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Water outlet detection method and system for swimming pool cleaning robot and medium
The invention discloses a water outlet detection method and system for a swimming pool cleaning robot and a medium, and the method comprises the steps: controlling the swimming pool cleaning robot to stop running for a first preset time when a first water outlet detection probe discharges water, and recording an attitude angle theta 1 of the swimming pool cleaning robot at the moment; obtaining a conduction state of a second water outlet detection probe; if the second water outlet detection probe is in the conducting state, the swimming pool cleaning robot is controlled to continue to operate; if the second water outlet detection probe is not in the conducting state, the swimming robot is controlled to continue to stop running for a second preset time, and the attitude angle theta 2 of the swimming pool cleaning robot at the moment is recorded; comparing the attitude angle theta2 with the attitude angle theta1; the running state of the swimming pool cleaning robot is judged based on the change of the attitude angle theta2 relative to the attitude angle theta1; and controlling the swimming pool cleaning robot to continuously run or stop running based on the running state. The water outlet state of the swimming pool cleaning robot can be accurately judged, whether the water outlet reason is manual moving away from the water area or accidental moving away from the water area is analyzed, and the misjudgment rate is reduced.
本发明公开了一种游泳池清洁机器人出水检测方法、系统及介质，该方法包括：在第一出水检测探针出水时，控制游泳池清洁机器人停止运行第一预设时间，并记录游泳池清洁机器人此时的姿态角θ1；获取第二出水检测探针的导通状态；若第二出水检测探针处于导通状态，则控制游泳池清洁机器人继续运行；若第二出水检测探针未处于导通状态，则控制游泳机器人继续保持停止运行第二预设时间，并记录游泳池清洁机器人此时的姿态角θ2；将姿态角θ2与姿态角θ1相比较；基于姿态角θ2相对于姿态角θ1的变化大小判断游泳池清洁机器人的运行状态；基于运行状态，控制游泳池清洁机器人继续运行或停止运行。本发明可准确判断出游泳池清洁机器人出水状态，分析出水原因是人为搬离还是意外驶离水域，减少误判率。
Water outlet detection method and system for swimming pool cleaning robot and medium
The invention discloses a water outlet detection method and system for a swimming pool cleaning robot and a medium, and the method comprises the steps: controlling the swimming pool cleaning robot to stop running for a first preset time when a first water outlet detection probe discharges water, and recording an attitude angle theta 1 of the swimming pool cleaning robot at the moment; obtaining a conduction state of a second water outlet detection probe; if the second water outlet detection probe is in the conducting state, the swimming pool cleaning robot is controlled to continue to operate; if the second water outlet detection probe is not in the conducting state, the swimming robot is controlled to continue to stop running for a second preset time, and the attitude angle theta 2 of the swimming pool cleaning robot at the moment is recorded; comparing the attitude angle theta2 with the attitude angle theta1; the running state of the swimming pool cleaning robot is judged based on the change of the attitude angle theta2 relative to the attitude angle theta1; and controlling the swimming pool cleaning robot to continuously run or stop running based on the running state. The water outlet state of the swimming pool cleaning robot can be accurately judged, whether the water outlet reason is manual moving away from the water area or accidental moving away from the water area is analyzed, and the misjudgment rate is reduced.
本发明公开了一种游泳池清洁机器人出水检测方法、系统及介质，该方法包括：在第一出水检测探针出水时，控制游泳池清洁机器人停止运行第一预设时间，并记录游泳池清洁机器人此时的姿态角θ1；获取第二出水检测探针的导通状态；若第二出水检测探针处于导通状态，则控制游泳池清洁机器人继续运行；若第二出水检测探针未处于导通状态，则控制游泳机器人继续保持停止运行第二预设时间，并记录游泳池清洁机器人此时的姿态角θ2；将姿态角θ2与姿态角θ1相比较；基于姿态角θ2相对于姿态角θ1的变化大小判断游泳池清洁机器人的运行状态；基于运行状态，控制游泳池清洁机器人继续运行或停止运行。本发明可准确判断出游泳池清洁机器人出水状态，分析出水原因是人为搬离还是意外驶离水域，减少误判率。
Water outlet detection method and system for swimming pool cleaning robot and medium
一种游泳池清洁机器人出水检测方法、系统及介质
DENG ZHUOMING (author)
2024-07-26
Patent
Electronic Resource
Chinese
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