CN116290952A - Pool water level line detection device, pool cleaning device, detection method and control method - Google Patents
Pool water level line detection device, pool cleaning device, detection method and control method Download PDFInfo
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- CN116290952A CN116290952A CN202310264546.7A CN202310264546A CN116290952A CN 116290952 A CN116290952 A CN 116290952A CN 202310264546 A CN202310264546 A CN 202310264546A CN 116290952 A CN116290952 A CN 116290952A
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Classifications
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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
-
- 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
- E04H4/12—Devices or arrangements for circulating water, i.e. devices for removal of polluted water, cleaning baths or for water treatment
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
- G01F23/00—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm
- G01F23/22—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water
- G01F23/28—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water by measuring the variations of parameters of electromagnetic or acoustic waves applied directly to the liquid or fluent solid material
- G01F23/284—Electromagnetic waves
- G01F23/292—Light, e.g. infrared or ultraviolet
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
- G01F23/00—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm
- G01F23/22—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water
- G01F23/28—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water by measuring the variations of parameters of electromagnetic or acoustic waves applied directly to the liquid or fluent solid material
- G01F23/296—Acoustic waves
- G01F23/2962—Measuring transit time of reflected waves
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
Abstract
The application provides a pool water level line detection device, pool cleaning equipment, a detection method and a control method. The pool water level line detection device comprises an auxiliary container and a detection unit, wherein the auxiliary container is provided with an opening; the detection unit is positioned at one side of the opening; the detection unit is used for transmitting detection signals towards the outer side of the auxiliary container to the opening so as to determine the relative position between the water level line detection device and the water level line of the water tank. The pool water line can be identified by the present application and the pool cleaning device can be controlled based on the identified pool water line.
Description
Technical Field
The present application relates to the field of cleaning apparatus technology, and more particularly, to a pool water line detection apparatus, a pool cleaning apparatus, a detection method, and a control method in the field of cleaning apparatus technology.
Background
In the related art, the pool cleaning device can clean the bottom and the wall of a pool such as a swimming pool, a bathing pool, a fish pool and the like by filtering water at the walking position of the pool cleaning device.
When cleaning the pool wall, i.e. the pool water line, in the area near the pool water surface, it is necessary that the pool cleaning device is moved near the pool water line. Therefore, how to identify the pool water line is a current urgent problem to be solved.
Disclosure of Invention
The application provides a pool water level line detection device, a pool cleaning device, a detection method and a control method, which can identify a pool water level line and control the pool cleaning device based on the identified pool water level line. The specific technical scheme is as follows:
in a first aspect, the present application further provides a pool water line detection device, comprising:
an auxiliary container provided with an opening;
a detection unit located at one side of the opening; the detection unit is used for transmitting detection signals towards the outer side of the auxiliary container to the opening so as to determine the relative position between the water level line detection device and the water level line of the water tank.
As a specific embodiment, the opening is oriented in the direction of the water line when the water tank water line is detected.
In the above technical solution, due to the difference of the relative positions between the pool water line detection device and the pool water line, the time difference between the reflected signal reflected by the pool water line or the container water line detected by the detection unit and the detection signal is changed correspondingly. Therefore, by providing the detecting unit and the auxiliary container, the relative position between the pool water level detecting device and the pool water level can be determined based on the reflected signal reflected by the pool water level or the container water level detected by the detecting unit, thereby identifying the pool water level.
With reference to the first aspect, in some possible implementations, the detection unit is disposed at a side of the bottom of the auxiliary container facing away from the opening;
the bottom of the auxiliary container is formed with a transmission part to transmit the detection signal generated by the detection unit.
In the above technical scheme, the detection unit is arranged at one side of the bottom of the auxiliary container far away from the opening, namely, the detection unit is arranged at the lower side of the bottom of the auxiliary container, so that the bottom of the auxiliary container is positioned between the detection unit and the opening of the auxiliary container, and the transmission of the detection signal can be ensured by arranging the transmission part at the bottom of the auxiliary container.
With reference to the first aspect and the foregoing implementation manner, in some possible implementation manners, a bottom of the auxiliary container is provided with a mounting hole;
the detection unit is arranged at one side of the bottom of the auxiliary container facing the opening; the detection unit is arranged in the mounting hole or arranged in the accommodating cavity of the auxiliary container through the mounting hole.
In the technical scheme, the influence of a bottom entity structure between the detection unit and the opening is avoided, and the accuracy and the reliability of identifying the water level line of the pool can be further improved.
With reference to the first aspect and the foregoing implementation manner, in some possible implementation manners, the detection unit includes at least one of an infrared sensor, a laser sensor, and an ultrasonic sensor;
wherein, the distance between the transmitting end and the receiving end of the ultrasonic sensor and the opening is more than or equal to 3cm.
In the technical scheme, the detection unit can adopt various sensors to realize the identification of the water level line of the pool.
In a second aspect, the present application also provides a pool cleaning device comprising:
the shell body is provided with a plurality of grooves,
the pool water line detecting apparatus according to any one of the first aspect, wherein the pool water line detecting apparatus is mounted on the housing; the auxiliary reservoir opening of the pool water line detection device is oriented in line with the direction of travel of the pool cleaning device.
In the above technical solution, due to the difference in the relative positions between the pool cleaning device and the pool water line, the time difference between the reflected signal reflected by the pool water line or the container water line detected by the detecting unit and the detected signal is changed correspondingly. Thus, by providing a detection unit on the housing of the pool cleaning device and an auxiliary reservoir with an opening oriented in line with the direction of travel of the pool cleaning device, the relative position between the pool cleaning device and the pool water line can be determined and the pool water line identified based on the reflected signal reflected from the pool water line or reservoir water line detected by the detection unit.
With reference to the second aspect, in some possible implementations, the auxiliary container of the pool water line detection device is integrally formed with the housing.
In the technical scheme, the auxiliary container and the shell of the pool water line detection device are integrally formed, so that on one hand, the manufacturing, processing and assembling processes of the shell and the auxiliary container of the pool cleaning device can be simplified, and on the other hand, the tightness of the shell and the auxiliary container of the pool cleaning device can be ensured, and an additional sealing structure is prevented from being arranged between the shell and the auxiliary container of the pool cleaning device.
As one specific implementation mode, a groove is formed in the shell, and the groove is the auxiliary container; when integrally formed, the shell is provided with a groove.
With reference to the second aspect and the foregoing implementation manner, in some possible implementation manners, the pool water line detection device includes a first pool water line detection device and/or a second pool water line detection device; the first pool water line detection device is positioned near the machine head end of the shell; the second pool water level line detection device is located near the tail end of the shell.
In the technical scheme, the detection of the water tank water level line can be realized in the forward direction or the backward direction of the water tank cleaning equipment by arranging the plurality of water tank water level line detection devices.
With reference to the second aspect and the foregoing implementation manner, in some possible implementation manners, the first pool water line detection device and/or the second pool water line detection device are disposed on a back of the housing;
the pool water level line detection device comprises a third pool water level line detection device arranged at the abdomen of the shell; the third pool water line detection device is located near the head end or the tail end of the shell.
In the embodiment, the third pool water level line detection device is arranged, so that the third pool water level line detection device and the second pool water level line detection device are used for one time, and the redundancy of equipment is effectively improved.
In a third aspect, the present application further provides a pool water line detection method applied to the pool water line detection device of any one of the first aspect or the pool cleaning apparatus of any one of the second aspect, the method comprising:
transmitting a detection signal toward an opening of the auxiliary container;
receiving a reflected signal reflected after the detection signal reaches a water level line; wherein the water level line is a pool water level line or a container water level line;
determining a time difference between receiving the reflected signal and transmitting the detected signal;
Based on the time difference, a relative position between the pool water line detection device or the pool cleaning apparatus and the pool water line is determined.
In the above technical solution, because the relative positions between the pool water line detection device or the pool cleaning device and the pool water line are different, the time difference between the reflected signal reflected by the pool water line or the container water line detected by the detection unit and the detection signal is changed correspondingly, so that the relative position between the pool water line detection device or the pool cleaning device and the pool water line can be determined according to the time difference between the received reflected signal and the transmitted detection signal.
With reference to the third aspect, in some possible implementations, the determining a relative position between the pool water line detection device or the pool cleaning apparatus and the pool water line based on the time difference includes:
if the time difference is equal to or less than a preset time difference, the pool water level line detection device or the pool cleaning device reaches the position of the pool water level line;
if the time difference is greater than a preset time difference, the pool water level line detection device or the pool cleaning device is positioned below the pool water level line;
Or alternatively, the process may be performed,
if the target time difference is less than or equal to a plurality of time differences determined within a predetermined period of time after the target time difference, the pool water level detection device or the pool cleaning apparatus reaches a position of the pool water level or a position below the pool water level; the target time difference is the smallest time difference among time differences determined continuously for a plurality of times.
According to the technical scheme, the corresponding relation between the time difference between the received reflected signal and the transmitted detection signal and the relative position between the pool water level line detection device or the pool cleaning device and the pool water level line can be used for quickly and accurately knowing whether the pool water level line detection device or the pool cleaning device reaches the position of the pool water level line and is positioned below the pool water level line.
As one specific embodiment, the above scheme further includes: determining a distance D between the detection unit and the water level line;
based on the distance D, a relative position between the pool water line detection device or the pool cleaning apparatus and the pool water line is determined.
In the above solution, the obtaining manner of the distance between the detection unit and the water line includes:
Time difference t between received reflected signal and transmitted detected signal 0 By time difference t 0 And determining a travel path L of the propagation signal by detecting the propagation speed of the signal in the water, the travel path L minus the time difference t 0 The product of the travel speed of the pool cleaning device, i.e. the distance D from the detection unit to the pool water line, is obtained.
In the above technical solution, when the auxiliary container is located below the pool water line, as the pool cleaning device climbs, the distance D between the detection unit and the pool water line gradually decreases, and at this time, the pool water line detection device or the pool cleaning device is located below the pool water line; the detected distance D may be compared to a preset value and when the distance D is less than the preset value, the pool cleaning device climbs to the pool water line position, commutates (e.g., reverses) or otherwise operates.
In the above technical solution, when the auxiliary container is located above the pool water line, the container water line of the auxiliary container may be detected by the detecting unit, and the distance D between the detecting unit and the container water line is a fixed value, that is, the pool water line detecting device or the pool cleaning device climbs to the pool water line position.
In a fourth aspect, the present application also provides a method of controlling a pool cleaning device, the method comprising:
Determining a relative position between the pool cleaning device and the pool water line using the pool water line detection method of the third aspect;
controlling the pool cleaning device to stop and/or reverse movement when the pool cleaning device reaches a pool water line position;
the pool cleaning device is controlled to move toward the pool water line when the pool cleaning device is in a position below the pool water line.
According to the technical scheme, the relative position between the pool cleaning device and the pool water level line can very conveniently control the pool cleaning device to move nearby the pool water level line, so that the pool water level line is effectively cleaned.
In a fifth aspect, the present application further provides a pool water line detection device, applied to the pool water line detection device of any one of the first aspect or the pool cleaning apparatus of any one of the second aspect, comprising:
a signal emitting module for emitting a detection signal toward an opening of the auxiliary container;
the signal receiving module is used for receiving a reflected signal reflected after the detection signal reaches the water level line; wherein the water level line is a pool water level line or a container water level line;
A time difference determining module for determining a time difference between receiving the reflected signal and transmitting the detected signal;
and a position determining module for determining a relative position between the pool water line detection device or the pool cleaning apparatus and the pool water line based on the time difference.
In a sixth aspect, the present application also provides a control device for a pool cleaning apparatus, comprising:
a position detection module for determining a relative position between the pool cleaning device and the pool water line using the pool water line detection method of the third aspect;
an equipment control module for controlling the pool cleaning device to stop and/or reverse movement when the pool cleaning device reaches a pool water line position; the pool cleaning device is controlled to move toward the pool water line when the pool cleaning device is in a position below the pool water line.
In a seventh aspect, the present application further provides an electronic device, where the electronic device includes a processor, a communication interface, a memory, and a communication bus, where the processor, the communication interface, and the memory complete communication with each other through the communication bus;
a memory for storing a computer program;
And the processor is used for realizing the method in the embodiment when executing the program stored in the memory.
In an eighth aspect, the present application further provides a computer readable storage medium storing a computer program, which when executed, implements the method described in the above embodiments.
The technical scheme can realize that the pool cleaning device can continuously detect the pool water level line below the pool water level line and the detection data is more reliable; meanwhile, the phenomenon that the machine continuously climbs until the water pressure (the water pump works to enable the water to be sucked into the swimming pool cleaning machine from the bottom and discharged from the top) is not generated after the detection of the underwater pool water line fails due to the influence of factors such as the too high climbing speed of the pool cleaning device, the fluctuation of the water surface, the slow response speed of the detection unit and the like is avoided, and the machine is kept on the pool wall under the action of the water pressure generated by the double functions of the sucked water and the discharged water.
Drawings
FIG. 1 is a schematic view of a pool cleaning device according to an embodiment of the present application;
FIG. 2 is a top view of a water line detection assembly in the pool cleaning device;
FIG. 3 is a cross-sectional view of the water line detection assembly of FIG. 2 taken along line A-A;
FIG. 4 is a flowchart of a method for detecting a water level line of a pool according to an embodiment of the present application;
FIG. 5 is a flowchart of another method for detecting a pool water line according to an embodiment of the present disclosure;
FIG. 6 is a flow chart of a method of controlling a pool cleaning device in accordance with an embodiment of the present application;
FIG. 7 is a schematic structural diagram of a pool water line detection device according to an embodiment of the present disclosure;
FIG. 8 is a schematic diagram of a control device of a pool cleaning apparatus according to an embodiment of the present application;
fig. 9 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
The reference numerals in the drawings are explained as follows:
1-a shell; 111-back; 112-abdomen; 121—a headend; 122-tail end; 13-a roller;
2-a pool water level line detection device; 21-an auxiliary container; 22-detection unit.
Detailed Description
The technical solutions in the present application will be clearly and thoroughly described below with reference to the accompanying drawings. Wherein, in the description of the embodiments of the present application, "/" means or is meant unless otherwise indicated, for example, a/B may represent a or B: the text "and/or" is merely an association relation describing the associated object, and indicates that three relations may exist, for example, a and/or B may indicate: the three cases where a exists alone, a and B exist together, and B exists alone, and in addition, in the description of the embodiments of the present application, "plural" means two or more than two.
The terms "first," "second," and the like, are used below for descriptive purposes only and are not to be construed as implying or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature.
In the related art, when cleaning a pool wall, i.e., a pool water line, in an area near the water surface of a pool such as a swimming pool, a bathing pool, a fish pool, etc., it is required that a pool cleaning device moves near the pool water line to perform cleaning at different positions. Therefore, how to identify the pool water line is a current urgent problem to be solved.
In order to solve the technical problems, embodiments of the present application provide a pool water line detection device, a pool cleaning apparatus, a detection method, and a control method. The following describes a pool water line detection device in detail according to an embodiment of the present application with reference to the drawings.
Referring to fig. 1 to 3, fig. 1 is a schematic structural view of a pool cleaning apparatus according to an embodiment of the present application; FIG. 2 is a top view of a water line detection assembly in the pool cleaning device; fig. 3 is a cross-sectional view of the water line detection assembly of fig. 2 taken along line A-A. First, a first aspect of the present application proposes a pool water line detection device 2, the pool water line detection device 2 comprising an auxiliary container 21, a detection unit 22.
The auxiliary container 21 is provided with an opening.
The detecting unit 22 is located at one side of the opening; the sensing unit 22 is used to emit a detection signal toward the outside of the auxiliary tank 21 toward the opening to determine the relative position between the water line sensing device and the pool water line.
Wherein, the water level line of the water surface of the water tank is the water level line of the water tank; the auxiliary container 21 is used for containing water, and the water level line of the water surface of the auxiliary container 21 is a container water level line. The detection unit 22 is disposed below the opening of the auxiliary tank 21, i.e., the plane of the tank water line, and the detection unit 22 can emit a detection signal toward the outside of the auxiliary tank 21 toward the opening of the auxiliary tank 21.
When the pool water line detection device 2 is positioned below the pool water line, the auxiliary container 21 is not functional, and the detection unit 22 always detects the pool water line; when the pool water line detecting device 2 is located on the pool water line, that is, after the auxiliary tank 21 is exposed to the water surface, the detecting unit 22 detects not the pool water line but the tank water line.
Due to the difference in the relative positions of the pool water line detection device 2 and the pool water line, the time difference between the reflected signal reflected by the pool water line or the container water line detected by the detection unit 22 and the detected signal is changed accordingly. Therefore, the detection unit 22 and the auxiliary container 21 are arranged, and the relative position between the pool water level line detection device 2 and the pool water level line can be determined based on the reflection signals reflected by the pool water level line or the container water level line detected by the detection unit 22, so that the pool water level line can be identified.
For clarity of the layout structure of the present technical solution, the method for detecting the water level of the water tank is described below, in detail, with respect to how the relative position between the water level detecting device 2 and the water level of the water tank is determined based on the reflected signal reflected by the water level of the water tank or the water level of the container detected by the detecting unit 22.
In some embodiments of the present application, the detection unit 22 is disposed at a side of the bottom of the auxiliary container 21 facing away from the opening;
the bottom of the auxiliary container 21 is formed with a transmitting part to transmit the detection signal generated by the detection unit 22.
In order to detect the water line of the container, the detecting unit 22 needs to be located at the lower side of the opening. The detection unit 22 is arranged at a side of the bottom of the auxiliary container 21 facing away from the opening, i.e. at a side of the bottom of the auxiliary container 21 facing away from the opening. Wherein for the auxiliary container 21 having a bottom, the detection unit 22 may be provided at a lower side of the bottom of the auxiliary container 21. And the transmissive part of the bottom of the auxiliary container 21 may be formed of a thickness and a material through which the detection signal can penetrate, wherein the thickness of the transmissive part may be determined according to the different detection signals, and the material of the transmissive part may be formed of a transparent or translucent material, for example, polycarbonate (PC) or the like.
In the above-mentioned technical solution, the detection unit 22 is disposed at a side of the bottom of the auxiliary container 21 away from the opening, that is, the detection unit 22 is disposed at a lower side of the bottom of the auxiliary container 21, so that the bottom of the auxiliary container 21 is located between the detection unit 22 and the opening of the auxiliary container 21, and the transmission of the detection signal can be ensured by providing the transmission portion at the bottom of the auxiliary container 21.
In some embodiments of the present application, the bottom of the auxiliary container 21 is provided with mounting holes.
The detection unit 22 is provided at a side of the bottom of the auxiliary container 21 facing the opening; the detection unit 22 is provided in the mounting hole or in the accommodation chamber of the auxiliary container 21 through the mounting hole.
It will be appreciated that the mounting holes may be blind holes or through holes. If the mounting hole is a through hole, a sealing device such as a sealing ring can be arranged at the through hole, so that the auxiliary container 21 is prevented from leaking to cause the change of the container water level line when the water tank water level line detection device 2 is positioned on the water tank water level line.
It should be noted that, in order to implement the detection of the water line of the container, in addition to the above embodiment in which the detection unit 22 is disposed at the lower side of the bottom of the auxiliary container 21, the embodiment of the present application may also dispose the detection unit 22 at the bottom of the auxiliary container 21 or the receiving cavity through the mounting hole; specifically, one possible implementation is to arrange the detection unit 22 directly in the mounting hole at the bottom of the auxiliary container 21; another possible implementation is to connect the detection unit 22 with the bottom of the auxiliary container 21 by means of the mounting hole, so that the detection unit 22 is located in the receiving cavity of the auxiliary container 21. In both cases the mounting hole and the receiving cavity are small in volume and a small-sized detection unit 22 is required.
The scheme of the embodiment of the application avoids the influence of the bottom entity structure between the detection unit 22 and the opening, and can further improve the accuracy and reliability of identifying the water level line of the pool.
In some embodiments of the present application, the detection unit 22 includes at least one of an infrared sensor, a laser sensor, an ultrasonic sensor;
wherein, the distance between the transmitting end and the receiving end of the ultrasonic sensor and the opening is more than or equal to 3cm.
In the embodiment of the present application, the detection unit 22 may employ various sensors to implement the identification of the pool water line. Specifically, the detection unit 22 may employ an infrared sensor or a laser sensor or an ultrasonic sensor. The detection signals emitted by the infrared sensor and the laser sensor are respectively infrared rays and laser, and are electromagnetic waves. The detection signal emitted by the ultrasonic sensor is ultrasonic wave, and the ultrasonic wave is a mechanical wave with extremely short wavelength. Because the wavelength of the ultrasonic wave is short, the ultrasonic wave is extremely easy to be lost and scattered in the air, and in order to avoid a detection blind area of the ultrasonic sensor, the distance between the transmitting end and the receiving end of the ultrasonic sensor and the opening is set to be more than or equal to 3cm.
Referring next to fig. 1, a second aspect of the present application also proposes a pool cleaning device comprising a housing 1 and a pool water line detection apparatus 2 as described in any of the above first aspect implementations,
The pool water level line detection device 2 is arranged on the shell 1; the auxiliary tank 21 of the pool water line detecting apparatus 2 is open in a direction that coincides with the direction of travel of the pool cleaning device.
The working principle of the pool cleaning device of the present application will be briefly described below by way of example. Referring to fig. 1, a flow passage is arranged in a shell 1, a water pump and a filter screen are arranged on the flow passage, a water inlet of the flow passage is positioned at an abdomen 112 of the shell 1, and a water outlet of the flow passage is positioned at a back 111 of the shell 1. Under the action of the water pump, water continuously enters the water channel from the water inlet, and then flows out from the water outlet after being filtered by the filter screen, and the pressure difference between the water inlet and the water outlet enables the pool cleaning device to obtain the pressure pressed on the pool wall. The shell 1 is also provided with a motor, a driving wheel, a driven wheel, a transmission mechanism and a roller 13, wherein the motor drives the driving wheel to rotate, and the driving wheel drives the driven wheel and the roller 13 to rotate through the transmission mechanism, so that the pool cleaning device is driven to walk. The roller 13 disturbs and cleans foreign matters on the surface of the tank wall, so that sewage can enter the water inlet under the negative pressure effect of the water inlet. The sewage entering the water inlet is filtered by the filter screen and then discharged from the water outlet. The upstream of one side of the filter screen close to the water inlet forms a dirt inlet, and dirt intercepted by the filter screen enters the dirt inlet and is collected.
In the embodiment of the present application, an auxiliary container 21 having an opening is provided on the housing 1, and the direction of the opening is consistent with the traveling direction of the housing 1; for example, when the opening is located at the nose end 121 of the housing 1, the orientation of the opening coincides with the forward travel direction of the housing 1; when the opening is located at the tail end 122 of the housing 1, the orientation of the opening coincides with the reverse travel direction of the housing 1.
Since the pool water line detecting means 2 is mounted on the housing 1 of the pool cleaning device, the auxiliary tank 21 is not functional as the pool cleaning device is located below the pool water line, similarly to the pool water line detecting means 2, and the detecting unit 22 always detects the pool water line; when the pool cleaning device is located on the pool water line, i.e. the auxiliary tank 21 on the housing 1 is exposed to the water, the detection unit 22 detects that it is no longer the pool water line but the tank water line.
Due to the difference in the relative positions of the pool cleaning device and the pool water line, the time difference between the reflected signal from the pool water line or the container water line detected by the detection unit 22 and the detected signal changes accordingly. Thus, by providing the detection unit 22 on the pool cleaning device housing 1 and the auxiliary reservoir 21 with an opening oriented in line with the direction of travel of the pool cleaning device, the relative position between the pool cleaning device and the pool water line can be determined and the pool water line identified based on the reflected signal from the pool water line or reservoir water line detected by the detection unit 22.
Similar to the pool water line detection device 2 in the above embodiment, for clarity of the layout structure of the present application, the method of detecting the pool water line is described in detail below with respect to how the relative position between the pool cleaning device and the pool water line is determined based on the reflected signal reflected by the pool water line or the tank water line detected by the detection unit 22 on the pool cleaning device housing 1.
In some embodiments of the present application, the auxiliary container 21 of the pool water line detecting apparatus 2 is integrally formed with the housing 1.
In the solution of the embodiment of the present application, the housing 1 of the pool cleaning device and the auxiliary container 21 can be integrally formed by using a stamping, injection molding or other processing technique. In this way, on the one hand, the manufacturing, machining and assembly processes of the housing 1 of the pool cleaning device and the auxiliary container 21 can be simplified, and on the other hand, the tightness of the housing 1 of the pool cleaning device and the auxiliary container 21 can be ensured, avoiding the provision of additional sealing structures between the housing 1 of the pool cleaning device and the auxiliary container 21.
In some embodiments of the present application, the pool water line detection device 2 comprises a first pool water line detection device and/or a second pool water line detection device; the first pool water line detection device is positioned near the nose end 121 of the housing 1; the second pool water line detection means is located near the tail end 122 of the housing 1.
In this embodiment, the first pool water line detection device may be disposed only at a position where the back 111 of the housing 1 is close to the head end 121, see fig. 1; it is also possible to provide the second pool water line detection means only at a position of the back 111 of the casing 1 near the machine tail end 122. In view of having both ends of the pool cleaning device identifiable the pool water level, the present application can also provide a first pool water level detection device and a second pool water level detection device, respectively, at a location of the housing 1 near the head end 121 and a location of the housing 1 near the tail end 122.
It should be noted that, on the one hand, considering the structural limitation of the pool cleaning device, and on the other hand, considering that the pool cleaning device needs a part of the housing 1 to be exposed to the water when cleaning the pool water surface line, the pool water line detection device 2 is disposed near the nose end 121 or the tail end 122 of the housing 1 in the embodiment of the present application, rather than being directly disposed at the nose end 121 or the tail end 122. Of course, in some possible embodiments, such as regardless of the structural limitations of the pool cleaning device, when the pool water line detection device 2 is disposed at either the nose end 121 or the tail end 122 of the housing 1, good cleaning of the pool water line can be achieved by delaying control of the motion of the pool cleaning device.
In this embodiment, through setting up a plurality of pond water line detection device 2, can make the detection of pond water line all be realized to pond cleaning device in the direction of advancing or the direction of backing.
In some embodiments of the present application, the first pool water line detection device and/or the second pool water line detection device is provided at the back 111 of the housing 1;
the pool water line detecting apparatus 2 includes a third pool water line detecting apparatus provided at the belly 112 of the housing 1; the third pool water line detection means is located near the nose end 121 or the tail end 122 of the housing 1.
In order to improve the operational reliability of the pool cleaning device, in combination with the specific construction of the pool cleaning device, when the abdomen 112 of the housing 1 is provided with the drum 13 near the nose end 121 of the housing 1, referring to fig. 1, the present application may further provide a third pool water line detection device at a position of the abdomen 112 of the housing 1 near the tail end 122 of the machine. Of course, if the drum 13 is disposed at the belly 112 of the casing 1 near the tail end 122 of the casing 1 instead of the head end 121, the third pool water line detection device may be disposed at a position of the belly 112 of the casing 1 near the head end 121.
In the embodiment, the third pool water level line detection device is arranged, so that the third pool water level line detection device and the second pool water level line detection device are used for one time, and the redundancy of equipment is effectively improved.
Fig. 4 is a flowchart of a method for detecting a water level line of a pool according to an embodiment of the present application. Referring to fig. 4, the present application proposes a pool water line detection method applied to the pool water line detection device 2 or the pool cleaning apparatus according to any one of the above embodiments, the method comprising the steps of:
s401, emitting a detection signal toward an opening of the auxiliary container.
Regardless of the type of sensor used in the detection unit 22, it has a transmitting end and a receiving end. As can be seen from the above described embodiments of the pool water line detection device 2 and pool cleaning apparatus, the detection unit 22 is located below the opening of the auxiliary reservoir 21, i.e. the reservoir water line, so that the emitting end of the detection unit 22 can emit a detection signal in alignment with the opening of the auxiliary reservoir 21. The detection signals can be transmitted according to a certain rule, and in a possible implementation manner, the detection signals can be periodically transmitted at intervals of a preset time period, so that a water level line of a water tank is continuously detected; in another possible implementation, the detection signal may be emitted under certain conditions, such as upon determining that the pool water line detection device 2 or pool cleaning apparatus is located below the pool water line, periodically at predetermined intervals, so that the pool water line can be continuously detected while reducing power consumption.
Different kinds of detection signals may be emitted according to the specific type of the detection unit 22; for example, when the detection unit 22 employs a sensor such as an infrared sensor or a laser sensor, electromagnetic wave detection signals such as infrared rays or laser light may be emitted, and when an ultrasonic sensor is employed, mechanical wave detection signals such as ultrasound may be emitted.
S402, receiving a reflected signal reflected after the detection signal reaches the water level line.
Wherein the water level line is a pool water level line or a container water level line.
When the detection signal transmitted by the transmitting end is reflected and returned, the detection signal is received by the receiving end. It should be noted that, for different positional relationships of the pool water line detection device 2 or the pool cleaning apparatus and the pool water line, the reflected signal is reflected by the different water line and returned.
Specifically, when the pool water line detection device 2 or pool cleaning apparatus is located below the pool water line, the detection signal continues to propagate upward after passing through the water in the auxiliary tank 21 until it reaches the pool water line and is not partially reflected as a reflected signal to be received by the receiving end of the detection unit 22.
When the pool water level detection device 2 or the pool cleaning apparatus is located on the pool water level, the auxiliary tank 21 is exposed to the water surface at this time, and the detection signal passes through only the water in the auxiliary tank 21 and is partially reflected as a reflection signal after reaching the water surface of the water tank to be received by the receiving end of the detection unit 22.
S403, determining a time difference between receiving the reflected signal and transmitting the detected signal.
And respectively recording the time of transmitting the detection signal and the time of receiving the reflection signal, and calculating the time difference between the received reflection signal and the transmitted detection signal.
S404, based on the time difference, determining the relative position between the pool water level detection device or pool cleaning apparatus and the pool water level.
In the above technical solution, because the relative positions between the pool water line detection device 2 or the pool cleaning device and the pool water line are different, the time difference between the reflected signal reflected by the pool water line or the container water line detected by the detection unit 22 and the detected signal is changed correspondingly, so that the relative position between the pool water line detection device 2 or the pool cleaning device and the pool water line can be determined according to the time difference between the received reflected signal and the transmitted detected signal.
Specifically, in one possible implementation, the distance between the pool water level detection device 2 or the pool cleaning device and the pool water level may be determined by a time difference, a propagation speed of the detection signal in the water, a real-time movement speed of the pool water level detection device 2 or the pool cleaning device, etc., and then the relative position between the pool water level detection device 2 or the pool cleaning device and the pool water level is determined based on the distance. For example, by multiplying the time difference by the propagation velocity of the detection signal in the water, the travel path of the detection signal can be determined; by multiplying the time difference by the travel speed of the pool water line detection device 2 or the pool cleaning device, the travel path of the pool water line detection device 2 or the pool cleaning device can be determined. The distance from the detection unit 22, the pool water line detection device 2 or the pool cleaning device to the pool water line can be obtained by dividing the sum of the travel path of the detection signal and the travel path of the pool water line detection device 2 or the pool cleaning device by 2. From this distance the relative position between the pool water level detection means 2 or the pool cleaning device and the pool water level can be determined. In another possible implementation, the relative position between the pool water line detection device 2 or the pool cleaning apparatus and the pool water line may also be determined directly by the time difference; with respect to such an implementation, detailed description will be made below.
FIG. 5 is a flowchart of another method for detecting a water level of a pool according to an embodiment of the present application. Referring to fig. 5, the present application further provides a method for detecting a water line of a pool, the method comprising the steps of:
s501, a detection signal is emitted toward the opening of the auxiliary container.
S502, receiving a reflected signal reflected after the detection signal reaches the water level line.
Wherein the water level line is a pool water level line or a container water level line.
S503, determining a time difference between receiving the reflected signal and transmitting the detected signal.
Steps S501, S502, and S503 in the embodiment of the present application are the same as steps S401, S402, and S403 in the above embodiment, and are not described here again.
S504, if the time difference is equal to or less than the preset time difference, the pool water level detection device or the pool cleaning device reaches the position of the pool water level.
When the pool water level detecting device 2 or the pool cleaning device is partially exposed to the water surface, i.e. the auxiliary container 21 is located on the pool water level, the detection signal emitted by the detecting unit 22 returns after reaching the container water level, and the relative position between the auxiliary container 21 and the detecting unit 22 is fixed, i.e. the relative position between the container water level and the detecting unit 22 is also fixed (ignoring the shake of the container water level after the pool water level detecting device 2 or the pool cleaning device is discharged), the time difference between the received reflection signal and the emitted detection signal is a fixed time difference, so that the water surface exposure of the pool water level detecting device 2 or the pool cleaning device can be known based on the time difference, i.e. the position of the pool water level detecting device 2 or the pool cleaning device reaches the pool water level.
It will be appreciated that the above-mentioned fixed time difference may fluctuate within a certain range due to the shaking and detection error of the tank water line caused by the unstable movement of the pool water line detection device 2 or the pool cleaning device, etc., and thus, in this embodiment of the present application, the preset time difference may be an interval value including the fixed time difference, for example, if the fixed time difference is 2, the preset time difference is any number of intervals [1,3], that is, when the time difference is any number of [1,3], the pool water line detection device 2 or the pool cleaning device reaches the position of the pool water line. In this particular case, if the time difference is less than the preset time difference, the pool water level detection device or the pool cleaning device can be considered to reach the pool water level, because the pool water level detection device 2 or the pool cleaning device may shake severely after water is discharged, and water in the auxiliary container is spilled, so that the water level of the container is lowered.
In addition, since the relative position between the tank water line and the detecting unit 22 is always fixed when the auxiliary tank 21 is located on the tank water line, if the determined time difference is excessively abnormal, verification can be performed by transmitting a plurality of detection signals, thereby ensuring the reliability of the detection of the tank water line.
S505, if the time difference is greater than the preset time difference, the pool water line detection device or the pool cleaning apparatus is positioned below the pool water line.
When the pool water line detecting means 2 or the pool cleaning device is fully submerged, i.e., the auxiliary tank 21 is located under the pool water line, the detection signal emitted from the detecting unit 22 returns after reaching the pool water line, and at this time, the distance between the pool water line and the detecting unit 22 is greater than the distance between the tank water line and the detecting unit 22, and becomes larger or smaller as the pool water line detecting means 2 or the pool cleaning device approaches or gets away from the pool water line. Thus, the pool water line detection device 2 or pool cleaning apparatus is known to submerge in the water based on the time difference. In other words, when the time difference is greater than the preset time difference, the pool water line detection device 2 or the pool cleaning apparatus is in a position below the pool water line.
It should be noted that there are also various ways of determining the relative position between the pool water level detection device or pool cleaning apparatus and the pool water level based on the time difference. In another possible implementation, since the relative position between the tank water line and the detection unit 22 is fixed after the tank water line detection device 2 or the tank cleaning apparatus is partially exposed to the water surface, a plurality of detection signals can be continuously emitted, and the position of the tank water line detection device or the tank cleaning apparatus can be determined by a plurality of continuously determined time differences.
Specifically, if the target time difference is less than or equal to a plurality of time differences determined within a predetermined period of time after the target time difference, a location at or below the pool water level is determined at which the pool water level detection device or pool cleaning apparatus reaches the pool water level. The target time difference is the smallest time difference among time differences determined continuously for a plurality of times.
Wherein the time interval for transmitting the plurality of detection signals and the length of the predetermined time period can be determined by using an empirical value or by a plurality of experiments.
In the scheme, the target time with the minimum value in a plurality of time differences which are continuously determined is taken as a reference, if the plurality of time differences which are determined for a longer time are all greater than or equal to the target time difference, namely the target time difference is not updated for a long time, when the pool water level line detection device or the pool cleaning device moves towards the pool water level line, the position of the pool water level line detection device or the pool cleaning device can be determined to be reached; the position of the pool water line detection device or pool cleaning device below the pool water line can be determined as the pool water line detection device or pool cleaning device moves away from the pool water line.
In the above technical scheme, by using the corresponding relation between the time difference between the received reflected signal and the transmitted detection signal and the relative position between the pool water level line detection device 2 or the pool cleaning device and the pool water level line, whether the pool water level line detection device 2 or the pool cleaning device reaches the position of the pool water level line and is positioned below the pool water level line can be known rapidly and accurately.
Fig. 6 is a flow chart of another method of controlling a pool cleaning device in accordance with an embodiment of the present application. Referring to fig. 6, the present application also provides a method of controlling a pool cleaning device, the method comprising the steps of:
s601, transmitting a detection signal toward the opening of the auxiliary container.
S602, receiving a reflected signal reflected after the detection signal reaches the water level line.
Wherein the water level line is a pool water level line or a container water level line.
S603, determining a time difference between receiving the reflected signal and transmitting the detected signal.
S604, if the time difference is equal to or less than the preset time difference, the pool cleaning device reaches the pool water line position.
Steps S601, S602, S603, and S604 are the same as steps S501, S502, S503, and S504 in the above embodiments, and are not described here.
S605 controls the pool cleaning device to stop and/or reverse movement when the pool cleaning device reaches the pool water line position.
It should be noted that when the pool cleaning device reaches the position of the pool water line, it is necessary to control the pool cleaning device in time not to climb up, otherwise, when the pool cleaning device is exposed to the water surface at a certain height, the pool cleaning device is easy to fall. Because the water pump of the pool cleaning device cannot draw water through the water inlet of the belly 112 and drain water from the back 111, the pressure with which the pool cleaning device is pressed against the pool wall cannot be obtained by the pressure difference between the water inlet and the water outlet. When the conditions such as the end of countdown are met, the pool cleaning device is controlled to stop at the position of the pool water level line, and the recovery of the pool cleaning device is facilitated. With respect to controlling the reversing movement of the pool cleaning device, it is specifically possible to control the pool cleaning device to move in a plurality of directions, such as vertically downward, at an angle (e.g., 10 °, 30 °, 45 °, etc.) to the vertically downward, and in a direction opposite to the original direction of movement.
When the pool cleaning device reaches the position of the pool water line, the pool cleaning device is controlled to stop and/or move in a reversing way, so that the pool cleaning device can be ensured to be always pressed on the pool wall, and the pool water line is cleaned.
If the time difference is greater than the preset time difference, S606, the pool cleaning device is in a position below the pool water line.
Step S606 is the same as step S505 in the above embodiment, and will not be described here again.
S607 controlling the pool cleaning device to move towards the pool water line when the pool cleaning device is in a position below the pool water line.
It will be appreciated that there are a variety of ways in which the pool cleaning device can be controlled to move towards the pool water line. In one possible implementation, to increase the efficiency of cleaning the pool water line, the pool cleaning device can be controlled to move accelerated toward the pool water line when the pool cleaning device is in a position below the pool water line and a distance from the pool water line is greater; the pool cleaning device can be controlled to slow down or move at a constant speed toward the pool water line as the pool cleaning device moves closer to the pool water line.
According to the technical scheme, the relative position between the pool cleaning device and the pool water level line can very conveniently control the pool cleaning device to move nearby the pool water level line, so that the pool water level line is effectively cleaned.
Fig. 7 is a schematic structural diagram of a pool water line detection device according to an embodiment of the present application. Exemplary, as shown in fig. 7, the present application provides a pool water line detection apparatus, the detection apparatus comprising:
A signal emitting module 701 for emitting a detection signal toward an opening of the auxiliary container;
the signal receiving module 702 is configured to receive a reflected signal reflected after the detection signal reaches the water line; wherein the water level line is a pool water level line or a container water level line;
a time difference determining module 703 for determining a time difference between the received reflected signal and the transmitted probe signal;
a position determination module 704 for determining a relative position between the pool water line detection device or pool cleaning apparatus and the pool water line based on the time difference.
Fig. 8 is a schematic structural view of a control device of a pool cleaning apparatus according to an embodiment of the present application. Illustratively, as shown in FIG. 8, the present application provides a control device for a pool cleaning apparatus, the control device comprising:
a position detection module 801 for determining a relative position between the pool cleaning device and the pool water line using the pool water line detection method described in any of the above embodiments;
a device control module 802 for controlling the pool cleaning device to stop and/or reverse movement when the pool cleaning device reaches a pool water line position; the pool cleaning device is controlled to move toward the pool water line when the pool cleaning device is in a position below the pool water line.
Fig. 9 is a schematic structural diagram of an electronic device according to an embodiment of the present application. As illustrated in fig. 9, the present application provides an electronic device, which includes a processor 901, a communication interface 902, a memory 903, and a communication bus 904, wherein the processor 901, the communication interface 902, and the memory 903 communicate with each other through the communication bus 904;
a memory 903 for storing a computer program;
the processor 901 is configured to implement the detection method and the control method in the above embodiments when executing the program stored in the memory 903.
In this embodiment, the electronic device may be divided into functional modules according to the above method example, for example, each functional module may be corresponding to one processing module, or two or more functions may be integrated into one processing module, where the integrated modules may be implemented in a hardware form. It should be noted that, in this embodiment, the division of the modules is schematic, only one logic function is divided, and another division manner may be implemented in actual implementation.
In the case of dividing each function module with corresponding each function, the electronic device may include: a position detection module, a device control module, etc. It should be noted that, all relevant contents of each step related to the above method embodiment may be cited to the functional descriptions of the corresponding functional modules, which are not described herein.
The electronic device provided in this embodiment is configured to execute the detection method and the control method, so that the same effects as those of the implementation method can be achieved.
In case an integrated unit is employed, the electronic device may comprise a processing module, a memory module. The processing module can be used for controlling and managing the actions of the electronic equipment. The memory module may be used to support the electronic device in executing, inter alia, program code and data.
Wherein the processing module may be a processor or controller that may implement or execute the various illustrative logical blocks, modules, and circuits described in connection with the present disclosure. A processor may also be a combination of computing functions, e.g., including one or more microprocessors, digital signal processing (digital signal processing, DSP) and microprocessor combinations, etc., and a memory module may be a memory.
The present embodiment also provides a computer-readable storage medium storing a computer program that, when executed, implements the detection method and the control method in the above embodiments.
The present embodiment also provides a computer program product, which when run on a computer, causes the computer to perform the above-mentioned related steps to implement the detection method and the control method in the above-mentioned embodiments.
In addition, the electronic device provided by the embodiment of the application can be a chip, a component or a module, and the electronic device can comprise a processor and a memory which are connected; the memory is used for storing instructions, and when the electronic device runs, the processor can call and execute the instructions so that the chip executes the detection method and the control method in the embodiment.
The electronic device, the computer readable storage medium, the computer program product or the chip provided in this embodiment are used to execute the corresponding method provided above, so that the beneficial effects thereof can be referred to the beneficial effects in the corresponding method provided above, and will not be described herein.
It will be appreciated by those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional modules is illustrated, and in practical application, the above-described functional allocation may be performed by different functional modules according to needs, i.e. the internal structure of the apparatus is divided into different functional modules to perform all or part of the functions described above.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of modules or units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another apparatus, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.
The foregoing is merely specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily think about changes or substitutions within the technical scope of the present application, and the changes and substitutions are intended to be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (15)
1. A pool water line detection device, comprising:
an auxiliary container (21), the auxiliary container (21) being provided with an opening;
a detection unit (22), the detection unit (22) being located on one side of the opening; the detection unit (22) is used for transmitting detection signals towards the outer side of the auxiliary container (21) to the opening so as to determine the relative position between the water level line detection device and the water level line of the water tank.
2. A pool water line detection device as claimed in claim 1, wherein the detection unit (22) is arranged at the side of the bottom of the auxiliary container (21) facing away from the opening;
a transmission part is formed at the bottom of the auxiliary container (21) to transmit the detection signal generated by the detection unit (22).
3. A pool water line detection device as claimed in claim 1, wherein the bottom of the auxiliary container (21) is provided with a mounting hole;
The detection unit (22) is arranged at one side of the bottom of the auxiliary container (21) facing the opening; the detection unit (22) is arranged in the mounting hole or arranged in the accommodating cavity of the auxiliary container (21) through the mounting hole.
4. A pool water line detection apparatus as claimed in any one of claims 1 to 3, wherein the detection unit (22) comprises at least one of an infrared sensor, a laser sensor, an ultrasonic sensor.
5. A pool cleaning apparatus, comprising:
a housing (1),
a pool water line detection device (2) as claimed in any one of claims 1 to 4, the pool water line detection device (2) being mounted on the housing (1); the auxiliary container (21) of the pool water line detecting device (2) is opened in the same direction as the traveling direction of the pool cleaning device.
6. Pool cleaning apparatus as claimed in claim 5, characterized in that the auxiliary reservoir (21) of the pool water line detection device (2) is integrally formed with the housing (1).
7. Pool cleaning apparatus as claimed in claim 5, characterized in that the pool water line detection device (2) comprises a first pool water line detection device and/or a second pool water line detection device; the first pool water level line detection device is positioned close to a machine head end (121) of the shell (1); the second pool water level line detection device is located near the tail end (122) of the shell (1).
8. Pool cleaning apparatus as claimed in claim 7, characterized in that the first pool water line detection means and/or the second pool water line detection means are provided on the back (111) of the housing (1).
9. A pool water line detection method as claimed in any one of claims 1 to 4, applied to a pool water line detection apparatus as claimed in any one of claims 5 to 8, the method comprising:
transmitting a detection signal toward an opening of the auxiliary container;
receiving a reflected signal reflected after the detection signal reaches a water level line; wherein the water level line is a pool water level line or a container water level line;
determining a time difference between receiving the reflected signal and transmitting the detected signal;
based on the time difference, a relative position between the pool water line detection device or the pool cleaning apparatus and the pool water line is determined.
10. The pool water line detection method of claim 9, wherein the determining a relative position between the pool water line detection device or the pool cleaning apparatus and the pool water line based on the time difference comprises:
if the time difference is equal to or less than a preset time difference, the pool water level line detection device or the pool cleaning device reaches the position of the pool water level line;
If the time difference is greater than a preset time difference, the pool water level line detection device or the pool cleaning device is positioned below the pool water level line;
or alternatively, the process may be performed,
if the target time difference is less than or equal to a plurality of time differences determined within a predetermined period of time after the target time difference, the pool water level detection device or the pool cleaning apparatus reaches a position of the pool water level or a position below the pool water level; the target time difference is the smallest time difference among time differences determined continuously for a plurality of times.
11. A method of controlling a pool cleaning device, the method comprising:
determining the relative position between the pool cleaning device and the pool water line using the pool water line detection method of claim 10;
controlling the pool cleaning device to stop and/or reverse movement when the pool cleaning device reaches a pool water line position;
the pool cleaning device is controlled to move toward the pool water line when the pool cleaning device is in a position below the pool water line.
12. A pool water line detection apparatus as claimed in any one of claims 1 to 4, applied to a pool water line detection apparatus or a pool cleaning device as claimed in any one of claims 1 to 8, comprising:
A signal emitting module for emitting a detection signal toward an opening of the auxiliary container;
the signal receiving module is used for receiving a reflected signal reflected after the detection signal reaches the water level line; wherein the water level line is a pool water level line or a container water level line;
a time difference determining module for determining a time difference between receiving the reflected signal and transmitting the detected signal;
and a position determining module for determining a relative position between the pool water line detection device or the pool cleaning apparatus and the pool water line based on the time difference.
13. A control device for a pool cleaning appliance, comprising:
a position detection module for determining a relative position between the pool cleaning device and the pool water line using the pool water line detection method of claim 10;
an equipment control module for controlling the pool cleaning device to stop and/or reverse movement when the pool cleaning device reaches a pool water line position; the pool cleaning device is controlled to move toward the pool water line when the pool cleaning device is in a position below the pool water line.
14. An electronic device, characterized in that the electronic device comprises a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory are in communication with each other through the communication bus;
A memory for storing a computer program;
a processor for implementing the method of any one of claims 9 to 11 when executing a program stored on a memory.
15. A computer readable storage medium, characterized in that the computer readable storage medium stores a computer program which, when executed, implements the method according to any of claims 9 to 11.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310264546.7A CN116290952A (en) | 2023-03-17 | 2023-03-17 | Pool water level line detection device, pool cleaning device, detection method and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310264546.7A CN116290952A (en) | 2023-03-17 | 2023-03-17 | Pool water level line detection device, pool cleaning device, detection method and control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116290952A true CN116290952A (en) | 2023-06-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310264546.7A Pending CN116290952A (en) | 2023-03-17 | 2023-03-17 | Pool water level line detection device, pool cleaning device, detection method and control method |
Country Status (1)
| Country | Link |
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| CN (1) | CN116290952A (en) |
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2023
- 2023-03-17 CN CN202310264546.7A patent/CN116290952A/en active Pending
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