CN115685994A - An underwater cleaning robot and its control method and control device - Google Patents
An underwater cleaning robot and its control method and control device Download PDFInfo
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- 238000004140 cleaning Methods 0.000 title claims abstract description 285
- 238000000034 method Methods 0.000 title claims abstract description 30
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 93
- 230000009184 walking Effects 0.000 claims abstract description 82
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- 230000001133 acceleration Effects 0.000 claims description 31
- 230000009183 running Effects 0.000 claims description 22
- 230000009193 crawling Effects 0.000 claims description 13
- 230000001960 triggered effect Effects 0.000 claims description 4
- 230000009194 climbing Effects 0.000 description 15
- 230000008569 process Effects 0.000 description 12
- 238000010586 diagram Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000005086 pumping Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
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Abstract
本发明公开了一种水下清洁机器人及其控制方法和控制装置，所述方法包括：当水下清洁机器人触墙后，获取水下清洁机器人的实时角度变化数据，根据实时角度变化数据计算第一实际上墙时长；当第一实际上墙时长大于预设时长时，提高水下清洁机器人的水泵电机的转速档次和行走驱动电机的转速档次，并根据实时角度变化数据计算第二实际上墙时长；当第二实际上墙时长小于等于预设时长时，控制水下清洁机器人的水泵电机和行走驱动电机以当前转速档次进行池壁清洁。采用本发明实施例提高了水下清洁机器人的爬墙清扫效率。
The invention discloses an underwater cleaning robot and its control method and control device. The method includes: when the underwater cleaning robot touches a wall, acquiring real-time angle change data of the underwater cleaning robot, and calculating the second angle change data according to the real-time angle change data. 1. Actual wall duration; when the first actual wall duration is longer than the preset duration, increase the speed level of the pump motor of the underwater cleaning robot and the speed grade of the walking drive motor, and calculate the second actual wall according to the real-time angle change data Duration; when the second actual wall duration is less than or equal to the preset duration, the water pump motor and the walking drive motor of the underwater cleaning robot are controlled to clean the pool wall at the current speed level. The wall-climbing cleaning efficiency of the underwater cleaning robot is improved by adopting the embodiment of the present invention.
Description
技术领域technical field
本发明涉及自动控制技术领域，尤其涉及一种水下清洁机器人及其控制方法和控制装置。The invention relates to the technical field of automatic control, in particular to an underwater cleaning robot and its control method and control device.
背景技术Background technique
现有技术中，水下清洁机器人在进行泳池清洁的时候，需要进行池底和池壁的清洁。在现有技术中，在从池底到池壁过度的爬行过程中，有的机器通常要花较长时间才能完成上墙，上墙效率较低；成功上墙后，由于机器没有稳定控制好行走电机驱动力和水泵电机驱动力，两者配合不佳，导致机器爬行不稳定，贴墙不稳易翻转，影响机器爬墙清扫效率等问题。In the prior art, when the underwater cleaning robot cleans the swimming pool, it needs to clean the pool bottom and the pool wall. In the prior art, during the excessive crawling process from the bottom of the pool to the pool wall, some machines usually take a long time to finish climbing the wall, and the efficiency of climbing the wall is low; The driving force of the walking motor and the driving force of the water pump motor do not cooperate well, resulting in unstable crawling of the machine, unstable wall attachment and easy flipping, affecting the cleaning efficiency of the machine climbing the wall and so on.
由上述可得，现有的水下清洁机器人的控制方法由于在爬墙清洁的过程中稳定性低下，所以存在水下清洁机器人的爬墙清扫效率低下的问题。From the above, it can be concluded that the existing control method of the underwater cleaning robot has low stability in the process of climbing the wall, so there is a problem of low cleaning efficiency of the underwater cleaning robot climbing the wall.
发明内容Contents of the invention
本发明实施例提供一种水下清洁机器人及其控制方法和控制装置，提高了水下清洁机器人的爬墙清扫效率。Embodiments of the present invention provide an underwater cleaning robot and its control method and control device, which improve the wall-climbing cleaning efficiency of the underwater cleaning robot.
本申请实施例的第一方面提供了一种水下清洁机器人的控制方法，包括：The first aspect of the embodiments of the present application provides a control method for an underwater cleaning robot, including:
当水下清洁机器人触墙后，获取水下清洁机器人的实时角度变化数据，根据实时角度变化数据计算第一实际上墙时长；When the underwater cleaning robot touches the wall, the real-time angle change data of the underwater cleaning robot is obtained, and the first actual wall duration is calculated according to the real-time angle change data;
当第一实际上墙时长大于预设时长时，提高水下清洁机器人的水泵电机的转速档次和行走驱动电机的转速档次，并根据实时角度变化数据计算第二实际上墙时长；When the first actual wall duration is longer than the preset duration, increase the speed grade of the water pump motor of the underwater cleaning robot and the speed grade of the walking drive motor, and calculate the second actual wall duration according to the real-time angle change data;
当第二实际上墙时长小于等于预设时长时，控制水下清洁机器人的水泵电机和行走驱动电机以当前转速档次进行池壁清洁。When the second actual wall duration is less than or equal to the preset duration, the water pump motor and the walking drive motor of the underwater cleaning robot are controlled to clean the pool wall at the current speed level.
在第一方面的一种可能的实现方式中，在水下清洁机器人已成功上墙之后，还包括：In a possible implementation of the first aspect, after the underwater cleaning robot has successfully mounted the wall, further includes:
获取水下清洁机器人的实时X轴加速度数据；Obtain real-time X-axis acceleration data of the underwater cleaning robot;
当实时X轴加速度数据发生变化时，提高水下清洁机器人的水泵电机的转速档次，直至实时X轴加速度数据满足预设条件，控制水下清洁机器人的水泵电机以当前转速档次进行池壁清洁。When the real-time X-axis acceleration data changes, the speed level of the pump motor of the underwater cleaning robot is increased until the real-time X-axis acceleration data meets the preset conditions, and the water pump motor of the underwater cleaning robot is controlled to clean the pool wall at the current speed level.
在第一方面的一种可能的实现方式中，在水下清洁机器人已成功上墙之后，还包括：In a possible implementation of the first aspect, after the underwater cleaning robot has successfully mounted the wall, further includes:
获取水下清洁机器人的实时爬墙运行速度，根据实时爬墙运行速度计算第一实际清洁时长；Obtain the real-time wall-climbing running speed of the underwater cleaning robot, and calculate the first actual cleaning time according to the real-time wall-climbing running speed;
当第一实际清洁时长大于预设清洁时长时，提高水下清洁机器人的行走驱动电机的转速档次，并根据实时爬墙运行速度计算第二实际清洁时长；When the first actual cleaning duration is longer than the preset cleaning duration, the speed grade of the walking drive motor of the underwater cleaning robot is increased, and the second actual cleaning duration is calculated according to the real-time wall-climbing running speed;
当第二实际清洁时长小于预设清洁时长时，控制水下清洁机器人的行走驱动电机以当前转速档次进行池壁清洁。When the second actual cleaning duration is less than the preset cleaning duration, the walking drive motor of the underwater cleaning robot is controlled to clean the pool wall at the current speed level.
在第一方面的一种可能的实现方式中，在当水下清洁机器人触墙后，还包括：In a possible implementation manner of the first aspect, after the underwater cleaning robot touches the wall, it further includes:
提高水下清洁机器人的水泵电机的转速档次和行走驱动电机的转速档次。Improve the speed grade of the water pump motor of the underwater cleaning robot and the speed grade of the walking drive motor.
在第一方面的一种可能的实现方式中，还包括：In a possible implementation manner of the first aspect, it also includes:
当水下清洁机器人的出水传感器被触发时，以预设转速差控制驱动水下清洁机器人的左侧行走单元和右侧行走单元。When the water outlet sensor of the underwater cleaning robot is triggered, the left traveling unit and the right traveling unit of the underwater cleaning robot are controlled and driven with a preset speed difference.
在第一方面的一种可能的实现方式中，还包括：In a possible implementation manner of the first aspect, it also includes:
获取水下清洁机器人的红外传感器所采集的第一距离；Obtain the first distance collected by the infrared sensor of the underwater cleaning robot;
当根据第一距离判定水下清洁机器人接近池壁时，降低水下清洁机器人的行走驱动电机的转速档次，控制水下清洁机器人的水泵电机和行走驱动电机以当前转速档次进行池壁清洁。When judging that the underwater cleaning robot is close to the pool wall according to the first distance, reduce the speed grade of the walking drive motor of the underwater cleaning robot, and control the water pump motor and the walking driving motor of the underwater cleaning robot to clean the pool wall at the current speed grade.
本申请实施例的第二方面提供了一种水下清洁机器人的控制装置，包括：计算模块、第一控制模块和第二控制模块；The second aspect of the embodiments of the present application provides a control device for an underwater cleaning robot, including: a calculation module, a first control module, and a second control module;
其中，计算模块用于当水下清洁机器人触墙后，获取水下清洁机器人的实时角度变化数据，根据实时角度变化数据计算第一实际上墙时长；Among them, the calculation module is used to obtain the real-time angle change data of the underwater cleaning robot after the underwater cleaning robot touches the wall, and calculate the first actual wall duration according to the real-time angle change data;
第一控制模块用于当第一实际上墙时长大于预设时长时，提高水下清洁机器人的水泵电机的转速档次和行走驱动电机的转速档次，并根据实时角度变化数据计算第二实际上墙时长；The first control module is used to increase the speed level of the water pump motor and the speed level of the walking drive motor of the underwater cleaning robot when the first actual wall duration is longer than the preset duration, and calculate the second actual wall according to the real-time angle change data. duration;
第二控制模块用于当第二实际上墙时长小于等于预设时长时，控制水下清洁机器人的水泵电机和行走驱动电机以当前转速档次进行池壁清洁。The second control module is used to control the water pump motor and the walking drive motor of the underwater cleaning robot to clean the pool wall at the current speed level when the second actual wall duration is less than or equal to the preset duration.
在第二方面的一种可能的实现方式中，在水下清洁机器人已成功上墙之后，还包括：In a possible implementation of the second aspect, after the underwater cleaning robot has successfully mounted the wall, it further includes:
获取水下清洁机器人的实时X轴加速度数据；Obtain real-time X-axis acceleration data of the underwater cleaning robot;
当实时X轴加速度数据发生变化时，提高水下清洁机器人的水泵电机的转速档次，直至实时X轴加速度数据满足预设条件，控制水下清洁机器人的水泵电机以当前转速档次进行池壁清洁。When the real-time X-axis acceleration data changes, the speed level of the pump motor of the underwater cleaning robot is increased until the real-time X-axis acceleration data meets the preset conditions, and the water pump motor of the underwater cleaning robot is controlled to clean the pool wall at the current speed level.
在第二方面的一种可能的实现方式中，在水下清洁机器人已成功上墙之后，还包括：In a possible implementation of the second aspect, after the underwater cleaning robot has successfully mounted the wall, it further includes:
获取水下清洁机器人的实时爬墙运行速度，根据实时爬墙运行速度计算第一实际清洁时长；Obtain the real-time wall-climbing running speed of the underwater cleaning robot, and calculate the first actual cleaning time according to the real-time wall-climbing running speed;
当第一实际清洁时长大于预设清洁时长时，提高水下清洁机器人的行走驱动电机的转速档次，并根据实时爬墙运行速度计算第二实际清洁时长；When the first actual cleaning duration is longer than the preset cleaning duration, the speed grade of the walking drive motor of the underwater cleaning robot is increased, and the second actual cleaning duration is calculated according to the real-time wall-climbing running speed;
当第二实际清洁时长小于预设清洁时长时，控制水下清洁机器人的行走驱动电机以当前转速档次进行池壁清洁。When the second actual cleaning duration is less than the preset cleaning duration, the walking drive motor of the underwater cleaning robot is controlled to clean the pool wall at the current speed level.
本申请实施例的第三方面提供了一种水下清洁机器人，包括：行走轮、行走驱动电机、进水口、出水口、水泵电机、红外传感器和陀螺仪；The third aspect of the embodiment of the present application provides an underwater cleaning robot, including: walking wheels, a walking drive motor, a water inlet, a water outlet, a water pump motor, an infrared sensor, and a gyroscope;
其中，行走驱动电机用于驱动行走轮；Among them, the travel drive motor is used to drive the travel wheels;
行走轮用于实现水下清洁机器人的爬行；The walking wheel is used to realize the crawling of the underwater cleaning robot;
水泵电机用于将水从进水口抽离出出水口，以使水下清洁机器人贴墙爬行；其中，进水口设置于水下清洁机器人的底部，出水口设置于水下清洁机器人的顶部；The water pump motor is used to draw water from the water inlet to the water outlet, so that the underwater cleaning robot can crawl against the wall; wherein, the water inlet is set at the bottom of the underwater cleaning robot, and the water outlet is set at the top of the underwater cleaning robot;
红外传感器用于检测水下清洁机器人与前方池壁之间的距离；The infrared sensor is used to detect the distance between the underwater cleaning robot and the front pool wall;
陀螺仪用于获取水下清洁机器人的实时角度变化数据。The gyroscope is used to obtain real-time angle change data of the underwater cleaning robot.
相比于现有技术，本发明实施例提供的一种水下清洁机器人及其控制方法和控制装置，所述方法包括：当水下清洁机器人触墙后，获取水下清洁机器人的实时角度变化数据，根据实时角度变化数据计算第一实际上墙时长；当第一实际上墙时长大于预设时长时，提高水下清洁机器人的水泵电机的转速档次和行走驱动电机的转速档次，并根据实时角度变化数据计算第二实际上墙时长；当第二实际上墙时长小于等于预设时长时，控制水下清洁机器人的水泵电机和行走驱动电机以当前转速档次进行池壁清洁。Compared with the prior art, the embodiment of the present invention provides an underwater cleaning robot and its control method and control device. The method includes: when the underwater cleaning robot touches a wall, obtain the real-time angle change of the underwater cleaning robot Data, calculate the first actual wall duration according to the real-time angle change data; when the first actual wall duration is greater than the preset duration, increase the speed grade of the water pump motor of the underwater cleaning robot and the speed grade of the walking drive motor, and according to the real-time The angle change data calculates the second actual wall duration; when the second actual wall duration is less than or equal to the preset duration, the water pump motor and the walking drive motor of the underwater cleaning robot are controlled to clean the pool wall at the current speed level.
其有益效果在于：本发明实施例当第一实际上墙时长大于预设时长时，将水下清洁机器人的水泵电机的转速档次和行走驱动电机的转速档次分别提高一档，并重新计算新的实际上墙时长，直至新的实际上墙时长小于等于预设时长，保证水下清洁机器人能够在预设时长内完成上墙，提高了水下清洁机器人的清扫效率。进一步地，在提高行走驱动电机的转速档次，以快速上墙的同时，由于所述水泵电机用于将水从所述进水口抽离出所述出水口，通过提高水泵电机的转速档次，能够保证水下清洁机器人的贴墙爬行；从而保证水下清洁机器人在快速上墙过程中贴墙爬行的稳定性，避免水下清洁机器人在快速上墙过程中由于稳定性低下而导致的机身翻转问题，保证了水下清洁机器人的清扫效率。Its beneficial effect is that in the embodiment of the present invention, when the first actual wall duration is longer than the preset duration, the speed grade of the water pump motor of the underwater cleaning robot and the speed grade of the walking drive motor are respectively increased by one gear, and the new calculation is performed again. The actual wall duration until the new actual wall duration is less than or equal to the preset duration ensures that the underwater cleaning robot can finish cleaning the wall within the preset duration and improves the cleaning efficiency of the underwater cleaning robot. Further, while increasing the speed grade of the walking drive motor to quickly go up the wall, since the water pump motor is used to draw water from the water inlet out of the water outlet, by increasing the speed grade of the water pump motor, it is possible to Guarantee the crawling of the underwater cleaning robot against the wall; thus ensure the stability of the underwater cleaning robot crawling against the wall during the fast wall climbing process, and avoid the body turning over due to low stability of the underwater cleaning robot during the fast wall climbing process problem, ensuring the cleaning efficiency of the underwater cleaning robot.
其次，本发明实施例在水下清洁机器人已成功上墙之后，分别根据实时X轴加速度数据、实时爬墙运行速度对水泵电机转速档次、行走驱动电机转速档次相应进行调整控制，能够在水下清洁机器人在池壁爬行的过程中，根据实际情况对爬墙速度、水泵电机转速进行灵活调整，确保出水口泵水形成的对机器推力与水下清洁机器人爬墙速度相适配，避免推力不足导致水下清洁机器人不能贴墙机身翻转、或推力太大导致水下清洁机器人运行速度太慢等问题发生，确保水下清洁机器人运行状态和运行速度的稳定，高效完成池壁清扫任务。Secondly, in the embodiment of the present invention, after the underwater cleaning robot has successfully climbed the wall, the speed level of the water pump motor and the speed level of the walking drive motor are adjusted and controlled according to the real-time X-axis acceleration data and the real-time running speed of the wall-climbing robot. During the crawling process of the cleaning robot on the pool wall, the speed of climbing the wall and the speed of the water pump motor are flexibly adjusted according to the actual situation to ensure that the thrust of the machine formed by pumping water at the outlet matches the speed of the underwater cleaning robot to climb the wall to avoid insufficient thrust As a result, problems such as the underwater cleaning robot not being able to stick to the wall and turning over, or too much thrust causing the underwater cleaning robot to run too slowly, ensure the stability of the underwater cleaning robot's operating state and speed, and efficiently complete the pool wall cleaning task.
附图说明Description of drawings
图1是本发明一实施例提供的一种水下清洁机器人的控制方法的流程示意图；Fig. 1 is a schematic flow chart of a control method of an underwater cleaning robot provided by an embodiment of the present invention;
图2是本发明一实施例提供的一种水下清洁机器人的结构示意图；Fig. 2 is a schematic structural view of an underwater cleaning robot provided by an embodiment of the present invention;
图3是本发明一实施例提供的一种水下清洁机器人的控制装置的结构示意图。Fig. 3 is a schematic structural diagram of a control device for an underwater cleaning robot provided by an embodiment of the present invention.
具体实施方式Detailed ways
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.
参照图1，是本发明一实施例提供的一种水下清洁机器人的控制方法的流程示意图，包括S101-S103：Referring to Fig. 1, it is a schematic flowchart of a control method for an underwater cleaning robot provided by an embodiment of the present invention, including S101-S103:
S101：当水下清洁机器人触墙后，获取水下清洁机器人的实时角度变化数据，根据实时角度变化数据计算第一实际上墙时长。S101: After the underwater cleaning robot touches the wall, obtain the real-time angle change data of the underwater cleaning robot, and calculate the first actual wall duration according to the real-time angle change data.
其中，所述角度变化数据具体为垂直角度变化数据。Wherein, the angle change data is specifically vertical angle change data.
在本实施例中，还包括：In this embodiment, it also includes:
获取所述水下清洁机器人的红外传感器所采集的第一距离；Obtain the first distance collected by the infrared sensor of the underwater cleaning robot;
当根据所述第一距离判定所述水下清洁机器人接近池壁时，降低所述水下清洁机器人的行走驱动电机的转速档次，控制所述水下清洁机器人的水泵电机和行走驱动电机以当前转速档次进行池壁清洁。When it is determined according to the first distance that the underwater cleaning robot is close to the pool wall, the speed level of the walking drive motor of the underwater cleaning robot is reduced, and the water pump motor and the walking driving motor of the underwater cleaning robot are controlled at the current The speed level is used to clean the pool wall.
在本实施例中，在所述当水下清洁机器人触墙后，还包括：In this embodiment, after the underwater cleaning robot touches the wall, it also includes:
提高所述水下清洁机器人的水泵电机的转速档次和行走驱动电机的转速档次。Improve the speed grade of the water pump motor and the speed grade of the walking drive motor of the underwater cleaning robot.
进一步地，当水下清洁机器人触墙后，便将水下清洁机器人的水泵电机的转速档次和行走驱动电机的转速档次分别提高一档，同时获取水下清洁机器人的实时角度变化数据，为水下清洁机器人的上墙运动做准备。当实时角度变化数据为零时，判定水下清洁机器人的角度没有变化，再将水下清洁机器人的水泵电机的转速档次和行走驱动电机的转速档次分别提高一档，直至实时角度变化数据不等于零，即直至水下清洁机器人的角度发生了变化，同时根据实时角度变化数据计算第一实际上墙时长。Further, when the underwater cleaning robot touches the wall, the speed grade of the pump motor and the speed grade of the walking drive motor of the underwater cleaning robot are respectively increased by one gear, and at the same time, the real-time angle change data of the underwater cleaning robot is obtained, which is used for the underwater cleaning robot. Prepare for the upper wall movement of the cleaning robot. When the real-time angle change data is zero, it is determined that the angle of the underwater cleaning robot has not changed, and then the speed grade of the water pump motor and the speed grade of the walking drive motor of the underwater cleaning robot are respectively increased by one gear until the real-time angle change data is not equal to zero , that is, until the angle of the underwater cleaning robot changes, and at the same time calculate the first actual wall duration based on the real-time angle change data.
S102：当第一实际上墙时长大于预设时长时，提高水下清洁机器人的水泵电机的转速档次和行走驱动电机的转速档次，并根据实时角度变化数据计算第二实际上墙时长。S102: When the first actual wall duration is greater than the preset duration, increase the speed level of the pump motor and the walking drive motor of the underwater cleaning robot, and calculate the second actual wall duration according to the real-time angle change data.
S103：当第二实际上墙时长小于等于预设时长时，控制水下清洁机器人的水泵电机和行走驱动电机以当前转速档次进行池壁清洁。S103: When the second actual wall duration is less than or equal to the preset duration, control the water pump motor and the walking drive motor of the underwater cleaning robot to clean the pool wall at the current speed level.
其中，当第二实际上墙时长大于预设时长时，再将水下清洁机器人的水泵电机的转速档次和行走驱动电机的转速档次分别提高一档，并重新计算新的实际上墙时长，直至新的实际上墙时长小于等于预设时长，保证水下清洁机器人能够在预设时长内完成池底到池壁的过度(即完成上墙)，提高了水下清洁机器人的清扫效率。进一步地，在提高行走驱动电机的转速档次，以快速上墙的同时，由于所述水泵电机用于将水从所述进水口抽离出所述出水口，通过提高水泵电机的转速档次，能够保证水下清洁机器人的贴墙爬行；从而保证水下清洁机器人在快速上墙过程中贴墙爬行的稳定性，避免水下清洁机器人在快速上墙过程中由于稳定性低下而导致的机身翻转问题，保证了水下清洁机器人的清扫效率。Wherein, when the second actual wall duration is longer than the preset duration, the speed grade of the water pump motor of the underwater cleaning robot and the speed grade of the walking drive motor are respectively increased by one gear, and the new actual wall duration is recalculated until The new actual wall duration is less than or equal to the preset duration, ensuring that the underwater cleaning robot can complete the transition from the bottom of the pool to the pool wall within the preset duration (that is, complete the upper wall), improving the cleaning efficiency of the underwater cleaning robot. Further, while increasing the speed grade of the walking drive motor to quickly go up the wall, since the water pump motor is used to draw water from the water inlet out of the water outlet, by increasing the speed grade of the water pump motor, it is possible to Guarantee the crawling of the underwater cleaning robot against the wall; thus ensure the stability of the underwater cleaning robot crawling against the wall during the fast wall climbing process, and avoid the body turning over due to low stability of the underwater cleaning robot during the fast wall climbing process problem, ensuring the cleaning efficiency of the underwater cleaning robot.
在一优选实施例中，假设预设时长为3s。若水下清洁机器人以当前的水泵电机的转速档次和行走驱动电机的转速档次，在3s之内未成功上墙，判定实际上墙时长大于预设时长，则提高水下清洁机器人的水泵电机的转速档次和行走驱动电机的转速档次，并重新计时，同时判断在新的水泵电机的转速档次和行走驱动电机的转速档次的前提下，水下清洁机器人的实时垂直角度数据是否在3秒内从0°变成90°，若是，则实际上墙时长小于等于预设时长，停止计时；若否，则在3秒后继续提高水下清洁机器人的水泵电机的转速档次和行走驱动电机的转速档次，并重新计时。In a preferred embodiment, it is assumed that the preset duration is 3s. If the underwater cleaning robot fails to climb the wall within 3 seconds with the current speed level of the water pump motor and the speed level of the walking drive motor, it is determined that the actual wall time is longer than the preset time length, then increase the speed of the water pump motor of the underwater cleaning robot Grade and the speed grade of the walking drive motor, and retime, and at the same time judge whether the real-time vertical angle data of the underwater cleaning robot changes from 0 to 0 within 3 seconds under the premise of the speed grade of the new pump motor and the speed grade of the walking drive motor. ° becomes 90°, if it is, then the actual wall duration is less than or equal to the preset duration, stop timing; if not, continue to increase the speed grade of the water pump motor of the underwater cleaning robot and the speed grade of the walking drive motor after 3 seconds, and restart the timer.
进一步地，水下清洁机器人的实时X轴加速度数据大于预设阈值时，判定水下清洁机器人已成功上墙。Further, when the real-time X-axis acceleration data of the underwater cleaning robot is greater than a preset threshold, it is determined that the underwater cleaning robot has successfully climbed onto the wall.
在本实施例中，在所述水下清洁机器人已成功上墙之后，还包括：In this embodiment, after the underwater cleaning robot has successfully mounted the wall, it also includes:
获取所述水下清洁机器人的实时X轴加速度数据；Obtain real-time X-axis acceleration data of the underwater cleaning robot;
当所述实时X轴加速度数据发生变化时，提高所述水下清洁机器人的水泵电机的转速档次，直至所述实时X轴加速度数据满足预设条件，控制所述水下清洁机器人的水泵电机以当前转速档次进行池壁清洁。When the real-time X-axis acceleration data changes, increase the speed grade of the water pump motor of the underwater cleaning robot until the real-time X-axis acceleration data meets preset conditions, and control the water pump motor of the underwater cleaning robot to The current speed grade cleans the pool wall.
进一步地，当实时X轴加速度数据发生变化时，判定水下清洁机器人的贴墙稳定性低下，所以需要提高水下清洁机器人的水泵电机的转速档次，直至实时X轴加速度数据满足预设条件，判定所述水下清洁机器人已稳定贴墙爬行。其中，实时X轴加速度数据满足预设条件，具体为：当实时X轴加速度数据属于预设数值范围且不再变化时，判定实时X轴加速度数据满足预设条件；否则，判定实时X轴加速度数据不满足预设条件。Further, when the real-time X-axis acceleration data changes, it is determined that the wall-attaching stability of the underwater cleaning robot is low, so it is necessary to increase the speed grade of the water pump motor of the underwater cleaning robot until the real-time X-axis acceleration data meets the preset conditions, It is determined that the underwater cleaning robot has stably crawled against the wall. Among them, the real-time X-axis acceleration data meets the preset conditions, specifically: when the real-time X-axis acceleration data belongs to the preset value range and no longer changes, it is determined that the real-time X-axis acceleration data meets the preset conditions; otherwise, the real-time X-axis acceleration is determined Data does not meet preset conditions.
在本实施例中，在所述水下清洁机器人已成功上墙之后，还包括：In this embodiment, after the underwater cleaning robot has successfully mounted the wall, it also includes:
获取所述水下清洁机器人的实时爬墙运行速度，根据所述实时爬墙运行速度计算第一实际清洁时长；Obtain the real-time wall-climbing running speed of the underwater cleaning robot, and calculate the first actual cleaning duration according to the real-time wall-climbing running speed;
当所述第一实际清洁时长大于预设清洁时长时，提高所述水下清洁机器人的行走驱动电机的转速档次，并根据所述实时爬墙运行速度计算第二实际清洁时长；When the first actual cleaning duration is longer than the preset cleaning duration, the speed grade of the walking drive motor of the underwater cleaning robot is increased, and the second actual cleaning duration is calculated according to the real-time wall-climbing running speed;
当所述第二实际清洁时长小于所述预设清洁时长时，控制所述水下清洁机器人的行走驱动电机以当前转速档次进行池壁清洁。When the second actual cleaning duration is less than the preset cleaning duration, the walking drive motor of the underwater cleaning robot is controlled to clean the pool wall at the current speed level.
其中，预设清洁时长根据实时爬墙运行速度和待清洁的池壁面积计算而得。当实际清洁时长大于预设清洁时长时，提高水下清洁机器人的行走驱动电机的转速档次，是为了保证水下清洁机器人能在预设清洁时长内完成池壁的清洁，以保证水下清洁机器人的清洁效率。进一步地，预设清洁时长的计算过程如下：Among them, the preset cleaning time is calculated according to the real-time running speed of the climbing wall and the area of the pool wall to be cleaned. When the actual cleaning time is longer than the preset cleaning time, the speed grade of the walking drive motor of the underwater cleaning robot is increased to ensure that the underwater cleaning robot can complete the cleaning of the pool wall within the preset cleaning time to ensure that the underwater cleaning robot cleaning efficiency. Further, the calculation process of the preset cleaning duration is as follows:
T＝X/(V*Z)；T=X/(V*Z);
其中，T为预设清洁时长，X为待清洁的池壁面积，V为水下清洁机器人的实时爬墙运行速度，Z为水下清洁机器人的滚刷宽度。Among them, T is the preset cleaning time, X is the pool wall area to be cleaned, V is the real-time wall-climbing running speed of the underwater cleaning robot, and Z is the rolling brush width of the underwater cleaning robot.
在一具体实施例中，还包括：In a specific embodiment, it also includes:
当所述水下清洁机器人的出水传感器被触发时，判定所述水下清洁机器人处于水线位置，以预设转速差控制驱动所述水下清洁机器人的左侧行走单元和右侧行走单元，以使所述水下清洁机器人掉头爬行。When the water outlet sensor of the underwater cleaning robot is triggered, it is determined that the underwater cleaning robot is at the waterline position, and the left walking unit and the right walking unit of the underwater cleaning robot are controlled and driven by a preset speed difference, To make the underwater cleaning robot turn around and crawl.
进一步地，以预设转速差控制驱动所述水下清洁机器人的左侧行走单元和右侧行走单元，以使所述水下清洁机器人掉头爬行，具体为：Further, control and drive the left walking unit and the right walking unit of the underwater cleaning robot with a preset speed difference, so that the underwater cleaning robot turns around and crawls, specifically:
控制左右轮反向转动以达到预设转速差、或两边同向转动但转速不同以达到预设转速差。The left and right wheels are controlled to rotate in opposite directions to achieve a preset speed difference, or the two sides rotate in the same direction but with different speeds to achieve a preset speed difference.
举例说明：向右转时，控制水下清洁机器人左侧行走单元子转速大于右侧行走单元子转速；向左转时，则控制水下清洁机器人右侧行走单元子转速大于左侧行走单元子转速，掉头过程中，实时检测水下清洁机器人角度变化数据以判断水下清洁机器人是否完成掉头，如完成了，则控制水下清洁机器人直线行走，行走过程中，实时检测水下清洁机器人在X、Y、Z三轴的角度变化情况，判断水下清洁机器人是否偏离预定路线，如是，则根据实际情况调整左右轮转速差，直到水下清洁机器人按预定路线方向继续前进。For example: when turning right, control the sub-speed of the left walking unit of the underwater cleaning robot to be greater than the sub-speed of the right walking unit; when turning left, control the sub-speed of the right walking unit of the underwater cleaning robot Speed, during the U-turn process, real-time detection of the angle change data of the underwater cleaning robot to determine whether the underwater cleaning robot has completed the U-turn, if completed, control the underwater cleaning robot to walk in a straight line. , Y, and Z axis angle changes to determine whether the underwater cleaning robot deviates from the predetermined route, and if so, adjust the speed difference between the left and right wheels according to the actual situation until the underwater cleaning robot continues to move forward in the direction of the predetermined route.
为了进一步说明水下清洁机器人的结构，请参照图2，图2是本发明一实施例提供的一种水下清洁机器人的结构示意图，包括：行走单元201、行走驱动电机202、进水口203、出水口204、水泵电机205、测距传感器和加速度传感器；In order to further illustrate the structure of the underwater cleaning robot, please refer to FIG. 2. FIG. 2 is a schematic structural diagram of an underwater cleaning robot provided by an embodiment of the present invention, including: a walking unit 201, a walking drive motor 202, a water inlet 203, Water outlet 204, water pump motor 205, ranging sensor and acceleration sensor;
其中，所述行走驱动电机202用于驱动所述行走单元201；Wherein, the walking drive motor 202 is used to drive the walking unit 201;
所述行走单元201用于实现所述水下清洁机器人的爬行；The walking unit 201 is used to realize the crawling of the underwater cleaning robot;
所述水泵电机205用于将水从所述进水口203抽离出所述出水口204，所述出水口204与机身所在平面形成的夹角小于等于90度；The water pump motor 205 is used to pump water from the water inlet 203 out of the water outlet 204, and the angle formed between the water outlet 204 and the plane where the fuselage is located is less than or equal to 90 degrees;
所述测距传感器用于检测所述水下清洁机器人与前方池壁之间的距离或是否靠近池壁；The ranging sensor is used to detect the distance between the underwater cleaning robot and the front pool wall or whether it is close to the pool wall;
所述加速度传感器用于获取所述水下清洁机器人的实时角度变化数据。The acceleration sensor is used to acquire real-time angle change data of the underwater cleaning robot.
为了进一步说明水下清洁机器人的控制装置，请参照图3，图3是本发明一实施例提供的一种水下清洁机器人的控制装置的结构示意图，包括：计算模块301、第一控制模块302和第二控制模块303；In order to further illustrate the control device of the underwater cleaning robot, please refer to FIG. 3 . FIG. 3 is a structural schematic diagram of a control device of an underwater cleaning robot provided by an embodiment of the present invention, including: a
其中，所述计算模块301用于当水下清洁机器人触墙后，获取所述水下清洁机器人的实时角度变化数据，根据所述实时角度变化数据计算第一实际上墙时长；Wherein, the
所述第一控制模块302用于当所述第一实际上墙时长大于预设时长时，提高所述水下清洁机器人的水泵电机的转速档次和行走驱动电机的转速档次，并根据所述实时角度变化数据计算第二实际上墙时长；The
所述第二控制模块303用于当所述第二实际上墙时长小于等于所述预设时长时，控制所述水下清洁机器人的水泵电机和行走驱动电机以当前转速档次进行池壁清洁。The
在本实施例中，在所述水下清洁机器人已成功上墙之后，还包括：In this embodiment, after the underwater cleaning robot has successfully mounted the wall, it also includes:
获取所述水下清洁机器人的实时X轴加速度数据；Obtain real-time X-axis acceleration data of the underwater cleaning robot;
当所述实时X轴加速度数据发生变化时，说明所述水下清洁机器人贴墙不稳，提高所述水下清洁机器人的水泵电机的转速档次，直至所述实时X轴加速度数据满足预设条件，控制所述水下清洁机器人的水泵电机以当前转速档次进行池壁清洁。When the real-time X-axis acceleration data changes, it indicates that the underwater cleaning robot is unstable against the wall, and the speed level of the water pump motor of the underwater cleaning robot is increased until the real-time X-axis acceleration data meets the preset conditions , controlling the water pump motor of the underwater cleaning robot to clean the pool wall at the current speed level.
在本实施例中，在所述水下清洁机器人已成功上墙之后，还包括：In this embodiment, after the underwater cleaning robot has successfully mounted the wall, it also includes:
获取所述水下清洁机器人的实时爬墙运行速度，根据所述实时爬墙运行速度计算第一实际清洁时长；Obtain the real-time wall-climbing running speed of the underwater cleaning robot, and calculate the first actual cleaning duration according to the real-time wall-climbing running speed;
当所述第一实际清洁时长大于预设清洁时长时，提高所述水下清洁机器人的行走驱动电机的转速档次，并根据所述实时爬墙运行速度计算第二实际清洁时长；When the first actual cleaning duration is longer than the preset cleaning duration, the speed grade of the walking drive motor of the underwater cleaning robot is increased, and the second actual cleaning duration is calculated according to the real-time wall-climbing running speed;
当所述第二实际清洁时长小于所述预设清洁时长时，控制所述水下清洁机器人的行走驱动电机以当前转速档次进行池壁清洁。When the second actual cleaning duration is less than the preset cleaning duration, the walking drive motor of the underwater cleaning robot is controlled to clean the pool wall at the current speed level.
在一具体实施例中，在所述当水下清洁机器人触墙后，还包括：In a specific embodiment, after the underwater cleaning robot touches the wall, it also includes:
提高所述水下清洁机器人的水泵电机的转速档次和行走驱动电机的转速档次。Improve the speed grade of the water pump motor and the speed grade of the walking drive motor of the underwater cleaning robot.
在一具体实施例中，还包括：In a specific embodiment, it also includes:
当所述水下清洁机器人的出水传感器被触发时，判定所述水下清洁机器人处于水线位置，以预设转速差控制驱动所述水下清洁机器人的左侧行走单元和右侧行走单元，以使所述水下清洁机器人掉头爬行。When the water outlet sensor of the underwater cleaning robot is triggered, it is determined that the underwater cleaning robot is at the waterline position, and the left walking unit and the right walking unit of the underwater cleaning robot are controlled and driven by a preset speed difference, To make the underwater cleaning robot turn around and crawl.
在一具体实施例中，还包括：In a specific embodiment, it also includes:
获取所述水下清洁机器人的红外传感器所采集的第一距离；Obtain the first distance collected by the infrared sensor of the underwater cleaning robot;
当根据所述第一距离判定所述水下清洁机器人接近池壁时，降低所述水下清洁机器人的行走驱动电机的转速档次，控制所述水下清洁机器人的水泵电机和行走驱动电机以当前转速档次进行池壁清洁。When it is determined according to the first distance that the underwater cleaning robot is close to the pool wall, the speed level of the walking drive motor of the underwater cleaning robot is reduced, and the water pump motor and the walking driving motor of the underwater cleaning robot are controlled at the current The speed level is used to clean the pool wall.
本发明实施例通过计算模块当水下清洁机器人触墙后，获取水下清洁机器人的实时角度变化数据，根据实时角度变化数据计算第一实际上墙时长；通过第一控制模块当第一实际上墙时长大于预设时长时，提高水下清洁机器人的水泵电机的转速档次和行走驱动电机的转速档次，并根据实时角度变化数据计算第二实际上墙时长；通过第二控制模块当第二实际上墙时长小于等于预设时长时，控制水下清洁机器人的水泵电机和行走驱动电机以当前转速档次进行池壁清洁。In the embodiment of the present invention, when the underwater cleaning robot touches the wall through the calculation module, the real-time angle change data of the underwater cleaning robot is obtained, and the first actual wall duration is calculated according to the real-time angle change data; When the wall duration is longer than the preset duration, increase the speed grade of the water pump motor of the underwater cleaning robot and the speed grade of the walking drive motor, and calculate the second actual wall duration according to the real-time angle change data; When the time on the wall is less than or equal to the preset time, the water pump motor and the walking drive motor of the underwater cleaning robot are controlled to clean the pool wall at the current speed level.
本发明实施例当第一实际上墙时长大于预设时长时，将水下清洁机器人的水泵电机的转速档次和行走驱动电机的转速档次分别提高一档，并重新计算新的实际上墙时长，直至新的实际上墙时长小于等于预设时长，保证水下清洁机器人能够在预设时长内完成上墙，提高了水下清洁机器人的清扫效率。进一步地，在提高行走驱动电机的转速档次，以快速上墙的同时，由于所述水泵电机用于将水从所述进水口抽离出所述出水口，通过提高水泵电机的转速档次，能够保证水下清洁机器人的贴墙爬行；从而保证水下清洁机器人在快速上墙过程中贴墙爬行的稳定性，避免水下清洁机器人在快速上墙过程中由于稳定性低下而导致的机身翻转问题，保证了水下清洁机器人的清扫效率。In the embodiment of the present invention, when the first actual wall duration is longer than the preset duration, the speed level of the water pump motor of the underwater cleaning robot and the speed grade of the walking drive motor are respectively increased by one level, and the new actual wall duration is recalculated. Until the new actual wall duration is less than or equal to the preset duration, it is ensured that the underwater cleaning robot can finish climbing the wall within the preset duration, which improves the cleaning efficiency of the underwater cleaning robot. Further, while increasing the speed grade of the walking drive motor to quickly go up the wall, since the water pump motor is used to draw water from the water inlet out of the water outlet, by increasing the speed grade of the water pump motor, it is possible to Guarantee the crawling of the underwater cleaning robot against the wall; thus ensure the stability of the underwater cleaning robot crawling against the wall during the fast wall climbing process, and avoid the body turning over due to low stability of the underwater cleaning robot during the fast wall climbing process problem, ensuring the cleaning efficiency of the underwater cleaning robot.
其次，本发明实施例在水下清洁机器人已成功上墙之后，分别根据实时X轴加速度数据、实时爬墙运行速度对水泵电机转速档次、行走驱动电机转速档次相应进行调整控制，能够在水下清洁机器人在池壁爬行的过程中，根据实际情况对爬墙速度、水泵电机转速进行灵活调整，确保出水口泵水形成的对机器推力与水下清洁机器人爬墙速度相适配，避免推力不足导致水下清洁机器人不能贴墙机身翻转、或推力太大导致水下清洁机器人运行速度太慢等问题发生，确保水下清洁机器人运行状态和运行速度的稳定，高效完成池壁清扫任务。Secondly, in the embodiment of the present invention, after the underwater cleaning robot has successfully climbed the wall, the speed level of the water pump motor and the speed level of the walking drive motor are adjusted and controlled according to the real-time X-axis acceleration data and the real-time running speed of the wall-climbing robot. During the crawling process of the cleaning robot on the pool wall, the speed of climbing the wall and the speed of the water pump motor are flexibly adjusted according to the actual situation to ensure that the thrust of the machine formed by pumping water at the outlet matches the speed of the underwater cleaning robot to climb the wall to avoid insufficient thrust As a result, problems such as the underwater cleaning robot not being able to stick to the wall and turning over, or too much thrust causing the underwater cleaning robot to run too slowly, ensure the stability of the underwater cleaning robot's operating state and speed, and efficiently complete the pool wall cleaning task.
以上所述是本发明的优选实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明原理的前提下，还可以做出若干改进和润饰，这些改进和润饰也视为本发明的保护范围。The above description is a preferred embodiment of the present invention, and it should be pointed out that for those skilled in the art, without departing from the principle of the present invention, some improvements and modifications can also be made, and these improvements and modifications are also considered Be the protection scope of the present invention.
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