Debris container clogging detection method and system for swimming pool cleaning robot, and medium

Abstract

Disclosed in the present invention are a debris container clogging detection method and system for a swimming pool cleaning robot, and a medium. The swimming pool cleaning robot is provided with a pressure sensor for measuring a water flow rate. The method comprises the following steps: regularly sampling the voltage of a pressure sensor and the current of the present water pump electric motor; on the basis of the voltage of the pressure sensor, deriving the pressure exerted on the pressure sensor; comparing the pressure exerted on the pressure sensor and the current of the present water pump electric motor with a pre-calibrated static water pressure of the pressure sensor and the current of the water pump electric motor when pumping water at a rated speed, respectively; and if the pressure exerted on the pressure sensor is lower than the pre-calibrated static water pressure of the pressure sensor and the current of the present water pump electric motor is higher than the current of the water pump electric motor when pumping water at the rated speed, determining that a swimming pool cleaning robot is clogged. The present invention can effectively and stably measure the water flow rate in a flow channel, thereby accurately determining whether a debris container is fully loaded or clogged.

Description

A method, system, and medium for detecting clogged trash cans in a swimming pool cleaning robot. Technical Field

[0001] This invention relates to the field of swimming pool cleaning robot technology, and in particular to a method, system and medium for detecting blockage in the trash can of a swimming pool cleaning robot. Background Technology

[0002] Pool cleaning robots are consumer-grade robots used to clean swimming pools. Their function is similar to that of robot vacuum cleaners. However, unlike robot vacuum cleaners, pool cleaning robots are used underwater and need to work in the pool. Pool cleaning has always been a pain point, as manual cleaning is tedious and time-consuming. As a result, the industry has begun to widely use machines for pool cleaning.

[0003] Currently, if the garbage bins of cleaning robots on the market are not emptied in time after they are full of garbage, the cleaning robots' suction capacity will decrease, and the efficiency of subsequent cleaning tasks will decrease. At present, there is no effective solution to detect garbage bin blockage. Summary of the Invention

[0004] The main objective of this invention is to provide a method, system, and medium for detecting blockage in the waste bin of a swimming pool cleaning robot. This aims to effectively detect whether the waste bin is blocked, prevent the swimming pool cleaning robot from losing its suction capacity, and improve the efficiency of cleaning tasks.

[0005] To achieve the above objectives, the present invention provides a method for detecting blockage in the waste bin of a swimming pool cleaning robot. The swimming pool cleaning robot is equipped with a pressure sensor for detecting water flow. The method includes the following steps:

[0006] Step S10: Periodically sample the voltage V of the pressure sensor. meas And the current of the pumping motor;

[0007] Step S20, based on the voltage V of the pressure sensor meas The pressure F experienced by the pressure sensor is derived;

[0008] Step S30: Compare the pressure F received by the pressure sensor and the current of the current pumping motor with the pressure of the pressure sensor when it is in still water and the current of the pumping motor when it is pumping water at its rated speed, respectively, according to the pre-calibrated pressure sensor pressure when it is in still water and the current of the pumping motor when it is pumping water at its rated speed.

[0009] Step S40: If the pressure F received by the pressure sensor is less than the pressure of the pressure sensor in still water as pre-calibrated, and the current of the current pumping motor is greater than the current when the pumping motor is pumping water at its rated speed, then the pool cleaning robot is determined to be clogged.

[0010] A further technical solution of the present invention is that, in step S20, based on the voltage V of the pressure sensor... meas The formula used to derive the pressure F experienced by the pressure sensor is as follows:

[0011] Among them, V ref R1 is the reference voltage of the ADC acquisition circuit of the pressure sensor, and R1 is the resistance value of the sampling resistor of the pressure sensor.

[0012] A further technical solution of the present invention is that step S20 further includes:

[0013] Step S201: Based on the resistance R of the pressure sensor and the applied pressure F, fit the relationship between R and F into equations (2) and (3): R = 336.04·F -0.712 (2);

[0014] Where R is the resistance value of the pressure sensor;

[0015] Step S202: Calculate the detection voltage V when the sensor resistance R changes according to the voltage divider formula for series resistors. meas Variation (4):

[0016] Step S203: Using the fitting formula for R and F, calculate the relationship between F and the detection voltage V. meas Relations (5) and (1):

[0017] A further technical solution of the present invention is that, in step S203, the process of deriving equation (5) by combining equations (2) and (4) includes:

[0018] Equation (2) can be rewritten as:

[0019] Taking the reciprocal of both sides and taking the square root, we get the expression for F:

[0020] Cross-multiplying equation (4) yields equation (8): V meas ·(R1+R)=V ref ·R (8);

[0021] Expanding equation (8), we obtain equation (9): V meas ·R1+V meas ·R=V ref ·R (9);

[0022] Rearranging equation (9), moving the terms containing R to one side, we get equation (10): V meas ·R1=Vref ·RV meas ·R (10);

[0023] Extracting R, we obtain equation (11): V meas ·R1=R·(V ref -V meas (11);

[0024] Solve for the expression in R:

[0025] Substituting the expression for R into the expression for F, we get equation (13):

[0026] Reversing the denominator, we get equation (5):

[0027] A further technical solution of the present invention is that, in step S203, the step of deriving equation (1) by combining equations (3) and (4) includes:

[0028] Substituting the expression for R into equation (3) yields equation (14):

[0029] Rearrangement:

[0030] Solve for F:

[0031] Simplify:

[0032] We obtain the expression F:

[0033] A further technical solution of the present invention includes, before step S10:

[0034] The pressure sensor is calibrated to its pressure in still water.

[0035] A further technical solution of the present invention includes, before step S10:

[0036] The calibration parameters include the current of the pumping motor at its rated speed and the voltage of the membrane pressure sensor when the waste bin is unloaded.

[0037] A further technical solution of the present invention is that, after step S40, it further includes:

[0038] Step S50: Issue a warning that the waste bin is full.

[0039] To achieve the above objectives, the present invention proposes a pool cleaning robot waste bin blockage detection system. The system includes a memory, a processor, and a pool cleaning robot waste bin blockage detection program stored on the processor. The pool cleaning robot waste bin blockage detection program is executed by the processor to perform the steps of the method described above.

[0040] To achieve the above objectives, the present invention provides a computer-readable storage medium storing a pool cleaning robot's trash can blockage detection program, which, when run by a processor, executes the steps of the method described above.

[0041] The beneficial effects of the pool cleaning robot's garbage bin blockage detection method, system, and medium of this invention are:

[0042] This invention employs a thin-film pressure sensor to sense the flow velocity in the channel, enabling the pool robot to autonomously detect the flow rate passing through the channel opening. This data, combined with motor status information, determines the load rate of its waste bin. Furthermore, the thin-film pressure sensor offers advantages such as compact structure, ease of installation, and low cost. Its stable relationship between stress and its own resistance is fundamental to the reliability of its detection method. By combining data on the pump motor's speed and operating current, the flow rate in the channel can be effectively and stably detected, thus accurately predicting whether the waste bin is full or blocked. Attached Figure Description

[0043] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0044] Figure 1 is a flowchart of a preferred embodiment of the garbage bin blockage detection method of the swimming pool cleaning robot of the present invention;

[0045] Figure 2 is a schematic diagram of the overall process of the garbage bin blockage detection method of the swimming pool cleaning robot of the present invention;

[0046] Figure 3 is a side view of the pool cleaning robot;

[0047] Figure 4 is a top view of the pool cleaning robot;

[0048] Figure 5 is a partial three-dimensional structural diagram of the pool cleaning robot;

[0049] Figure 6 is a partial three-dimensional structural diagram of the pool cleaning robot from another angle;

[0050] Figure 7 is a graph showing the resistance R of the thin-film pressure sensor versus the applied force F;

[0051] Figure 8 is a circuit diagram of a thin-film pressure sensor;

[0052] Figure 9 is a hardware architecture diagram of the garbage bin blockage detection of the pool cleaning robot of the present invention.

[0053] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0054] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0055] This invention proposes a method for detecting blockage in the trash can of a swimming pool cleaning robot. Referring to Figures 1 and 2, a preferred embodiment of the method includes the following steps:

[0056] Step S10: Periodically sample the voltage V of the pressure sensor. meas And the current of the current pumping motor.

[0057] Referring to Figures 3 to 6, in this embodiment, a thin-film pressure sensor 1 is installed on the inner wall of the flow channel guide plate 4 or the flow channel 2 of the pool cleaning robot. When the pump motor rotates the blade 3 to pump water, the water flow will exert a force on the thin-film pressure sensor 1 through the flow channel 2. The greater the water flow, the greater the force applied. When the garbage bin is empty, the pump motor can pump water smoothly, and the water flow is extremely large. When the garbage bin is full, the water inlet of the pump motor is blocked to a certain extent. The pump motor needs to increase the current to maintain a constant speed. Even at a constant speed, the water flow through the flow channel will decrease to a certain extent. At this time, the force exerted by the water flow in the flow channel on the thin-film pressure sensor 1 becomes smaller.

[0058] Step S20, based on the voltage V of the pressure sensor meas The pressure F experienced by the pressure sensor is derived.

[0059] Step S30: Compare the pressure F received by the pressure sensor and the current of the current pumping motor with the pressure of the pressure sensor when it is in still water and the current of the pumping motor when it is pumping water at its rated speed, respectively, according to the pre-calibrated pressure sensor pressure when it is in still water and the current of the pumping motor when it is pumping water at its rated speed.

[0060] Step S40: If the pressure F received by the pressure sensor is less than the pressure of the pressure sensor in still water as pre-calibrated, and the current of the current pumping motor is greater than the current when the pumping motor is pumping water at its rated speed, then the pool cleaning robot is determined to be clogged.

[0061] It's worth noting that because the pump motor's speed can be controlled by the MCU, if the pump is not clogged, when the pump is turned off, the force received by the membrane pressure sensor will also decrease, but the current will also decrease. When the pump motor speed increases, the current will increase, and the force on the membrane pressure sensor will also increase. Only when the waste bin is clogged will pumping become difficult, requiring an increased current to maintain the speed, and the pumping volume will also decrease due to the clog, thus reducing the force on the membrane pressure sensor. Therefore, this embodiment requires both conditions to be met simultaneously: the pressure F received by the pressure sensor must be greater than the pre-calibrated pressure of the pressure sensor in still water, and the current of the current pump motor must be greater than the current when the pump is pumping at its rated speed. Only then can the cloggedness of the waste bin be accurately determined.

[0062] Furthermore, in this embodiment, step S20 is based on the voltage V of the pressure sensor. meas The formula used to derive the pressure F experienced by the pressure sensor is as follows:

[0063] Among them, V ref R1 is the reference voltage of the ADC acquisition circuit of the pressure sensor, and R1 is the resistance value of the sampling resistor of the pressure sensor.

[0064] In this embodiment, step S20 further includes:

[0065] Step S201: Based on the resistance R of the pressure sensor and the applied pressure F, fit the relationship between R and F into equations (2) and (3): R = 336.04·F -0.712 (2);

[0066] Where R is the resistance of the pressure sensor.

[0067] According to the curve of the resistance R of the thin-film pressure sensor and the applied force F shown in Figure 7, it can be seen that the greater the force applied to the pressure sensor, the smaller the resistance of the pressure sensor. Thus, the relationship between R and F can be fitted by equations (1) and (2).

[0068] Step S202: Calculate the detection voltage V when the sensor resistance R changes according to the voltage divider formula for series resistors. meas Variation (4):

[0069] Among them, V refIt is the reference voltage of the ADC, which is VCC in Figure 4. meas This is the voltage acquired by the ADC, which is the voltage divided by resistor R. R1 is the 10kOhm resistor in Figure 4, and R is the resistance of the thin-film pressure sensor. This resistance will change depending on the force applied, therefore V meas It can be deduced from the relationship with the force F. The trends of R and F are shown in Figure 3.

[0070] Please refer to the circuit diagram of the thin-film pressure sensor shown in Figure 8. According to the diagram in Figure 4, when the thin-film pressure sensor is subjected to force and its resistance changes, the detection voltage V when the sensor resistance R changes can be calculated using the voltage divider formula for series resistors. meas Changes (Equation (3)).

[0071] Step S203: Using the fitting formula for R and F, calculate the relationship between F and the detection voltage V. meas Relations (5) and (1):

[0072] Furthermore, in this embodiment, step S203, the process of deriving equation (5) by combining equations (2) and (4) includes:

[0073] Equation (2) can be rewritten as:

[0074] Taking the reciprocal of both sides and taking the square root, we get the expression for F:

[0075] Cross-multiplying equation (4) yields equation (8): V meas ·(R1+R)=V ref ·R (8);

[0076] Expanding equation (8), we obtain equation (9): V meas ·R1+V meas ·R=V ref ·R (9);

[0077] Rearranging equation (9), moving the terms containing R to one side, we get equation (10): V meas ·R1=V ref ·RV meas ·R (10);

[0078] Extracting R, we obtain equation (11): V meas ·R1=R·(V ref -V meas (11);

[0079] Solve for the expression in R:

[0080] Substituting the expression for R into the expression for F, we get equation (13):

[0081] Reversing the denominator, we get equation (5):

[0082] Furthermore, in step S203, the step of deriving equation (1) by combining equations (3) and (4) includes:

[0083] Substituting the expression for R into equation (3) yields equation (14):

[0084] Rearrangement:

[0085] Solve for F:

[0086] Simplify:

[0087] We obtain the expression F:

[0088] It should be noted that, considering the slow speed and accuracy loss when the MCU of the pool cleaning robot performs exponential calculations, equations (2) and (5) can be omitted. The MCU can then use the V collected by the ADC. meas Substitute equation (1) derived from equations (3) and (4) into equation (1) to calculate the force on the pressure sensor, and then combine it with the collected pump motor current. If the pump motor current is larger than that at the calibration time, and the force F on the pressure sensor is smaller than that at the calibration time, when both reach a threshold, it is determined that the garbage bin is full-loaded or blocked, and a warning indication should be issued.

[0089] Furthermore, in this embodiment, the method further includes the following step before step S10:

[0090] Step S101: Calibrate the pressure of the pressure sensor in still water;

[0091] Step S102: Calibrate the current and the voltage of the membrane pressure sensor when the water pumping motor is pumping water at its rated speed and when the waste bin is unloaded.

[0092] It should be noted that, in this embodiment, the execution order of steps S101 and S102 is not limited.

[0093] In this embodiment, the method further includes the following after step S40:

[0094] Step S50: Issue a warning indication that the waste bin is clogged or full.

[0095] The beneficial effects of the garbage bin blockage detection method of the swimming pool cleaning robot of the present invention are:

[0096] This invention employs a thin-film pressure sensor to sense the flow velocity in the channel, enabling the pool robot to autonomously detect the flow rate passing through the channel opening. This data, combined with motor status information, determines the load rate of its waste bin. Furthermore, the thin-film pressure sensor offers advantages such as compact structure, ease of installation, and low cost. Its stable relationship between stress and its own resistance is fundamental to the reliability of its detection method. By combining data on the pump motor's speed and operating current, the flow rate in the channel can be effectively and stably detected, thus accurately predicting whether the waste bin is full or blocked.

[0097] To achieve the above objectives, the present invention also proposes a pool cleaning robot's waste bin blockage detection system, as shown in Figure 9. The system includes a processor 1001, a CPU, a network interface 1004, a user interface 1003, a memory 1005, a communication bus 1002, and a pool cleaning robot waste bin blockage detection program stored on the processor. The communication bus 1002 is used to enable communication between these components. The user interface 1003 may include a display screen or an input unit such as a keyboard. Optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface). The memory 1005 may be a high-speed RAM or a stable, non-volatile memory, such as a disk storage device. Optionally, the memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0098] Those skilled in the art will understand that the system structure shown in Figure 9 does not constitute a limitation on the system and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0099] As shown in Figure 9, the memory 1005, which is a computer storage medium, may include an operating device, a network communication module, a user interface module, and a garbage bin blockage detection program for a pool cleaning robot.

[0100] In the system shown in Figure 9, the network interface 1004 is mainly used to connect to the network server and communicate with the network server; the user interface 1003 is mainly used to interact with the user terminal and receive user input instructions; and the processor 1001 can be used to call the pool cleaning robot's garbage bin blockage detection program stored in the memory 1005.

[0101] To achieve the above objectives, the present invention also proposes a computer-readable storage medium storing a garbage bin blockage detection program for a pool cleaning robot. When the garbage bin blockage detection program for the pool cleaning robot is run by a processor, the steps of the method described above are executed, and will not be repeated here.

[0102] The above description is merely a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made under the concept of the present invention using the description and drawings of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A method for detecting blockage in the trash can of a swimming pool cleaning robot, characterized in that, The pool cleaning robot is equipped with a pressure sensor for detecting water flow, and the method includes the following steps: Step S10: Periodically sample the voltage V of the pressure sensor. meas And the current of the pumping motor; Step S20, based on the voltage V of the pressure sensor meas The pressure F experienced by the pressure sensor is derived; Step S30: Compare the pressure F received by the pressure sensor and the current of the current pumping motor with the pressure of the pressure sensor when it is in still water and the current of the pumping motor when it is pumping water at its rated speed, respectively, according to the pre-calibrated pressure sensor pressure when it is in still water and the current of the pumping motor when it is pumping water at its rated speed. Step S40: If the pressure F received by the pressure sensor is less than the pressure of the pressure sensor in still water as pre-calibrated, and the current of the current pumping motor is greater than the current when the pumping motor is pumping water at its rated speed, then the pool cleaning robot is determined to be clogged.

2. The method for detecting blockage in the waste bin of the swimming pool cleaning robot according to claim 1, characterized in that, In step S20, based on the voltage V of the pressure sensor... meas The formula used to derive the pressure F experienced by the pressure sensor is as follows: Among them, V ref R1 is the reference voltage of the ADC acquisition circuit of the pressure sensor, and R1 is the resistance value of the sampling resistor of the pressure sensor.

3. The method for detecting blockage in the waste bin of the swimming pool cleaning robot according to claim 2, characterized in that, Step S20 further includes: Step S201: Fit the relationship between R and F based on the resistance R of the pressure sensor and the applied pressure F, and derive equations (2) and (3): R=336.04·F -0.712 (2); Where R is the resistance value of the pressure sensor; Step S202: Calculate the detection voltage V when the sensor resistance R changes according to the voltage divider formula for series resistors. meas Variation (4): Step S203: Using the fitting formula for R and F, calculate the relationship between F and the detection voltage V. meas Relations (5) and (1):

4. The method for detecting blockage in the waste bin of the swimming pool cleaning robot according to claim 3, characterized in that, In step S203, the process of deriving equation (5) by combining equations (2) and (4) includes: Equation (2) can be rewritten as: Taking the reciprocal of both sides and taking the square root, we get the expression for F: Cross-multiplying equation (4) yields equation (8): In meas ·(R1+R)=V ref ·R (8); Expanding equation (8), we get equation (9): In meas ·R1+V meas ·R=V ref ·R (9); Rearranging equation (9) and moving the terms containing R to one side, we get equation (10): In meas ·R1=V ref ·RV meas ·R (10); Extracting R, we obtain equation (11): In meas ·R1=R·(V ref -V meas ) (11); Solve for the expression in R: Substituting the expression for R into the expression for F, we get equation (13): Reversing the denominator, we get equation (5):

5. The method for detecting blockage in the waste bin of the pool cleaning robot according to claim 4, characterized in that, In step S203, the step of deriving equation (1) by combining equations (3) and (4) includes: Substituting the expression for R into equation (3) yields equation (14): Rearrangement: Solve for F: Simplify: We obtain the expression F:

6. The method for detecting blockage in the waste bin of a swimming pool cleaning robot according to any one of claims 1 to 5, characterized in that, The procedure preceding step S10 also includes: The pressure sensor is calibrated to its pressure in still water.

7. The method for detecting blockage in the waste bin of a swimming pool cleaning robot according to any one of claims 1 to 5, characterized in that, The procedure preceding step S10 also includes: The calibration parameters include the current of the pumping motor at its rated speed and the voltage of the membrane pressure sensor when the waste bin is unloaded.

8. The method for detecting blockage in the waste bin of a swimming pool cleaning robot according to any one of claims 1 to 5, characterized in that, The process following step S40 also includes: Step S50: Issue a warning that the waste bin is full.

9. A garbage bin blockage detection system for a swimming pool cleaning robot, characterized in that, The system includes a memory, a processor, and a pool cleaning robot's waste bin blockage detection program stored on the processor, the pool cleaning robot's waste bin blockage detection program being executed by the processor to perform the steps of the method as 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 pool cleaning robot's waste bin blockage detection program, which, when executed by a processor, performs the steps of the method as described in any one of claims 1 to 8.

Images