US-20260126808-A1 - METHOD FOR EXTRICATING POOL CLEANING ROBOT FROM STUCK STATE AND THE CORRESPONDING POOL CLEANING ROBOT

US20260126808A1US 20260126808 A1US20260126808 A1US 20260126808A1US-20260126808-A1

Abstract

Disclosed are a method for extricating a pool cleaning robot from a stuck state and a pool cleaning robot. The method includes: controlling the pool cleaning robot to travel in a pool to perform a cleaning operation; acquiring an operating parameter of the pool cleaning robot during the traveling, and determining whether the pool cleaning robot is stuck due to being suspended according to the operating parameter; if it is determined that the pool cleaning robot is stuck due to being suspended, performing an extrication action; as example, the extrication action includes adjusting a magnitude and/or direction of the driving force of the pool cleaning robot. It can be detected the situation in which the pool cleaning robot is stuck due to being suspended, thus improving the ability of the extrication.

Inventors

Kai Zheng
Gujie TANG

Assignees

Shenzhen Aiper Intelligent Co., Ltd.

Dates

Publication Date: 20260507
Application Date: 20250115
Priority Date: 20241105

Claims (20)

1 . A method for extricating a pool cleaning robot from a stuck state, comprising: controlling the pool cleaning robot to travel in a pool to perform a cleaning operation; acquiring an operating parameter of the pool cleaning robot during the traveling, and determining whether the pool cleaning robot is in a stuck state due to being suspended according to the operating parameter; and performing an extrication action in response to determining that the pool cleaning robot is in the stuck state due to being suspended; wherein the extrication action comprises at least one of adjusting a magnitude of a driving force of the pool cleaning robot or adjusting a direction of the driving force.
2 . The method according to claim 1 , wherein the operating parameter includes at least one of: a time period of a straight travel of the pool cleaning robot, a distance of the straight travel, a current of a driving motor of a traveling mechanism of the pool cleaning robot, or a wheel speed of the traveling mechanism; wherein it is determined that the pool cleaning robot is in the stuck state due to being suspended if a preset condition is satisfied regarding at least one of the time period of the straight travel, the distance of the straight travel, the current of the driving motor, or the wheel speed of the traveling mechanism.
3 . The method according to claim 2 , wherein the preset condition being satisfied regarding at least one of the time period of the straight travel, the distance of the straight travel, the current of the driving motor, or the wheel speed of the traveling mechanism comprises at least one of: the time period of the straight travel being longer than a preset first time period; the distance of the straight travel being greater than a preset distance threshold; the current of the driving motor being less than a preset current threshold; or the wheel speed of the traveling mechanism being greater than a preset wheel speed threshold.
4 . The method according to claim 3 , wherein, the straight travel comprises traveling straight between making two turns; the current of the driving motor being less than the preset current threshold comprises the current being less than the preset current threshold within a preset second time period; and the wheel speed of the traveling mechanism being greater than the preset wheel speed threshold comprises the wheel speed being greater than the preset wheel speed threshold within a preset third time period.
5 . The method according to claim 1 , wherein the driving force comprises at least one of water thrust from a water spraying mechanism of the pool cleaning robot, thrust from a traveling mechanism of the pool cleaning robot, or buoyancy of the pool cleaning robot.
6 . The method according to claim 5 , wherein the extrication action comprises: adjusting the buoyancy of the pool cleaning robot so that the pool cleaning robot moves upwards to get out of the stuck state.
7 . The method according to claim 5 , wherein performing the extrication action comprises performing a first extrication action.
8 . The method according to claim 7 , further comprising: if the first extrication action fails to extricate the pool cleaning robot from the stuck state, performing a second extrication action.
9 . The method according to claim 7 , wherein the first extrication action comprises at least one of adjusting a magnitude of the water thrust from the water spraying mechanism or adjusting a magnitude of the thrust from the traveling mechanism.
10 . The method according to claim 8 , wherein the second extrication action comprises at least one of: adjusting a direction of the water thrust from the water spraying mechanism; adjusting a direction of the thrust from the traveling mechanism; adjusting a magnitude and direction of the water thrust; or adjusting a magnitude and direction of the thrust from the traveling mechanism.
11 . A pool cleaning robot comprising: a traveling mechanism configured to drive the pool cleaning robot to travel on a bottom or sidewall of the pool; a water spraying mechanism configured to provide water thrust to the pool cleaning robot; and a control mechanism configured to acquire an operating parameter of the pool cleaning robot during the traveling, determine whether the pool cleaning robot is in a stuck state due to being suspended according to the operating parameter and control the pool cleaning robot to perform an extrication action in response to determining that the pool cleaning robot is in the stuck state due to being suspended, wherein the extrication action comprises at least one of adjusting a magnitude of a driving force of the pool cleaning robot or adjusting a direction of the driving force.
12 . The pool cleaning robot according to claim 11 , wherein the operation parameter comprises at least one of: a time period of a straight travel of the pool cleaning robot, a distance of the straight travel, a current of a driving motor of the traveling mechanism, or a wheel speed of the traveling mechanism; wherein the control mechanism is further configured to determine the pool cleaning robot is in the stuck state due to being suspended based on a preset condition being satisfied regarding at least one of the time period of the straight travel, the distance of the straight travel, the current of the driving motor, or the wheel speed of the traveling mechanism.
13 . The pool cleaning robot according to claim 12 , wherein the preset condition being satisfied regarding at least one of the time period of the straight travel, the distance of the straight travel, the current of the driving motor, or the wheel speed of the traveling mechanism comprises at least one of: the time period of the straight travel being longer than a preset first time period; the distance of the straight travel being greater than a preset distance threshold; the current of the driving motor being less than a preset current threshold; or the wheel speed of the traveling mechanism being greater than a preset wheel speed threshold.
14 . The pool cleaning robot according to claim 13 , wherein, the straight travel comprises traveling straight between making two turns; the current of the driving motor being less than the preset current threshold comprises the current being less than the preset current threshold within a preset second time period; and the wheel speed of the traveling mechanism being greater than a preset wheel speed threshold comprises the wheel speed being greater than the preset wheel speed threshold within a preset third time period.
15 . The pool cleaning robot according to claim 11 , wherein the driving force comprises at least one of water thrust from the water spraying mechanism, thrust from the traveling mechanism, or buoyancy of the pool cleaning robot.
16 . The pool cleaning robot according to claim 15 , further comprising: a buoyancy adjusting mechanism configured to adjust the buoyancy of the pool cleaning robot, so that the pool cleaning robot moves upwards to get out of the stuck state.
17 . The pool cleaning robot according to claim 15 , wherein the performing the extrication action comprises performing a first extrication action.
18 . The pool cleaning robot according to claim 17 , further comprising: if the first extrication action fails to extricate the pool cleaning robot from the stuck state, performing a second extrication action.
19 . The pool cleaning robot according to claim 17 , wherein the first extrication action comprises at least one of: adjusting a magnitude of the water thrust from the water spraying mechanism; or adjusting a magnitude of the thrust from the traveling mechanism.
20 . The pool cleaning robot according to claim 18 , wherein the second extrication action comprises at least one of: adjusting a direction of the water thrust from the water spraying mechanism; adjusting a direction of the thrust from the traveling mechanism; adjusting a magnitude and direction of the water thrust; or adjusting a magnitude and direction of the thrust from the traveling mechanism.

Description

CROSS-REFERENCE This application claims the priority of China Patent Application No.2024115653381 filed on Nov. 5, 2024, the disclosure of which is considered as a part of the disclosure of this application and is hereby incorporated by reference. TECHNICAL FIELD The present disclosure relates to the technical field of a pool cleaning robot, in particular to a method for extricating a pool cleaning robot from a stuck state and the corresponding pool cleaning robot. BACKGROUND In recent years, with the progress of science and technology and the development of Internet, robot technology has become increasingly mature and been widely used in various fields of life. On the market, a large number of robots with various special purposes have emerged, among which swimming pool cleaning robots can do a lot of cleaning work for users and provide significant help. The pool cleaning robots can be used to clean the bottom and side walls of the swimming pool, such as removing the silt, dirt and algae, to keep the swimming pool clean. SUMMARY The disclosure provides a method for extricating a pool cleaning robot from a stuck state and the corresponding pool cleaning robot; based on the method, it can be detected that the pool cleaning robot is stuck due to being suspended and the corresponding ability to extricate the pool cleaning robot from a stuck state can be improved. In a first aspect, the present disclosure provides a method for extricating a pool cleaning robot from a stuck state, which comprises: controlling the pool cleaning robot to travel in the pool to perform a cleaning operation;acquiring an operating parameter of the pool cleaning robot during the traveling process, and determining whether the pool cleaning robot is in a stuck state due to being suspended according to the operating parameter;if it is determined the pool cleaning robot is stuck due to being suspended, performing an extrication action;wherein, the extrication action comprises adjusting a magnitude and/or direction of a driving force of the pool cleaning robot. In a second aspect, the present disclosure also provides a pool cleaning robot including: a traveling mechanism configured to driving the pool cleaning robot to travel on a bottom or sidewall of the pool;a water spraying mechanism configured to provide water thrust for the pool cleaning robot; anda control mechanism configured to acquire an operating parameter of the pool cleaning robot in the traveling process, to determine whether the pool cleaning robot is in a stuck state due to being suspended according to the operating parameter, and control the pool cleaning robot to perform an extrication action if it is determined the pool cleaning robot is in a stuck state due to being suspended, wherein the extrication action includes at least one of adjusting a magnitude of the driving force of the pool cleaning robot; or adjusting a direction of the driving force of the pool cleaning robot. According to the embodiments of the present disclosure, it can be detected whether the pool cleaning robot is in a stuck state due to being suspended by acquiring the operating parameter of the pool cleaning robot during the travel, and if it is detected that the pool cleaning robot is in the stuck state due to being suspended, the pool cleaning robot can be extricated from the stuck state by adjusting the driving force of the pool cleaning robot. Since the operating parameter of the pool cleaning robot during the normal travel is significantly different from that in the stuck state and the operating parameter can more accurately reflect whether the pool cleaning robot is stuck, the embodiments of the present disclosure can efficiently detect the stuck state due to being suspended by detecting the operating parameter, thus improving the corresponding ability of the pool cleaning robot to get out of the stuck state. BRIEF DESCRIPTION OF THE DRAWINGS FIGS. 1A-1B schematically illustrate an appearance of a pool cleaning robot according to the present disclosure. FIG. 2 is a flow chart for illustrating a method for extricating a pool cleaning robot from a stuck state according to an embodiment of the present disclosure; FIG. 3 is a flow chart for illustrating a method for extricating a pool cleaning robot from a stuck state according to an embodiment of the present disclosure; FIG. 4 is a schematic structural diagram of a pool cleaning robot according to an embodiment of the present disclosure. DETAILED DESCRIPTION The present disclosure will be further described in detail with the accompanying drawings and examples. It can be understood that the specific embodiments described herein are only used to explain the disclosure, and are not limited to the disclosure. In addition, it should be noted that, for the convenience of description, only some parts related to the present disclosure, but not all structures, are illustrated in the drawings. Before discussing the exemplary embodiments in more detail, it sho