CN112968534B - Searching and charging method and device for underwater cleaning equipment and underwater cleaning equipment - Google Patents
Searching and charging method and device for underwater cleaning equipment and underwater cleaning equipment Download PDFInfo
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- CN112968534B CN112968534B CN202110190843.2A CN202110190843A CN112968534B CN 112968534 B CN112968534 B CN 112968534B CN 202110190843 A CN202110190843 A CN 202110190843A CN 112968534 B CN112968534 B CN 112968534B
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H4/00—Swimming or splash baths or pools
- E04H4/14—Parts, details or accessories not otherwise provided for
- E04H4/16—Parts, details or accessories not otherwise provided for specially adapted for cleaning
- E04H4/1654—Self-propelled cleaners
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/10—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/40—Circuit arrangements or systems for wireless supply or distribution of electric power using two or more transmitting or receiving devices
- H02J50/402—Circuit arrangements or systems for wireless supply or distribution of electric power using two or more transmitting or receiving devices the two or more transmitting or the two or more receiving devices being integrated in the same unit, e.g. power mats with several coils or antennas with several sub-antennas
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/90—Circuit arrangements or systems for wireless supply or distribution of electric power involving detection or optimisation of position, e.g. alignment
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0047—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with monitoring or indicating devices or circuits
Abstract
The application provides a searching and filling method and device for underwater cleaning equipment, the underwater cleaning equipment and a storage medium. In the method, because the barrier is arranged between the double closed electromagnetic loops formed by the wireless charger, the closed electromagnetic loops in the swimming pool are single, the same magnetic induction line tangent position cannot occur in the swimming pool, the underwater cleaning equipment can accurately judge the position of the wireless charger so as to move to a proper wireless charging position, and the swimming pool cleaning efficiency is improved; and the underwater cleaning equipment is controlled to rotate and the magnetic flux of the first induction coil aiming at the single closed electromagnetic loop is detected, if the magnetic flux is zero, the wireless charger is positioned in the direction orthogonal to the winding direction of the first induction coil, therefore, the orthogonal direction is taken as the advancing direction, the underwater cleaning equipment is ensured to be accurately moved to the wireless charger, and the accuracy of the charging position is improved.
Description
Technical Field
The application relates to the technical field of underwater cleaning, in particular to a searching and filling method and device for underwater cleaning equipment, the underwater cleaning equipment and a storage medium.
Background
To improve the efficiency of swimming pool cleaning, technologies have emerged that utilize underwater cleaning devices to clean swimming pools. In the process of cleaning the swimming pool by the underwater cleaning equipment, how to charge the underwater cleaning equipment is the key for improving the cleaning efficiency of the swimming pool.
One of the charging methods is magnetic navigation wireless charging. In the wireless mode that charges of traditional magnetic navigation, the line tangent line position is felt to the same magnetism can appear in the different positions of swimming pool, and when cleaning equipment was in the line tangent line position is felt to the same magnetism under water, the position of the wireless charger of accurate judgement is difficult to, and then is difficult to remove to suitable wireless position of charging.
Disclosure of Invention
In view of the above, it is necessary to provide a method and an apparatus for filling an underwater cleaning device, and a storage medium.
A barrier is arranged between double closed electromagnetic loops formed by a wireless charger, so that the closed electromagnetic loops in a swimming pool where the wireless charger is located are single; the method is applied to a controller of an underwater cleaning device;
the method comprises the following steps:
controlling the underwater cleaning device to rotate; the underwater cleaning equipment is provided with a first induction coil;
continuously detecting the magnetic flux of the first induction coil for a single closed electromagnetic loop in the swimming pool during the rotation;
if the magnetic flux is zero, taking a direction orthogonal to the winding direction of the first induction coil as a traveling direction;
controlling the underwater cleaning device to travel to the wireless charger based on the travel direction.
In one embodiment, the underwater cleaning device is further provided with a second induction coil, and the winding direction of the second induction coil is perpendicular to the winding direction of the first induction coil;
the controlling the underwater cleaning device to travel to the wireless charger based on the travel direction comprises:
if the current sensed by the first induction coil is zero or smaller than a current threshold value in the process of traveling along the traveling direction, determining that the traveling direction is a direction capable of continuing traveling, and detecting the change condition of the current sensed by the second induction coil;
if the current sensed by the second induction coil becomes small, determining a traveling direction opposite to the direction in which the underwater cleaning device can continue to travel, and controlling the underwater cleaning device to travel to the wireless charger along the opposite traveling direction;
and if the current induced by the second induction coil is increased, controlling the underwater cleaning equipment to continuously travel to the wireless charger along the direction capable of continuously traveling.
In one embodiment, the method further comprises: if the current induced by the first induction coil is larger than the current threshold value in the process of traveling along the traveling direction, determining that the traveling direction is a non-continuable traveling direction, and adjusting the non-continuable traveling direction along a first side;
if the current induced by the first induction coil is reduced after the adjustment along the first side, continuing the adjustment along the first side until the current induced by the first induction coil is smaller than the current threshold value, and taking the direction which cannot continue to advance after the adjustment along the first side as the direction which can continue to advance;
if the current induced by the first induction coil after being adjusted along the first side becomes larger, adjusting the advancing direction along the second side until the current induced by the first induction coil is smaller than the current threshold, and taking the direction which can not be continuously advanced after being continuously adjusted along the second side as the direction which can be continuously advanced;
wherein the first side and the second side are left and right sides of a direction of travel, or the first side and the second side are right and left sides of a direction of travel.
In one embodiment, the current induced by the second induction coil is obtained by amplifying and rectifying the voltage output by the second induction coil.
In one embodiment, the travel ending condition is that a charging voltage of a position to which the underwater cleaning device travels is greater than or equal to a preset voltage; the charging voltage is provided by the wireless charger.
In one embodiment, the controlling the rotation of the underwater cleaning device comprises:
if the electric quantity of the underwater cleaning equipment is lower than the preset electric quantity in the process of cleaning the swimming pool by the underwater cleaning equipment, continuously detecting the magnetic field intensity of the underwater cleaning equipment in the process of continuously cleaning the swimming pool;
and if the magnetic field intensity greater than the preset magnetic field intensity is detected, controlling the underwater cleaning equipment to rotate.
A barrier is arranged between double closed electromagnetic loops formed by a wireless charger, so that the closed electromagnetic loops in a swimming pool where the wireless charger is positioned are single; the device is applied to a controller of the underwater cleaning equipment;
the device comprises:
the rotation control module is used for controlling the underwater cleaning equipment to rotate; the underwater cleaning equipment is provided with a first induction coil;
the magnetic flux detection module is used for continuously detecting the magnetic flux of the first induction coil aiming at the single closed electromagnetic loop in the swimming pool during the rotation process;
a traveling direction determination module configured to determine, as a traveling direction, a direction orthogonal to a winding direction of the first induction coil if the magnetic flux is zero;
a travel control module to control the underwater cleaning device to travel to the wireless charger based on the direction of travel.
In one embodiment, the underwater cleaning device is further provided with a second induction coil, and the winding direction of the second induction coil is perpendicular to the winding direction of the first induction coil;
the travel control module is further configured to determine that the travel direction is a direction in which the vehicle can continue to travel if the current sensed by the first sensing coil is zero or smaller than a current threshold value during travel along the travel direction, and detect a change in the current sensed by the second sensing coil; if the current sensed by the second induction coil becomes small, determining a traveling direction opposite to the direction in which the underwater cleaning device can continue to travel, and controlling the underwater cleaning device to travel to the wireless charger along the opposite traveling direction; and if the current induced by the second induction coil is increased, controlling the underwater cleaning equipment to continuously travel to the wireless charger along the direction capable of continuously traveling.
An underwater cleaning device comprising a memory having a computer program stored therein and a controller which when executed implements the method described above.
A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the above-mentioned method.
According to the searching and charging method and device for the underwater cleaning equipment, the underwater cleaning equipment and the storage medium, a barrier is arranged between double closed electromagnetic loops formed by the wireless charger, so that the closed electromagnetic loops in the swimming pool where the wireless charger is located are single; the method is applied to a controller of an underwater cleaning device; the method comprises the following steps: controlling the underwater cleaning device to rotate; the underwater cleaning equipment is provided with a first induction coil; continuously detecting the magnetic flux of the first induction coil for a single closed electromagnetic loop in the swimming pool during the rotation; if the magnetic flux is zero, taking a direction orthogonal to the winding direction of the first induction coil as a traveling direction; controlling the underwater cleaning device to travel to the wireless charger based on the travel direction. In the method, because the barrier is arranged between the double closed electromagnetic loops formed by the wireless charger, the closed electromagnetic loops in the swimming pool are single, the same magnetic induction line tangent position cannot occur in the swimming pool, the underwater cleaning equipment can accurately judge the position of the wireless charger so as to move to a proper wireless charging position, and the swimming pool cleaning efficiency is improved; and the underwater cleaning equipment is controlled to rotate and the magnetic flux of the first induction coil aiming at the single closed electromagnetic loop is detected, if the magnetic flux is zero, the wireless charger is positioned in the direction orthogonal to the winding direction of the first induction coil, therefore, the orthogonal direction is taken as the advancing direction, the underwater cleaning equipment is ensured to be accurately moved to the wireless charger, and the accuracy of the charging position is improved.
Drawings
FIG. 1 is a diagram of an embodiment of a method for filling an underwater cleaning device;
FIG. 2 is a schematic flow diagram of a method for filling an underwater cleaning device in one embodiment;
FIG. 3 is a diagram of an embodiment of a method for filling an underwater cleaning device;
FIG. 4 is a schematic diagram of a wireless charger in one embodiment;
FIG. 5 is a diagram illustrating a dual closed magnetic induction line formed by a conventional wireless charger according to an embodiment;
FIG. 6 is a schematic diagram of a conventional wireless charger with a winding pattern according to an embodiment;
FIG. 7 illustrates a magnetic field distribution pattern of the excitation coil in one embodiment;
FIG. 8 is a schematic diagram of the position of a first induction coil and a second induction coil in one embodiment;
FIG. 9 is a process of amplification and rectification in one embodiment;
FIG. 10 is a schematic diagram of an electromagnetic seek charge control strategy in one embodiment;
FIG. 11 is a block diagram of a fill-finding device of the underwater cleaning apparatus in one embodiment;
FIG. 12 is an internal block diagram of an underwater cleaning device in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
Reference in the specification to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the specification. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
The searching and charging method of the underwater cleaning equipment can be applied to the scene shown in fig. 1. Therein, the underwater cleaning device 101 is provided with a controller and a first induction coil 1011. A barrier is arranged between double closed electromagnetic loops formed by the wireless charger 102, so that the closed electromagnetic loop in the swimming pool in which the wireless charger is positioned is single, and therefore, if the single closed electromagnetic loop cannot generate the same potential tangent position at different positions of the swimming pool, and when the underwater cleaning equipment is positioned at the point A and the point B, the positions relative to a signal source are different, and the signal source can be found according to logic. The winding manner of the transmitting end (i.e., the charging seat) of the wireless charger forming the single closed electromagnetic loop may be a wireless charging winding 401 and a magnetizer 402 as shown in fig. 4.
Compared with fig. 5, the double-closed electromagnetic loop can generate the same tangential positions of the magnetic induction lines at different positions of the swimming pool, such as C, E, D and F, when the underwater cleaning device is at D or F, the signal sources at two different positions can be identified, and the position of the wireless charger cannot be accurately judged. The winding pattern of the single closed magnetic induction wire that causes the double closed electromagnetic circuit is a concentric winding as shown in fig. 6.
As shown in fig. 2, when the controller executes the search method, the controller may include the following steps:
step S201, controlling the underwater cleaning equipment to rotate; the underwater cleaning equipment is provided with a first induction coil;
step S202, continuously detecting the magnetic flux of the first induction coil aiming at the single closed electromagnetic loop in the swimming pool in the rotation process;
step S203 of setting a direction orthogonal to a winding direction of the first induction coil as a traveling direction if the magnetic flux is zero;
and S204, controlling the underwater cleaning equipment to move to the wireless charger based on the moving direction.
That is to say, the transmitting end of the wireless charger excites a changing magnetic field in space, the magnetic induction intensity in the horizontal plane of the underwater cleaning equipment approximately meets the distribution rule shown in fig. 7, and the first induction coil of the underwater cleaning equipment induces the single closed electromagnetic loop of the magnetic field; in the rotating process, if the winding direction of the first induction coil is the tangent direction of the single closed electromagnetic loop, the magnetic flux of the first induction coil is 0 at the moment, and therefore, the wireless charger is positioned in the direction orthogonal to the winding direction of the first induction coil; accordingly, the controller may take a direction orthogonal to the winding direction of the first induction coil as a traveling direction, and control the underwater cleaning device to travel to the wireless charger based on the traveling direction.
In the searching and charging method of the underwater cleaning equipment, because the barrier is arranged between the double closed electromagnetic loops formed by the wireless charger, the closed electromagnetic loops in the swimming pool are single, the same magnetic induction line tangent position cannot occur in the swimming pool, the underwater cleaning equipment can accurately judge the position of the wireless charger so as to move to a proper wireless charging position, and the cleaning efficiency of the swimming pool is improved; and the underwater cleaning equipment is controlled to rotate and the magnetic flux of the first induction coil aiming at the single closed electromagnetic loop is detected, if the magnetic flux is zero, the wireless charger is positioned in the direction orthogonal to the winding direction of the first induction coil, therefore, the orthogonal direction is taken as the advancing direction, the underwater cleaning equipment is ensured to be accurately moved to the wireless charger, and the accuracy of the charging position is improved.
In one embodiment, the underwater cleaning device is further provided with a second induction coil, and the winding direction of the second induction coil is perpendicular to the winding direction of the first induction coil, as shown in fig. 8. When the controller executes the step S204, the controller may further execute the following steps: if the current sensed by the first induction coil is zero or smaller than a current threshold value in the process of traveling along the traveling direction, determining that the traveling direction is a direction capable of continuing traveling, and detecting the change condition of the current sensed by the second induction coil; if the current sensed by the second induction coil becomes smaller, determining a traveling direction opposite to the direction in which the underwater cleaning device can travel continuously, and controlling the underwater cleaning device to travel to the wireless charger along the opposite traveling direction; and if the current induced by the second induction coil is increased, controlling the underwater cleaning equipment to continuously travel to the wireless charger along the direction capable of continuously traveling.
Illustratively, there are two directions perpendicular to the tangential direction of the magnetic induction line at B, one direction is away from the wireless charger, and the other direction is toward the wireless charger; therefore, to avoid the underwater cleaning device from walking in a direction away from the wireless charger, the above-described embodiment introduces the second induction coil 1012 having a winding direction perpendicular to the winding direction of the first induction coil. Therefore, if the underwater cleaning device walks in a direction away from the wireless charger, the current induced by the second induction coil becomes small, and at this time, the traveling direction may need to be adjusted to control the underwater cleaning device to travel in the opposite direction to approach the wireless charger, as shown in fig. 3. If the underwater cleaning device walks in the direction close to the wireless charger, the current sensed by the second induction coil becomes large, and at this time, the traveling direction does not need to be adjusted.
In one embodiment, the controller may further perform the steps of: if the current induced by the first induction coil is larger than the current threshold value in the process of traveling along the traveling direction, determining that the traveling direction is a non-continuable traveling direction, and adjusting the non-continuable traveling direction along a first side; if the current induced by the first induction coil is reduced after the adjustment along the first side, continuing the adjustment along the first side until the current induced by the first induction coil is smaller than the current threshold value, and taking the direction which cannot continue to advance after the adjustment along the first side as the direction which can continue to advance; if the current induced by the first induction coil after being adjusted along the first side is increased, adjusting the traveling direction along a second side until the current induced by the first induction coil is smaller than the current threshold, and taking the direction which can not be continuously traveled after being continuously adjusted along the second side as the direction which can be continuously traveled; wherein the first side and the second side are left and right sides of a direction of travel, or the first side and the second side are right and left sides of a direction of travel.
That is to say, if the current induced by the first induction coil exceeds a certain value, it is determined that a deviation exists between the current walking direction and the position of the wireless charger; at the moment, the controller can drive the motor of the underwater cleaning equipment to run at a differential speed left and right so as to correct the walking direction; if the correction direction is backward, the current of the first induction coil is reduced, and the correction is continued in the same direction until the current of the first induction coil is lower than a set value; if the correction is carried out in the opposite direction, the current of the first induction coil is increased, and the correction is carried out in the opposite direction until the current of the first induction coil is lower than a set value; after the current of the first induction coil is lower than a set value, the controller can control the left motor and the right motor to run at the same speed, so that the underwater cleaning equipment can walk towards the longitudinal axis direction of the underwater cleaning equipment, and the accuracy of a searching and filling position is improved.
In one embodiment, the current is obtained by amplifying and rectifying the voltage output by the second induction coil. Similarly, when the magnetic flux of the first induction coil changes, a corresponding voltage is output, and the voltage output by the first induction coil may be amplified and rectified.
Therefore, the accuracy of current detection can be improved by amplifying and rectifying the voltage, and the accuracy of determining the charging position of the underwater cleaning equipment is improved.
In one embodiment, the end condition of travel is that the charging voltage of the position to which the underwater cleaning device travels is greater than or equal to a preset voltage; the charging voltage is provided by the wireless charger.
That is to say, if the charging voltage at the position reached by the underwater cleaning device is greater than the preset voltage in the traveling process, the underwater cleaning device can stop continuing to travel and enter a charging mode, so that the charging efficiency is improved.
In one embodiment, the controller, when executing step S201, may further execute the following steps: if the electric quantity of the underwater cleaning equipment is lower than the preset electric quantity in the process of cleaning the swimming pool by the underwater cleaning equipment, continuously detecting the magnetic field intensity in the process of continuously cleaning the swimming pool by the underwater cleaning equipment; and if the magnetic field intensity greater than the preset magnetic field intensity is detected, controlling the underwater cleaning equipment to rotate.
In the above manner, if the underwater cleaning device is in the cleaning mode, the underwater cleaning device can perform swimming pool cleaning work; at the clean in-process of swimming pool, if the controller detects that the residual capacity is less than preset electric quantity, then cleaning equipment can get into clean + magnetism and examine coexistence mode under water to continuously detect magnetic field intensity, if detect stronger magnetic field intensity, then can control cleaning equipment rotation under water in order to judge the direction of travel.
In order to better understand the above method, an application example of the search method of the underwater cleaning device of the present application is explained in detail below.
In a conventional underwater cleaning device, the winding mode of the transmitting end (i.e., at the charging seat) of the wireless charger is concentric winding as shown in fig. 6; under the wire winding mode, the principle that the underwater cleaning equipment automatically judges the position of the charging seat is as follows: referring to fig. 5, the double closed electromagnetic loop can generate the same tangential magnetic induction lines at different underwater positions, such as C and E, D and F, and when the underwater cleaning device is at C and E, the signal sources at the two different positions can be identified. This makes the underwater cleaning device unable to accurately determine the position of the charging stand or prone to misdetermine the position of the charging stand.
This application example belongs to the wireless emitter wire winding mode that charges. Specifically, the winding manner of the transmitting end is as shown in fig. 4, 401 is a wireless charging winding, and 402 is a magnetizer.
The winding manner shown in fig. 4 can enable the underwater cleaning device to accurately determine the position of the wireless charger, because the magnetic induction lines generated in the swimming pool by the winding manner are as shown in fig. 1 or fig. 3, the single electromagnetic field closed loop cannot generate the same potential tangent line position at different underwater positions, and when the underwater cleaning device is at the point a and the point B, the positions of the underwater cleaning device relative to the signal source are different, and the signal source can be found according to logic.
The underwater cleaning equipment of the application example is provided with the magnetic induction detector, the transmitting end of the wireless charger excites a changing magnetic field in space, the magnetic induction intensity in the horizontal plane of the underwater cleaning equipment approximately meets the distribution rule shown in figure 7, the magnetic induction intensity vector of the magnetic field is captured through the first induction coil and the second induction coil, the judgment of the relative direction of the underwater cleaning equipment and the wireless charger is completed, and the seeking and charging function of the underwater cleaning equipment is completed through a magnetic driving control strategy.
Each first induction coil mainly comprises a solenoid wound with a plurality of turns of enameled wires, the solenoid planes of the two first induction coils are orthogonal, and a ferrite magnetic core with high magnetic conductivity is arranged in the solenoid, so that the detection of the plane magnetic induction intensity can be completed. The first induction coil has the characteristics of quick response, high sensitivity, small size and the like.
The first induction coils are fixedly connected with the underwater cleaning equipment, the two first induction coils output two paths of induction voltage signals outwards, and the two paths of voltage signals are amplified and rectified, as shown in fig. 9. The controller synthesizes the magnetic induction intensity of a certain point through a plane vector superposition theorem, and further calculates the included angle between the underwater cleaning equipment and the direction of the magnetic induction intensity.
The moving step of the underwater cleaning device may include: (1) judging a wireless charger to be searched; (2) judging the direction of the magnetic induction line through the first induction coil; (3) walking in the direction perpendicular to the tangent of the magnetic induction line; (4) the walking direction is adjusted in the walking process; (5) the wireless charging coil of the underwater cleaning equipment and the wireless charger complete handshaking; (6) exiting the seeking charging mode and entering the wireless charging mode.
The principle of this application example is that induced current produces induced magnetic field, and first induction coil and the second induction coil of perpendicular placing can judge through detecting induced current and induced magnetic field's angle, through adjusting the cleaning equipment orientation under water, make cleaning equipment move towards wireless charger under water, finally get close to wireless charger and begin wireless charging.
When the underwater cleaning equipment needs to return to the wireless charger for wireless charging, the underwater cleaning equipment rotates in situ, when the magnetic flux of the second induction coil is the maximum and the magnetic flux of the first induction coil is 0, the underwater cleaning equipment can be judged to be perpendicular to the tangential direction of the magnetic induction line, and the underwater cleaning equipment walks forwards. If the magnetic flux of the second induction coil is increased after the vehicle travels forwards, the vehicle continues to travel forwards, and if the magnetic flux of the second induction coil is decreased, the vehicle continues to travel by turning 180 degrees. The walking angle of the underwater cleaning device is adjusted according to the principle that the magnetic flux of the second induction coil is the maximum and the magnetic flux of the first induction coil is 0.
The electromagnetic fill finding principle is described with reference to fig. 10:
by intensifying the magnetic control and assisting with other control strategies, the underwater cleaning device can execute the steps S1001 to S1010 to complete the seeking and charging function.
Aiming at magnetic field blind areas possibly existing in some places of the swimming pool, when the underwater cleaning equipment cleans the swimming pool, when the voltage of a battery is lower than a certain value, the underwater cleaning equipment should enter a coexistence mode of magnetic detection and cleaning, and when a space strong magnetic field is detected, the position where the underwater cleaning equipment is currently cleaned is calibrated, and then a filling mode can be entered. In the charging mode, the underwater cleaning equipment firstly judges the strong magnetic direction by trying to walk, and searches the magnetic induction direction, when the included angle between the underwater cleaning equipment and the magnetic field is greater than a certain value, the underwater cleaning equipment performs steering operation until the charging voltage of wireless charging reaches a specified value, stops walking and enters the charging mode.
The position of charging seat can accurately be judged to cleaning equipment under water by the wire winding mode that this application example provided, and cleaning equipment can in time charge under the guarantee, does not hinder and cleans work, improves and cleans efficiency.
In addition, the swimming pool is a four-side-covered concrete structure, wherein the medium is water, the conventional signal transmission modes such as radio signals, optical signals and the like can not transmit more than 3m, the sensitivity of a magnetic field to the medium is low, and the magnetic field can transmit 5-7 m, generally, the length of the European swimming pool is 6-8 m, and the swimming pool can just basically cover the swimming pool. Unlike land based devices, which operate in environments where conductors are present, the charging of pool cleaning devices has been an industry challenge and conventional contact charging has not been used. The general battery capacity of swimming pool cleaning equipment is 1-2Ah, through our use test, can generally use 2-3 hours, and European user's use habit is that 2-3 clean of a week, then take out once of equipment once a week and clear up, so equipment needs to use 2-3 cycles under water, if not charging, the number of times that the user put the equipment out the surface of water and charge need 2 at least every week, user experience is poor, wireless charging under water is necessary, but the problem of looking for and filling very difficult solution, this application accomplishes looking for and filling of cleaning equipment under water with magnetic navigation. Compare in traditional product after the completion cleans the task, stop at certain corner of swimming pool at random, the cleaning equipment under water of this application can be after clean completion based on magnetic navigation, let cleaning equipment under water walk back to fill electric pile automatically, also convenience of customers mentions cleaning work to cleaning equipment under water when charging.
It should be understood that, although the steps in the flowcharts of fig. 1 to 10 are shown in sequence as indicated by the arrows, the steps are not necessarily performed in sequence as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 1 to 10 may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of performing the steps or stages is not necessarily sequential, but may be performed alternately or alternately with other steps or at least some of the other steps or stages.
In one embodiment, as shown in fig. 11, there is provided a searching and charging device for an underwater cleaning device, wherein a barrier is arranged between double closed electromagnetic loops formed by a wireless charger, so that the closed electromagnetic loops in a swimming pool where the wireless charger is located are single; the device is applied to a controller of the underwater cleaning equipment;
the device comprises:
a rotation control module 1101 for controlling the rotation of the underwater cleaning device; the underwater cleaning equipment is provided with a first induction coil;
a magnetic flux detection module 1102 for continuously detecting the magnetic flux of the first induction coil for a single closed electromagnetic loop in the swimming pool during the rotation;
a traveling direction determining module 1103 configured to determine, as a traveling direction, a direction orthogonal to a winding direction of the first induction coil if the magnetic flux is zero;
a travel control module 1104 for controlling the underwater cleaning device to travel to the wireless charger based on the travel direction.
In one embodiment, the underwater cleaning device is further provided with a second induction coil, and the winding direction of the second induction coil is perpendicular to the winding direction of the first induction coil;
the travel control module 1104 is further configured to determine that the travel direction is a direction in which the vehicle can continue to travel if, in the process of traveling along the travel direction, the current sensed by the first induction coil is zero or smaller than a current threshold, and detect a change condition of the current sensed by the second induction coil; if the current sensed by the second induction coil becomes smaller, determining a traveling direction opposite to the direction in which the underwater cleaning device can travel continuously, and controlling the underwater cleaning device to travel to the wireless charger along the opposite traveling direction; and if the current induced by the second induction coil is increased, controlling the underwater cleaning equipment to continuously travel to the wireless charger along the direction capable of continuously traveling.
In one embodiment, the apparatus further includes a left-right traveling direction adjusting module, configured to determine that the traveling direction is a non-continuable traveling direction if the current induced by the first induction coil is greater than the current threshold during traveling along the traveling direction, and adjust the non-continuable traveling direction along a first side; if the current induced by the first induction coil is reduced after the adjustment along the first side, continuing the adjustment along the first side until the current induced by the first induction coil is smaller than the current threshold, and taking the direction which cannot continue to advance after the adjustment along the first side as the direction which can continue to advance; if the current induced by the first induction coil after being adjusted along the first side becomes larger, adjusting the advancing direction along the second side until the current induced by the first induction coil is smaller than the current threshold, and taking the direction which can not be continuously advanced after being continuously adjusted along the second side as the direction which can be continuously advanced; wherein the first side and the second side are left and right sides of a direction of travel, or the first side and the second side are right and left sides of a direction of travel.
In one embodiment, the current sensed by the second induction coil is obtained by amplifying and rectifying the voltage output by the second induction coil.
In one embodiment, the end condition of the travel is that a charging voltage of a position to which the underwater cleaning device travels is greater than or equal to a preset voltage; the charging voltage is provided by the wireless charger.
In one embodiment, the rotation control module 1101 is further configured to continuously detect the magnetic field intensity of the underwater cleaning device during the process of continuously cleaning the swimming pool if the electric quantity of the underwater cleaning device is lower than a preset electric quantity during the process of cleaning the swimming pool by the underwater cleaning device; and if the magnetic field intensity larger than the preset magnetic field intensity is detected, controlling the underwater cleaning equipment to rotate.
For specific definition of the charging device of the underwater cleaning device, reference may be made to the definition of the charging method of the underwater cleaning device above, and details are not described here. The modules in the locating device of the underwater cleaning device can be wholly or partially realized by software, hardware and a combination thereof. The modules can be embedded in a hardware mode or independent from a processor in the underwater cleaning equipment, and can also be stored in a memory in the underwater cleaning equipment in a software mode, so that the processor can call and execute the corresponding operation of each module.
In one embodiment, an underwater cleaning device is provided, which may be a server, and the internal structure thereof may be as shown in fig. 12. The underwater cleaning device comprises a processor, a memory and a network interface connected by a system bus. Wherein the processor of the underwater cleaning device is used to provide computing and control capabilities. The storage of the underwater cleaning device comprises a nonvolatile storage medium and an internal storage. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the underwater cleaning device is used for storing the filling data of the underwater cleaning device. The network interface of the underwater cleaning device is used for communicating with an external terminal through network connection. The computer program is executed by a processor to implement a method of filling an underwater cleaning device.
It will be appreciated by those skilled in the art that the configuration shown in figure 12 is a block diagram of only a portion of the configuration relevant to the present application and does not constitute a limitation of the underwater cleaning device to which the present application is applied, and that a particular underwater cleaning device may include more or fewer components than shown in the figures, or some components may be combined, or have a different arrangement of components.
In an embodiment, there is provided an underwater cleaning device comprising a memory storing a computer program and a processor implementing the steps of the above-described method embodiments when the processor executes the computer program.
In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored, which computer program, when being executed by a processor, carries out the steps of the respective method embodiments described above.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above examples only express several embodiments of the present application, and the description thereof is more specific and detailed, but not to be construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A searching and charging method for underwater cleaning equipment is characterized in that a barrier is arranged between double closed electromagnetic loops formed by a wireless charger, so that the closed electromagnetic loops in a swimming pool where the wireless charger is located are single; the method is applied to a controller of an underwater cleaning device;
the method comprises the following steps:
controlling the underwater cleaning device to rotate; the underwater cleaning equipment is provided with a first induction coil;
continuously detecting the magnetic flux of the first induction coil for a single closed electromagnetic loop in the swimming pool during the rotation;
if the magnetic flux is zero, taking a direction orthogonal to the winding direction of the first induction coil as a traveling direction;
if the current induced by the first induction coil is zero or smaller than a current threshold value in the process of traveling along the traveling direction, determining that the traveling direction is a direction capable of continuing to travel, and detecting the change condition of the current induced by the second induction coil; the second induction coil is arranged on the underwater cleaning equipment, and the winding direction of the second induction coil is perpendicular to the winding direction of the first induction coil;
if the current sensed by the second induction coil becomes smaller, determining a traveling direction opposite to the direction in which the underwater cleaning device can travel continuously, and controlling the underwater cleaning device to travel to the wireless charger along the opposite traveling direction;
and if the current induced by the second induction coil is increased, controlling the underwater cleaning equipment to continuously travel to the wireless charger along the direction capable of continuously traveling.
2. The method of claim 1, further comprising:
if the current induced by the first induction coil is larger than a current threshold value in the process of traveling along the traveling direction, determining that the traveling direction is a non-continuable traveling direction, and adjusting the non-continuable traveling direction along a first side;
if the current induced by the first induction coil is reduced after the adjustment along the first side, continuing the adjustment along the first side until the current induced by the first induction coil is smaller than the current threshold value, and taking the direction which cannot continue to advance after the adjustment along the first side as the direction which can continue to advance;
if the current induced by the first induction coil after being adjusted along the first side becomes larger, adjusting the advancing direction along the second side until the current induced by the first induction coil is smaller than the current threshold, and taking the direction which can not be continuously advanced after being continuously adjusted along the second side as the direction which can be continuously advanced;
wherein the first side and the second side are left and right sides of a direction of travel, or the first side and the second side are right and left sides of a direction of travel.
3. The method of claim 1, wherein the current induced by the second inductive coil is based on amplifying and rectifying a voltage output by the second inductive coil.
4. The method of claim 1, wherein the end condition of travel is that a charging voltage of a location to which the underwater cleaning device travels is greater than or equal to a preset voltage; the charging voltage is provided by the wireless charger.
5. The method of claim 1, wherein said controlling rotation of said underwater cleaning device comprises:
if the electric quantity of the underwater cleaning equipment is lower than the preset electric quantity in the process of cleaning the swimming pool by the underwater cleaning equipment, continuously detecting the magnetic field intensity in the process of continuously cleaning the swimming pool by the underwater cleaning equipment;
and if the magnetic field intensity greater than the preset magnetic field intensity is detected, controlling the underwater cleaning equipment to rotate.
6. A searching and charging device of an underwater cleaning device is characterized in that a barrier is arranged between double closed electromagnetic loops formed by a wireless charger, so that the closed electromagnetic loops in a swimming pool where the wireless charger is located are single; the device is applied to a controller of the underwater cleaning equipment;
the device comprises:
the rotation control module is used for controlling the underwater cleaning equipment to rotate; the underwater cleaning equipment is provided with a first induction coil;
the magnetic flux detection module is used for continuously detecting the magnetic flux of the first induction coil aiming at the single closed electromagnetic loop in the swimming pool during the rotation process;
a traveling direction determination module configured to determine, as a traveling direction, a direction orthogonal to a winding direction of the first induction coil if the magnetic flux is zero;
the traveling control module is used for determining that the traveling direction is a direction capable of continuing traveling if the current sensed by the first induction coil is zero or smaller than a current threshold value in the traveling process along the traveling direction, and detecting the change condition of the current sensed by the second induction coil; the second induction coil is arranged on the underwater cleaning equipment, and the winding direction of the second induction coil is perpendicular to the winding direction of the first induction coil; if the current sensed by the second induction coil becomes smaller, determining a traveling direction opposite to the direction in which the underwater cleaning device can travel continuously, and controlling the underwater cleaning device to travel to the wireless charger along the opposite traveling direction; and if the current induced by the second induction coil is increased, controlling the underwater cleaning equipment to continuously travel to the wireless charger along the direction capable of continuously traveling.
7. The apparatus of claim 6, further comprising: a left and right advancing direction adjusting module, configured to determine that the advancing direction is a non-continuable advancing direction if, during advancing along the advancing direction, the current induced by the first induction coil is greater than a current threshold, and adjust the non-continuable advancing direction along a first side; if the current induced by the first induction coil is reduced after the adjustment along the first side, continuing the adjustment along the first side until the current induced by the first induction coil is smaller than the current threshold, and taking the direction which cannot continue to advance after the adjustment along the first side as the direction which can continue to advance; if the current induced by the first induction coil after being adjusted along the first side is increased, adjusting the traveling direction along a second side until the current induced by the first induction coil is smaller than the current threshold, and taking the direction which can not be continuously traveled after being continuously adjusted along the second side as the direction which can be continuously traveled;
wherein the first side and the second side are left and right sides of a direction of travel, or the first side and the second side are right and left sides of a direction of travel.
8. The apparatus of claim 6, wherein the current induced by the second inductive coil is based on amplifying and rectifying the voltage output by the second inductive coil.
9. An underwater cleaning device comprising a memory and a controller, the memory storing a computer program, wherein the controller implements the method of any of claims 1 to 5 when executing the computer program.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the method of any one of claims 1 to 5.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110190843.2A CN112968534B (en) | 2021-02-20 | 2021-02-20 | Searching and charging method and device for underwater cleaning equipment and underwater cleaning equipment |
| PCT/CN2021/083438 WO2022174493A1 (en) | 2021-02-20 | 2021-03-26 | Charger searching method and apparatus for underwater cleaning device, and underwater cleaning device |
| FR2201442A FR3120082A3 (en) | 2021-02-20 | 2022-02-18 | Searching and charging method and device for underwater cleaning equipment, and underwater cleaning equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202110190843.2A CN112968534B (en) | 2021-02-20 | 2021-02-20 | Searching and charging method and device for underwater cleaning equipment and underwater cleaning equipment |
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| CN112968534A CN112968534A (en) | 2021-06-15 |
| CN112968534B true CN112968534B (en) | 2022-12-23 |
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| CN (1) | CN112968534B (en) |
| FR (1) | FR3120082A3 (en) |
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| IL293037A (en) * | 2022-05-16 | 2023-12-01 | Maytronics Ltd | Electromagnetic powered pool cleaning robot |
| WO2023232149A1 (en) * | 2022-06-02 | 2023-12-07 | 天津望圆智能科技股份有限公司 | Charging method for underwater cleaning machine, charging structure and underwater cleaning machine |
| CN116257068A (en) * | 2022-08-05 | 2023-06-13 | 智橙动力(北京)科技有限公司 | Pool wall obstacle avoidance moving method and device of swimming pool cleaning robot and electronic equipment |
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| JP2006236109A (en) * | 2005-02-25 | 2006-09-07 | Sanyo Electric Co Ltd | System for automatically charging robot |
| ITMI20131252A1 (en) * | 2013-07-25 | 2015-01-26 | Fabrizio Bernini | PROCESSING EQUIPMENT OF A LIMITED AREA |
| CN104518531A (en) * | 2013-09-28 | 2015-04-15 | 南京专创知识产权服务有限公司 | Underwater wireless charging system based on magnetic triaxial coupling |
| KR101700182B1 (en) * | 2015-08-26 | 2017-01-31 | 한국철도기술연구원 | Charging apparatus for unmanned aerial vehicles and method thereof |
| CN105262154A (en) * | 2015-08-28 | 2016-01-20 | 扬州大学 | Wireless charging system for underwater robot and control method of wireless charging system |
| JP6774790B2 (en) * | 2016-06-17 | 2020-10-28 | シャープ株式会社 | Wireless charging system for self-propelled vacuum cleaners |
| CN106549451B (en) * | 2016-12-08 | 2019-06-11 | 宇龙计算机通信科技(深圳)有限公司 | A kind of wireless charging method and device |
| SE541784C2 (en) * | 2017-04-25 | 2019-12-17 | Husqvarna Ab | Robotic lawnmower system and method with adaptive signal transmission |
| CN110707828A (en) * | 2018-07-09 | 2020-01-17 | 中兴通讯股份有限公司 | Wireless charging receiving device, wireless charging implementation method and mobile terminal |
| CN111130158B (en) * | 2018-10-31 | 2022-11-11 | 北京小米移动软件有限公司 | Wireless charging base, terminal, wireless charging method and device |
| US11320835B2 (en) * | 2018-12-11 | 2022-05-03 | Irobot Corporation | Magnetic navigation systems for autonomous mobile robots |
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| WO2022174493A1 (en) | 2022-08-25 |
| FR3120082A3 (en) | 2022-08-26 |
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