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CN-122018009-A - Water outlet shutdown detection method and device for underwater robot

CN122018009ACN 122018009 ACN122018009 ACN 122018009ACN-122018009-A

Abstract

The invention discloses a method and a device for detecting water outlet stop of an underwater robot, wherein the method comprises the steps of monitoring the posture change of the underwater robot; if the gesture change meets the preset gesture mutation condition, the running mechanism of the underwater robot is controlled to stop moving, the water pump motor of the underwater robot is controlled to be lifted from the working rotating speed to the detection rotating speed higher than the working rotating speed, the current value of the water pump motor is obtained, the current value is compared with a preset current threshold value, and whether the underwater robot leaves water is judged according to the comparison result. By fusing the abrupt change triggering of the gesture and the current detection of the water pump in a high-speed state, the load difference of water and air is amplified while misjudgment caused by water drop attachment is avoided, so that whether the underwater robot leaves water can be rapidly, accurately and reliably identified, a running mechanism can be locked in the judging process, and the potential safety hazard of accidental movement of the machine on land after leaving water is eliminated.

Inventors

  • XIE WENZHI

Assignees

  • 佛山市顺德区一拓电气有限公司

Dates

Publication Date
20260512
Application Date
20260212

Claims (10)

  1. 1. A method for detecting a water out stop of an underwater robot, the method comprising: Monitoring the attitude change of the underwater robot; if the gesture change meets a preset gesture mutation condition, controlling a running mechanism of the underwater robot to stop moving, controlling a water pump motor of the underwater robot to rise from a working rotating speed to a detection rotating speed higher than the working rotating speed, and acquiring a current value of the water pump motor; And comparing the current value with a preset current threshold value, and judging whether the underwater robot leaves water or not according to a comparison result.
  2. 2. The method for detecting a water outlet stop of an underwater robot according to claim 1, wherein the judging whether the underwater robot is out of water according to the comparison result comprises: if the current value is greater than or equal to the preset current threshold value, judging that water is not separated; And if the current value is smaller than the preset current threshold value, judging that water is separated.
  3. 3. The method for detecting the water outlet stop of the underwater robot according to claim 1 or 2, wherein the abrupt change condition of the posture includes at least one of a change in the inclination angle of the underwater robot exceeding a first preset angle threshold value and an angular velocity of the underwater robot about a vertical axis exceeding a first preset angular velocity threshold value.
  4. 4. The method for detecting a water out stop of an underwater robot according to claim 1, wherein the detection rotation speed is 2.5 times to 3 times the operation rotation speed.
  5. 5. The water out-of-service stop detection method of an underwater robot according to claim 1 or 2, wherein the preset current threshold is a threshold determined based on an idle running power or an idle current duty ratio of the water pump motor at the detected rotation speed.
  6. 6. The water out stop detection method of an underwater robot according to claim 1, wherein after the running gear of the underwater robot is controlled to stop moving, before the water pump motor of the underwater robot is controlled to be raised from an operating rotation speed to a detection rotation speed higher than the operating rotation speed, the method further comprises: And controlling the water pump motor of the underwater robot to stop running within a preset time.
  7. 7. The method for detecting a water outlet stop of an underwater robot according to claim 2, wherein the comparing the current value with a preset current threshold value, and judging whether the underwater robot is out of water according to a comparison result, the method further comprises: if the water is not separated, controlling the water pump motor to restore to the working rotating speed, and restoring the movement of the travelling mechanism; And if the water is judged to be separated, controlling the underwater robot to enter a shutdown protection state.
  8. 8. An apparatus for detecting a water out stop of an underwater robot, the apparatus comprising: The monitoring module is used for monitoring the attitude change of the underwater robot; The control module is used for controlling the running mechanism of the underwater robot to stop moving if the gesture change meets a preset gesture mutation condition, controlling the water pump motor of the underwater robot to rise from a working rotating speed to a detection rotating speed higher than the working rotating speed, and obtaining a current value of the water pump motor; and the judging module is used for comparing the current value with a preset current threshold value and judging whether the underwater robot leaves water or not according to a comparison result.
  9. 9. A computer storage medium storing a plurality of instructions adapted to be loaded by a processor and to perform the steps of the method according to any one of claims 1 to 7.
  10. 10. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the method according to any one of claims 1 to 7 when the program is executed.

Description

Water outlet shutdown detection method and device for underwater robot Technical Field The invention relates to the technical field of underwater robots, in particular to a water outlet stop detection method and device for an underwater robot. Background An underwater cleaning robot, in particular an autonomous swimming pool cleaning robot, is an intelligent device capable of automatically performing pool bottom or pool wall cleaning tasks in an underwater environment. It is usually moved by a running mechanism (such as a wheel set or a crawler belt) and relies on a built-in water pump to generate water flow to adsorb impurities. In actual use, robots often need to be lifted out of the water by a user for inspection, cleaning, or recycling. In order to ensure the safety of the equipment and prevent the waste of energy, the robot needs a detection mechanism capable of accurately and timely identifying whether the robot has left the water surface, so as to stop the operation of the motor immediately after leaving the water. At present, a common technical idea existing in the industry is to utilize the change of the working current of a water pump (or a propulsion motor) to carry out water separation judgment. The basic principle is that when the motor drives the impeller underwater, the density and resistance of water are far greater than those of air, the load is heavier, the working current is larger, and when the robot leaves the water, the motor is in an idle or light load state, and the working current can be obviously reduced. Thus, the system deduces whether the robot is in water by monitoring the motor current in real time and comparing it to a preset threshold. However, the prior art solutions described above have significant drawbacks and limitations. Firstly, the current characteristics are not obvious in a low-speed working state, and in order to achieve both cleaning efficiency and energy consumption, the water pump usually operates in a lower rotating speed range (for example, 800-1000 RPM) when the robot works normally under water. In this low speed state, the current difference between the "water loaded" and "air unloaded" is very small, and it is difficult for the system to distinguish stably and reliably. Secondly, the risk of misjudgment is high, and the judgment mode depending on tiny current fluctuation is extremely easy to be interfered by battery voltage fluctuation, motor individual difference, water temperature change and even circuit noise, so that two misjudgment can be caused, namely, the misjudgment is carried out under water due to the slight current fluctuation, cleaning is interrupted, and the motor can not be identified after the motor leaves water, and the motor continuously idles at high speed. Finally, potential safety hazards and experience problems exist, namely if the robot is lifted out of the water surface and placed on the ground, the water separation judgment is delayed or fails, the running mechanism of the robot can still rotate, so that the robot can run autonomously on the land, the potential risk of collision, falling and even injuring a user exists, and meanwhile, the motor can be overheated and damaged due to continuous idling. Therefore, how to quickly, accurately and reliably detect the water-leaving state under various working conditions and ensure absolute safety and user experience has become a technical problem to be solved in the art. Disclosure of Invention Based on the problems, the embodiment of the invention provides a water outlet stop detection method and device for an underwater robot, which are used for triggering current detection under a high-speed state of a water pump through fusion of abrupt change of postures, and amplifying the load difference between water and air while avoiding misjudgment caused by water drop adhesion, so that whether the underwater robot leaves water can be rapidly, accurately and reliably identified, a travelling mechanism can be locked in the judging process, and the potential safety hazard of accidental movement of the machine on land after leaving water is eliminated. In a first aspect, an embodiment of the invention provides a water outlet stop detection method of an underwater robot, which comprises the steps of monitoring gesture change of the underwater robot, controlling a running mechanism of the underwater robot to stop moving if the gesture change meets a preset gesture mutation condition, controlling a water pump motor of the underwater robot to rise from a working rotating speed to a detection rotating speed higher than the working rotating speed, obtaining a current value of the water pump motor, comparing the current value with a preset current threshold, and judging whether the underwater robot leaves water according to a comparison result. In some possible embodiments, determining whether the underwater robot is out of water according to the comparison result includes: If the current value is greater