CN-121992973-A - Pond cleaning robot escaping method and cleaning robot

Abstract

The invention discloses a method for getting rid of trapping of a pool cleaning robot and the cleaning robot, the method comprises the steps of controlling the cleaning robot to run in a pool so as to execute cleaning operation; in the running process, the operation parameters of the cleaning robot are obtained, whether the cleaning robot is in a suspended clamping state or not is judged according to the operation parameters, and if the cleaning robot is in the suspended clamping state, a escaping action is executed, wherein the escaping action comprises adjusting the size and/or the direction of a driving force. The invention can detect the suspension trapping condition of the cleaning robot and improve the corresponding trapping-free capability.

Inventors

• ZHENG JIE
• Tang Gujie

Assignees

• 深圳市元鼎智能创新有限公司

Dates

Publication Date

20260508

Application Date

20241105

Claims (10)

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 of the cleaning robot in the running process, and judging whether the cleaning robot is in a suspended trapped state according to the operation parameters; If the cleaning robot is in a suspended 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 parameters include a length of straight travel, a distance of straight travel, a driving motor current of a travel mechanism, or a wheel speed of the travel mechanism; Judging whether the cleaning robot is in a suspended trapping state according to the operation parameters, wherein the judging comprises judging that the cleaning robot is in the suspended trapping state if the linear walking time length, the linear walking distance, the driving motor current of the walking mechanism or the wheel speed of the walking mechanism meet preset conditions.
3. 3. The method according to claim 2, wherein the preset conditions include a length of straight travel greater than a preset first length of time, a distance of straight travel greater than a preset distance threshold, a current of a drive motor of the travel mechanism less than a preset current threshold, or a wheel speed of the travel mechanism greater than a preset wheel speed threshold; Preferably, the linear walking action comprises linear walking after steering until the steering is needed again, the driving motor current of the walking mechanism comprises a current value in a preset second time period, and the wheel speed of the walking mechanism comprises a wheel speed in a preset third time period.
4. 4. The method of claim 1-3, wherein the driving force comprises at least one of a water flow force of a water spray mechanism of the cleaning robot, a force of a traveling mechanism, and a buoyancy of the cleaning robot.
5. 5. The method of claim 4, wherein the act of removing comprises adjusting a buoyancy of the cleaning robot to remove the trapped air by floating the cleaning robot.
6. 6. The method of claim 4, wherein performing the dislodging action comprises performing a first dislodging action and a second dislodging action.
7. 7. The method of claim 6, wherein the second dislodging action is performed after the first dislodging action is completed and the cleaning robot fails to dislocate.
8. 8. The method of claim 6 or 7, wherein the first escape action comprises adjusting the magnitude of the water flow force of the water spraying mechanism or adjusting the magnitude and/or direction of the travel mechanism force.
9. 9. The method of claim 6 or 7, wherein the second dislodging action comprises: adjusting the direction of the water flow acting force of the water spraying mechanism or the direction of the acting force of the travelling mechanism; or the direction and the direction of the water flow acting force of the water spraying mechanism or the direction and the direction of the acting force of the travelling mechanism are adjusted.
10. 10. 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 1-9.

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. When the swimming pool cleaning robot cleans the pool bottom, when the environment of the pool bottom is complex, the specific situation of the encountered obstacle is difficult to judge only by virtue of ultrasonic waves or other ranging sensors, for example, cliffs, pits or suspension clamps cannot be distinguished by the downward-looking sensor of the robot, the suspension clamps refer to wheels or wheels with tracks, which are separated from a supporting surface, caused by the obstacle encountered by the robot, are in a suspension state, the robot cannot travel on the obstacle, and the suspension clamps are caused. When the cleaning robot encounters obstacles such as shorter floor lamps in normal pool bottom movement, the ranging sensor has no return value, and at the moment, the cleaning robot is just clamped on the floor lamps, so that the robot cannot judge what conditions are encountered and make correct countermeasures, and the cleaning efficiency is affected. Therefore, how to detect the cleaning robot in a suspended trapped state and get rid of the cleaning robot is 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 the suspension trapping condition of the cleaning robot 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 of the cleaning robot in the running process, and judging whether the cleaning robot is in a suspended trapped state according to the operation parameters; If the cleaning robot is in a suspended 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 a suspended trapping state or not is detected by acquiring the operation parameters of the cleaning robot in the running process, and when the cleaning robot is detected to be in the suspended trapping state, the trapping-free is realized by adjusting the driving force. The operation parameters can more truly reflect whether the robot is trapped or not, and because the operation parameters of the robot in normal walking are obviously different from those in trapping, the application can efficiently detect the trapped state by detecting the operation parameters, and the corresponding escaping capability of the cleaning robot is improved. 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 flowch