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CN-121992972-A - Pond cleaning robot escaping method and cleaning robot

CN121992972ACN 121992972 ACN121992972 ACN 121992972ACN-121992972-A

Abstract

The invention discloses a method for getting rid of trapping of a pool cleaning robot and the cleaning robot, the method comprises controlling the cleaning robot to run in a swimming pool or a pool to execute cleaning operation; in the running process, the running parameter or the gesture information of the cleaning robot is acquired, whether the cleaning robot is sucked and trapped or not, namely in an adsorption clamping state is judged according to the running parameter or the gesture information, if the cleaning robot is in the adsorption clamping state, a releasing action is executed, and the releasing action comprises the step of adjusting the size and/or the direction of a driving force. The invention can detect the condition that the cleaning robot is sucked and trapped and improve the corresponding escaping capability.

Inventors

  • Tang Gujie
  • ZHENG JIE

Assignees

  • 深圳市元鼎智能创新有限公司

Dates

Publication Date
20260508
Application Date
20241105

Claims (14)

  1. 1. A method of escaping a pool cleaning robot, comprising: Controlling the cleaning robot to travel in the pool to perform a cleaning operation; Acquiring operation parameters or posture information of the cleaning robot in the running process, and judging whether the cleaning robot is in an adsorption trapping state according to the operation parameters or the posture information; If the cleaning robot is in the adsorption trapping state, executing a trapping-free action; the escaping action comprises adjusting the size and/or direction of the driving force.
  2. 2. The method of claim 1, wherein the operating parameter comprises a drive current value of a running gear, and the attitude information comprises a yaw angle variation; And judging whether the cleaning robot is in the adsorption trapping state according to the operation parameters or the gesture information, wherein if the driving current value or the yaw angle variation meets the preset condition, judging that the cleaning robot is in the adsorption trapping state.
  3. 3. The method of claim 2, wherein the predetermined conditions include: The current value of the driving motor is larger than a preset current threshold value, or the yaw angle variation is smaller than a preset angle threshold value.
  4. 4. The method of claim 3, wherein the driving motor current value comprises a maximum current value or a current average value within a preset first period of time, and wherein the yaw angle variation comprises a variation of the yaw angle within a preset second period of time.
  5. 5. The method of claim 1, wherein the driving force comprises at least one of a water flow force of a water spray mechanism, a force of a travel mechanism, and a buoyancy of a cleaning robot.
  6. 6. The method of claim 5, wherein the act of removing comprises adjusting a buoyancy of the robot to remove the trapped air by floating the cleaning robot.
  7. 7. The method of claim 5, wherein the water spraying mechanism comprises a water pump for guiding water flow from a water inlet at the bottom of the cleaning robot, and discharging the water from a water outlet at the top or side of the cleaning robot to the outside of the cleaning robot after passing through a filter device inside the cleaning robot.
  8. 8. The method of claim 7, wherein adjusting the magnitude of the driving force comprises adjusting the power of the water pump to 0.
  9. 9. The method of claim 5, wherein the performing a dislodging action comprises performing at least one of a first dislodging action, a second dislodging action, and a third dislodging action.
  10. 10. The method of any one of claims 1-9, wherein performing the dislodging action if the cleaning robot is in an stuck-in-suction state comprises: If the cleaning robot is in the adsorption trapping state, executing a first trapping-free action; If the cleaning robot is still in the adsorption clamping state after the first trapping action of the preset first times is executed, executing the second trapping action; If the cleaning robot is still in the adsorption clamping state after the second trapping action of the preset second times is executed, executing a third trapping action; And if the cleaning robot is still in the adsorption clamping state after the third trapping action of the preset third times is executed, executing alarming.
  11. 11. The method of claim 10, wherein the first dislodging action comprises: adjusting the water flow acting force of the water spraying mechanism; Or adjusting the water flow acting force of the water spraying mechanism and the acting force and/or direction of the travelling mechanism; the second escape action includes: adjusting the direction of the water flow force of the water spraying mechanism; or adjusting the direction of the water flow acting force of the water spraying mechanism and adjusting the size and/or direction of the acting force of the travelling mechanism; The third escape action includes: The direction and the magnitude of the water flow force of the water spraying mechanism are adjusted; Or the direction and the magnitude of the water flow acting force of the water spraying mechanism are adjusted, and the magnitude and/or the direction of the acting force of the travelling mechanism are/is adjusted.
  12. 12. The method of claim 11, wherein adjusting the direction of the force of the travel mechanism comprises continuously adjusting the direction.
  13. 13. The method of any one of claims 1-9, further comprising, prior to performing the dislodging action: judging whether the front or rear of the cleaning robot is close to a wall; If the robot is close to the wall, the cleaning robot is controlled to rotate by a preset angle, and then the escaping action is executed.
  14. 14. A cleaning robot, characterized in that the cleaning robot comprises: A filtering device for filtering water flow entering the cleaning robot; The walking mechanism is used for driving the cleaning robot to walk on the supporting surface; the water spraying mechanism is used for providing water flow acting force for the cleaning robot; One or more processors; a storage means for storing one or more programs; The one or more programs, when executed by the one or more processors, cause the one or more processors to implement the method of any of claims 1-13.

Description

Pond cleaning robot escaping method and cleaning robot Technical Field The invention relates to the technical field of cleaning robots, in particular to a method for escaping from a pool cleaning robot and the cleaning robot. Background In recent years, with technological progress and internet development, robot technology is increasingly mature and widely applied to various living fields. Throughout the market, a wide variety of specialized robots are emerging, wherein pool cleaning robots provide significant assistance to users in addressing a large number of cleaning tasks. It is used for cleaning the sediment dirt and algae and other foreign matters on the bottom and the side wall of the swimming pool so as to keep the swimming pool clean. Some swimming pools can be provided with filtering systems such as sand jars and water purifiers, so that the swimming pools can be provided with drainage covers with different sizes, and when the filtering systems work, water can be pumped through a water outlet of the drainage cover, so that small suction force is generated. Therefore, in the process of cleaning the bottom of the swimming pool, the swimming pool cleaning robot often passes through the water outlet of the water outlet cover and is easily sucked by the water outlet, so that the cleaning robot cannot move or travel, namely, the robot is in a state of being stuck and trapped, and normal cleaning cannot be continued. Therefore, how to detect the cleaning robot getting stuck and getting rid of the cleaning robot becomes a problem to be solved. Disclosure of Invention The invention aims to solve the technical problems of providing a method for removing the trapping of a pool cleaning robot and the cleaning robot, which can detect that the cleaning robot is in a state of absorbing the trapping and improve the corresponding removing capability. In a first aspect, the present invention provides a pool cleaning robot method of getting rid of poverty, comprising: Controlling the cleaning robot to travel in the pool to perform a cleaning operation; Acquiring operation parameters or posture information of the cleaning robot in the running process, and judging whether the cleaning robot is in an adsorption trapping state according to the operation parameters or the posture information; If the cleaning robot is in the adsorption trapping state, executing a trapping-free action; the escaping action comprises adjusting the size and/or direction of the driving force. In a second aspect, the present invention also provides a cleaning robot including: A filtering device for filtering water flow entering the cleaning robot; The walking mechanism is used for driving the cleaning robot to walk on the supporting surface; the water spraying mechanism is used for providing water flow acting force for the cleaning robot; One or more processors; a storage means for storing one or more programs; The one or more programs, when executed by the one or more processors, cause the one or more processors to implement the method of getting rid of poverty as provided in the first aspect. The application has the beneficial effects that whether the cleaning robot is in the adsorption clamping state or not is detected by acquiring the running parameters or the gesture information of the cleaning robot in the running process, and when the cleaning robot is detected to be in the adsorption clamping state, the escape is realized by adjusting the driving force. The application can efficiently detect the trapped state and improve the corresponding escaping capability of the cleaning robot. Drawings FIG. 1 is a flow chart of a method of removing a pool cleaning robot in accordance with the present invention; FIG. 2 is a flow chart of a method of a pool cleaning robot in accordance with an embodiment of the present invention; fig. 3 is a schematic structural view of a cleaning robot according to the present invention. Detailed Description The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings. Before discussing exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart depicts steps as a sequential process, many of the steps may be implemented in parallel, concurrently, or with other steps. Furthermore, the order of the steps may be rearranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figures. The processes may correspond to methods, functions, procedures, subroutines, sub-computer programs, and the like. Furthermore, t