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Swimming pool robot capable of controlling sinking and floating and sinking and floating control method for swimming pool robot
The invention relates to the field of underwater robots, in particular to a sinking and floating controllable swimming pool robot and a sinking and floating control method for the swimming pool robot. The swimming pool robot capable of controlling sinking and floating comprises a sinking and floating control unit used for controlling floating and sinking of the swimming pool robot; the waterline detection unit is used for detecting the position relation between the swimming pool robot and the waterline of the swimming pool liquid level; the main control unit is used for controlling the working state of the sinking and floating control unit, can control the swimming pool robot to find a side wall or a slope based on the operation demand information of the swimming pool robot, and enables the swimming pool robot to crawl along the side wall or the slope; the waterline detection unit is controlled to detect the position relation with the waterline of the liquid level of the swimming pool; and based on the detection result, the sinking and floating control unit is controlled to enter a floating working state to achieve floating of the swimming pool robot. Based on the operation requirements of the swimming pool robot, faster floating and sinking of the swimming pool robot are achieved, and configuration of internal components is simplified.
本公开涉及水下机器人领域，尤其是涉及一种可控沉浮的泳池机器人和用于泳池机器人的沉浮控制方法。本公开的可控沉浮的泳池机器人包括：沉浮控制单元，用于控制泳池机器人的漂浮和下沉；水线检测单元，用于检测泳池机器人与所处泳池液面的水线的位置关系；主控制单元，用于控制沉浮控制单元的工作状态，能够基于泳池机器人的作业需求信息，控制泳池机器人寻找侧壁或斜坡，并使泳池机器人沿着侧壁或斜坡爬行；控制水线检测单元执行与所处泳池液面的水线的位置关系的检测；基于检测的结果，控制沉浮控制单元进入上浮工作状态以实现泳池机器人的漂浮。通过基于泳池机器人的作业需求，实现了泳池机器人更快的漂浮和下沉，并且简化了内部组件配置。
Swimming pool robot capable of controlling sinking and floating and sinking and floating control method for swimming pool robot
The invention relates to the field of underwater robots, in particular to a sinking and floating controllable swimming pool robot and a sinking and floating control method for the swimming pool robot. The swimming pool robot capable of controlling sinking and floating comprises a sinking and floating control unit used for controlling floating and sinking of the swimming pool robot; the waterline detection unit is used for detecting the position relation between the swimming pool robot and the waterline of the swimming pool liquid level; the main control unit is used for controlling the working state of the sinking and floating control unit, can control the swimming pool robot to find a side wall or a slope based on the operation demand information of the swimming pool robot, and enables the swimming pool robot to crawl along the side wall or the slope; the waterline detection unit is controlled to detect the position relation with the waterline of the liquid level of the swimming pool; and based on the detection result, the sinking and floating control unit is controlled to enter a floating working state to achieve floating of the swimming pool robot. Based on the operation requirements of the swimming pool robot, faster floating and sinking of the swimming pool robot are achieved, and configuration of internal components is simplified.
本公开涉及水下机器人领域，尤其是涉及一种可控沉浮的泳池机器人和用于泳池机器人的沉浮控制方法。本公开的可控沉浮的泳池机器人包括：沉浮控制单元，用于控制泳池机器人的漂浮和下沉；水线检测单元，用于检测泳池机器人与所处泳池液面的水线的位置关系；主控制单元，用于控制沉浮控制单元的工作状态，能够基于泳池机器人的作业需求信息，控制泳池机器人寻找侧壁或斜坡，并使泳池机器人沿着侧壁或斜坡爬行；控制水线检测单元执行与所处泳池液面的水线的位置关系的检测；基于检测的结果，控制沉浮控制单元进入上浮工作状态以实现泳池机器人的漂浮。通过基于泳池机器人的作业需求，实现了泳池机器人更快的漂浮和下沉，并且简化了内部组件配置。
Swimming pool robot capable of controlling sinking and floating and sinking and floating control method for swimming pool robot
可控沉浮的泳池机器人和用于泳池机器人的沉浮控制方法
LIU XIAOFENG (author) / HUA YONGFEI (author)
2024-11-29
Patent
Electronic Resource
Chinese
IPC:
E04H
Gebäude oder ähnliche Bauwerke für besondere Zwecke
,
BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES
/
B25J
Manipulatoren
,
MANIPULATORS
/
B60F
VEHICLES FOR USE BOTH ON RAIL AND ON ROAD
,
Fahrzeuge für den Verkehr sowohl auf Schienen als auch auf Straßen
/
B62D
MOTOR VEHICLES
,
Motorfahrzeuge
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