Regression method of pool robot, pool robot and storage medium

Abstract

The invention discloses a regression method of a pool robot, the pool robot and a storage medium. The method comprises the steps that the pool robot receives a regression signal; wherein the regression signal is used for indicating the pool robot to return to the berthing position; and moving to the berthing position according to the return route, and fixing at the berthing position. In this way, the pool robot can be stably parked at the parking position.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a regression method for a pool robot, a pool robot and a storage medium. Background Art

[0002] At present, as the pace of human life accelerates, pool robots are becoming more and more popular. Among them, when receiving a return command, the pool robot will automatically return to the docking position, but it cannot be stably docked at the docking position, which affects the relevant processing of the docking position on the pool robot. Summary of the invention

[0003] The main technical problem solved by the present application is to provide a return method for a pool robot, a pool robot and a storage medium, which can enable the pool robot to dock stably at a berthing position.

[0004] In order to solve the above technical problems, a technical solution adopted in the present application is: to provide a regression method for a pool robot, the method comprising: the pool robot receives a regression signal; wherein the regression signal is used to instruct the pool robot to return to the docking position; according to the regression route, the robot moves to the docking position and is fixed at the docking position.

[0005] Among them, the regression route includes any of the following: a fixed route, a first random route, and a second random route; among them, the first random route is a route for the pool robot to randomly move to the docking position based on the current position when the docking position is unknown, and the second random route is a route for the pool robot to move to the docking position when the docking position is known, which is a route randomly generated by the pool robot based on the current position and the docking position, and the current position is the position of the pool robot when it receives the regression signal.

[0006] The regression route includes a fixed route, and the fixed route includes an edge route, wherein the edge route is a route moving along the boundary line of the working area of ​​the pool robot.

[0007] Among them, the regression method of the pool robot also includes: detecting that the pool robot is fixed at a docking position; determining whether this fixation is triggered by a regression signal; and canceling the fixation at the docking position in response to the fixation not being triggered by a regression signal.

[0008] Among them, after receiving the regression signal, the regression method of the pool robot also includes: responding to the regression signal, entering the regression mode; determining whether this fixation is triggered by the regression signal, including: obtaining the current operating mode of the pool robot; responding to the current operating mode of the pool robot being the working mode, determining that this fixation is not triggered by the regression signal; responding to the current operating mode of the pool robot being the regression mode, determining that this fixation is triggered by the regression signal.

[0009] The return method of the pool robot further includes: in response to the current operation mode of the pool robot being the return mode, controlling the pool robot to enter the standby mode.

[0010] Wherein, detecting that the pool robot is fixed at the docking position includes: in response to detecting a positioning signal, determining that the pool robot is fixed at the docking position; wherein the positioning signal is generated by a sensor on the pool robot or at the docking position detecting that the pool robot is in the docking position.

[0011] Among them, the return route includes a fixed route, the fixed route includes an edge route, the pool robot is configured to have a working mode opposite to the edge direction of the return mode, and a third connection part is provided on one side, and the third connection part can fix the pool robot in a docking position.

[0012] The return method of the pool robot further includes: in response to the pool robot stopping at a non-docked position, determining that the pool robot is trapped, and using a preset escape strategy to escape the pool robot.

[0013] Among them, in response to the pool robot stopping at a non-docked position, before determining that the pool robot is trapped, the regression method of the pool robot also includes: in response to the current speed parameter of the pool robot being less than or equal to the speed threshold, and the pool robot not detecting a positioning signal, determining that the pool robot stops at a non-docked position; wherein the positioning signal is generated by a sensor on the pool robot or at the docking position detecting that the pool robot is in a docking position; and / or, the preset escape strategy is to control the pool robot to perform at least one of the following operations: backward and rotate.

[0014] Among them, the regression signal is generated in response to any target scenario, and the target scenario includes at least one of the following: detection of the end of execution of the target task, detection of an abnormality of the target item; and / or, the regression signal is generated by the terminal device; and / or, the docking location is a base station.

[0015] Wherein, the pool robot is fixed to the docking position via a connecting piece; being fixed to the docking position includes: controlling the connecting piece to achieve fixation between the pool robot and the docking position.

[0016] Among them, the connecting part includes a first connecting part and a second connecting part, one of the first connecting part and the second connecting part is arranged on the pool robot and the other is arranged on the docking position; the connecting part is controlled to achieve fixation between the pool robot and the docking position, including: controlling the first connecting part to enter a connectable state through a first electrical signal, so that the first connecting part and the second connecting part can be connected after the pool robot moves to the docking position.

[0017] Among them, the connection method of the first connection part and the second connection part is a magnetic connection, and the connectable state is that the first connection part is magnetic or the magnetic strength of the first connection part changes; after the first connection part is controlled to enter the connectable state by the first electrical signal so that the first connection part and the second connection part can be connected after the pool robot moves to the docking position, the return method of the pool robot also includes: keeping the first connection part in a connectable state; or, the connection method of the first connection part and the second connection part is a snap connection, and the connectable state is that the first connection part is open; after the first connection part is controlled to enter the connectable state by the first electrical signal so that the first connection part and the second connection part can be connected after the pool robot moves to the docking position, the return method of the pool robot also includes: after the relative position between the first connection part and the second connection part meets the locking requirements, controlling the snap part of the first connection part to close by the second electrical signal.

[0018] The pool robot is fixed to the docking position by a connecting piece; the method for returning the pool robot further includes: cancelling the fixation at the docking position. Canceling the fixation at the docking position includes: controlling the connecting piece to cancel the fixation between the pool robot and the docking position; or controlling the driving force for driving the pool robot to increase; in response to the driving force increasing to be greater than the interaction force between the pool robot and the docking position through the connecting piece, cancelling the fixation between the pool robot and the docking position.

[0019] Wherein, the connecting member includes a first connecting part and a second connecting part, one of the first connecting part and the second connecting part is arranged on the pool robot and the other is arranged on the docking position; the connecting member is controlled to cancel the fixation between the pool robot and the docking position, including: controlling the first connecting part to enter a detachable state through a third electrical signal, and the first connecting part and the second connecting part can be separated.

[0020] Among them, the connection method between the first connecting part and the second connecting part is magnetic connection, and the detachable state is that the magnetic strength of the first connecting part is lower than a preset value; or, the connection method between the first connecting part and the second connecting part is snap connection, and the detachable state is that the first connecting part is open.

[0021] In order to solve the above technical problems, another technical solution adopted in the present application is: to provide a pool robot, which includes a memory and a processor, the memory stores program instructions, and the processor is used to execute the program instructions to implement the above-mentioned pool robot regression method.

[0022] In order to solve the above technical problems, another technical solution adopted in the present application is: providing a computer-readable storage medium, which is used to store program instructions, and the program instructions can be executed to implement the above-mentioned regression method of the pool robot.

[0023] In the above technical solution, the pool robot moves to the docking position according to the return route and is fixed at the docking position. Therefore, the pool robot and the docking position are fixed to each other, and the pool robot can stay stably at the docking position without relative movement with the docking position; further, because the pool robot can stay stably at the docking position, the docking position can stably perform relevant processing on the pool robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a flow chart of an embodiment of a regression method of a pool robot provided by the present application;

[0025] Figure 2 is a flow chart of an embodiment of determining whether a pool robot is incorrectly fixed at a docking position provided by the present application;

[0026] Figure 3 yes Figure 2 The flowchart of step S22 is shown as an example;

[0027] Figure 4 It is a structural schematic diagram of an embodiment of a regression device of a pool robot provided by the present application;

[0028] Figure 5 is a structural schematic diagram of an embodiment of a pool robot provided by the present application;

[0029] Figure 6 It is a structural schematic diagram of an embodiment of a computer-readable storage medium provided by the present application. DETAILED DESCRIPTION

[0030] The scheme of the embodiment of the present application is described in detail below in conjunction with the drawings of the specification.

[0031] In the following description, for the purpose of explanation rather than limitation, specific details such as specific system structures, interfaces, and technologies are provided to facilitate a thorough understanding of the present application.

[0032] The term "and / or" in this article is only a description of the association relationship of associated objects, indicating that there may be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the objects associated before and after are in an "or" relationship. In addition, "many" in this article means two or more than two. In addition, the term "at least one" in this article means any combination of at least two of any one or more of a plurality of, for example, including at least one of A, B, and C, can mean including any one or more elements selected from the set consisting of A, B, and C.

[0033] See also Figure 1 , Figure 1 1 is a flow chart of an embodiment of the pool robot regression method provided by the present application. It should be noted that if there are substantially the same results, the embodiments of the present application are not necessarily the same. Figure 1 The process sequence shown is limited. Figure 1 As shown, the processing method of the pool robot provided in this embodiment is performed by the pool robot, and specifically includes:

[0034] Step S11: The pool robot receives a return signal.

[0035] The method of this embodiment is used to move the pool robot to the docking position and fix it at the docking position after receiving the return signal, that is, the pool robot and the docking position are fixed to each other, so that the pool robot can be handled more stably.

[0036] In this embodiment, the pool robot receives a return signal; wherein the return signal is used to instruct the pool robot to return to the docking position. In one embodiment, the return signal is generated by a terminal device (e.g., a mobile phone, a remote control, etc.), and the pool robot moves to the docking position and is fixed at the docking position after receiving the return signal generated by the terminal device, that is, the terminal device can control the pool robot to move to the docking position and be fixed at the docking position, and the pool robot and the docking position are fixed to each other, so that the pool robot can be stably charged or dust box cleaned at the docking position.

[0037] In other embodiments, the regression signal is generated in response to any target scenario, and the target scenario includes at least one of the following: detection of the end of the target task execution, detection of target item abnormality, target tasks including cleaning tasks, disinfection tasks or patrol tasks, etc., and target item abnormality includes at least one of the power lower than the power threshold and the dust box capacity higher than the capacity threshold. Among them, the power threshold and the capacity threshold are not limited, and can be specifically set according to actual use needs.

[0038] The power refers to the power of the pool robot, which is the power that can keep the pool robot running. When the power is lower than the power threshold, the pool robot cannot keep running for a long time and needs to be charged. At this time, a return signal will be generated, and the pool robot will move to the docking position according to the return route, and the pool robot can be charged at the docking position. The dust box is used to hold the garbage collected by the pool robot. When the dust box capacity is higher than the capacity threshold, it means that there is too much garbage in the dust box and it can no longer hold too much garbage, which will affect the cleaning effect of the pool robot and the garbage in the dust box needs to be cleaned. At this time, a return signal will be generated, and the pool robot will move to the docking position according to the return route, and the pool robot can clean the garbage in the dust box at the docking position.

[0039] For example, taking the example of a regression signal in response to detecting the end of a cleaning task, when the pool robot completes cleaning the working area, that is, the cleaning task of the pool robot is completed, a regression signal will be generated. After receiving the regression signal, the pool robot will subsequently move to the docking position and be fixed at the docking position. The pool robot and the docking position are fixed to each other, and the pool robot can stay stably at the docking position without relative movement with the docking position. Furthermore, since the pool robot can stay stably at the docking position, the pool robot can be stably processed at the docking position (such as charging, cleaning the dust box, etc.).

[0040] For another example, taking the example of a regression signal in response to detecting that the power level is lower than the power threshold, when the power level of the pool robot is lower than the power threshold, a regression signal will be generated to ensure stable and continuous operation of the pool robot. After receiving the regression signal, the pool robot will subsequently move to the docking position and be fixed at the docking position. The pool robot and the docking position are fixed to each other, and the pool robot can stay stably at the docking position without relative movement with the docking position; further, because the pool robot can stay stably at the docking position, the docking position can stably charge the pool robot.

[0041] In one embodiment, the docking position is a base station. The pool robot moves to the docking position according to the return route and is fixed to the base station. The base station has one or more functions such as self-cleaning, drying, dust collection, and antibacterial. It can perform comprehensive cleaning and care for the pool robot fixed thereon and restore energy for the pool robot.

[0042] It should be noted that there is no limitation on the specific tasks performed by the pool robot; for example, the pool robot can be used to clean the pool, water surface, walls, etc., and can also be used to disinfect the pool, water surface, walls, etc., conduct security patrols, etc.

[0043] Step S12: moving to the docking position according to the return route and fixing at the docking position.

[0044] In this embodiment, the pool robot moves to the docking position according to the return route and is fixed at the docking position. The pool robot is fixed at the docking position, the pool robot and the docking position are fixed to each other, and the pool robot can stably stay at the docking position without relative movement with the docking position; further, because the pool robot can stably stay at the docking position, the docking position can stably perform relevant processing on the pool robot.

[0045] In one embodiment, the regression route includes at least one of the following: a fixed route, a first random route, and a second random route; wherein the first random route is a route for the pool robot to randomly move to the docking position based on the current position when the docking position is unknown, and the second random route is a route for the pool robot to move to the docking position when the docking position is known, which is a route randomly generated by the pool robot based on the current position and the docking position, and the current position is the position of the pool robot when it receives the regression signal. The regression route corresponding to the pool robot moving to the docking position can be in various forms, and the regression route for the pool robot to return to the docking position can be flexibly set. The fixed route is an existing one, and the pool robot can directly move to the docking position according to the existing route after receiving the regression signal, and be fixed at the docking position. The pool robot does not need to have the ability to randomly generate a route, and the performance requirements for the pool robot are low. The random route is randomly generated. In some embodiments, the random route is a route that enables the pool robot to avoid obstacles in the working area, that is, the random route is a route that does not include obstacles in the working area, so that when the pool robot moves to the docking position along the random route, it can avoid collision with obstacles in the working area and cause damage, and the pool robot can safely move to the docking position and be fixed at the docking position.

[0046] In a specific embodiment, the regression route includes a second random route, and the pool robot can generate multiple routes based on the current position and the docking position, and the second random route is the shortest route among the multiple routes. Therefore, on the one hand, the second random route must be a route that enables the pool robot to avoid obstacles in the working area, that is, the second random route is a route that does not include obstacles in the working area, and can avoid collisions with obstacles in the working area and cause damage, and the pool robot can safely move to the docking position and be fixed at the docking position; on the other hand, the second random route is the shortest route, which can enable the pool robot to move to the docking position and be fixed at the docking position faster, thereby improving the efficiency of the pool robot moving and being fixed at the docking position.

[0047] In a specific embodiment, the return route includes a fixed route, and the fixed route includes an edge route, wherein the edge route is a route moving along the boundary line of the working area of ​​the pool robot. It should be noted that the docking position is usually set along the edge, that is, the docking position is usually set on the boundary line of the working area of ​​the pool robot, so the pool robot moves along the edge route after receiving the return signal, and can definitely find the docking position and fix it at the docking position; in addition, there are usually no obstacles at the boundary of the working area of ​​the pool robot, which can avoid the pool robot from colliding with obstacles when returning, so that the pool robot can safely move to the docking position and fix it at the docking position.

[0048] In one embodiment, the pool robot is fixed to the docking position by a connecting member, and the pool robot is fixed to the docking position by controlling the connecting member connecting the pool robot and the docking position, so that the pool robot and the docking position can be fixed to each other.

[0049] In a specific embodiment, the connecting member includes a first connecting part and a second connecting part, one of the first connecting part and the second connecting part is arranged at the pool robot and the other is arranged at the docking position, and the connecting member is controlled to achieve fixation between the pool robot and the docking position, specifically: the first connecting part is controlled by a first electrical signal to enter a connectable state, so that after the pool robot moves to the docking position, the first connecting part and the second connecting part can be connected.

[0050] It should be noted that when the first connection portion is provided on the pool robot, the pool robot directly controls the first connection portion provided thereon to enter a connectable state through a first electrical signal, so that after the pool robot moves to the docking position, the first connection portion provided on the pool robot and entering a connectable state can be connected to the second connection portion provided at the docking position, thereby making the pool robot and the docking position fixed to each other through the first connection portion and the second connection portion, and the pool robot can stably dock at the docking position, thereby making the docking position able to stably perform relevant processing on the pool robot (such as charging, cleaning the dust box, etc.); and when the first connection portion is provided at the docking position, the pool robot will generate a first electrical signal and send The first connection part is sent to the docking position. When the docking position receives the first electrical signal, it knows that the pool robot needs to move to the docking position and is fixed at the docking position. At this time, the docking position generates a first control signal and controls the first connection part set thereon to enter a connectable state through the first control signal, so that after the pool robot moves to the docking position, the second connection part set on the pool robot can be connected to the first connection part set on the docking position that can enter a connectable state, so that the pool robot and the docking position are fixed to each other through the first connection part and the second connection part, and the pool robot can stably dock at the docking position, so that the docking position can stably perform relevant processing on the pool robot (such as charging, cleaning the dust box, etc.). That is to say, when the first connection part is set on the pool robot, the pool robot directly controls the first connection part set thereon to enter a connectable state through the first electrical signal; and when the first connection part is set at the docking position, the pool robot indirectly controls the first connection part set at the docking position to enter a connectable state through the first electrical signal, and in fact, the docking position controls the first connection part set thereon to enter a connectable state.

[0051] In addition, it can be arranged that after the pool robot receives the return signal, the first connection part is immediately controlled by the first electrical signal to enter a connectable state, so that after the pool robot moves to the docking position, the first connection part can be connected to the second connection part. Of course, it can also be arranged that after the pool robot receives the return signal and moves close to the docking position, the first connection part is controlled by the first electrical signal to enter a connectable state, so that after the pool robot moves to the docking position, the first connection part can be connected to the second connection part.

[0052] In a specific embodiment, the connection method between the first connection part and the second connection part is a magnetic connection. The connectable state is that the first connection part has magnetism or the magnetic strength of the first connection part changes. The first connection part and the second connection part are magnetically connected, and the pool robot is adsorbed at the docking position to be fixed at the docking position.

[0053] Among them, the first connecting part can be an electromagnet, and the second connecting part can be an iron sheet. The electromagnet is magnetic when it is not powered on, and it is not magnetic when it is powered on. Therefore, the electromagnet is controlled to be powered off by the first electrical signal, so that the electromagnet has magnetism. After the pool robot moves to the docking position, the first connecting part of the electromagnet is magnetically connected to the second connecting part of the iron sheet, so that the pool robot is adsorbed to the docking position, and the fixation between the pool robot and the docking position is achieved. Of course, the first connecting part can also be a permanent magnetic suction cup, and the second connecting part can also be an iron sheet. The permanent magnetic suction cup is magnetic when it is opened, and it is not magnetic when it is closed. Therefore, the permanent magnetic suction cup is controlled to open by the first electrical signal, so that the permanent magnetic suction cup has magnetism. After the pool robot moves to the docking position, the first connecting part of the permanent magnetic suction cup is magnetically connected to the second connecting part of the iron sheet, so that the pool robot is adsorbed to the docking position, and the fixation between the pool robot and the docking position is achieved.

[0054] Alternatively, the first connection part may be an electromagnet, and the second connection part may be an iron sheet. The electromagnet is magnetic when it is not powered, and it is non-magnetic when it is powered. Therefore, the first electrical signal is used to control the electromagnet to be powered off or to reduce the amount of power it is powered on (the current electromagnet is powered on, the magnetic strength is small, and it cannot be adsorbed with the iron sheet), and the magnetic strength of the electromagnet is increased, so that the first connection part of the electromagnet and the second connection part of the iron sheet are adsorbed to each other, so that the pool robot is adsorbed to the docking position to achieve the fixation between the pool robot and the docking position. Of course, the first connection part may be a permanent magnetic chuck, and the second connection part may be an iron sheet. The permanent magnetic chuck is magnetic when it is opened, and it is non-magnetic when it is closed. Therefore, the third electrical signal is used to control the permanent magnetic chuck to open or open to a certain extent, so that the permanent magnetic chuck is magnetic or has a magnetic strength that can be adsorbed with the iron sheet, and the first connection part of the permanent magnetic chuck and the second connection part of the iron sheet are magnetically adsorbed to each other, so that the pool robot is fixed to the docking position.

[0055] In a specific embodiment, the connection method between the first connection part and the second connection part is a magnetic connection. The connectable state is that the first connection part is magnetic. The first connection part is controlled to enter the connectable state by a first electrical signal, so that after the pool robot moves to the docking position, the first connection part is connected to the second connection part, and the first connection part is maintained in the connectable state, so that the first connection part and the second connection part are continuously and stably magnetically connected, so that the pool robot is continuously and stably adsorbed on the docking position.

[0056] For example, take the example that the first connection part is an electromagnet, the second connection part is an iron sheet, the first connection part is arranged on the pool robot, and the second connection part is arranged at the docking position: the electromagnet is inherently magnetic when not powered on, and is not magnetic when powered on; when the first connection part which is the electromagnet is controlled to be powered off by a first electrical signal, the first connection part which is the electromagnet is magnetic, so that after the pool robot moves to the docking position, the first connection part which is the electromagnet is magnetically connected to the second connection part which is the iron sheet, so that the pool robot is adsorbed at the docking position; and, after the pool robot is adsorbed at the docking position, it is ensured that the first connection part which is the electromagnet is powered off, so that the first connection part which is the electromagnet is in a magnetic state that can be magnetically connected to the second connection part which is the iron sheet, so that the first connection part which is the electromagnet and the second connection part which is the iron sheet can be continuously and stably magnetically connected, thereby allowing the pool robot to be continuously and stably adsorbed at the docking position.

[0057] For example, take the case where the first connection part is a permanent magnetic suction cup, the second connection part is an iron sheet, the first connection part is arranged on the pool robot, and the second connection part is arranged at the docking position: the permanent magnetic suction cup is magnetic when it is open, and is non-magnetic when it is closed; when the first connection part which is the permanent magnetic suction cup is controlled to open by the first electrical signal, the first connection part which is the permanent magnetic suction cup is magnetic, so that after the pool robot moves to the docking position, the first connection part which is the permanent magnetic suction cup is magnetically connected to the second connection part which is the iron sheet, so that the pool robot is adsorbed at the docking position; and, after the pool robot is adsorbed at the docking position, it is ensured that the permanent magnetic suction cup is in an open state, so that the first connection part which is the permanent magnetic suction cup is in a magnetic state that can be magnetically connected to the second connection part which is the iron sheet, so that the first connection part which is the permanent magnetic suction cup and the second connection part which is the iron sheet can be continuously and stably magnetically connected, so that the pool robot can be continuously and stably adsorbed at the docking position.

[0058] In other specific embodiments, the connection mode of the first connection part and the second connection part can be a snap connection, and the connectable state is that the first connection part is open. Specifically, the first connection part is opened and enters the second connection part, the first connection part is snapped into the second connection part, and the first connection part and the second connection part are snap-connected, so that the pool robot is snap-connected to the docking position, and the pool robot is fixed at the docking position.

[0059] The first connection part may be an electromagnetic lock, and the second connection part may be a lock hook. The electromagnetic lock is in a closed state when not powered on, and in an open state when powered on. Therefore, the electromagnetic lock is powered on by controlling the electromagnetic lock through the first electrical signal, so that the electromagnetic lock is opened. After the pool robot moves to the docking position, the first connection part of the electromagnetic lock enters the second connection part of the lock hook, and the first connection part of the electromagnetic lock is snap-connected with the second connection part of the lock hook, so that the pool robot is fixed at the docking position, thereby achieving fixation between the pool robot and the docking position.

[0060] In a specific embodiment, the connection method between the first connection part and the second connection part is a snap connection, and the connectable state is that the first connection part is open. The first connection part is controlled to enter the connectable state by a first electrical signal, so that after the pool robot moves to the docking position, the first connection part is connected to the second connection part, and after the relative position between the first connection part and the second connection part meets the locking requirements, the snap part of the first connection part is controlled to be closed by a second electrical signal, so that the first connection part and the second connection part are continuously and stably snap-connected, thereby allowing the pool robot to continuously and stably stay in the docking position.

[0061] For example, take the first connection part as an electromagnetic lock, the second connection part as a lock hook, the first connection part being arranged on the pool robot, and the second connection part being arranged on the docking position as an example: the electromagnetic lock is in a closed state when it is not powered on, and is in an open state when it is powered on; the electromagnetic lock is powered on by the first electrical signal to open the electromagnetic lock, and after the pool robot moves to the docking position, the first connection part of the electromagnetic lock enters the second connection part of the lock hook, and after the relative position between the first connection part of the electromagnetic lock and the second connection part of the lock hook meets the locking requirements, the buckle part of the first connection part of the electromagnetic lock is controlled to close by the second electrical signal, and the first connection part of the electromagnetic lock is buckled to the second connection part of the lock hook, and the first connection part is buckled with the second connection part, so that the pool robot and the docking position are fixed to each other by the buckle. It should be noted that the electromagnetic lock is in a closed state when it is not powered on, and the buckle part of the first connection part is controlled to close by the second electrical signal, that is, the electromagnetic lock is powered off, and the electromagnetic lock will be closed at this time.

[0062] For example, the pool robot is equipped with an electromagnet and an iron sheet is provided at the docking position. When the pool robot is in working state and moves to the docking position, it may be adsorbed to the docking position due to the interaction between the iron sheet and the electromagnet. However, the pool robot is currently required to work and does not need to dock at the docking position. Therefore, the pool robot is mistakenly adsorbed. Figure 2 As shown, Figure 2 This is a flow chart of an embodiment of determining whether a pool robot is incorrectly fixed at a docking position provided by the present application. In one embodiment, in order to prevent the pool robot from being incorrectly fixed at a docking position, the following sub-steps are specifically included:

[0063] Step S21: Detecting that the pool robot is fixed at the docking position.

[0064] In this embodiment, it is detected that the pool robot is fixed at the docking position. After the detection that the pool robot is fixed at the docking position, it is subsequently determined whether the pool robot is incorrectly fixed at the docking position.

[0065] In one embodiment, in response to detecting an alignment signal, it is determined that the pool robot is fixed at the docking position; wherein the alignment signal is generated by a sensor on the pool robot or at the docking position detecting that the pool robot is in the docking position. That is, when the pool robot is fixed at the docking position, the sensor can detect and generate an alignment signal, and when the pool robot is not fixed at the docking position, the sensor can detect that the pool robot is not fixed at the docking position, and no alignment signal is generated. Therefore, whether the pool robot is fixed at the docking position can be determined by whether the alignment signal generated by the sensor is detected.

[0066] There is no limitation on the type of sensor provided on the pool robot or at the docking position. For example, the sensor may be a Hall sensor, an infrared sensor, a micro switch, etc.

[0067] Step S22: Determine whether this fixation is triggered by a regression signal.

[0068] In this embodiment, it is determined whether this fixation is triggered by the return signal. To determine whether this fixation is triggered by the return signal, that is, to determine whether this fixation is the fixation between the pool robot and the docking position after receiving the return signal. There are two current operation modes of the pool robot. One is the return mode after receiving the return signal. At this time, the pool robot moves to the docking position according to the return route and is fixed at the docking position. It returns and is fixed at the docking position according to the return instruction. In this case, this fixation is triggered by the return signal; the other is that the return signal is not received, and the pool robot is in the working mode. If the pool robot is fixed at the docking position at this time, the pool robot is mistakenly fixed at the docking position in the working mode, and this fixation is not triggered by the return signal. Therefore, by determining whether the fixation between the pool robot and the docking position is triggered by the return signal, it can be determined whether the pool robot is mistakenly fixed at the docking position, so that when it is determined that the pool robot is mistakenly fixed at the docking position, the robot can be released in time to ensure the normal operation of the pool robot.

[0069] In one embodiment, after receiving the return signal, the pool robot responds to the return signal and enters the return mode; at this time, Figure 3 As shown, Figure 3 yes Figure 2 The flowchart of step S22 is a flow chart of an example, which determines whether the current fixation is triggered by a regression signal, and specifically includes the following sub-steps:

[0070] Step S31: Obtain the current operating mode of the pool robot.

[0071] In this embodiment, the current operation mode of the pool robot is obtained. Since the pool robot enters the home mode after receiving the home signal, after detecting that the pool robot is fixed at the docking position, by determining the current operation mode of the pool robot, it can be determined whether the pool robot is fixed at the docking position after receiving the home signal.

[0072] Step S32: In response to the current operation mode of the pool robot being the working mode, determining whether the fixed non-regressive signal is triggered.

[0073] In this embodiment, in response to the current operation mode of the pool robot being the working mode, it is determined that the fixed non-regressive signal is triggered. After detecting that the pool robot is fixed at the docking position, if the current operation mode of the pool robot when it is fixed at the docking position is the working mode, it is determined that the fixed non-regressive signal is triggered, and the pool robot is incorrectly fixed at the docking position in the working mode.

[0074] Step S33: In response to the current operation mode of the pool robot being the regression mode, determining that this fixation is triggered by a regression signal.

[0075] In this embodiment, in response to the current operation mode of the pool robot being the return mode, it is determined that this fixation is triggered by the return signal. After detecting that the pool robot is fixed at the docking position, if the current operation mode of the pool robot when it is fixed at the docking position is the return mode, it is determined that this fixation is triggered by the return signal, and the pool robot is fixed at the docking position in the return mode, that is, the pool robot moves to the docking position according to the return route after receiving the return instruction, and is fixed at the docking position.

[0076] In one embodiment, in response to the current operation mode of the pool robot being the return mode, the pool robot is controlled to enter the standby mode. That is, when it is determined that the pool robot is fixed in the docking position after receiving the return instruction, that is, the pool robot is not incorrectly fixed in the docking position, the pool robot is controlled to standby.

[0077] Step S23: In response to the triggering of the current fixed non-return signal, cancel the fixation at the docking position.

[0078] In this embodiment, in response to the fixed non-return signal being triggered, the fixed at the docking position is cancelled. That is, after detecting that the pool robot is fixed at the docking position, if the current operation mode of the pool robot when it is fixed at the docking position is the working mode, it is determined that the fixed non-return signal is triggered, and the pool robot is incorrectly fixed at the docking position in the working mode, that is, the pool robot is incorrectly fixed at the docking position without receiving the return signal; at this time, the fixed at the docking position is cancelled, and the pool robot is released to restore the normal operation of the pool robot.

[0079] In one embodiment, the pool robot is fixed to the docking position by a connecting member, and the return method of the pool robot also includes: canceling the fixation at the docking position. Wherein, canceling the fixation at the docking position specifically includes: controlling the connecting member to cancel the fixation between the pool robot and the docking position. The pool robot is fixed to the docking position by a connecting member, and the fixation between the pool robot and the docking position can be canceled by controlling the connecting member connecting the pool robot and the docking position. In a specific embodiment, the connecting member includes a first connecting portion and a second connecting portion, one of the first connecting portion and the second connecting portion is provided at the pool robot, and the other is provided at the docking position, and controlling the connecting member to cancel the fixation between the pool robot and the docking position specifically includes: controlling the first connecting portion to enter a detachable state through a third electrical signal, and the first connecting portion and the second connecting portion can be separated.

[0080] In the case where the pool robot is incorrectly fixed at the docking position in the working state, it is necessary to cancel the fixation at the docking position so that the pool robot can work normally. Of course, it is also possible to cancel the fixation at the docking position when the pool robot needs to perform other tasks so that the pool robot can perform other tasks normally.

[0081] It should be noted that, when the first connection part is set on the pool robot, the pool robot directly controls the first connection part set thereon to enter a detachable state through a third electrical signal, and the first connection part set on the pool robot that enters a detachable state is separated from the second connection part set at the docking position, so that the pool robot is separated from the docking position, so as to cancel the fixation between the pool robot and the docking position, and the pool robot is released, thereby ensuring the normal operation of the pool robot; and when the first connection part is set at the docking position, the processor of the pool robot will generate a third electrical signal and send it to the processor at the docking position. When the processor at the docking position receives the third electrical signal, it knows that the pool robot is currently leaving the docking position. At this time, the processor at the docking position will generate a second control signal and control the first connection part set thereon to enter a detachable state through the second control signal, and the second connection part set on the pool robot is separated from the first connection part set at the docking position that enters a detachable state, thereby separating the pool robot from the docking position, so as to cancel the fixation between the pool robot and the docking position, and the pool robot is released, thereby ensuring the normal operation of the pool robot. That is to say, when the first connection part is set on the pool robot, the pool robot directly controls the first connection part set thereon to enter a detachable state through a third electrical signal; and when the first connection part is set at a docking position, the pool robot indirectly controls the first connection part set at the docking position to enter a detachable state through a third electrical signal. In fact, the docking position controls the first connection part set thereon to enter a detachable state.

[0082] In a specific embodiment, the connection between the first connection part and the second connection part is magnetic connection, and the detachable state is that the magnetic strength of the first connection part is lower than the preset value, the magnetic connection between the first connection part and the second connection part disappears, and the first connection part is disconnected from the second connection part, so that the pool robot is separated from the docking position to cancel the fixation between the pool robot and the docking position. It should be noted that the magnetic strength of the first connection part is lower than the preset value, which can be that the first connection part is demagnetized, or that the first connection part is magnetic and the magnetic strength is lower than the preset value. Among them, the size of the preset value is not limited, and can be specifically set according to actual use needs.

[0083] Among them, the first connecting part can be an electromagnet, and the second connecting part can be an iron sheet. The electromagnet is magnetic when it is not powered on, and it is non-magnetic when it is powered on. Therefore, by controlling the electromagnet to be powered off or controlling the amount of power supplied to the electromagnet to be reduced through a third electrical signal, the electromagnet is non-magnetic or the electromagnetic strength is less than a preset value, and the magnetic connection between the first connecting part of the electromagnet and the second connecting part of the iron sheet disappears or the strength is reduced, so that the pool robot cannot be adsorbed to the docking position, and the separation between the pool robot and the docking position is achieved, so as to cancel the fixation between the pool robot and the docking position. Of course, the first connecting part can be a permanent magnetic suction cup, and the second connecting part can be an iron sheet. The permanent magnetic suction cup is magnetic when it is open, and it is non-magnetic when it is closed. Therefore, the permanent magnetic suction cup is controlled to be completely closed or closed to a certain extent through the third electrical signal, so that the permanent magnetic suction cup has no magnetism or the magnetic strength is lower than the preset value, and the magnetic connection between the first connecting part of the permanent magnetic suction cup and the second connecting part of the iron sheet disappears or the strength is reduced, so that the pool robot cannot be adsorbed to the docking position, thereby realizing the separation between the pool robot and the docking position, so as to cancel the fixation between the pool robot and the docking position.

[0084] For example, take the example that the first connecting part is an electromagnet, the second connecting part is an iron sheet, the first connecting part is arranged on the pool robot, and the second connecting part is arranged at the docking position: the electromagnet is magnetic when not powered, and is not magnetic when powered; when the first connecting part of the electromagnet is powered or a certain amount of electricity is passed through the third electrical signal to control the first connecting part of the electromagnet, the first connecting part of the electromagnet has magnetism or the magnetic strength is lower than a preset value, and the magnetic connection between the first connecting part of the electromagnet and the second connecting part of the iron sheet disappears or the strength is reduced, so that the pool robot cannot be adsorbed at the docking position, thereby realizing the separation between the pool robot and the docking position, so as to cancel the fixation between the pool robot and the docking position.

[0085] For example, take the example that the first connection part is a permanent magnetic suction cup, the second connection part is an iron sheet, the first connection part is arranged on the pool robot, and the second connection part is arranged at the docking position: the permanent magnetic suction cup is magnetic when it is open, and is not magnetic when it is closed; when the first connection part which is the permanent magnetic suction cup is controlled by the third electrical signal to be closed or closed to a certain extent, the first connection part which is the permanent magnetic suction cup is not magnetic or the magnetic strength is lower than the preset value, and the magnetic connection between the first connection part which is the permanent magnetic suction cup and the second connection part which is the iron sheet disappears or the strength is reduced, so that the pool robot cannot be adsorbed at the docking position, thereby realizing the separation between the pool robot and the docking position, so as to cancel the fixation between the pool robot and the docking position.

[0086] In other specific embodiments, the connection mode of the first connection part and the second connection part can be a snap connection, and the detachable state is that the first connection part is opened. Specifically, the first connection part is opened and leaves the second connection part, and the first connection part is separated from the second connection part, so that the pool robot is separated from the docking position, so as to cancel the fixation between the pool robot and the docking position.

[0087] The first connection part may be an electromagnetic lock, and the second connection part may be a lock hook. The electromagnetic lock is in a closed state when not powered on, and in an open state when powered on. Therefore, the electromagnetic lock is powered on by controlling the electromagnetic lock through the third electrical signal, so that the electromagnetic lock is opened. When the pool robot moves away from the docking position, the first connection part of the electromagnetic lock leaves the second connection part of the lock hook, and the first connection part of the electromagnetic lock separates from the second connection part of the lock hook, so that the pool robot is separated from the docking position, thereby canceling the fixation between the pool robot and the docking position.

[0088] In one embodiment, the pool robot is fixed to the docking position by a connecting member, and the fixing at the docking position is cancelled, specifically by: controlling the driving force of the pool robot to increase; in response to the driving force increasing to be greater than the interaction force between the pool robot and the docking position through the connecting member, the fixing between the pool robot and the docking position is cancelled. When the driving force of the pool robot is greater than the interaction force between the pool robot and the docking position, the pool robot can leave the docking position to cancel the fixing between the pool robot and the docking position.

[0089] In a specific embodiment, the connection between the first connection part and the second connection part is a magnetic connection, and the driving force of the pool robot is controlled to increase to be greater than the suction force between the pool robot and the docking position to cancel the fixation between the pool robot and the docking position.

[0090] In one embodiment, the return route includes a fixed route, the fixed route includes an edge route, the pool robot is configured to have a working mode opposite to the edge direction of the return mode, and a third connection portion is provided on one side, and the third connection portion can fix the pool robot at a docking position. In other words, setting the working mode of the pool robot opposite to the edge direction of the return mode, and setting the third connection portion on one side of the pool robot that can fix the pool robot at a docking position can prevent the pool robot from being incorrectly fixed at a docking position in the working mode, thereby ensuring the normal operation of the pool robot. It should be noted that, when the pool robot is configured to have a working mode opposite to the edge direction of the return mode and a third connection portion is provided on one side, the purpose of this configuration itself is to prevent the pool robot from being incorrectly fixed at a docking position in the working mode, so under this configuration, the pool robot will not be incorrectly fixed at a docking position in the working mode, and there is no need to perform a detection to determine whether this fixation is triggered by a return signal, that is, there is no need to determine whether the pool robot is incorrectly fixed at a docking position in the working mode.

[0091] In one embodiment, the third connection portion is disposed along the edge of the regression pattern.

[0092] In one embodiment, in response to the pool robot stopping at a non-docked position, it is determined that the pool robot is trapped, and a preset escape strategy is used to escape the pool robot. That is, when the pool robot stops at a non-docked position, it means that the pool robot is trapped by an obstacle and cannot move. At this time, the preset escape strategy is used to escape the pool robot, so that the pool robot is escaped and the normal operation of the pool robot is restored.

[0093] In a specific embodiment, the preset escape strategy is to control the pool robot to perform at least one of the following operations: backward and rotation. That is, the pool robot is controlled to backward and / or rotate to get the pool robot out of trouble and restore the normal operation of the pool robot.

[0094] In one embodiment, in response to the pool robot stopping at a non-docked position, before determining that the pool robot is trapped, it is also determined whether the pool robot stops at a non-docked position, specifically: in response to the current speed parameter of the pool robot being less than or equal to the speed threshold, and the pool robot not detecting the alignment signal, it is determined that the pool robot stops at a non-docked position, wherein the alignment signal is generated by a sensor on the pool robot or at the docking position detecting that the pool robot is in a docked position. When the pool robot is fixed at the docking position, the sensor can detect and generate the alignment signal, and when the pool robot is not fixed at the docking position, the sensor can detect that the pool robot is not fixed at the docking position, and no alignment signal is generated. Generally, when the pool robot is in a working state, it is continuously moving, and its current speed parameter must be greater than the speed threshold; when the current speed parameter of the pool robot is less than or equal to the speed threshold, it can be assumed that the pool robot is in a stopped moving state, so when the current speed parameter of the pool robot is less than or equal to the speed threshold, it can be determined that the pool robot is fixed at the docking position. If the current speed parameter of the pool robot is less than or equal to the speed threshold and the pool robot does not detect the alignment signal, it indicates that the pool robot is stopped at a non-docked position and the pool robot is trapped.

[0095] In the above embodiment, the pool robot moves to the docking position according to the return route and is fixed at the docking position. Therefore, the pool robot and the docking position are fixed to each other, and the pool robot can stably stay at the docking position without relative movement with the docking position; further, because the pool robot can stably stay at the docking position, the docking position can stably perform relevant processing on the pool robot.

[0096] See also Figure 4 , Figure 4 4 is a schematic diagram of the structure of an embodiment of a return device of a pool robot provided by the present application. The return device 40 of the pool robot includes a receiving module 41, a moving module 42 and a fixing module 43. The receiving module 41 is used for the pool robot to receive a return signal; wherein the return signal is used to instruct the pool robot to return to the docking position; the moving module 42 is used to move to the docking position according to the return route; and the fixing module 43 is used to fix at the docking position.

[0097] Among them, the above-mentioned regression route includes any one of the following: a fixed route, a first random route, and a second random route; among them, the first random route is a route for the pool robot to randomly move to the docking position based on the current position when the docking position is unknown, and the second random route is a route for the pool robot to move to the docking position when the docking position is known, which is a route randomly generated based on the current position and the docking position, and the current position is the position of the pool robot when it receives the regression signal.

[0098] The above-mentioned regression route includes a fixed route, and the fixed route includes an edge route, wherein the edge route is a route moving along the boundary line of the working area of ​​the pool robot.

[0099] Among them, the regression device of the pool robot also includes an execution module 44, which is also used to detect that the pool robot is fixed at a docking position; determine whether this fixation is triggered by a regression signal; in response to this fixation not being triggered by a regression signal, cancel the fixation at the docking position.

[0100] Among them, the execution module 44 is also used to, after receiving the regression signal, specifically include: responding to the regression signal, entering the regression mode; the execution module 44 is also used to determine whether the current fixation is triggered by the regression signal, specifically including: obtaining the current operating mode of the pool robot; responding to the current operating mode of the pool robot being the working mode, determining that the current fixation is not triggered by the regression signal; responding to the current operating mode of the pool robot being the regression mode, determining that the current fixation is triggered by the regression signal.

[0101] The execution module 44 is further configured to control the pool robot to enter the standby mode in response to the current operation mode of the pool robot being the return mode.

[0102] Among them, the execution module 44 is used to detect that the pool robot is fixed in the docking position, specifically including: in response to detecting a positioning signal, determining that the pool robot is fixed in the docking position; wherein the positioning signal is generated by a sensor on the pool robot or at the docking position detecting that the pool robot is in the docking position.

[0103] The pool robot is fixed to the docking position via a connector; the execution module 44 is also used to cancel the fixation at the docking position, specifically including: a second control connector to cancel the fixation between the pool robot and the docking position.

[0104] Among them, the above-mentioned return route includes a fixed route, the fixed route includes an edge route, the pool robot is configured to have a working mode opposite to the edge direction of the return mode, and a third connection part is provided on one side, and the third connection part can fix the pool robot in a docking position.

[0105] The execution module 44 is further configured to determine that the pool robot is trapped in response to the pool robot stopping at a non-docked position, and to use a preset escape strategy to escape the pool robot.

[0106] Among them, the execution module 44 is also used to, in response to the pool robot stopping at a non-docked position, determine that the pool robot is trapped before the execution module 44 specifically includes: in response to the current speed parameter of the pool robot being less than or equal to the speed threshold, and the pool robot does not detect the alignment signal, determine that the pool robot stops at a non-docked position; wherein the alignment signal is generated by a sensor on the pool robot or at the docking position detecting that the pool robot is in the docking position; and / or, the above-mentioned preset escape strategy is to control the pool robot to perform at least one of the following operations: reverse and rotate.

[0107] Among them, the above-mentioned regression signal is generated in response to any target scenario, and the target scenario includes at least one of the following: detection of the end of execution of the target task, detection of an abnormality of the target item; and / or, the above-mentioned regression signal is generated by a terminal device; and / or, the above-mentioned docking location is a base station.

[0108] The pool robot is fixed to the docking position via a connector; the fixing module 43 is used to fix the pool robot to the docking position, and specifically includes: a first control connector to achieve fixation between the pool robot and the docking position.

[0109] Among them, the above-mentioned connecting part includes a first connecting part and a second connecting part, one of the first connecting part and the second connecting part is arranged on the pool robot and the other is arranged on the docking position; the fixing module 43 is used for the first control connecting part to realize the fixation between the pool robot and the docking position, specifically including: controlling the first connecting part to enter a connectable state through a first electrical signal, so that after the pool robot moves to the docking position, the first connecting part and the second connecting part can be connected.

[0110] Among them, the connection method of the above-mentioned first connection part and the second connection part is magnetic connection, and the connectable state is that the first connection part has magnetism or the magnetic strength of the first connection part changes; after the first connection part is controlled to enter the connectable state by the first electrical signal so that the first connection part and the second connection part can be connected after the pool robot moves to the docking position, the fixing module 43 is also used to keep the first connection part in the connectable state; or, the connection method of the above-mentioned first connection part and the second connection part is snap connection, and the connectable state is that the first connection part is open; after the first connection part is controlled to enter the connectable state by the first electrical signal so that the first connection part and the second connection part can be connected after the pool robot moves to the docking position, the fixing module 43 is also used to control the snap part of the first connection part to close by the second electrical signal after the relative position between the first connection part and the second connection part meets the locking requirements.

[0111] Among them, the above-mentioned connecting part includes a first connecting part and a second connecting part, one of the first connecting part and the second connecting part is arranged on the pool robot and the other is arranged on the docking position; the execution module 44 is used for the second control connecting part to cancel the fixation between the pool robot and the docking position, specifically including: controlling the first connecting part to enter a detachable state through a third electrical signal, and the first connecting part and the second connecting part can be separated.

[0112] Among them, the connection method between the above-mentioned first connecting part and the second connecting part is magnetic connection, and the detachable state is that the magnetic strength of the first connecting part is lower than a preset value; or, the connection method between the above-mentioned first connecting part and the second connecting part is snap connection, and the detachable state is that the first connecting part is open.

[0113] See also Figure 5 , Figure 5 is a schematic diagram of the structure of an embodiment of a pool robot provided by the present application. The pool robot 50 includes a memory 51 and a processor 52 coupled to each other, and the processor 52 is used to execute program instructions stored in the memory 51 to implement the steps of any of the above-mentioned pool robot regression method embodiments. In a specific implementation scenario, the pool robot 50 may include but is not limited to: a microcomputer, a server, and in addition, the pool robot 50 may also include a mobile device such as a laptop computer and a tablet computer, which is not limited here.

[0114] Specifically, the processor 52 is used to control itself and the memory 51 to implement the steps of the above-mentioned regression method embodiment of any pool robot. The processor 52 can also be called a CPU (Central Processing Unit). The processor 52 may be an integrated circuit chip with signal processing capabilities. The processor 52 can also be a general-purpose processor, a digital signal processor (Digital Signal Processor, DSP), an application-specific integrated circuit (Application Specific Integrated Circuit, ASIC), a field-programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. In addition, the processor 52 can be implemented by an integrated circuit chip.

[0115] See also Figure 6 , Figure 6: is a schematic diagram of the structure of an embodiment of a computer-readable storage medium provided by the present application. The computer-readable storage medium 60 of the embodiment of the present application stores program instructions 61, and when the program instructions 61 are executed, the method provided by any embodiment of the regression method of the pool robot of the present application and any non-conflicting combination is implemented. Among them, the program instructions 61 can form a program file and be stored in the above-mentioned computer-readable storage medium 60 in the form of a software product, so that a computer device (which can be a personal computer, a server, or a network device, etc.) executes all or part of the steps of the methods of each embodiment of the present application. The aforementioned computer-readable storage medium 60 includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk, or a terminal device such as a computer, a server, a mobile phone, and a tablet.

[0116] If the technical solution of this application involves personal information, the product using the technical solution of this application has clearly informed the personal information processing rules and obtained the individual's voluntary consent before processing the personal information. If the technical solution of this application involves sensitive personal information, the product using the technical solution of this application has obtained the individual's separate consent before processing the sensitive personal information, and at the same time meets the "explicit consent" requirement. For example, on personal information collection devices such as cameras, clear and prominent signs are set to inform that the personal information collection scope has been entered and personal information will be collected. If the individual voluntarily enters the collection scope, it is deemed that he or she agrees to the collection of his or her personal information; or on the device that processes personal information, the personal information processing rules are notified by obvious signs / information, and the individual's authorization is obtained through pop-up information or by asking the individual to upload his or her personal information; among them, the personal information processing rules may include information such as the personal information processor, the purpose of personal information processing, the processing method, and the type of personal information processed.

[0117] The above description is only an implementation method of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly used in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A regression method for a pool robot, It is characterized in that The method comprises: The pool robot receives a return signal; wherein the return signal is used to instruct the pool robot to return to the docking position; According to the return route, the vehicle moves to the docking position and is fixed at the docking position.

2. The method according to claim 1, It is characterized in that The regression route includes any one of the following: a fixed route, a first random route, and a second random route; wherein the first random route is a route for the pool robot to randomly move to the docking position based on the current position when the docking position is unknown, and the second random route is a route for the pool robot to move to the docking position when the docking position is known, and is a route randomly generated by the pool robot based on the current position and the docking position, and the current position is the position of the pool robot when it receives the regression signal.

3. The method according to claim 2, It is characterized in that The return route includes a fixed route, and the fixed route includes an edge route, wherein the edge route is a route moving along a boundary line of the working area of ​​the pool robot.

4. The method according to claim 1, It is characterized in that The method further comprises: detecting that the pool robot is fixed at the docking position; Determine whether this fixation is triggered by the regression signal; In response to the current fixation not being triggered by the return signal, the fixation at the docking position is cancelled.

5. The method according to claim 4, It is characterized in that After receiving the regression signal, the method further includes: In response to the regression signal, entering a regression mode; The determining whether the current fixation is triggered by the regression signal includes: Obtaining the current operating mode of the pool robot; In response to the current operation mode of the pool robot being the working mode, determining that the current fixation is not triggered by the regression signal; In response to the current operating mode of the pool robot being the regression mode, it is determined that this fixation is triggered by the regression signal.

6. The method according to claim 5, It is characterized in that The method further comprises: In response to the current operation mode of the pool robot being the return mode, the pool robot is controlled to enter the standby mode.

7. The method according to claim 4, It is characterized in that The detecting that the pool robot is fixed at the docking position includes: In response to detecting an alignment signal, determining that the pool robot is fixed at the docking position; wherein the alignment signal is generated by a sensor on the pool robot or at the docking position detecting that the pool robot is at the docking position.

8. The method according to claim 1, It is characterized in that The return route includes a fixed route, and the fixed route includes an edge route. The pool robot is configured to have a working mode opposite to the edge direction of the return mode, and a third connection portion is provided on one side, and the third connection portion can fix the pool robot at the docking position.

9. The method according to claim 1, It is characterized in that The method further comprises: In response to the pool robot stopping at a non-docked position, it is determined that the pool robot is trapped, and a preset escape strategy is used to escape the pool robot.

10. The method according to claim 9, It is characterized in that Before determining that the pool robot is trapped in response to the pool robot stopping in the undocked position, the method further includes: In response to the current speed parameter of the pool robot being less than or equal to a speed threshold and the pool robot not detecting an alignment signal, determining that the pool robot stops at the non-docked position; wherein the alignment signal is generated by a sensor on the pool robot or at a docked position detecting that the pool robot is at the docked position; and / or, The preset escape strategy is to control the pool robot to perform at least one of the following operations: backward and rotation.

11. The method according to claim 1, It is characterized in that The regression signal is generated in response to any target scenario, the target scenario including at least one of the following: detection of the end of execution of the target task, detection of an abnormality of the target item; and / or, the regression signal is generated by a terminal device; And / or, the docking location is a base station.

12. The method according to claim 1, It is characterized in that The pool robot is fixed to the docking position by a connecting piece; the fixing to the docking position includes: The connecting piece is controlled to fix the pool robot to the docking position.

13. The method according to claim 12, It is characterized in that The connecting member includes a first connecting portion and a second connecting portion, one of the first connecting portion and the second connecting portion is arranged at the pool robot, and the other is arranged at the docking position; The controlling the connecting member to achieve fixation between the pool robot and the docking position includes: The first connection part is controlled to enter a connectable state through a first electrical signal, so that after the pool robot moves to the docking position, the first connection part and the second connection part can be connected.

14. The method according to claim 13, It is characterized in that The connection mode of the first connection part and the second connection part is magnetic connection, and the connectable state is that the first connection part has magnetism or the magnetic strength of the first connection part changes; after the first electrical signal is used to control the first connection part to enter the connectable state so that the first connection part and the second connection part can be connected after the pool robot moves to the docking position, the method further includes: keeping the first connection part in the connectable state; Alternatively, the connection between the first connection part and the second connection part is a snap connection, and the connectable state is that the first connection part is open; after controlling the first connection part to enter the connectable state by a first electrical signal so that the first connection part and the second connection part can be connected after the pool robot moves to the docking position, the method also includes: after the relative position between the first connection part and the second connection part meets the locking requirements, controlling the snap part of the first connection part to close by a second electrical signal.

15. The method according to claim 1, It is characterized in that The pool robot is fixed to the docking position by a connecting piece; the method further comprises: cancelling the fixation at the docking position, wherein cancelling the fixation at the docking position comprises: Controlling the connecting member to cancel the fixation between the pool robot and the docking position; Alternatively, controlling the driving force of the pool robot to increase; In response to the driving force increasing to be greater than the interaction force between the pool robot and the docking position through the connecting member, the fixation between the pool robot and the docking position is cancelled.

16. The method according to claim 15, It is characterized in that The connecting member includes a first connecting portion and a second connecting portion, one of the first connecting portion and the second connecting portion is arranged at the pool robot, and the other is arranged at the docking position; The controlling the connecting member to cancel the fixation between the pool robot and the docking position includes: The first connection part is controlled to enter a detachable state by a third electrical signal, so that the first connection part and the second connection part can be separated.

17. The method according to claim 16, It is characterized in that The connection between the first connection part and the second connection part is magnetic connection, and the separable state is when the magnetic strength of the first connection part is lower than a preset value; Alternatively, the connection between the first connection portion and the second connection portion is a snap connection, and the detachable state is when the first connection portion is opened.

18. A pool robot, It is characterized in that The pool robot comprises a memory and a processor, the memory stores program instructions, and the processor is used to execute the program instructions to implement the regression method of the pool robot as described in any one of claims 1-17.

19. A computer-readable storage medium, It is characterized in that The computer-readable storage medium is used to store program instructions, and the program instructions can be executed to implement the regression method of the pool robot as described in any one of claims 1-17.

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