An underwater cleaning robot control method, system, device and readable medium

Abstract

The application relates to an underwater cleaning robot control method, system and device and readable medium, and relates to the technical field of robots, which comprises the following steps: acquiring control information; controlling the underwater cleaning robot to move horizontally in a straight line, and acquiring the moving speed value and position information of the underwater cleaning robot; judging whether the moving speed value of the underwater cleaning robot is zero; if yes, sending the current position information of the underwater cleaning robot to the terminal held by the person in charge as the final stop position information; and if no, continuing to control the underwater cleaning robot to move horizontally in a straight line. The application has the effect of facilitating the person in charge to recover the underwater cleaning robot which stops moving.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a control method, system, device, and readable medium for an underwater cleaning robot. Background Art

[0002] A robot is an intelligent machine that can work semi-autonomously or fully autonomously. It has basic characteristics such as perception, decision-making, and execution. It can assist or even replace humans in completing dangerous, heavy, and complex tasks, improve work efficiency and quality, serve human life, and expand or extend the scope of human activities and capabilities.

[0003] In related technology, dirt easily accumulates at the bottom of pools such as swimming pools, and underwater cleaning robots are commonly used for cleaning. These robots move across the bottom of pools and other water bodies, removing dirt from the bottom. Current underwater cleaning robots typically use built-in batteries to provide kinetic energy, and manual salvage and recovery of the robots from the bottom of pools and other water bodies is required.

[0004] Regarding the above-mentioned related technologies, the inventors found the following defects: since the underwater cleaning robot needs to be salvaged and recovered manually, and the underwater cleaning robot uses a built-in battery, the power of the built-in battery is limited, and it is not easy for the person in charge to understand the remaining power of the underwater cleaning machine before use. Therefore, during the use of the underwater cleaning robot, it is easy for the underwater cleaning robot to run out of power and stop moving at any position at the bottom of a pool such as a swimming pool, making it difficult for the person in charge to recover the underwater cleaning robot. Summary of the Invention

[0005] In order to facilitate the person in charge to recover the underwater cleaning robot that has stopped moving, the present application provides an underwater cleaning robot control method, system, device and readable medium.

[0006] In a first aspect, the present application provides a method for controlling an underwater cleaning robot, which adopts the following technical solution:

[0007] A method for controlling an underwater cleaning robot, comprising:

[0008] Obtain control information;

[0009] Control the underwater cleaning robot to move horizontally and linearly, and obtain the moving speed and position information of the underwater cleaning robot;

[0010] Determine whether the moving speed value of the underwater cleaning robot is zero;

[0011] If yes, the current location information of the underwater cleaning robot is sent to the terminal held by the person in charge as the final parking location information;

[0012] If not, continue to control the underwater cleaning robot to move horizontally and linearly.

[0013] By adopting the above technical solution, it is determined whether the moving speed value of the underwater cleaning robot is zero, so as to understand whether the underwater cleaning robot is in a moving state or a stopped state. When the underwater cleaning robot is in a stopped state, the current position information of the underwater cleaning robot is sent as the final stopping position information to the terminal held by the person in charge, so that the person in charge can know the position of the underwater cleaning robot in a stopped state, which is convenient for the person in charge to recover the stopped underwater cleaning robot.

[0014] Optionally, sending the position information of the underwater cleaning robot as the final stop position information to the terminal held by the person in charge includes:

[0015] Get the underwater cleaning robot's location information and current battery value;

[0016] Determine whether the current power value is less than the preset power warning value;

[0017] If yes, the underwater cleaning robot is controlled to display a low-battery display message, and the position information of the underwater cleaning robot is sent as the final shutdown position information to the terminal held by the person in charge;

[0018] If not, the underwater cleaning robot is controlled to display a fault alarm message, and the position information of the underwater cleaning robot is sent as the final shutdown position information to the terminal held by the person in charge.

[0019] By adopting the above technical solution, by judging whether the current power value of the underwater cleaning robot in a stopped state is less than the preset power warning value, it is possible to know whether the reason for the underwater cleaning robot to stop is due to low power or a malfunction, which makes it convenient for the person in charge to handle the recovered underwater cleaning robot later.

[0020] Optionally, the method further includes the following steps after continuing to control the underwater cleaning robot to move horizontally and linearly:

[0021] Obtaining the underwater cleaning robot's position information, current power value, first obstacle detection information between the underwater cleaning robot's position information and preset straight edge position information, and second obstacle detection information between the underwater cleaning robot's position information and preset priority stop position information;

[0022] Determine whether the current power value is within the preset warning power range;

[0023] If not, continue to control the underwater cleaning robot to move horizontally and linearly;

[0024] If yes, then according to the correspondence between the current power value and the preset movable distance value, analyze and obtain the movable distance value corresponding to the current power value;

[0025] Analyze and calculate the linear moving distance between the underwater cleaning robot and the linear edge position based on the position information of the underwater cleaning robot and the preset linear edge position information;

[0026] Analyze and calculate the priority moving distance between the position information of the underwater cleaning robot and the preset priority stopping position information according to the position information of the underwater cleaning robot and the preset priority stopping position information;

[0027] determining whether the first obstacle detection information and the second obstacle detection information are received;

[0028] If the first obstacle detection information and the second obstacle detection information are received, the dirtiness level information of each horizontal movable direction of the underwater cleaning robot in the pool is obtained, and the dirtiness level information is sorted in a positive order, and the horizontal movable direction corresponding to the dirtiness level information with the highest dirtiness level information in the positive order is selected to output the cleaning steering information to the underwater cleaning robot;

[0029] If only the first obstacle detection information is received, then according to the correspondence between the position information of the underwater cleaning robot, the preset priority stopping position information, the straight line edge position information and the obstacle avoidance steering information, the obstacle avoidance steering information corresponding to the position information of the underwater cleaning robot, the preset priority stopping position information and the straight line edge position information is output to the underwater cleaning robot;

[0030] If only the second obstacle detection information is received, the underwater cleaning robot continues to move horizontally and linearly;

[0031] If the first obstacle detection information and the second obstacle detection information are not received, the estimated parking position information is analyzed and obtained based on the priority moving distance value, the movable distance value and the straight-line moving distance value, and the estimated parking position information is sent as the final parking position information to the terminal held by the person in charge.

[0032] By adopting the above technical solution, by judging whether the current power value is within the preset warning power range, it is possible to understand whether the underwater cleaning robot has sufficient power at this time. When the underwater cleaning robot is low on power, the movement route of the underwater cleaning robot is planned based on whether there is an obstacle between the underwater cleaning robot and the preset straight edge position, and whether there is an obstacle between the underwater cleaning robot and the preset priority parking position, so that the underwater cleaning robot moves closer to the edge position before the power is completely exhausted, thereby facilitating the person in charge to recover the underwater cleaning robot that has stopped moving.

[0033] Optionally, according to the priority moving distance value, the movable distance value, and the straight-line moving distance value, the estimated parking position information is analyzed and obtained, and the estimated parking position information is sent as the final parking position information to the terminal held by the person in charge, including:

[0034] Get the priority moving distance value, movable distance value and straight-line moving distance value;

[0035] If the movable distance value is greater than or equal to the priority movable distance value, the steering information is output to the underwater cleaning robot, and the priority parking position information is used as the estimated parking position information;

[0036] If the movable distance value is less than the priority moving distance value, and the movable distance value is greater than or equal to the straight-line moving distance value, the underwater cleaning robot is controlled to move horizontally and linearly, and the straight-line edge position information is used as the estimated stopping position information;

[0037] If the movable distance value is less than the priority moving distance value, and the movable distance value is less than the straight-line moving distance value, then the position information, the turning moving distance value, and the straight-line moving distance value of the underwater cleaning robot are obtained;

[0038] The turning distance values ​​are sorted in a positive order, and the turning distance value with the first turning distance value in the positive order is selected as the shortest distance value. The positive order is defined as a sorting method based on the turning distance value from small to large;

[0039] Determine whether the shortest distance value is less than the straight-line moving distance value;

[0040] If yes, the straight line edge position information is used as the estimated parking position information, and the straight line edge position information is sent to the terminal held by the person in charge as the final parking position information;

[0041] If not, the peripheral edge position information corresponding to the shortest distance value is used as the estimated parking position information, and the peripheral edge position information corresponding to the shortest distance value is sent as the final parking position information to the terminal held by the person in charge.

[0042] By adopting the above technical solution, by comparing the priority moving distance value, the movable distance value and the straight-line moving distance value, the final estimated stopping position is formulated according to the minimum value among the priority moving distance value, the movable distance value and the straight-line moving distance value, so that the underwater cleaning robot can approach the edge position before the power is completely exhausted, thereby making it convenient for the person in charge to recover the underwater cleaning robot that has stopped moving.

[0043] Optionally, according to the correspondence between the current power value and the preset movable distance value, analyzing and obtaining the movable distance value corresponding to the current power value includes:

[0044] Obtain the depth information of the underwater cleaning robot, the depth information corresponding to the final stop position information, and the current power value;

[0045] According to the corresponding relationship between the depth information of the underwater cleaning robot and the preset power attenuation value, the power attenuation value corresponding to the depth information of the underwater cleaning robot is analyzed and obtained;

[0046] According to the depth information of the underwater cleaning robot, the depth information corresponding to the final stop position information, the power attenuation value, the current power value, the preset loss coefficient and the movable distance value, the preset movable distance value calculation formula is applied to analyze and calculate the movable distance value;

[0047] The formula for calculating the movable distance value is as follows:

[0048] When H2≠H1, S=K*Q*A1*(A2-A1) / (H2-H1);

[0049] When H2=H1, S=K*Q*A1;

[0050] S is the movable distance value;

[0051] Q is the current power value of the underwater cleaning robot;

[0052] H1 is the initial depth of the underwater cleaning robot;

[0053] A1 is the power attenuation value when the underwater cleaning robot is at the initial depth;

[0054] H2 is the depth corresponding to the final stop position information;

[0055] A2 is the power attenuation value at the depth corresponding to the final stop position information;

[0056] K is the loss coefficient.

[0057] By adopting the above technical solution and applying the preset movable distance calculation formula, the movable distance value is analyzed and calculated, so as to understand the distance that the underwater cleaning robot can currently move, and facilitate comparison with the priority moving distance value and the straight-line moving distance value, so as to formulate the final estimated stopping position close to the edge position, so as to facilitate the person in charge to recover the underwater cleaning robot that has stopped moving.

[0058] Optionally, the estimated parking location information is sent as the final parking location information to the terminal held by the person in charge, including:

[0059] Obtain the location information of the underwater cleaning robot and the location information of the person in charge;

[0060] According to the position information of the underwater cleaning robot and the position information of the person in charge, the moving distance value of the person in charge between the position information of the underwater cleaning robot and the position information of the person in charge is analyzed and calculated;

[0061] Analyze and calculate the time spent by the person in charge based on the distance the person in charge moves and the preset moving speed of the person in charge;

[0062] The time node at which the person in charge spends time is advanced relative to the original sending time node, and the time spent by the person in charge and the position information of the underwater cleaning robot are simultaneously sent to the terminal held by the person in charge.

[0063] By adopting the above technical solution, the time spent by the person in charge is analyzed and calculated according to the position of the underwater cleaning robot, the position of the person in charge and the preset moving speed of the person in charge, so that the time spent by the person in charge and the position information of the underwater cleaning robot can be sent to the terminal held by the person in charge in advance, so that the person in charge can understand it in advance and recover the underwater cleaning robot that has stopped moving in time.

[0064] Optionally, the steps before controlling the underwater cleaning robot to move horizontally and linearly include:

[0065] Obtain control information;

[0066] According to the control information, query whether the complete immersion detection information is detected;

[0067] If the query finds that the robot is completely submerged, the control information is output to the underwater cleaning robot and the underwater cleaning robot is controlled to move horizontally and linearly;

[0068] Otherwise, the underwater cleaning robot is not controlled to move horizontally and linearly.

[0069] By adopting the above technical solution, by querying whether the complete immersion detection information is detected, it is determined whether to control the underwater cleaning robot to move horizontally and linearly, so that the underwater cleaning robot moves horizontally and linearly only when it enters the water, thereby reducing the power consumption of the underwater cleaning robot, and increasing the use time of the underwater cleaning robot, thereby reducing the number of times the person in charge recovers the underwater cleaning robot.

[0070] In a second aspect, the present application provides an underwater cleaning robot control system, which adopts the following technical solutions:

[0071] An underwater cleaning robot control system, comprising:

[0072] A first acquisition module is used to: acquire control information;

[0073] The control module is used to control the underwater cleaning robot to move horizontally and linearly;

[0074] The second acquisition module is used to obtain the moving speed value and position information of the underwater cleaning robot;

[0075] The analysis and judgment module is used to: determine whether the moving speed value of the underwater cleaning robot is zero;

[0076] The sending module is used to send the current position information of the underwater cleaning robot as the final stop position information to the terminal held by the person in charge.

[0077] By adopting the above technical solution, the control information is acquired through the first acquisition module, thereby controlling the underwater cleaning robot to move horizontally and linearly, and the movement speed value and position information of the underwater cleaning robot are acquired, thereby judging whether the movement speed value of the underwater cleaning robot is zero. When the movement speed value of the underwater cleaning robot is zero, the current position information of the underwater cleaning robot is sent as the final shutdown position information to the terminal held by the person in charge through the sending module, so that the person in charge can recover the underwater cleaning robot that has stopped moving.

[0078] In a third aspect, the present application provides a control device for an underwater cleaning robot, which adopts the following technical solution:

[0079] A control device for an underwater cleaning robot comprises a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and execute any one of the methods in the first aspect.

[0080] By adopting the above technical solution, the processor loads and executes the memory storing the computer program such as any method in the first aspect, thereby controlling the underwater cleaning robot and making it convenient for the person in charge to recover the underwater cleaning robot that has stopped moving.

[0081] In a fourth aspect, the present application provides a computer storage medium capable of storing corresponding programs, which has the feature of facilitating the recovery of a stopped underwater cleaning robot by a person in charge, and adopts the following technical solution:

[0082] A computer storage medium stores a computer program capable of being loaded by a processor and executing any one of the methods in the first aspect.

[0083] By adopting the above technical solution, a computer program that can be loaded and executed by a processor such as any method in the first aspect is stored, and then loaded and executed by the processor when needed, thereby achieving the purpose of facilitating the person in charge to recover the underwater cleaning robot that has stopped moving.

[0084] In summary, this application includes at least one of the following beneficial technical effects:

[0085] When the underwater cleaning robot is in a stopped state, the current position information of the underwater cleaning robot is sent as the final stop position information to the terminal held by the person in charge, and by judging whether the current power value of the underwater cleaning robot in the stopped state is less than the preset power warning value, the underwater cleaning robot is controlled to display a low power display message or a fault alarm message, so that the person in charge can recover and dispose of the underwater cleaning robot;

[0086] When the underwater cleaning robot is still moving but has insufficient power, the underwater cleaning robot's moving route is planned based on whether there are obstacles between the underwater cleaning robot and the preset straight edge position, and whether there are obstacles between the underwater cleaning robot and the preset priority parking position, so that the underwater cleaning robot approaches the edge position before the power is completely exhausted, thereby facilitating the person in charge to recover the underwater cleaning robot that has stopped moving;

[0087] By querying whether the complete immersion detection information is detected, it is determined whether to control the underwater cleaning robot to move horizontally and linearly, so that the underwater cleaning robot moves horizontally and linearly only when it enters the water, reducing the power consumption of the underwater cleaning robot, increasing the use time of the underwater cleaning robot, and thus reducing the number of times the person in charge has to recycle the underwater cleaning robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0088] Figure 1 This is a flow chart of the method for controlling the underwater cleaning robot according to an embodiment of the present application.

[0089] Figure 2 This is a flowchart of a method for sending the location information of an underwater cleaning robot as final shutdown location information to a terminal held by a person in charge in another embodiment of the present application.

[0090] Figure 3 This is a method flow chart of another embodiment of the present application, which is located after continuing to control the underwater cleaning robot to move horizontally and linearly.

[0091] Figure 4 This is a flowchart of a method for analyzing and obtaining estimated parking position information based on the size of the priority moving distance value, the movable distance value and the straight-line moving distance value in another embodiment of the present application, and sending the estimated parking position information as the final parking position information to the terminal held by the person in charge.

[0092] Figure 5 This is a flowchart of a method for obtaining a movable distance value corresponding to a current power value based on a correspondence between the current power value and a preset movable distance value in another embodiment of the present application.

[0093] Figure 6is a method flow chart of another embodiment of the present application and sends the estimated stop position information as the final stop position information to the terminal held by the person in charge.

[0094] Figure 7 is a method flow chart of a step before the horizontal straight movement of the underwater cleaning robot is controlled according to the control information.

[0095] Figure 8 is a structural schematic diagram of the underwater cleaning robot control system in the present application.

[0096] Label explanation: 1, first acquisition module; 2, control module; 3, second acquisition module; 4, analysis and judgment module; 5, sending module. DETAILED DESCRIPTION

[0097] In order to make the purpose, technical scheme and advantages of the present application more clear and obvious, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and do not limit the present application. Figures 1-8 and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and do not limit the present application.

[0098] The embodiment of the present application discloses an underwater cleaning robot control method.

[0099] After the underwater cleaning robot cleans the dirt on the bottom of the pool such as a swimming pool, manual salvage and recovery of the underwater cleaning robot located at the bottom of the pool such as a swimming pool is needed. Whether the underwater cleaning robot is in a moving state is determined by judging whether the moving speed value of the underwater cleaning robot is zero, so that the current position information of the underwater cleaning robot is sent to the terminal held by the person in charge as the final stop position information when the underwater cleaning robot is not in a moving state, so as to facilitate the person in charge to recover the underwater cleaning robot which stops moving.

[0100] Referring to Figure 1 , an underwater cleaning robot control method comprises:

[0101] Step S100, acquiring control information.

[0102] The control information refers to information for controlling the underwater cleaning robot. The control information can be information for starting the underwater cleaning robot, or information sent by the person in charge to the underwater cleaning robot to control the underwater cleaning robot to start moving.

[0103] Step S200, controlling the underwater cleaning robot to move horizontally and straightly, and acquiring the moving speed value and position information of the underwater cleaning robot.

[0104] Among them, controlling the underwater cleaning robot to move horizontally and linearly means that after the underwater cleaning robot receives the control information, the underwater cleaning robot starts to move horizontally and linearly, and at this time the underwater cleaning robot starts to obtain the moving speed value and position information.

[0105] The movement speed value refers to the underwater cleaning robot's movement speed. The movement speed value is used to indicate the speed of the underwater cleaning robot's movement. The movement speed value is detected by a speed sensor or the rotation speed of the propellers installed on the underwater cleaning robot.

[0106] The location information refers to the location of the underwater cleaning robot, and the location information can be detected by GPS.

[0107] Step S300: Determine whether the moving speed value of the underwater cleaning robot is zero. If yes, execute step S400; if no, execute step S500.

[0108] Here, determining whether the moving speed value of the underwater cleaning robot is zero refers to comparing the moving speed value of the underwater cleaning robot with zero.

[0109] Step S400: Send the current position information of the underwater cleaning robot as the final shutdown position information to the terminal held by the person in charge.

[0110] When the underwater cleaning robot's moving speed is zero, it indicates that the underwater cleaning robot is in a stopped state. At this point, the underwater cleaning robot will no longer move, and the underwater cleaning robot's current position information will be sent to the terminal held by the person in charge as the final stop position information, so that the person in charge can understand the position of the underwater cleaning robot and facilitate the person in charge to recover the stopped underwater cleaning robot.

[0111] Step S500, continue to control the underwater cleaning robot to move horizontally and linearly.

[0112] Among them, when the moving speed value of the underwater cleaning robot is not zero, it means that the underwater cleaning robot is in motion. At this time, the underwater cleaning robot will continue to move, thereby continuing to control the underwater cleaning robot to move horizontally and linearly.

[0113] The implementation principle of the above steps is as follows: by judging whether the moving speed value of the underwater cleaning robot is zero, it is determined whether the underwater cleaning robot is in a stopped state or in a moving state. When the underwater cleaning robot is in a stopped state, the current position information of the underwater cleaning robot as the final stopping position information is sent to the terminal held by the person in charge, so that the person in charge can understand the position of the underwater cleaning robot, thereby facilitating the person in charge to recover the underwater cleaning robot that has stopped moving.

[0114] exist Figure 1 In step S400 shown, in order to further ensure the rationality of sending the current position information of the underwater cleaning robot as the final stop position information to the terminal held by the person in charge, it is necessary to perform further separate analysis and calculation on sending the current position information of the underwater cleaning robot as the final stop position information to the terminal held by the person in charge, specifically through Figure 2 The steps shown are explained in detail.

[0115] Reference Figure 2 , sending the position information of the underwater cleaning robot as the final stop position information to the terminal held by the person in charge includes the following steps:

[0116] Step S410: Obtain the position information and current power value of the underwater cleaning robot.

[0117] The current power value refers to the remaining power of the underwater cleaning robot at the current time point. The current power value is detected by a voltmeter or a coulomb meter.

[0118] Step S420: Determine whether the current power level is less than a preset power warning value. If yes, proceed to step S430; if no, proceed to step S440.

[0119] The power warning value is obtained from a database storing power warning values. By determining whether the current power value is less than the preset power warning value, it is determined whether the remaining power of the underwater cleaning robot is sufficient.

[0120] Step S430: Control the underwater cleaning robot to display a low-battery display message, and send the position information of the underwater cleaning robot as the final shutdown position information to the terminal held by the person in charge;

[0121] Among them, when the current power value is less than the preset power warning value, it means that the underwater cleaning robot has no remaining power at this time, which causes the underwater cleaning robot to be unable to continue moving. Therefore, the underwater cleaning robot is controlled to display a low power display message, so that the person in charge can understand the reason why the underwater cleaning robot cannot continue to move when recovering the underwater cleaning robot. After recovering the underwater cleaning robot, the person in charge charges the underwater cleaning robot until the power value of the underwater cleaning robot is the maximum value, and then the underwater cleaning robot is controlled to stop displaying the low power display message.

[0122] Step S440: Control the underwater cleaning robot to display fault alarm information, and send the position information of the underwater cleaning robot as the final shutdown position information to the terminal held by the person in charge.

[0123] Among them, when the current power value is not less than the preset power warning value, it means that the underwater cleaning robot still has remaining power, and the reason why the underwater cleaning robot cannot continue to move is that other parts have malfunctioned. Therefore, the underwater cleaning robot is controlled to display a fault alarm message, which is convenient for the person in charge to understand the reason why the underwater cleaning robot cannot continue to move when recovering the underwater cleaning robot, so that the person in charge can repair the underwater cleaning robot after recovering it.

[0124] The implementation principle of the above steps is as follows: by judging whether the current power value is less than the preset power warning value, it is convenient for the person in charge to understand the reason why the underwater cleaning robot cannot continue to move when recovering the underwater cleaning robot, so that after the underwater cleaning robot is recovered, the person in charge can decide whether to repair or charge the underwater cleaning robot.

[0125] exist Figure 1 After step S500, in order to further ensure the rationality of the movement of the underwater cleaning robot, it is necessary to perform further separate analysis and calculation on the control of the underwater cleaning robot to move horizontally and linearly. Figure 3 The steps shown are explained in detail.

[0126] Reference Figure 3 The steps after continuing to control the underwater cleaning robot to move horizontally and linearly include the following steps:

[0127] Step S510, obtain the position information of the underwater cleaning robot, the current power value, the first obstacle detection information between the position information of the underwater cleaning robot and the preset straight edge position information, and the second obstacle detection information between the position information of the underwater cleaning robot and the preset priority stop position information.

[0128] The straight line edge position information is obtained by querying a database storing the straight line edge position information. The straight line edge position information refers to the position point of the upper edge in the horizontal straight line moving direction of the underwater cleaning robot.

[0129] The first obstacle detection information between the position information of the underwater cleaning robot and the preset straight line edge position information refers to the obstacle detection information between the position point corresponding to the underwater cleaning robot and the position point of the upper edge in the horizontal straight line moving direction of the underwater cleaning robot.

[0130] The priority parking position information is obtained by querying from a database storing the priority parking position information. The priority parking position information refers to the location point where the underwater cleaning robot is preferentially docked.

[0131] The second obstacle detection information of the position information of the underwater cleaning robot and the preset priority parking position information refers to the obstacle detection information between the position point corresponding to the underwater cleaning robot and the position point where the underwater cleaning robot is preferentially parked.

[0132] In step S520, it is judged whether the current power value is located in the preset warning power interval range. If not, step S530 is executed; if yes, step S540 is executed.

[0133] The warning power interval range is obtained from the database in which the warning power interval range is stored. Whether the current power value is located in the preset warning power interval range is judged by comparing the current power value with the maximum value and the minimum value of the warning power interval range. When the current power value is less than the maximum value of the warning power interval range and greater than the minimum value of the warning power interval range, the current power value is located in the warning power interval range. When the current power value is greater than the maximum value of the warning power interval range and less than the minimum value of the warning power interval range, the current power value is not located in the warning power interval range.

[0134] In step S530, the underwater cleaning robot is continuously controlled to move horizontally in a straight line.

[0135] When the current power value is not located in the warning power interval range, it indicates that the remaining power of the underwater cleaning robot at this time is sufficient, and the underwater cleaning robot is continuously controlled to move horizontally in a straight line.

[0136] In step S540, according to the corresponding relationship between the current power value and the preset movable distance value, the movable distance value corresponding to the current power value is analyzed and obtained.

[0137] The movable distance value is obtained from the database in which the movable distance value is stored. When the current power value is located in the warning power interval range, it indicates that the remaining power of the underwater cleaning robot at this time is insufficient, and according to the corresponding relationship between the current power value and the preset movable distance value, the movable distance value corresponding to the current power value is analyzed and obtained.

[0138] In step S550, according to the position information of the underwater cleaning robot and the preset straight line edge position information, the straight line moving distance value between the underwater cleaning robot and the straight line edge position is analyzed and calculated.

[0139] The straight line moving distance value between the underwater cleaning robot and the straight line edge position is analyzed and calculated by the position point of the underwater cleaning robot and the position point of the edge in the horizontal straight line moving direction of the underwater cleaning robot.

[0140] Step S560, according to the position information of the underwater cleaning robot and the preset priority parking position information, analyzing and calculating the priority moving distance value between the position information of the underwater cleaning robot and the preset priority parking position information.

[0141] The priority moving distance value between the position information of the underwater cleaning robot and the preset priority parking position information is calculated by the position point of the underwater cleaning robot and the position point where the underwater cleaning robot is preferentially parked.

[0142] Step S570, judging whether the results of the first obstacle detection information and the second obstacle detection information are received.

[0143] The judgment of whether the results of the first obstacle detection information and the second obstacle detection information are received refers to whether the obstacle detection information between the position point corresponding to the underwater cleaning robot and the position point on the edge of the horizontal straight moving direction of the underwater cleaning robot and the obstacle detection information between the position point corresponding to the underwater cleaning robot and the position point where the underwater cleaning robot is preferentially parked are received, so as to judge whether there is an obstacle between the position point corresponding to the underwater cleaning robot and the position point on the edge of the horizontal straight moving direction of the underwater cleaning robot and between the position point corresponding to the underwater cleaning robot and the position point where the underwater cleaning robot is preferentially parked.

[0144] Step S580, if the first obstacle detection information and the second obstacle detection information are received, obtaining the dirty degree information of each horizontal movable direction of the underwater cleaning robot in the pool, and sorting the dirty degree information in a forward order, and selecting the horizontal movable direction corresponding to the dirty degree information with the first dirty degree information in the forward order to output the cleaning turning information to the underwater cleaning robot.

[0145] The each horizontal movable direction in the pool refers to the direction without obstacles. The dirty degree information refers to the number value of the objects in the pool that need to be cleaned by the underwater cleaning robot.

[0146] The forward order is defined as an order mode from large to small according to the parameter value corresponding to the dirty degree information.

[0147] The horizontal movable direction corresponding to the dirty degree information with the first dirty degree information in the forward order refers to the horizontal movable direction corresponding to the maximum number value of the objects in the pool that need to be cleaned by the underwater cleaning robot.

[0148] The cleaning turning information refers to the information of turning when the underwater cleaning robot is cleaning.

[0149] When the first obstacle detection information and the second obstacle detection information are received, it indicates that there are obstacles between the position point corresponding to the underwater cleaning robot and the position point at the upper edge of the underwater cleaning robot's horizontal straight-line moving direction, and between the position point corresponding to the underwater cleaning robot and the position point where the underwater cleaning robot is preferentially docked. At this time, by selecting the horizontal movable direction corresponding to the largest number of objects that need to be cleaned by the underwater cleaning robot, the cleaning steering information is output to the underwater cleaning robot, so that the underwater cleaning robot cleans the horizontal movable direction corresponding to the largest number of objects that need to be cleaned by the underwater cleaning robot before stopping, thereby improving the cleaning efficiency of the underwater cleaning robot.

[0150] Step S590: If only the first obstacle detection information is received, the obstacle avoidance steering information corresponding to the position information of the underwater cleaning robot, the preset priority stopping position information, the straight edge position information and the obstacle avoidance steering information is output to the underwater cleaning robot based on the correspondence between the position information of the underwater cleaning robot, the preset priority stopping position information and the straight edge position information.

[0151] The obstacle avoidance and steering information refers to the steering information of the underwater cleaning robot when avoiding obstacles.

[0152] When only the first obstacle detection information is received, it means that there is an obstacle between the position point corresponding to the underwater cleaning robot and the position point on the upper edge of the horizontal straight-line moving direction of the underwater cleaning robot, while there is no obstacle between the position point corresponding to the underwater cleaning robot and the position point where the underwater cleaning robot is preferentially docked.

[0153] At this time, the obstacle avoidance steering information is output to the underwater cleaning robot through the position point, priority stop position point and straight line edge position point of the underwater cleaning robot, so that the underwater cleaning robot can avoid obstacles.

[0154] Step S5A0: If only the second obstacle detection information is received, the underwater cleaning robot continues to be controlled to move horizontally and linearly.

[0155] Among them, when only the second obstacle detection information is received, it means that there is no obstacle between the position point corresponding to the underwater cleaning robot and the position point at the upper edge of the horizontal straight-line movement direction of the underwater cleaning robot, and there is an obstacle between the position point corresponding to the underwater cleaning robot and the position point where the underwater cleaning robot is preferentially docked, thereby continuing to control the underwater cleaning robot to move horizontally and linearly.

[0156] In step S5B0, if the first obstacle detection information and the second obstacle detection information are not received, the estimated parking position information is analyzed and obtained based on the priority moving distance value, the movable distance value and the straight-line moving distance value, and the estimated parking position information is sent as the final parking position information to the terminal held by the person in charge.

[0157] If neither the first obstacle detection information nor the second obstacle detection information is received, it indicates that no obstacles exist between the corresponding position of the underwater cleaning robot and the position of the upper edge of the underwater cleaning robot's horizontal linear movement direction, nor between the corresponding position of the underwater cleaning robot and the position where the underwater cleaning robot is preferentially docked. At this point, the estimated parking position information is analyzed and obtained based on the priority movement distance value, the movable distance value, and the linear movement distance value, and the estimated parking position information is then sent as the final parking position information to the terminal held by the person in charge.

[0158] The implementation principle of the above steps is as follows: by judging whether the current power value is within the preset warning power range, it is possible to understand whether the remaining power of the underwater cleaning robot is sufficient. When the remaining power of the underwater cleaning robot is insufficient, it is possible to judge whether there are obstacles between the position point corresponding to the underwater cleaning robot and the position point on the upper edge of the horizontal straight line moving direction of the underwater cleaning robot, and between the position point corresponding to the underwater cleaning robot and the position point where the underwater cleaning robot is preferentially docked, so as to make the optimal moving route before the underwater cleaning robot runs out of power.

[0159] exist Figure 3 In step S5B0 shown in FIG, in order to further ensure the rationality of sending the estimated parking location information as the final parking location information to the terminal held by the person in charge, it is necessary to further analyze and calculate the estimated parking location information as the final parking location information to the terminal held by the person in charge. Specifically, Figure 4 The steps shown are explained in detail.

[0160] Reference Figure 4 , according to the value of the priority moving distance, the movable distance and the straight-line moving distance, analyzing and obtaining the estimated parking position information, and sending the estimated parking position information as the final parking position information to the terminal held by the person in charge includes the following steps:

[0161] Step S5B1, obtaining the priority moving distance value, the movable distance value and the straight-line moving distance value.

[0162] Step S5B2: If the movable distance value is greater than or equal to the priority movable distance value, the turning information is output to the underwater cleaning robot, and the priority parking position information is used as the estimated parking position information.

[0163] Among them, when the movable distance value is greater than or equal to the priority moving distance value, it means that the underwater cleaning robot can reach the priority docking position point at this time, thereby outputting steering information to the underwater cleaning robot, and using the priority parking position information as the estimated parking position information.

[0164] Step S5B3, if the movable distance value is less than the priority moving distance value and the movable distance value is greater than or equal to the straight line moving distance value, the underwater cleaning robot is controlled to move in a horizontal straight line, and the straight line edge position information is taken as the estimated parking position information.

[0165] In the formula, when the movable distance value is less than the priority moving distance value and the movable distance value is greater than or equal to the straight line moving distance value, it indicates that the underwater cleaning robot cannot reach the position point where the underwater cleaning robot is preferentially parked, but can reach the position point of the edge in the horizontal straight line moving direction of the underwater cleaning robot, so the underwater cleaning robot is controlled to move in a horizontal straight line, and the straight line edge position information is taken as the estimated parking position information.

[0166] Step S5B4, if the movable distance value is less than the priority moving distance value and the movable distance value is less than the straight line moving distance value, the position information of the underwater cleaning robot, the turning moving distance value and the straight line moving distance value are obtained.

[0167] In the formula, the turning moving distance value refers to the distance between the underwater cleaning robot after turning and the position point of the edge.

[0168] When the movable distance value is less than the priority moving distance value and the movable distance value is less than the straight line moving distance value, it indicates that the underwater cleaning robot cannot reach the position point where the underwater cleaning robot is preferentially parked, and cannot reach the position point of the edge in the horizontal straight line moving direction of the underwater cleaning robot, so the position information of the underwater cleaning robot, the turning moving distance value and the straight line moving distance value are obtained.

[0169] Step S5B5, the turning moving distance values are sorted in a positive direction, and the first turning moving distance value in the positive direction sorting is taken as the shortest distance value.

[0170] In the formula, the positive direction sorting is defined as the sorting mode from small to large according to the turning moving distance value. The first turning moving distance value in the positive direction sorting refers to the minimum value in the turning moving distance value.

[0171] Step S5B6, it is judged whether the shortest distance value is less than the straight line moving distance value. If not, step S5B7 is executed; if yes, step S5B8 is executed.

[0172] In the formula, by comparing the shortest distance value with the straight line moving distance value, it is judged whether the shortest distance value is greater than the straight line moving distance value.

[0173] Step S5B7, the straight line edge position information is taken as the estimated parking position information, and the straight line edge position information is sent to the terminal held by the person in charge as the final parking position information.

[0174] Among them, when the shortest distance value is not less than the straight-line moving distance value, it means that the distance between the underwater cleaning robot and the position point of the upper edge of the horizontal straight-line moving direction of the underwater cleaning robot is the shortest at this time, so the straight-line edge position information is used as the estimated stopping position information, and the straight-line edge position information is sent as the final stopping position information to the terminal held by the person in charge.

[0175] In step S5B8, the peripheral edge position information corresponding to the shortest distance value is used as the estimated parking position information, and the peripheral edge position information corresponding to the shortest distance value is sent as the final parking position information to the terminal held by the person in charge.

[0176] Among them, when the shortest distance value is not less than the straight-line moving distance value, it means that the distance between the underwater cleaning robot and the peripheral edge position point corresponding to the shortest distance value is the shortest at this time, so the peripheral edge position information corresponding to the shortest distance value is used as the estimated parking position information, and the peripheral edge position information corresponding to the shortest distance value is sent as the final parking position information to the terminal held by the person in charge.

[0177] The implementation principle of the above steps is as follows: by comparing the priority moving distance value, the movable distance value and the straight-line moving distance value, when the underwater cleaning robot can reach the priority docking position, the underwater cleaning robot is stopped at the priority docking position. When the underwater cleaning robot cannot reach the priority docking position, but can reach the position point on the upper edge of the horizontal straight-line moving direction of the underwater cleaning robot, the underwater cleaning robot is stopped at the position point on the upper edge of the horizontal straight-line moving direction of the underwater cleaning robot. When the underwater cleaning robot cannot reach the priority docking position and the position point on the upper edge of the horizontal straight-line moving direction of the underwater cleaning robot, it is judged whether the shortest distance value is less than the straight-line moving distance value, so that the underwater cleaning robot can minimize the distance from the peripheral edge of the pool when it finally stops, thereby facilitating the person in charge to recover the underwater cleaning robot that has stopped moving.

[0178] exist Figure 3 In step S540, in order to further ensure the rationality of the analysis and acquisition of the movable distance value corresponding to the current power value, it is necessary to further analyze and calculate the movable distance value corresponding to the current power value. Figure 5 The steps shown are explained in detail.

[0179] Reference Figure 5 According to the corresponding relationship between the current power value and the preset movable distance value, analyzing and obtaining the movable distance value corresponding to the current power value includes the following steps:

[0180] Step S541, obtaining the depth information of the underwater cleaning robot, the depth information corresponding to the final stop position information, and the current power value.

[0181] The depth information of the underwater cleaning robot refers to the depth of the underwater cleaning robot, and the depth information corresponding to the final stopping position information refers to the depth of the final stopping position.

[0182] Step S542: Analyze and obtain the power attenuation value corresponding to the depth information of the underwater cleaning robot based on the correspondence between the depth information of the underwater cleaning robot and the preset power attenuation value.

[0183] The power attenuation value is retrieved from a database storing power attenuation values. The power attenuation value corresponding to the depth information of the underwater cleaning robot is analyzed and acquired based on the correspondence between the depth information of the underwater cleaning robot and the preset power attenuation value.

[0184] In step S543, based on the depth information of the underwater cleaning robot, the depth information corresponding to the final stop position information, the power attenuation value, the current power value, the preset loss coefficient and the movable distance value, the preset movable distance value calculation formula is applied to analyze and calculate the movable distance value.

[0185] The movable distance value is analyzed and calculated by applying a preset movable distance value calculation formula.

[0186] The formula for calculating the movable distance value is as follows:

[0187] When H2≠H1, S=K*Q*A1*(A2-A1) / (H2-H1);

[0188] When H2=H1, S=K*Q*A1;

[0189] S is the movable distance value;

[0190] Q is the current power value of the underwater cleaning robot;

[0191] H1 is the initial depth of the underwater cleaning robot;

[0192] A1 is the power attenuation value when the underwater cleaning robot is at the initial depth;

[0193] H2 is the depth corresponding to the final stop position information;

[0194] A2 is the power attenuation value at the depth corresponding to the final stop position information;

[0195] K is the loss coefficient.

[0196] The loss coefficient refers to the loss rate of the underwater cleaning robot during use.

[0197] For example, when the underwater cleaning robot's initial depth equals the depth corresponding to the final stopping position, Q = 10, A1 = 0.1, and K = 0.7. S = K*Q*A1 = 0.7*10*0.1 = 0.7.

[0198] When the initial depth of the underwater cleaning robot is not equal to the depth corresponding to the final stopping position information, take Q=10, A1=0.1, K=0.7, H1=10, H2=20, A1=0.2, and A2=0.4.

[0199] S=K*Q*A1*(A2-A1) / (H2-H1)=0.7*10*0.1*(0.4-0.2) / (20-10)=0.014.

[0200] The implementation principle of the above steps is as follows: through the correspondence between the depth information of the underwater cleaning robot and the preset power attenuation value, the power attenuation value corresponding to the depth information of the underwater cleaning robot is analyzed and obtained, and then the movable distance value is analyzed and calculated by applying the preset movable distance value calculation formula, so as to obtain the distance value that the underwater cleaning robot can move when it reaches the final stopping position.

[0201] exist Figure 3 In step S5B0 shown in FIG, in order to further ensure the rationality of sending the estimated parking location information as the final parking location information to the terminal held by the person in charge, it is necessary to further analyze and calculate the estimated parking location information as the final parking location information to the terminal held by the person in charge. Specifically, Figure 6 The steps shown are explained in detail.

[0202] Reference Figure 6 The process of sending the estimated parking location information as the final parking location information to the terminal held by the person in charge includes the following steps:

[0203] Step S5B9, obtaining the location information of the underwater cleaning robot and the location information of the person in charge;

[0204] The location information of the person in charge refers to the location of the person in charge. The location information of the person in charge can be obtained through GPS.

[0205] Step S5BA, based on the position information of the underwater cleaning robot and the position information of the person in charge, analyze and calculate the moving distance value of the person in charge between the position information of the underwater cleaning robot and the position information of the person in charge.

[0206] The distance traveled by the person in charge is the distance between the position of the underwater cleaning robot and the position of the person in charge. The distance traveled by the person in charge is analyzed and calculated based on the position information of the underwater cleaning robot and the position information of the person in charge.

[0207] In step S5BB, the time spent by the person in charge is analyzed and calculated based on the moving distance value of the person in charge and the preset moving speed of the person in charge.

[0208] The person-in-charge's moving speed is retrieved from a database storing the person-in-charge's moving speed. The person-in-charge's moving distance and the preset person-in-charge's moving speed are used to analyze and calculate the person-in-charge's time spent.

[0209] In step S5BC, the time spent by the person in charge is advanced relative to the original sending time, and the time spent by the person in charge and the position information of the underwater cleaning robot are simultaneously sent to the terminal held by the person in charge.

[0210] The time node of the person-in-charge's time spent ahead of the original sending time node refers to the time spent ahead of the original sending time node. At the time node of the person-in-charge's time spent ahead of the original sending time node, the person-in-charge's time spent and the underwater cleaning robot's location information are simultaneously sent to the person-in-charge's terminal, thereby allowing the person-in-charge to know the underwater cleaning robot's location information in advance, making it easier for the person-in-charge to recover the underwater cleaning robot if it stops moving.

[0211] The above steps work as follows: The distance traveled by the person in charge is analyzed and calculated using the underwater cleaning robot's location information and the person's location information. The time spent by the person in charge is then calculated based on this distance and the preset speed. The time spent by the person in charge and the underwater cleaning robot's location information are simultaneously sent to the person in charge's terminal at a time that is earlier than the original time of transmission. This allows the person in charge to know the underwater cleaning robot's location information in advance, making it easier for the person in charge to recover the stopped underwater cleaning robot.

[0212] exist Figure 1 In step S200, in order to further ensure the rationality of the horizontal straight line movement of the underwater cleaning robot, it is necessary to further analyze and calculate the horizontal straight line movement of the underwater cleaning robot. Figure 7 The steps shown are explained in detail.

[0213] Reference Figure 7 The steps before controlling the underwater cleaning robot to move horizontally and linearly include the following steps:

[0214] Step S210: Acquire control information.

[0215] Step S220, according to the control information, query whether the complete immersion detection information is detected.

[0216] Wherein, the complete immersion detection information refers to the information that the underwater cleaning robot is completely immersed in the pool, and the complete immersion detection information can be detected by opening the circuit. When the underwater cleaning robot is completely immersed in the pool, the circuit is connected through the water in the pool, so that the complete immersion detection information is detected.

[0217] Step S230, if the complete immersion detection information is detected, according to the control information, output to the underwater cleaning robot and control the underwater cleaning robot to move horizontally and linearly.

[0218] Wherein, when the complete immersion detection information is detected, it means that the underwater cleaning robot is located in the pool at this time, and the underwater cleaning robot is controlled to move horizontally and linearly according to the control information.

[0219] Step S240, otherwise, the underwater cleaning robot is not controlled to move horizontally and linearly.

[0220] Wherein, when the complete immersion detection information is not detected, it means that the underwater cleaning robot is not located in the pool at this time, and the underwater cleaning robot is not controlled to move horizontally and linearly, so as to reduce the power consumption of the underwater cleaning robot and reduce the number of responsible persons for recycling the underwater cleaning robot.

[0221] The implementation principle of the above steps is as follows: by querying whether the complete immersion detection information is detected, it is judged whether the underwater cleaning robot is completely immersed in the pool. When the underwater cleaning robot is completely immersed in the pool, the underwater cleaning robot is controlled to move horizontally and linearly according to the control information. When the underwater cleaning robot is not completely immersed in the pool, the underwater cleaning robot is not controlled to move horizontally and linearly. Thus, the power consumption of the underwater cleaning robot is reduced, and the number of responsible persons for recycling the underwater cleaning robot is reduced.

[0222] Reference Figure 8 Based on the same inventive concept, the embodiment of the present application provides a kind of underwater cleaning robot control system, comprising:

[0223] First acquisition module 1, for: obtaining control information;

[0224] Control module 2, for: control underwater cleaning robot moves horizontally and linearly;

[0225] Second acquisition module 3, for: obtaining the moving speed value and position information of underwater cleaning robot;

[0226] The analysis and judgment module 4 is used to: determine whether the moving speed value of the underwater cleaning robot is zero;

[0227] The sending module 5 is used to send the current position information of the underwater cleaning robot as the final shutdown position information to the terminal held by the person in charge.

[0228] Based on the same inventive concept, an embodiment of the present invention provides an underwater cleaning robot control device, including a memory and a processor, wherein the memory stores data that can be loaded and executed by the processor. Figures 1 to 7 A computer program for any of the methods.

[0229] Those skilled in the art will clearly understand that for the sake of convenience and brevity, the division of the above-mentioned functional modules is only used as an example for illustration. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working processes of the above-mentioned systems, devices, and units can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0230] An embodiment of the present invention provides a computer storage medium storing data that can be loaded and executed by a processor. Figures 1 to 7 A computer program for any of the methods.

[0231] Computer storage media include, for example, various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical disks.

[0232] The above are all preferred embodiments of the present application and are not intended to limit the scope of protection of this application. Unless otherwise stated, any feature disclosed in this specification (including the abstract and drawings) may be replaced by other equivalent or similar features. In other words, unless otherwise stated, each feature is merely an example of a series of equivalent or similar features.

Claims

1. A method for controlling an underwater cleaning robot, characterized in that: include: Obtain control information; Control the underwater cleaning robot to move horizontally and linearly, and obtain the moving speed and position information of the underwater cleaning robot; Determine whether the moving speed value of the underwater cleaning robot is zero; If yes, the current location information of the underwater cleaning robot is sent to the terminal held by the person in charge as the final parking location information; If not, continue to control the underwater cleaning robot to move horizontally and linearly; The method also includes the following steps after continuing to control the underwater cleaning robot to move horizontally and linearly: Obtaining the underwater cleaning robot's position information, current power value, first obstacle detection information between the underwater cleaning robot's position information and preset straight edge position information, and second obstacle detection information between the underwater cleaning robot's position information and preset priority stop position information; Determine whether the current power value is within the preset warning power range; If not, continue to control the underwater cleaning robot to move horizontally and linearly; If yes, then according to the correspondence between the current power value and the preset movable distance value, analyze and obtain the movable distance value corresponding to the current power value; Analyze and calculate the linear moving distance between the underwater cleaning robot and the linear edge position based on the position information of the underwater cleaning robot and the preset linear edge position information; Analyze and calculate the priority moving distance between the position information of the underwater cleaning robot and the preset priority stopping position information according to the position information of the underwater cleaning robot and the preset priority stopping position information; determining whether the first obstacle detection information and the second obstacle detection information are received; If the first obstacle detection information and the second obstacle detection information are received, the dirtiness level information of each horizontal movable direction of the underwater cleaning robot in the pool is obtained, and the dirtiness level information is sorted in a positive order, and the horizontal movable direction corresponding to the dirtiness level information with the highest dirtiness level information in the positive order is selected to output the cleaning steering information to the underwater cleaning robot; If only the first obstacle detection information is received, then according to the correspondence between the position information of the underwater cleaning robot, the preset priority stopping position information, the straight line edge position information and the obstacle avoidance steering information, the obstacle avoidance steering information corresponding to the position information of the underwater cleaning robot, the preset priority stopping position information and the straight line edge position information is output to the underwater cleaning robot; If only the second obstacle detection information is received, the underwater cleaning robot continues to move horizontally and linearly; If the first obstacle detection information and the second obstacle detection information are not received, the estimated parking position information is analyzed and obtained based on the priority moving distance value, the movable distance value and the straight-line moving distance value, and the estimated parking position information is sent as the final parking position information to the terminal held by the person in charge.

2. The underwater cleaning robot control method according to claim 1, characterized in that: Sending the position information of the underwater cleaning robot as the final stop position information to the terminal held by the person in charge includes: Get the underwater cleaning robot's location information and current battery value; Determine whether the current power value is less than the preset power warning value; If yes, the underwater cleaning robot is controlled to display a low-battery display message, and the position information of the underwater cleaning robot is sent as the final shutdown position information to the terminal held by the person in charge; If not, the underwater cleaning robot is controlled to display a fault alarm message, and the position information of the underwater cleaning robot is sent as the final shutdown position information to the terminal held by the person in charge.

3. The underwater cleaning robot control method according to claim 1, characterized in that: According to the priority moving distance value, movable distance value and straight-line moving distance value, the estimated parking position information is analyzed and obtained, and the estimated parking position information is sent as the final parking position information to the terminal held by the person in charge, including: Get the priority moving distance value, movable distance value and straight-line moving distance value; If the movable distance value is greater than or equal to the priority movable distance value, the steering information is output to the underwater cleaning robot, and the priority parking position information is used as the estimated parking position information; If the movable distance value is less than the priority moving distance value, and the movable distance value is greater than or equal to the straight-line moving distance value, the underwater cleaning robot is controlled to move horizontally and linearly, and the straight-line edge position information is used as the estimated stopping position information; If the movable distance value is less than the priority moving distance value, and the movable distance value is less than the straight-line moving distance value, then the position information, the turning moving distance value, and the straight-line moving distance value of the underwater cleaning robot are obtained; The turning distance values ​​are sorted in a positive order, and the turning distance value with the first turning distance value in the positive order is selected as the shortest distance value. The positive order is defined as a sorting method based on the turning distance value from small to large; Determine whether the shortest distance value is less than the straight-line moving distance value; If yes, the straight line edge position information is used as the estimated parking position information, and the straight line edge position information is sent to the terminal held by the person in charge as the final parking position information; If not, the peripheral edge position information corresponding to the shortest distance value is used as the estimated parking position information, and the peripheral edge position information corresponding to the shortest distance value is sent as the final parking position information to the terminal held by the person in charge.

4. The underwater cleaning robot control method according to claim 1, characterized in that: According to the corresponding relationship between the current power value and the preset movable distance value, analyzing and obtaining the movable distance value corresponding to the current power value includes: Obtain the depth information of the underwater cleaning robot, the depth information corresponding to the final stop position information, and the current power value; According to the corresponding relationship between the depth information of the underwater cleaning robot and the preset power attenuation value, the power attenuation value corresponding to the depth information of the underwater cleaning robot is analyzed and obtained; According to the depth information of the underwater cleaning robot, the depth information corresponding to the final stop position information, the power attenuation value, the current power value, the preset loss coefficient and the movable distance value, the preset movable distance value calculation formula is applied to analyze and calculate the movable distance value; The formula for calculating the movable distance value is as follows: When H2≠H1, S=K*Q*A1*(A2-A1) / (H2-H1); When H2=H1, S=K*Q*A1; S is the movable distance value; Q is the current power value of the underwater cleaning robot; H1 is the initial depth of the underwater cleaning robot; A1 is the power attenuation value when the underwater cleaning robot is at the initial depth; H2 is the depth corresponding to the final stop position information; A2 is the power attenuation value at the depth corresponding to the final stop position information; K is the loss coefficient.

5. The underwater cleaning robot control method according to claim 1, characterized in that: The estimated parking location information is sent as the final parking location information to the terminal held by the person in charge, including: Obtain the location information of the underwater cleaning robot and the location information of the person in charge; According to the position information of the underwater cleaning robot and the position information of the person in charge, the moving distance value of the person in charge between the position information of the underwater cleaning robot and the position information of the person in charge is analyzed and calculated; Analyze and calculate the time spent by the person in charge based on the distance the person in charge moves and the preset moving speed of the person in charge; The time node at which the person in charge spends time is advanced relative to the original sending time node, and the time spent by the person in charge and the position information of the underwater cleaning robot are simultaneously sent to the terminal held by the person in charge.

6. The underwater cleaning robot control method according to claim 1, characterized in that: The steps before controlling the underwater cleaning robot to move horizontally and linearly include: Obtain control information; According to the control information, query whether the complete immersion detection information is detected; If the query finds that the robot is completely submerged, the control information is output to the underwater cleaning robot and the underwater cleaning robot is controlled to move horizontally and linearly; Otherwise, the underwater cleaning robot is not controlled to move horizontally and linearly.

7. An underwater cleaning robot control system, applied to an underwater cleaning robot control method according to any one of claims 1 to 6, characterized in that: include: A first acquisition module (1) is used to: acquire control information; The control module (2) is used to control the underwater cleaning robot to move horizontally and linearly; The second acquisition module (3) is used to: obtain the moving speed value and position information of the underwater cleaning robot; The analysis and judgment module (4) is used to: judge whether the moving speed value of the underwater cleaning robot is zero; The sending module (5) is used to send the current position information of the underwater cleaning robot as the final stop position information to the terminal held by the person in charge.

8. A control device for an underwater cleaning robot, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executes the method according to any one of claims 1 to 6.

9. A computer storage medium, characterized in that A computer program is stored which can be loaded by a processor and execute the method according to any one of claims 1 to 6.

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