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CN-121989276-A - Control method of swimming pool robot and swimming pool robot

CN121989276ACN 121989276 ACN121989276 ACN 121989276ACN-121989276-A

Abstract

The embodiment of the application provides a control method of a swimming pool robot and the swimming pool robot, wherein when first detection information detected by a first sensor component meets preset conditions, the swimming pool robot is controlled to move according to the water surface distance detected by an ultrasonic sensor. The problem of the swimming pool robot motion deviation caused by detection abnormality existing when the water surface distance is detected is avoided, and the stability of the swimming pool robot motion in the swimming pool is improved.

Inventors

  • Song Yule
  • ZHAO TIANBAO
  • LU MINGGANG

Assignees

  • 星迈创新科技(苏州)有限公司

Dates

Publication Date
20260508
Application Date
20260105

Claims (13)

  1. 1. A method of controlling a pool robot, the pool robot comprising a first sensor assembly, a second sensor assembly, the method comprising: acquiring first detection information detected by the first sensor assembly; When the first detection information meets preset conditions, the swimming pool robot is controlled to move in the swimming pool according to the water surface distance detected by a second sensor component, wherein the water surface distance is the distance between the swimming pool robot and the water surface of the swimming pool, the second sensor component is an ultrasonic sensor, and the types of the first sensor component and the second sensor component are different.
  2. 2. The method of claim 1, wherein the first detection information comprises a gesture feature of the pool robot, the gesture feature comprising a yaw angle and a pitch angle of the pool robot on a pool wall, wherein determining that the first detection information meets a preset condition comprises: When the swimming pool robot is in a pool wall gesture and takes a vertical pool wall as a reference, the absolute value of the yaw angle is smaller than a first threshold value, and the absolute value of the pitch angle is smaller than a second threshold value, the first detection information is determined to meet a preset condition.
  3. 3. The method of claim 1, wherein the first detection information includes a pool wall characteristic, and wherein determining that the first detection information satisfies a preset condition comprises: when the swimming pool robot is in a pool wall posture and takes a vertical pool wall as a reference, and the pool wall characteristic representing pool wall inclination angle is smaller than a third threshold value, determining that the first detection information meets a preset condition.
  4. 4. A method according to any one of claims 1-3, wherein said controlling movement of said pool robot in the pool based on the detected water surface distance by the second sensor assembly comprises: and when the water surface distance is a first preset distance, determining that the swimming pool robot reaches the water surface after the swimming pool robot advances from the current position for a preset time.
  5. 5. A method according to any one of claims 1-3, wherein the pool robot further comprises: At least one filter unit and at least one suction assembly for at least sucking liquid in the swimming pool into the filter unit and discharging liquid filtered by the filter unit out of the swimming pool robot; at least one travelling mechanism, or at least one travelling mechanism and at least one propelling mechanism, wherein the travelling mechanism is at least used for enabling the swimming pool robot to move on the surface of an object; The water surface distance detected by the second sensor component is used for controlling the swimming pool robot to move in the swimming pool, and the swimming pool robot comprises: And when the water surface distance is a first preset distance, controlling the running mechanism of the swimming pool robot to slow down and/or the propelling mechanism to slow down and/or the suction assembly to slow down, and controlling the swimming pool robot to move in the swimming pool.
  6. 6. A method according to any one of claims 1-3, wherein said controlling movement of said pool robot in the pool based on the detected water surface distance by the second sensor assembly comprises: When the swimming pool robot is in a waterline cleaning state and the swimming pool robot is determined to reach the water surface, controlling the swimming pool robot to retract in the direction away from the water surface until the water surface distance is a second preset distance, and then advancing for a preset time length in the direction close to the water surface; until the rollback times or the travelling times reach the preset times.
  7. 7. A method according to any one of claims 1-3, characterized in that the method further comprises: In the case that the swimming pool robot further comprises a third sensor assembly, controlling the third sensor assembly to detect the water surface distance when the first detection information does not meet a preset condition or the second sensor assembly does not detect the water surface distance; And when the first detection information does not meet a preset condition or the second sensor component does not detect the water surface distance under the condition that the swimming pool robot does not comprise a third sensor component, generating an abnormal prompt and controlling the swimming pool robot to retreat.
  8. 8. The method according to claim 1, wherein the method further comprises: Controlling the swimming pool robot to be at a first position of the swimming pool, obtaining a first water surface distance according to the first detection information, and detecting a second water surface distance according to the second sensor component; Determining a first calibration value based on the first and second water surface distances; Controlling the swimming pool robot to obtain a third water surface distance at a second position of the swimming pool through the first detection information, and detecting a fourth water surface distance through the second sensor assembly, wherein the first position and the second position are different positions; determining a second calibration value based on the third water surface distance and a fourth water surface distance; determining whether to calibrate the first sensor assembly based on the first calibration value and the second calibration value.
  9. 9. The method of claim 8, wherein determining whether to calibrate the first sensor assembly based on the first calibration value and the second calibration value comprises: And when the difference value between the first calibration value and the second calibration value is smaller than a preset threshold value, not calibrating the first sensor component, or determining a mode of calibrating the first sensor component according to at least one of the first calibration value and the second calibration value.
  10. 10. The method of claim 8, wherein determining whether to calibrate the first sensor assembly based on the first calibration value and the second calibration value comprises: Controlling the swimming pool robot to obtain a fifth water surface distance through the first detection information and detect a sixth water surface distance through the second sensor component under the condition that the difference value between the first calibration value and the second calibration value is larger than or equal to a preset threshold value, wherein the first position, the second position and the third position are different positions; Determining a third calibration value based on the fifth water surface distance and the sixth water surface distance; determining whether to calibrate the first sensor assembly based on the first calibration value, the second calibration value, and the third calibration value.
  11. 11. The method of claim 10, wherein the first calibration value is a difference between the first water surface distance and a second water surface distance, the second calibration value is a difference between the third water surface distance and a fourth water surface distance, and the third calibration value is a difference between the fifth water surface distance and a sixth water surface distance; determining whether to calibrate the first sensor assembly based on the first calibration value, the second calibration value, and the third calibration value, comprising: Determining the smaller of the first, second and third calibrated values as a first and second target value; And when the difference between the first target value and the second target value is smaller than a preset threshold value, not calibrating the first sensor assembly, or determining a mode of calibrating the first sensor assembly according to at least one of the first target value and the second target value.
  12. 12. The method of claim 1, wherein the first sensor assembly comprises a water pressure sensor, the method further comprising: the method comprises the steps of obtaining a first air pressure value, wherein the first air pressure value is measured by a first pressure sensor arranged in air; calibrating the water pressure sensor according to the first air pressure value; or acquiring a pressure value and a water surface fluctuation value, wherein the pressure value is measured by a second pressure sensor arranged under water, and the water surface fluctuation value is measured by a water surface detection sensor; Determining a second air pressure value according to the pressure value and the water surface fluctuation value; And calibrating the water pressure sensor according to the second air pressure value.
  13. 13. A swimming pool robot is characterized by comprising an electric control plate, a first sensor assembly and a second sensor assembly; The electronic control board is in communication connection with the first sensor assembly and the second sensor assembly; The first sensor assembly is used for detecting first detection information; The second sensor assembly is used for detecting the water surface distance; An electronic control board at least for performing the method according to any one of claims 1-12.

Description

Control method of swimming pool robot and swimming pool robot Technical Field The application relates to the field of swimming pool robots, in particular to a control method of a swimming pool robot and the swimming pool robot. Background As swimming becomes increasingly popular, pool cleaning is also a concern. In the related art, a swimming pool robot specially working in a water body is generally adopted to clean a swimming pool, so that the swimming pool cleaning efficiency is improved. When a swimming pool robot performs work tasks such as cleaning, the swimming pool robot needs to move near the water surface of the swimming pool, so that the detection of the water surface position is particularly important. Disclosure of Invention The embodiment of the application provides a control method of a swimming pool robot and the swimming pool robot, which improves the accuracy of water surface distance detection. In a first aspect, the present application provides a method of controlling a swimming pool robot comprising a first sensor assembly, a second sensor assembly, the method comprising: acquiring first detection information detected by the first sensor assembly; When the first detection information meets preset conditions, the swimming pool robot is controlled to move in the swimming pool according to the water surface distance detected by a second sensor component, wherein the water surface distance is the distance between the swimming pool robot and the water surface of the swimming pool, the second sensor component is an ultrasonic sensor, and the types of the first sensor component and the second sensor component are different. Optionally, the first detection information includes gesture features of the swimming pool robot, the gesture features include yaw angle and pitch angle of the swimming pool robot on a pool wall, and determining that the first detection information meets a preset condition includes: When the swimming pool robot is in a pool wall gesture and takes a vertical pool wall as a reference, the absolute value of the yaw angle is smaller than a first threshold value, and the absolute value of the pitch angle is smaller than a second threshold value, the first detection information is determined to meet a preset condition. Optionally, the first detection information comprises a pool wall characteristic, and the determining that the first detection information meets a preset condition comprises: when the swimming pool robot is in a pool wall posture and takes a vertical pool wall as a reference, and the pool wall characteristic representing pool wall inclination angle is smaller than a third threshold value, determining that the first detection information meets a preset condition. Optionally, the controlling the swimming pool robot to move in the swimming pool according to the water surface distance detected by the second sensor component includes: and when the water surface distance is a first preset distance, determining that the swimming pool robot reaches the water surface after the swimming pool robot advances from the current position for a preset time. Optionally, the swimming pool robot further comprises: At least one filter unit and at least one suction assembly for at least sucking liquid in the swimming pool into the filter unit and discharging liquid filtered by the filter unit out of the swimming pool robot; at least one travelling mechanism, or at least one travelling mechanism and at least one propelling mechanism, wherein the travelling mechanism is at least used for enabling the swimming pool robot to move on the surface of an object; The water surface distance detected by the second sensor component is used for controlling the swimming pool robot to move in the swimming pool, and the swimming pool robot comprises: And when the water surface distance is a first preset distance, controlling the running mechanism of the swimming pool robot to slow down and/or the propelling mechanism to slow down and/or the suction assembly to slow down, and controlling the swimming pool robot to move in the swimming pool. Optionally, the controlling the swimming pool robot to move in the swimming pool according to the water surface distance detected by the second sensor component includes: When the swimming pool robot is in a waterline cleaning state and the swimming pool robot is determined to reach the water surface, controlling the swimming pool robot to retract in the direction away from the water surface until the water surface distance is a second preset distance, and then advancing for a preset time length in the direction close to the water surface; until the rollback times or the travelling times reach the preset times. Optionally, the method further comprises: In the case that the swimming pool robot further comprises a third sensor assembly, controlling the third sensor assembly to detect the water surface distance when the first detection information does not meet a preset