WO2019128521A1 - Underwater cleaning robot and crawling method thereof, motion path planning method and system - Google Patents

Abstract

Provided are cleaning robot, a crawling method thereof, and a motion path planning method and system of the underwater robot. The robot comprises a body (10) and a handle (20), and the handle (20) can float relative to the body (10) when the underwater cleaning robot is working underwater. When the underwater cleaning robot is working underwater, a forward direction of the body (10) is approximately horizontal, and a floating center of the handle (20) is higher than a center of gravity of the body (10) and is away from the body (10). When the underwater cleaning robot crawls along a wall in the water, the forward direction of the handle (20) is approximately vertical, and the floating center of the handle (20) is higher than the center of gravity of the body (10) and is close to the body (10). In this way, the position of the handle (20) relative to the body (10) can be adjusted with a vertical upward buoyancy received by the handle (20), so as to balance the center of gravity and floating center of the robot, and to automatically correct the degree of tilt of the robot, avoiding the moving direction of the robot from deviation and falling from the wall, and ensuring the smoothness of the robot's underwater movement. With the motion path planning method and system of the underwater robot, cleaning dead corners and cable winding can be avoided.

Description

Underwater cleaning robot and crawling method thereof, motion path planning method and system Technical field

The present invention relates to the field of robots, and in particular to an underwater cleaning robot and a crawling method thereof, a motion path planning method and system.

Background technique

With the rapid development of national science and technology innovation and high-end manufacturing industry, the development of the robot industry has received more and more attention from all over the world. The major economies have raised the development of the robot industry into a national strategy, and as a way to maintain and regain manufacturing competition. An important means of advantage. Among them, smart home robots for daily use have entered people's lives, and various types of smart home robots have been able to perform various tasks instead of manual work.

An underwater robot, a cleaning device used to clean private or public swimming pools. The use of underwater robots to clean private or public swimming pools saves manpower and is more thorough than manual cleaning of underwater robots. Therefore, the use of underwater robots instead of manpower for swimming pool cleaning is bound to become a trend.

The patent document published as CN101695832 discloses an underwater cleaning robot in which a driving mechanism such as a motor and a filter bag for accommodating water in the water are housed in the body; the bottom and the back of the body are respectively provided with a water inlet and a water outlet. The water nozzle, through the water pump, is used to suck the pool water into the airframe from the water inlet, and is filtered and then sprayed into the pool from the water outlet, thereby purifying the water of the pool, and the robot is driven by the rotation of the walking wheel at the bottom of the motor driven body. When the underwater cleaning robot cleans the side wall, the pump spray force, the friction between the front and rear wheels on the wall, and the gravity and buoyancy of the robot itself act together to make the robot move up and down close to the wall to clean the side wall of the pool.

At present, the underwater cleaning robot operates underwater. For example, when cleaning the wall in the water, the underwater cleaning robot cannot automatically adjust the center of gravity and the floating center (the floating position of the object in the fluid refers to being discharged by the object). The position of the center of gravity of that part of the fluid). In this way, during the process of climbing the wall, the underwater cleaning robot may fall off the wall or not follow the prescribed cleaning route, and the movement is poor.

In addition, in the conventional technology, the underwater robot intelligently recognizes the angle between the machine and the X-axis, and its trajectory in the swimming pool is unpredictable, and the movement of the underwater robot in the swimming pool in the conventional technology is random. In the technical solution of the conventional underwater robot for swimming pool cleaning, since only the angle between the machine and a shaft in the space coordinate system is recognized, and the motion is unpredictable, the machine cable is wound, and Its unpredictable trajectory may result in a clean dead zone that does not reach the clean pool.

technical problem

Based on this, one of the objects of the present invention is to provide a smooth-moving underwater cleaning robot and a crawling method thereof.

The second object of the present invention is to provide an underwater robot motion path planning method and system for the problem that the machine cable is wound, the cleaning dead zone appears, and the effect of cleaning the swimming pool is not achieved.

Technical solution

In order to achieve the above object, the present invention adopts the following technical solutions:

An underwater cleaning robot includes a body and a handle disposed on the body, and the underwater cleaning robot can be relatively opposed to buoyancy when underwater crawling operation and/or underwater climbing operation Floating in the fuselage.

In the present application, since the handle can float relative to the body, when the underwater cleaning robot is working under the water, the forward direction of the body is approximately horizontal, and the handle is floated by the buoyancy of water, and the floating center of the handle Above the center of gravity of the fuselage and away from the fuselage; when the underwater cleaning robot crawls along the wall in the water, the forward direction of the fuselage is approximately vertical, the handle will be floated by the buoyancy of water, and the float of the handle is higher than the machine The center of gravity of the body is close to the fuselage, so that the vertical upward buoyancy of the handle can adjust the position of the handle relative to the fuselage to balance the center of gravity and floating center of the robot, automatically correct the degree of tilt of the robot, avoid the direction of the robot and the distance from the wall. It ensures the smoothness of the robot's underwater movement.

In the present application, the front and rear directions are defined by the forward and backward directions of the underwater cleaning robot, the left and right directions are defined by the two sides in the front and rear directions, and the up and down direction is defined by the vertical direction, and the body is close to the bottom or the side of the wall. At the bottom, the other side opposite to the bottom of the fuselage is the back, the water inlet is arranged at the bottom of the fuselage, the water outlet and the handle are arranged at the back of the fuselage, and the floating center of the handle refers to the center of gravity of the part of the water that is discharged by the handle. .

In the present application, the handle includes a connecting portion directly connected to the body and a movable portion indirectly connected to the body through the connecting portion, the movable portion being movable relative to the body so as to be away from or close to the front side or the rear side of the body . In one embodiment, the movable portion of the handle is a crossbar portion, and the connecting portion of the handle is a vertical rod portion at both ends of the crossbar portion.

In the present application, the handle is hollow inside or filled with a material having a density lower than that of water so that the overall density of the handle is not greater than water, so that it can float in the water.

In one embodiment, the handle is rotatably mounted on the body and the handle is rotatable to be near or away from the front or rear side of the body. In this way, when the machine climbs the wall, the vertical upward buoyancy of the handle is transmitted to the fuselage through its rotating shaft, so that the fuselage is also subjected to the vertical upward buoyancy, and the forward direction can be automatically corrected to avoid the deviation.

In a further embodiment, the two ends of the handle are rotatably mounted on the left and right sides of the body, respectively, and the handle is rotatable to be close to or away from the front or rear side of the body. In this way, when the machine climbs the wall, the vertical upward buoyancy of the handle is transmitted to multiple parts of the fuselage through a plurality of rotating shafts, so that the buoyancy correcting effect is better and more efficient when the machine climbs the wall.

In still further embodiments, the first end of the handle is slidably and rotatably mounted on a first side of the body, and the second end of the handle is rotatably mounted on a second side of the body The second side of the fuselage is disposed opposite the first side of the fuselage, and the handle is rotatable to be near or away from the front or rear side of the fuselage. In this way, the first end of the handle transmits buoyancy through the sliding contact of the sliding shaft with the body, and the second end of the handle transmits buoyancy through the rotating contact of the rotating shaft with the body, and not only the buoyancy of the handle acts on the plurality of parts of the body to correct the deviation effect. Better and more efficient, and can increase the range of buoyancy correction and avoid frequent rectification and excessive correction to increase the load of the traveling wheel motor.

In one embodiment, the first side of the fuselage is provided with a sliding slot, and the sliding slot is provided with a sliding shaft that is rotatably and slidably coupled to the sliding slot, the first end of the handle and the first end The sliding shaft is fixedly connected. Such a chute can restrict the sliding of the handle along the vertical direction of the machine and guide the sliding of the handle, and at the same time increase the range of the center of gravity of the machine by increasing the handle by the chute, thereby increasing the range of buoyancy correction.

In one embodiment, the first end of the handle is provided with a first adapter portion, one end of the sliding shaft is rotatably and slidably mounted in the sliding slot, and the other end is connected to the first adapter portion Fixed connection.

In one embodiment, the first side of the fuselage is provided with a first chamber communicating with the inner end of the chute, and one end of the sliding shaft mounted in the chute extends into the first side A first limiting structure for preventing the sliding shaft from coming off the chute is detachably mounted in a chamber.

In one of the embodiments, the second end of the handle is rotatably mounted on a second side of the fuselage, the second side of the fuselage being disposed opposite the first side of the fuselage.

In one embodiment, the second side of the fuselage is provided with a mounting hole, and the mounting hole is provided with a rotating shaft that can rotate in the mounting hole, and the second end of the handle is fixedly connected with the rotating shaft.

In one embodiment, the second end of the handle is provided with a second adapter, one end of the shaft is rotatably mounted in the mounting hole, and the other end is fixedly connected to the second adapter.

In one embodiment, the second side of the fuselage is provided with a second chamber communicating with the inner end of the mounting hole, and one end of the rotating shaft mounted in the mounting hole extends into the second A second limiting structure for preventing the rotating shaft from coming off the mounting hole is detachably mounted in the chamber.

In the present application, when the underwater cleaning robot is working underwater, the floating center of the handle is higher than the center of gravity of the body and away from the body; when the underwater cleaning robot crawls up the wall in the water, the floating center of the handle is higher than the body The center of gravity is close to the front side of the fuselage; when the underwater cleaning robot climbs out of the water, the handle floats on the surface of the water, the floating center of the handle is away from the fuselage and the height of the float of the handle is close to the height of the center of gravity of the fuselage.

The above-mentioned underwater cleaning robot crawling method, when the underwater cleaning robot is working under the water, the handle is floated away from the fuselage by the buoyancy of the water; when the underwater cleaning robot crawls up the wall in the water, the handle is floated by the buoyancy of the water. And close to the front side of the fuselage.

In a further embodiment, when the underwater cleaning robot is working underwater, the floating center of the handle is higher than the center of gravity of the body and away from the body; when the underwater cleaning robot crawls up the wall in the water, the floating center of the handle is high At the center of gravity of the fuselage and close to the front side of the fuselage, the fuselage through the water outlet of the water outlet, the friction of the wheel against the wall and the combination of gravity and buoyancy cling to the wall to crawl upwards; when the underwater cleaning robot climbs out When the water surface, the handle floats on the surface of the water, the floating center of the handle is away from the fuselage and the height of the float of the handle is close to the height of the center of gravity of the fuselage. The water outlet of the fuselage is close to the water surface, causing the water jet force to decrease, and the fuselage no longer clings to the wall to crawl upward. .

In still another embodiment, when the underwater cleaning robot crawls up the wall in the water, the actual forward direction and the predetermined forward direction are detected (when the wall is a vertical wall, the predetermined forward direction is vertical upward; When the wall is a sloping wall, the predetermined forward direction is the angle A between the direction in which the vertical upward direction is projected in the plane of the inclined wall. If the angle A is smaller than the set angle value, the body is pulled by the floating handle. Automatic deviation correction is implemented. If the angle A is greater than the set angle value and less than 90°, the active deflection is achieved by adjusting the rotation speed and/or direction of the left and right wheels; if the angle A is greater than 90°, the lower wall of the robot is cleaned underwater. This can improve the efficiency of wall cleaning and avoid machine pauses or repeated actions.

Compared with the prior art, the underwater cleaning robot has the advantages that when the underwater cleaning robot is working under the water, the forward direction of the fuselage is approximately horizontal, and the handle is lifted by the buoyancy of the water, and the floating center of the handle is high. At the center of gravity of the fuselage and away from the fuselage; when the underwater cleaning robot crawls along the wall in the water, the forward direction of the fuselage is approximately vertical, the handle will be floated by the buoyancy of the water, and the float of the handle is higher than the fuselage The center of gravity is close to the fuselage, so that the vertical upward buoyancy of the handle can adjust the position of the handle relative to the fuselage to balance the center of gravity and floating center of the robot, automatically correct the degree of tilt of the robot, avoid the direction of the robot and fall from the wall. It ensures the smoothness of the robot's underwater movement.

In addition, the present invention provides a method for planning a motion path of an underwater robot, comprising the steps of: acquiring current state information of the underwater robot in real time; controlling the underwater robot to climb the wall based on the state information, and climbing forward Retreating to the wall after the wall; determining whether the underwater robot completes the retreat to the lower wall based on the status information, and if so, controlling the underwater robot to retreat, performing the first steering, after the first steering, again Retreating, performing a second steering with the same angle as the first steering direction; controlling the underwater robot to retreat the climbing wall based on the state information, and advancing the lower wall after retreating the wall; determining the location based on the state information Whether the underwater robot completes the advancement of the lower wall, and if so, controls the underwater robot to advance, performs the third steering, and after the third steering, advances again, and performs the same angle as the third steering direction. Fourth turn; repeat the above steps and increase the number of round trips by one.

Further, the step of controlling the underwater robot to climb the wall based on the state information, and retreating the wall after advancing the wall climbing, and controlling the underwater robot to recede the climbing wall based on the state information, and climbing back The step of advancing the lower wall after the wall is specifically: determining whether the underwater robot is in a horizontal state based on the state information, and obtaining a current round trip number if the horizontal state is; and controlling the water if the number of round trips is less than n times Lowering the robot forward/backward; acquiring the current forward/backward time, comparing the forward/reverse time with the first preset time; if the forward/backward time is less than the first preset time, determining the said based on the status information Whether the underwater robot encounters the side wall, if encountered, controls the underwater robot to advance/retract the climbing wall; acquires the current forward/backward climbing wall time, and sets the forward/reverse climbing wall time with the second preset time Comparing; if the forward/backward climbing wall time is not less than the second preset time, controlling the underwater robot to retreat/forward the lower wall.

Further, when the number of round trips is increased to n, the number of round trips is reset to 1.

Further, the determining, according to the state information, whether the underwater robot is in a horizontal state, and if the horizontal state is a horizontal state, acquiring a current round trip number; if the round trip number is less than n times, controlling the underwater robot to advance/retract The method includes: if the number of round trips is not less than n times, acquiring flag information, controlling the fifth steering of the underwater robot based on the flag position, and following the fifth steering, advancing/retracting and incrementing the flag.

Further, the determining, according to the state information, whether the underwater robot is in a horizontal state, and if the horizontal state is a horizontal state, acquiring a current round trip number; if the round trip number is less than n times, controlling the underwater robot to advance/retract Including: if not in a horizontal state, controlling the underwater robot to retreat/forward the lower wall and reducing the number of round trips by one, and performing steps to determine whether the underwater robot completes the retreat/forward of the lower wall based on the state information, and if so, Controlling the underwater robot to retreat/forward in sequence, performing first/third steering, and after the first/third steering, retracting/advancing again, performing the second/fourth steering with the same angle as the first/third steering direction .

Further, the fifth turn based on the flag bit is specifically: the value range of the flag bit is 1 ≤ m ≤ 4; when the flag bit is equal to 1, the right turn is reversed, and the forward direction is not turned, And the flag bit is incremented by 1; when the flag bit is equal to 2, it is turned to the left when going backward, not turned when going forward, and the flag is incremented by 1; when the flag is equal to 3, it does not turn when going backward, and advances When the right turn, and the flag is incremented by one; when the flag is equal to 4, it does not turn when retreating, the left turn when moving forward, and the flag is increased by 1; when the flag is greater than 4, the flag is The bit is reset to 1.

Further, the first steering, the second steering, the third steering, and the fourth steering have a rotation angle of 45°, and the fifth steering has a rotation angle of 90°.

Further, if the forward/reverse time is less than the first preset time, determining, according to the state information, whether the underwater robot encounters a side wall, and if so, controlling the underwater robot to advance/retract the wall The step further includes: if the forward/reverse time is not less than the first preset time, the executing step determines whether the underwater robot completes the forward/reverse lower wall based on the status information, and if so, controls the underwater robot first Forward/reverse, the third/first steering is performed, and after the third/first steering, the forward/backward is performed again, and the fourth/secondary steering having the same angle as the third/first steering direction is performed.

Further, if the forward/reverse time is less than the first preset time, determining, according to the state information, whether the underwater robot encounters a side wall, and if so, controlling the underwater robot to advance/retract the wall The step further includes: if the forward/reverse time is less than the first preset time, and the side wall is not encountered, then controlling the underwater robot to continue to move forward/backward.

Further, if the forward/backward climbing wall time is not less than the second preset time, the step of controlling the underwater robot to retreat/forward the lower wall further comprises: if the forward/reverse climbing time When it is less than the second preset time, the underwater robot is controlled to continue to advance/reverse the wall.

Further, the advancing and climbing the wall, the retreating the lower wall, the retreating the wall, and advancing the lower wall further comprise: acquiring current state information in real time; and determining, according to the state information, whether the current state of the underwater robot is a vertical climbing wall/ Lower wall; if it is vertical climbing wall/lower wall, control the underwater robot to continue climbing/lower wall; if it is not vertical climbing/lower wall, it is determined that the current state of the underwater robot is a wall status.

Further, when in the state of the wall, the current state information is acquired in real time; based on the state information, the underwater robot is controlled to adjust the position of the body; and based on the state information, it is determined whether the underwater robot is successfully adjusted to be vertical Straight wall/lower wall; if successfully adjusted to vertical wall/lower wall, control the underwater robot to retreat/forward the lower wall, and perform steps based on the state information to determine whether the underwater robot completes the lower wall If yes, control the underwater robot to advance, perform a third steering, and after the third steering, advance again to perform the fourth steering with the same angle as the third steering direction; if the adjustment is not successful In order to vertically climb the wall/lower wall, the underwater robot is controlled to issue an alarm.

Further, the step of acquiring the current state information of the underwater robot in real time further includes: presetting a first preset time, a second preset time, a maximum number of round trips n, and an initial value of the flag bit.

The invention also provides an underwater robot motion path planning system, comprising: a state acquiring module, configured to acquire current state information of the underwater robot in real time; and a climbing wall control module, configured to control the underwater robot based on the state information Advancing/retracting the wall and retreating/advancing the lower wall after advancing/retracting the wall; steering control module for judging whether the underwater robot completes the retreat to the lower wall based on the status information, and if so, controlling the water The lower robot successively retreats, performs the first steering, and after the first steering, retreats again, performs the second steering with the same angle as the first steering direction; and determines whether the underwater robot is based on the state information The advancement of the lower wall is completed, and if so, the underwater robot is controlled to advance, and the third steering is performed. After the third steering, the vehicle is again advanced to perform the fourth steering at the same angle as the third steering direction.

Further, the climbing wall control module includes: a determining module, configured to determine, according to the state information, whether the underwater robot encounters a side wall, and if not, controls the underwater robot to advance/retract; Whether the forward/reverse time is not less than the first preset time, and if the forward/reverse time is less than the first preset time, determining, according to the status information, whether the underwater robot encounters a side wall, if encountered, And controlling the underwater robot to advance/retract the climbing wall; determining whether the forward/backward climbing wall time is not less than the second preset time; and the lower wall control module, if the forward/reverse climbing time is not When it is less than the second preset time, the underwater robot is controlled to retreat/forward the lower wall.

Beneficial effect

The underwater robot of the invention cleans the swimming pool wall on the moving path, and obtains the current state information, that is, obtains the angle between the fuselage and the XY plane, the XZ plane and the YZ plane, thereby controlling the movement path of the machine. . Firstly, it is judged whether the current state is in the horizontal state. If it is in the horizontal state, the wall is cleaned by the wall. After reaching the second preset time, the wall is vertically lowered, and after the lower wall is rotated twice, the predetermined distance is adjusted in the machine width direction, and then adjusted. After retreating the wall, after reaching the second preset time, proceed to the lower wall, and then rotate twice through the lower wall to adjust the predetermined distance in the machine width direction to complete a round-trip cleaning. Through the repeated round-trip cleaning, the dead-end cleaning of the swimming pool is achieved, and since the trajectory of the movement is regular, the problem of the cable entanglement of the underwater robot is also avoided.

DRAWINGS

FIG. 1 is a schematic structural view of an underwater cleaning robot provided by the present invention.

2 is a schematic view showing another structure of the underwater cleaning robot provided by the present invention.

Figure 3 is an enlarged view of a portion A of Figure 1 provided by the present invention.

Figure 4 is an enlarged view of a portion B of Figure 2 provided by the present invention.

Figure 5 is a cross-sectional view of the underwater cleaning robot provided by the present invention.

Figure 6 is an enlarged view of a portion C of Figure 4 provided by the present invention.

Figure 7 is an enlarged view of the portion D of Figure 4 provided by the present invention.

FIG. 8 is a flowchart of a method for planning a motion path of an underwater robot according to a first embodiment of the present invention.

FIG. 9 is a flowchart of a method for planning a motion path of an underwater robot according to a second embodiment of the present invention.

FIG. 10 is a flowchart of a method for planning a motion path of an underwater robot according to a third embodiment of the present invention.

FIG. 11 is a flowchart of a method for planning a motion path of an underwater robot according to a fourth embodiment of the present invention.

FIG. 12 is a flowchart of a method for planning a motion path of an underwater robot according to a fifth embodiment of the present invention.

FIG. 13 is a schematic diagram of a module relationship of an underwater robot motion path planning system according to an embodiment of the present invention.

FIG. 14 is a schematic diagram of a module relationship of a wall climbing control module according to an embodiment of the present invention.

Reference numerals in the figures: body 10, first side 110 of the fuselage, chute 111, first chamber 112, second side 120 of the fuselage, mounting hole 121, second chamber 122, handle 20, handle The first end 210, the sliding shaft 211, the first adapter portion 212, the second end 220 of the handle, the rotating shaft 221, the second adapter portion 222, the first limiting structure 30, the first nut 310, and the second limit The bit structure 40 and the second nut 410.

100 is a state acquisition module, 200 is a wall climbing control module, 2100 is a determination module, 2200 is a lower wall control module, and 300 is a steering control module.

BEST MODE FOR CARRYING OUT THE INVENTION

The present invention will be further described in detail below in conjunction with the drawings and specific embodiments.

As shown in FIG. 1 and FIG. 2, the embodiment provides an underwater cleaning robot, including a fuselage 10 and a handle 20. The bottom of the fuselage 10 is provided with four walking wheels 101 and a water inlet, and a water outlet is opened at the back of the fuselage. 102, the handle is installed on the back of the fuselage. When the underwater cleaning robot is operating underwater, the handle 20 can float and swing relative to the body 10, and in this way adjusts the center of gravity and the center of buoyancy of the underwater washing machine.

Specifically, in the present embodiment, as shown in FIG. 1 and FIG. 2, the body 10 has opposite first and second sides 110 and 120; the handle 20 has opposite first and second ends 210 and 220. . The first end 210 of the handle 20 is rotatably and slidably mounted to the first side 110 of the body 10. The second end 220 of the handle 20 is rotatably mounted to the second side 120 of the body 10.

Further, referring to FIGS. 3 and 4, the first side 110 of the body 10 is provided with a chute 111. The first end 210 of the handle 20 is provided with a sliding shaft 211. The sliding shaft 211 is mounted in the sliding slot 111, and the sliding shaft 211 can slide in the width direction of the sliding slot 111 while rotating in the sliding slot 111, so that the first end 210 of the handle 20 is rotatably and slidably mounted on the body. The first side 110 of 10.

The second side 120 of the body 10 is provided with a mounting hole 121. A rotating shaft 221 is disposed in the mounting hole 121. The rotating shaft 221 is rotatable within the mounting hole 121, and the second end 220 of the handle 20 is fixedly coupled to the rotating shaft 221. The shaft 221 is rotated within the mounting hole 121 to effect rotational connection of the second end 220 of the handle 20 with the second side 120 of the body 10.

In the present embodiment, the first side 210 of the handle 20 is rotatably mounted to the first side 110 of the body 10, and the second end 220 of the handle 20 is rotatably mounted to the second side 120 of the body 10. When the robot is working on a wall that is tilted in the water, the float of the handle can change the center of gravity and the floating center of the robot when working on the wall, so that the robot can slant and move laterally on the wall.

Preferably, a first adapter portion 212 is provided at the first end 210 of the handle 20. One end of the sliding shaft 211 is mounted in the sliding groove 111 and is rotatable and slidable in the sliding groove 111; the other end of the sliding shaft 211 is fixedly connected to the first adapter portion 212. When one end of the slide shaft 211 is rotated and slid in the chute 111, the first end 210 of the handle 20 can be rotated and slid relative to the first side 110 of the body 10. The second end 220 of the handle 20 is provided with a second adapter portion 222. One end of the rotating shaft 221 is mounted in the mounting hole 121 and is rotatable in the mounting hole 121, and the other end of the rotating shaft 221 is fixedly connected to the second adapting portion 222. When the shaft 221 is rotated within the mounting hole 121, the second end 220 of the handle 20 is rotated relative to the second side 120 of the body 10.

More preferably, the first adapter portion 212 is connected to the handle 20 in a unitary structure. The second adapter portion 222 is connected to the handle 20 in an integrated structure.

In the present embodiment, referring to FIGS. 5-7, the first side 110 of the body 10 is provided with a first chamber 112 that communicates with the inner end of the chute 111. One end of the sliding shaft 211 mounted in the sliding groove 111 projects into the first chamber 112, and the first limiting structure 30 for preventing the sliding shaft 211 from coming off the sliding groove 111 is detachably mounted. The second side 120 of the body 10 is provided with a second chamber 122 that communicates with the inner end of the mounting hole 121. One end of the rotating shaft 221 installed in the mounting hole 121 extends into the second chamber 122, and a second limiting structure 40 for preventing the rotating shaft 221 from coming off the mounting hole 121 is detachably mounted.

Specifically, the first limiting structure 30 has the same structure as the second limiting structure 40. The first stop structure 30 includes a first nut 310 that is received within the first chamber 112. The first nut 310 is screwed to the sliding shaft 211 installed in the sliding slot 111, and the outer diameter of the first nut 310 is larger than the inner diameter of the sliding slot 111 to achieve slippage when the sliding shaft 211 rotates and slides in the sliding slot 111. Slot 111. The second stop structure 40 includes a second nut 410 that is received within the second chamber 122. The second nut 410 is screwed to the rotating shaft 221 , and the outer diameter of the second nut 410 is larger than the inner diameter of the mounting hole 121 to prevent the rotating shaft 221 from coming off the mounting hole 121 when rotating in the mounting hole 121 .

In the present embodiment, the inside of the handle 20 is hollow, and the handle 20 is internally sealed to prevent water from penetrating into the interior of the handle.

Further, the handle 20 is filled with a material having a density lower than that of water, such as polystyrene foam, etc., to increase the buoyancy of the handle in the water, and is more advantageous for the handle 20 to float in the water.

The above-mentioned underwater cleaning robot crawling method, when the underwater cleaning robot is working under the water, the handle is floated away from the body by the buoyancy of the water, the floating center of the handle is higher than the center of gravity of the body and away from the fuselage; When crawling up the wall in the water, the handle is floated by the buoyancy of the water and is close to the front side of the fuselage. The float of the handle is higher than the center of gravity of the fuselage and close to the front side of the fuselage, and the fuselage is sprayed through the water outlet of the water outlet. The force of the wheel, the friction of the wheel against the wall, and the combination of gravity and buoyancy are close to the wall. During the process of climbing the wall, due to the change of the friction between the wall and the fuselage and the difference in the rotational speed of the left and right traveling wheels, a certain wall will be produced. The tilting, floating handle always keeps vertical up under the buoyancy of itself, so that the handle can adjust its position relative to the fuselage to balance the center of gravity and center of the robot, adjust the center of gravity of the machine to move toward the center, and assist the machine to reduce the tilt angle. . When the underwater cleaning robot climbs out of the water surface, the handle floats on the water surface, the floating center of the handle is away from the fuselage and the height of the float of the handle is close to the height of the center of gravity of the fuselage, and the water outlet of the fuselage is close to the water surface, causing the water jet force to decrease, the fuselage No longer cling to the wall and continue to climb out of the water.

In order to improve the wall cleaning efficiency and avoid machine pause or repeated action, in a further embodiment, when the underwater cleaning robot crawls up the wall in the water, the actual forward direction and the predetermined forward direction are detected (when the wall is vertical) When straight wall, the predetermined forward direction is vertical upward; when the wall is inclined wall, the predetermined forward direction is the angle A between the direction of the vertical upward direction projected in the inclined wall plane), if the angle A If it is less than the set angle value (15° in this embodiment), the air body is automatically rotated by the floating hand. If the angle A is greater than the set angle value and less than 90°, the speed of the left and right wheels is adjusted and/or The direction is actively corrected, and the machine is adjusted to the horizontal; if the angle A is greater than 90°, the underwater cleaning robot directly switches the motion mode (the upper wall is switched to the lower wall). When the machine is tilted on the wall, the machine will switch the pump motor and the travel wheel motor regularly to let the machine go down the wall. As for the method and apparatus for detecting the angle A between the actual forward direction and the predetermined forward direction, the prior art, for example, gyroscope detection can be employed.

In order to avoid the problem of the winding of the machine cable, the occurrence of the cleaning dead zone, etc., the embodiment of the invention also discloses a method for planning the motion path of the underwater robot. By obtaining the current state information, the underwater robot is controlled to perform vertical cleaning in the longitudinal direction and then in the horizontal direction, thereby ensuring that the underwater robot can clean the swimming pool without a dead angle. And because of the regular cleaning of the swimming pool, it is also possible to avoid the problem of the cable entanglement of the underwater robot. The underwater robot motion path planning method preferably adopts the structure and crawling method of the above underwater cleaning robot, and may also adopt the structure and crawling method of other underwater robots.

The horizontal state in this embodiment includes: after the first steering, the second steering, the third steering, the fourth steering, and the fifth steering, the horizontal state is: the angle between the underwater robot and the XY plane is less than the preset In the horizontal angle, the preferred preset horizontal angle of the embodiment is 30°; when the lower wall is horizontal, the angle between the fuselage and the XY plane is less than or equal to the preset lower wall angle; when the upper wall is horizontal, The angle between the fuselage and the XY plane is less than or equal to the preset wall climbing angle.

Please refer to FIG. 8. FIG. 8 is a flowchart of a method for planning a motion path of an underwater robot according to a first embodiment of the present invention.

As shown in FIG. 8 , an underwater robot motion path planning method may include the following steps S100 to S600. The following steps describe an example of a path planning method for cleaning a swimming pool by an underwater cleaning robot, which involves the bottom of the pool and the surrounding area. Planning the clean path of the wall.

Step S100: Acquire current state information of the underwater robot in real time.

Specifically, the state information is an angle between the body and the XY plane, the XZ plane, and the YZ plane. The XY plane, the XZ plane, and the YZ plane are planes of the X-axis, the Y-axis, and the Z-axis in the space coordinate system, and the XY plane is a plane formed by the X-axis and the Y-axis; the XZ plane is the X-axis and the Z-axis. The plane in which it is located; the YZ plane is the plane formed by the Y-axis and the Z-axis, and the XY plane is parallel to the bottom surface of the pool. The device for obtaining current state information is an inertial sensor, which may be a three-axis acceleration sensor, a gyroscope, or a combination of the two. The underwater robot updates the current status information in real time while exercising.

The state information in this embodiment includes an angle between the body and three planes of XY, YZ, and XZ.

Step S200: Control the underwater robot to climb the wall based on the state information, and retreat to the wall after advancing the wall.

Specifically, the controlling the underwater robot to climb the wall based on the state information includes: determining, according to the state information, whether the underwater robot is in a horizontal state, and if in the horizontal state, controlling the underwater robot Horizontally advancing; acquiring a current horizontal advance time, comparing the horizontal advance time with a first preset time; if the horizontal advance time is less than the first preset time, determining whether the underwater robot encounters based on the status information The side wall, if the side wall is encountered, the underwater robot is controlled to advance the wall according to the state information; the current forward climbing time is obtained, and the forward climbing time is compared with the second preset time; When the wall climbing time is not less than the second preset time, the underwater robot is controlled to retreat to the wall.

During the horizontal advancement of the underwater robot, when the robot encounters the side wall, the body will tilt as the underwater robot continues to advance horizontally, and the angle of the fuselage relative to the XY plane gradually increases until it is perpendicular to the XY plane. Correspondingly, determining whether the underwater robot encounters the side wall based on the state information in the embodiment includes: determining whether an angle between the body and the XY plane reaches 60°, and if the angle reaches 60°, it is considered to be met. Side wall. Otherwise, it is considered that the side wall has not been encountered.

When the angle between the underwater robot and the XY plane reaches a certain value, the underwater robot is controlled to advance the wall. Specifically, the angle between the underwater robot and the XY plane is compared with the preset climbing wall angle. When the angle is greater than the preset climbing wall angle, the underwater robot is considered to encounter the side wall, and the underwater robot is controlled to climb the wall. The preset climbing wall angle is 60°, that is, the underwater robot is controlled to climb the wall when the angle with the XY plane is greater than 60°. When the underwater robot moves forward to climb the wall for a second preset time, it retreats to the wall. The second preset time is a preset second preset time according to the height of the swimming pool and the speed of the underwater robot movement. That is, when the underwater robot is operated at a fixed speed for a second predetermined time in the vertical direction, the distance traveled is slightly larger than the height of the swimming pool.

Step S300: determining, according to the state information, whether the underwater robot completes the retreat to the lower wall, and if so, controlling the underwater robot to retreat, performing the first steering, and after the first steering, retreating again. The second turn is the same angle as the first steering direction.

Specifically, determining, according to the state information, whether the underwater robot completes the retreat to the lower wall: determining whether the current state is in a horizontal state, comparing the angle of the underwater robot and the XY plane with the preset lower wall angle, when less than the preset When the angle of the lower wall is horizontal, the preferred preset lower wall angle is 30°, that is, when the angle with the XY plane is less than 30°, the underwater robot is judged to complete the lower wall. This means that the underwater robot has been completely under the wall. When the wall is completely down, it is retracted. When the third preset time is reversed, the first steering is performed, and after the first steering, the third preset time is retreated, and then the second steering is performed. When it is judged that it is not in the horizontal state, it continues to retreat to the wall. Wherein, the first steering is opposite to the rotation direction of the second steering, that is, the underwater robot is adjusted by a predetermined distance in the machine width direction by two steerings, and the angle of the first steering and the second steering is rotated. The same, that is, after two steerings, the underwater robot still retreats in the direction before the two turns, and it is preferable that the first steering and the second steering have a rotation angle of 45°. The third preset time is preset according to the moving speed of the underwater robot and the length of the fuselage, and the third preset time can ensure that the underwater robot can adjust the predetermined distance in the direction of the machine width after the two steerings.

Step S400: Control the underwater robot to recede the climbing wall based on the state information, and advance the lower wall after retreating the wall.

Specifically, after the underwater robot is adjusted by the predetermined distance in the machine width direction by the step S300, the underwater robot is in a horizontal state, that is, the angle between the underwater robot and the XY plane is smaller than a preset horizontal angle, and the underwater robot Retreat horizontally.

Specifically, controlling the underwater robot to retreat the climbing wall based on the state information, and advancing the lower wall after retreating the wall includes: acquiring a current horizontal back time, and comparing the horizontal back time with the first preset time; If the horizontal back time is less than the first preset time, determining whether the underwater robot encounters the side wall based on the state information, and if the side wall is encountered, controlling the underwater robot to retreat the wall according to the state information; The backwall climbing time is compared with the second preset time; if the back climbing wall time is not less than the second preset time, the underwater robot is controlled to advance to the lower wall. .

During the horizontal retreat of the underwater robot, the underwater robot is horizontally retracted, and the fuselage is tilted to gradually increase the angle of the fuselage relative to the XY plane. Correspondingly, determining whether the underwater robot encounters the side wall based on the state information in the embodiment includes: determining whether an angle between the body and the XY plane reaches 60°, and if the angle reaches 60°, it is considered to be met. Side wall. Otherwise, it is considered that the side wall has not been encountered.

When the angle between the underwater robot and the XY plane reaches a certain value, it is considered that the underwater robot encounters the side wall and controls the underwater robot to retreat the wall. Specifically, the angle between the underwater robot and the XY plane is compared with the preset climbing wall angle. When the angle is greater than the preset climbing wall angle, the underwater robot is considered to encounter the side wall and control the underwater robot to retreat the climbing wall. The preset climbing wall angle is 60°, that is, the underwater robot is controlled to retreat the wall when the angle to the XY plane is greater than 60°. When the underwater robot moves back to the wall for a second preset time, proceed to the lower wall. The second preset time is a preset second preset time according to the height of the swimming pool and the speed of the underwater robot movement. That is, when the underwater robot is operated at a fixed speed for a second predetermined time in the vertical direction, the distance traveled is slightly larger than the height of the swimming pool.

Step S500: determining, based on the state information, whether the underwater robot completes the advancement of the lower wall (ie, leaving the side wall), and if so, controlling the underwater robot to advance, performing the third steering, the third steering After that, proceed again, and perform the fourth steering at the same angle as the third steering direction.

During the process of moving down the wall, the underwater robot gradually leaves the side wall and contacts the bottom surface of the pool. During this process, the angle of the body of the underwater robot relative to the XY plane gradually decreases, and advances horizontally after entering the horizontal state. Specifically, determining, according to the state information, whether the underwater robot completes the advancement of the lower wall: determining whether the current state is in a horizontal state, comparing the angle of the underwater robot with the XY plane with the preset lower wall angle, when less than the preset When the angle of the lower wall is horizontal, the preferred preset lower wall angle is 30°, that is, when the angle with the XY plane is less than 30°, the human underwater robot is judged to complete the lower wall. When the wall is completely down, it proceeds. When the horizontal advances for the third predetermined time, the third steering is performed, and after the third steering, the third predetermined time is advanced, and then the fourth steering is performed. When it is judged that it is not in the horizontal state, it proceeds to the lower wall. Wherein, the third turning direction is opposite to the turning direction of the fourth turning, that is, the underwater robot is adjusted by a predetermined distance in the machine width direction by two steerings, and the angle of the third turning and the fourth turning is rotated. The same, that is, after two steerings, the underwater robot still advances in the direction before the two turns, and the preferred third and fourth steering angles are 45°. The third preset time is preset according to the moving speed of the underwater robot and the length of the fuselage, and the third preset time can ensure that the underwater robot can adjust the predetermined distance in the direction of the machine width after the two steerings.

Step S600: Repeat the above steps and increase the number of round trips by one.

Specifically, step S100 is performed again after the predetermined distance of the fuselage is adjusted, thereby ensuring that the underwater robot can perform no-angle cleaning on the swimming pool. When step S100 is executed again, the number of round trips is incremented by one for counting the number of round trips of the underwater robot in the current direction, and when the number of round trips is increased to n, the number of reset round trips is one. Where n is the maximum number of statistical round trips set in advance.

Please refer to FIG. 9. FIG. 9 is a flowchart of a method for planning a motion path of an underwater robot according to a second embodiment of the present invention. The second embodiment of the present invention is a specific optimization of the step S200 in the first embodiment, and is the same as the first embodiment, and will not be further described in this embodiment.

As shown in FIG. 9, the second embodiment of the present invention may include the following steps S210 to S250.

Step S210: determining whether the underwater robot is in a horizontal state based on the state information, and acquiring a current round trip number if the horizontal state is a horizontal state; and controlling the underwater robot to advance if the round trip number is less than n times.

Specifically, determining, according to the state information, whether the underwater robot is in a horizontal state: acquiring current state information in real time, and determining whether the current underwater robot is in a horizontal state based on an angle between the underwater robot and the XY plane in the current state information, If the angle between the current underwater robot and the XY plane is less than the preset horizontal angle, the underwater robot is in a horizontal state, and the underwater robot is controlled to advance, and the preferred preset horizontal angle is 30°. If the number of round trips is not less than n times, the flag information is acquired, and the underwater vehicle is controlled to be turned for the fifth time based on the flag position, and after the fifth steering, the flag is incremented by one. If it is not in the horizontal state, the underwater robot is controlled to move backward/forward to the lower wall and the number of round trips is decreased by 1, and step S300 is performed. Specifically, the value of the flag bit ranges from 1 ≤ m ≤ 4; when the flag bit is equal to 1, the right turn is reversed, the forward direction is not turned, and the flag bit is incremented by 1; when the flag bit is When it is equal to 2, it will turn left when going backwards, not turn when going forward, and the flag will increase by 1; when the flag is equal to 3, it will not turn when going backward, turn right when going forward, and the flag will increase by 1; When the flag bit is equal to 4, it does not turn when retreating, the left direction is turned forward when forward, and the flag bit is incremented by 1; when the flag bit is greater than 4, the flag bit is reset to 1. The fifth steering preferably has a preferred angle of rotation of 90°. The range of values of the flag bits and the operating rules that are taken at different times can be adjusted.

Step S220: Acquire a current advance time, and compare the advance time with a first preset time.

Specifically, the current advance time is: the time when the underwater robot detects the time point from the start of the horizontal state to the current time point. The current forward time is compared with a preset first preset time. The first preset time is a first preset time preset according to the length and width of the swimming pool and the moving speed of the underwater robot, and the optimal cleaning path can be selected for the underwater robot based on the first preset time.

Step S230: If the forward time is less than the first preset time, determine whether the underwater robot encounters the side wall based on the state information, and if so, control the underwater robot to climb the wall.

Specifically, the current advance time is compared with a first preset time, and based on the status information, it is determined whether the underwater robot encounters a sidewall. The side wall is encountered: during the forward/reverse movement of the underwater robot, the underwater robot advances/retracts horizontally, the body is tilted, and the angle of the fuselage relative to the XY plane gradually increases. Correspondingly, determining whether the underwater robot encounters the side wall based on the state information in the embodiment includes: determining whether an angle between the body and the XY plane reaches 60°, and if the angle reaches 60°, it is considered to be met. Side wall. Otherwise, it is considered that the side wall has not been encountered. If the current advance time is less than the first preset time, and the side wall is not encountered, the advancement is continued; if the current advance time is less than the first preset time, and the side wall is encountered, the wall is climbed forward; the current advance time is not less than the first preset If the time is set, step S300 is performed.

Step S240: Acquire a current forward climbing time, and compare the forward climbing time with a second preset time.

Specifically, the current forward climbing time is: the length of time from the time when the side wall starts to climb the wall to the current time point. The current forward climbing time is compared with a preset second preset time. The second preset time is a preset second preset time according to the height of the swimming pool and the speed of the underwater robot movement. That is, when the underwater robot is operated at a fixed speed for a second predetermined time in the vertical direction, the distance traveled does not exceed the height of the pool.

Step S250: If the forward climbing wall time is not less than the second preset time, then the underwater robot is controlled to retreat to the lower wall.

Specifically, comparing the current forward climbing wall time with a second preset time, when the forward climbing wall time is not less than the second preset time, then retreating to the lower wall; when the forward climbing wall time When it is less than the second preset time, it continues to climb the wall.

Please refer to FIG. 10. FIG. 10 is a flowchart of a method for planning a motion path of an underwater robot according to a third embodiment of the present invention. The third embodiment of the present invention is a specific optimization of the first embodiment and the step S400 in the second embodiment, and the same steps as those of the first embodiment and the second embodiment are omitted in the embodiment.

As shown in FIG. 10, the third embodiment of the present invention may include the following steps S410 to S450.

Step S410: Determine whether the underwater robot is in a horizontal state based on the state information, and obtain a current round trip number if it is in a horizontal state; and control the underwater robot to retreat if the round trip number is less than n times.

Specifically, determining, according to the state information, whether the underwater robot is in a horizontal state: acquiring current state information in real time, and determining whether the current underwater robot is in a horizontal state based on an angle between the underwater robot and the XY plane in the current state information, If the angle between the current underwater robot and the XY plane is less than the preset horizontal angle, the underwater robot is in a horizontal state, and the underwater robot is controlled to retreat, and the preferred preset horizontal angle is 30°. If the number of round trips is not less than n times, the flag information is acquired, and the underwater vehicle is controlled to be turned for the fifth time based on the flag position, and after the fifth steering, the flag is incremented by one. If it is not in the horizontal state, the underwater robot is controlled to retreat/forward the lower wall and the number of round trips is decreased by 1, and step S500 is performed. Specifically, the value of the flag bit ranges from 1 ≤ m ≤ 4; when the flag bit is equal to 1, the right turn is reversed, the forward direction is not turned, and the flag bit is incremented by 1; when the flag bit is When it is equal to 2, it will turn left when going backwards, not turn when going forward, and the flag will increase by 1; when the flag is equal to 3, it will not turn when going backward, turn right when going forward, and the flag will increase by 1; When the flag bit is equal to 4, it does not turn when retreating, the left direction is turned forward when forward, and the flag bit is incremented by 1; when the flag bit is greater than 4, the flag bit is reset to 1. The fifth steering preferably has a preferred angle of rotation of 90°.

Step S420: Acquire a current back time, and compare the back time with the first preset time.

Specifically, the current back time is: the time when the underwater robot detects the time point from the start of the horizontal state to the current time point. The current back time is compared with a preset first preset time. The first preset time is a first preset time preset according to the length and width of the swimming pool and the moving speed of the underwater robot, and the optimal cleaning path can be selected for the underwater robot based on the first preset time.

Step S430: If the back time is less than the first preset time, determine whether the underwater robot encounters the side wall based on the state information, and if so, control the underwater robot to retreat the wall.

Specifically, comparing the current back time with the first preset time, and determining, according to the state information, whether the underwater robot encounters a side wall. The side wall is encountered: during the forward/reverse movement of the underwater robot, the underwater robot advances/retracts horizontally, the body is tilted, and the angle of the fuselage relative to the XY plane gradually increases. Correspondingly, determining whether the underwater robot encounters the side wall based on the state information in the embodiment includes: determining whether an angle between the body and the XY plane reaches 60°, and if the angle reaches 60°, it is considered to be met. Side wall. Otherwise, it is considered that the side wall has not been encountered. When the back time is less than the first preset time and the side wall is not encountered, proceeding; when the back time is less than the first preset time, and the side wall is encountered, the wall is climbed; the current advance time is not less than the first preset If the time is set, step S500 is performed.

Step S440: Acquire a current back climbing wall time, and compare the back climbing wall time with a second preset time.

Specifically, the current backwall climbing time is: the length of time from the time when the side wall starts to retreat to the climbing wall to the current time point. Compare the current backwall time with a preset second preset time. The second preset time is a preset second preset time according to the height of the swimming pool and the speed of the underwater robot movement. That is, when the underwater robot is operated at a fixed speed for a second predetermined time in the vertical direction, the distance traveled does not exceed the height of the pool.

Step S450: If the back climbing wall time is not less than the second preset time, then the underwater robot is controlled to advance to the lower wall.

Specifically, comparing the current back climbing wall time with a second preset time, when the back climbing wall time is not less than the second preset time, proceeding to the lower wall; when the back climbing wall time When it is less than the second preset time, it continues to climb the wall.

Please refer to FIG. 11. FIG. 11 is a flowchart of a method for planning a motion path of an underwater robot according to a fourth embodiment of the present invention. The fourth embodiment of the present invention optimizes the forward climbing wall, the back lower wall, the back climbing wall, and the forward lower wall in the above embodiment.

As shown in FIG. 11, the fourth embodiment of the present invention may include the following steps S431 to S434.

Step S431: Acquire current state information in real time.

Specifically, the current body and the angle information between the body and the XY plane, the XZ plane, and the YZ plane are obtained.

Step S432: Determine, according to the state information, whether the current state of the underwater robot is a vertical climbing wall/lower wall.

Specifically, it is determined whether the current state is a vertical climbing wall/lower wall, that is, whether there is an angle between the body and the YZ plane when the angle between the body and the XY plane is 90°.

Step S433: If the wall is climbing vertically/lower wall, the underwater robot is controlled to continue to climb the wall/lower wall.

Specifically, if there is no angle between the fuselage and the YZ plane when the angle between the fuselage and the XY plane is 90°, the wall/lower wall is continued.

Step S434: If it is not vertical climbing/lower wall, it is determined that the current state of the underwater robot is a wall-wrapping state.

Specifically, if the angle between the body and the YZ plane is 90° when the angle between the body and the XY plane is 90°, and the degree of the angle is greater than 25°, it is determined that the current state is the state of the wall.

Referring to FIG. 12, FIG. 12 is a flowchart of a method for planning a motion path of an underwater robot according to a fifth embodiment of the present invention. The fifth embodiment of the present invention is a specific optimization for determining the state of the surrounding wall in the above embodiment.

As shown in FIG. 12, the fifth embodiment of the present invention may include the following steps S641 to S645.

Step S641: Acquire current state information in real time.

Specifically, the angle information between the current body and the XY plane, the XZ plane, and the YZ plane is obtained.

Step S642: Control the underwater robot to adjust the position of the body based on the state information.

Specifically, in the state of the wall, the angle between the fuselage and the XY plane is 90°, and the fuselage has an angle with the YZ plane. The position of the fuselage is adjusted, and the rotation speed of the left and right wheels of the underwater robot is controlled by a motor to form a speed difference. When the fuselage is on the left side of the YZ plane and forms an angle with the YZ plane and the angle is greater than 25°, the left side wheel speed of the underwater robot is controlled to be greater than the right wheel speed, thereby adjusting the angle with the YZ plane to Zero; when the fuselage is on the right side of the YZ plane and forms an angle with the YZ plane and the angle is greater than 25°, then the right wheel speed of the underwater robot is controlled to be greater than the left wheel speed, so that the angle with the YZ plane Adjust to zero. Thereby achieving the purpose of adjusting the position of the fuselage.

Step S643: Based on the state information, determine whether the underwater robot is successfully adjusted to a vertical climbing wall/lower wall.

Specifically, when the adjustment is completed, the angle information between the current body and the XY plane, the XZ plane, and the YZ plane is acquired again. It is judged whether it is successfully adjusted to the vertical climbing wall/lower wall, that is, whether there is an angle between the fuselage and the YZ plane when the angle between the fuselage and the XY plane is 90°.

Step S644: If the vertical climbing/lower wall is successfully adjusted, the underwater robot is controlled to move backward/forward to the lower wall, and step S500 is performed.

Specifically, if the angle between the current fuselage and the XY plane is 90°, there is no angle between the fuselage and the YZ plane, that is, when the vertical climbing wall/lower wall is successfully adjusted, then the back wall is moved backward/forward, and the steps are performed. S500.

Step S645: If the vertical climbing/lower wall is not successfully adjusted, the underwater robot is controlled to issue an alarm.

Specifically, when the angle between the current fuselage and the XY plane is 90°, the fuselage has an angle with the YZ plane, that is, if the vertical climbing wall/lower wall is not successfully adjusted, an alarm is issued. The alarm can be alarm music and/or flashing lights, etc. Specifically, the buzzer and LED alarm indicator.

In the above embodiment, the method further includes setting a first preset time, a second preset time, a third preset time, a maximum number of round trips n, and an initial value of the flag bit.

13-14, FIG. 13 is a schematic diagram of a module relationship of a motion path planning system for an underwater robot according to an embodiment of the present invention; FIG. 14 is a schematic diagram of a module relationship of a wall climbing control module according to an embodiment of the present invention.

As shown in FIG. 13-14, an underwater robot motion path planning system includes: a state obtaining module 100, configured to acquire current state information of the underwater robot in real time; and a climbing wall control module 200, configured to be based on the state The information control underwater robot advances/reverses the climbing wall, and retreats/forward the lower wall after advancing/retracting the climbing wall; the steering control module 300 is configured to determine, according to the state information, whether the underwater robot completes the retreat to the lower wall, if And controlling the underwater robot to retreat, performing the first steering, and after the first steering, retreating again, performing the second steering with the same angle as the first steering direction; determining based on the state information Whether the underwater robot completes the advancement of the lower wall, and if so, controls the underwater robot to advance, performs the third steering, and after the third steering, advances again, and performs the same angle as the third steering direction The fourth turn.

Specifically, the state information acquired by the state acquiring module 100 is an angle between the body and the XY plane, the XZ plane, and the YZ plane. The XY plane, the XZ plane, and the YZ plane are planes of the X-axis, the Y-axis, and the Z-axis in the space coordinate system, and the XY plane is a plane formed by the X-axis and the Y-axis; the XZ plane is the X-axis and the Z-axis. The plane in which it is located; the YZ plane is the plane formed by the Y-axis and the Z-axis. And the XY plane is parallel to the horizontal plane. The state acquisition module 100 is an inertial sensor, and may be a three-axis acceleration sensor, a gyroscope, or a combination of the two. The underwater robot updates the current status information in real time while exercising.

The climbing wall control module 200 is used for the underwater robot to advance/retract horizontally during the horizontal advancement of the underwater robot, the body is inclined, and the angle of the body with respect to the XY plane is gradually increased. Correspondingly, determining whether the underwater robot encounters the side wall based on the state information in the embodiment includes: determining whether an angle between the body and the XY plane reaches 60°, and if the angle reaches 60°, it is considered to be met. Side wall. Otherwise, it is considered that the side wall has not been encountered. When the angle between the underwater robot and the XY plane reaches a certain value, the underwater robot is controlled to advance/retract the wall. Specifically, if the side wall is encountered, controlling the underwater robot to advance/retract the climbing wall comprises: comparing the angle of the underwater robot with the XY plane with the preset climbing wall angle, when greater than the preset climbing wall angle, Then, the underwater robot is controlled to advance the wall, and the preferred preset wall angle is 60°, that is, the underwater robot is controlled to advance/retract the wall when the angle with the XY plane is greater than 60°. When the underwater robot moves forward/backward to climb the wall for a second preset time, it retreats/goes down the wall. The second preset time is a preset second preset time according to the height of the swimming pool and the speed of the underwater robot movement. That is, when the underwater robot is operated at a fixed speed for a second predetermined time in the vertical direction, the distance traveled is slightly larger than the height of the swimming pool.

The steering control module 300 is configured to determine, according to the state information, whether the underwater robot completes the retreat to the lower wall to determine whether the current state is in a horizontal state, and compare the angle of the underwater robot with the XY plane with the preset lower wall angle. When it is less than the preset lower wall angle, it is horizontal, and the preferred preset lower wall angle is 30°, that is, when the angle with the XY plane is less than 30°, the underwater robot is judged to complete the lower wall. This means that the underwater robot has been completely under the wall. When the wall is completely down, it is retracted. When the third preset time is reversed, the first steering is performed, and after the first steering, the third preset time is retreated, and then the second steering is performed. When it is judged that it is not in the horizontal state, it continues to retreat to the wall. Wherein, the first steering is opposite to the rotation direction of the second steering, that is, the underwater robot is adjusted by a predetermined distance in the machine width direction by two steerings, and the angle of the first steering and the second steering is rotated. The same, that is, after two steerings, the underwater robot still retreats in the direction before the two turns, and it is preferable that the first steering and the second steering have a rotation angle of 45°. The third preset time is preset according to the moving speed of the underwater robot and the length of the fuselage, and the third preset time can ensure that the underwater robot can adjust the predetermined distance in the direction of the machine width after the two steerings. And determining, according to the state information, whether the underwater robot completes the advancement of the lower wall: determining whether the current state is in a horizontal state, comparing the angle of the underwater robot with the XY plane with the preset lower wall angle, when less than the preset When the angle of the lower wall is horizontal, the preferred preset lower wall angle is 30°, that is, when the angle with the XY plane is less than 30°, the human underwater robot is judged to complete the lower wall. When the wall is completely down, it advances. When the third preset time is currently entered, the third turn is performed, and after the third turn, the third preset time is advanced, and then the fourth turn is performed. When it is judged that it is not in the horizontal state, it proceeds to the lower wall. Wherein, the third turning direction is opposite to the turning direction of the fourth turning, that is, the underwater robot is adjusted by a predetermined distance in the machine width direction by two steerings, and the angle of the third turning and the fourth turning is rotated. The same, that is, after two steerings, the underwater robot still advances in the direction before the two turns, and the preferred third and fourth steering angles are 45°. The third preset time is preset according to the moving speed of the underwater robot and the length of the fuselage, and the third preset time can ensure that the underwater robot can adjust the predetermined distance in the direction of the machine width after the two steerings.

Preferably, the climbing wall control module 200 includes: a determining module 2100, configured to determine, according to the state information, whether the underwater robot encounters a side wall, and if not, controls the underwater robot to advance/retract; Whether the forward/reverse time is not less than the first preset time, and if the forward/reverse time is less than the first preset time, determining, according to the state information, whether the underwater robot encounters a side wall, if encountered And controlling the underwater robot to advance/retract the climbing wall; determining whether the forward/backward climbing wall time is not less than the second preset time; and the lower wall control module 2200, if the moving forward/reverse climbing wall When the time is not less than the second preset time, the underwater robot is controlled to move back/forward the lower wall.

The determining module 2100 is configured to determine, according to the state information, whether the underwater robot is in a horizontal state: acquiring current state information in real time, and determining whether the current underwater robot is at a level based on an angle between the underwater robot and the XY plane in the current state information State, if the angle between the current underwater robot and the XY plane is less than the preset horizontal angle, the underwater robot is in a horizontal state, and the underwater robot is controlled to advance, and the preferred preset horizontal angle is 30°.

The determining module 2100 is further configured to compare the current forward time with a preset first preset time. The first preset time is a first preset time preset according to the length and width of the swimming pool and the moving speed of the underwater robot, and the optimal cleaning path can be selected for the underwater robot based on the first preset time. The current advance time is compared with a first preset time, and based on the status information, it is determined whether the underwater robot encounters a side wall. The side wall is encountered: during the forward/reverse movement of the underwater robot, the underwater robot advances/retracts horizontally, the body is tilted, and the angle of the fuselage relative to the XY plane gradually increases. Correspondingly, determining whether the underwater robot encounters the side wall based on the state information in the embodiment includes: determining whether an angle between the body and the XY plane reaches 60°, and if the angle reaches 60°, it is considered to be met. Side wall. Otherwise, it is considered that the side wall has not been encountered. If the current advance time is less than the first preset time, and the side wall is not encountered, the advancement is continued; if the current advance time is less than the first preset time, and the side wall is encountered, the wall is climbed forward; the current advance time is not less than the first preset If the time is set, step S300 is performed. The current forward climbing time is compared with a preset second preset time. The second preset time is a preset second preset time according to the height of the swimming pool and the speed of the underwater robot movement. That is, when the underwater robot is operated at a fixed speed for a second predetermined time in the vertical direction, the distance traveled does not exceed the height of the pool.

The lower wall control module 2200 is configured to control the underwater robot to retreat/forward the lower wall when the forward/reverse climbing wall time is not less than the second preset time.

It should be noted that, in the motion path planning method of the present invention, whether the underwater robot is in a horizontal state is considered if any one of the following three conditions is satisfied:

(a) the angle between the fuselage and the XY plane is less than the horizontal angle (30° in the embodiment);

(b) When the wall is lowered from the side wall to the bottom of the pool, the angle between the fuselage and the XY plane is smaller than the angle of the lower wall;

(c) From the bottom of the pool to the side wall, the angle between the fuselage and the XY plane is smaller than the angle of the upper wall.

The values of the horizontal angle, the lower wall angle and the upper wall angle are independent of each other and are irrelevant. When the application is implemented, the specific implementation scheme can be adjusted according to the application requirements based on the judgment principle.

The underwater robot of the invention cleans the swimming pool wall on the moving path, and obtains the current state information, that is, obtains the angle between the fuselage and the XY plane, the XZ plane and the YZ plane, thereby controlling the movement path of the machine. . Firstly, it is judged whether the current state is in the horizontal state. If it is in the horizontal state, the wall is cleaned by the wall. After reaching the second preset time, the wall is vertically lowered, and after the lower wall is rotated twice, the predetermined distance is adjusted in the machine width direction, and then adjusted. After retreating the wall, after reaching the second preset time, proceed to the lower wall, and then rotate twice through the lower wall to adjust the predetermined distance in the machine width direction to complete a round-trip cleaning. Through the repeated round-trip cleaning, the dead-end cleaning of the swimming pool is achieved, and since the trajectory of the movement is regular, the problem of the cable entanglement of the underwater robot is also avoided.

The technical features of the above-described embodiments may be arbitrarily combined. For the sake of brevity of description, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction between the combinations of these technical features, All should be considered as the scope of this manual.

The above-described embodiments are merely illustrative of several embodiments of the present invention, and the description thereof is more specific and detailed, but is not to be construed as limiting the scope of the invention. It should be noted that a number of variations and modifications may be made by those skilled in the art without departing from the spirit and scope of the invention. Therefore, the scope of the invention should be determined by the appended claims.

Embodiments of the invention

The description paragraphs of the embodiments of the present invention are entered here.

Industrial applicability

Type the industrial usability description paragraph here.

Sequence table free content

Type the sequence table free content description paragraph here.

Claims (30)

An underwater cleaning robot includes a body and a handle disposed on the body, wherein the underwater cleaning robot is buoyant when the underwater crawling operation and/or the underwater climbing operation It can float relative to the fuselage under its action. The underwater cleaning robot according to claim 1, wherein the handle is rotatably mounted on the body, and the handle is rotatable to be close to or away from a front side or a rear side of the body. The underwater cleaning robot according to claim 1, wherein both ends of the handle are rotatably mounted on left and right sides of the body, respectively, and the handle is rotatable so as to be close to or away from the body. Front or rear side. The underwater cleaning robot according to claim 1, wherein a first end of the handle is slidably and rotatably mounted on a first side of the body, and a second end of the handle is rotatably mounted On a second side of the fuselage, a second side of the fuselage is disposed opposite a first side of the fuselage, and the handle is rotatable to be near or away from a front or rear side of the fuselage. The underwater cleaning robot according to claim 1, wherein the first side of the fuselage is provided with a sliding slot, and the sliding slot is provided with a sliding shaft that is slidably and rotationally coupled to the sliding slot. The first end of the handle is fixedly coupled to the sliding shaft. The underwater cleaning robot according to claim 5, wherein the first end of the handle is provided with a first adapter portion, one end of the sliding shaft is slidably and rotatably mounted in the sliding slot, and One end is fixedly connected to the first adapter. The underwater cleaning robot according to claim 5, wherein the first side of the body is provided with a first chamber communicating with an inner end of the chute, and the sliding shaft is mounted on the sliding One end of the slot extends into the first chamber and is detachably mounted with a first limiting structure that prevents the sliding shaft from disengaging from the chute. The underwater cleaning robot according to claim 1, wherein the second side of the body is provided with a mounting hole, and the mounting hole is provided with a rotating shaft that can rotate in the mounting hole, and the handle is The two ends are fixedly connected to the rotating shaft. The underwater cleaning robot according to claim 8, wherein the second end of the handle is provided with a second adapting portion, one end of the rotating shaft is rotatably mounted in the mounting hole, and the other end is The second adapter is fixedly connected. The underwater cleaning robot according to claim 8, wherein the second side of the body is provided with a second chamber communicating with the inner end of the mounting hole, and the rotating shaft is mounted on the mounting hole An inner end extends into the second chamber and is detachably mounted with a second limiting structure that prevents the rotating shaft from coming off the mounting hole. The underwater cleaning robot according to claim 1, wherein the handle is hollow inside or filled with a material having a density lower than that of water. The underwater cleaning robot according to claim 1, wherein when the underwater cleaning robot is working underwater, the floating center of the handle is higher than the center of gravity of the body and away from the body; when the underwater cleaning robot is in the water along the wall When crawling upwards, the floating center of the handle is higher than the center of gravity of the fuselage and close to the front side of the fuselage; when the underwater cleaning robot climbs out of the water, the handle floats on the surface of the water, the floating center of the handle is away from the fuselage and the height of the float of the handle Close to the center of gravity of the fuselage. The underwater cleaning robot crawling method according to any one of claims 1 to 12, characterized in that, when the underwater cleaning robot is working underwater, the handle is floated away from the body by the buoyancy of water; When the robot crawls up the wall in the water, the handle is floated by the buoyancy of the water and is close to the front side of the fuselage. The underwater cleaning robot crawling method according to any one of claims 1 to 12, characterized in that, when the underwater cleaning robot is working underwater, the floating center of the handle is higher than the center of gravity of the body and away from the body; When the underwater cleaning robot crawls up the wall in the water, the floating center of the handle is higher than the center of gravity of the fuselage and close to the front side of the fuselage, the water jet force of the fuselage through its water outlet, the friction of the wheel against the wall, and the gravity The buoyancy works together to crawl up against the wall; when the underwater cleaning robot climbs out of the water, the handle floats on the surface of the water, the floating center of the handle is away from the fuselage and the height of the float of the handle is close to the height of the center of gravity of the fuselage, the fuselage outlet Close to the water surface causes the water jet force to decrease, and the fuselage no longer crawls up against the wall. The underwater cleaning robot crawling method according to claim 14, wherein when the underwater cleaning robot crawls up the wall in the water, the angle A between the actual forward direction and the predetermined forward direction is detected. If the angle A is smaller than the set angle value, the body is automatically rotated by the floating hand. If the angle A is greater than the set angle value and less than 90°, the active correction is achieved by adjusting the speed and/or direction of the left and right wheels. If the angle A is greater than 90°, clean the lower wall of the robot underwater. The motion path planning method of the underwater cleaning robot according to any one of claims 1 to 12, comprising the steps of: Acquiring current state information of the underwater robot in real time; Controlling the underwater robot to climb the wall based on the state information, and retreating to the wall after advancing the wall; Determining, according to the state information, whether the underwater robot completes the retreat to the lower wall, and if so, controlling the underwater robot to retreat, performing the first steering, and after the first steering, retreating again, performing the first a second steering with the same angle of rotation in the opposite direction; Controlling the underwater robot to recede the climbing wall based on the state information, and advancing the lower wall after retreating the wall; Determining, according to the state information, whether the underwater robot completes the advancement of the lower wall, and if so, controlling the underwater robot to advance, performing the third steering, and after the third steering, proceeding again, performing the third The fourth turn with the same angle of rotation in the opposite direction; Repeat the above steps and increase the number of round trips by one. The method according to claim 16, wherein said controlling said underwater robot to advance the wall climbing based on said state information, and stepping back the wall after advancing the wall climbing and controlling said said based on said state information The underwater robot retreats the wall and steps forward to the lower wall after receding the wall is specifically: Determining, according to the state information, whether the underwater robot is in a horizontal state, and if the horizontal state is a horizontal state, acquiring a current round trip number; if the round trip number is less than n times, controlling the underwater robot to advance/retract; Obtaining a current forward/backward time, and comparing the forward/backward time with a first preset time; If the forward/reverse time is less than the first preset time, determining, according to the status information, whether the underwater robot encounters a side wall, and if so, controlling the underwater robot to advance/retract the climbing wall; Obtaining a current forward/backward climbing wall time, and comparing the forward/reverse climbing wall time with a second preset time; And if the forward/reverse climbing wall time is not less than the second preset time, controlling the underwater robot to retreat/forward the lower wall. The method according to claim 16, wherein when the number of round trips is increased to n, the number of round trips is reset to one. The method according to claim 18, wherein the determining whether the underwater robot is in a horizontal state based on the state information, and obtaining a current round trip number if the horizontal state is; if the round trip number is less than n times, Controlling the underwater robot forward/backward further includes: If the number of round trips is not less than n times, the flag information is acquired, the fifth steering of the underwater robot is controlled based on the flag position, and after the fifth steering, the forward/reverse and the flag are incremented by one. The method according to claim 19, wherein the determining whether the underwater robot is in a horizontal state based on the state information, and obtaining a current round trip number if the horizontal state is; if the round trip number is less than n times, Controlling the underwater robot forward/backward further includes: If it is not in a horizontal state, controlling the underwater robot to retreat/forward the lower wall and reducing the number of round trips by one, and the executing step determines whether the underwater robot completes the retreat/forward of the lower wall based on the state information, and if so, the control station The underwater robot is retracted/advanced in sequence, and the first/third steering is performed. After the first/third steering, the vehicle is retracted/advanced again, and the second/fourth steering having the same angle as the first/third steering direction is performed. The method according to claim 19, wherein said fifth turn based on said flag bit is specifically: The value of the flag bit ranges from 1 ≤ m ≤ 4; When the flag bit is equal to 1, the right turn when going backward, not turn when going forward, and the flag bit is increased by 1; When the flag bit is equal to 2, the left turn when going backward, not turn when going forward, and the flag bit is increased by 1; When the flag bit is equal to 3, no turning when retreating, turning right when advancing, and adding 1 to the flag bit; When the flag bit is equal to 4, it does not turn when retreating, and turns left when advancing, and the flag bit is incremented by 1; When the flag bit is greater than 4, the flag bit is reset to 1. The method according to claim 19, wherein the first turning, the second turning, the third turning, and the fourth turning are rotated at an angle of 45°, and the turning angle of the fifth turning It is 90°. The method according to claim 17, wherein if the forward/reverse time is less than the first preset time, determining whether the underwater robot encounters a side wall based on the status information, if encountered, The step of controlling the underwater robot to advance/retract the climbing wall further includes: If the forward/reverse time is not less than the first preset time, the executing step determines whether the underwater robot completes the forward/reverse lower wall based on the status information, and if so, controls the underwater robot to advance/retract, performing The third/first steering, after the third/first steering, advances/retracts again, and performs the fourth/secondary steering that is the same angle as the third/first steering direction. The method according to claim 17, wherein if the forward/reverse time is less than the first preset time, determining whether the underwater robot encounters a side wall based on the status information, if encountered, The step of controlling the underwater robot to advance/retract the climbing wall further includes: If the forward/reverse time is less than the first preset time and the side wall is not encountered, the underwater robot is controlled to continue to move forward/backward. The method according to claim 17, wherein if the forward/backward climbing wall time is not less than the second predetermined time, the step of controlling the underwater robot to retreat/forward the lower wall is further include: If the forward/reverse wall climbing time is less than the second preset time, then the underwater robot is controlled to continue to advance/reverse the climbing wall. The method of claim 17 wherein said advancing the wall, receding the wall, receding the wall, and advancing the wall further comprises: Get current status information in real time; Determining, according to the state information, whether the current state of the underwater robot is a vertical climbing wall/lower wall; If the wall is climbing vertically/lower wall, the underwater robot is controlled to continue climbing/lower wall; If it is not vertical climbing/lower wall, it is determined that the current state of the underwater robot is a wall-wrapping state. The method of claim 26, when in the state of a wall: Get current status information in real time; Controlling the underwater robot to adjust a position of the body based on the state information; Determining whether the underwater robot is successfully adjusted to a vertical climbing wall/lower wall based on the state information; If the vertical climbing/lower wall is successfully adjusted, the underwater robot is controlled to retreat/forward the lower wall, and the executing step determines whether the underwater robot completes the advancement of the lower wall based on the state information, and if so, controls the The underwater robot advances to perform the third steering, and after the third steering, advances again, and performs the fourth steering with the same angle as the third steering direction; If the vertical climbing/lower wall is not successfully adjusted, the underwater robot is controlled to issue an alarm. The method according to claim 16, wherein the step of acquiring the current state information of the underwater robot in real time further comprises: The first preset time, the second preset time, the maximum number of round trips n, and the initial value of the flag are set in advance. The motion path planning system of the underwater cleaning robot according to any one of claims 1 to 12, comprising: a state acquiring module, configured to acquire current state information of the underwater robot in real time; a wall climbing control module, configured to control the underwater robot to advance/retract the climbing wall based on the state information, and to retreat/go forward the wall after advancing/retracting the wall; a steering control module, configured to determine, according to the state information, whether the underwater robot completes the retreat to the lower wall, and if so, control the underwater robot to retreat to perform the first steering, after the first steering, again Retreating, performing a second steering with the same angle as the first steering direction; determining whether the underwater robot completes the advancement of the lower wall based on the state information, and if so, controlling the underwater robot to advance, performing the third After the third steering, the second steering is performed again, and the fourth steering having the same angle as the third steering direction is performed. The system of claim 29, wherein the wall climbing control module comprises: a determining module, configured to determine, according to the state information, whether the underwater robot encounters a side wall, and if not, controls the underwater robot to advance/retract; and determines whether the forward/backward time is not less than the a first preset time, if the forward/reverse time is less than the first preset time, determining, according to the state information, whether the underwater robot encounters a side wall, and if so, controlling the underwater robot to advance/retract Climbing the wall; determining whether the forward/backward climbing wall time is not less than the second preset time; The lower wall control module is configured to control the underwater robot to retreat/forward the lower wall if the forward/backward climbing wall time is not less than the second preset time.