Robot-based pool wall cleaning method and device and storage medium

Abstract

The invention provides a pool wall cleaning method and device based on a robot and a storage medium, and the method comprises the steps that the robot is controlled to conduct multiple times of cleaning on the pool wall of a pool, each time of cleaning corresponds to one cleaning direction, and the cleaning directions corresponding to the multiple times of cleaning comprise at least one clockwise cleaning direction and at least one anticlockwise cleaning direction; wherein in each time of cleaning, the robot moves according to a preset strategy, and the preset strategy comprises the steps that every time when the robot collides with the pool wall, the robot is controlled to climb on the pool wall and move on the pool wall along a cleaning path; after moving along the cleaning path, controlling the robot to return to the pool bottom; the robot moves in the corresponding cleaning direction at the bottom of the pool until the robot collides with the pool wall or the distance of the robot moving in the corresponding cleaning direction reaches the target distance; and when the moving distance of the robot in the corresponding cleaning direction reaches the target distance, the robot is controlled to adjust the moving direction so as to move towards the pool wall. In this way, the coverage rate of the robot on pool wall cleaning is increased.

Description

Technical Field

[0001] This application relates to the field of robotic cleaning technology, and in particular to a robot-based method, apparatus, and storage medium for cleaning pool walls. Background Technology

[0002] In the field of pool cleaning, pool robots can climb walls to clean pool walls. Current pool robots typically use an arc-shaped path to clean the pool walls. This arc-shaped path mainly involves controlling the robot to climb upwards along path 1, which is perpendicular to the pool bottom, and clean to the waterline. Then, it returns to the pool bottom along the same path 1, and moves to the right a fixed distance at the bottom. Then, it climbs upwards again along path 2 and cleans to the waterline, and then returns to the pool bottom along path 2. This cycle continues until the entire pool wall is cleaned. Path 1 and path 2 are parallel, and the distance between paths 1 and 2 is a fixed length.

[0003] However, for irregularly shaped swimming pools, if the robot uses a single direction of coverage cleaning, it may miss cleaning parts of the pool walls, such as... Figure 4 The robot's cleaning direction is clockwise. After descending from the wall, the robot reaches the bottom of the pool and moves away from the pool wall along path 1. Then, it moves to the right by a distance W, then moves towards the pool wall along path 2 and climbs onto the wall, repeating this cycle. When the robot moves along path n, then moves to the right by a distance W, and then moves towards the pool wall along path n+1 and climbs onto the wall, it can be seen that... Figure 4 The pool wall at location a will be missed during cleaning. When the cleaning robot misses certain areas, it not only affects the cleaning effect of the pool but may also increase the cleaning cycle, thus impacting the user experience.

[0004] Therefore, how to improve the coverage of robot cleaning of pool walls is an urgent problem to be solved. Summary of the Invention

[0005] This application provides a robot-based method, apparatus, and storage medium for cleaning pool walls, thereby improving the robot's coverage of the pool walls.

[0006] In a first aspect, embodiments of this application provide a robot-based method for cleaning pool walls, the method comprising: The robot is controlled to perform multiple cleaning operations on the pool wall, with each cleaning operation corresponding to a cleaning direction. The cleaning directions corresponding to the multiple cleaning operations include at least one clockwise cleaning direction and at least one counterclockwise cleaning direction. During each cleaning cycle, the robot moves according to a preset strategy, which includes: Whenever the robot collides with the pool wall, the robot is controlled to climb onto the pool wall and move along the cleaning path on the pool wall; After moving along the cleaning path, the robot is controlled to return to the bottom of the pool and move along the corresponding cleaning direction on the bottom of the pool until the robot collides with the pool wall or the distance moved along the corresponding cleaning direction reaches the target distance; When the robot moves a distance along the corresponding cleaning direction to reach the target distance, the robot is controlled to adjust its movement direction to move towards the pool wall.

[0007] Secondly, embodiments of this application provide a robot, the robot comprising: A mobile unit, used to move the robot; Cleaning unit for cleaning water tanks; Storage unit, used to store cleaning location data; The control unit is used to control the robot to perform multiple cleaning operations on the pool wall; and to control the robot to move according to a preset strategy, the preset strategy including: whenever the robot collides with the pool wall, controlling the robot to climb onto the pool wall and move along a cleaning path on the pool wall; after moving along the cleaning path, controlling the robot to return to the bottom of the pool and move along the corresponding cleaning direction on the bottom of the pool until the robot collides with the pool wall or the distance moved along the corresponding cleaning direction reaches a target distance; when the distance moved by the robot along the corresponding cleaning direction reaches the target distance, controlling the robot to adjust its movement direction to move towards the pool wall.

[0008] Thirdly, embodiments of this application provide an electronic device, including a processor, a memory, a communication interface, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the processor, and the programs include instructions for performing steps in any method of the first aspect of this application.

[0009] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program for electronic data interchange, wherein the computer program causes a computer to perform some or all of the steps described in any method of the first aspect of this application.

[0010] Fifthly, embodiments of this application provide a computer program product, wherein the computer program product includes a non-transitory computer-readable storage medium storing a computer program operable to cause a computer to perform some or all of the steps described in any method of the first aspect of this application. The computer program product may be a software installation package.

[0011] By implementing the embodiments of this application, the following beneficial effects are achieved: This application describes a robot-based method, apparatus, and storage medium for cleaning pool walls. The method involves controlling a robot to perform multiple cleaning operations on the pool wall. Each cleaning operation corresponds to a specific cleaning direction, including at least one clockwise and at least one counter-clockwise cleaning direction. During each cleaning operation, the robot moves according to a preset strategy. This strategy includes: whenever the robot collides with the pool wall, it climbs onto the wall and moves along a cleaning path; after moving along the cleaning path, it returns to the bottom of the pool and moves along the corresponding cleaning direction until it collides with the pool wall again or the distance moved along the corresponding cleaning direction reaches a target distance; when the distance moved along the corresponding cleaning direction reaches the target distance, the robot adjusts its direction of movement towards the pool wall. Thus, when the robot performs multiple cleaning operations on a designated area of ​​the pool wall, with at least two of the cleaning operations performed in opposite directions (clockwise or counter-clockwise), the number of areas missed by the robot on the pool wall is reduced, thereby improving the robot's cleaning coverage of the pool wall. Attached Figure Description

[0012] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0013] Figure 1 This is a system architecture diagram of a robot-based pool wall cleaning method provided in an embodiment of this application; Figure 2 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application; Figure 3 This is a schematic flowchart of a robot-based water tank wall cleaning method provided in an embodiment of this application; Figure 4 This is a schematic diagram of a robot performing path planning at the bottom of a pool, provided in an embodiment of this application. Figure 5 This is a schematic diagram of a scenario where a robot moves a random distance at the bottom of a pool, as provided in an embodiment of this application. Figure 6 This is a schematic diagram of a robot cleaning a pool wall according to an embodiment of this application; Figure 7 This is a schematic diagram of another scenario provided by an embodiment of this application, in which a robot performs path planning on the pool wall and the pool bottom; Figure 8 This is a schematic diagram of a robot path planning scenario provided in an embodiment of this application; Figure 9 This is a block diagram of the functional modules of a robot provided in an embodiment of this application. Detailed Implementation

[0014] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0015] The terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0016] It should be understood that the term "and / or" in this document is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this document indicates that the preceding and following related objects are in an "or" relationship. In the embodiments of this application, "multiple" refers to two or more.

[0017] In the embodiments of this application, "at least one item" or its similar expression refers to any combination of these items, including any combination of a single item or a plurality of items. "One or more" means one or more, while "multiple" means two or more. For example, "at least one item" of a, b, or c can represent the following seven cases: a, b, c; a and b; a and c; b and c; a, b, and c. Each of a, b, and c can be an element or a set containing one or more elements.

[0018] In this application, the term "connection" refers to various connection methods, such as direct connection or indirect connection, to achieve communication between devices. This application does not impose any limitations on this.

[0019] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0020] Pool cleaning robots can climb walls to clean pool walls. Currently, the commonly used technology is to use an arc-shaped path to clean the pool walls, which is effective for cleaning the entire pool wall in regularly shaped pools. However, most pools are irregularly shaped areas, or irregularly shaped areas. For irregularly shaped pools, if the pool robot uses a single coverage cleaning direction, some parts of the pool wall may be missed.

[0021] To address the aforementioned problems, this application provides a robot-based method, apparatus, and storage medium for cleaning pool walls. The method controls a robot to perform multiple cleaning operations on the pool wall, each operation corresponding to a specific cleaning direction. These multiple cleaning operations include at least one clockwise cleaning direction and at least one counter-clockwise cleaning direction. During each cleaning operation, the robot moves according to a preset strategy. This strategy includes: whenever the robot collides with the pool wall, it climbs onto the wall and moves along a cleaning path; after moving along the cleaning path, it returns to the bottom of the pool; it moves along the corresponding cleaning direction at the bottom of the pool until it collides with the pool wall or the distance moved along the corresponding cleaning direction reaches a target distance; when the distance moved along the corresponding cleaning direction reaches the target distance, the robot adjusts its movement direction to move towards the pool wall. By performing multiple cleaning operations on a designated area of ​​the pool wall, including at least two clockwise or counter-clockwise cleaning directions, the robot reduces missed cleaning areas on the pool wall, thereby improving the coverage rate of the pool wall cleaning.

[0022] The following is combined Figure 1 The system architecture of a robot-based pool wall cleaning method according to an embodiment of this application will be described. Figure 1 This is a system architecture diagram of a robot-based pool wall cleaning method provided in an embodiment of this application. The system architecture 100 of the robot-based pool wall cleaning method includes a pool wall cleaning unit 110, a pool bottom moving unit 120, and a power system 130.

[0023] The pool wall cleaning unit 110 can be a roller brush. As the robot moves systematically up and down along the pool wall surface, it performs cleaning operations using the roller brush. The roller brush is used to clean stains on the pool wall surface; it can clean by rotating the brush head, or by simultaneously adsorbing stains and rotating the roller brush—this is not limited to any particular method. In one possible embodiment, as the robot climbs the wall, it controls the pool wall cleaning unit 110 to perform active cleaning operations. After completing one cleaning pass, the robot adjusts the cleaning direction (clockwise or counterclockwise) to clean blind spots.

[0024] The pool bottom movement unit 120 is a module that drives the robot to move horizontally and switch paths on the pool bottom. This ensures that after completing one cleaning cycle of the pool wall, the robot can precisely displace to reach a new starting position and continue the next cleaning task. The pool bottom movement unit 120 includes a movement control module 121 and a wall collision detection module 122. The movement control module 121 can be a wheel system mounted on the robot, including left and right wheels. It controls the robot's steering and movement by controlling the rotational speed between the left and right wheels. The movement control module 121 is used to control the robot to move on the pool bottom in a direction away from and perpendicular to the pool wall, and also to move laterally in a direction parallel to the pool wall. In the lateral movement parallel to the pool wall, the robot employs two strategies: preset spacing displacement and random spacing displacement. The motion control module 121 employs a random spacing movement strategy. After each cleaning of the pool wall, the robot moves laterally across the pool bottom by a random distance between 1 and 1.5 translation distances, effectively avoiding local repetition or blind spots caused by fixed paths. The collision detection module 122 detects whether the robot collides with the pool wall, corners, or other structures during movement, and based on the detection results, assists in determining whether there are uncovered areas on the pool wall or whether the path direction needs to be readjusted. This collision detection module 122 can use a combination of inertial sensors and flexible collision edges to promptly capture slight contact information and feed it back to the main control unit to control the robot's subsequent wall-climbing movement. After the robot completes a clockwise cleaning of the pool wall, the motion control module 121 generates a random spacing, causing the robot to move a certain distance to the right or left on the pool bottom. Then, the pool wall cleaning unit restarts the wall-climbing program to complete the cleaning in the next direction.

[0025] The power system 130 provides driving force to each functional unit to achieve coordinated operation of cleaning and movement functions. It is the energy center for the robot's operation. The power system 130 integrates components such as battery modules, underwater drive motors, and pressure pumps to ensure that the robot has stable and continuous working capabilities in the underwater environment.

[0026] In one possible embodiment, when the robot performs multiple pool wall cleaning operations, it includes at least one complete coverage in a clockwise direction and one in a counterclockwise direction. For example, when performing four cleaning operations, the first two are in a clockwise direction and the last two are in a counterclockwise direction, achieving path intersection and complementarity, ensuring that areas such as corners and pool wall bends are not missed. By using a random translation interval of (1~1.5) translation distances for bottom movement control, path misalignment is generated after each coverage, reducing cleaning overlap and blind spots caused by path repetition, and improving the overall coverage rate. In addition, the direction in which the robot moves towards the pool wall and the direction away from the wall after going down do not need to coincide. Non-perpendicular paths can be appropriately introduced during the cleaning process, and the optimal number of coverages can be dynamically calculated through mapping relationships based on the pool perimeter, pool wall shape, pool bottom complexity, and random interval range. Generally speaking, 3~4 coverages are sufficient to meet the cleaning needs of most home and commercial pools.

[0027] As can be seen, through the above-described system architecture for robot-based pool wall cleaning, this robot-based pool wall cleaning method can improve the cleaning coverage of the pool wall, and is especially suitable for irregularly shaped pools and complex structural scenarios. In addition, the multiple cross-cleaning strategy can effectively eliminate blind spots in the path and improve the comprehensiveness of cleaning. At the same time, random spacing movement and path misalignment reduce path repetition and improve cleaning efficiency.

[0028] The following is combined Figure 2 The electronic devices in the embodiments of this application will be described. Figure 2 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application, such as... Figure 2 As shown, the electronic device 200 includes one or more processors 210, a memory 220, a communication interface 230, and one or more programs 221. The processor 210 is communicatively connected to the memory 220 and the communication interface 230 via an internal communication bus.

[0029] The processor 210 can be a central processing unit (CPU), 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, transistor logic devices, hardware components, or any combination thereof. It can implement or execute the various exemplary logic blocks, units, and circuits described in conjunction with the disclosure of this application. The processor can also be a combination that implements computational functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc. The communication unit can be a communication interface, transceiver, transceiver circuit, etc., and the storage unit can be a memory.

[0030] The memory 220 can be volatile memory or non-volatile memory, or it can include both. The non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of random access memory (RAM) are available, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate synchronous DRAM (DDR SDRAM), enhanced synchronous DRAM (ESDRAM), synchronous linked DRAM (SLDRAM), and direct rambus RAM (DR RAM).

[0031] The one or more programs 221 are stored in the memory 220 and configured to be executed by the processor 210. The one or more programs 221 include instructions for performing any step in the following embodiment of a robot-based pool wall cleaning method.

[0032] It is understood that the electronic device 200 may include more or fewer structural elements than those shown in the above block diagram, such as a power module, physical buttons, a Wi-Fi module, a speaker, a Bluetooth module, sensors, a display module, etc., without limitation. It is understood that the electronic device may incorporate elements such as... Figure 1 The system architecture of a robot-based water tank wall cleaning method is described.

[0033] After understanding the software and hardware architecture of this application, the following will be combined with... Figure 3 This application describes a robot-based method for cleaning pool walls. Figure 3 This is a flowchart illustrating a robot-based pool wall cleaning method provided in an embodiment of this application, specifically including the following steps: Step S310: Control the robot to perform multiple cleaning operations on the pool wall. Each cleaning operation corresponds to a cleaning direction, and the cleaning directions corresponding to the multiple cleaning operations include at least one clockwise cleaning direction and at least one counterclockwise cleaning direction.

[0034] The multi-directional cleaning design, employing both clockwise and counterclockwise rotations, addresses the issue of blind spots in cleaning irregularly shaped pools where a single direction is insufficient. In irregularly shaped pools (such as those with irregular polygons, curved boundaries, or convex / concave structures), the pool wall contours are not standard closed curves. If the robot only cleans in a single direction (such as continuously clockwise or continuously counterclockwise), areas may be missed during cleaning.

[0035] To illustrate this more clearly, an example is given below. Please refer to [link / reference]. Figure 4 , Figure 4 This is a schematic diagram illustrating a robot's path planning at the bottom of a pool, as provided in an embodiment of this application. It can be seen that the robot's cleaning direction is clockwise. When the pool has an inwardly recessed section of the pool wall (i.e.,...) Figure 4(Position a) When the robot descends the wall and reaches the bottom of the pool, it first moves a certain distance away from the pool wall along path 1, and then moves a translational distance W to the right parallel to the pool wall. Next, it moves along path 2 towards the pool wall, the distance of which is the same as the distance of the translational distance to the right along path 1. When the robot collides with the pool wall, it begins to climb the wall and starts cleaning (the cleaning direction is clockwise). When the robot reaches the waterline, it descends the wall and moves away from the pool wall in the opposite direction along path 2, then moves a translational distance W to the right, and then moves towards the pool wall along path 3. The robot repeats this process at the bottom of the pool. Finally, when moving from path n to path n+1, the path the robot takes after descending the wall and then translating in a fixed direction before climbing back up may create a "misalignment" with the recessed area, causing the wall of the recessed area to ( Figure 4 Position 'a' in the diagram is always located in the gap between two adjacent cleaning paths and cannot be effectively covered. After completing one round of cleaning in a clockwise direction, introducing a counter-clockwise cleaning direction creates a mirror image of the clockwise cleaning path, which can effectively cover blind spots (…). Figure 4 The secondary cover is formed at position a in the middle, and the reversibility of direction is used to alleviate the limitation of the pool wall geometry on the single-direction path.

[0036] This design incorporates a mechanism of randomized translational spacing during multiple cleaning cycles to avoid periodic missed cleaning caused by fixed spacing. After completing a single cleaning cycle on the wall and descending to the bottom of the pool, the robot does not translate along a fixed spacing but instead uses a random spacing of (1~1.5)W (W being a preset baseline spacing). The random coefficient is generated by the robot control system and ranges from 1 to 1.5. Because the robot may form periodically repetitive paths when translating at fixed spacing, causing the cleaning area to remain in the gaps of missed cleaning, using random spacing changes the periodicity of the robot's movement path on the bottom of the pool, allowing different cleaning paths to overlap and reducing the probability of missed cleaning.

[0037] For easier understanding, please refer to Figure 5 , Figure 5 This is a schematic diagram of a scenario where a robot moves randomly at the bottom of a pool, as provided in an embodiment of this application. As can be seen, the robot climbs the wall along cleaning path 1 to the waterline and then returns to the bottom of the pool along the same path (the robot can do this by moving backward). It then moves 1.3W interval to the right (random coefficient of 1.3) and climbs the wall along cleaning path 2. After descending the wall, it moves 1.1W interval (random coefficient of 1.1) and climbs the wall along path 3. Subsequently, it moves 1.5W interval (random coefficient of 1.5) and climbs the wall along cleaning path 4. The randomness of the spacing causes the coverage areas of adjacent paths to overlap, reducing gaps.

[0038] Specifically, at least two cleaning operations in opposite directions must form complementary paths, achieving coverage of blind spots through directional reversal. When the robot cleans clockwise, its path away from the pool wall after descending, its translational direction, and its path up the wall form a clockwise closed loop. Conversely, when cleaning counterclockwise, the robot's movement path at the bottom of the pool is completely reversed, and its translational direction forms a counterclockwise loop with its path up the wall. This reversal allows the robot to achieve cross-coverage of protruding or recessed areas of irregularly shaped pool walls (from a top-down view of the pool, the pool walls corresponding to the recessed and protruding areas of the closed curve at the bottom edge).

[0039] The following example is provided to aid understanding; please refer to [link / reference]. Figure 6 , Figure 6 This is a schematic diagram illustrating a scenario of a robot cleaning a pool wall, as provided in an embodiment of this application. Figure 6 The robot cleans the recessed area (location 'a') that was missed during cleaning. When cleaning counter-clockwise, the robot first approaches the pool wall from the bottom and cleans it, then moves away from the pool wall along path 'm', then moves laterally along the path, and then approaches and cleans the pool wall again. The robot's lateral movement will move closer to the recessed area. If it collides with the pool wall at location 'a' after lateral movement, it will trigger the action of climbing up the pool wall, thus completing the cleaning of that area (as shown by paths m, m+1, m+2 in the figure). By using this cyclical method of climbing up the wall and moving down the pool wall, the robot can complete a full coverage of the pool wall in a counter-clockwise cleaning direction. When cleaning clockwise, the robot first moves away from the pool wall from the bottom, then moves to the right a short distance, and then moves towards the pool wall. When the robot encounters the pool wall, it climbs up the wall and cleans it (as shown by paths n, n+1 in the figure). Through cyclical wall-climbing cleaning and bottom-lateral movement, the robot completes a full coverage of the clockwise cleaning direction. The robot cleans the pool wall in at least one clockwise and at least one counterclockwise cleaning direction during a single cleaning cycle. This effectively alleviates the cleaning of areas missed on irregularly shaped pool walls (such as area a), thereby improving the robot's cleaning efficiency.

[0040] To better illustrate the process of a robot climbing the walls of a pool to clean it, a regular-shaped pool is used as an example below. Please refer to [link / reference]. Figure 7 , Figure 7This is a schematic diagram illustrating another scenario where a robot plans its cleaning on the pool wall and bottom, as provided in this application embodiment. As can be seen, the robot performs cleaning operations along cleaning paths 1 and 2. These cleaning paths are parallel and equidistantly distributed, extending along the normal direction of the pool wall to the water surface, systematically covering the cleaning area of ​​the pool wall. The robot moves and cleans along these paths, effectively cleaning the pool wall. The horizontal distance between adjacent paths is w, which is related to the width of the robot's cleaning unit (roller brush) and the robot's width. By repeatedly climbing the pool wall for cleaning, a good cleaning effect can be achieved within the robot's single cleaning direction. After completing one wall-climbing and descending cleaning operation, the robot moves in the pool bottom area. The robot's movement path on the pool bottom is a planned return path after cleaning the pool wall, moving in an "arch-shaped path" on the pool bottom plane. This path, in conjunction with the pool wall cleaning path, constructs a three-dimensional cleaning space, improving the cleaning process and efficiency.

[0041] Specifically, the clockwise cleaning direction involves the robot starting from the bottom of the pool, moving along the path towards the pool wall and onto the wall, cleaning from top to bottom (or bottom to top) to the endpoint (the waterline at the top or bottom of the pool wall). It then descends the wall along the same path back to the bottom of the pool. After descending, the robot moves a preset distance away from the pool wall, then moves a random distance (1~1.5)W to the left or right in a direction perpendicular to the pool wall's normal. After this translation, it moves towards the pool wall again along the new path and onto the wall, repeating the cleaning process until the entire clockwise cleaning of the pool wall is completed. During this process, the robot's movement path must remain parallel to the path it took after descending the wall (e.g., the path onto the wall). Figure 4 The numbers 1, 2, 3, ..., n, n+1 in the original text are: Figure 5 Paths 1, 2, 3, and Figure 6 The spacing of the cleaning path (m, m+1, etc.) is used to ensure that the path spacing is evenly distributed in a single clockwise cleaning, reducing localized missed cleaning caused by path skew. For example, in a curved pool wall area, the clockwise upward path will naturally bend with the curvature of the pool wall, and the new path after translation will still maintain a parallel relationship with the previous path that is far away, so that the cleaning area is continuously covered along the curvature.

[0042] Specifically, when on the pool wall, the counter-clockwise cleaning process is the opposite of the clockwise cleaning process. However, when the robot moves on the bottom of the pool, the direction of the movement path may be the same. The robot starts from the bottom of the pool, moves along the path towards the pool wall and onto the wall, cleans along the wall to the endpoint, and then returns to the bottom of the pool along the original path. After descending, the robot moves a preset distance away from the pool wall, and then moves a random distance (1~1.5)W along a counter-clockwise direction perpendicular to the pool wall. After the translation is completed, it moves towards the pool wall again along the new path and onto the wall, and the new path must be parallel to the path taken after descending the wall. In the recessed areas of irregularly shaped pool walls (such as...) Figure 4 When the robot moves to the left or right (position a), its translation path will extend into the recessed area. If it collides with the pool wall at position a after translation, the robot will automatically trigger the action of climbing up the pool wall, cleaning along the section of the pool wall where the collision point is located, and then going down the wall along the original path and continuing to translate, thereby covering the uncleaned position a in the clockwise direction.

[0043] It's important to note that the direction the robot moves towards the pool wall can coincide with or not coincide with the direction it moves away from the wall after descending. When they coincide (e.g., moving along a straight line perpendicular to the pool wall), this is suitable for regular pool walls (such as rectangular pools) and simplifies path planning. When they don't coincide, this is suitable for curved or inclined pool walls, allowing the robot to accurately reach the wall and complete the cleaning through directional adjustments. Regardless of whether they coincide, the translational path must be parallel to the previous path away from the pool wall to ensure uniform spacing between adjacent paths and avoid localized missed cleaning or repeated cleaning due to directional confusion. Two cleaning operations in opposite directions should be performed alternately (e.g., the first cleaning is clockwise and the second is counter-clockwise), rather than continuously cleaning in the same direction followed by consecutive cleaning in opposite directions (e.g., the first three cleanings are clockwise and the next three are counter-clockwise). This interval design allows areas missed in the early stages to be immediately covered by the opposite path in subsequent operations, reducing the expansion of missed areas caused by continuous cleaning in the same direction.

[0044] Step S320: During each cleaning operation, the robot moves according to a preset strategy, which includes: whenever the robot collides with the pool wall, controlling the robot to climb onto the pool wall and move along a cleaning path on the pool wall; after moving along the cleaning path, controlling the robot to return to the bottom of the pool and move along the corresponding cleaning direction on the bottom of the pool until the robot collides with the pool wall or the distance moved along the corresponding cleaning direction reaches the target distance; when the distance moved by the robot along the corresponding cleaning direction reaches the target distance, controlling the robot to adjust its movement direction to move towards the pool wall.

[0045] The collision detection is based on the operating status of the drive tracks. When the robot moves from the bottom of the pool towards the pool wall, the rotation of the drive tracks brings the robot closer to the wall. If the robot's actual speed is consistently close to 0 or below a preset speed threshold, a collision is detected. This collision detection mechanism allows the robot to identify collisions using the speed feedback signal from the drive system itself, without relying on additional sensors. This avoids false detections caused by water surface fluctuations, pool wall reflections, or environmental interference, significantly improving the stability and reliability of collision detection. After a collision is confirmed, the robot initiates a wall-climbing procedure, establishing a reliable connection with the pool wall through an adhesion device. This ensures that the adhesion force on the vertical or inclined pool wall is greater than the robot's own weight, preventing the robot from falling off. The adhesion device includes a water pump that sprays water through nozzles towards the top of the robot during operation. The reaction force generated by the spray acts on the robot body, creating a stable clamping force perpendicular to the pool wall, thus reliably adhering the robot to the pool wall surface. During the wall-climbing process, the drive unit moves upwards (or downwards, depending on the cleaning direction) along the pool wall, while the cleaning unit simultaneously activates to clean the pool wall surface. Furthermore, for regular pool walls (such as the straight sections of a rectangular pool), the cleaning path is a straight line parallel to the height of the pool wall to ensure coverage of the entire wading area; for irregularly shaped pool walls (such as curved sections or corner sections), the cleaning path extends along the tangent of the contour to ensure the brush remains in contact with the pool wall surface. For example, in... Figure 4 The concave pool wall section shown (position a) has an inwardly concave arc shape. The cleaning path ascends layer by layer along this arc to avoid localized missed areas due to path rigidity. After the robot moves along the cleaning path to its endpoint (waterline or pool bottom boundary), it performs a wall-lowering maneuver. The drive unit reverses to achieve a smooth wall-lowering motion, and the robot's posture is monitored in real time to ensure that the angle between the robot body and the pool wall does not exceed a certain angle (e.g., 15°) during the wall-lowering process, preventing tipping. After wall-lowering, the robot pauses at the pool bottom and uses attitude sensors to calibrate its levelness before entering the pool bottom movement phase.

[0046] The left and right wheels moving along the bottom of the pool can use a differential drive system. The difference in speed between the left and right wheels determines the direction of movement. If the cleaning direction is clockwise, the left wheel rotates faster than the right wheel, creating a slight clockwise turning tendency; the opposite is true for counter-clockwise cleaning. By adjusting the cleaning coverage direction at the bottom of the pool, the complexity of adjusting the direction when climbing walls can be reduced. The target distance during movement is determined based on the product of a preset spacing W and a random coefficient, mainly to avoid path periodicity through randomness. For example, the preset spacing W is 0.8 times the effective coverage width of the robot cleaning module (e.g., if the cleaning module covers 30cm laterally, then W=24cm), ensuring a 20% overlap between adjacent cleaning paths and avoiding gaps. The random coefficient is uniformly distributed within the range of 1.0 to 1.5 and is calculated in real time before each movement at the bottom of the pool. Therefore, the expression for the target distance is: Target distance = W × random coefficient. For example, in Figure 5 In the scenario shown, the random coefficients for the three consecutive movements are 1.3, 1.1, and 1.5, corresponding to target distances of 31.2cm, 26.4cm, and 36cm, respectively. This randomness in spacing ensures the cleaning path intersects and covers the irregularly shaped pool wall. When the target distance is reached, the robot initiates a direction adjustment procedure, ensuring the adjusted direction remains parallel to the previous path away from the pool wall. If the robot collides with the pool wall again before reaching the target distance while moving along the cleaning direction, it will terminate the current movement and directly enter the next wall-climbing procedure. The point of collision at this point will serve as the new cleaning starting point, and the original target distance will automatically become invalid.

[0047] In one possible embodiment, controlling the robot to climb up the pool wall and move along a cleaning path on the pool wall specifically includes the following steps: 321. After controlling the robot to climb onto the pool wall, it moves on the pool wall in a first direction and then in a second direction, wherein the first direction is from the bottom of the pool to the water surface, and the second direction is from the water surface to the bottom of the pool.

[0048] The robot's bidirectional movement along the pool wall requires precise path control through the collaboration of multiple sensors. Distance sensors (such as infrared rangefinders) detect the distance to the water surface and pool bottom: when moving in the first direction, the top sensor collects the distance to the water surface, which gradually decreases as the robot moves, indicating that it has reached the water surface boundary; when moving in the second direction, the bottom sensor detects that the distance to the pool bottom gradually increases to the total height of the pool wall, indicating that the robot is approaching the pool bottom. Simultaneously, attitude sensors monitor the angle between the robot and the pool wall in real time, ensuring that the robot body always remains in contact with the pool wall and preventing the cleaning module from becoming suspended due to tilting.

[0049] Specifically, after the robot is fixed to the pool wall by the adsorption device, it initiates the first directional movement (from the bottom of the pool to the surface). The drive unit propels the robot upwards, while the cleaning module starts simultaneously, covering a width 1.1 times the width of the robot's body. During the climb, the top distance sensor provides real-time feedback on the distance to the water surface. When approaching the water surface, a deceleration program is triggered, and the drive unit rapidly descends and slowly approaches the water surface boundary. Upon reaching the water surface boundary, the robot pauses its movement and performs a direction switching action. The cleaning module continues to operate, the drive unit stops rotating and switches direction, and the attitude sensor recalibrates the robot's verticality to ensure that the robot's contact with the pool wall remains unchanged after the switch. During the switching process, the adsorption device remains operational to prevent the robot from slipping. After the switch is complete, the second directional movement (from the surface to the bottom of the pool) begins: the drive unit moves in the opposite direction, the cleaning module parameters remain unchanged (brush speed, consistent with the first direction), and the bottom distance sensor provides real-time feedback on the distance to the pool bottom. When the distance to the pool bottom approaches zero, the deceleration program is triggered again, and the robot slowly approaches the bottom. Upon reaching the bottom boundary of the pool, the robot stops moving, shuts down the cleaning module, and keeps the suction device operational, preparing for its descent down the wall.

[0050] In one possible embodiment, before controlling the robot to climb the pool wall, the process specifically includes: 3211. Determine the current position of the robot at the bottom of the pool; 3212. Control the robot to move from the current position toward the pool wall to a first position, where the first position is the position on the intersection line of the pool wall and the pool bottom.

[0051] The current position refers to the robot's real-time coordinates on the pool bottom plane, accurately acquired through multi-sensor fusion positioning technology. Upon robot startup, the surrounding environment is scanned by infrared ranging sensors deployed around the robot to obtain distance data between the robot and the pool wall in each direction. The direction corresponding to the minimum distance is the target pool wall direction. If multiple directions have similar distances, the direction with the smaller angle to the robot's current heading is prioritized to reduce turning energy consumption. During movement, steering is achieved by adjusting the speed difference between the left and right wheels, ensuring the movement trajectory is a straight line pointing towards the pool wall. The determination of the first position is achieved through the collaboration of the bottom vision sensor and the infrared sensor. The vision sensor identifies the intersection of the pool bottom and the pool wall; when the intersection is within the center of the image, the infrared sensor is triggered for secondary confirmation, determining that the first position has been reached. The robot then stops moving and enters the wall-climbing state.

[0052] Specifically, after the robot starts, it records its initial coordinates (x0, y0), and the vision sensor calibrates these initial coordinates to map coordinates. Next, the infrared ranging sensor begins scanning, and the main control unit filters the data to remove interference from water surface ripples, extracting the minimum distance and its corresponding directional angle as the target movement direction. Subsequently, the robot starts from its current position (x1, y1) and moves linearly along its directional angular velocity. The infrared sensor monitors the distance to the pool wall in real time and reduces its movement speed to enter a slow-moving phase. When the vision sensor detects that the intersection line is located at the center of the image, and the infrared sensor provides continuous distance feedback, the main control unit determines that it has reached the first position (x2, y2). This position's coordinates satisfy (x2, y2) being on the intersection line between the pool bottom and the pool wall, and the robot's central axis is perpendicular to the intersection line. After reaching the first position, the robot shuts down the drive unit, initiates the pre-start program of the adsorption device, and simultaneously, the attitude sensor calibrates the robot's levelness, preparing for subsequent wall-climbing actions.

[0053] To explain this more clearly, please participate... Figure 8 , Figure 8 This is a schematic diagram of a robot path planning scenario provided in an embodiment of this application. As can be seen, after the robot starts, it scans the surrounding environment using an infrared ranging sensor. Based on the distance data between the robot and the pool wall in each direction, it selects the direction corresponding to the minimum distance as the target pool wall direction. Path 1 is the trajectory of the robot moving from its current position at the bottom of the pool towards the pool wall. Its movement direction is not strictly perpendicular to the pool wall, demonstrating the flexibility of the movement direction towards the pool wall. During the movement, the robot turns to ensure that the movement trajectory points towards the pool wall. When it moves to the intersection line where the pool wall and the bottom of the pool intersect (first position), the bottom vision sensor identifies the intersection line and determines that it has reached the first position. At this time, the robot's central axis is perpendicular to the intersection line, satisfying the posture for cleaning operations. Subsequently, the robot completes the cleaning of the pool wall along path 2, then climbs and descends the wall. After descending, it moves away from the pool wall along the path. These paths away from the pool wall are perpendicular to the pool wall, and the spacing between adjacent paths is related to the coverage width of the robot's cleaning unit and the path planning strategy. Through multiple movements in different directions and at different intervals, comprehensive coverage of the pool bottom area can be achieved. This, in conjunction with the pool wall cleaning path, constructs an efficient cleaning system to improve the cleaning coverage rate of the pool wall.

[0054] In one possible embodiment, controlling the robot to return to the bottom of the pool specifically includes the following steps: 322. Determine the second position of the robot at the intersection line; the intersection line is the line where the pool wall intersects the pool bottom; 323. Control the robot to move a preset first distance from the second position along a third direction to return to the bottom of the pool; the third direction is perpendicular to the pool wall at the robot's bottom wall position; the bottom wall position is on the intersection line.

[0055] The determination of the second position serves as the anchor point for the robot's transition from cleaning the pool wall to moving to the pool bottom, providing a precise starting reference for subsequent movement. Spatially, the second position lies on the intersection of the pool wall and the pool bottom, ensuring the robot can directly enter the pool bottom plane after detaching from the wall. Furthermore, the robot's posture needs to remain perpendicular to the pool wall, providing a stable initial posture for movement along the third direction. The identification of the second position is achieved through multi-sensor collaboration. The setting of the third direction is related to the local geometric features of the pool wall. For planar pool wall segments, the third direction is the normal direction of that plane, which can be directly determined through the initially calibrated coordinate system. For curved or irregularly shaped pool wall segments, before reaching the second position, the robot fits a local plane containing the second position; the normal direction of this plane is the third direction. Thus, regardless of the pool wall shape, the third direction always remains orthogonal to the robot's trajectory after detaching from the pool wall, ensuring the straightness of the movement path. The preset first distance needs to be determined by taking into account the robot's structural dimensions and motion safety. It is usually taken as 1.2-1.5 times the length of the robot body. This ensures that the robot is completely removed from the pool wall's suction range (avoiding secondary collisions) and also shortens the invalid travel distance of subsequent translation on the pool bottom.

[0056] Specifically, after completing the cleaning path along the pool wall (e.g., moving in the second direction from the water surface to the pool bottom), the robot initiates a second position detection program. The distance sensor measures the distance to the intersection of the pool wall and the pool bottom. Upon receiving an intersection confirmation signal, the robot officially determines that it has reached the second position, stops moving along the pool wall, and enters a state where it is ready to descend. After directional adjustment, the robot shuts off the adsorption device and simultaneously activates the drive unit to move along the third direction. During movement, the vision sensor acquires images of the pool bottom. When the determined movement distance reaches a preset first distance, a stop command is triggered, and the robot completes its return to the pool bottom, entering the pool bottom translation preparation stage.

[0057] In one possible embodiment, after controlling the robot to move a preset first distance along a third direction from the second position to return to the bottom of the pool, the method further includes the following steps: A1. Control the robot to move a preset random distance in a fourth direction; the fourth direction is parallel to the intersection line, or perpendicular to the third direction.

[0058] The fourth direction is either parallel to the intersection of the pool wall and the pool bottom or perpendicular to the third direction, ensuring that the robot's translational trajectory on the pool bottom keeps in sync with the pool wall contour. For clockwise cleaning mode, the fourth direction is the clockwise tangent of the intersection line; for counterclockwise cleaning mode, the fourth direction is the counterclockwise tangent of the intersection line. This directional design creates an intersecting grid of translational paths in two opposite cleaning directions, covering areas that are difficult to reach in a single direction (such as...) through the orthogonality of directions. Figure 4 (The concave area at position a in the text).

[0059] The baseline value for the random distance is determined by the effective coverage width of the robot's cleaning module. This baseline is then multiplied by a random coefficient of 1.0-1.5 to form the final random distance. This coefficient is randomly generated and ensures a uniform distribution within its range to avoid path overlap or gaps caused by random deviations. After the robot completes the first distance movement, the main control unit uses a random number generator to generate a random coefficient k of 1.0-1.5. This random distance D = k × W is then calculated using the baseline value W (e.g., if W = 24cm and k = 1.3, D = 31.2cm), and stored as the current translation target value.

[0060] In one possible embodiment, before controlling the robot to perform multiple cleaning operations on the pool wall, the step further includes the following steps: B1. Control the robot to move around the boundary of the pool once, and record the distance the robot moves; B2. Determine the perimeter of the pool based on the distance traveled; B3. Determine the number of cleaning cycles based on the preset mapping relationship and the perimeter.

[0061] The robot's boundary-circling movement employs a "wall-hugging" strategy. Infrared ranging sensors deployed on the side of the robot monitor the distance to the pool wall in real time, ensuring a safe distance is maintained throughout movement. This avoids collisions due to excessive close proximity and prevents deviation from the boundary due to excessive distance. The default movement direction is clockwise, with the drive unit operating at a constant speed and the storage unit synchronously recording the accumulated distance traveled. For irregularly shaped pools (such as those with convex or concave boundaries), the robot identifies boundary features through distance detection by sensors, automatically adjusts its steering angle, and naturally follows the contours of the pool, ensuring the path always conforms to the boundary curve.

[0062] Specifically, after the robot is started, it is placed at any position on the pool bottom, activating the boundary detection mode. The infrared ranging sensor scans and identifies the direction of the nearest pool wall (the direction with the smallest distance value). The main control unit generates an initial movement command, and the robot turns towards the nearest pool wall until the side sensor detects a distance of 10cm from the pool wall, initiating the wall-hugging walking program. During the wall-hugging walking phase, a movement control algorithm is used to stabilize the distance within the 10cm range. Simultaneously, the attitude sensor records the changes in the heading angle. When the cumulative heading angle approaches 360° and returns to near the initial position, it is determined that one revolution has been completed, and the robot stops moving, storing the total distance L as the distance traveled in this revolution. The preset mapping relationship can be set using empirical formulas. By simulating the robot's movement on different pool bottoms, the number of cleaning cycles required by the robot based on the circumference can be fitted, which is not limited here.

[0063] In one possible embodiment, the cleaning path includes an upward cleaning path on the pool wall and a downward cleaning path connecting the upward cleaning path. After controlling the robot to climb the pool wall, it moves on the pool wall in a first direction and then in a second direction, specifically including the following steps: C1. When the robot moves along the cleaning path on the pool wall, control the robot to move towards the water surface along the upward cleaning path on the pool wall in the first direction, and control the robot to move towards the bottom of the pool along the downward cleaning path on the pool wall in the second direction; C2. Control the robot to clean along the cleaning path.

[0064] The robot operates along a continuous cleaning path along the pool wall. Upon reaching the waterline, it changes direction, connecting the upward and downward sections to form a closed, single cleaning route. The upward path begins at the intersection of the pool wall and bottom (first position), extends along a first direction (bottom to water surface), and ends at the water surface. The downward path starts from this end point, extends along a second direction (water surface to bottom), and returns to the intersection of the pool wall and bottom, maintaining a preset distance from the starting point of the upward path. This lateral misalignment of the upward and downward paths covers tiny gaps that a single path cannot reach. Furthermore, the closed-path design eliminates the need for complex turns at the water surface; direction switching is achieved simply by reversing the drive unit, reducing control complexity.

[0065] Specifically, after the robot is fixed to the pool wall at the first position by the adsorption device, it initiates an upward movement. The drive unit rotates clockwise at a slow speed, and the distance sensor provides real-time feedback on the distance 'd' from the water surface. When 'd' reaches a preset distance from the water surface, the attitude sensor is triggered to adjust the robot's attitude, ensuring movement along the normal direction (the normal to the bottom plane of the pool). Upon reaching the end of the upward path, the robot performs a direction switch, and the drive unit changes direction while maintaining stable operation of the adsorption device to prevent the robot from slipping. Initiating a downward movement, the drive unit cleans the mobile cabinet at a speed lower than the upward speed to improve control stability. Upon reaching the end of the downward path, the adsorption device's adsorption force is released, and the robot detaches from the pool wall and returns to the bottom of the pool, completing a single upward and downward path cycle.

[0066] As can be seen, by implementing the robot-based pool wall cleaning method described in the embodiments of this application, the robot is controlled to perform multiple cleaning operations on the pool wall. Each cleaning operation corresponds to a cleaning direction, and the cleaning directions corresponding to multiple cleaning operations include at least one clockwise cleaning direction and at least one counterclockwise cleaning direction. In each cleaning operation, the robot moves according to a preset strategy, which includes: whenever the robot collides with the pool wall, controlling the robot to climb onto the pool wall and move along a cleaning path on the pool wall; after moving along the cleaning path, controlling the robot to return to the bottom of the pool; moving along the corresponding cleaning direction at the bottom of the pool until the robot collides with the pool wall or the distance moved along the corresponding cleaning direction reaches a target distance; when the distance moved along the corresponding cleaning direction reaches the target distance, controlling the robot to adjust its movement direction to move towards the pool wall. Thus, when the robot performs multiple covering cleaning operations on a designated cleaning area of ​​the pool wall, and at least two of the covering cleaning operations have opposite covering directions (clockwise or counterclockwise), the robot's missed cleaning areas on the pool wall are reduced, thereby improving the robot's cleaning coverage rate of the pool wall.

[0067] The above primarily describes the solutions of the embodiments of this application from the perspective of the method execution process. It is understood that, in order to achieve the above functions, the electronic device includes corresponding hardware structures and / or software modules for executing each function. Those skilled in the art should readily recognize that, in conjunction with the units and algorithm steps of the various examples described in the embodiments provided herein, this application can be implemented in hardware or a combination of hardware and computer software. Whether a function is executed by hardware or by computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0068] This application embodiment can divide the electronic device into functional units according to the above method example. For example, each function can be divided into a separate functional unit, or two or more functions can be integrated into one processing unit. The integrated unit can be implemented in hardware or as a software functional unit. It should be noted that the unit division in this application embodiment is illustrative and only represents one logical functional division. In actual implementation, there may be other division methods.

[0069] When dividing each function into modules according to its corresponding function. Figure 9 This is a functional module block diagram of a robot provided in an embodiment of this application. The robot 900 includes: The mobile unit 910 is used to move the robot. Cleaning unit 920 is used for cleaning water tanks; Storage unit 930 is used to store cleaning location data; The control unit 940 is used to control the robot to perform multiple cleaning operations on the pool wall; control the robot to move according to a preset strategy, the preset strategy including: whenever the robot collides with the pool wall, controlling the robot to climb onto the pool wall and move along a cleaning path on the pool wall; after moving along the cleaning path, controlling the robot to return to the bottom of the pool and move along the corresponding cleaning direction on the bottom of the pool until the robot collides with the pool wall or the distance moved along the corresponding cleaning direction reaches a target distance; when the distance moved by the robot along the corresponding cleaning direction reaches the target distance, controlling the robot to adjust its movement direction to move towards the pool wall.

[0070] In one possible embodiment, the control unit 940, in controlling the robot to climb the pool wall and move along a cleaning path on the pool wall, is specifically configured to: After controlling the robot to climb onto the pool wall, it moves along the pool wall in a first direction and then in a second direction, wherein the first direction is from the bottom of the pool to the surface of the water, and the second direction is from the surface of the water to the bottom of the pool.

[0071] In one possible embodiment, the control unit 940, prior to controlling the robot to climb the pool wall, is further configured to: Determine the current position of the robot at the bottom of the pool; The robot is controlled to move from its current position toward the pool wall to a first position, which is a position on the intersection line of the pool wall and the pool bottom.

[0072] In one possible embodiment, the control unit 940, in controlling the robot to return to the bottom of the pool, is specifically configured to: Determine the robot's second position at the intersection line; the intersection line is the line where the pool wall intersects the pool bottom; The robot is controlled to move a preset first distance from the second position along a third direction to return to the bottom of the pool; the third direction is perpendicular to the pool wall at the robot's bottom wall position; the bottom wall position is on the intersection line.

[0073] In one possible embodiment, after controlling the robot to move a preset first distance along a third direction from the second position to return to the bottom of the pool, the control unit 940 is further configured to: The robot is controlled to move a preset random distance in a fourth direction; the fourth direction is parallel to the intersection line, or perpendicular to the third direction.

[0074] In one possible embodiment, the control unit 940 is further configured to, prior to controlling the robot to perform multiple cleaning operations on the pool wall, specifically for: Control the robot to move around the boundary of the pool once, and record the distance the robot moves; The perimeter of the pool is determined based on the distance traveled. The number of cleaning cycles is determined based on a preset mapping relationship and the perimeter.

[0075] In one possible embodiment, the control unit 940, in the cleaning path including an upward cleaning path on the pool wall and a downward cleaning path connecting the upward cleaning path, controls the robot to climb the pool wall, move along the pool wall in a first direction, and then move along a second direction, specifically for: While the robot moves along the cleaning path on the pool wall, the robot is controlled to move towards the water surface along the upward cleaning path on the pool wall in the first direction, and the robot is controlled to move towards the bottom of the pool along the downward cleaning path on the pool wall in the second direction. Control the robot to clean along the cleaning path.

[0076] It should be noted that the specific functional implementation of Robot 900 is described above. Figure 3 The description of a robot-based pool wall cleaning method, for example, shows that the mobile unit 910 is used to execute the relevant content of S320, which will not be elaborated further. The various units or modules in the robot 900 can be individually or entirely merged into one or more other units or modules, or some of the units(s) can be further divided into multiple functionally smaller units or modules, which can achieve the same operation without affecting the technical effect of the embodiments of the present invention. The above-mentioned units or modules are based on logical function division. In practical applications, the function of one unit (or module) is implemented by multiple units (or modules), or the function of multiple units (or modules) is implemented by one unit (or module).

[0077] As can be seen, the robot described in this application performs multiple cleaning operations on a pool wall. The robot moves according to a preset strategy, which includes: whenever the robot collides with the pool wall, it climbs onto the wall and moves along a cleaning path; after moving along the cleaning path, it returns to the bottom of the pool and moves along a corresponding cleaning direction until it collides with the pool wall or the distance moved along the corresponding cleaning direction reaches a target distance; when the distance moved along the corresponding cleaning direction reaches the target distance, the robot adjusts its direction of movement towards the pool wall. When the robot performs multiple cleaning operations on a designated area of ​​the pool wall, with at least two of the cleaning operations performed in opposite directions (clockwise or counterclockwise), the number of areas missed by the robot on the pool wall is reduced, thereby improving the robot's cleaning coverage of the pool wall.

[0078] This application also provides a computer-readable storage medium storing a computer program for electronic data interchange, which causes a computer to perform some or all of the steps of any of the methods described in the above method embodiments, wherein the computer includes an electronic device.

[0079] This application also provides a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program operable to cause a computer to perform some or all of the steps of any of the methods described in the above method embodiments. The computer program product may be a software installation package, and the computer may include an electronic device.

[0080] It should be noted that, for the sake of simplicity, the above embodiments are all described as a series of actions. Those skilled in the art should understand that this application is not limited to the described order of actions, as some steps in the embodiments of this application can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions, steps, modules, or units involved are not necessarily essential to the embodiments of this application.

[0081] In the above embodiments, the descriptions of each embodiment in this application have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0082] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. This program can be stored in a computer-readable storage medium, and when executed, it can include the processes described in the above method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as ROM or random access memory (RAM), magnetic disks, or optical disks.

[0083] The steps of the methods or algorithms described in the embodiments of this application can be implemented in hardware or by a processor executing software instructions. The software instructions can consist of corresponding software modules, which can be stored in RAM, flash memory, ROM, EPROM, electrically erasable programmable read-only memory (EEPROM), registers, hard disk, portable hard disk, read-only optical disk (CD-ROM), or any other form of storage medium well known in the art. An exemplary storage medium is coupled to a processor, enabling the processor to read information from and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and storage medium can reside in an ASIC. Furthermore, the ASIC can reside in a terminal device or management device. Alternatively, the processor and storage medium can exist as discrete components in the terminal device or management device.

[0084] Those skilled in the art will recognize that, in one or more of the examples above, the functions described in the embodiments of this application can be implemented, in whole or in part, by software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product. This computer program product includes one or more computer instructions. When these computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium accessible to a computer or a data storage device such as a server or data center that integrates one or more available media. The available media can be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., digital video discs (DVDs)), or semiconductor media (e.g., solid-state disks (SSDs)).

[0085] The modules / units included in the various devices and products described in the above embodiments can be software modules / units, hardware modules / units, or a combination of both. For example, for devices and products applied to or integrated into a chip, all modules / units can be implemented using hardware methods such as circuits, or at least some modules / units can be implemented using software programs that run on a processor integrated within the chip, while the remaining (if any) modules / units can be implemented using hardware methods such as circuits. For devices and products applied to or integrated into a chip module, all modules / units can be implemented using hardware methods such as circuits. Different modules / units can be located in the same component (e.g., chip, circuit module, etc.) or different components of the chip module, or at least some modules / units can be implemented using hardware methods such as circuits. The implementation is achieved through a software program that runs on the processor integrated within the chip module. The remaining modules / units (if any) can be implemented using hardware methods such as circuits. For various devices and products applied to or integrated into terminal equipment, each of their modules / units can be implemented using hardware methods such as circuits. Different modules / units can be located in the same component (e.g., chip, circuit module, etc.) or different components within the terminal equipment. Alternatively, at least some modules / units can be implemented through a software program that runs on the processor integrated within the terminal equipment, while the remaining modules / units (if any) can be implemented using hardware methods such as circuits.

[0086] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the embodiments of this application. It should be understood that the above descriptions are merely specific embodiments of the embodiments of this application and are not intended to limit the protection scope of the embodiments of this application. Any modifications, equivalent substitutions, improvements, etc., made on the basis of the technical solutions of the embodiments of this application should be included within the protection scope of the embodiments of this application.

Claims

1. A robot-based method for cleaning pool walls, characterized in that, The method includes: The robot is controlled to perform multiple cleaning operations on the pool wall, with each cleaning operation corresponding to a cleaning direction. The cleaning directions corresponding to the multiple cleaning operations include at least one clockwise cleaning direction and at least one counterclockwise cleaning direction. During each cleaning cycle, the robot moves according to a preset strategy, which includes: Whenever the robot collides with the pool wall, the robot is controlled to climb onto the pool wall and move along the cleaning path on the pool wall; After moving along the cleaning path, the robot is controlled to return to the bottom of the pool and move along the corresponding cleaning direction on the bottom of the pool until the robot collides with the pool wall or the distance moved along the corresponding cleaning direction reaches the target distance; When the robot moves a distance along the corresponding cleaning direction to reach the target distance, the robot is controlled to adjust its movement direction to move towards the pool wall.

2. The method as described in claim 1, characterized in that, Controlling the robot to climb up the pool wall and move along a cleaning path on the pool wall includes: After controlling the robot to climb onto the pool wall, it moves along the pool wall in a first direction and then in a second direction, wherein the first direction is from the bottom of the pool to the surface of the water, and the second direction is from the surface of the water to the bottom of the pool.

3. The method as described in claim 2, characterized in that, Before controlling the robot to climb the pool wall, the method further includes: Determine the current position of the robot at the bottom of the pool; The robot is controlled to move from its current position toward the pool wall to a first position, which is a position on the intersection line of the pool wall and the pool bottom.

4. The method as described in claim 1, characterized in that, The control of the robot to return to the bottom of the pool includes: Determine the robot's second position at the intersection line; the intersection line is the line where the pool wall intersects the pool bottom; The robot is controlled to move a preset first distance from the second position along a third direction to return to the bottom of the pool; the third direction is perpendicular to the pool wall at the robot's bottom wall position; the bottom wall position is on the intersection line.

5. The method as described in claim 4, characterized in that, After controlling the robot to move a preset first distance along a third direction from the second position to return to the bottom of the pool, the method further includes: The robot is controlled to move a preset random distance in a fourth direction; the fourth direction is parallel to the intersection line, or perpendicular to the third direction.

6. The method according to any one of claims 1-4, characterized in that, Before controlling the robot to perform multiple cleaning operations on the pool wall, the method further includes: Control the robot to move around the boundary of the pool once, and record the distance the robot moves; The perimeter of the pool is determined based on the distance traveled. The number of cleaning cycles is determined based on a preset mapping relationship and the perimeter.

7. The method as described in claim 2, characterized in that, The cleaning path includes an upward cleaning path on the pool wall and a downward cleaning path connecting the upward cleaning path. After controlling the robot to climb the pool wall, it moves along the pool wall in a first direction and then in a second direction, including: While the robot moves along the cleaning path on the pool wall, the robot is controlled to move towards the water surface along the upward cleaning path on the pool wall in the first direction, and the robot is controlled to move towards the bottom of the pool along the downward cleaning path on the pool wall in the second direction. Control the robot to clean along the cleaning path.

8. A robot, characterized in that, include: A mobile unit, used to move the robot; Cleaning unit for cleaning water tanks; Storage unit, used to store cleaning location data; A control unit is used to control the robot to perform multiple cleaning operations on the pool wall; The robot is controlled to move according to a preset strategy, which includes: whenever the robot collides with the pool wall, the robot is controlled to climb onto the pool wall and move along a cleaning path on the pool wall; after moving along the cleaning path, the robot is controlled to return to the bottom of the pool and move along the corresponding cleaning direction on the bottom of the pool until the robot collides with the pool wall or the distance moved along the corresponding cleaning direction reaches the target distance; when the distance moved along the corresponding cleaning direction reaches the target distance, the robot is controlled to adjust its movement direction to move towards the pool wall.

9. An electronic device, characterized in that, include: Processor, memory, communication interface, and one or more programs; The one or more programs are stored in the memory and configured to be executed by the processor, the programs including instructions for performing the steps of the method as described in any one of claims 1-7.

10. A readable storage medium, characterized in that, The readable storage medium stores a computer program, the computer program including program instructions that, when executed by a processor, cause the processor to perform the method as described in any one of claims 1-7.

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