CN115182628A - Method for detecting blockage of swimming pool cleaning robot and swimming pool cleaning robot - Google Patents
Method for detecting blockage of swimming pool cleaning robot and swimming pool cleaning robotDownload PDFInfo
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- CN115182628A CN115182628ACN202210939758.6ACN202210939758ACN115182628ACN 115182628 ACN115182628 ACN 115182628ACN 202210939758 ACN202210939758 ACN 202210939758ACN 115182628 ACN115182628 ACN 115182628A
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H4/00—Swimming or splash baths or pools
- E04H4/14—Parts, details or accessories not otherwise provided for
- E04H4/16—Parts, details or accessories not otherwise provided for specially adapted for cleaning
- E04H4/1654—Self-propelled cleaners
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H4/00—Swimming or splash baths or pools
- E04H4/14—Parts, details or accessories not otherwise provided for
- E04H4/16—Parts, details or accessories not otherwise provided for specially adapted for cleaning
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R19/00—Arrangements for measuring currents or voltages or for indicating presence or sign thereof
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Abstract
Description
Technical Field
The embodiment of the application relates to the technical field of cleaning devices, in particular to a method for detecting blockage of a swimming pool cleaning robot and the swimming pool cleaning robot.
Background
Along with the development of the automation industry, robots are increasingly present in our lives, and the swimming pool cleaning robot is a cleaning robot generated according to the cleaning requirements of a swimming pool and can finish the repeated cleaning of the bottom and the wall of the swimming pool and the filtering of water in the swimming pool. The swimming pool cleaning robot sucks pollutants and the like in a swimming pool into the filter basket in the working process, the pollutants and the like are blocked in the filter basket due to the filter screen arranged on the filter basket, and water passes through the filter screen and is discharged from the swimming pool cleaning robot. The swimming pool cleaning robot has a problem in that, as the using time increases, the output shaft of the water pump motor is wound by foreign matters or foreign matters in the filter screen are excessive, which may cause the swimming pool cleaning robot to be blocked, thereby reducing the cleaning efficiency.
Disclosure of Invention
To solve the above problems, embodiments of the present application provide a method for detecting clogging of a pool cleaning robot and a pool cleaning robot, which at least partially solve the above problems.
According to the first aspect of the embodiment of this application, provide a swimming pool cleaning machines people's filter screen blocks up detection method, be applied to swimming pool cleaning machines people, swimming pool cleaning machines people is including filtering basket, water pump motor and impeller, it includes the filter screen to filter the basket, be connected with on the output shaft of water pump motor the impeller, the output shaft rotates to it is rotatory to drive the impeller, makes water pass through it discharges from swimming pool cleaning machines people after filtering the basket, the method includes: collecting the actual working voltage of the water pump motor; if the actual working voltage of the water pump motor meets the trigger condition, judging whether the swimming pool cleaning robot is blocked or not according to N actual working voltages of the water pump motor which are continuously collected within a set time period; and if so, determining the blockage degree of the swimming pool cleaning robot according to at least part of the N actual working voltages.
According to a second aspect of the embodiment of the application, a blockage degree detection device is provided, which comprises a current sampling resistor, an operational amplifier and a controller, wherein a first end of the current sampling resistor is connected with a water pump motor of the swimming pool cleaning robot, a second end of the current sampling resistor is grounded, the operational amplifier is connected with the current sampling resistor, collects a voltage value of the current sampling resistor, outputs the voltage value to a sampling pin of the controller after operational amplification, and the controller is used for executing the method.
According to a third aspect of embodiments of the present application, there is provided a pool cleaning robot comprising a controller configured to perform the foregoing method.
According to a fourth aspect of embodiments of the present application, there is provided a pool cleaning robot including the aforementioned clogging degree detecting apparatus.
According to the method for detecting the blockage of the swimming pool cleaning robot provided by the embodiment of the application, the method utilizes the characteristics of the practical working voltage of the water pump motor and the external load, the external load size of the water pump motor is determined by collecting the practical working voltage of the water pump motor, the size of the external load is related to the blockage degree of the filtering basket, and whether the output shaft of the water pump motor is wound by foreign matters or not is related to the external load, so that the blockage degree of the swimming pool cleaning robot can be determined by utilizing the practical working voltage, and therefore whether the filtering basket is blocked or not can be detected or whether the output shaft is wound by the foreign matters or not can be judged under the condition that a sensor is not additionally arranged. Gather continuous N actual operating voltage (N is positive integer) when water pump motor's actual operating voltage satisfies the trigger condition to confirm swimming pool cleaning machines people's filter screen jam degree according to at least part in N actual operating voltage, guaranteed the accuracy that the jam degree detected like this.
Drawings
The drawings are only for purposes of illustrating and explaining the present application and are not to be construed as limiting the scope of the present application. Wherein,
FIG. 1 is a schematic view of a pool cleaning robot according to an embodiment of the present disclosure;
FIG. 2 is a schematic flow chart illustrating steps of a first method for detecting clogging of a filter screen according to an embodiment of the present disclosure;
FIG. 3 is a schematic structural diagram of a connection between a current sampling resistor and a water pump motor according to an embodiment of the present disclosure;
fig. 4 is a schematic flow chart illustrating steps of a second method for detecting clogging of a filter screen according to an embodiment of the present disclosure.
Description of the reference numerals:
11. a water inlet; 12. a water outlet; 20. sealing the cabin; 21. a water outlet duct member; 40. a filter basket; 50. a water pump motor; 60. the current samples the resistance.
Detailed Description
In order to more clearly understand the technical features, objects and effects of the embodiments of the present application, specific embodiments of the present application will be described with reference to the accompanying drawings.
"exemplary" means "serving as an example, instance, or illustration" herein, and any illustration, embodiment, or steps described as "exemplary" herein should not be construed as a preferred or advantageous alternative.
For the sake of simplicity, the drawings only schematically show the parts relevant to the present application, and they do not represent the actual structure of the product. In addition, for simplicity and clarity of understanding, elements having the same structure or function in some of the figures may be shown only schematically or only schematically.
Before describing the structure of the pool cleaning robot with the inner cavity and the water paths distributed in a tapered shape (hereinafter referred to as the pool cleaning robot) in the embodiment of the present application, in conjunction with the accompanying drawings, a brief description is first given to an application scenario of the pool cleaning robot, so as to facilitate understanding.
As shown in fig. 1, the pool cleaning robot can autonomously move within the pool and collect contaminants (e.g., leaves, etc.) within the pool during the movement while cleaning the bottom and/or side walls of the pool. The swimming pool cleaning robot mainly comprises a cleaning robot shell, a driving mechanism, a rolling brush mechanism, a filteringbasket 40, a sealedcabin 20 and the like.
Wherein, be provided with water inlet 11 anddelivery port 12 on the cleaning machines people's casing, water inlet 11 is located cleaning machines people's casing bottom, anddelivery port 12 is located cleaning machines people's casing top. The driving mechanism is arranged on the cleaning robot shell and can drive the cleaning robot shell to move. The rolling brush mechanism is arranged on the cleaning robot shell, and cleans the bottom surface or the side wall of the swimming pool in the moving process of the swimming pool cleaning robot in the swimming pool.
The filteringbasket 40 is arranged in the cleaning robot shell and corresponds to the water inlet 11 on the cleaning robot shell, so that water entering the cleaning robot shell from the water inlet 11 can flow out of thewater outlet 12 after being filtered by the filteringbasket 40, and the filtering and cleaning effects on the water are guaranteed. Thefilter basket 40 includes a screen through which contaminants are filtered and retained within thefilter basket 40.
In order to provide flowing power for water, a sealedcabin 20 is arranged in the cleaning robot shell, awater pump motor 50 is arranged in the sealedcabin 20, an output shaft of thewater pump motor 50 extends out of the sealedcabin 20, an impeller is connected to the output shaft, a wateroutlet duct part 21 is arranged outside the impeller, and the impeller on the output shaft is driven to rotate when thewater pump motor 50 rotates, so that water is sucked into the cleaning robot shell from a water inlet 11 and then is discharged from awater outlet 12. In the course of the swimming pool cleaning robot cleaning, pollutants are continuously accumulated in thefilter basket 40, which causes the resistance of water flow to be continuously increased, and if thefilter basket 40 is blocked, the cleaning efficiency is greatly influenced. In addition, if the pollutants pass through thefilter basket 40 or enter the cleaning robot housing from other positions accidentally, the pollutants are wound around the output shaft of thewater pump motor 50, the operation safety of thewater pump motor 50 is affected, and the cleaning efficiency is also reduced.
To solve these problems, embodiments of the present application provide a method of detecting clogging of a pool cleaning robot, as shown in fig. 2, the method comprising the steps of:
step S102: the actual operating voltage of thewater pump motor 50 is collected.
Step S104: if the actual working voltage of thewater pump motor 50 meets the trigger condition, whether the swimming pool cleaning robot is blocked or not is judged according to the N actual working voltages of thewater pump motor 50 continuously collected within the set time period.
Step S106: if so, determining the clogging degree of the swimming pool cleaning robot of thefilter basket 40 according to at least part of the N actual working voltages.
The method utilizes the characteristic that the actual working voltage of thewater pump motor 50 is related to the external load, and the actual working voltage of thewater pump motor 50 is collected to determine the external load of thewater pump motor 50, and the external load is related to the blocking degree of thefilter basket 40 and whether foreign matters are wound on the output shaft of thewater pump motor 50, so that the blocking degree of the swimming pool cleaning robot can be determined by utilizing the actual working voltage, such as the blocking degree of thefilter basket 40, and the blocking degree of thefilter basket 40 is detected or whether the foreign matters are wound on the output shaft is judged under the condition that a sensor is not additionally added. The method comprises the steps of collecting continuous N actual working voltages (N is a positive integer) when the actual working voltages of thewater pump motor 50 meet a trigger condition, and determining the blockage degree of the swimming pool cleaning robot according to at least part of the N actual working voltages, so that the detection accuracy of the blockage degree is guaranteed.
The method is described in detail below with reference to a specific example as follows:
in this example, as shown in fig. 3, one end of thewater pump motor 50 is connected to the power supply terminal, the other end of thewater pump motor 50 is connected to one end of thecurrent sampling resistor 60, the other end of thecurrent sampling resistor 60 is grounded, and the operational amplifier circuit (not shown) is connected to thecurrent sampling resistor 60, and the operational amplifier circuit can be connected to the controller of the pool cleaning robot.
In one implementation, step S102 may be implemented as: the actual working voltage of thewater pump motor 50 is obtained by collecting the voltage of thecurrent sampling resistor 60 processed by the operational amplifier circuit.
Because thecurrent sampling resistor 60 is connected in series with thewater pump motor 50, the currents of thewater pump motor 50 and thecurrent sampling resistor 60 are consistent, the current flowing through thewater pump motor 50 changes along with the change of an external load of thewater pump motor 50, so that the voltages at two ends of thecurrent sampling resistor 60 change, the operational amplification circuit performs operational amplification on the voltage of thecurrent sampling resistor 60 and sends the processed voltage to the controller, and the controller can calculate the actual working voltage of thewater pump motor 50 according to the voltage of thecurrent sampling resistor 60.
The relationship between the actual operating voltage and the current of thewater pump motor 50 can be known from equation 1.
Equation 1
U is the actual operating voltage of thewater pump motor 50, n is the rotational speed of thewater pump motor 50, is the constant of the water pump motor 50 (related to its structure and specification), is the magnetic flux of thewater pump motor 50, I is the current of thewater pump motor 50, and R is the internal resistance of thewater pump motor 50.
As can be seen from the above equation 1, since thewater pump motor 50 is constant when it is fixed, the actual operating voltage of the water pump voltage and the current are positively correlated with each other when the rotation speed is kept constant. This causes the current and the actual operating voltage of thewater pump motor 50 to vary as the external load varies.
And determining whether the collected actual working voltage meets the triggering condition or not based on the collected actual working voltage. If the trigger condition is satisfied, step S104 is executed. Otherwise, no action may be taken.
Wherein, determining whether the actual operating voltage of thewater pump motor 50 satisfies the trigger condition may be implemented as: acquiring a mapping relation between voltage and a blockage degree; judging whether the acquired actual working voltage of thewater pump motor 50 falls into any voltage interval of thewater pump motor 50 corresponding to each of the plurality of blockage degrees; if yes, the triggering condition is met.
The voltage and clogging degree map is used to indicate a voltage range of thewater pump motor 50 corresponding to each of the plurality of clogging degrees. For example, the clogging degree is divided into 50%, (50% to 70%, (70% to 90%, (90% to 100%) and the like, and the division method is not limited thereto, and the manner of division may be appropriately adjusted according to the actual situation, and each clogging degree corresponds to one voltage interval, for example, the clogging degree is 50% in the (voltage value 1, voltage value 2) interval, the clogging degree (50% to 70%) in the (voltage value 2, voltage value 3) interval, the clogging degree (70% to 90%) in the (voltage value 3, voltage value 4) interval, the clogging degree (90% to 100%) in the (voltage value 4, voltage value 5) interval, and the like.
The aforementioned mapping relationship may be obtained by: respectively collecting a plurality of voltages of thewater pump motor 50 corresponding to each blockage degree aiming at a plurality of blockage degrees of the swimming pool cleaning robot; determining a voltage interval corresponding to each blockage degree according to a plurality of voltages corresponding to each blockage degree; and determining a mapping relation according to the voltage interval corresponding to each blockage degree.
Use the filter screen to block up as the example, drive swimming pool cleaning machines people works in the swimming pool, and along with work carry out the filter screen and block up gradually, when the filter screen blockked up 50%, gatherwater pump motor 50's voltage. And then cleaning the filter screen to enable the blockage degree of the filter screen to be lower than 50%, continuing to work, collecting the voltage again when the blockage degree reaches 50%, repeating the steps until the required number of voltages are collected, selecting the lowest value of the collected voltage as the lower limit value of the voltage interval, and selecting the highest value of the collected voltage as the upper limit value of the voltage interval. Of course, other adjustments may be performed on the collected voltage, and the voltage interval may be determined, which is not limited. This way the mapping relation can be determined.
When foreign matter is wound around the output shaft of thewater pump motor 50, the mapping relationship is determined in a manner similar to that of a filter screen, and therefore, the description is omitted.
If the actual working voltage falls into any one of the voltage intervals, determining that the trigger condition is met; on the contrary, it can be determined that the trigger condition is not satisfied, so that the clogging degree can be judged infrequently, and thus the power consumption can be reduced.
When the trigger condition is satisfied, step S104 may be performed.
In step S104, it is determined whether the pool cleaning robot is clogged based on the N actual operating voltages of thewater pump motor 50 continuously collected for the set period of time.
Due to the fact that the actual working environment is complex, the actual working voltage may fluctuate abnormally or fluctuate due to other reasons, therefore, under the condition that the trigger condition is met, N actual working voltages within a set time period (such as 3 seconds, 5 seconds or 10 seconds) can be collected, and whether the swimming pool cleaning robot is really blocked or not can be determined based on the N actual working voltages. Therefore, misjudgment caused by abnormal fluctuation of the actual working voltage can be reduced, and the accuracy is improved.
For example, in one possible approach, step S104 may be implemented as: determining a first average value of the N actual working voltages, and judging whether the first average value falls into any voltage interval of thewater pump motor 50 corresponding to each of the plurality of blockage degrees; if yes, the swimming pool cleaning robot is judged to be blocked.
The first average value may be a ratio of the sum of N actual operating voltages to N, and the first average value indicates the external load condition of thewater pump motor 50 within a set time period, that is, indicates that thefilter basket 40 is clogged and/or the output shaft of thewater pump motor 50 is entangled, and if the first average value falls within a certain voltage interval, it indicates that the swimming pool cleaning robot is actually clogged, and it is necessary to further determine the clogging degree.
If it is determined that the pool cleaning robot has a blockage, step S106 is performed.
Step S106: and determining the blockage degree of the swimming pool cleaning robot according to at least part of the N actual working voltages.
In one possible approach, step S106 may be implemented as: intercepting M actual working voltages in the N actual working voltages, and determining a second average value of the M actual working voltages; and determining the current blockage degree of the swimming pool cleaning robot according to the mapping relation and the second average value of the M actual working voltages.
M is a positive integer and less than or equal to N. The M actual operating voltages may be the actual operating voltages collected within the last P seconds (e.g., the last 1 second, or the last 3 seconds, etc.). P is a positive integer. The second average of the M actual operating voltages is a ratio of the sum of the M actual voltages to M.
And determining the blockage degree corresponding to the voltage interval to which the second average value belongs based on the mapping relation, and taking the blockage degree as the blockage degree of the swimming pool cleaning robot. If the second average value falls in the interval of (voltage value 3, voltage value 4), the blockage degree of the swimming pool cleaning robot is (70% -90%).
Further, a more accurate degree of occlusion may be determined based on the location of the second average in the voltage interval, e.g., the degree of occlusion is about 76% if the second average is located at 1/3 of the voltage interval, etc.
In one possible approach, as shown in fig. 4, after determining the clogging degree of the pool cleaning robot, the method further includes step S108.
Step S108: and generating a notification message according to the blockage degree of the swimming pool cleaning robot, and sending the notification message to a notification device to instruct the notification device to display the blockage degree, wherein the notification device comprises at least one of a mobile terminal and a display screen mounted on the swimming pool cleaning robot.
After the clogging degree is determined, in order to facilitate the user to know the clogging degree, or to remind the user to clean the filter screen of thefilter basket 40 and/or check whether the output shaft of thewater pump motor 50 is wound in time, a notification message is generated based on the clogging degree, and the notification message is sent to a notification device for display. The notification equipment can be a mobile terminal of a user, such as a smart phone, a smart tablet, a smart watch and the like, or the notification equipment can also be a display screen or an indicator light and the like mounted on the swimming pool cleaning robot, as long as the blockage degree can be displayed for the user.
Alternatively, in other embodiments, the method can further include step S110 after determining the clogging degree of the pool cleaning robot at step S106, or after having sent a notification message to the notification apparatus instructing the notification apparatus to exhibit the clogging degree at step S108.
Step S110: after determining that the pool cleaning robot is in a blocked state or having sent a notification message to the notification apparatus to instruct the notification apparatus to display the degree of blocking, continuously collecting the latest Q actual operating voltages of the water pump motor, determining the latest degree of blocking according to the Q actual operating voltages, generating a notification message according to the latest degree of blocking, and sending the notification message to the notification apparatus.
After determining that the swimming pool cleaning robot is in a blocked state or sending a notification message to the notification device to instruct the notification device to show the blocking degree, the blocking degree may change, such as continuously increasing, as the swimming pool cleaning robot continues to work, in this case, in order to more quickly and accurately determine the blocking degree, reduce the amount of calculation and power consumption, when determining that the swimming pool cleaning robot is in the blocked state, the latest Q (Q is a positive integer) actual working voltages are continuously collected, and the latest blocking degree is determined according to the Q actual working voltages; the method comprises the steps of collecting the latest Q (Q is a positive integer) actual working voltages, determining the latest blockage degree according to the Q actual working voltages, collecting the latest Q (Q is a positive integer) actual working voltages, and determining the latest blockage degree according to the Q actual working voltages.
The method for determining the clogging degree based on the Q actual operating voltages may be the same as the method for determining the clogging degree based on the M actual operating voltages, and therefore, the description thereof is omitted. Q may be equal to M, or not, without limitation.
And generating a notification message according to the latest filter screen blockage degree, and sending the notification message to corresponding notification equipment so as to facilitate the user to check. This enables the user to grasp the latest clogging degree in time.
The method can reliably detect the blockage of the swimming pool cleaning robot (such as the blockage degree of a filter screen or whether foreign objects are wound on the output shaft of the water pump motor 50) by monitoring the actual working voltage of thewater pump motor 50, thereby ensuring the working reliability and safety of the swimming pool cleaning robot.
According to another aspect of the present application, there is provided a clogging degree detecting apparatus, which includes acurrent sampling resistor 60, an operational amplifier and a controller, wherein a first end of thecurrent sampling resistor 60 is connected to awater pump motor 50 of a pool cleaning robot, a second end of thecurrent sampling resistor 60 is grounded, the operational amplifier is connected to thecurrent sampling resistor 60, collects a voltage value of thecurrent sampling resistor 60, and outputs the voltage value to a sampling pin of the controller after operational amplification, and the controller is configured to perform the aforementioned method.
This block up degree detection device can detect swimming pool cleaning machines people's the jam degree reliably, if the jam degree of confirming the filter screen, and/or, in time detect whether there is the output shaft of foreign matter winding water pump motor 50 (usually the foreign matter winding can lead to the fluctuation of actual operating voltage comparatively violent, the rapid change, and the actual operating voltage that the filter screen blockked up and lead to changes comparatively gently), thereby guaranteed the security and the reliability of swimming pool cleaning machines people's work.
According to another aspect of the present application, there is provided a pool cleaning robot comprising a controller for performing the above method. The swimming pool cleaning robot can timely and reliably detect the blockage of the swimming pool cleaning robot, such as the blockage degree of a filter screen and/or whether foreign matters are wound on the output shaft of thewater pump motor 50, and the safety is ensured.
According to another aspect of the present application, there is provided a pool cleaning robot including the clogging degree detecting apparatus described above. The swimming pool cleaning robot ensures the working safety and reliability of the swimming pool cleaning robot by detecting the blockage of the swimming pool cleaning robot, such as the blockage degree of a filter screen and/or whether foreign matters are wound on the output shaft of thewater pump motor 50.
It should be understood that although the present description has been described in terms of various embodiments, not every embodiment includes only a single embodiment, and such description is for clarity purposes only, and those skilled in the art will recognize that the embodiments described herein may be combined as suitable to form other embodiments, as will be appreciated by those skilled in the art.
The above description is only an exemplary embodiment of the present disclosure, and is not intended to limit the scope of the present disclosure. Any person skilled in the art should be able to make equivalent changes, modifications and combinations without departing from the concept and principle of the embodiments of the present application.
Claims (11)
1. A method for detecting blockage of a swimming pool cleaning robot, wherein the method is applied to the swimming pool cleaning robot, the swimming pool cleaning robot comprises a filter basket, a water pump motor and an impeller, the filter basket comprises a filter screen, the impeller is connected to an output shaft of the water pump motor, the output shaft rotates to drive the impeller to rotate, so that water is discharged from the swimming pool cleaning robot after being filtered by the filter basket, and the method comprises the following steps:
collecting the actual working voltage of the water pump motor;
if the actual working voltage of the water pump motor meets the trigger condition, judging whether the swimming pool cleaning robot is blocked or not according to N actual working voltages of the water pump motor which are continuously collected within a set time period;
and if so, determining the blockage degree of the swimming pool cleaning robot according to at least part of the N actual working voltages.
2. The method of claim 1, wherein the actual operating voltage of the water pump motor meets a trigger condition comprising:
acquiring a voltage and blockage degree mapping relation, wherein the voltage and blockage degree mapping relation is used for indicating voltage intervals of water pump motors corresponding to a plurality of blockage degrees;
judging whether the acquired actual working voltage of the water pump motor falls into any voltage interval of the water pump motor corresponding to each of the plurality of blockage degrees; if yes, the trigger condition is satisfied.
3. The method of claim 2, wherein if the actual operating voltage of the water pump motor meets the trigger condition, determining whether the filter screen is blocked according to the N actual operating voltages of the water pump motor continuously collected within a set time period comprises:
determining a first average value of the N actual working voltages, and judging whether the first average value falls into any voltage interval of the water pump motor corresponding to each of the multiple blockage degrees;
if yes, judging that the filter screen is blocked.
4. The method of claim 2 or 3, wherein determining the degree of screen plugging of the filter basket based on at least some of the N actual operating voltages comprises:
intercepting M actual working voltages in the N actual working voltages, and determining a second average value of the M actual working voltages;
and determining the current blockage degree of the swimming pool cleaning robot according to the mapping relation and the second average value of the M actual working voltages.
5. The method according to claim 2 or 3, wherein the mapping is obtained by:
respectively collecting a plurality of voltages of a water pump motor corresponding to each blockage degree aiming at the plurality of blockage degrees of the swimming pool cleaning robot;
determining a voltage interval corresponding to each blockage degree according to a plurality of voltages corresponding to each blockage degree;
and determining the mapping relation according to the voltage interval corresponding to each blockage degree.
6. The method according to claim 1, wherein the step of connecting the water pump motor to the current sampling resistor and the operational amplifier circuit, and the step of collecting the actual working voltage of the water pump motor comprises the steps of:
and acquiring the actual working voltage of the water pump motor by acquiring the voltage of the current sampling resistor processed by the operational amplification circuit.
7. The method as claimed in any one of claims 1-3, 6, wherein after determining the clogging degree of the pool cleaning robot, the method further comprises:
generating a notification message according to the blockage degree of the swimming pool cleaning robot, and sending the notification message to a notification device to instruct the notification device to display the blockage degree, wherein the notification device comprises at least one of a mobile terminal and a display screen carried on the swimming pool cleaning robot.
8. The method as claimed in claim 7, wherein after determining the clogging degree of the pool cleaning robot or having sent the notification message to a notification apparatus instructing the notification apparatus to show the clogging degree, the method further comprises:
continuously collecting the latest Q actual working voltages of the water pump motor, determining the latest blockage degree according to the Q actual working voltages, generating a notification message according to the latest blockage degree, and sending the notification message to notification equipment.
9. An obstruction degree detecting device, comprising a current sampling resistor, an operational amplifier and a controller, wherein a first end of the current sampling resistor is connected with a water pump motor of a swimming pool cleaning robot, a second end of the current sampling resistor is grounded, the operational amplifier is connected with the current sampling resistor, collects a voltage value of the current sampling resistor, and outputs the voltage value to a sampling pin of the controller after operational amplification, and the controller is used for executing the method according to any one of claims 1 to 8.
10. A pool cleaning robot comprising a controller for performing the method of any one of claims 1-8.
11. A pool cleaning robot, comprising the clogging degree detecting apparatus according to claim 9.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115592687A (en)* | 2022-11-16 | 2023-01-13 | 深圳市思傲拓科技有限公司（Cn） | Fault alarming and removing system and method applied to swimming pool robot |
| CN115807573A (en)* | 2023-01-17 | 2023-03-17 | 深圳市元鼎智能创新有限公司 | Pool cleaning robot with filter anti-clogging function |
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