CN117472085A - Control system of underwater cleaning robot - Google Patents

Abstract

The application discloses a control system of cleaning robot under water belongs to robot technical field. Through the technical scheme provided by the embodiment of the application, under the condition that the return condition is met, the underwater cleaning robot moves towards the direction where the base station is located. When reaching the vicinity of the base station, the underwater cleaning robot climbs up the wall to dock the base station. Under the condition that the underwater cleaning robot and the base station are in butt joint, the locking mechanism is used for fixing the underwater cleaning robot, and the base station is relatively fixed in position, so that large-area searching is not needed when the underwater cleaning robot is salvaged, and the efficiency of salvaging the underwater cleaning robot is improved.

Description

Control system of underwater cleaning robot

Technical Field

The application relates to the technical field of robots, in particular to a control system of an underwater cleaning robot.

Background

With the development of computer technology, robot technology has also rapidly developed, for example, users use a floor sweeping robot to clean floors of houses, a window cleaning robot to clean windows of houses, an underwater cleaning robot to clean ponds, and the like.

In the related art, when a water pool is cleaned using a submerged cleaning robot, the submerged cleaning robot is operated until the electric power is exhausted. After the power is exhausted, the underwater cleaning robot may be stopped at the water bottom, and a worker needs to drag up the underwater cleaning robot using a tool.

However, since the position where the underwater cleaning robot stops at the water bottom is not fixed, it takes much time to search for the underwater cleaning robot every time of salvage, and the salvage efficiency of the underwater cleaning robot is low.

Disclosure of Invention

The embodiment of the application provides a control system of cleaning robot under water, can improve cleaning robot's under water salvage efficiency, and technical scheme is as follows:

the system comprises an underwater cleaning robot and a base station, wherein a locking mechanism is arranged on the underwater cleaning robot and/or the base station, the underwater cleaning robot at least comprises a motor, a power supply module and a filter, and the base station is positioned on a pool wall corresponding to a water line of a pool;

the underwater cleaning robot is used for moving towards the direction of the base station under the condition that the return condition is met;

The underwater cleaning robot is also used for climbing upwards to butt joint with the base station when reaching the vicinity of the base station;

the base station is used for controlling the locking mechanism to fix the underwater cleaning robot under the condition that the underwater cleaning robot and the base station are in butt joint.

In a possible implementation manner, the base station comprises a water communication unit, wherein the water communication unit is used for communication of water equipment;

the base station further comprises an underwater communication unit, the underwater communication unit is used for guiding the underwater cleaning robot to move towards the direction of the base station and simultaneously communicate with underwater equipment, and the underwater communication unit is electrically connected with the water communication unit.

In a possible implementation manner, the underwater communication unit is used for sending ultrasonic signals, and the underwater cleaning robot is used for receiving the ultrasonic signals sent by the base station through at least two ultrasonic receiving subunits of the underwater cleaning robot, which are positioned at different positions of the underwater cleaning robot, under the condition that the return condition is met; and controlling the underwater cleaning robot to move towards the base station based on the signal parameters of the ultrasonic signals received by the at least two ultrasonic receiving subunits until the underwater cleaning robot and the base station are in butt joint.

Or the underwater communication unit is used for sending a wireless signal, and the underwater cleaning robot is used for receiving the wireless signal sent by the base station through at least two wireless receiving units of the underwater cleaning robot under the condition that the return condition is met, wherein the at least two wireless receiving units are positioned at different positions of the underwater cleaning robot; and controlling the underwater cleaning robot to move towards the base station based on the signal parameters of the wireless signals received by the at least two wireless receiving units until the underwater cleaning robot and the base station are in butt joint.

Or the underwater communication unit is used for emitting light with preset wavelength, and the underwater cleaning robot is used for collecting the environment image of the underwater cleaning robot through the image collecting unit of the underwater cleaning robot under the condition that the return condition is met; and controlling the underwater cleaning robot to move towards the base station based on the pixel points with the preset wavelength in the environment image.

In addition, the underwater communication units are arranged on the central axis of the base station and/or on the left side and the right side of the central axis of the base station, which are symmetrical.

In one possible implementation manner, the water communication unit is used for responding to a control instruction sent by a target terminal, the control instruction is sent to the underwater communication unit, the underwater communication unit forwards the control instruction to the underwater cleaning robot, and the target terminal is a terminal with control authority of the underwater cleaning robot;

the underwater communication unit is further used for responding to feedback information sent by the underwater cleaning robot, sending the feedback information to the water communication unit, and forwarding the feedback information to the target terminal by the water communication unit.

In a possible implementation manner, the underwater portion further comprises a wireless charging transmitting coil, the underwater cleaning robot further comprises a wireless charging receiving coil, the wireless charging transmitting coil is located below the wireless charging receiving coil when the underwater cleaning robot is in butt joint with the base station, and the base station is further used for charging the underwater cleaning robot through the wireless charging transmitting coil and the wireless charging receiving coil when the locking mechanism fixes the underwater cleaning robot.

In one possible embodiment, the base station further comprises a solar panel, which provides power to the base station and/or the wireless charging transmitting coil.

In one possible implementation, the base station further includes a battery, the solar panel is electrically connected to the battery, and the battery supplies power to the base station and the wireless charging transmitting coil.

In one possible embodiment, the locking mechanism may be unlocked by the underwater cleaning robot and/or the base station such that the underwater cleaning robot may disengage from the base station.

In one possible embodiment, the base station further comprises a garbage collection unit, and the underwater cleaning robot further comprises a filter, and the garbage collection unit extracts garbage in the filter.

In one possible embodiment, the system further comprises a pump system, the garbage collection unit interfaces with the opening of the filter, and the base station is further configured to control the pump system to absorb garbage from the opening to the garbage collection unit.

In a possible embodiment, the locking mechanism and the underwater cleaning robot comprise permanent magnets and/or metal blocks for establishing magnetic connection with the permanent magnets and/or metal blocks of the underwater cleaning robot to fix the underwater cleaning robot in case the underwater cleaning robot completes the docking with the base station;

Alternatively, the locking mechanism comprises an electromagnet, the underwater cleaning robot comprises a permanent magnet and/or a metal block, the electromagnet is positioned adjacent to the permanent magnet and/or the metal block when the underwater cleaning robot is in butt joint with the base station, and the base station is used for energizing the electromagnet when the underwater cleaning robot is in butt joint with the base station, so that the electromagnet applies magnetic force to the permanent magnet and/or the metal block to fix the underwater cleaning robot;

or, the locking mechanism comprises a hook, the underwater cleaning robot comprises a protrusion or a groove matched with the hook, and the base station is used for connecting the hook of the locking mechanism with the protrusion or the groove to fix the underwater cleaning robot under the condition that the underwater cleaning robot is in butt joint with the base station.

In one possible embodiment, the return conditions include: whether the residual electric quantity of the underwater cleaning robot is smaller than or equal to an electric quantity threshold value, whether a filter of the underwater cleaning robot is filled with garbage, whether the underwater cleaning robot completes a preset cleaning task, and whether the underwater cleaning robot receives a return instruction.

In a possible embodiment, the base station and/or the underwater cleaning robot further comprise a docking detection unit for determining whether the underwater cleaning robot has completed docking with the base station based on a relative positional relationship with the docking unit.

Through the technical scheme provided by the embodiment of the application, under the condition that the return condition is met, the underwater cleaning robot moves towards the direction where the base station is located. When reaching the vicinity of the base station, the underwater cleaning robot climbs up the wall to dock the base station. Under the condition that the underwater cleaning robot and the base station are in butt joint, the locking mechanism is used for fixing the underwater cleaning robot, and the base station is relatively fixed in position, so that large-area searching is not needed when the underwater cleaning robot is salvaged, and the efficiency of salvaging the underwater cleaning robot is improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following description will briefly explain the drawings needed in the description of the embodiments, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic view of a control system of an underwater cleaning robot according to an embodiment of the present application;

fig. 2 is a schematic structural diagram of a base station according to an embodiment of the present application.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the present application more apparent, the embodiments of the present application will be described in further detail below with reference to the accompanying drawings.

The terms "first," "second," and the like in this application are used to distinguish between identical or similar items that have substantially the same function and function, and it should be understood that there is no logical or chronological dependency between the "first," "second," and "nth" terms, nor is it limited to the number or order of execution.

An underwater cleaning robot: robots for performing underwater cleaning tasks, such as placing an underwater cleaning robot in a pool, the underwater cleaning robot being capable of cleaning the bottom of the pool. In some embodiments, the underwater cleaning robot further has a wall climbing function, which can clean the wall of the water tank.

Computer vision: computer vision is a science of how to make a machine "see", more specifically, it means that an image acquisition device and a computer are used to replace human eyes to recognize, track and measure targets, and further perform graphic processing, so that the computer processes the targets into images more suitable for human eyes to observe or transmit to an instrument to detect. As a scientific discipline, computer vision research-related theory and technology has attempted to build artificial intelligence systems that can obtain 'information' from images or multidimensional data.

Ultrasonic wave: ultrasonic waves are mechanical waves of extremely short wavelength, typically shorter than 2cm (centimeters) in air. It relies on the medium to propagate, can not exist in vacuum (such as space), and its propagation distance in water is far away than in air, and in some scenes, the propagation distance of ultrasonic wave in water can reach hundreds of meters.

Radio Frequency (RF): represents the electromagnetic frequency that can radiate into space, with a frequency ranging from 300kHz to 300 GHz. The radio frequency is radio frequency current, RF for short, which is a short for high frequency alternating current changing electromagnetic wave. Alternating current that varies less than 1000 times per second is referred to as low frequency current, and alternating current that varies more than 10000 times is referred to as high frequency current, and radio frequency is such a high frequency current. The radio frequency (300K-300G) is the higher frequency band of the high frequency (greater than 10K), and the microwave frequency band (300M-300G) is the higher frequency band of the radio frequency. In some scenarios, the propagation distance of the rf signal in the water is only 2 meters, compared to the propagation distance of the rf signal in the water is small.

After describing the terms related to the embodiments of the present application, the following describes the control system of the underwater cleaning robot provided in the embodiments of the present application, referring to fig. 1, the control system of the underwater cleaning robot provided in the embodiments of the present application includes an underwater cleaning robot 100 and a base station 200, a locking mechanism is disposed on the underwater cleaning robot 100 and/or the base station 200, the underwater cleaning robot 100 includes at least one motor, a power supply module and a filter, and the base station 200 is located on a pool wall 101 corresponding to a water line.

The underwater cleaning robot 100 is configured to move in a direction in which the base station 200 is located in a case where a return condition is satisfied. The underwater cleaning robot 100 is also used to climb up a wall to interface with the base station 200 when reaching the vicinity of the base station 200. The base station 200 is used for fixing the underwater cleaning robot 100 by a locking mechanism in the case where the underwater cleaning robot 100 is docked with the base station 200.

Wherein the underwater cleaning robot 100 has a robot controller built in the underwater cleaning robot 100 for controlling the underwater cleaning robot 100. The underwater cleaning robot 100 is used to clean the floor (and/or walls) of a pool of water. The number of motors of the underwater cleaning robot 100 may be one or more, and the embodiment of the application is not limited thereto, and the power supply module is used for supplying power to the underwater cleaning robot 100, and the filter is used for collecting the garbage in the pool.

In a case where the underwater cleaning robot 100 is located on the bottom of the water tank, the underwater cleaning robot 100 can perform movement on the bottom of the water tank and perform a cleaning action, the movement and the cleaning action being driven by the motor. Accordingly, the underwater cleaning robot 100 can move or rotate at the bottom of the water tank. The bottom of the underwater cleaning robot 100 is provided with a traveling unit, and the underwater cleaning robot 100 can be controlled to move at the bottom of the water tank by driving the traveling unit. The mobile unit includes a traveling wheel, and the traveling wheel is driven to rotate, thereby driving the underwater cleaning robot 100 to move. With the underwater cleaning robot 100 located on the wall of the pool, the underwater cleaning robot 100 can move on the wall of the pool and perform a cleaning action. Accordingly, the underwater cleaning robot 100 can move or rotate at the wall of the water tank. The bottom of the underwater cleaning robot 100 is provided with a wall climbing unit, and the underwater cleaning robot 100 can be controlled to move on the wall of the water tank by driving the wall climbing unit.

The return condition is a condition that the underwater cleaning robot 100 returns to the base station 200, and when the return condition is satisfied, the underwater cleaning robot 100 can automatically start returning to the base station 200. In some embodiments, the return conditions include: whether the remaining power of the underwater cleaning robot 100 is less than or equal to a power threshold, whether a filter of the underwater cleaning robot 100 is filled with garbage, whether the underwater cleaning robot 100 completes a predetermined cleaning task, and whether the underwater cleaning robot 100 receives a return instruction. Accordingly, the underwater cleaning robot 100 satisfying the return condition means that the remaining power of the underwater cleaning robot 100 is less than or equal to a power threshold, the filter of the underwater cleaning robot 100 is filled with garbage, and the underwater cleaning robot 100 receives a return instruction. The preset cleaning task is set by a technician according to actual situations, and the embodiment of the application is not limited to this.

The direction in which the base station 200 is located is a direction based on the underwater cleaning robot 100, and the relative positional relationship between the base station 200 and the underwater cleaning robot 100 can be reflected. Since the base station 200 is located on the wall of the pool corresponding to the water line of the pool, the underwater cleaning robot 100 reaches under the base station 200, i.e., the underwater cleaning robot 100 moves to the bottom of the pool under the base station 200. Since the base station 200 is located on the wall of the water tank and the underwater cleaning robot 100 has a wall climbing capability, the underwater cleaning robot 100 can climb up the wall when the underwater cleaning robot 100 reaches the vicinity of the base station 200 (e.g., reaches below the base station 200), thereby interfacing with the base station 200. The docking of the underwater cleaning robot 100 with the base station 200 means that the underwater cleaning robot 100 is successfully connected with the base station 200, and the base station 200 can provide corresponding services for the underwater cleaning robot 100, for example, in the case that the docking of the underwater cleaning robot 100 with the base station 200 is completed, the base station 200 can provide charging services, dust collecting services, and the like for the underwater cleaning robot 100.

In one possible embodiment, referring to fig. 2, the base station 200 includes a water section 210 and a water section 220, the water section 210 being located above the water line and the water section 220 being located below the water line. The water section 210 comprises a water communication unit 211, which water communication unit 211 is used for communication with water equipment. The underwater portion 220 includes the locking mechanism 221 and an underwater communication unit 222, the underwater communication unit 222 is used for guiding the underwater cleaning robot 100 to move toward the direction where the base station 200 is located, the underwater communication unit 222 is used for communicating with underwater equipment, and the underwater communication unit 222 is electrically connected with the above-water communication unit 211.

Wherein the base station 200 is located on the wall of the water tank, the water portion 210 and the underwater portion 220 are divided by the water line of the water tank, and of course, the boundary between the water portion 210 and the underwater portion 220 is wider, which is helpful for maintenance personnel to place the base station 200 according to practical situations. The above-water communication unit 211 is used for communicating with an above-water device, which is an electronic device not located in water, and the propagation medium of electromagnetic waves is air when the base station 200 communicates with the above-water device, and the underwater cleaning robot 100 is a kind of above-water device when it is salvaged to the shore. The underwater equipment refers to an electronic equipment located in water, the propagation medium of electromagnetic waves is water when the base station 200 communicates with the underwater equipment, and the pool cleaning robot is an underwater equipment when the pool bottom performs a cleaning task. The locking mechanism 221 is used to secure the underwater cleaning robot 100, i.e. after the underwater cleaning robot 100 stops climbing the wall, it can also be held on the pool wall. The underwater communication unit 222 is used for guiding the underwater cleaning robot 100 to move in the direction in which the base station 200 is located, that is, for guiding the underwater cleaning robot 100 to return to the base station 200. The underwater communication unit 222 is electrically connected to the above-water communication unit 211, which means that data interaction can be performed between the underwater communication unit 222 and the above-water communication unit 211. In some embodiments, the underwater communication unit 222 is connected to the above-water communication unit 211 through a data line, so as to ensure stability of data interaction. In some embodiments, the underwater communication unit 222 is disposed on the center axis of the base station 200 and/or on the left and right sides of the center axis of the base station 200.

The various components of the base station 200 will be described later.

In order to more clearly describe the above embodiments, a description will be given of an implementation of guiding the underwater cleaning robot 100 to move in the direction in which the base station 200 is located by using the underwater communication unit 222.

In some embodiments, the underwater communication unit 222 is configured to transmit an ultrasonic signal, and the underwater cleaning robot 100 is configured to receive the ultrasonic signal transmitted by the base station 200 through at least two ultrasonic receiving sub-units of the underwater cleaning robot 100, which are located at different positions of the underwater cleaning robot 100, in case that the return condition is satisfied. Based on the signal parameters of the ultrasonic signals received by the at least two ultrasonic receiving subunits, the underwater cleaning robot 100 is controlled to move towards the base station 200 until the underwater cleaning robot 100 and the base station 200 are in butt joint.

Wherein the underwater communication unit 222 transmits an ultrasonic signal for guiding the underwater cleaning robot 100 to dock with the base station 200. In some embodiments, the underwater communication unit 222 includes at least two ultrasonic transmission subunits for transmitting ultrasonic signals of different frequencies. At least two ultrasonic receiving sub-units of the underwater cleaning robot 100 are used to receive ultrasonic signals transmitted from the base station 200. The at least two ultrasonic receiving sub-units are located at different positions of the underwater cleaning robot 100, so that the robot controller realizes the positioning of the underwater cleaning robot 100 by using the ultrasonic signals received by the at least two ultrasonic receiving sub-units, wherein the positioning refers to determining the relative positional relationship between the underwater cleaning robot 100 and the base station 200. In some embodiments, the base station 200 periodically transmits an ultrasonic signal. The ultrasonic signal is an ultrasonic wave, and the signal parameter of the ultrasonic signal is used for representing the receiving parameter corresponding to the ultrasonic signal when each ultrasonic receiving subunit receives the ultrasonic signal. The signal parameters of the ultrasonic signal received by the at least two ultrasonic receiving subunits means that each ultrasonic receiving subunit of the at least two ultrasonic receiving subunits receives the signal parameters of the ultrasonic signal, that is, in the case that the number of the at least two ultrasonic receiving subunits is two, the number of the signal parameters is also two. In some embodiments, the signal parameters include a time when the ultrasonic signal is received by each ultrasonic receiving subunit and a signal strength of the ultrasonic signal when the ultrasonic signal is received by each ultrasonic receiving subunit. Because the propagation distance of the ultrasonic signal under the water is long, the base station 200 transmits the ultrasonic signal to achieve the effect of guiding the underwater cleaning robot 100 to return to the base station 200 over a long distance. Controlling the underwater cleaning robot 100 to move toward the base station 200, i.e., controlling the underwater cleaning robot 100 to approach the base station 200.

For example, the underwater cleaning robot 100 is configured to activate the at least two ultrasonic receiving sub-units through which the ultrasonic signals transmitted by the underwater communication unit 222 are received in case that the return condition is satisfied. Based on the signal parameters of the ultrasonic signals received by the at least two ultrasonic receiving subunits, a target moving direction of the underwater cleaning robot 100 is determined, wherein the target moving direction is the direction in which the base station 200 is located. And moving in the target moving direction.

Wherein the signal parameter includes at least one of a signal reception time and a signal strength. Since the base station 200 periodically transmits the ultrasonic signal, the at least two ultrasonic receiving subunits each have one signal receiving timing at each ultrasonic signal transmission period of the base station 200. The signal strength can reflect the distance between the underwater cleaning robot 100 and the base station 200, and the stronger the signal strength, the closer the distance between the underwater cleaning robot 100 and the base station 200; the weaker the signal strength, the farther the distance between the underwater cleaning robot 100 and the base station 200 is indicated. The underwater cleaning robot 100 is further configured to determine a target moving direction of the underwater cleaning robot 100 based on a time difference of receiving times of the ultrasonic signals or an intensity difference of signal intensities received by the at least two ultrasonic receiving subunits.

The underwater communication unit 222 can be used to transmit a wireless signal in addition to an ultrasonic signal, and such an embodiment will be described below.

In some embodiments, the underwater communication unit 222 is configured to transmit a wireless signal, and the underwater cleaning robot 100 is configured to receive the wireless signal transmitted by the base station 200 through at least two wireless receiving units of the underwater cleaning robot 100, which are located at different positions of the underwater cleaning robot 100, in case that the return condition is satisfied. Based on the signal parameters of the wireless signals received by the at least two wireless receiving units, the underwater cleaning robot 100 is controlled to move towards the base station 200 until the underwater cleaning robot 100 and the base station 200 are in butt joint.

Wherein the underwater communication unit 222 transmits a wireless signal for guiding the underwater cleaning robot 100 to dock with the base station 200. In some embodiments, the underwater communication unit 222 includes at least two wireless transmission subunits for transmitting wireless signals of different frequencies. At least two wireless receiving sub-units of the underwater cleaning robot 100 are used to receive wireless signals transmitted from the base station 200. The at least two wireless receiving sub-units are located at different positions of the underwater cleaning robot 100, so that the robot controller can position the underwater cleaning robot 100 by using the wireless signals received by the at least two wireless receiving sub-units, wherein the positioning refers to determining the relative positional relationship between the underwater cleaning robot 100 and the base station 200. In some embodiments, the base station 200 periodically transmits wireless signals. The wireless signal is a wireless wave, and the signal parameter of the wireless signal is used to represent the receiving parameter corresponding to the wireless signal when each wireless receiving subunit receives the wireless signal. The signal parameters of the wireless signal received by the at least two wireless receiving subunits means that each of the at least two wireless receiving subunits receives the signal parameters of the wireless signal, that is, in the case that the number of the at least two wireless receiving subunits is two, the number of the signal parameters is also two. In some embodiments, the signal parameters include a time when the wireless signal is received by each wireless receiving subunit and a signal strength of the wireless signal when the wireless signal is received by each wireless receiving subunit. Since the propagation distance of the wireless signal under the water is long, the base station 200 transmits the wireless signal to achieve the effect of guiding the underwater cleaning robot 100 to return to the base station 200 over a long distance. Controlling the underwater cleaning robot 100 to move toward the base station 200, i.e., controlling the underwater cleaning robot 100 to approach the base station 200.

For example, the underwater cleaning robot 100 is configured to activate the at least two wireless receiving sub-units to receive the wireless signals transmitted by the underwater communication unit 222 when the return condition is satisfied. Based on the signal parameters of the wireless signals received by the at least two wireless receiving subunits, a target moving direction of the underwater cleaning robot 100 is determined, wherein the target moving direction is the direction in which the base station 200 is located. And moving in the target moving direction.

Wherein the signal parameter includes at least one of a signal reception time and a signal strength. Since the base station 200 periodically transmits the radio signal, the at least two radio receiving subunits each have a signal receiving timing at each radio signal transmission period of the base station 200. The signal strength can reflect the distance between the underwater cleaning robot 100 and the base station 200, and the stronger the signal strength, the closer the distance between the underwater cleaning robot 100 and the base station 200; the weaker the signal strength, the farther the distance between the underwater cleaning robot 100 and the base station 200 is indicated. The underwater cleaning robot 100 is further configured to determine a target moving direction of the underwater cleaning robot 100 based on a time difference of receiving times of the wireless signals or an intensity difference of signal intensities received by the at least two wireless receiving subunits.

The underwater communication unit 222 is used to emit light of a preset wavelength, that is, to guide the underwater cleaning robot 100 to interface with the base station 200 by the light of the preset wavelength, in addition to the ultrasonic signal and the wireless signal, and this embodiment will be described.

In some embodiments, the underwater communication unit 222 is configured to emit light with a preset wavelength, and the underwater cleaning robot 100 is configured to acquire an environmental image of the underwater cleaning robot 100 through the image acquisition unit of the underwater cleaning robot 100 in case that the return condition is satisfied. The underwater cleaning robot 100 is controlled to move toward the base station 200 based on the pixel point of the preset color corresponding to the preset wavelength in the environmental image.

The preset wavelength is obtained through experiments, and the light with the preset wavelength is the wavelength with a good underwater imaging effect.

The functions of the above-water communication unit 211 and the underwater communication unit 222 are described below.

In some embodiments, the above-water communication unit 211 is configured to send the control instruction to the underwater communication unit 222 in response to a control instruction sent by a target terminal, which is a terminal having control authority of the underwater cleaning robot 100, and the underwater communication unit 222 forwards the control instruction to the underwater cleaning robot 100. The underwater communication unit 222 is further configured to, in response to feedback information transmitted from the underwater cleaning robot 100, transmit the feedback information to the above-water communication unit 211, and forward the feedback information to the target terminal by the above-water communication unit 211.

Wherein the target terminal, which is also referred to as a control terminal of the underwater cleaning robot 100, is a kind of water equipment.

In the case that the control instruction is a floating instruction, the above-water communication unit 211 is configured to send the floating instruction to the underwater communication unit 222 in response to the floating instruction sent by the target terminal, and the underwater communication unit 222 forwards the floating instruction to the underwater cleaning robot 100 to cause the underwater cleaning robot 100 to float up.

In this embodiment, communication between the target terminal and the underwater cleaning robot 100 can be achieved with high efficiency using the above-water communication unit 211 and the underwater communication unit 222.

The locking mechanism 221 of the base station 200 is described below.

In one possible embodiment, the locking mechanism 221 includes a permanent magnet, the underwater cleaning robot 100 includes a permanent magnet and/or a metal block, and the base station 200 is configured to establish a magnetic connection with the permanent magnet and/or the metal block of the underwater cleaning robot 100 to fix the underwater cleaning robot 100 in a case where the underwater cleaning robot 100 is docked with the base station 200.

Wherein the permanent magnet can be moved under the driving of the driving mechanism of the base station 200, so that the permanent magnet is driven to move to a corresponding position, which refers to the vicinity of the permanent magnet and/or the metal block of the underwater cleaning robot 100, in case that the underwater cleaning robot 100 needs to be fixed. In case the permanent magnet moves to the vicinity of the permanent magnet and/or the metal block of the underwater cleaning robot 100, the underwater cleaning robot 100 stops the wall climbing function can also be maintained on the pool wall and remain docked with the base station 200. Of course, in case the permanent magnet has not moved to the vicinity of the permanent magnet and/or the metal block of the underwater cleaning robot 100, the wall climbing function of the underwater cleaning robot 100 is kept on, so that the underwater cleaning robot 100 is kept on the pool wall and is kept docked with the base station 200. The permanent magnet is moved again in case that the docking of the underwater cleaning robot 100 with the base station 200 is completed, so that the permanent magnet can be prevented from affecting the docking process of the underwater cleaning robot 100 with the base station 200. The metal block is a magnetic metal block. In some embodiments, the permanent magnet moving to the vicinity of the permanent magnet and/or metal block of the underwater cleaning robot 100 means that the permanent magnet moves under the permanent magnet and/or metal block of the underwater cleaning robot 100.

In this embodiment, the underwater cleaning robot 100 can be fixed to the tank wall more conveniently using a movable permanent magnet as the locking mechanism 221.

In one possible embodiment, the locking mechanism 221 includes an electromagnet, the underwater cleaning robot 100 including a permanent magnet and/or a metal block, the electromagnet being located adjacent to the permanent magnet and/or the metal block in case the underwater cleaning robot 100 completes the docking with the base station 200, the base station 200 being configured to energize the electromagnet in case the underwater cleaning robot 100 completes the docking with the base station 200 such that the electromagnet applies a magnetic force to the permanent magnet and/or the metal block to fix the underwater cleaning robot 100.

Wherein the electromagnet can be controlled by the base station 200 whether it is energized, in which case the electromagnet has magnetism; when not energized, the electromagnet is not magnetic. The underwater cleaning robot 100 stops the wall climbing function also can remain on the pool wall and remain docked with the base station 200 with the electromagnet energized. Of course, in the case where the electromagnet is not energized, the wall climbing function of the underwater cleaning robot 100 is kept on, so that the underwater cleaning robot 100 is kept on the pool wall and is kept docked with the base station 200. The electromagnet is energized again in the case where the docking of the underwater cleaning robot 100 with the base station 200 is completed, so that the electromagnet can be prevented from affecting the docking process of the underwater cleaning robot 100 with the base station 200.

In this embodiment, the underwater cleaning robot 100 can be fixed to the tank wall more conveniently using the electromagnet as the locking mechanism 221.

In one possible embodiment, the locking mechanism 221 includes a hook, the underwater cleaning robot 100 includes a protrusion or a recess matched with the hook, and the base station 200 is used to move the hook of the locking mechanism 221 to the protrusion or the recess to fix the underwater cleaning robot 100 in case the underwater cleaning robot 100 is docked with the base station 200.

Wherein the underwater cleaning robot 100 can be held on the pool wall and docked with the base station 200 with the hook moved to the projection or recess. In some embodiments, the number of hooks is a plurality, and the number of protrusions or grooves is the same as the number of hooks to improve stability of fixing the underwater cleaning robot 100.

In this embodiment, the underwater cleaning robot 100 can be fixed to the pool wall more conveniently by using the hooks as the locking mechanism 221.

It should be noted that the locking mechanism 221 may include a combination of a permanent magnet and a hook and an electromagnet and a hook in addition to the permanent magnet, the electromagnet and the hook alone, so as to improve stability of fixing the underwater cleaning robot 100.

In some embodiments, the base station 200 includes a docking detection unit for determining whether the underwater cleaning robot 100 completes docking with the base station 200 based on a relative positional relationship with the docking unit, and the underwater cleaning robot 100 further includes a docking unit.

Wherein the docking detection unit is located at the underwater portion 220 of the base station 200, and the docking unit is located in front of the advancing direction (wall climbing direction) of the underwater cleaning robot 100.

Taking the docking detection unit located in the docking slot, the docking unit located at the top of the docking protrusion matched with the docking slot as an example, the docking detection unit is used for determining that the underwater cleaning robot 100 and the base station 200 complete docking under the condition that the docking unit is detected to be in contact with the docking detection unit. The docking detection unit is further configured to determine that the underwater cleaning robot 100 does not complete docking with the base station 200 in the case where the docking unit is not detected to be in contact with the docking detection unit. Wherein, this butt joint protruding can stretch into this butt joint groove, this butt joint groove just can hold this butt joint protruding. In the case that the docking detecting unit is in contact with the docking unit, it means that the docking protrusion is inserted into the docking slot, that is, that the docking of the underwater cleaning robot 100 with the base station 200 is completed.

Taking the docking detection unit as a hall element and taking the docking unit as a permanent magnet as an example, the docking detection unit is used for determining that the underwater cleaning robot 100 and the base station 200 complete docking when detecting that the docking detection unit is completely overlapped with the docking unit. The docking detection unit is further configured to determine that the docking of the underwater cleaning robot 100 with the base station 200 is not completed in the case where the complete coincidence with the docking unit is not detected. The Hall element is an electromagnetic induction sensor, the magnetic field can change the current flowing through the Hall element, and whether the butt joint detection unit and the butt joint unit are completely overlapped or not can be determined through the current change.

It should be noted that, the above is described taking the example that the base station 200 includes a docking detection unit, and the underwater cleaning robot 100 includes a docking unit as an example, and in other possible embodiments, the base station 200 includes a docking unit, and the underwater cleaning robot 100 includes a docking detection unit, and the matching manner of the docking detection unit and the docking unit is the same as the above description, so that the implementation process refers to the above description and is not repeated herein.

In the above description, the case where the locking mechanism is provided in the base station 200 is taken as an example, and the locking mechanism is provided in the underwater cleaning robot 100, the underwater cleaning robot 100 can be kept fixed to the base station 200 by the locking mechanism. The docking mode belongs to the same inventive concept as the above description, and is not repeated here. Of course, in other possible embodiments, the underwater cleaning robot 100 and the base station 200 may be provided with a locking mechanism, so that dual fixation may be realized, and the docking stability of the underwater cleaning robot 100 and the base station 200 is maintained.

The description of the underwater portion 220 of the base station 200 continues as follows.

In some embodiments, the underwater portion 220 further comprises a wireless charging transmitting coil, the underwater cleaning robot 100 further comprises a wireless charging receiving coil, the wireless charging transmitting coil is located below the wireless charging receiving coil in case the underwater cleaning robot 100 is docked with the base station 200, and the base station 200 is further used for charging the underwater cleaning robot 100 through the wireless charging transmitting coil and the wireless charging receiving coil in case the locking mechanism 221 fixes the underwater cleaning robot 100.

The wireless charging transmitting coil can mutually induce the wireless charging receiving coil, the wireless charging transmitting coil generates a changing magnetic field through changing current, and the wireless charging receiving coil induces the changing magnetic field to generate changing current, so that the underwater cleaning robot 100 is wirelessly charged. In the case where the wireless charging transmitting coil is perfectly aligned with the wireless charging receiving coil (the wireless charging transmitting coil is located directly below the wireless charging receiving coil), the charging efficiency is highest. Accordingly, in the case where the underwater cleaning robot 100 satisfies the return condition, that is, the remaining power of the underwater cleaning robot 100 is less than or equal to the power threshold, the underwater cleaning robot 100 and the base station 200 are successfully docked, the power can be supplemented by wireless charging. The power threshold is set by a technician according to actual situations, which is not limited in the embodiment of the present application.

In some embodiments, the underwater portion 220 further comprises a garbage collection unit, and the underwater cleaning robot 100 further comprises a filter, the garbage collection unit drawing garbage in the filter.

In some embodiments, the base station 200 further comprises a pump system, the garbage collection unit interfaces with the opening of the filter, and the base station 200 is further configured to control the pump system to absorb garbage from the opening to the garbage collection unit.

In one possible embodiment, the locking mechanism 221 may be unlocked by the underwater cleaning robot 100 and/or the base station 200 so that the underwater cleaning robot may be disengaged from the base station.

In one possible embodiment, the underwater cleaning robot 100 is further configured to send a detachment request to the base station 200 for requesting detachment from the base station 200 in case of completion of charging. The base station 200 is also used for releasing the securing of the underwater cleaning robot 100 by the locking mechanism 221 in response to the release request to release the underwater cleaning robot 100 from the base station 200.

The system further comprises a water pump, the water pump of the underwater cleaning robot 100 is started in the process that the underwater cleaning robot 100 moves on the pool wall or the pool bottom, liquid in the pool is sucked into a filter of the underwater cleaning robot 100 through a water inlet at the bottom of the underwater cleaning robot 100, the liquid is filtered through the filter, dirt in the liquid is left in the filter, the filtered liquid is discharged through a water outlet of the underwater cleaning robot 100, and therefore the pool wall or the pool bottom is cleaned. Of course, the cleaning unit can include a rolling brush by which the tank wall or the tank bottom is cleaned, in addition to the water pump.

In case the locking mechanism 221 includes a permanent magnet, the underwater cleaning robot 100 is further configured to transmit a detachment request to the underwater communication unit 222 of the base station 200 in response to completion of the charging. The base station 200 is further configured to receive the detachment request, and in response to the detachment request, control the permanent magnet of the locking mechanism 221 to leave the vicinity of the permanent magnet and/or the metal block of the underwater cleaning robot 100 to release the fixation of the underwater cleaning robot 100, and the underwater cleaning robot 100 is detached from the base station 200. It should be noted that, during the process that the permanent magnet of the locking mechanism 221 leaves the vicinity of the permanent magnet and/or the metal block of the underwater cleaning robot 100, the suction function of the underwater cleaning robot 100 is started to ensure the stability of the underwater cleaning robot 100. In case the permanent magnet of the locking mechanism 221 is out of the proximity of the permanent magnet and/or metal block of the underwater cleaning robot 100, the underwater cleaning robot 100 starts the wall climbing function to disengage the base station 200.

In the case where the locking mechanism 221 includes an electromagnet, the underwater cleaning robot 100 is further configured to transmit a detachment request to the underwater communication unit 222 of the base station 200 in response to completion of charging. The base station 200 is further configured to receive the detachment request, and in response to the detachment request, stop energizing the electromagnet of the locking mechanism 221 to release the underwater cleaning robot 100 from being fixed, the underwater cleaning robot 100 being detached from the base station 200.

In case the locking mechanism 221 includes a hook, the underwater cleaning robot 100 is further configured to transmit a detachment request to the underwater communication unit 222 of the base station 200 in response to completion of the charging. The base station 200 is further configured to receive the detachment request, and in response to the detachment request, control the hook of the locking mechanism 221 to leave the protrusion or the groove of the underwater cleaning robot 100 to release the fixing of the underwater cleaning robot 100, and the underwater cleaning robot 100 is detached from the base station 200. It should be noted that, in the process that the hook of the locking mechanism 221 is separated from the protrusion or the groove of the underwater cleaning robot 100, the suction function of the underwater cleaning robot 100 is started to ensure the stability of the underwater cleaning robot 100. In the case where the hooks of the locking mechanism 221 are separated from the protrusions or recesses of the underwater cleaning robot 100, the underwater cleaning robot 100 starts the wall climbing function to be separated from the base station 200.

In some embodiments, the underwater cleaning robot 100 can transmit a detachment request to the underwater communication unit 222 of the base station 200 in addition to transmitting a detachment request to the underwater communication unit 222 of the base station 200 in case of completion of charging, and can transmit a detachment request to the underwater communication unit 222 of the base station 200 in case of detection of a salvage operation of the underwater cleaning robot 100. That is, the underwater cleaning robot 100 is also configured to transmit a detachment request to the underwater communication unit 222 of the base station 200 in response to detecting the upward external force and the upward external force being greater than or equal to the external force threshold. The external force threshold is set by a technician according to actual situations, which is not limited in the embodiment of the present application.

In addition, the base station 200 can control the locking mechanism 221 to release the underwater cleaning robot 100 from being fixed after receiving the detachment request transmitted from the underwater cleaning robot 100, and can control the locking mechanism 221 to release the underwater cleaning robot 100 from being fixed after receiving the detachment request transmitted from the target terminal.

The description of the water section 210 of the base station 200 continues as follows.

In one possible embodiment, the base station 200 further comprises a solar panel 212, the solar panel 212 powering the base station 200 and/or the wireless charging transmitting coil.

In one possible embodiment, the water section 210 further includes a solar panel 212 and a battery 213, the solar panel 212 and the battery 213 being electrically connected, the battery 213 powering the base station 200 and the wireless charging transmitter coil.

In this embodiment, solar energy can be utilized to power the base station 200 and the wireless charging transmitting coil, saving energy.

In some embodiments, the water section 210 further includes a power supply unit electrically connected to the storage battery 213, the power supply unit being configured to convert ac power to dc power to charge the storage battery 213. The power supply unit is connected with a power line, and the power line is used for inputting alternating current to the power supply unit.

In this embodiment, in the case that solar energy cannot meet the electricity demand of the base station 200, the power supply unit may be used to maintain the power supply to the base station 200, so as to ensure the normal operation of the base station 200.

Any combination of the above optional solutions may be adopted to form an optional embodiment of the present application, which is not described herein in detail.

Through the technical scheme provided by the embodiment of the application, under the condition that the return condition is met, the underwater cleaning robot moves towards the direction where the base station is located. When reaching the vicinity of the base station, the underwater cleaning robot climbs up the wall to dock the base station. Under the condition that the underwater cleaning robot and the base station are in butt joint, the locking mechanism is used for fixing the underwater cleaning robot, and the base station is relatively fixed in position, so that large-area searching is not needed when the underwater cleaning robot is salvaged, and the efficiency of salvaging the underwater cleaning robot is improved.

The foregoing description of the preferred embodiments is merely exemplary in nature and is not intended to limit the invention, but is intended to cover various modifications, substitutions, improvements, and alternatives falling within the spirit and principles of the invention.

Claims (16)

1. The control system of the underwater cleaning robot is characterized by comprising the underwater cleaning robot and a base station, wherein a locking mechanism is arranged on the underwater cleaning robot and/or the base station, the underwater cleaning robot at least comprises a motor, a power supply module and a filter, and the base station is positioned on a pool wall corresponding to a water level line of a pool;

the underwater cleaning robot is used for moving towards the direction of the base station under the condition that the return condition is met;

the underwater cleaning robot is also used for climbing upwards to butt joint with the base station when reaching the vicinity of the base station;

the base station is used for fixing the underwater cleaning robot under the condition that the underwater cleaning robot and the base station are in butt joint.

2. The system of claim 1, wherein the base station comprises a water communication unit for communication with water equipment;

the base station further comprises an underwater communication unit, the underwater communication unit is used for guiding the underwater cleaning robot to move towards the direction of the base station and simultaneously communicate with underwater equipment, and the underwater communication unit is electrically connected with the water communication unit.

3. The system according to claim 2, wherein the underwater communication unit is configured to transmit ultrasonic signals, and the underwater cleaning robot is configured to receive ultrasonic signals transmitted from a base station through at least two ultrasonic receiving sub-units of the underwater cleaning robot, which are located at different positions of the underwater cleaning robot, if the return condition is satisfied; and controlling the underwater cleaning robot to move towards the base station based on the signal parameters of the ultrasonic signals received by the at least two ultrasonic receiving subunits until the underwater cleaning robot and the base station are in butt joint.

4. The system according to claim 2, wherein the underwater communication unit is configured to transmit a wireless signal, and the underwater cleaning robot is configured to receive the wireless signal transmitted by the base station through at least two wireless receiving sub-units of the underwater cleaning robot, which are located at different positions of the underwater cleaning robot, if the return condition is satisfied; and controlling the underwater cleaning robot to move towards the base station based on the signal parameters of the wireless signals received by the at least two wireless receiving subunits until the underwater cleaning robot and the base station are in butt joint.

5. The system according to claim 2, wherein the underwater communication unit emits light of a preset wavelength, and the underwater cleaning robot is configured to acquire an environmental image of the underwater cleaning robot by the image acquisition unit of the underwater cleaning robot in case that the return condition is satisfied; and controlling the underwater cleaning robot to move towards the base station based on the pixel points with the preset wavelength in the environment image.

6. A system according to claim 3, wherein the underwater communication units are arranged on the central axis of the base station and/or on the left and right sides of the central axis of the base station symmetrically.

7. The system according to claim 2, wherein the water communication unit is configured to send the control instruction to the underwater communication unit in response to a control instruction sent by a target terminal, the target terminal being a terminal having control authority of the underwater cleaning robot, and the control instruction is forwarded to the underwater cleaning robot by the underwater communication unit;

the underwater communication unit is further used for responding to feedback information sent by the underwater cleaning robot, sending the feedback information to the water communication unit, and forwarding the feedback information to the target terminal by the water communication unit.

8. The system of claim 1, wherein the base station further comprises a wireless charging transmitter coil, the underwater cleaning robot further comprises a wireless charging receiver coil, the wireless charging transmitter coil is located adjacent to the wireless charging receiver coil when the underwater cleaning robot is docked with the base station, and the base station is further configured to charge the underwater cleaning robot through the wireless charging transmitter coil and the wireless charging receiver coil when the locking mechanism secures the underwater cleaning robot.

9. The system of claim 8, wherein the base station further comprises a solar power panel that powers the base station and/or the wireless charging transmit coil.

10. The system of claim 9, wherein the base station further comprises a battery, the solar panel and the battery being electrically connected, the battery powering the base station and the wireless charging transmitter coil.

11. The system of claim 1, wherein the locking mechanism is openable by the underwater cleaning robot and/or the base station such that the underwater cleaning robot can disengage from the base station.

12. The system of claim 1, wherein the base station further comprises a garbage collection unit that extracts garbage in the filter.

13. The system of claim 12, wherein the base station further comprises a pump system, the garbage collection unit interfacing with the opening of the filter, the base station further configured to control the pump system to absorb garbage from the opening to the garbage collection unit.

14. The system of claim 1, wherein the locking mechanism and the underwater cleaning robot comprise permanent magnets and/or metal blocks for establishing a magnetic connection with the permanent magnets and/or metal blocks of the underwater cleaning robot to secure the underwater cleaning robot if the underwater cleaning robot completes docking with the base station;

alternatively, the locking mechanism comprises an electromagnet, the underwater cleaning robot comprises a permanent magnet and/or a metal block, the electromagnet is positioned adjacent to the permanent magnet and/or the metal block when the underwater cleaning robot is in butt joint with the base station, and the base station is used for energizing the electromagnet when the underwater cleaning robot is in butt joint with the base station, so that the electromagnet applies magnetic force to the permanent magnet and/or the metal block to fix the underwater cleaning robot;

Or, the locking mechanism comprises a hook, the underwater cleaning robot comprises a protrusion or a groove matched with the hook, and the base station is used for connecting the hook of the locking mechanism with the protrusion or the groove to fix the underwater cleaning robot under the condition that the underwater cleaning robot is in butt joint with the base station.

15. The system of claim 1, wherein the return conditions comprise: whether the residual electric quantity of the underwater cleaning robot is smaller than or equal to an electric quantity threshold value, whether a filter of the underwater cleaning robot is filled with garbage, whether the underwater cleaning robot completes a preset cleaning task, and whether the underwater cleaning robot receives a return instruction.

16. The system according to claim 1, wherein the base station and/or the underwater cleaning robot further comprises a docking detection unit for determining whether the underwater cleaning robot has completed docking with the base station based on a relative positional relationship with the docking unit.