot from overturning after entering the water due to problems such as center of gravity shift or excessive impact at the moment of water entry. It can reasonably control its water entry process, allowing the robot to enter the water in the correct posture, enabling it to quickly enter the working state, thereby ensuring the normal operation of the robot, improving the overall efficiency of the robot's cleaning work, and further improving the reliability and stability of the equipment.

[0050] Please refer to Figures 2 and 3 together. Figure 2 is another flowchart of the robot water entry control method in some embodiments of this application, and Figure 3 is a schematic diagram of the structure of the base station and the robot in some embodiments of this application. As shown in Figure 3, the base station includes a supporting component 20, and the robot 30 is supported on the supporting surface 21 of the supporting component 20. In some embodiments, the base station also includes a first sensor 22 disposed near the supporting surface 21. As shown in Figure 2, detecting the relative state of the robot with respect to the water surface includes:

[0051] S31: Detect the distance between the robot and the water surface using the first sensor.

[0052] The step of determining that the relative state between the robot and the water surface meets the preset conditions includes: determining that the relative state between the robot and the water surface meets the preset conditions when the distance between the robot and the water surface is less than or equal to a preset distance.

[0053] The system detects the distance between the supporting component and the water surface using the first sensor, sets a preset distance, and determines whether the robot's relative position to the water surface meets the preset condition when the distance is less than or equal to the preset distance. This ensures the robot can enter the water at a suitable position, preventing capsizing due to excessive height upon entry. The preset distance can be set according to specific conditions. For example, it can be increased for deeper pools, and set with appropriate thresholds for larger fluctuations, ensuring safe and stable entry under various pool conditions. The specific value of the preset distance is not limited here.

[0054] In some embodiments, the first sensor may include a first distance sensor, and detecting the distance between the robot and the water surface using the first distance sensor includes obtaining the distance between the robot and the water surface by detecting the distance using the first distance sensor. The first distance sensor is disposed near the support surface 21 of the base station, for example, at the edge of the support surface 21, such that the detection position of the first distance sensor roughly corresponds to the position of the robot on the support component 20. This ensures that the distance detected by the first distance sensor is approximately equal to the actual distance between the robot and the water surface, thus accurately reflecting the actual distance relationship between the robot and the water surface.

[0055] In some embodiments, the first sensor may further include a first water entry detection sensor. Detecting the distance between the robot and the water surface using the first sensor includes: detecting whether the robot is in water using the first water entry detection sensor to detect the distance between the supporting component and the water surface; determining that the distance between the robot and the water surface is less than or equal to a first preset distance includes: determining that the distance between the robot and the water surface is less than or equal to the first preset distance when a trigger signal is received indicating that the first water entry detection sensor is in water. The first water entry detection sensor is also located near the supporting surface 21. When the robot approaches or touches the water surface, the first water entry detection sensor also approaches or touches the water surface, generating a corresponding trigger signal. When the trigger signal is received from the first water entry detection sensor, it can be determined that the distance between the robot and the water surface is less than or equal to the first preset distance. The first water entry detection sensor is reasonably positioned near the supporting surface 21 of the base station, so that the detection position of the first water entry detection sensor corresponds to the position of the robot on the supporting component 20, thereby ensuring that the detected distance accurately reflects the actual distance relationship between the robot and the water surface.

[0056] Optionally, the first water entry detection sensor can be a capacitive sensor, which determines whether the supporting component is in contact with water by detecting changes in capacitance, thereby determining whether the robot is close to or in contact with the water surface based on the robot's relative position on the supporting component. Optionally, the first water entry detection sensor can be a resistive sensor or a float switch sensor.

[0057] Optionally, the first water entry detection sensor can be a humidity sensor. When it senses that the surrounding humidity is greater than or equal to a preset humidity, it generates the trigger signal. Therefore, when the robot approaches or touches the water surface, the humidity around the water entry detection sensor will be greater than or equal to the preset humidity, thus generating the trigger signal. The preset humidity is a pre-set humidity value standard. When the humidity sensor detects that the surrounding humidity is greater than or equal to the preset humidity, it generates the trigger signal. The value of the preset humidity is determined according to the actual scenario and is not specifically limited here. Alternatively, two or more sensors can be configured to work together to provide more accurate information for the robot's water entry control, improving the robot's working efficiency and safety.

[0058] Please refer to Figure 2. In some embodiments, detecting the robot's relative position to the water surface further includes:

[0059] S32: Detect the tilt angle of the bearing surface of the bearing component relative to the water surface.

[0060] The step of determining that the relative state between the robot and the water surface satisfies the preset conditions when the distance between the robot and the water surface is less than or equal to the preset distance includes: determining that the relative state between the robot and the water surface satisfies the preset conditions when the distance between the robot and the water surface is less than or equal to the preset distance and the tilt angle is greater than or equal to the preset tilt angle.

[0061] That is, in some embodiments, the relative state between the robot and the water surface satisfies preset conditions. This requires not only that the distance between the robot and the water surface be less than or equal to a preset distance, but also that the tilt angle of the bearing surface of the supporting component relative to the water surface be greater than or equal to a preset tilt angle. In other words, for the relative state between the robot and the water surface to satisfy the preset conditions, both the sub-condition of the distance between the robot and the water surface being less than or equal to a preset distance and the sub-condition of the tilt angle of the bearing surface of the supporting component relative to the water surface being greater than or equal to a preset tilt angle must be met.

[0062] Since the robot rests on the support surface of the supporting component, the tilt angle of the support surface relative to the water surface is essentially the tilt angle of the robot relative to the water surface. When the support surface of the supporting component is parallel to the water surface, the robot is in an upright position, and the tilt angle of the support surface relative to the water surface, i.e., the tilt angle of the robot relative to the water surface, is 0°. When the support surface of the supporting component is tilted, the tilt angle of the support surface relative to the water surface will be greater than 0°, and when the support surface of the supporting component is perpendicular to the water surface, the tilt angle of the support surface relative to the water surface is 90°. In some embodiments, the tilt angle of the support surface relative to the water surface, i.e., the tilt angle of the robot relative to the water surface, is within the range of 0° to 90°.

[0063] Specifically, when the tilt angle of the bearing surface 21 reaches a certain angle, the robot can slide smoothly into the water along the bearing surface 21 under the action of gravity. When the tilt angle is too small, the component of the robot's gravity along the bearing surface 21 is small, which makes it impossible for the robot to overcome the friction between itself and the bearing surface through its own gravity. This makes it difficult for the robot to slide smoothly into the water from the base station's bearing surface, and it may get stuck or even be unable to slide down, thus failing to enter the water autonomously. When the tilt angle is too large, the component of the robot's gravity along the bearing surface is large, and the acceleration of the robot's descent increases. This makes the robot's speed too high at the moment of entry into the water, generating a large impact force when it contacts the water surface, thereby causing a large impact pressure on the robot's shell or internal structure and its sealing components.

[0064] By setting a minimum tilt angle, i.e. setting the preset tilt angle, and only determining that the relative state of the robot and the water surface meets the preset conditions when the tilt angle of the robot relative to the water surface is greater than or equal to the preset tilt angle, it can be ensured that the robot can obtain sufficient power when entering the water, so that it can enter the water at a specific angle, reducing the possibility of floating or capsizing on the water surface, and thus entering the normal working state more quickly.

[0065] Optionally, the tilt angle can be detected by setting an angle sensor on the supporting component to detect the tilt angle of the supporting surface relative to the horizontal plane in real time. When the tilt angle reaches a preset range, an unlock signal is sent to the base station, and the base station unlocks the robot. The preset angle range is preferably 55-80 degrees. By ensuring that the supporting component is in a reasonable tilt state, the robot can smoothly slide into the water from the supporting surface without stopping or getting stuck due to too small a tilt angle.

[0066] In some embodiments, the robot water entry control method further includes: when the tilt angle of the bearing surface of the bearing component is less than a preset tilt angle, adjusting the tilt angle of the bearing surface of the bearing component to be greater than or equal to the preset tilt angle.

[0067] Therefore, in some embodiments, please refer to Figures 3 and 4, where Figure 4 is another structural schematic diagram of the base station in some embodiments of this application. The difference between Figures 3 and 4 lies in the angle, and the robot is omitted from Figure 4. As shown in Figures 3 and 4, the base station includes a base 10, which is fixed to the edge of the pool near the side wall or positioned on the side wall near the top of the pool above the water surface. Figure 4 illustrates this with the base 10 fixed to the edge of the pool near the side wall as an example. The supporting component 20 is movably mounted on the base 10. For example, as shown in Figure 4, the base 10 and the supporting component 20 can be connected via a transmission assembly 40. The transmission assembly 40 can drive the supporting component 20 to move, thereby adjusting the tilt angle and position of the supporting component 20. By setting the transmission assembly 40, the angle of the supporting component 20 can be adjusted so that the robot reaches a preset state suitable for water entry. Furthermore, by lifting and rotating the transmission assembly 40, the supporting component 20 can be controlled to be closer to the water surface, thereby adjusting the tilt angle and position of the robot 30. The supporting component 20 also includes a limiting baffle 23, which serves as a guide to ensure that the robot 30 enters the water along a preset route, preventing displacement of the robot 30 during operation and further increasing the stability of water entry.

[0068] Therefore, in some embodiments, when the tilt angle of the bearing surface of the bearing component is less than a preset tilt angle, the tilt angle of the bearing surface of the bearing component can be adjusted to be greater than or equal to the preset tilt angle, so that the relative state between the robot and the water surface satisfies one of the sub-conditions of the preset conditions. Thus, by adjusting the tilt angle of the bearing surface to be greater than or equal to the preset tilt angle, the robot can generate sufficient force along the bearing surface direction to overcome the friction between the robot and the bearing surface, enabling the robot to smoothly slide down the bearing surface, ensuring a stable entry into the water, reducing the risk of damage to the robot due to the impact force or unstable posture upon entering the water, and further improving the reliability of the equipment.

[0069] In some embodiments, the robot water entry method further includes: when the distance between the supporting component and the water surface is greater than a preset distance, controlling the supporting component to move toward the water surface to drive the robot to move toward the water surface, thereby reducing the distance between the supporting component and the water surface, and thus reducing the distance between the robot and the water surface.

[0070] As described above, the supporting component 20 is movably mounted on the base 10. The position of the supporting component 20 relative to the base 10 can also be adjusted. Thus, when the distance between the robot and the water surface is greater than a preset distance, the transmission assembly 40 can control the supporting component 20 to move towards the water surface, thereby moving the robot towards the water surface. This ensures that the distance between the robot and the water surface is less than or equal to the preset distance, thus satisfying another sub-condition of the preset conditions. Adjusting the distance between the robot and the water surface allows it to enter the water in an optimal state, helping to maintain the stability of the robot's entry posture and avoiding excessive impact force or prolonged adjustment before it can enter working condition due to excessive distance.

[0071] Please refer to Figure 5, which is another flowchart of the robot water entry control method in some embodiments of this application. In some embodiments, this application also provides a water entry control method for controlling a robot installed on a base station to enter water, wherein the robot water entry control method is applied to the robot, the robot is initially locked to the base station, the robot includes a water pump device, and the robot water entry control method includes:

[0072] S60: Send a water entry command to the base station;

[0073] Specifically, the operator sends a water entry command to the robot through the control terminal (remote control or mobile APP). This command can be a manual operation command or a command related to the automatic task setting. The water entry command can be a command to fully charge the robot, a command to execute the work mode, or other related commands, which will not be elaborated here. The water entry command can be sent to the base station via wireless communication (such as WIFI, Bluetooth, Zigbee) or wired connection.

[0074] S70: When it is determined that the relative state between the robot and the water surface meets the preset conditions, the lock on the robot is released;

[0075] S80: When it is determined that the robot's lock has been released, the robot's water pump device is started, so that the robot enters the water smoothly.

[0076] Therefore, in some embodiments of this application, the robot sends a water entry command to the base station, and the base station unlocks after the relative state between the robot and the water surface meets preset conditions, ensuring that the robot can enter the water at an appropriate time; after unlocking, the water pump device of the robot is started, which can control the robot to enter the water along a specific trajectory, thereby avoiding interference from external forces such as buoyancy with the robot's water entry posture, and enabling the robot to maintain balance when entering the water and enter the water with a stable posture. The thrust generated after the water pump is started can effectively counteract the interference of buoyancy or external forces, ensuring that the robot can enter the water smoothly along the predetermined trajectory and avoiding instability or capsizing when entering the water.

[0077] Please refer to Figures 3 and 6 together. Figure 6 is another flowchart of the robot water entry control method in some embodiments of this application. In some embodiments, the robot 30 further includes a second sensor 31 disposed near the bottom of the robot, and the robot water entry control method further includes:

[0078] S61: The distance between the robot and the water surface is detected by the second sensor, and a corresponding distance detection signal is generated and transmitted to the control device to determine whether the relative state between the robot and the water surface meets the preset conditions.

[0079] By installing a second sensor on the bottom of the robot, the second sensor can directly and accurately detect the distance to the water surface when the robot approaches the water surface. Based on the distance measured by the second sensor, the robot can more accurately judge the relative state between the robot and the water surface, determine the best time to enter the water, and send an unlocking command to the base station to ensure that the robot enters the water in a preset state.

[0080] In some embodiments, the second sensor includes a second distance sensor. Detecting the distance between the robot and the water surface using the second distance sensor and generating a corresponding detection signal includes: obtaining the distance between the robot and the water surface by detecting the distance using the second distance sensor, and generating a corresponding distance detection signal. By placing the second distance sensor on the bottom of the robot, the distance between the robot and the water surface can be directly measured, obtaining accurate data. Therefore, the base station can precisely control the robot's unlocking timing based on the distance data, ensuring the robot enters the water smoothly and reducing damage caused by the impact of water entry.

[0081] In some embodiments, the second sensor includes a second water entry detection sensor. Detecting the distance between the robot and the water surface using the second sensor and generating a corresponding detection signal includes: detecting whether the robot is in water using the second water entry detection sensor, and generating a trigger signal as the distance detection signal upon detection. When the second water entry detection sensor detects that the robot is approaching or contacting the water surface, it generates a trigger signal, enabling precise determination of the robot's water entry moment and improving system efficiency.

[0082] Optionally, the second water ingress detection sensor can be a capacitive sensor, which determines whether the supporting component is in contact with water by detecting changes in capacitance, thereby determining whether the robot is close to or in contact with the water surface based on the robot's relative position on the supporting component. Optionally, the second water ingress detection sensor can be a resistive sensor or a float switch sensor.

[0083] The second water entry detection sensor can be a humidity sensor. When it senses that the surrounding humidity is greater than or equal to a preset humidity, it will generate the trigger signal. Therefore, when the robot approaches or touches the water surface, the humidity around the second water entry detection sensor will be greater than or equal to the preset humidity, and the second water entry detection sensor will generate the trigger signal. The preset humidity is a pre-set humidity value standard. When the humidity sensor detects that the surrounding humidity is greater than or equal to the preset humidity, it will generate the trigger signal. The value of the preset humidity can be determined according to the actual scenario and is not specifically limited here.

[0084] In some embodiments, the second sensor may further include sensors such as pressure sensors to detect the distance between the robot and the water surface. For example, the pressure sensor may be positioned near the bottom of the robot, and when the robot comes into contact with the water surface, it can sense the water pressure and generate a corresponding sensing signal. Two or more sensors may also be used in conjunction to provide more accurate information for the robot's water entry control, improving the robot's working efficiency and safety. The selection of the sensors is determined based on the actual situation and is not specifically limited here.

[0085] Please refer to Figure 6. In some embodiments, the robot water entry control method further includes:

[0086] S62: Detect the tilt angle of the robot relative to the water surface to obtain an angle detection signal, and transmit it to the control device. Determine whether the relative state of the robot and the water surface meets the preset conditions based on the obtained angle detection signal. If the preset conditions are met, the robot sends an unlock signal to the base station.

[0087] Optionally, by detecting the robot's tilt angle relative to the water surface, the base station can acquire the robot's posture before entering the water in real time. When an abnormal tilt angle is detected, the tilt angle of the robot can be adjusted. Optionally, the base station can use the robot's inertial sensors, accelerometers, and gyroscopes to detect the robot's posture and determine the robot's tilt angle, ensuring that the robot enters the water at an angle that meets the preset requirements, reducing the impact force at the moment of entry, reducing the risk of damage to the robot's internal structure and components, and ensuring that the robot can slide into the water under its own weight without overturning.

[0088] In some embodiments, determining that the robot's lock has been released includes: when the robot's tilt angle relative to the water surface meets a preset angle threshold, the robot sends an unlock signal to the base station, and the base station releases the lock on the robot, thus determining that the robot's lock has been released. That is, in some embodiments, when the base station releases the lock on the robot after determining that the relative state between the robot and the water surface meets preset conditions, it may also send an unlock signal to the robot to notify that the lock has been released.

[0089] In some embodiments, when the robot receives the unlock signal, it determines that the robot's lock has been released and controls the robot's water pump to start, thereby allowing the robot to smoothly enter the water. That is, in some embodiments, "the robot's lock being released" may include: after the base station receives the unlock signal, it confirms that the robot meets the unlocking conditions, determines that the robot's lock has been released, such as when the mechanical latch is released, the base station sends an unlock success signal to the robot, notifying that the lock has been released.

[0090] In some embodiments, the robot water entry control method further includes: detecting the robot's posture after the robot enters the water; and controlling the robot to enter a working mode when it is determined that the robot's posture meets a preset posture. By detecting the robot's posture and ensuring that it meets the preset posture, it is possible to ensure that each functional component of the robot is in the optimal working position, enabling the robot to remain stable in the underwater environment, avoiding the robot from operating in an unfavorable posture, ensuring that the robot enters the working mode in the water with a preset posture, and further improving the stability and reliability of the system in complex environments.

[0091] In some embodiments, detecting the robot's posture includes: detecting the robot's posture angle; determining that the robot's posture satisfies a preset posture includes: determining that the robot's posture satisfies a preset posture when the posture angle is less than a preset posture angle.

[0092] In some embodiments, the robot's attitude angles can be detected in real time by inertial sensors mounted on the robot. These attitude angles may include the robot's pitch angle, roll angle, etc., in the water. When the detected attitude angle of the robot is less than a preset attitude angle, it can be considered that the robot is close to horizontal and in a stable state. The robot's pitch angle and roll angle in the water refer to the angles between the robot's longitudinal axis and lateral axis and the horizontal plane, respectively. The longitudinal axis can refer to the axis from the head to the tail of the robot, and the lateral axis refers to the axis perpendicular to the longitudinal axis. For example, when the robot's head tilts upward, the robot's pitch angle is positive, and when one side of the robot tilts upward, the roll angle is positive, and so on.

[0093] The preset attitude angle can be [-30°, 30°]. When the robot's attitude angle in the water is within the preset range, the robot's attitude can be considered to be in a stable state. When the robot's attitude angle is too large, the robot is prone to overturning when entering the water. By setting the preset attitude angle, the robot can be ensured to operate within a safe attitude range. The preset attitude angle can be set according to the actual situation and is not specifically limited here.

[0094] In some embodiments, the robot water entry control method further includes: gradually reducing the robot's water pump power when the attitude angle is less than the preset attitude angle.

[0095] When the robot's posture angle is detected to be less than the preset posture angle, the robot is in a stable state. Continuing to run the water pump at high power would cause unnecessary energy consumption. The water pump power is gradually reduced from the high power state to the preset low power state. Therefore, by gradually reducing the water pump power, energy utilization efficiency can be effectively optimized, the robot's endurance can be extended, and it can complete more work tasks under limited energy conditions.

[0096] In some embodiments, controlling the robot's water pump to start when it is determined that the robot's lock has been released includes: controlling the robot's water pump to start at a first power when it is determined that the robot's lock has been released or before it is determined that the robot's lock has been released; and gradually increasing the robot's water pump power after the robot enters the water.

[0097] Specifically, when or before the robot's lock is released, the water pump is started at a first power level to provide the robot with an initial stable thrust. This allows the robot to obtain a stable pressure when unlocking, avoiding a large impact force caused by the sudden start of the water pump after unlocking. This keeps the robot stable when entering the water. At this time, the water pump speed can be relatively low to avoid excessive impact force caused by excessive water pump speed, thereby protecting the robot's internal structure and components from damage. At the same time, it enables the robot to quickly start the water pump after entering the water, allowing it to reach the bottom of the pool.

[0098] In this process, gradually increasing the power of the robot's water pump after the robot enters the water allows the robot to gradually adapt to changes in the underwater environment, better overcome water resistance, ensure that the robot can continue to dive or move, maintain a stable operating state, and avoid stalling due to insufficient power.

[0099] In some embodiments, the rotational speed of the water pump can be adjusted according to the robot's working state and water depth. For example, when the robot enters the water, due to the effects of buoyancy and resistance, the rotational speed of the water pump can be gradually increased to ensure that the robot can quickly and stably reach the set working depth. This effectively overcomes the obstacles of buoyancy and water resistance to the robot's descent. During the robot's descent, if it is detected that the robot's descent speed has not reached the expected descent rate, the rotational speed of the water pump can be increased to accelerate the descent process. Conversely, if it is found that the robot's descent speed is too fast and there is a risk of unstable attitude, the increase in the rotational speed of the water pump can be appropriately reduced to ensure the safety and efficiency of the robot during the descent.

[0100] When the robot approaches the set working depth, in order to avoid the robot diving too deep due to inertia or generating excessive impact force when reaching the working depth, the water pump speed needs to be gradually reduced so that the robot can stop smoothly at the target depth and enter the work preparation state. By flexibly and accurately adjusting the water pump speed according to the different states of the robot and the water depth, the stability and working efficiency of the robot in underwater operation can be greatly improved, ensuring that it can successfully complete various tasks.

[0101] Please refer to Figure 7, which is a structural block diagram of a base station in some embodiments of this application. In some embodiments, this application also provides a base station 100, a processor 120, and a memory 130, wherein the memory 130 stores a computer program, and the processor 120 runs the computer program to execute the robot water entry control method applied to the base station in any of the foregoing embodiments.

[0102] For example, the robot water entry control method executed by the processor 120 running the computer program includes: when receiving a robot water entry command, detecting the relative state of the robot and the water surface; and when determining that the relative state of the robot and the water surface meets preset conditions, releasing the lock on the robot so that the robot detaches from the base station and enters the water.

[0103] Other steps of the robot water entry control method executed by the processor 120 running the computer program can be found in the foregoing related descriptions, and will not be repeated here.

[0104] In some embodiments, as shown in FIG6 and as shown in FIG3 above, the base station 100 further includes a sensor 140, wherein the aforementioned sensor 140 and the processor 120 can be connected by wired or wireless means to communicate and transmit the sensed signal to the processor 120 so that the processor 120 can determine whether the relative state of the robot and the water surface meets preset conditions, etc.

[0105] Please refer to Figure 8, which is a structural block diagram of a cleaning robot in some embodiments of this application. In some embodiments, this application also provides a cleaning robot 200, including a water pump device 210, a processor 220, a memory 230, a sensor 240, a walking device 250, and a cleaning device 260, wherein the memory 230 stores a computer program, and the processor 220 runs the computer program to execute the robot water entry control method applied to the robot in any of the foregoing embodiments.

[0106] For example, the robot water entry control method executed by the processor 220 running the computer program includes: sending a water entry command to the base station, causing the base station to release the lock on the robot when it determines that the relative state between the robot and the water surface meets preset conditions; and controlling the robot's water pump to start when it is determined that the lock on the robot has been released, thereby allowing the robot to enter the water smoothly.

[0107] Other steps of the robot water entry control method executed by the processor 220 running the computer program can be found in the foregoing related descriptions, and will not be repeated here.

[0108] The robot 200 also includes a sensor 240, wherein the aforementioned sensor 240 can communicate with the base station 100, such as the processor 120 of the base station 100, via a wireless connection, and transmit the sensed signals wirelessly to the base station 100, such as the processor 120 of the base station 100, so that the processor 120 can determine whether the relative state of the robot with respect to the water surface meets preset conditions, etc.

[0109] Referring to Figure 9, in some embodiments, the present invention also provides a robot system 300, which includes the aforementioned base station 310 and the aforementioned robot 320.

[0110] The robot system 300, consisting of the base station 310 and the robot 320, can quickly respond to water entry commands, further reducing the time from preparation to water entry. After receiving the water entry command, the base station 310 can quickly determine whether the relative state of the robot 320 and the water surface meets the preset conditions and unlock it. After unlocking, the robot 320 immediately starts the relevant program and enters the working state, thereby improving the overall work efficiency.

[0111] In the above embodiments, the descriptions of each embodiment have their own emphasis. Parts not described in detail in a particular embodiment can be referred to in the relevant descriptions of other embodiments. The embodiments of the present invention have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this application. Furthermore, for those skilled in the art, based on the ideas of this application, there will be changes in specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the above embodiments should be included within the protection scope of the technical solution.

Claims

1. A robot water entry control method for controlling a robot installed on a base station to enter water, wherein, A robot water entry control method is applied to the base station, wherein the robot is initially locked to the base station, characterized in that the robot water entry control method includes: Upon receiving a command for the robot to enter the water, the relative state of the robot to the water surface is detected; and When the relative state between the robot and the water surface is determined to meet the preset conditions, the robot is unlocked so that it can detach from the base station and enter the water.

2. The robot water entry control method according to claim 1, characterized in that, The base station includes a supporting component, the robot is supported on the supporting surface of the supporting component, and the base station further includes a first sensor disposed near the supporting surface. The detection of the relative state of the robot with respect to the water surface includes: The distance between the supporting component and the water surface is detected by the first sensor; The relative state of the robot to the water surface is determined based on the distance between the supporting component and the water surface; When it is determined that the distance between the bearing component and the water surface is less than or equal to a preset distance, the relative state between the robot and the water surface is determined to meet the preset conditions.

3. The robot water entry control method according to claim 2, characterized in that, The first sensor includes a first distance sensor, and the step of detecting the distance between the supporting component and the water surface through the first sensor includes: The distance between the supporting component and the water surface is obtained by detecting the distance between the first distance sensor and the water surface.

4. The robot water entry control method according to claim 2, characterized in that, The first sensor includes a first water entry detection sensor, and the step of detecting the distance between the robot and the water surface using the first sensor includes: The distance between the supporting component and the water surface is detected by detecting whether it is in water using a first water ingress detection sensor; Determining that the distance between the robot and the water surface is less than or equal to a preset distance includes: Upon receiving a trigger signal generated by the water entry detection sensor indicating that the robot is in the water, the robot determines that the distance between itself and the water surface is less than or equal to a preset distance.

5. The robot water entry control method according to claim 2, characterized in that, The detection of the relative state between the robot and the water surface also includes: The tilt angle of the bearing surface of the bearing component relative to the water surface is detected; The step of determining that the relative state between the robot and the water surface satisfies a preset condition when the distance between the robot and the water surface is less than or equal to a preset distance includes: When it is determined that the distance between the robot and the water surface is less than or equal to a preset distance and the tilt angle is greater than or equal to a preset tilt angle, the relative state between the robot and the water surface is determined to meet the preset conditions.

6. The robot water entry control method according to claim 5, characterized in that, The robot water entry control method also includes: When the tilt angle of the bearing surface of the bearing component is less than the preset tilt angle, the tilt angle of the bearing surface of the bearing component is adjusted to be greater than or equal to the preset tilt angle.

7. The robot water entry control method according to claim 2, characterized in that, The robot water entry control method also includes: When the distance between the supporting component and the water surface is greater than a preset distance, the supporting component is controlled to move towards the water surface, thereby driving the robot to move towards the water surface, reducing the distance between the supporting component and the water surface, and thus reducing the distance between the robot and the water surface.

8. A method for controlling a robot to enter water, used to control a robot installed on a base station to enter water, wherein, A robot water entry control method is applied to the robot, which is initially locked to the base station. The robot includes a water pump device. The robot water entry control method comprises: Sending a water entry command to the base station, causing the base station to release the lock on the robot when it determines that the relative state between the robot and the water surface meets preset conditions; and When it is determined that the robot's lock has been released, the water pump device controlling the robot is activated, allowing the robot to smoothly enter the water.

9. The robot water entry control method according to claim 8, characterized in that, The robot also includes a second sensor located near the bottom of the robot, and the robot water entry control method further includes: The second sensor detects the distance between the robot and the water surface and generates a corresponding distance detection signal to determine whether the relative state between the robot and the water surface meets the preset conditions.

10. The robot water entry control method according to claim 9, characterized in that, The second sensor includes a second distance sensor, which detects the distance between the robot and the water surface and generates a corresponding detection signal, including: The distance between the robot and the water surface is obtained by detecting the distance with the second distance sensor, and a corresponding distance detection signal is generated.

11. The robot water entry control method according to claim 9, characterized in that, The second sensor includes a second water entry detection sensor. The step of detecting the distance between the robot and the water surface using the second sensor and generating a corresponding detection signal includes: The second water ingress detection sensor detects whether the object is in water, and when it is detected to be in water, it generates a trigger signal as the distance detection signal.

12. The robot water entry control method according to claim 9, characterized in that, The robot water entry control method also includes: An angle detection signal is obtained by detecting the tilt angle of the robot relative to the water surface and transmitted to the robot's control device. Based on the obtained angle detection signal, it is determined whether the relative state of the robot and the water surface meets the preset conditions.

13. The robot water entry control method according to claim 8, characterized in that, The determination that the robot's lock has been released includes: Upon receiving an unlock signal from the base station, it is determined that the robot's lock has been released.

14. The robot water entry control method according to claim 9, characterized in that, The robot water entry control method also includes: After the robot enters the water, its attitude is detected; and When the robot's posture is determined to meet the preset posture, the robot is controlled to enter the operation mode.

15. The robot water entry control method according to claim 14, characterized in that, The detection of the robot's posture includes: Detect the robot's posture angle; Determining that the robot's posture satisfies a preset posture includes: When the posture angle is less than the preset posture angle, the robot's posture is determined to satisfy the preset posture.

16. The control method according to claim 15, characterized in that, The robot water entry control method also includes: When the posture angle is less than the preset posture angle, the robot's water pump power is gradually reduced.

17. The control method according to claim 8, characterized in that, The step of controlling the robot's water pump to start when the robot's lock is determined to be released includes: Upon determining that the robot's lock has been released, or before determining that the robot's lock has been released, the robot's water pump is controlled to start at a first power; and After the robot enters the water, the power of the robot's water pump is gradually increased.

18. A base station, characterized in that, It includes a processor and a memory, the memory storing a computer program, the processor running the computer program to perform the robot water entry control method according to any one of claims 1-13.

19. A cleaning robot, characterized in that, The device includes a water pump, a walking device, a cleaning device, a processor, and a memory, wherein the memory stores a computer program, and the processor runs the computer program to perform the robot water entry control method according to any one of claims 8-17.

20. A robot system, characterized in that, The robotic system includes the base station as described in claim 18 and the cleaning robot as described in claim 19.

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