US-20260126809-A1 - METHOD FOR EXTRICATING POOL CLEANING ROBOT FROM STUCK STATE AND THE CORRESPONDING POOL CLEANING ROBOT

US20260126809A1US 20260126809 A1US20260126809 A1US 20260126809A1US-20260126809-A1

Abstract

A method for extricating a pool cleaning robot from a stuck state and a corresponding 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 or posture information of the pool cleaning robot during the traveling, and determining whether the pool cleaning robot is stuck due to being sucked according to the operating parameter or posture information; if it is determined that the pool cleaning robot is stuck due to being sucked, 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.

Inventors

Gujie TANG
Kai Zheng

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 or posture information of the pool cleaning robot during the traveling, and determining whether the pool cleaning robot is in a stuck state due to being sucked according to the operating parameter or posture information; and performing an extrication action in response to determining that the pool cleaning robot is in the stuck state due to being sucked; wherein the extrication action comprises at least one of adjusting a magnitude direction 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 comprises a current value of a driving motor of a traveling mechanism of the pool cleaning robot, and the posture information comprises a variation of a yaw angle of the pool cleaning robot; wherein it is determined that the pool cleaning robot is in the stuck state due to being sucked if a preset condition is satisfied regarding at least one of the current value of the driving motor or the variation of the yaw angle.
3 . The method according to claim 2 , wherein the preset condition comprises at least one of: the current value of that drive motor being greater than a preset current threshold; or the variation of the yaw angle being less than a preset angle threshold.
4 . The method according to claim 3 , wherein the current value of the driving motor comprises a maximum current value or an average current value within a preset first period, and the variation of the yaw angle comprises the variation of the yaw angle within a preset second 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 and 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 the water spraying mechanism comprises a water pump, and the water pump is configured to guide water to enter the pool cleaning robot via a water inlet at a bottom of the pool cleaning robot, to be filtered via a filter inside the pool cleaning robot, and be discharged to outside of the pool cleaning robot.
8 . The method according to claim 7 , wherein adjusting the driving force comprises adjusting a power of the water pump to zero.
9 . The method according to claim 5 , wherein performing the extrication action comprises performing at least one of a first extrication action, a second extrication action or a third extrication action.
10 . The method according to claim 9 , wherein the first extrication action comprises at least one of: adjusting a magnitude of the water thrust; or adjusting the magnitude of the water thrust and adjusting a magnitude and/or direction of the thrust from the traveling mechanism; the second extrication action comprises at least one of: adjusting the direction of water thrust; or adjusting the direction of the water thrust and adjusting the magnitude and/or direction of the thrust from the traveling mechanism; and the third extrication action comprises at least one of: adjusting the direction and magnitude of the water thrust; or adjusting the direction and magnitude of the water thrust and adjusting the magnitude and/or direction of the thrust from the traveling mechanism.
11 . The method according to claim 10 , wherein if it is determined that the pool cleaning robot is in the stuck state due to being sucked, performing the extrication action comprises: performing the first extrication action; if performing the first extrication action fails to extricate the pool cleaning robot from the stuck state due to being sucked, performing the second extrication action; if performing the second extrication action fails to extricate the pool cleaning robot from a stuck state due to being sucked, performing the third extrication action; if performing the third extrication action fails to extricate the pool cleaning robot from a stuck state due to being sucked, generating an alarm.
12 . The method according to claim 11 , wherein adjusting the direction of the thrust from the traveling mechanism comprises continuously adjusting the direction.
13 . The method according to claim 1 , wherein before performing the extrication action, the method further comprises: determining whether a front or rear end of the pool cleaning robot is close to a sidewall of the pool; if it is determined that the pool cleaning robot is close to the sidewall of the pool, controlling the pool cleaning robot to rotate by a preset angle, and then performing the extrication action.
14 . 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 or posture information of the pool cleaning robot during the traveling, determine whether the pool cleaning robot is in a stuck state due to being sucked according to the operating parameter or posture information, 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 sucked, wherein the extrication action comprises at least one of adjusting a magnitude direction of a driving force of the pool cleaning robot or adjusting a direction of the driving force.
15 . The pool cleaning robot according to claim 14 , wherein the operating parameter comprises a current value of a driving motor of the traveling mechanism of the pool cleaning robot, and the posture information comprises a variation of a yaw angle of the pool cleaning robot; wherein the control mechanism is further configured to determine that the pool cleaning robot is in a stuck state due to being sucked if a preset condition is satisfied regarding at least one of the current value of the driving motor or the variation of the yaw angle.
16 . The pool cleaning robot according to claim 15 , wherein the preset condition comprises: the current value of that drive motor being greater than a preset current threshold, or the variation of the yaw angle being less than a preset angle threshold.
17 . The pool cleaning robot according to claim 14 , wherein the driving force comprises at least one of water thrust from the water spraying mechanism of the pool cleaning robot, thrust from the traveling mechanism and buoyancy of the pool cleaning robot.
18 . The pool cleaning robot according to claim 17 , further comprising: a buoyancy adjusting mechanism configured to adjust the buoyancy of the pool cleaning robot in the water, so that the pool cleaning robot moves upwards to get out of the stuck state.
19 . The pool cleaning robot according to claim 14 , further comprising a filter, wherein the water spraying mechanism comprises a water pump, and the water pump is configured to guide water to enter the pool cleaning robot via a water inlet at a bottom of the pool cleaning robot, to be filtered via the filter, and be discharged to outside of the pool cleaning robot via a drainage outlet arranged on a top or side of the pool cleaning robot.
20 . The pool cleaning robot according to claim 19 , wherein adjusting the water thrust from the water spraying mechanism comprises adjusting a power of the water pump.

Description

CROSS-REFERENCE This application claims the priority of China Patent Application No. 2024115652340 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 sucked 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 or posture information of the pool cleaning robot during the traveling, and determining whether the pool cleaning robot is in a stuck state due to being sucked according to the operating parameter or posture information;if determining the pool cleaning robot is stuck due to being sucked, 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 drive 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 or posture information of the pool cleaning robot in the traveling, to determine whether the pool cleaning robot is in a stuck state due to being sucked according to the operating parameter or posture information, 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 sucked, wherein the extrication action includes adjusting a magnitude and/or direction of the driving force. 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 should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although the flowchart describes each step as a sequential process, many of the steps can be implemented in parallel, concurrently or simultaneously. In addition, the order of the steps can be rearranged. The process may be terminated when its operation is completed, but there may be additional steps not included in the drawings. A process may correspond to a method, a function, a procedure, a subroutine, a sub-computer program, and the like. In addition, the terms “first”, “second” and the like can be used herein to describe various directions, actions, steps or elements, but these directions, actions, steps or elements are not limited by these terms. These terms are only used to distinguish one direction, action, step or element from another. For example, without departing from the scope of this application, the first information may be referred to as t