Cleaning path control method and device for swimming pool robot and swimming pool robot

Abstract

Embodiments of the present invention disclose a pool robot cleaning path control method, device, and pool robot. The method includes: determining an initial position of the pool robot when starting cleaning; determining an initial path including at least one sub-path corresponding to a pool area based on the initial position and an initial map of the pool; controlling the pool robot to move along the initial path within each area and perform cleaning tasks on the pool bottom, walls, or surface; obtaining environmental information including pressure, water flow dynamics, obstacles, water quality, debris, and friction at each position within each area, determining a cleaning mode corresponding to the current position, obtaining predicted cleaning modes for other positions based on historical cleaning records, and optimizing and adjusting the sub-path for the current area; and controlling the pool robot to perform cleaning tasks based on the optimized and adjusted sub-path. The present invention can improve the cleaning efficiency of the pool robot.

Description

Technical Field

[0001] The present invention relates to the technical field of smart home appliances, and in particular to a cleaning path control method and device for a swimming pool robot, a computer-readable storage medium, and a swimming pool robot. Background Art

[0002] With the widespread adoption of robotics in the home appliance industry, more and more appliances and home furnishings are being replaced by robots, including pool robots. Pool robots can clean the surface, bottom, and walls of a swimming pool, replacing manual cleaning and significantly reducing the labor required. However, the cleaning path a pool robot follows determines its efficiency. Existing solutions restrict pool robots to fixed cleaning paths, resulting in inefficient cleaning and a tendency to inadequate cleaning. Summary of the Invention

[0003] Based on this, it is necessary to address the above problems and propose a cleaning path control method and device for a swimming pool robot, a computer-readable storage medium, and a swimming pool robot.

[0004] In the first part of the present invention, a cleaning path control method for a swimming pool robot is provided, the method comprising:

[0005] When cleaning is started, the initial position of the pool robot is determined by the sensor device on the pool robot;

[0006] Obtaining an initial map of the swimming pool, and determining an initial path for pool cleaning based on an initial position of the pool robot and the initial map of the swimming pool, wherein the initial path includes at least one sub-path, wherein each sub-path corresponds to an area of the swimming pool, wherein the area of the swimming pool includes one or more of a pool bottom, at least one pool wall, and a floating area on the pool surface;

[0007] In each area, controlling the swimming pool robot to move according to the sub-path included in the initial path corresponding to the area and perform a cleaning task on the bottom, wall or surface of the swimming pool;

[0008] During the cleaning task in each area, when the pool robot reaches each position on the sub-path, the sensor device on the pool robot obtains the environmental information corresponding to the current position, wherein the environmental information includes pressure information, water flow dynamics information, obstacle information, water quality information, debris information and friction information;

[0009] Determine the cleaning mode corresponding to the current location based on the environmental information corresponding to the current location, and obtain the predicted cleaning modes of other locations based on historical cleaning records, where the cleaning modes include travel speed, roller brush operation mode, filtering mode, and adsorption mode;

[0010] Optimize and adjust the subpath corresponding to the area based on the cleaning mode of the current location and the predicted cleaning modes of other locations, wherein the number of cleaning mode changes in the optimized subpath is less than that of other optional paths;

[0011] Control the pool robot to perform cleaning tasks in the area based on the optimized and adjusted sub-path;

[0012] Among them, the sensing devices on the swimming pool robot include a GPS device, at least one radar device, a pressure sensing device, a water flow dynamics detection device, a camera device, and a water quality detection device.

[0013] Optionally, the obtaining of an initial map of the swimming pool and determining an initial path for cleaning the swimming pool based on an initial position of the swimming pool robot and an initial map of the swimming pool also includes: performing path planning for each area of the swimming pool based on the initial map of the swimming pool, and determining at least one optional path corresponding to each area; determining the initial path for cleaning the swimming pool based on the optional path of each area, wherein the initial path includes sub-paths corresponding to each area, and the sub-path is one of the at least one optional path corresponding to the area, and the initial path is one of at least one total path consisting of at least one optional path corresponding to each area, and the initial path has the shortest distance or consumes the least power.

[0014] Optionally, the step of determining the cleaning mode corresponding to the current position based on the environmental information corresponding to the current position also includes: calculating the cleaning sub-mode corresponding to the environmental information according to a preset cleaning mode calculation formula, the cleaning sub-mode including the travel speed, the roller brush operation mode, the filtering mode, and the adsorption mode, and determining the cleaning mode corresponding to the current position according to the cleaning sub-mode; wherein, according to the feature extraction algorithm corresponding to each cleaning sub-mode, the characteristic value corresponding to the cleaning sub-mode in the environmental information is extracted; according to the corresponding relationship between the characteristic value and the cleaning sub-mode, the mode value of the cleaning sub-mode is determined, wherein the mode value of the cleaning sub-mode corresponds to the specific mode parameter of the cleaning sub-mode; and determining the cleaning mode corresponding to the current position according to the mode value of each cleaning sub-mode.

[0015] Optionally, the step of obtaining the predicted cleaning mode of other locations based on historical cleaning records also includes: for a location in an uncleaned area, obtaining the historical cleaning record corresponding to the location, and determining the predicted cleaning mode corresponding to the location based on a preset prediction model; or, for a location in an uncleaned area, obtaining environmental information related to the location from the current location and the environmental information obtained in the cleaned area as associated environmental information, and determining the associated cleaning mode of the location based on the associated environmental information; obtaining the historical cleaning record corresponding to the location, and determining the predicted cleaning mode of the location based on the historical cleaning mode in the historical cleaning record and the associated cleaning mode.

[0016] Optionally, the step of optimizing and adjusting the sub-path corresponding to the area based on the cleaning mode of the current position and the predicted cleaning modes of other positions also includes: obtaining at least one optional path in the uncleaned area of the area based on a preset path planning algorithm; calculating the loss values corresponding to the path length, power consumption, cleaning time and the number of cleaning mode changes of each optional path; weighting the loss values corresponding to the path length, power consumption, cleaning time and the number of cleaning mode changes of each optional path based on a preset weighting coefficient to obtain the path loss value corresponding to the optional path; and determining the optimized and adjusted sub-path corresponding to the uncleaned area in the area in the at least one optional path based on the path loss value.

[0017] Optionally, the step of obtaining at least one optional path in the uncleaned area of the area based on a preset path planning algorithm also includes: dividing the current area based on the cleaning mode to determine multiple enclosed areas, wherein the difference between the maximum and minimum values of the mode values of the cleaning sub-modes contained in the cleaning mode corresponding to the multiple positions contained in each enclosed area is within a preset range; dividing each enclosed area into paths to obtain multiple sub-paths for each enclosed area, and determining at least one optional path in the uncleaned area based on the multiple sub-paths of each enclosed area.

[0018] Optionally, the step of dividing each enclosed area into paths to obtain multiple sub-paths for each enclosed area further includes: determining the water flow dynamics information corresponding to each position contained in each enclosed area; performing path planning on the enclosed area according to the water flow dynamics information to obtain multiple sub-paths of the enclosed area, wherein, in the multiple sub-paths obtained by planning, the proportion of positions in the sub-paths where the angle between the travel direction and the water flow direction contained in the water flow dynamics information is less than a preset angle value exceeds a preset ratio.

[0019] In a second aspect of the present invention, a cleaning path control device for a swimming pool robot is provided, the device comprising:

[0020] An initial path determination module is configured to determine the initial position of the pool robot using a sensor device on the pool robot when cleaning is initiated; obtain an initial map of the pool, and determine an initial path for pool cleaning based on the initial position of the pool robot and the initial map of the pool, wherein the initial path includes at least one sub-path, wherein each sub-path corresponds to an area of the pool, wherein the area of the pool includes one or more of the pool bottom, at least one pool wall, and a floating area on the pool surface;

[0021] a cleaning module, configured to control the swimming pool robot to move in each area according to a sub-path included in the initial path corresponding to the area and perform a cleaning task on the bottom, wall or surface of the swimming pool;

[0022] Wherein, the cleaning module includes:

[0023] An environmental information acquisition unit is configured to acquire environmental information corresponding to each position on a sub-path during the cleaning task execution of each area, using a sensor device on the pool robot when the pool robot reaches the current position, wherein the environmental information includes pressure information, water flow dynamics information, obstacle information, water quality information, debris information, and friction information;

[0024] a cleaning module determination unit, configured to determine a cleaning mode corresponding to the current location based on environmental information corresponding to the current location, and to obtain predicted cleaning modes for other locations based on historical cleaning records, wherein the cleaning modes include travel speed, roller brush operation mode, filtration mode, and adsorption mode;

[0025] a path optimization and adjustment unit, configured to optimize and adjust a subpath corresponding to the area based on the cleaning mode of the current location and the predicted cleaning modes of other locations, wherein the number of cleaning mode changes in the subpath after optimization and adjustment is less than that of other optional paths;

[0026] The cleaning sub-unit is used to control the swimming pool robot to perform cleaning tasks on the area based on the optimized and adjusted sub-path;

[0027] Among them, the sensing devices on the swimming pool robot include a GPS device, at least one radar device, a pressure sensing device, a water flow dynamics detection device, a camera device, and a water quality detection device.

[0028] In a third aspect of the present invention, a swimming pool robot is provided, comprising a memory and a processor, wherein the memory has executable code, and when the executable code runs on the processor, the cleaning path control method of the swimming pool robot as described in the first part above is implemented.

[0029] In a fourth aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium is used to store a computer program, and the computer program is used to execute the cleaning path control method of the swimming pool robot as described in the first part above.

[0030] The embodiments of the present invention have the following beneficial effects:

[0031] After adopting the above-mentioned cleaning path control method and device of the swimming pool robot, computer-readable storage medium, and swimming pool robot, when the swimming pool is cleaned by the swimming pool robot, path planning is first performed based on the initial position of the swimming pool robot and the initial map of the swimming pool to obtain the path of each area of the swimming pool. Then, in the process of cleaning each area, at each cleaning position, environmental information such as pressure information, water flow dynamics information, obstacle information, water quality information, debris information and friction information corresponding to the current position is obtained through a sensing device, and the cleaning mode of the current position is determined based on the environmental information, and the cleaning modes of other uncleaned positions are determined based on historical records. Then, based on the current position and the cleaning modes of the uncleaned positions, the path obtained by the previous path planning is optimized and adjusted, and the swimming pool robot is controlled to perform the cleaning task based on the optimized and adjusted path, so as to minimize the number of cleaning mode changes during the cleaning process, thereby reducing the additional power consumption caused by the cleaning mode changes. That is to say, in this embodiment, the cleaning path and cleaning mode can be accurately controlled during the cleaning process of the swimming pool robot based on environmental information. By controlling the change of the cleaning mode, a better cleaning effect is guaranteed, and by controlling the number of changes of the cleaning mode, the cleaning efficiency of the swimming pool robot is greatly saved, thereby improving the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0033] in:

[0034] Figure 1 1 is a flow chart of a cleaning path control method for a swimming pool robot according to an embodiment;

[0035] Figure 2 A schematic diagram of a process for controlling a swimming pool robot to clean various areas in one embodiment;

[0036] Figure 3Schematic diagram of a cleaning path control device for a swimming pool robot according to one embodiment;

[0037] Figure 4 Schematic diagram of the structure of a swimming pool robot executing the above-mentioned cleaning path control method of the swimming pool robot in one embodiment. DETAILED DESCRIPTION

[0038] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0039] In this embodiment, a cleaning path control method for a swimming pool robot is provided. When applied to the swimming pool robot, the method can improve the swimming pool robot's control of the cleaning path when cleaning the swimming pool, thereby improving the swimming pool robot's cleaning efficiency of the swimming pool, and improving the cleanliness level of the swimming pool cleaning, thereby enhancing the user experience.

[0040] Specifically, the pool robot can move along a cleaning route along the pool bottom and walls, using a roller brush and filtering device to clean, absorb, and filter debris from the pool bottom and walls, thereby achieving the purpose of cleaning the pool bottom and walls. Alternatively, the pool robot can also move on the pool surface (also known as the floating area of the pool surface when there is water in the pool) or the pool water, absorbing and filtering debris in the water, thereby achieving the purpose of cleaning the pool water. The pool robot cleaning path control method provided in this embodiment specifies the cleaning path that the pool robot should follow when moving on the pool surface, pool bottom, or pool walls, and how to control the pool robot to perform specific cleaning tasks at each location.

[0041] For details, see Figure 1 , Figure 1 A flow chart of the cleaning path control method of the swimming pool robot is given, wherein the cleaning path control method of the swimming pool robot includes the following steps: Figure 1 The following steps are shown:

[0042] Step S101: When cleaning is started, the initial position of the swimming pool robot is determined by the sensor device on the swimming pool robot.

[0043] Before starting cleaning, the pool robot must first determine its initial position. This initial position can be a preset location, where the user places the pool robot each time before it begins cleaning. Alternatively, the initial position can be determined by the pool robot itself, specifically, by a sensor device installed on the pool robot. The sensor device on the pool robot includes one or more of a GPS device, at least one radar device, a camera device, etc. The sensor device acquires the pool robot's position information and uses this acquired position information as the initial position.

[0044] In a specific embodiment, the approximate position of the pool robot is obtained through a GPS device, and then radar signals are sent in all directions of the swimming pool through one or more radar devices. The distance between the pool robot and the various surfaces and the bottom of the swimming pool is determined based on the received return radar signals, and then the initial position of the pool robot is determined based on the calculated distance and GPS positioning.

[0045] In another specific embodiment, an image corresponding to the surrounding environment of the swimming pool robot is obtained by a camera device, and then the initial position of the swimming pool robot is determined based on the image; or the initial position of the swimming pool robot can also be calculated based on a radar device and the above image.

[0046] In another specific embodiment, multiple radio frequency devices are installed in the swimming pool. The position information of the pool robot is determined through interaction between the multiple radio frequency devices installed in the swimming pool and the radio frequency device installed in the pool robot, thereby determining the initial position. For example, the distance between the pool robot and each radio frequency device is determined based on the strength of the radio frequency signal received by the pool robot, and the pool robot's position information is then calculated based on the distance.

[0047] Furthermore, in another embodiment, one or more of the above-mentioned methods for determining the position information of the swimming pool robot can be combined to determine the initial position of the swimming pool robot, so as to improve the accuracy of the initial position determination of the swimming pool robot, thereby improving the accuracy of subsequent cleaning path control.

[0048] Step S102: Obtain an initial map of the swimming pool, and determine an initial path for pool cleaning based on the initial position of the pool robot and the initial map of the swimming pool, wherein the initial path includes at least one sub-path, wherein each sub-path corresponds to an area of the swimming pool, wherein the area of the swimming pool includes one or more of the pool bottom, at least one pool wall, and a floating area on the pool surface.

[0049] The initial map corresponding to the swimming pool includes the areas corresponding to the pool surface, pool bottom, and pool walls, as well as the corresponding settings on the areas, such as the location information of the water outlet, drain, stairs, etc. When planning the cleaning path, it is necessary to plan the path based on the initial position and the initial map so that the cleaning path of the swimming pool robot can cover all positions of the swimming pool, and the cleaning path is as good or optimal as possible.

[0050] In the specific process of path planning, it is necessary to perform path planning for each area of the swimming pool separately to obtain the sub-path corresponding to each area, and then obtain the overall cleaning path (here the initial path) based on the sub-path of each area. Specifically, for each area of the swimming pool, path planning is performed according to the initial map of the swimming pool to determine at least one optional path corresponding to each area; based on the optional path of each area, the initial path for pool cleaning is determined, wherein the initial path includes the sub-paths corresponding to each area, and the sub-path is one of the at least one optional path corresponding to the area, and the initial path is one of the at least one total path composed of the at least one optional path corresponding to each area, and the initial path has the shortest distance or the least power consumption. That is to say, path planning is first performed for each area separately to obtain multiple locally optimal sub-paths, and then based on the synthesis of each area, the multiple sub-paths are integrated to obtain an overall optimal total path as the initial path obtained by the pool robot for cleaning path planning, wherein the better or optimal path planning here can be based on the shortest distance, the least power consumption, or the best based on other parameters set by the user, which are not limited here.

[0051] Step S103: In each area, the swimming pool robot is controlled to move according to the sub-path included in the initial path and corresponding to the area and perform a cleaning task on the bottom, wall or surface of the swimming pool.

[0052] In step S102 , the cleaning path (sub-path) corresponding to each area is determined, and the swimming pool robot can be controlled to move along the corresponding path and clean the corresponding area to complete the cleaning task of the swimming pool.

[0053] In order to improve the overall cleaning efficiency and ensure the cleanliness of the swimming pool, real-time detection and control are required during the cleaning process in order to achieve the best efficiency and cleaning effect.

[0054] Specifically, in the execution of the cleaning task in each area, step S103 specifically includes the following steps: Figure 2 The following steps are shown:

[0055] Step S1031: When the pool robot moves to each position on the sub-path, the sensor device on the pool robot obtains the environmental information corresponding to the current position, where the environmental information includes pressure information, water flow dynamics information, obstacle information, water quality information, debris information and friction information.

[0056] When the pool robot performs a cleaning task, the current cleaning environment may have changed compared to the initial map. For example, there may be new obstacles, or the degree of dirt and debris on the pool bottom and walls may be different or changed. In this case, using the original initial cleaning plan may not achieve a good cleaning effect. Therefore, in this step, the cleaning path of the pool robot needs to be adjusted and optimized in real time or periodically to ensure a good cleaning effect.

[0057] Specifically, when the pool robot reaches each position on the road, or at a certain distance along the path, it is necessary to reconsider whether the path needs to be optimized and adjusted. Here, the consideration is to optimize and adjust the sub-path corresponding to the area.

[0058] Here, the re-optimization and adjustment of the path is based on the relevant environmental information of the current position of the pool robot. For example, if there are obstacles or debris around the current position, the pool robot needs to adjust the original travel path. How to adjust it at this time requires detecting the surrounding environmental information based on the sensor device set on the pool robot, and then adjusting the path based on the detected environmental information.

[0059] In a specific embodiment, the sensor device on the swimming pool robot includes a GPS device, at least one radar device, a pressure sensor device, a water flow dynamics detection device, a camera device, and a water quality detection device. Here, in order to prepare the detection environment information, one or more of the following sensor detections need to be performed. The current position of the swimming pool robot is re-detected by the GPS device; the surrounding obstacles are detected by the radar device and the camera device; the current underwater position is detected by the pressure sensor device to confirm the influence of the water pressure on the swimming pool robot; the friction force at the current position is detected by the pressure sensor device to facilitate the subsequent determination of the friction force of the swimming pool robot; the water flow dynamics detection device is used to detect whether there is water flow at the current position, and to determine the direction, size, strength and other information of the water flow; the water quality of the current position is detected by the water quality detection device to facilitate the subsequent determination of whether the water needs to be filtered. In other words, the environmental information includes one or more of pressure information, water flow dynamics information, obstacle information, water quality information, debris information and friction information, which are not limited here.

[0060] Step S1032: Determine the cleaning mode corresponding to the current location based on the environmental information corresponding to the current location, and obtain the predicted cleaning modes of other locations based on historical cleaning records, where the cleaning modes include travel speed, roller brush operation mode, filtering mode, and adsorption mode.

[0061] In order to effectively clean the swimming pool, in this embodiment, different cleaning modes are set for the swimming pool robot. For example, the cleaning modes for different areas of the pool wall or pool bottom are different. Here, the cleaning mode includes the swimming pool robot's travel speed, roller brush operation mode, whether to filter and the filtering mode, adsorption mode for adsorbing debris, etc. The specific value of the cleaning mode is determined according to the specific values of the above-mentioned parameters such as travel speed, roller brush operation mode, filtering mode, adsorption mode, etc. In this step, the corresponding cleaning mode is determined based on the environmental information corresponding to the current position obtained in step S1031. In a specific embodiment, the correspondence between different environmental information and cleaning modes can be pre-set, and then in this step, the cleaning mode of the current position is determined based on the correspondence between the environmental information and the cleaning mode.

[0062] At the current position, the corresponding cleaning mode is determined according to the environmental information corresponding to the current position. Specifically, according to the preset cleaning mode calculation formula, the cleaning sub-mode corresponding to the environmental information is calculated, and the cleaning sub-mode includes the travel speed, the roller brush operation mode, the filtering mode, and the adsorption mode. The cleaning mode corresponding to the current position is determined according to the cleaning sub-mode. Among them, some information in the environmental information will affect one or more cleaning sub-modes. In this case, for each cleaning sub-mode, according to the feature extraction algorithm corresponding to the cleaning sub-mode, the relevant information corresponding to the cleaning sub-mode in the environmental information is obtained, and then the characteristic values corresponding to these relevant information are extracted. Then, according to the correspondence between the characteristic value and the cleaning sub-mode, the mode value of the cleaning sub-mode is determined. Here, the mode value of each cleaning sub-mode corresponds to the specific mode parameter of the cleaning sub-mode; for example, in the cleaning sub-mode of travel speed, the mode value = 8 corresponds to the mode value 8 corresponding to the cleaning sub-mode corresponding to the travel speed of 8. That is to say, the cleaning mode corresponding to the current position is determined according to the mode value of each cleaning sub-mode.

[0063] Furthermore, to ensure the rationality of subsequent path planning, in this embodiment, it is also necessary to consider the cleaning modes of other locations. This is because excessive changes in cleaning modes will lead to high power consumption, and constantly changing cleaning modes is not conducive to the cleaning efficiency of the pool robot. Therefore, in this embodiment, it is also necessary to consider the cleaning modes of other areas that have not been cleaned.

[0064] In this embodiment, for the location of other uncleaned areas, the cleaning mode of the location can be predicted based on its historical cleaning records, and its corresponding predicted cleaning mode can be determined. Alternatively, in another embodiment, for a certain location in the uncleaned area, the environmental information corresponding to the location is determined based on the information related to the location in the environmental information obtained at the current location and the areas that have been cleaned before; and then the predicted cleaning mode of the location is determined based on these environmental information. Alternatively, in another embodiment, for a certain location in the uncleaned area, it is necessary to determine the predicted cleaning mode of the location based on the historical cleaning records and the relevant environmental information obtained from other cleaned areas; specifically, the cleaning mode of the location is first predicted based on the historical cleaning records, and then the environmental information corresponding to the location is determined based on the information related to the location in the environmental information obtained at the current location and the areas that have been cleaned before, and the predicted cleaning mode is adjusted to obtain the predicted cleaning mode of the location. Through the above method, the cleaning mode of the uncleaned area can be effectively predicted to maximize the accuracy of the cleaning mode prediction, thereby improving the accuracy of subsequent path planning based on the cleaning mode prediction and reducing the possibility of subsequent path optimization and adjustment.

[0065] Step S1033: Optimizing and adjusting the subpath corresponding to the area based on the cleaning mode of the current location and the predicted cleaning modes of other locations, wherein the number of cleaning mode changes in the subpath after optimization and adjustment is less than that of other optional paths;

[0066] Step S1034: controlling the swimming pool robot to perform a cleaning task on the area based on the optimized and adjusted sub-path;

[0067] In the process of path optimization and adjustment, it is necessary not only to consider path minimization in conventional solutions, but also to consider reducing the number of changes in the sweeping mode as little as possible. For example, in one embodiment, all optional paths are obtained, and then the sub-path after optimization and adjustment is determined based on the number of changes in the sweeping mode, so as to obtain the path with the minimum number of changes as the sub-path after optimization and adjustment.

[0068] In an optional embodiment, based on a path planning algorithm, optional paths corresponding to the remaining uncleaned areas are obtained, and then for each optional path, the corresponding path loss value is calculated, wherein the path loss value is calculated based on the path length, power consumption, cleaning time, and number of cleaning mode changes of each optional path. Specifically, according to a preset calculation formula, the loss value corresponding to the path length, power consumption, cleaning time, and number of cleaning mode changes of each optional path is calculated, and then based on a preset weighting coefficient, the path loss value of each optional path is calculated, and then the sub-path after optimization and adjustment is determined based on the path loss value.

[0069] After optimizing and adjusting the sub-path, the swimming pool robot can be controlled according to the optimized and adjusted sub-path to perform the corresponding cleaning task and complete the cleaning of the swimming pool.

[0070] Furthermore, in the process of path planning for the uncleaned area, the current area can also be divided based on the cleaning mode to determine multiple enclosed areas, wherein the difference between the maximum and minimum values of the mode values of the cleaning sub-modes included in the cleaning mode corresponding to the multiple positions included in each enclosed area is within a preset range; then, path division is performed for each enclosed area to obtain multiple sub-paths of each enclosed area, and at least one optional path of the uncleaned area is determined based on the multiple sub-paths of each enclosed area. That is, in this embodiment, in order to avoid high power consumption caused by the change of the cleaning mode in the path obtained by path planning, the change of the cleaning mode is considered before path planning, that is, first, the area is divided according to whether the cleaning mode changes to obtain multiple small areas (enclosed areas), and the cleaning mode in each small area does not change much. The change here means that the range of change of the mode values of the cleaning sub-modes included in the cleaning mode is within a preset range, and a new cleaning mode can be determined for each position in the enclosed area, for example, the mode value of the cleaning sub-mode is set to the average value or median of the mode values of the various positions included in the enclosed area, which is not limited here. When planning paths in each enclosed area, the impact of the cleaning mode on path planning no longer needs to be considered. Therefore, any path planning algorithm can be used for path planning in each enclosed area. The paths in each enclosed area are then combined to obtain the sub-paths in the uncleaned area.

[0071] It's important to note that because the path planning here is specifically for pool cleaning, the process may require filling or draining the pool. In this case, the corresponding water inlets and outlets will generate a certain amount of water flow, which in turn affects various locations in the pool. Following this water flow can save a certain amount of power, while going against it requires a certain amount of additional power consumption. Therefore, in this embodiment, the path planning for the pool robot also needs to consider whether there is a certain amount of water flow at each location. If not, path planning can be performed according to the general path planning algorithm. Conversely, if there is, the impact of water flow on path power consumption needs to be considered to achieve a more optimal path planning result.

[0072] Specifically, when planning a path for an enclosed area, it is necessary to determine the water flow dynamics information in the environmental information of the current location and, based on the impact of the water flow dynamics in the environmental information collected at each location in the cleaned area on the water flow dynamics at other locations, determine the water flow dynamics information for each location in each uncleaned area. Based on this water flow dynamics information, a path is then planned for the enclosed area so that the pool robot's travel direction within the path matches the water flow direction as closely as possible. Specifically, the proportion of locations in the sub-path where the angle between the travel direction of each location and the water flow direction contained in the water flow dynamics information is less than a preset angle value exceeds a preset ratio. Alternatively, in another embodiment, a weighting coefficient is determined based on the magnitude of the water flow dynamics value in the water flow dynamics information. The angle between the travel direction of each location and the water flow direction contained in the water flow dynamics information is then weighted to obtain a water flow matching value. The water flow matching value corresponding to the planned path must then meet preset requirements, for example, being greater than or equal to a preset value. This can further reduce power consumption for the pool robot's cleaning of the pool, achieving excellent cleaning efficiency.

[0073] In another embodiment, Figure 3 As shown, a cleaning path control device for a swimming pool robot is also provided, the device comprising:

[0074] The initial path determination module 101 is configured to determine the initial position of the pool robot using a sensor device on the pool robot when cleaning is started; obtain an initial map of the pool, and determine an initial path for pool cleaning based on the initial position of the pool robot and the initial map of the pool, wherein the initial path includes at least one sub-path, wherein each sub-path corresponds to an area of the pool, wherein the area of the pool includes one or more of the pool bottom, at least one pool wall, and a floating area on the pool surface;

[0075] The cleaning module 102 is configured to control the swimming pool robot to move in each area according to the sub-path included in the initial path corresponding to the area and perform a cleaning task on the bottom, wall or surface of the swimming pool;

[0076] Wherein, the cleaning module 102 includes:

[0077] The environmental information acquisition unit 1021 is configured to acquire environmental information corresponding to each location on a sub-path during the cleaning task execution of each area through the sensing device on the pool robot. The environmental information includes pressure information, water flow dynamics information, obstacle information, water quality information, debris information, and friction information.

[0078] a cleaning module determination unit 1022, configured to determine a cleaning mode corresponding to the current location based on environmental information corresponding to the current location, and to obtain predicted cleaning modes for other locations based on historical cleaning records, wherein the cleaning modes include travel speed, roller brush operation mode, filtering mode, and adsorption mode;

[0079] A path optimization and adjustment unit 1023 is configured to optimize and adjust the sub-path corresponding to the area based on the cleaning mode of the current location and the predicted cleaning modes of other locations, wherein the number of cleaning mode changes in the sub-path after optimization and adjustment is less than that of other optional paths;

[0080] The cleaning sub-unit 1024 is used to control the swimming pool robot to perform the cleaning task on the area based on the optimized and adjusted sub-path;

[0081] Among them, the sensing devices on the swimming pool robot include a GPS device, at least one radar device, a pressure sensing device, a water flow dynamics detection device, a camera device, and a water quality detection device.

[0082] In an optional embodiment, the initial path determination module 101 is further used to perform path planning for each area of the swimming pool according to the initial map of the swimming pool, and determine at least one optional path corresponding to each area; based on the optional path of each area, the initial path for cleaning the swimming pool is determined, wherein the initial path includes sub-paths corresponding to each area, and the sub-path is one of the at least one optional path corresponding to the area, and the initial path is one of at least one total path composed of at least one optional path corresponding to each area, and the initial path has the shortest distance or consumes the least power.

[0083] In an optional embodiment, the cleaning module determination unit 1022 is also used to calculate the cleaning sub-mode corresponding to the environmental information according to a preset cleaning mode calculation formula, and the cleaning sub-mode includes a travel speed, a roller brush operation mode, a filtering mode, and an adsorption mode, and determine the cleaning mode corresponding to the current position according to the cleaning sub-mode; wherein, according to the feature extraction algorithm corresponding to each cleaning sub-mode, the characteristic value corresponding to the cleaning sub-mode in the environmental information is extracted; according to the correspondence between the characteristic value and the cleaning sub-mode, the mode value of the cleaning sub-mode is determined, wherein the mode value of the cleaning sub-mode corresponds to the specific mode parameter of the cleaning sub-mode; and the cleaning mode corresponding to the current position is determined according to the mode value of each cleaning sub-mode.

[0084] In an optional embodiment, the cleaning module determination unit 1022 is also used to obtain, for a location in an uncleaned area, a historical cleaning record corresponding to the location, and determine a predicted cleaning mode corresponding to the location based on a preset prediction model; or, for a location in an uncleaned area, obtain environmental information related to the location from the current location and the environmental information obtained in the cleaned area as associated environmental information, and determine an associated cleaning mode for the location based on the associated environmental information; obtain the historical cleaning record corresponding to the location, and determine the predicted cleaning mode for the location based on the historical cleaning mode in the historical cleaning record and the associated cleaning mode.

[0085] In an optional embodiment, the path optimization and adjustment unit 1023 is also used to obtain at least one optional path in the uncleaned area of the area based on a preset path planning algorithm; calculate the loss value corresponding to the path length, power consumption, cleaning time and the number of cleaning mode changes of each optional path; weight the loss value corresponding to the path length, power consumption, cleaning time and the number of cleaning mode changes of each optional path based on a preset weighting coefficient to obtain the path loss value corresponding to the optional path; determine the optimized and adjusted sub-path corresponding to the uncleaned area in the area in the at least one optional path according to the path loss value.

[0086] In an optional embodiment, the path optimization adjustment unit 1023 is also used to divide the current area into regions based on the cleaning mode to determine multiple enclosed areas, wherein the difference between the maximum and minimum mode values of the cleaning sub-modes contained in the cleaning mode corresponding to the multiple positions contained in each enclosed area is within a preset range; path division is performed on each enclosed area to obtain multiple sub-paths for each enclosed area, and at least one optional path for the uncleaned area is determined based on the multiple sub-paths of each enclosed area.

[0087] In an optional embodiment, the path optimization and adjustment unit 1023 is also used to determine the water flow dynamics information corresponding to each position contained in each enclosed area; the enclosed area is path planned according to the water flow dynamics information to obtain multiple sub-paths of the enclosed area, wherein, in the multiple sub-paths obtained by planning, the proportion of positions in the sub-path where the angle between the travel direction and the water flow direction contained in the water flow dynamics information is less than a preset angle value exceeds a preset ratio.

[0088] Figure 4 FIG1 shows an internal structure diagram of a swimming pool robot that implements the above-mentioned cleaning path control method of the swimming pool robot in one embodiment. Figure 4As shown, the pool robot includes a processor, a memory, and a network interface connected via a system bus. The memory includes a non-volatile storage medium and an internal memory. The non-volatile storage medium of the computer device stores an operating system and may also store a computer program. When the computer program is executed by the processor, the processor can implement the above method. The internal memory may also store a computer program. When the computer program is executed by the processor, the processor can implement the above method. It will be understood by those skilled in the art that Figure 4 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0089] After adopting the above-mentioned cleaning path control method and device of the swimming pool robot, computer-readable storage medium, and swimming pool robot, when the swimming pool is cleaned by the swimming pool robot, path planning is first performed based on the initial position of the swimming pool robot and the initial map of the swimming pool to obtain the path of each area of the swimming pool. Then, in the process of cleaning each area, at each cleaning position, environmental information such as pressure information, water flow dynamics information, obstacle information, water quality information, debris information and friction information corresponding to the current position is obtained through a sensing device, and the cleaning mode of the current position is determined based on the environmental information, and the cleaning modes of other uncleaned positions are determined based on historical records. Then, based on the current position and the cleaning modes of the uncleaned positions, the path obtained by the previous path planning is optimized and adjusted, and the swimming pool robot is controlled to perform the cleaning task based on the optimized and adjusted path, so as to minimize the number of cleaning mode changes during the cleaning process, thereby reducing the additional power consumption caused by the cleaning mode changes. That is to say, in this embodiment, the cleaning path and cleaning mode can be accurately controlled during the cleaning process of the swimming pool robot based on environmental information. By controlling the change of the cleaning mode, a better cleaning effect is guaranteed, and by controlling the number of changes of the cleaning mode, the cleaning efficiency of the swimming pool robot is greatly saved, thereby improving the user experience.

[0090] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program. The program can be stored in a non-volatile computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0091] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0092] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be determined by the appended claims.

Claims

1. A cleaning path control method for a swimming pool robot, characterized in that: The method comprises: When cleaning is started, the initial position of the pool robot is determined by the sensor device on the pool robot; Obtaining an initial map of the swimming pool, and determining an initial path for pool cleaning based on an initial position of the pool robot and the initial map of the swimming pool, wherein the initial path includes at least one sub-path, wherein each sub-path corresponds to an area of the swimming pool, wherein the area of the swimming pool includes one or more of a pool bottom, at least one pool wall, and a floating area on the pool surface; In each area, controlling the swimming pool robot to move according to the sub-path included in the initial path corresponding to the area and perform a cleaning task on the bottom, wall or surface of the swimming pool; During the cleaning task in each area, when the pool robot reaches each position on the sub-path, the sensor device on the pool robot obtains the environmental information corresponding to the current position, wherein the environmental information includes pressure information, water flow dynamics information, obstacle information, water quality information, debris information and friction information; Determine the cleaning mode corresponding to the current location based on the environmental information corresponding to the current location, and obtain the predicted cleaning modes of other locations based on historical cleaning records, where the cleaning modes include travel speed, roller brush operation mode, filtering mode, and adsorption mode; Optimize and adjust the subpath corresponding to the area based on the cleaning mode of the current location and the predicted cleaning modes of other locations, wherein the number of cleaning mode changes in the optimized subpath is less than the number of cleaning mode changes in other optional paths; Control the pool robot to perform cleaning tasks in the area based on the optimized and adjusted sub-path; Among them, the sensing devices on the swimming pool robot include a GPS device, at least one radar device, a pressure sensing device, a water flow dynamics detection device, a camera device, and a water quality detection device.

2. The cleaning path control method of the swimming pool robot according to claim 1, characterized in that: The step of obtaining an initial map of the swimming pool and determining an initial path for cleaning the swimming pool according to the initial position of the swimming pool robot and the initial map of the swimming pool further includes: For each area of the swimming pool, path planning is performed based on the initial map of the swimming pool to determine at least one optional path corresponding to each area; An initial path for cleaning the pool is determined based on the optional paths for each area, wherein the initial path includes sub-paths corresponding to each area, and the sub-path is one of at least one optional path corresponding to the area. The initial path is one of at least one total path formed by the at least one optional path corresponding to each area, and the initial path has the shortest distance or consumes the least power.

3. The cleaning path control method of the swimming pool robot according to claim 1, characterized in that: The step of determining the cleaning mode corresponding to the current location based on the environmental information corresponding to the current location also includes: Calculate the cleaning sub-mode corresponding to the environmental information according to the preset cleaning mode calculation formula. The cleaning sub-mode includes travel speed, roller brush operation mode, filtering mode, and adsorption mode. Determine the cleaning mode corresponding to the current position according to the cleaning sub-mode; Among them, according to the feature extraction algorithm corresponding to each cleaning sub-mode, the characteristic value corresponding to the cleaning sub-mode in the environmental information is extracted; according to the correspondence between the characteristic value and the cleaning sub-mode, the mode value of the cleaning sub-mode is determined, wherein the mode value of the cleaning sub-mode corresponds to the specific mode parameter of the cleaning sub-mode; according to the mode value of each cleaning sub-mode, the cleaning mode corresponding to the current position is determined.

4. The cleaning path control method of the swimming pool robot according to claim 1, characterized in that: The step of obtaining the predicted cleaning mode of other locations based on the historical cleaning records further includes: For a location in the uncleaned area, obtain the historical cleaning records corresponding to the location and determine the predicted cleaning mode corresponding to the location based on the preset prediction model; Or, for a location in an uncleaned area, obtaining environmental information related to the location from the current location and environmental information obtained in the cleaned area as associated environmental information, and determining an associated cleaning mode for the location based on the associated environmental information; A historical cleaning record corresponding to the location is obtained, and a predicted cleaning mode for the location is determined based on the historical cleaning mode in the historical cleaning record and the associated cleaning mode.

5. The cleaning path control method of the swimming pool robot according to claim 3, characterized in that: The step of optimizing and adjusting the subpath corresponding to the area according to the cleaning mode of the current position and the predicted cleaning modes of other positions further includes: Based on a preset path planning algorithm, obtaining at least one optional path in the uncleaned area of the area; Calculate the loss value corresponding to the path length, power consumption, cleaning time and number of cleaning mode changes of each optional path; Based on the preset weighting coefficient, the path length, power consumption, cleaning time and the loss value corresponding to the number of cleaning mode changes of each optional path are weighted to obtain the path loss value corresponding to the optional path; An optimized and adjusted sub-path corresponding to the uncleaned area in the area is determined in the at least one optional path according to the path loss value.

6. The cleaning path control method of the swimming pool robot according to claim 5, characterized in that: The step of obtaining at least one optional path in the uncleaned area of the area based on a preset path planning algorithm further includes: Divide the current area based on the cleaning mode to determine a plurality of enclosed areas, wherein a difference between a maximum value and a minimum value of a mode value of a cleaning sub-mode included in the cleaning mode corresponding to a plurality of positions included in each enclosed area is within a preset range; Each enclosed area is divided into paths to obtain multiple sub-paths of each enclosed area, and at least one optional path of the uncleaned area is determined based on the multiple sub-paths of each enclosed area.

7. The cleaning path control method of the swimming pool robot according to claim 6, characterized in that: The step of dividing each enclosed area into paths to obtain a plurality of sub-paths of each enclosed area further includes: For each position contained in each enclosed area, determining the water flow dynamic information corresponding to each position; Path planning is performed on the enclosed area based on the water flow dynamics information to obtain multiple sub-paths of the enclosed area, wherein, in the multiple sub-paths obtained by planning, the proportion of positions in the sub-path where the angle between the travel direction and the water flow direction included in the water flow dynamics information is less than a preset angle value exceeds a preset ratio.

8. A cleaning path control device for a swimming pool robot, characterized in that: The device comprises: An initial path determination module is configured to determine the initial position of the pool robot using a sensor device on the pool robot when cleaning is initiated; obtain an initial map of the pool, and determine an initial path for pool cleaning based on the initial position of the pool robot and the initial map of the pool, wherein the initial path includes at least one sub-path, wherein each sub-path corresponds to an area of the pool, wherein the area of the pool includes one or more of the pool bottom, at least one pool wall, and a floating area on the pool surface; a cleaning module, configured to control the swimming pool robot to move in each area according to a sub-path included in the initial path corresponding to the area and perform a cleaning task on the bottom, wall or surface of the swimming pool; Wherein, the cleaning module includes: An environmental information acquisition unit is configured to acquire environmental information corresponding to each position on a sub-path during the cleaning task execution of each area, using a sensor device on the pool robot when the pool robot reaches the current position, wherein the environmental information includes pressure information, water flow dynamics information, obstacle information, water quality information, debris information, and friction information; a cleaning module determination unit, configured to determine a cleaning mode corresponding to the current location based on environmental information corresponding to the current location, and to obtain predicted cleaning modes for other locations based on historical cleaning records, wherein the cleaning modes include travel speed, roller brush operation mode, filtration mode, and adsorption mode; a path optimization and adjustment unit, configured to optimize and adjust a subpath corresponding to the area based on the cleaning mode of the current location and the predicted cleaning modes of other locations, wherein the number of cleaning mode changes in the subpath after optimization and adjustment is less than the number of cleaning mode changes in other optional paths; The cleaning sub-unit is used to control the swimming pool robot to perform cleaning tasks on the area based on the optimized and adjusted sub-path; Among them, the sensing devices on the swimming pool robot include a GPS device, at least one radar device, a pressure sensing device, a water flow dynamics detection device, a camera device, and a water quality detection device.

9. A swimming pool robot, characterized in that: The swimming pool robot includes a memory and a processor, the memory contains executable code, and when the executable code runs on the processor, the cleaning path control method of the swimming pool robot as described in any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium, wherein the computer-readable storage medium is used to store a computer program, wherein the computer program is used to execute the cleaning path control method of the swimming pool robot according to any one of claims 1 to 7.

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