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Cleaning method of underwater robot, underwater robot and storage medium
The invention discloses a cleaning method of an underwater robot, the underwater robot and a storage medium, and the method comprises the following steps: obtaining historical cleaning data of the underwater robot; determining a current blockage value of the filter screen according to the historical cleaning data; and when the underwater robot executes a climbing action and/or an obstacle avoidance action, target water pumping power is determined according to the current blockage value, and the climbing action and/or the obstacle avoidance action are/is executed according to the target water pumping power. According to the method, the historical cleaning data is obtained, the congestion value of the filter screen in the water pumping mechanism of the underwater robot is calculated according to the historical cleaning data, and when the underwater robot needs to clean the pool wall, namely, the wall climbing action and/or the obstacle avoidance action needs to be executed, the water pumping power during wall climbing is dynamically adjusted based on the congestion value; the problem that the cruising ability is reduced due to the fact that the water pumping power is directly adjusted to the maximum when the underwater robot climbs a wall or avoids an obstacle is solved.
本发明公开了水下机器人的清洗方法、水下机器人及存储介质，其中，所述方法包括以下步骤：获取所述水下机器人的历史清洗数据；根据所述历史清洗数据确定所述过滤网的当前堵塞值；在所述水下机器人执行攀爬动作和/或避障动作时，根据所述当前堵塞值确定目标抽水功率，并根据所述目标抽水功率执行所述攀爬动作和/或所述避障动作。本发明通过获取历史清洗数据，根据历史清洗数据计算出水下机器人抽水机构中过滤网的拥堵值，在水下机器人需要对池壁进行清洗时也即需要执行爬墙动作和/或避障动作时，基于该拥堵值动态调整爬墙时的抽水功率，解决了水下机器人在爬墙或避障时直接将抽水功率调至最大，使得续航能力降低问题。
Cleaning method of underwater robot, underwater robot and storage medium
The invention discloses a cleaning method of an underwater robot, the underwater robot and a storage medium, and the method comprises the following steps: obtaining historical cleaning data of the underwater robot; determining a current blockage value of the filter screen according to the historical cleaning data; and when the underwater robot executes a climbing action and/or an obstacle avoidance action, target water pumping power is determined according to the current blockage value, and the climbing action and/or the obstacle avoidance action are/is executed according to the target water pumping power. According to the method, the historical cleaning data is obtained, the congestion value of the filter screen in the water pumping mechanism of the underwater robot is calculated according to the historical cleaning data, and when the underwater robot needs to clean the pool wall, namely, the wall climbing action and/or the obstacle avoidance action needs to be executed, the water pumping power during wall climbing is dynamically adjusted based on the congestion value; the problem that the cruising ability is reduced due to the fact that the water pumping power is directly adjusted to the maximum when the underwater robot climbs a wall or avoids an obstacle is solved.
本发明公开了水下机器人的清洗方法、水下机器人及存储介质，其中，所述方法包括以下步骤：获取所述水下机器人的历史清洗数据；根据所述历史清洗数据确定所述过滤网的当前堵塞值；在所述水下机器人执行攀爬动作和/或避障动作时，根据所述当前堵塞值确定目标抽水功率，并根据所述目标抽水功率执行所述攀爬动作和/或所述避障动作。本发明通过获取历史清洗数据，根据历史清洗数据计算出水下机器人抽水机构中过滤网的拥堵值，在水下机器人需要对池壁进行清洗时也即需要执行爬墙动作和/或避障动作时，基于该拥堵值动态调整爬墙时的抽水功率，解决了水下机器人在爬墙或避障时直接将抽水功率调至最大，使得续航能力降低问题。
Cleaning method of underwater robot, underwater robot and storage medium
水下机器人的清洗方法、水下机器人及存储介质
DENG ZHINENG (author)
2023-08-29
Patent
Electronic Resource
Chinese
Underwater cleaning robot cleaning method and underwater cleaning robot
| European Patent Office | 2024