Pool robot control method and pool robot

Abstract

The invention discloses a pool robot control method and a pool robot, and the method comprises the steps: controlling the pool robot to move in a water area of a pool, the pool comprising a pool inner wall and the water area; wherein the pool robot is provided with a first sensing piece and / or a first sensed piece, and the bearing assembly is provided with a second sensed piece and / or a second sensing piece; in the movement process, in response to a first sensing event between the first sensing part and the second sensed part and / or a second sensing event between the second sensing part and the first sensed part, the pool robot is controlled to move to the bearing assembly so as to execute the target event. Through the above mode, the pool robot can quickly and accurately find the target position for executing the target event, so that the working efficiency of the pool robot is improved.

Description

Technical Field

[0001] The present application relates to the field of artificial intelligence technology, and in particular to a pool robot control method and a pool robot. Background Art

[0002] With the development of social economy and the improvement of living standards, pools with various functions have emerged. For example, swimming pools are used for people to exercise. In order to solve the problem of pool cleaning, various pool robots have also appeared one after another. Pool robots can clean pools. Generally speaking, before cleaning the pool, the pool robot will enter the pool from the shore; after the pool robot finishes cleaning, it will leave the pool. When the pool robot is low on power or the dust box of the pool robot is full, it will go to a fixed location for charging or self-cleaning. In other words, when executing target events such as entering the pool, leaving the pool, self-cleaning, or charging, the pool robot may need to perform them at a fixed target location. However, existing pool robots are unable to quickly and accurately find the target location, which leads to low efficiency of the pool robot in executing target events. Summary of the Invention

[0003] The main technical problem solved by the present application is to provide a pool robot control method and a pool robot, which can enable the pool robot to quickly and accurately find the target position for executing the target event, thereby improving the working efficiency of the pool robot.

[0004] In order to solve the above-mentioned technical problems, the first aspect of the present application provides a pool robot control method, which includes: controlling the pool robot to move in the water area of ​​the pool, the pool including the inner wall of the pool and the water area; wherein the pool robot is provided with a first sensing element and / or a first sensed element, and the supporting assembly is provided with a second sensed element and / or a second sensing element; during the movement process, in response to a first sensing event between the first sensing element and the second sensed element and / or a second sensing event between the second sensing element and the first sensed element, the pool robot is controlled to move to the supporting assembly to execute the target event.

[0005] Among them, controlling the pool robot to move to the carrying component includes: controlling the pool robot to move to the position of the carrying part of the carrying component; adjusting the posture of the pool robot so that the pool robot is fixed on the carrying part of the carrying component.

[0006] Among them, controlling the pool robot to move to the position of the carrying part of the carrying assembly includes: controlling the pool robot to move toward the carrying part until the first side of the pool robot approaches the carrying part; and / or adjusting the posture of the pool robot so that the pool robot is fixed on the carrying part of the carrying assembly, including: controlling the second side of the pool robot to approach the carrying part so that the pool robot is fixed to the carrying part.

[0007] Among them, controlling the second lateral bearing part of the pool robot to approach includes at least one of the following: controlling the rigid float chamber of the pool robot to absorb water so that the second lateral bearing part of the pool robot approaches; adjusting the center of gravity of the pool robot so that the second lateral bearing part of the pool robot approaches; controlling the flexible float chamber of the pool robot to reduce the volume of the float chamber so that the second lateral bearing part of the pool robot approaches.

[0008] Among them, fixing the pool robot to the carrying part includes at least one of the following: turning on the water pump of the pool robot to fix the pool robot to the carrying part under the action of the water pump; turning on the propulsion device of the pool robot to fix the pool robot to the carrying part under the action of the propulsion device; using the magnetic part of the pool robot to fix the pool robot to the carrying part under the action of the magnetic part.

[0009] Among them, before the pool robot is fixed to the carrying part, it also includes: in response to the second side approaching the carrying part in the direction of the second side to the carrying part to form a first preset angle, the pool robot and the carrying part are brought close to each other until the pool robot and the carrying part are fixed; the pool robot and the carrying part are brought close to each other, including at least one of the following: turning on the water pump of the pool robot to make the pool robot close to the carrying part under the action of the water pump; turning on the propulsion device of the pool robot to make the pool robot close to the carrying part under the action of the propulsion device; through the magnetic part of the pool robot, the pool robot is brought close to the carrying part under the action of the magnetic part.

[0010] Among them, the first sensing element and the second sensing element include at least one of the following: an infrared sensing element, an ultrasonic sensing element, a laser sensing element, a magnetic sensing element, and a visual sensing element; the first sensed element and the second sensed element include at least one of the following: an infrared matching element, a magnetic matching element, and a special matching element; wherein the special matching element includes at least one of a preset material, a preset texture, or a special concave-convex shape.

[0011] The first sensing event between the first sensing side member and the second sensed member includes: the first sensing side member senses the second sensed member; the second sensing event between the second sensing side member and the first sensed member includes: the second sensing member senses the first sensed member.

[0012] Controlling the pool robot to move in the water area of ​​the pool includes: controlling the pool robot to move on the water surface of the water area.

[0013] In order to solve the above technical problems, the second aspect of the present application provides 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 pool robot control method provided by the first aspect above.

[0014] The beneficial effects of the present application are as follows: unlike the prior art, the present application controls a pool robot to move in the water area of ​​a pool, the pool including an inner wall and a water area; the pool robot is provided with a first sensing element and / or a first sensed element, and a second sensed element and / or a second sensing element is provided on a carrier assembly; during movement, in response to a first sensing event between the first sensing element and the second sensed element and / or a second sensing event between the second sensing element and the first sensed element, the pool robot is controlled to move to the carrier assembly to execute a target event. In the above scheme, when the pool robot moves in the water area of ​​the pool, when a first sensing event occurs between the first sensing element and the second sensed element and / or a second sensing event occurs between the second sensing element and the first sensed element, the pool robot is controlled to move to the carrier assembly, thereby enabling the pool robot to quickly and accurately find a target position for executing the target event; on the carrier assembly, the pool robot can execute the target event, thereby improving the working efficiency of the pool robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a flow chart of an embodiment of a pool robot control method provided by the present application;

[0016] Figure 2 It is a simplified schematic diagram of an embodiment of a load-bearing assembly and a water pool provided by the present application;

[0017] Figure 3 This is a schematic diagram of the framework of an embodiment of the pool robot provided by this application;

[0018] Figure 4 This is a schematic diagram of the framework of an embodiment of the pool robot control system provided by this application;

[0019] Figure 5 This is a schematic diagram of a framework of an embodiment of a computer-readable storage medium provided by the present application;

[0020] Figure 6 It is a schematic diagram of the framework of an embodiment of the pool robot control device provided in this application. DETAILED DESCRIPTION

[0021] The following is a clear and complete description of the technical solutions in the embodiments of the present application in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0022] It should be noted that the terms "first," "second," and so on, used in the embodiments of this application are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features specified as "first" or "second" may explicitly or implicitly include at least one of these features.

[0023] In the description of the application, the meaning of "multiple" is at least two, for example, two, three, etc., unless otherwise clearly and specifically limited. In the embodiments of the present application, all directional indications (such as up, down, left, right, front, back ...) are only used to explain the relative position relationship, movement situation, etc. between each component under a certain specific posture (as shown in the drawings). If this specific posture changes, this directional indication also changes accordingly. In addition, the terms "comprise" and "have" and any of their deformations are intended to cover non-exclusive inclusions. For example, the process, method, system, product or equipment comprising a series of steps or units is not limited to the steps or units listed, but optionally also includes steps or units that are not listed, or optionally also includes other steps or units inherent to these processes, methods, products or equipment.

[0024] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present invention. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute a separate or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0025] See also Figure 1 , Figure 1 This is a flow chart of an embodiment of a pool robot control method provided by the present application, which includes:

[0026] S11: Control the pool robot to move in the water area of ​​the pool, where the pool includes an inner wall and the water area.

[0027] Wherein, the pool robot is provided with a first sensing element and / or a first sensed element, and the carrying component is provided with a second sensed element and / or a second sensing element.

[0028] In one embodiment, a pool includes an inner wall and a water area, and a pool robot moves within the water area of ​​the pool, i.e., the pool robot floats in the water and does not contact the inner wall. The pool robot floating in the water can mean that the pool robot is partially above the water surface, the pool robot is completely above the water surface, or the pool robot is completely submerged in the water. It is understood that the pool robot can move randomly within the water area of ​​the pool, or a pre-set motion trajectory can be used to cause the pool robot to move according to the motion trajectory. In one embodiment, the pool robot can be controlled to move at the surface of the water area.

[0029] The pool robot is provided with a first sensing element and / or a first sensed element. The first sensing element and / or the first sensed element can be positioned anywhere on the pool robot, for example, on the left side. The supporting assembly is provided with a second sensed element and / or a second sensing element. Similarly, the second sensed element and / or the second sensing element can also be positioned anywhere on the supporting assembly. The first sensing element and the second sensing element can include at least one of the following: an infrared sensor, an ultrasonic sensor, a laser sensor, a magnetic sensor, or a visual sensor. The first sensed element and the second sensed element can also include at least one of the following: an infrared matching element, a magnetic matching element, or a special matching element. Among them, the infrared sensing element is, for example, an infrared emitting tube, and the infrared matching element is, for example, an infrared receiving tube; the magnetic sensing element is, for example, a Hall sensor; the ultrasonic sensing element is a device that can sense ultrasonic waves, for example, an ultrasonic receiver; the laser sensing element is a device that can sense lasers, such as a light receiver; the visual sensing element is, for example, a camera; the special matching element can include at least one of a preset material, a preset texture, or a special concave-convex shape. For example, the special matching element can be a substance made of a preset material, a substance with a preset texture, or a substance with a special shape (such as a special concave-convex shape). It should be understood that the examples in this embodiment are only illustrative, and this application is not limited to the above examples.

[0030] S12: During the movement process, in response to a first sensing event between the first sensing member and the second sensed member and / or a second sensing event between the second sensing member and the first sensed member, the pool robot is controlled to move to the carrying component to execute the target event.

[0031] In one embodiment, a pool robot is provided with a first sensing element, and a second sensed element is provided on the supporting assembly. A first sensing event between the first sensing element and the second sensed element includes: the first sensing element sensing the second sensed element. For example, the first sensing element is an infrared sensing element and the second sensed element is an infrared matching element. When the infrared sensing element senses the infrared matching element, a first sensing event is determined to have occurred between the first sensing element and the second sensed element. For another example, the first sensing element is a magnetic sensing element and the second sensed element is a magnetic matching element. When the magnetic sensing element senses the magnetic matching element, a first sensing event is determined to have occurred between the first sensing element and the second sensed element.

[0032] In another embodiment, a first sensed member is provided on the pool robot, and a second sensing member is provided on the carrying assembly. Then, a second sensing event between the second sensing member and the first sensed member includes: the second sensing member senses the first sensed member.

[0033] In one embodiment, the first sensing element and the second sensed element may be cooperating sensors. Similarly, the second sensing element and the first sensed element may also be cooperating sensors. For example, the first sensing element is a first sensor, and the second sensed element is a second sensor. The second sensor can transmit signals at any time, while the first sensor can only receive signals transmitted by the second sensor when it is in a fixed position. Therefore, by determining whether the first sensor on the pool robot receives a signal transmitted by the second sensor on the carrier assembly, a first sensing event is determined to have occurred between the first sensing element and the second sensed element in response to the first sensor receiving the signal transmitted by the second sensor. At this point, the position of the carrier assembly can be determined based on the current position of the pool robot, and the pool robot can be controlled to move to the carrier assembly. In one embodiment, the first sensor is a light receiver, and the second sensor is a light generator. The light generator is configured to transmit light to a predetermined position in the pool, and the light receiver is configured to receive the light. It is understood that the predetermined position is set by the user. For example, the predetermined position may be the center of the waterline of the water area. In other embodiments, the second sensing element may be the first sensor, and the first sensed element may be the second sensor.

[0034] In the above-described embodiments, the sensing element and the sensed element can be constantly in operation or only in specific circumstances. For example, in a pool robot equipped with a first sensing element and a second sensed element on a carrying assembly, if the pool robot detects a need to leave the pool during movement within the water area, such as when its battery is low, the robot's internal garbage storage device is full, or cleaning is complete, it will then detect the carrying assembly located on the pool's inner wall. In one specific embodiment, the pool robot's first sensing element can be controlled to transmit a reference signal toward the pool's inner wall. The reference signal is not limited to an optical signal or an electrical signal. The pool's inner wall and the second sensed element can each reflect the reference signal to generate a reflection signal. The first sensing element can receive the reflection signal and determine whether the reflection signal is a reflection of the reference signal by the second sensed element, thereby determining whether the carrying assembly is currently detected. If the reflection signal is a reflection of the reference signal by the second sensed element, the carrying assembly is detected. The reflection signals generated by the pool's inner wall and the second sensed element are typically different, so the position of the carrying assembly can be determined based on the different reflection signals.

[0035] In the above-mentioned embodiment, the supporting assembly can always be in a state capable of supporting the pool robot. The supporting assembly being in a state capable of supporting means that the pool robot can reach the supporting assembly through the side or bottom of the supporting assembly, that is, the side or bottom of the supporting assembly serves as an entrance for the pool robot to run onto the supporting assembly. When the supporting assembly is in a state capable of supporting, the angle between the supporting portion of the supporting assembly and the inner wall of the pool satisfies the second preset angle. In other embodiments, the supporting assembly can also be in a state unable to support the pool robot, that is, the angle between the supporting portion of the supporting assembly and the inner wall of the pool does not satisfy the second preset angle. Therefore, when the pool robot recognizes that it needs to leave the pool, it can send an angle adjustment instruction to the supporting assembly to adjust the supporting assembly to a state capable of supporting the pool robot. After receiving the angle adjustment command from the pool robot, the supporting component can first determine whether the angle between the supporting portion of the supporting component and the inner wall of the pool meets the second preset angle. If so, a reply command can be sent to the pool robot. It is understandable that in other embodiments, a reply command may not be sent to the pool robot. If not, the angle between the supporting portion of the supporting component and the inner wall of the pool can be adjusted to the second preset angle to enable the pool robot to move onto the supporting portion. The second preset angle can be an angle range, such as between 0-90°, or a specific angle value. It is understandable that the second preset angle can be set by the user according to the specific conditions of the pool and is not specifically limited here.

[0036] The carrying component and the pool robot can communicate directly, that is, the pool robot can directly send the angle adjustment instruction to the carrying component; the carrying component and the pool robot can also communicate through a relay component, such as a base station, that is, the pool robot sends the angle adjustment instruction to the base station, and the base station sends the angle adjustment instruction to the carrying component.

[0037] After the pool robot moves onto the carrying assembly, it can execute target events on the carrying assembly, including self-cleaning, leaving the pool, charging, and other events. In one embodiment, the carrying assembly includes a carrying portion, on which a movement stop position is provided. When a first sensing event occurs between the first sensing element and the second sensed element and / or a second sensing event occurs between the second sensing element and the first sensed element, the carrying assembly can be detected. At this point, the position of the carrying assembly can be determined, and the pool robot can be controlled to move onto the carrying assembly. In one embodiment, the pool robot can be first controlled to move to the position of the carrying portion of the carrying assembly, and then the position of the pool robot can be adjusted so that the pool robot is fixed to the carrying portion of the carrying assembly. The fixing on the carrying portion can be achieved by the pool robot being attached to the carrying portion through force, or by the presence of a connecting device between the pool robot and the carrying portion, thereby locking the pool robot and the carrying portion.

[0038] In one embodiment, controlling the pool robot to move to the position of the carrying portion of the carrying assembly includes: controlling the pool robot to move toward the carrying portion until the first side of the pool robot approaches the carrying portion. In a specific embodiment, when the pool robot and the carrying assembly have a certain positional relationship (for example, when the pool robot is located at the bottom of the pool and directly below the carrying assembly), a first sensing event can only be generated between the first sensing side member and the second sensed member and / or a second sensing event can only be generated between the second sensing side member and the first sensed member. Based on the positional relationship, a trajectory can be pre-set, and when the pool robot detects the carrying assembly, it can travel to the carrying portion of the carrying assembly according to the set trajectory. In other embodiments, a trajectory can also be planned based on the position of the pool robot when it detects the carrying assembly and the position of the carrying assembly, so that the pool robot travels along the planned trajectory to the carrying portion of the carrying assembly. The first side of the pool robot can be the head, tail, or side of the pool robot.

[0039] In one embodiment, adjusting the position of the pool robot so that the pool robot is fixed to the support portion of the support assembly includes: controlling the second side of the pool robot to move closer to the support portion so that the pool robot is fixed to the support portion. In one specific embodiment, the second side of the pool robot can be controlled to move closer to the support portion by any of the following methods: Method 1: Controlling the rigid buoyancy of the pool robot to absorb water, increasing the weight of the second side of the pool robot, so that the pool robot moves closer to the second side of the support portion; the rigid buoyancy is a buoyancy made of a rigid material, which may include but is not limited to glass, ceramic, phenolic plastic, polyurethane plastic, epoxy plastic, and unsaturated polyester plastic. Method 2: Adjusting the center of gravity of the pool robot so that the pool robot moves closer to the second side of the support portion; the center of gravity of the pool robot can be adjusted by moving an adjustable gravity adjustment block and / or buoyancy adjustment block disposed within the pool robot. Method 3: Control the flexible float chamber of the pool robot to reduce its volume, expel the gas inside the flexible float chamber, and reduce the buoyancy of the second side of the pool robot, so that the second side of the pool robot approaches the load-bearing portion. The flexible float chamber is made of a flexible material, which may include but is not limited to polyvinyl alcohol resin, polyethylene terephthalate, rubber, etc. The second side of the pool robot corresponds to the first side of the pool robot. When the first side of the pool robot is the head of the pool robot, the second side may be the tail of the pool robot; when the first side of the pool robot is the left side of the pool robot, the second side may be the right side of the pool robot; when the first side of the pool robot is the tail of the pool robot, the second side may be the head of the pool robot; when the first side of the pool robot is the right side of the pool robot, the second side may be the left side of the pool robot.

[0040] In one specific embodiment, the pool robot can be secured to the support portion using any of the following methods: Method 1: Turn on the pool robot's water pump to secure the pool robot to the support portion under the action of the water pump. Method 2: Turn on the pool robot's propulsion device to secure the pool robot to the support portion under the action of the propulsion device; the propulsion device can be a propeller on the pool robot. Method 3: Use magnetic components on the pool robot to secure the pool robot to the support portion under the action of magnetic components; for example, magnetic components are provided on both the pool robot and the support assembly, and the pool robot is secured to the support portion through the attractive force of the two magnetic components.

[0041] In one embodiment, before the pool robot is secured to the support portion, the method further includes: in response to the second side of the pool robot approaching the support portion until the second side forms a first preset angle, i.e., the angle between the second side and the support portion forms the first preset angle, the pool robot is brought closer to the support portion until the pool robot is secured to the support portion. The first preset angle can be set by the user and is not specifically limited herein. The pool robot can be brought closer to the support portion by the following methods: Method 1: Turning on the water pump of the pool robot to allow the water pump to move the pool robot closer to the support portion. Method 2: Turning on the propulsion device of the pool robot to allow the propulsion device to move the pool robot closer to the support portion. Method 3: Using a magnetic member of the pool robot to allow the magnetic member to move the pool robot closer to the support portion. To address the issue of the pool robot's second side approaching the support portion at a relatively slow speed, which could cause the robot to sink when it reaches a certain angle, resulting in the robot ultimately being secured to the support portion at a position other than the rest position, this embodiment accelerates the robot's approach to the support portion and secures it by varying the approach method or increasing the approach force.

[0042] In the above embodiment, the pool robot approaching the carrying portion and the pool robot being fixed to the carrying portion may be in the same or different manners.

[0043] In one embodiment, controlling the pool robot to move onto the support assembly includes controlling the pool robot to move to a rest position on the support assembly. The support assembly is capable of driving the pool robot out of the pool, enabling the pool robot to self-clean, and recharge when the pool robot is stopped in the rest position. It is understood that the pool robot may be connected to the support assembly in the rest position, and the support assembly may be movable, for example, rotatable, and the rotation of the support assembly may drive the pool robot out of the pool. For another example, the support assembly may also move up and down, and upward movement may drive the pool robot out of the pool. In a specific embodiment, the support assembly may include only the support assembly, which is rotatable. When the support assembly is in a load-bearing state, the support assembly is parallel to or within a certain angle range with any inner sidewall of the pool, and is located on the inner sidewall of the pool. The connection point between the support assembly and the pool may be located at the edge of the pool, i.e., the support assembly is connectable to the pool. After the carrying portion is connected to the pool robot, the angle between the carrying portion and the inner wall of the pool is adjusted so that the carrying portion and the inner wall of the pool are perpendicular or within a certain angle range. In this way, the pool robot can be removed from the pool by the carrying portion. For another example, the carrying assembly may further include a supporting portion connected to the carrying portion, with the connection between the supporting portion and the carrying portion located at the edge of the pool. In this case, the carrying portion need not be connected to the pool, but only to the connecting portion, thereby achieving automatic recovery of the pool robot.

[0044] In one embodiment, the movement stop position is located on the carrying part of the carrying assembly. The pool robot can be controlled to move to the position of the carrying part; the posture of the pool robot is adjusted so that the pool robot is attached to the carrying part of the carrying assembly.

[0045] In one embodiment, the pool robot is controlled to move toward the support portion until the front of the pool robot contacts the support portion. Specifically, when the pool robot reaches the position of the support portion, the front of the pool robot contacts the support portion. The front of the pool robot may be the head of the pool robot. After the front of the pool robot contacts the support portion, the float chamber of the pool robot may be controlled to absorb water, causing the tail of the pool robot to sink. In response to the tail sinking to a first preset angle, the water pump of the pool robot is activated, causing the pool robot to adhere to the support portion under the action of the water pump.

[0046] In one embodiment, controlling the pool robot to move on the carrying portion to a stop position includes: after the pool robot reaches the carrying portion of the carrying assembly, i.e., after the pool robot is attached to the carrying portion of the carrying assembly, determining whether the position of the pool robot on the carrying portion of the carrying assembly is at the waterline; in response to the pool robot not being at the waterline, controlling the pool robot to climb along the carrying portion from the position on the carrying portion of the carrying assembly to a first position at the waterline, i.e., the first position being the position where the carrying portion and the waterline coincide; controlling the pool robot to travel along the carrying portion from the first position to the bottom of the pool a preset distance to a second position; at the second position, the pool robot can send a connection device opening command to the carrying assembly; upon receiving the connection device opening command, the carrying assembly can open the connection device, which is used to connect the carrying assembly and the pool robot; controlling the pool robot to continue traveling along the carrying portion from the second position to the bottom of the pool until stopping; wherein the position where the pool robot stops traveling is the stop position. In one embodiment, after the connecting device is opened, the connecting device cannot connect to the pool robot because the structure on the pool robot that cooperates with the connecting device has not reached the connecting device position. Therefore, the pool robot can be controlled to continue moving until the connecting device can connect to the pool robot, preventing the pool robot from moving forward. For example, the connecting device can be a first locking structure, which can be a locking hook or a groove. The pool robot is provided with a second locking structure that cooperates with the first locking structure, which can be a groove or a locking hook. It is understandable that when the first locking structure can be a locking hook, the second locking structure can be a groove. The first locking structure can be released by the second locking structure and lock the second locking structure; or the second locking structure can be released by the first locking structure and lock the first locking structure; or the first locking structure and the second locking structure are locked by adsorption. For example, in a case where a groove is provided on a pool robot and a locking hook is provided on a supporting assembly, when the pool robot reaches the second position, the area of ​​the pool robot other than the groove overlaps with the locking hook, preventing the locking hook from opening. This occurs until the pool robot reaches a point where the groove overlaps with the connecting device, at which point the locking hook opens and hooks onto the groove, causing the pool robot to stop. In this embodiment, after the pool robot reaches the supporting portion of the supporting assembly, it first moves to the waterline and then moves from the waterline toward the bottom of the water to find a stopping position, which is located below the waterline. It is understood that in other embodiments, the supporting assembly may not have a second position. When the pool robot reaches the first position, it can send a connecting device opening command to the supporting assembly. Upon receiving the connecting device opening command, the supporting assembly can open the connecting device.

[0047] In another embodiment, a position sensor is provided on the carrier assembly, and a device is provided on the pool robot to receive a signal from the position sensor. The position sensor is used to indicate whether the pool robot has reached a stop position. When the pool robot reaches the carrier assembly, the pool robot is controlled to travel along the carrier assembly along a predetermined trajectory. In response to receiving a position signal from the position sensor, the pool robot stops. The stop position of the pool robot is the movement stop position. For example, the predetermined trajectory may include movement in a first direction, such as upward, followed by movement in a second direction opposite to the first direction, such as downward. That is, after the pool robot reaches the carrier assembly, it may be controlled to travel along the carrier assembly toward the top of the pool until it reaches the waterline. During this process, if a position signal is received, the robot stops and opens the connection device. If no position signal is received, the robot moves from the waterline along the carrier assembly toward the bottom of the pool until it reaches the position where the position signal is received. Since the movement stop position is provided on the carrier assembly, the robot will always reach the movement stop position during its movement from the waterline along the carrier assembly toward the bottom of the pool. For another example, the preset trajectory can be to first move in a second direction, such as downward, and then move in a first direction, such as upward. That is, after the pool robot reaches the load-bearing portion, the pool robot can be controlled to first move along the load-bearing portion toward the bottom of the pool until it moves to the bottom edge of the load-bearing portion. During this process, if the in-position signal is not received, the pool robot is controlled to move along the load-bearing portion from the bottom edge of the load-bearing portion to the waterline. Specifically, when the connecting device is a locking hook, after opening the connecting device, the pool robot can be controlled to descend a certain distance to the bottom of the pool so that the locking hook can hook the pool robot. It can be understood that in this embodiment, the device that receives the in-position sensor signal can only receive the in-position signal when the movement stops. The connecting device can also be a magnetic member. If the connecting device is a magnetic member, there is no need to perform the process of opening the connecting device.

[0048] It can be understood that the opening of the above-mentioned connecting device can be active or passive. For example, the pool robot and the supporting assembly are respectively provided with magnetic parts that dock with each other. When the first magnetic part on the pool robot moves to a range where it can interact with the second magnetic part on the supporting assembly, it can guide the pool robot to move to the stop position without any additional control of the connecting device.

[0049] The above scheme controls the pool robot to move within the water area of ​​a pool, which includes an inner wall and a water area. The pool robot is provided with a first sensing element and / or a first sensed element, and a second sensed element and / or a second sensing element is provided on the supporting assembly. During movement, in response to a first sensing event between the first sensing element and the second sensed element and / or a second sensing event between the second sensing element and the first sensed element, the pool robot is controlled to move to the supporting assembly to execute a target event. When the pool robot moves within the water area of ​​the pool, after a first sensing event occurs between the first sensing element and the second sensed element and / or a second sensing event occurs between the second sensing element and the first sensed element, the pool robot is controlled to move to the supporting assembly, thereby enabling the pool robot to quickly and accurately find a target position for executing the target event. On the supporting assembly, the pool robot can execute the target event, thereby improving the working efficiency of the pool robot.

[0050] See also Figure 2 , Figure 2 It is a schematic diagram of an embodiment of the support assembly and the water pool provided in this application.

[0051] In one embodiment, the bearing assembly 20 may include a bearing portion 201 and a support portion 202. The support portion 202 is provided on the edge of the pool 10. The bearing portion 201 and the support portion 202 are connected by a rotating shaft. When the pool robot needs to leave the pool 10, the bearing portion 201 is set on an inner wall of the pool 10. Taking the pool 10 as a square pool as an example, when the bearing portion 201 is set on an inner wall of the pool 10, the angle between the bearing portion 201 and the support portion 202 is 90°. After the pool robot reaches the bearing portion 201 from the pool 10 and is connected to the bearing portion 201 through the connecting device, the bearing portion 201 can rotate. After rotating until the bearing portion 201 and the support portion 202 are in a horizontal line, the pool robot can detach from the bearing portion 201 and leave the pool 10 via the bearing portion 201 and the support portion 202. Among them, Figure 2 The middle dashed line represents the state of the carrying portion 201 after the carrying portion 201 and the supporting portion 202 are aligned with one another.

[0052] See also Figure 3 , Figure 3 It is a schematic diagram of the framework of an embodiment of the pool robot provided in this application.

[0053] The pool robot 30 includes a memory 31 and a processor 32. The processor 32 is configured to execute program instructions stored in the memory 31 to implement the steps of any of the aforementioned embodiments of the pool robot control method in which the pool robot is the executing subject. In a specific implementation scenario, the pool robot 30 may include, but is not limited to, a microcomputer and a server. In addition, the pool robot 30 may also include a mobile device such as a laptop computer or a tablet computer, which is not limited here.

[0054] Specifically, the processor 32 is used to control itself and the memory 31 to implement the steps of any of the above-mentioned embodiments of the pool robot control method in which the execution subject is the pool robot. The processor 32 can also be called a CPU (Central Processing Unit). The processor 32 may be an integrated circuit chip with signal processing capabilities. The processor 32 can also be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a 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 32 can be implemented by an integrated circuit chip.

[0055] In one embodiment, the pool robot 30 further includes a communication circuit, which is used to establish a connection with the carrying component, receive and send relevant processing instructions, and realize the connection and interaction between the pool robot 30 and the carrying component.

[0056] See also Figure 4 , Figure 4 It is a framework diagram of an embodiment of the pool robot control system provided by this application.

[0057] The pool robot control system 40 includes a pool robot 30 and a carrier assembly 20 that communicate with each other. The pool robot 30 is the pool robot 30 described in the above-mentioned embodiment. The carrier assembly 20 is used to receive and / or send commands to the pool robot 30. The carrier assembly 20 is provided with a connecting device for connecting the pool robot 30 and the carrier assembly 20.

[0058] See also Figure 5 , Figure 5 It is a schematic diagram of a framework of an embodiment of a computer-readable storage medium provided in this application.

[0059] The computer-readable storage medium 50 of the embodiment of the present application stores program instructions 51, which, when executed, implement the method provided by any embodiment of the pool robot control method of the present application and any non-conflicting combination.

[0060] The program instructions 51 may be stored in the computer-readable storage medium 50 as a program file in the form of a software product, so that a computer device (which may be a personal computer, server, or network device, etc.) can execute all or part of the steps of the methods of various embodiments of the present application. The aforementioned computer-readable storage medium 50 includes: a USB flash drive, a mobile hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, etc., which can store program code, or a terminal device such as a computer, server, mobile phone, or tablet.

[0061] See also Figure 6 , Figure 6 It is a schematic diagram of the framework of an embodiment of the pool robot control device provided in this application.

[0062] The pool robot control device 60 includes a first control module 61 and a second control module 62. The first control module 61 is used to control the pool robot to move in the water area of ​​the pool, and the pool includes the inner wall of the pool and the water area; wherein, the pool robot is provided with a first sensing element and / or a first sensed element, and the supporting assembly is provided with a second sensed element and / or a second sensing element; the second control module 62 is used to control the pool robot to move to the supporting assembly to execute the target event in response to the first sensing event between the first sensing element and the second sensed element and / or the second sensing event between the second sensing element and the first sensed element during the movement process.

[0063] In one embodiment, the second control module 62 is further configured to control the pool robot to move to the position of the carrying portion of the carrying assembly; and adjust the posture of the pool robot so that the pool robot is fixed on the carrying portion of the carrying assembly.

[0064] In one embodiment, the second control module 62 is also used to control the pool robot to move toward the carrying part until the first side of the pool robot is close to the carrying part; and control the second side of the pool robot to approach the carrying part so that the pool robot is fixed to the carrying part.

[0065] In one embodiment, the second control module 62 is also used to control the rigid float chamber of the pool robot to absorb water so that the second lateral load-bearing part of the pool robot approaches; adjust the center of gravity of the pool robot so that the second lateral load-bearing part of the pool robot approaches; control the flexible float chamber of the pool robot to reduce the volume of the float chamber so that the second lateral load-bearing part of the pool robot approaches.

[0066] In one embodiment, the second control module 62 is also used to turn on the water pump of the pool robot so that the pool robot is fixed to the load-bearing part under the action of the water pump; turn on the propulsion device of the pool robot so that the pool robot is fixed to the load-bearing part under the action of the propulsion device; and through the magnetic parts of the pool robot, the pool robot is fixed to the load-bearing part under the action of the magnetic parts.

[0067] In one embodiment, before the pool robot is fixed to the carrying part, the second control module 62 is also used to respond to the second lateral direction of the carrying part approaching the second side at a first preset angle, so that the pool robot and the carrying part are close to each other until the pool robot and the carrying part are fixed.

[0068] In one embodiment, the second control module 62 is also used to turn on the water pump of the pool robot so that the pool robot approaches the load-bearing part under the action of the water pump; turn on the propulsion device of the pool robot so that the pool robot approaches the load-bearing part under the action of the propulsion device; and use the magnetic parts of the pool robot to make the pool robot approach the load-bearing part under the action of the magnetic parts.

[0069] In one embodiment, the first sensing element and the second sensing element include at least one of the following: an infrared sensing element, an ultrasonic sensing element, a laser sensing element, a magnetic sensing element, and a visual sensing element; the first sensed element and the second sensed element include at least one of the following: an infrared matching element, a magnetic matching element, and a special matching element; wherein the special matching element includes at least one of a preset material, a preset texture, or a special concave-convex shape.

[0070] In one embodiment, a first sensing event between the first sensing side member and the second sensed member includes: the first sensing side member sensing the second sensed member; a second sensing event between the second sensing side member and the first sensed member includes: the second sensing member sensing the first sensed member.

[0071] In one embodiment, the first control module 61 is further configured to control the pool robot to move on the water surface of the water area.

[0072] If the technical solution of this application involves personal information, the product that applies the technical solution of this application has clearly informed the personal information processing rules and obtained the individual's voluntary consent before processing personal information. If the technical solution of this application involves sensitive personal information, the product that applies the technical solution of this application has obtained the individual's separate consent before processing sensitive personal information, and at the same time meets the "explicit consent" requirement. For example, on personal information collection devices such as cameras, a clear and prominent sign is 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 they agree to the collection of their personal information; or on the personal information processing device, when the personal information processing rules are notified by obvious signs / information, the individual's authorization is obtained through pop-up information or by asking the individual to upload their personal information; among which, 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.

[0073] 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 description and drawings of this application, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A pool robot control method, characterized in that: include: Controlling the pool robot to move in a water area of ​​a pool, wherein the pool includes an inner wall of the pool and the water area; wherein the pool robot is provided with a first sensing element and / or a first sensed element, and the carrying assembly is provided with a second sensed element and / or a second sensing element; During the movement, in response to a first sensing event between the first sensing part and the second sensed part and / or a second sensing event between the second sensing part and the first sensed part, the pool robot is controlled to move to the carrying component to execute a target event.

2. The method according to claim 1, characterized in that The controlling the pool robot to move onto the carrying assembly comprises: Controlling the pool robot to move to the position where the carrying portion of the carrying assembly is located; Adjust the posture of the pool robot so that the pool robot is fixed on the carrying part of the carrying assembly.

3. The method according to claim 2, characterized in that The controlling the pool robot to move to the position where the carrying portion of the carrying assembly is located comprises: controlling the pool robot to move toward the carrying portion until the first side of the pool robot approaches the carrying portion; And / or, adjusting the posture of the pool robot so that the pool robot is fixed on the carrying portion of the carrying assembly includes: The second side of the pool robot is controlled to approach the carrying portion so that the pool robot is fixed to the carrying portion.

4. The method according to claim 3, characterized in that Controlling the second side of the pool robot to approach the carrying portion includes at least one of the following: controlling the rigid float chamber of the pool robot to absorb water so that the second side of the pool robot approaches the carrying portion; Adjusting the center of gravity of the pool robot so that the second side of the pool robot approaches the carrying portion; The flexible float chamber of the pool robot is controlled to reduce the volume of the float chamber so that the second side of the pool robot approaches the bearing portion.

5. The method according to claim 3, characterized in that The step of fixing the pool robot to the carrying portion includes at least one of the following: Turning on the water pump of the pool robot so that the pool robot is fixed to the carrying portion under the action of the water pump; Turning on the propulsion device of the pool robot so that the pool robot is fixed to the carrying portion under the action of the propulsion device; The pool robot is fixed to the bearing portion by the magnetic component of the pool robot.

6. The method according to claim 3, characterized in that Before the pool robot is fixed to the carrying portion, the method further includes: in response to the second side approaching the carrying portion until the second side forms a first preset angle, bringing the pool robot closer to the carrying portion until the pool robot is fixed to the carrying portion; The pool robot is close to the carrying portion, including at least one of the following: Turning on the water pump of the pool robot so that the pool robot moves closer to the carrying portion under the action of the water pump; Turning on the propulsion device of the pool robot so that the pool robot approaches the carrying portion under the action of the propulsion device; The pool robot is brought close to the carrying portion by the magnetic component of the pool robot.

7. The method according to claim 1, characterized in that The first sensor and the second sensor include at least one of the following: an infrared sensor, an ultrasonic sensor, a laser sensor, a magnetic sensor, and a visual sensor; The first sensed component and the second sensed component include at least one of the following: an infrared matching component, a magnetic matching component, and a special matching component; wherein the special matching component includes at least one of a preset material, a preset texture, or a special concavo-convex.

8. The method according to claim 1, characterized in that The first sensing event between the first sensing element and the second sensed element includes: The first sensing element senses the second sensed element; The second sensing event between the second sensing element and the first sensed element includes: The second sensing element senses the first sensed element.

9. The method according to claim 1, characterized in that The controlling the pool robot to move in the water area of ​​the pool includes: The pool robot is controlled to move on the water surface of the water area.

10. A pool robot, characterized in that: The pool robot includes a memory and a processor, the memory stores program instructions, and the processor is used to execute the program instructions to implement the pool robot control method according to any one of claims 1 to 9.

Images