Automatic docking method, swimming pool robot, electronic device and computer storage medium

Abstract

The present invention provides a method for automatically docking a swimming pool robot, which comprises: S110, the swimming pool robot is placed in a swimming pool in any direction; S120, the swimming pool robot moves while calculating the angle between the moving direction and the swimming pool wall; S130, after receiving a docking instruction, the swimming pool robot turns to one side, and when the nearest swimming pool wall is found, it moves toward the nearest swimming pool wall. The present invention also relates to a swimming pool robot applying the method, an electronic device executing the method, and a computer storage medium.

Description

Technical Field

[0001] The present invention relates to the technical field of swimming pool cleaning, and in particular to an automatic docking method for a swimming pool robot, a swimming pool robot applying the method, an electronic device for executing the method, and a computer storage medium. Background Art

[0002] When a traditional swimming pool robot works underwater, the weight of the robot is extremely large due to its own weight and the weight of the water inside. Users need to bear a huge weight burden when taking the robot out of the swimming pool, which brings a very bad user experience. At the same time, in some products with cables, users tend to pull the robot out of the water by pulling the cable. If this action is repeated, it will shorten the life of the swimming pool robot. In addition, there are products that use a long pole with a hook on the head to hook the robot and pull it out of the water. This design has high strength requirements for the long pole and the hook, and the user needs to hook the robot accurately, which is not a good experience. The purpose of the present invention is to enable the swimming pool robot to automatically dock and get out of the water, and to improve the long-standing problems in the swimming pool robot industry by introducing a solution that requires almost no human intervention. Summary of the invention

[0003] To achieve the above objectives, the first aspect of the present invention provides a method for automatically docking a swimming pool robot, which comprises:

[0004] S110, the pool robot is placed into the pool in any direction;

[0005] S120, the swimming pool robot calculates the angle between the moving direction and the swimming pool wall while moving;

[0006] S130, after receiving the docking instruction, the swimming pool robot turns to one side, and when finding the nearest pool wall, moves towards the nearest pool wall.

[0007] In some embodiments of the present invention, the automatic docking method further comprises:

[0008] S140, after reaching the pool wall, the swimming pool robot continues to climb the wall and maintains dynamic balance at the waterline.

[0009] In some embodiments of the present invention, an ultrasonic sensor is disposed on the body of the swimming pool robot.

[0010] Preferably, the ultrasonic sensors are respectively arranged at the front, rear and both sides of the fuselage.

[0011] Preferably, when the swimming pool robot rotates to one side, the distance from the front or rear of the body to the pool wall is measured, and after the shortest distance to the pool wall is determined, the robot moves forward in a direction perpendicular to the pool wall.

[0012] Preferably, S120 is calculated as follows:

[0013] The ultrasonic sensors located on the four sides of the fuselage will emit multiple ultrasonic beams after falling into the water. The ultrasonic waves are perpendicular to the fuselage, among which X1 is the ultrasonic beam emitted from the front or back, X2 is the ultrasonic beam emitted from one of the left or right sides, the angle between X1 and the pool wall is a, and the angle between X2 and the pool wall is b.

[0014] Preferably, S130 is calculated as follows:

[0015] When X1 is not the shortest among all ultrasonic beams, the swimming pool robot turns to one side until X1 becomes the shortest among all ultrasonic beams.

[0016] Preferably, S130 is calculated as follows:

[0017] When X1 is the shortest among all ultrasonic beams, the swimming pool robot turns to one side. If X1 becomes larger, the swimming pool robot turns in the opposite direction until X1 is less than or equal to the previous value and moves in the direction where X1 decreases.

[0018] In some embodiments of the present invention, X1 is the ultrasonic beam emitted in the front, and X1' is the ultrasonic beam emitted in the back, then the calculation method of S130 is as follows:

[0019] When X1' is not the shortest among all ultrasonic beams, the swimming pool robot turns to one side until X1' becomes the shortest among all ultrasonic beams.

[0020] When X1' is the shortest among all ultrasonic beams, the swimming pool robot rotates to one direction. If X1' increases, the swimming pool robot turns in the opposite direction until X1' is less than or equal to the previous value and moves in the direction where X1' decreases.

[0021] In some embodiments of the present invention, step S140 includes:

[0022] The S310 senses the change in tilt angle through the gyroscope and enters the wall climbing mode;

[0023] The S320 uses sensors to sense when it reaches the waterline, where it stops and times the time.

[0024] S330 When the preset time is exceeded, the timing stops and the swimming pool robot moves underwater.

[0025] Preferably, before executing S140, the swimming pool robot adjusts its posture and executes S140 with the handle facing the water surface.

[0026] A second aspect of the present invention provides a method for automatically docking a swimming pool robot, comprising:

[0027] S210 controls the pool robot to move based on a preset direction;

[0028] S220 receives the docking instruction;

[0029] S230 determines whether the position of the swimming pool robot relative to the pool wall meets the preset conditions; if yes, execute S250; if no, execute S240;

[0030] S240 controls the swimming pool robot to turn relative to the pool wall until the moving direction of the swimming pool robot is perpendicular to the pool wall;

[0031] S250 controls the swimming pool robot to move toward the pool wall until it collides with the pool wall.

[0032] In some embodiments of the present invention, the method further comprises:

[0033] S260 controls the swimming pool robot to climb the wall until it reaches dynamic balance at the waterline.

[0034] In S230 , the swimming pool robot determines whether its position relative to the pool wall meets preset conditions based on data from the gyroscope and the ultrasonic sensor.

[0035] At the beginning of the cleaning work, the three-dimensional map of the swimming pool has been transmitted to the pool robot. Based on the data from the gyroscope, the pool robot can at least determine its own position; for example, at the bottom of the pool or on the wall.

[0036] When it determines that it is at the bottom of the pool, it determines the nearest route to the wall based on data from the wide-angle scanning ultrasonic sensor installed on the top of the fuselage.

[0037] In some embodiments of the present invention, a landing locator is provided at a fixed position of the swimming pool, which emits an ultrasonic signal. When the swimming pool robot climbs the wall, it adjusts the direction of travel according to the signal received from the landing locator.

[0038] In S230, if the swimming pool robot determines that it is on the pool wall based on the gyroscope, it will search for the signal of the shore locator and move in the direction of the shore locator.

[0039] Furthermore, after the command to dock is issued, the landing locator is activated to emit ultrasonic signals into the water.

[0040] In some other embodiments of the present invention, the swimming pool is not provided with a landing positioner.

[0041] In S230, if the swimming pool robot determines that it is on the pool wall according to the gyroscope, it adjusts its posture and moves toward the waterline in a specific direction.

[0042] Preferably, the specific direction is the direction in which the handle of the swimming pool robot is upward.

[0043] According to a third aspect of the present invention, the present invention provides a swimming pool robot, which docks using the method described in the first aspect or the second aspect of the present invention, and the swimming pool robot body is equipped with a gyroscope, a drive motor, an ultrasonic sensor, and a controller, and the gyroscope, drive motor, ultrasonic sensor, and controller are all electrically connected.

[0044] Preferably, the swimming pool robot is powered by batteries.

[0045] More preferably, the swimming pool robot is powered by solar cells.

[0046] According to a fourth aspect of the present invention, the present invention provides an electronic device comprising a processor; and a memory for storing a program; wherein the program comprises instructions which, when executed by the processor, cause the processor to execute the method according to the first or second aspect of the present invention.

[0047] According to a fifth aspect of the present invention, the present invention provides a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to enable a computer to execute the method according to the first or second aspect of the present invention.

[0048] Compared with the prior art, the beneficial effect of the present invention is that when receiving a docking instruction, the swimming pool robot of the present invention can automatically find the pool wall and dock without manual intervention, which brings convenience to the user's cleaning work and avoids possible damage to the swimming pool robot caused by dragging as much as possible, thereby increasing the service life of the swimming pool robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Other features, objects and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0050] Figure 1 It is a schematic flow diagram of a docking method according to at least one embodiment of the present invention.

[0051] Figure 2a to Figure 2e It is a schematic diagram of an embodiment of the swimming pool robot of the present invention turning to the docking stage after receiving the docking instruction.

[0052] Figure 3 It is a schematic flow chart of a docking method according to at least another embodiment of the present invention.

[0053] Figure 4 This is a schematic diagram of the swimming pool robot turning to the docking stage after receiving the docking instruction at the bottom of the pool in another embodiment of the present invention.

[0054] Figure 5 A schematic diagram of a swimming pool robot turning to a shore locator after receiving a docking instruction from a pool wall in another embodiment of the present invention

[0055] Figure 6a to Figure 6d It is a schematic diagram of the interface on the control device of the swimming pool robot according to at least one embodiment of the present invention, showing the visual interface of the automatic watering line of the swimming pool robot. DETAILED DESCRIPTION

[0056] In the following description, a large number of specific details are provided to provide a more thorough understanding of the present invention. However, it is obvious to those skilled in the art that the present invention can be implemented without one or more of these details. In other examples, in order to avoid confusion with the present invention, some technical features well known in the art are not described.

[0057] In the description of this embodiment, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the invention.

[0058] The swimming pool robot includes a robot body, a drive motor, a sensor unit, a controller, a battery, a walking unit, a memory, a communication unit, a robot interaction unit, a cleaning part, and a charging part.

[0059] The swimming pool robot body can be a rectangular structure, an elliptical structure, a square structure, etc., and can also be symmetrical or asymmetrical. In the embodiment of the present application, the robot body is a bilaterally symmetrical structure.

[0060] The cleaning assembly is used to clean the surface of the swimming pool, which includes the pool bottom, pool wall, steps, slope, etc. The number of the cleaning assembly can be one or more. The cleaning assembly is arranged at the bottom of the swimming pool robot, preferably at the front and rear positions of the bottom of the robot body. A driving motor is arranged inside the swimming pool robot body, and at least two rotating shafts extend from the bottom of the swimming pool robot body, and the cleaning assembly is sleeved on the rotating shaft. The driving motor can drive the rotating shaft to rotate, so that the rotating shaft drives the cleaning assembly to rotate.

[0061] The pool robot is also provided with a dirt suction device, which is provided through a water inlet at the bottom of the pool robot body and a dust box and a turbine water pump provided inside the pool robot body. The roller brush is provided on a rotating shaft at the bottom of the pool robot, and after the rotating shaft drives the roller brush, the rotating roller brush sweeps dirt such as mud and algae to the vicinity of the water inlet at the bottom of the sweeping robot 1001. Due to the suction effect of the turbine water pump, the dirt is sucked into the water inlet and enters the dust box through the water inlet for temporary storage.

[0062] In the embodiment of the present invention, the cleaning component of the swimming pool robot can be arranged in a detachable connection mode. The walking unit is a component related to the movement of the swimming pool robot.

[0063] The controller is disposed inside the main body of the swimming pool robot, and is used to control the swimming pool robot to perform specific operations. The controller may be, for example, a central processing unit (CPU) or a microprocessor. The controller is electrically connected to components such as a battery, a memory, a drive motor, a walking unit, and a sensor unit to control these components.

[0064] The battery can be arranged inside the swimming pool robot body or outside the swimming pool robot body. The battery is used to provide power for the swimming pool robot. Preferably, the battery is a rechargeable battery, and more preferably, the battery is a solar cell.

[0065] The main body of the pool robot is also provided with a charging component, which is used to obtain power from an external device.

[0066] The memory is arranged on the main body of the pool robot, and a program is stored in the memory, and the corresponding operation is realized when the program is executed by the controller. The memory is also used to store parameters used by the pool robot. The memory includes but is not limited to a disk memory, a compact disc read-only memory (CD-ROM), an optical memory, etc.

[0067] The communication unit can be set on the main body of the pool robot, or can be set on an external device and electrically connected to the main body of the pool robot. The communication unit is used to allow the pool robot to communicate with the external device, and the communication unit includes but is not limited to a wireless fidelity (WIreless-Fidelity, WI-FI) communication module and a short-distance communication module. The pool robot can connect to a WI-FI router through the WI-FI communication module to communicate with the terminal.

[0068] The sensor unit provided on the main body of the swimming pool robot includes various types of sensors, such as a collision sensor, a distance sensor, a counter, and a gyroscope.

[0069] The distance sensor may be an ultrasonic distance sensor, which can be used to detect the distance from the obstacle to the distance sensor. The distance sensor is arranged at the front, back and sides of the swimming pool robot body, and can also be arranged to rotate at the top, so that the distance value from the obstacle near the swimming pool robot to the distance sensor can be measured by the distance sensor.

[0070] A counter and a gyroscope are also provided inside the main body of the pool robot. The counter is used to accumulate the total number of rotation angles of the driving wheel to calculate the distance the driving wheel drives the pool robot to move. The gyroscope is used to detect the rotation angle of the pool robot, so as to determine the direction of the pool robot.

[0071] It should be understood that the swimming pool robot described in the embodiment of the present application is only a specific example and does not constitute a specific limitation to the swimming pool robot in the embodiment of the present application. The swimming pool robot in the embodiment of the present application may also be implemented in other specific ways.

[0072] like Figure 1 As mentioned above, in one embodiment of the present invention, the pool robot is placed in a swimming pool in any direction. The ultrasonic sensors located on the four sides of the body emit multiple ultrasonic beams, wherein the ultrasonic beams along the longitudinal direction of the pool robot body are X1 and X1', which are emitted by the ultrasonic sensors at the front and rear of the body respectively; the ultrasonic beams along the transverse direction of the pool robot body are X2 and X2', which are emitted by the ultrasonic sensors at the left and right of the body respectively. In this specification, the ultrasonic beams X1, X1', X2, and X2' are understood as the distances from the corresponding ultrasonic sensors to the pool wall.

[0073] In actual situations, due to the range of the ultrasonic sensor, the actual size of the swimming pool, and the angle and material of the pool wall, it is possible that the ultrasonic sensor cannot receive the reflected wave. In this case, if no reflected wave is received, the distance from the ultrasonic sensor to the pool wall is infinite by default.

[0074] When the swimming pool robot receives the command to dock, it turns to one side and moves towards the nearest pool wall when it finds it. Figure 2a to Figure 2d An embodiment is shown in which the swimming pool robot turns after receiving a docking instruction, but the scope of the present invention is not limited thereto.

[0075] like Figure 2a As shown, the swimming pool robot with ultrasonic sensors on all four sides of its body is moving in a preset direction, the distances between its front end and the left side and the pool wall are X1 and X2 respectively, and X2<X1, and the angles between the ultrasonic beam and the pool wall are a and b respectively.

[0076] Figure 2bIt shows that the driving motors on both sides of the swimming pool robot adjust the speed and turn to the left. At this time, X2 increases, X1 decreases, ∠a increases, and ∠b decreases.

[0077] Figure 2c It shows that the front end of the swimming pool robot is perpendicular to the pool wall, at which time X2 is infinite and X1 is the critical point.

[0078] Figure 2d It shows that the swimming pool robot turns beyond the critical point, and the ultrasonic sensor on the right side of the swimming pool robot receives the reflected wave X2'; the distance X1 between the front end of the swimming pool robot and the pool wall increases, and ∠a becomes smaller. Figure 2d In the figure, ∠a” is a right angle.

[0079] Therefore, in some embodiments of the present invention, when X1 is not the shortest among all ultrasonic beams, the swimming pool robot turns to the shorter one between X2 and X2' until X1 becomes the shortest among all ultrasonic beams. Here we assume that X1'>X1.

[0080] Specifically, the orientation step is calculated as follows:

[0081] When X1 is the shortest among all ultrasonic beams, the swimming pool robot turns to one side. If X1 becomes larger, the swimming pool robot turns in the opposite direction until X1 is less than or equal to the previous value and moves in the direction where X1 decreases.

[0082] For a pool robot that can face the wall on both sides, the situation of X1' is similar to that of X1. When both the front and rear ultrasonic sensors can receive reflected waves, the size of X1' can be compared with that of X1, and one end can be set as the standard according to the needs.

[0083] In other embodiments of the present invention, the fixed end is used as the reference, X1 is the ultrasonic beam emitted from the front, and X1' is the ultrasonic beam emitted from the back, then the calculation method of the orientation step is as follows:

[0084] When X1' is not the shortest among all ultrasonic beams, the swimming pool robot turns to one side until X1' becomes the shortest among all ultrasonic beams.

[0085] When X1' is the shortest among all ultrasonic beams, the swimming pool robot rotates to one direction. If X1' increases, the swimming pool robot turns in the opposite direction until X1' is less than or equal to the previous value and moves in the direction where X1' decreases.

[0086] Upon receiving the command to dock, the pool robot moves until it collides with the pool wall, and the drive motor increases the power to control the pool robot to climb the wall and maintain dynamic balance at the waterline.

[0087] In actual application, after receiving the docking instruction, the swimming pool robot can stop moving, turn on the spot, and determine the nearest pool wall; it can also turn during the movement to find the nearest pool wall. If X1 is greater than X1', and X1' is increasing, it means that the current movement direction of the swimming pool robot is away from the nearest pool wall, then it is preferred to stop moving, turn on the spot, and determine the nearest pool wall.

[0088] like Figure 3 As shown, some embodiments of the present invention provide another swimming pool robot automatic docking method, which includes:

[0089] S210 controls the pool robot to move based on a preset direction;

[0090] S220 receives the docking instruction;

[0091] S230 determines whether the position of the swimming pool robot relative to the pool wall meets the preset conditions; if yes, execute S250; if no, execute S240;

[0092] S240 controls the swimming pool robot to turn relative to the pool wall until the moving direction of the swimming pool robot is perpendicular to the pool wall;

[0093] S250 controls the swimming pool robot to move toward the pool wall until it collides with the pool wall.

[0094] exist Figure 4 In the example, the swimming pool robot 100 is provided with an ultrasonic sensor capable of wide-angle scanning on the top of the body. When cleaning the swimming pool 300, the swimming pool robot 100 emits ultrasonic waves 200 to the surrounding waters.

[0095] The working area of ​​the swimming pool robot 100 may be the pool bottom or the pool wall.

[0096] When the swimming pool robot 100 is cleaning the pool bottom according to a preset path, it receives a command to dock.

[0097] Based on the gyroscope's judgment of posture, the swimming pool robot adopts the pool bottom steering mode.

[0098] In the pool bottom steering mode, the robot is steered towards the nearest pool wall determined by the wide-angle scanning ultrasonic sensor. Since the ultrasonic sensor has a limited range, it is very likely that the reflected wave will not be received at some locations in the pool. When the reflected wave is not received, the pool robot continues to clean along the preset path until the reflected wave is received, and then steers according to the direction of the received reflected wave.

[0099] Figure 4 The distance that the swimming pool robot 100 touches the wall according to the preset path is D1, but the ultrasonic sensor has fed back that the swimming pool robot 100 should turn to the direction D2 to shorten the distance touching the wall.

[0100] like Figure 5 As shown, in some other embodiments of the present invention, a landing positioner 150 is installed above the pool wall 310. A signal generator that transmits ultrasonic signals into the water is provided in the landing positioner 150. After the controller sends a landing instruction to the swimming pool robot 100, the landing positioner 150 is started.

[0101] The swimming pool robot 100 cleans the pool wall 310 along a preset path.

[0102] After the controller issues a command to dock, the landing positioner 150 emits an ultrasonic signal into the water. When the swimming pool robot 100 runs into the coverage of the ultrasonic wave of the landing positioner 150, it adjusts its posture and moves toward the landing positioner 150.

[0103] For some swimming pool robots provided with a handle, it is preferred that the swimming pool robot 100 moves with the handle side facing the water surface, which is helpful for the user to lift the swimming pool robot out of the water.

[0104] Figure 6a to Figure 6d A schematic diagram of a visual interface of an automatic water-up line of a swimming pool robot according to some embodiments of the present invention is shown. When the swimming pool robot 620 receives a docking instruction, it docks and climbs up the pool wall 631. The built-in gyroscope and counter of the swimming pool robot 620 can record the angle and height of the swimming pool robot's ascent. Figure 6a to Figure 6d In the figure, the pool wall 631 is gridded, the dark grey is the waterline retention area, the medium grey part is the area near the waterline, and the grey part is the underwater area.

[0105] The completion mark 611 shows the completion degree of docking calculated according to the speed and distance from the waterline of the pool robot 620. The timer 610 shows the remaining time of the docking instruction.

[0106] For example, Figure 6a In the example, the swimming pool robot 620 is in the underwater area, and the timer 610 shows that the remaining time for the docking instruction is 80 seconds, and the docking completion degree is 30%; Figure 6b In the process, the pool robot 620 enters the area near the waterline, the remaining time of the docking command is 70 seconds, and the docking completion rate is 70%; Figure 6c In the middle, the pool robot 620 enters the waterline stay area, and the remaining time for the docking command is 60 seconds; Figure 6c In the process, the swimming pool robot 620 enters the waterline stay area, the remaining time of the docking instruction is 60 seconds, and the docking completion rate is 100%; Figure 6d In the example, the swimming pool robot 620 waits in the waterline stop area for a timeout and returns to the water. The remaining time for the docking command is 0s, and the docking completion rate is 100%.

[0107] In the art, there has been no digital monitoring of the cleaning process. This is because most sensors used on land fail underwater, and the accuracy of underwater operations has always been low. In the existing known automated docking designs, the design idea is basically to pull the pool robot ashore by automatic dragging. This application provides for the first time a solution in which a pool robot stays at the waterline and waits to go ashore without external force, relying on its own sensors.

[0108] In other embodiments of the present invention, it is also possible not to distinguish between the waterline stay area, the area near the waterline, and the underwater area. Because when the pool robot moves to the waterline, due to the dual effects of buoyancy and gravity, the sensor can sense that it has reached the waterline. Therefore, in a simplified embodiment of the present invention, when the pool robot reaches the waterline, the timing starts. If the user does not lift the pool robot out of the water within the predetermined time, the automatic docking procedure ends, and the pool robot retreats underwater to continue cleaning work.

[0109] Embodiments of the present invention may be implemented in one of hardware, firmware and software or a combination thereof. Embodiments may also be implemented as instructions stored on a computer-readable storage device, which may be read and executed by at least one processor to perform the operations described herein. A computer-readable storage device may include any non-transient mechanism for storing information in a machine (e.g., computer) readable form. For example, a computer-readable storage device may include a read-only memory (ROM), a RAM, a disk storage medium, an optical storage medium, a flash memory device, and other storage devices and media. Some embodiments may include one or more processors and may be configured with instructions stored on a computer-readable storage device.

[0110] Although the embodiments have been described with reference to specific example embodiments, it is obvious that various modifications and changes can be made to these embodiments without departing from the broader scope of the present disclosure. Therefore, the description and the drawings are considered to be illustrative rather than restrictive. The drawings constituting a part of this article show specific embodiments in which the subject matter can be practiced in an illustrative rather than restrictive manner. The illustrated embodiments are described in sufficient detail to enable those skilled in the art to practice the teachings disclosed herein. Other embodiments can be utilized and derived therefrom so that structural and logical replacements and changes can be made without departing from the scope of the present disclosure. Therefore, this detailed description should not be regarded as having a limiting meaning, and the scope of the various embodiments is limited only by the appended claims and the full range of equivalents given by these claims. These embodiments of the subject matter can be referred to herein individually and / or collectively by the term "embodiment", which is only for convenience and is not intended to actively limit the scope of the present application to any single inventive concept (if more than one inventive concept is disclosed in fact). Therefore, although specific embodiments have been illustrated and described herein, it should be understood that any arrangement that is considered to achieve the same purpose can replace the specific embodiments shown. The present disclosure is intended to cover any and all modifications or changes of various embodiments. Combinations of the above embodiments, and other embodiments not specifically described herein, will be apparent to those of skill in the art upon reading the above description.

[0111] In this document, as is common in patent documents, the terms "a" or "an" are used to include one or more than one, regardless of any other instance or usage of "at least one" or "one or more." Unless otherwise noted, in this document, the term "or" is used to refer to a non-exclusive "or" such that "A or B" includes "A, but not B," "B, but not A," and "A and B." In this document, the terms "including" and "wherein" are used as equivalents of the corresponding terms "comprising" and "wherein." In addition, in the following claims, the terms "including" and "comprising" are open-ended; that is, a system, UE, article, composition, formula, or process that includes elements other than those listed after such terms in a claim is still considered to fall within the scope of the claim. In addition, in the following claims, the terms "first," "second," and "third," etc. are used merely as labels and are not intended to impose numerical requirements on their objects.

[0112] The present invention is not limited to the above-mentioned embodiments, and various changes can be made within the scope of the present invention. The present invention has been described by the above-mentioned embodiments, but it should be understood that the above-mentioned embodiments are only for the purpose of example and description, and are not intended to limit the present invention to the scope of the described embodiments. In addition, it can be understood by those skilled in the art that the present invention is not limited to the above-mentioned embodiments, and more variations and modifications can be made according to the teachings of the present invention, and these variations and modifications all fall within the scope of the protection claimed by the present invention. The protection scope of the present invention is defined by the attached claims and their equivalents.

Claims

1. A swimming pool robot automatic docking method, comprising: S110, the pool robot is placed into the pool in any direction; S120, the swimming pool robot calculates the angle between the moving direction and the swimming pool wall while moving; S130, after receiving the docking instruction, the swimming pool robot turns to one side, and when finding the nearest pool wall, moves towards the nearest pool wall; The pool robot is provided with ultrasonic sensors on its body; the ultrasonic sensors are respectively arranged on the front, back and both sides of the body; after the ultrasonic sensors located on the four sides of the body fall into the water, they will emit multiple ultrasonic beams, which are perpendicular to the body, where X1 is the ultrasonic beam emitted from the front or back; S130 is calculated as follows: When X1 is the shortest among all ultrasonic beams, the swimming pool robot turns to one side. If X1 becomes larger, the swimming pool robot turns in the opposite direction until X1 is less than or equal to the previous value and moves in the direction where X1 decreases.

2. The method according to claim 1, further comprising: S140, after reaching the pool wall, the swimming pool robot continues to climb the wall and maintains dynamic balance at the waterline.

3. The method according to claim 1, wherein when the swimming pool robot turns to one side, the distance from the front or rear of the body to the pool wall is measured, and when the shortest distance to the pool wall is determined, the robot moves forward in a direction perpendicular to the pool wall.

4. The method according to claim 1, wherein S120 is calculated as follows: X2 is the ultrasonic beam emitted from one of the left and right sides. The angle between X1 and the pool wall is a, and the angle between X2 and the pool wall is b.

5. The method according to claim 1, wherein S130 is calculated as follows: When X1 is not the shortest among all ultrasonic beams, the swimming pool robot turns to one side until X1 becomes the shortest among all ultrasonic beams.

6. The method according to any one of claims 1 to 5, wherein X1 is the ultrasonic beam emitted in the front, and X1' is the ultrasonic beam emitted in the back, and the calculation method of S130 is as follows: When X1' is not the shortest among all ultrasonic beams, the swimming pool robot turns to one side until X1' becomes the shortest among all ultrasonic beams; When X1' is the shortest among all ultrasonic beams, the swimming pool robot rotates to one direction. If X1' increases, the swimming pool robot turns in the opposite direction until X1' is less than or equal to the previous value and moves in the direction where X1' decreases.

7. A swimming pool robot that docks using the method described in any one of claims 1-6, wherein a gyroscope, a drive motor, an ultrasonic sensor, and a controller are installed on the body of the swimming pool robot; the gyroscope, the drive motor, the ultrasonic sensor, and the controller are all electrically connected.

8. An electronic device comprising a processor; and a memory storing a program; wherein: The program includes instructions, which, when executed by the processor, cause the processor to perform the method according to any one of claims 1 to 6.

9. A non-transitory computer-readable storage medium storing computer instructions, wherein: The computer instructions are used to enable a computer to execute the method according to any one of claims 1-6.

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