Pool robot control method, pool robot and storage medium

Abstract

The invention discloses a pool robot control method, a pool robot and a storage medium, and the method is characterized in that the method comprises the steps: controlling the pool robot to transversely move around the inner wall of a pool; it is determined that the pool robot recognizes the bearing assembly in the movement process or the pool robot is recognized by the bearing assembly; the relative position of the bearing assembly and the inner wall of the pool is suitable for the pool robot to move to the bearing assembly. And controlling the pool robot to move to the bearing assembly according to the target route 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, a pool robot, and a storage medium. Background Art

[0002] With the development of science and technology, pool robots are gradually entering our daily lives. Pool robots can clean pools, such as cleaning dirt on the bottom, walls, and waterline of the pool, and collect garbage in the pool to keep the water clear. Generally, before cleaning the pool, the pool robot will enter the pool from the shore; after the pool robot finishes cleaning, it will go ashore from the pool; when the pool robot is low on power or when the pool robot's dust box is full, it will go to a fixed location for charging or self-cleaning. In other words, when the pool robot performs target events such as entering the pool, leaving the pool, self-cleaning, or charging, it 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 this application is to provide a pool robot control method, a pool robot, and a storage medium, 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] 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 laterally around the inner wall of the pool; determining that the pool robot recognizes the carrying component during movement or the pool robot is recognized by the carrying component; wherein the relative position of the carrying component and the inner wall of the pool is suitable for the pool robot to move to the carrying component; controlling the pool robot to move to the carrying component along the target route to execute the target event.

[0005] Among them, controlling the pool robot to move to the carrying component along the target route to execute the target event includes: controlling the pool robot to stop at the movement stop position on the carrying component; wherein the carrying component can execute the target event when the pool robot stops at the movement stop position, and the target event includes at least one of self-cleaning, charging and driving the pool robot out of the pool of the pool robot.

[0006] Controlling the pool robot to move laterally around the inner wall of the pool includes: controlling the pool robot to move laterally along the waterline of the inner wall of the pool.

[0007] Among them, determining that the pool robot recognizes the carrying component during movement includes: determining that the pool robot collides with the carrying component; or determining that the pool robot detects a positioning mark representing the position of the carrying component; wherein the carrying component and the positioning mark have a set positional relationship; or determining that the pool robot is recognized by the carrying component includes: determining that the first sensor on the pool robot receives a signal sent by the second sensor on the carrying component.

[0008] Among them, an image acquisition device is provided on the pool robot; determining that the pool robot has detected a positioning mark representing the position of the carrying component includes: performing target detection on the image data collected by the image acquisition device to obtain a target detection result; in response to the target detection result that the image data contains the positioning mark, determining that the pool robot has detected the positioning mark.

[0009] Among them, the pool robot moves laterally in a first direction around the inner wall of the pool, and the pool robot is controlled to move to the carrying component along the target route, including: controlling the pool robot to move to the carrying component in the first direction and / or the second direction; wherein the second direction is different from the first direction.

[0010] Among them, controlling the pool robot to move to the carrying component in a first direction includes: controlling the pool robot to move from the side of the carrying component to the carrying component in the first direction; controlling the pool robot to move to the carrying component in a second direction includes: controlling the pool robot to move from the bottom edge of the carrying component to the carrying component in the second direction.

[0011] Among them, controlling the pool robot to move to the carrying component in the first direction and / or the second direction includes: controlling the pool robot to move toward the carrying component in the first direction; in response to the pool robot being unable to move to the carrying component in the first direction, controlling the pool robot to move to the carrying component in the second direction.

[0012] Among them, controlling the pool robot to move to the carrying component in the first direction and / or the second direction includes: after controlling the pool robot to fall to the bottom of the pool, controlling the pool robot to adjust to the second direction, and moving from the bottom edge of the carrying component to the carrying component in the second direction.

[0013] Among them, before controlling the pool robot to move to the carrying component according to the target route, it also includes: sending an angle adjustment instruction to the carrying component, the angle adjustment instruction is used to instruct the carrying component to adjust the angle between the carrying part of the carrying component and the inner wall of the pool to a preset angle, so that the pool robot moves to the carrying component.

[0014] 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.

[0015] In order to solve the above technical problems, the third aspect of the present application provides a computer-readable storage medium, which is used to store program instructions. The program instructions can be executed to implement the pool robot control method provided by the first aspect above.

[0016] The beneficial effects of the present application are as follows: unlike the prior art, the present application controls the pool robot to move laterally around the inner wall of the pool; determines whether the pool robot recognizes the carrier assembly or the pool robot is recognized by the carrier assembly during movement; wherein the relative position of the carrier assembly and the inner wall of the pool is suitable for the pool robot to move to the carrier assembly; and controls the pool robot to move to the carrier assembly along the target route to execute the target event. In the above scheme, after the pool robot recognizes the carrier assembly or the carrier assembly recognizes the pool robot, the pool robot is controlled to move to the carrier assembly along the target route, thereby enabling the pool robot to quickly and accurately find the 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

[0017] Figure 1 This is a flow chart of an embodiment of a pool robot control method provided by the present application;

[0018] Figure 2 It is a schematic diagram of an embodiment of a load-bearing assembly and a water pool provided by the present application;

[0019] Figure 3 This is a schematic diagram of the framework of an embodiment of the pool robot provided by this application;

[0020] Figure 4 This is a schematic diagram of the framework of an embodiment of the pool robot control system provided by this application;

[0021] Figure 5 This is a schematic diagram of a framework of an embodiment of a computer-readable storage medium provided by the present application;

[0022] 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

[0023] 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.

[0024] 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.

[0025] 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.

[0026] 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.

[0027] 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:

[0028] S11: Control the pool robot to move laterally around the inner wall of the pool.

[0029] The method of this embodiment is used to control the movement of a pool robot onto a supporting assembly. In one embodiment, the pool robot can move laterally in a horizontal direction around the inner wall of the pool, and the motion trajectory can be a straight line or a specific trajectory such as an N-shape. In one embodiment, when the pool robot moves laterally around the inner wall of the pool, it can move laterally along the waterline of the inner wall of the pool. In other embodiments, the pool robot can also move laterally at a non-waterline location, for example, along the inner wall of the pool in water. The horizontal direction can be a non-vertical direction, for example, parallel to the water surface or forming a non-right angle with the water surface.

[0030] In one embodiment, when the pool robot actively identifies the load-bearing assembly, it can identify the load-bearing assembly at any time while circling the pool. Once the load-bearing assembly is identified, the robot will move toward the load-bearing assembly. In another embodiment, the pool robot will only begin identifying the load-bearing assembly when it detects low battery or a full waste storage device within the pool robot while moving along the inner wall of the pool. Similarly, when the load-bearing assembly actively identifies the pool robot, identification can occur at any time or under certain conditions.

[0031] In the above-described embodiment, the support assembly is always in a load-bearing state. This means that the pool robot can reach the support assembly through the side or bottom of the support assembly. In other words, the side or bottom of the support assembly serves as an entrance for the pool robot to operate onto the support assembly. When the support assembly is in the load-bearing state, the angle between the support portion of the support assembly and the inner wall of the pool is a preset angle. The preset angle can be a range, such as between 0-90 degrees, or a specific angle value. It is understood that the preset angle can be set by the user based on the specific conditions of the pool and is not specifically limited here.

[0032] In other embodiments, the carrying assembly is in a state incapable of carrying the pool robot. When the pool robot recognizes that it needs to leave the pool, which may be due to detecting that its battery is low, a full garbage storage device within the pool robot, or completion of cleaning, the carrying assembly may send an angle adjustment command to the carrying assembly to adjust the carrying assembly to a state capable of carrying the pool robot. After receiving the angle adjustment command from the pool robot, the carrying assembly may first determine whether the angle between the carrying portion of the carrying assembly and the inner wall of the pool meets a preset angle. If so, a reply command may be sent to the pool robot, or no reply command may be sent to the pool robot. If not, the angle between the carrying portion of the carrying assembly and the inner wall of the pool may be adjusted to a preset angle, so that the pool robot can move onto the carrying assembly via the carrying portion, or the pool robot can move onto the carrying assembly via the side of the carrying assembly. Among them, 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.

[0033] S12: Determine whether the pool robot recognizes the carrying component during movement or whether the pool robot is recognized by the carrying component.

[0034] While the pool robot is moving along the inner wall of the pool, the pool robot can actively identify the load-bearing assembly, or the load-bearing assembly can actively identify the pool robot. In one embodiment, the pool robot actively identifies the load-bearing assembly. In one specific embodiment, the pool robot has a simple structure. When the pool robot collides with the load-bearing assembly while moving along the inner wall of the pool, that is, when the pool robot collides with the load-bearing assembly, it is determined that the pool robot has identified the load-bearing assembly during its movement.

[0035] In another specific embodiment, the pool robot is equipped with a detection device, and a positioning marker is provided on or near the carrier assembly. The positioning marker can then be detected using the detection device. The position of the positioning marker and the carrier assembly have a predetermined relationship. For example, the positioning marker can be located at the bottom edge of the carrier assembly. It is understood that the predetermined position of the positioning marker can be set by the user, and this is not limited here. By simply determining the predetermined relationship between the positioning marker and the carrier assembly, the position of the carrier assembly can be determined based on the position of the positioning marker. In one specific embodiment, the pool robot is equipped with an image acquisition device, which can be a sensor, camera, or other device capable of capturing images. The positioning marker can be a black and white pattern or a color pattern, and the pattern type is not limited. Specifically, it can be a QR code. While the pool robot is in motion, the image acquisition device can capture image data in real time, perform target detection on the image data, and obtain a target detection result. If the target detection result indicates that the image data contains the positioning marker, the pool robot determines that the positioning marker has been detected. The position of the positioning marker can then be determined based on the image data, and thus the position of the carrier assembly. Among them, target detection on image data can be performed by the pool robot, or the pool robot can send the image data to other image processing equipment. After the image processing equipment obtains the target detection result, it sends the target detection result to the pool robot. In one embodiment, the process of performing target detection on image data can be to compare the image data with a pre-stored standard image. The standard image contains a positioning mark. If there is an area in the image data that is the same as the positioning mark in the standard image, then the image data is considered to contain the positioning mark. In another embodiment, the process of performing target detection on image data can also be to directly perform target recognition on the image data to identify whether there is a positioning mark. Other existing image processing methods can also be used to perform target detection on image data, which are not specifically limited here.

[0036] In another embodiment, the pool robot is actively identified by the supporting assembly. In one specific embodiment, a second sensor is provided on the supporting assembly, and the second sensor is, for example, a generator that can emit light or ultrasonic waves. The robot is provided with a first sensor, and the first sensor can be a receiver that is used to receive the light or ultrasonic waves. When the receiver receives the light or ultrasonic waves emitted by the generator, it is determined that the first sensor on the pool robot has received a signal emitted by the second sensor on the supporting assembly, and it is determined that the supporting assembly has identified the pool robot. In another specific embodiment, an image acquisition device can also be installed on the supporting assembly, and the image acquisition device captures images of the pool. When the captured image contains the pool robot, it is determined that the supporting assembly has recognized the pool robot. At this time, the supporting assembly can send a signal to the pool robot. After receiving the signal, the pool robot moves to the supporting assembly according to the target route.

[0037] In the above embodiment, the relative position of the support assembly and the inner wall of the pool is suitable for the pool robot to move onto the support assembly. The relative position of the support assembly and the inner wall of the pool is suitable such that at least a portion of the support assembly is attached to the inner wall of the pool, or a portion of the support assembly is separated from the inner wall of the pool by a distance that enables the pool robot to move along the inner wall of the pool to the support assembly.

[0038] S13: Control the pool robot to move to the carrying component along the target route to execute the target event.

[0039] In one embodiment, moving the pool robot onto the carrier assembly includes controlling the pool robot to stop at a stop position on the carrier assembly, i.e., the pool robot first drives to a location of the carrier assembly, then moves onto the carrier assembly, searches for and moves to the stop position on the carrier assembly, stops at the stop position, and executes a target event at the stop position. After the pool robot stops at the stop position, the target event that can be executed includes at least one of self-cleaning the pool robot, charging the pool robot, and driving the pool robot out of the pool.

[0040] In one embodiment, the pool robot moves laterally around the inner wall of the pool in a first direction. Controlling the pool robot to move along a target route to the support assembly may include controlling the pool robot to move in the first direction and / or a second direction to the support assembly. The first direction is the direction of the pool robot toward the side of the support assembly, and the second direction is the direction from the bottom of the support assembly toward the top of the support assembly, i.e., the second direction is also the direction from the bottom of the pool toward the top of the pool. It is understood that the first direction may be perpendicular to the side of the support assembly or at a certain angle; similarly, the second direction may be perpendicular to the bottom of the support assembly or at a certain angle.

[0041] Controlling the pool robot to move onto the support assembly along the target route can include any of the following methods: Method 1: When the side of the support assembly is relatively low and the pool robot can directly climb over the side of the support assembly, the pool robot can be controlled to move from the side of the support assembly to the support assembly in a first direction; the pool robot can also move from the bottom of the support assembly to the support assembly in a second direction. In this case, the pool robot can choose to move to the support assembly via either the side or the bottom. In this embodiment, the pool robot can reach the support assembly via the side of the support assembly in the first direction or via the bottom of the support assembly in the second direction. The pool robot can choose either method to reach the support assembly.

[0042] Method 2: When the side of the support assembly is high and the pool robot cannot pass through the side when moving toward the support assembly in a first direction, the pool robot can be controlled to adjust to a second direction and move onto the support assembly in the second direction in response to the pool robot being unable to move onto the support assembly in the first direction. The bottom side of the support assembly is the side of the support assembly closest to the bottom of the pool. Controlling the pool robot to adjust to the second direction can be achieved by a drive device on the pool robot, which includes but is not limited to wheels and propellers.

[0043] Method three: The pool robot can first fall back to the bottom of the pool, then adjust to a second direction from the bottom of the pool, and then move along the second direction from the bottom edge of the supporting assembly to the supporting assembly. It is understandable that the pool robot falling back to the bottom of the pool can be achieved by the pool robot being attached to a wall. For example, when the pool robot moves laterally along a first wall, it can move to the intersection of the first wall and the bottom of the pool. Alternatively, the movement direction can be adjusted so that the pool robot moves toward the bottom of the pool to the intersection of the first wall and the bottom of the pool. In this case, the pool robot is attached to the first wall, and the pool robot can adjust to the second direction on the first wall and then move along the second direction from the bottom edge of the supporting assembly to the supporting assembly.

[0044] Method 4: The pool robot is equipped with an edge sensor. In response to the pool robot being unable to pass through the support assembly due to forward movement, the pool robot is controlled to first move toward the bottom of the pool until the height of the side edge is below a threshold, and then move in a first direction to pass through the side edge of the support assembly and onto the support assembly. In other words, in this embodiment, when the pool robot detects the side edge, the side edge is high, and the pool robot is controlled to move forward, preventing the pool robot from passing through the side edge. However, the pool robot is equipped with an edge sensor that can detect the height of the side edge to determine whether the pool robot can pass through the side edge to reach the support assembly. The pool robot can then be lowered to a position where it can pass through the side edge, and then cross the side edge to reach the support assembly. For example, the pool robot may collide with the side edge at the waterline and be unable to climb onto the support assembly at the waterline. The side edge gradually decreases in height from the waterline to the bottom of the pool. The pool robot can be controlled to descend from the waterline along the inner wall of the pool. During the descending process, the side height can be detected in real time using the edge sensor. When the side height is detected to be lower than a threshold, the threshold can be set based on the height that the pool robot can pass through, and the descending process is stopped. At the position where the descending process is stopped, the movement direction of the pool robot is adjusted to make the pool robot move toward the side, so as to control the pool robot to move to the supporting component.

[0045] In the above embodiment, when the pool robot recognizes the carrying component or the pool robot is recognized by the carrying component, the path traveled by the pool robot from the position of the pool robot to the position when the pool robot reaches the carrying component is the target route.

[0046] In one specific embodiment, a positioning marker can be provided within the pool. The positioning marker and the support assembly have a specific positional relationship. When the pool robot moves laterally along the inner wall of the pool and detects the positioning marker, it can determine the position of the support assembly based on the position of the positioning marker, move from its current position toward the support assembly, and upon reaching the support assembly, move onto the support assembly. For example, if the positioning marker is provided below the support assembly, upon identifying the positioning marker, the pool robot can first move to the position of the positioning marker, then move from the position of the positioning marker along a second direction to the bottom edge of the support assembly, and then move onto the support assembly via the bottom edge. The pool robot can also move directly from the position it was at when it identified the positioning marker to the position of the support assembly.

[0047] In the above method, after the pool robot moves onto the carrier assembly according to the target route, it can travel along a preset trajectory to find a stop position on the carrier assembly and execute the target event at the stop position. In one embodiment, after the pool robot arrives on the carrier assembly, it can determine whether the position on the carrier assembly where the pool robot moved according to the target route is at a first position. The first position can be the overlap between the carrier assembly and the waterline. If not, the pool robot is controlled to climb along the carrier assembly from the position where the pool robot moved onto the carrier assembly to the first position. The pool robot is controlled to travel along the carrier assembly 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 carrier assembly. Upon receiving the connection device opening command, the carrier assembly can open the connection device used to connect the carrier assembly and the pool robot. The pool robot is controlled to continue traveling along the carrier assembly from the second position to the bottom of the pool until it stops. The position where the pool robot stops 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. Taking the example of setting a groove on the pool robot and setting a locking hook on the supporting component, when the pool robot travels to the second position, the area of ​​the pool robot except the groove coincides with the locking hook, making the locking hook unable to open, until the pool robot travels to the point where the groove coincides with the connecting device, the locking hook opens and hooks the groove, causing the pool robot to stop traveling.

[0048] It is understandable that in other embodiments, the second position may not be set on the supporting component. When the pool robot reaches the first position, it can send a connection device opening instruction to the supporting component. After receiving the connection device opening instruction, the supporting component can open the connection device.

[0049] In one 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. Once the pool robot reaches the carrier assembly, the pool robot is controlled to travel along a preset trajectory on the carrier assembly. 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. In one specific embodiment, the preset trajectory can include movement in a first direction, such as upward, followed by movement in a second direction opposite to the first direction, such as downward. Specifically, once the pool robot reaches the carrier assembly, it can 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 connecting 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. In another specific embodiment, the preset trajectory may be to first move in a second direction, such as downward, and then in a first direction, such as upward. Specifically, after the pool robot reaches the support assembly, it can be controlled to first move along the support assembly toward the bottom of the pool until it reaches the bottom edge. During this process, if no in-position signal is received, the pool robot is controlled to move from the bottom edge along the support assembly to the waterline. It is understood that if the pool robot reaches the support assembly via the bottom edge, the pool robot can move directly along the support assembly toward the waterline to find the stopping position. It is understood that in this embodiment, the device that receives the in-position sensor signal can only receive the in-position signal at the stopping position. The connecting device may be a locking hook. If the connecting device is a locking hook, after opening the connecting device, the pool robot can be controlled to descend a certain distance toward the bottom of the pool so that the locking hook can hook the pool robot. The connecting device may also be a magnetic member. If the connecting device is a magnetic member, the process of opening the connecting device is not required.

[0050] 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.

[0051] After finding the motion stop position, the connecting device can connect the carrying component and the pool robot, and the carrying component can drive the pool robot out of the pool when the pool robot stops at the motion stop position.

[0052] In one embodiment, the aforementioned support assembly is provided with a stop position, wherein the pool robot can be connected to the support assembly in the stop position. The support assembly is movable, for example, the support assembly can rotate, and the rotation of the support assembly can be used to drive the pool robot out of the pool. For another example, the support assembly can also move up and down, and by moving upward, it can drive the pool robot out of the pool. In a specific embodiment, the support assembly can include a support portion that is rotatable. When the support portion is in a load-bearing state, the support portion 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 portion and the pool can be located at the edge of the pool, that is, the support portion can be connected to the pool. After the support portion is connected to the pool robot, the angle between the support portion and the inner sidewall of the pool is adjusted so that the support portion is perpendicular to or within a certain angle range with the inner sidewall of the pool, thereby allowing the pool robot to exit the pool via the support portion. For another example, the supporting component may also include a supporting portion, which is connected to the supporting portion, and the connection position between the supporting portion and the supporting portion is located at the edge of the pool. At this time, the supporting portion does not need to be connected to the pool, but only needs to be connected to the connecting portion, and the automatic recovery of the pool robot can also be realized.

[0053] The above scheme controls the pool robot to move laterally around the inner wall of the pool; determines whether the pool robot recognizes the carrier assembly during movement, or whether the pool robot is recognized by the carrier assembly; wherein the relative position of the carrier assembly and the inner wall of the pool is suitable for the pool robot to move onto the carrier assembly; and controls the pool robot to move along a target route to the carrier assembly to execute a target event. After the pool robot recognizes the carrier assembly, or the carrier assembly recognizes the pool robot, by controlling the pool robot to move along the target route to the carrier assembly, the pool robot can quickly and accurately find the target position for executing the target event. On the carrier assembly, the pool robot can then execute the target event, thereby improving the pool robot's work efficiency.

[0054] 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.

[0055] 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.

[0056] 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.

[0057] The pool robot 30 includes a memory 31 and a processor 32 coupled to each other. 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.

[0058] 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.

[0059] 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.

[0060] See also Figure 4 , Figure 4 It is a framework diagram of an embodiment of the pool robot control system provided by this application.

[0061] 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.

[0062] 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.

[0063] 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.

[0064] 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.

[0065] 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.

[0066] The pool robot control device 60 includes a first control module 61, an identification module 62 and a second control module 63. The first control module 61 is used to control the pool robot to move laterally around the inner wall of the pool; the identification module 62 is used to determine whether the pool robot recognizes the carrying component during movement or the pool robot is recognized by the carrying component; wherein the relative position of the carrying component and the inner wall of the pool is suitable for the pool robot to move to the carrying component; the second control module 63 is used to control the pool robot to move to the carrying component along the target route to execute the target event.

[0067] In one embodiment, the second control module 63 is also used to control the pool robot to stop at a motion stop position on the carrying component; wherein, the carrying component can execute a target event when the pool robot stops at the motion stop position, and the target event includes at least one of self-cleaning, charging, and driving the pool robot out of the pool.

[0068] In one embodiment, the first control module 61 is further configured to control the pool robot to move laterally along the waterline of the inner wall of the pool.

[0069] In one embodiment, the identification module 62 is further used to determine whether the pool robot collides with the carrying component; or to determine whether the pool robot detects a positioning mark representing the position of the carrying component; wherein the carrying component and the positioning mark have a set positional relationship.

[0070] In one embodiment, the identification module 62 is further configured to determine whether the first sensor on the pool robot receives a signal sent by the second sensor on the carrying assembly.

[0071] In one embodiment, an image acquisition device is provided on the pool robot; the recognition module 62 is also used to perform target detection on the image data acquired by the image acquisition device to obtain a target detection result; in response to the target detection result that the image data contains a positioning identifier, it is determined that the pool robot detects the positioning identifier.

[0072] In one embodiment, the pool robot moves laterally around the inner wall of the pool in a first direction, and the second control module 63 is further used to control the pool robot to move in the first direction and / or the second direction to the carrying assembly.

[0073] In one embodiment, the second control module 63 is further configured to control the pool robot to move from the side of the carrying assembly to the carrying assembly in a first direction.

[0074] In one embodiment, the second control module 63 is further configured to control the pool robot to move from the bottom edge of the carrying assembly to the top of the carrying assembly in a second direction.

[0075] In one embodiment, the second control module 63 is also used to control the pool robot to move toward the carrying assembly in a first direction; in response to the pool robot being unable to move to the carrying assembly in the first direction, the pool robot is controlled to move to the carrying assembly in a second direction.

[0076] In one embodiment, the second control module 63 is further configured to control the pool robot to move from the bottom edge of the support assembly to the support assembly along a third direction after the pool robot falls to the bottom of the pool. In one embodiment, the pool robot control device 60 further includes a communication module configured to send an angle adjustment command to the support assembly. The angle adjustment command instructs the support assembly to adjust the angle between the support portion of the support assembly and the inner wall of the pool to a predetermined angle, thereby causing the pool robot to move to the support assembly.

[0077] 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.

[0078] 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 laterally around the inner wall of the pool; Determining that the pool robot recognizes the carrying assembly during movement or that the pool robot is recognized by the carrying assembly; wherein the relative position of the carrying assembly and the inner wall of the pool is suitable for the pool robot to move onto the carrying assembly; The pool robot is controlled to move to the carrying component along a target route to execute a target event.

2. The method according to claim 1, wherein controlling the pool robot to move to the carrying assembly along a target route to execute a target event comprises: Controlling the pool robot to stop at a motion stop position on the carrying component; wherein, The carrying component can execute the target event when the pool robot stops at the motion stop position, and the target event includes at least one of self-cleaning, charging and driving the pool robot out of the pool.

3. The method according to claim 1, characterized in that The controlling the pool robot to move laterally around the inner wall of the pool includes: The pool robot is controlled to move laterally along the waterline of the inner wall of the pool.

4. The method according to claim 1, wherein The determining that the pool robot recognizes a load-bearing component during movement includes: Determining that the pool robot collides with the carrying component; or, Determining that the pool robot detects a positioning marker representing a position of the carrying component; wherein the carrying component and the positioning marker have a set positional relationship; Alternatively, the determining that the pool robot is recognized by the carrying component includes: It is determined that the first sensor on the pool robot receives a signal sent by the second sensor on the carrying assembly.

5. The method according to claim 4, characterized in that The pool robot is provided with an image acquisition device; The determining that the pool robot detects a positioning mark representing the position of the carrying component includes: Performing target detection on the image data collected by the image acquisition device to obtain a target detection result; In response to the target detection result being that the image data includes the positioning identifier, it is determined that the pool robot detects the positioning identifier.

6. The method according to claim 1, wherein The pool robot moves laterally around the inner wall of the pool in a first direction, and the controlling the pool robot to move onto the carrying assembly along a target route includes: The pool robot is controlled to move onto the carrying assembly in the first direction and / or the second direction; wherein the second direction is different from the first direction.

7. The method according to claim 6, characterized in that The controlling the pool robot to move in the first direction to the carrying assembly includes: Controlling the pool robot to move from the side of the carrying assembly to the carrying assembly in the first direction; The controlling the pool robot to move in the second direction to the carrying assembly includes: The pool robot is controlled to move from the bottom edge of the carrying component to the carrying component in the second direction.

8. The method according to claim 6, characterized in that The controlling the pool robot to move in the first direction and / or the second direction to the carrying assembly includes: Controlling the pool robot to move toward the carrying assembly in the first direction; In response to the pool robot being unable to move onto the carrying assembly in the first direction, the pool robot is controlled to move onto the carrying assembly in the second direction.

9. The method according to claim 6, characterized in that The controlling the pool robot to move in the first direction and / or the second direction to the carrying assembly includes: After the pool robot is controlled to fall to the bottom of the pool, the pool robot is controlled to adjust to a second direction, and moves from the bottom edge of the carrying assembly to the carrying assembly in the second direction.

10. The method according to claim 1, characterized in that Before controlling the pool robot to move onto the carrying assembly according to the target route, the method further includes: An angle adjustment instruction is sent to the carrying component, where the angle adjustment instruction is used to instruct the carrying component to adjust the angle between the carrying part of the carrying component and the inner wall of the pool to a preset angle so that the pool robot moves onto the carrying component.

11. 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 10.

12. A computer-readable storage medium, characterized in that The computer-readable storage medium is used to store program instructions, and the program instructions can be executed to implement the pool robot control method according to any one of claims 1 to 10.

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