A control method of a pool robot, a storage medium

Abstract

The embodiment of the application provides a pool robot control method and a storage medium, wherein the method comprises the following steps: obtaining a first distance between the pool robot and an obstacle in the process that the pool robot performs a target operation along a first direction on the water surface in a target water area; determining a first rotation angle of the pool robot in the case that the first distance is less than a first threshold; controlling the pool robot to rotate the first rotation angle to a second direction and perform the target operation along the second direction; determining a second rotation angle of the pool robot in the case that a time that the pool robot performs the target operation in the second direction meets a preset time or in the case that a distance that the pool robot performs the target operation in the second direction meets a preset distance, and controlling the pool robot to rotate the second rotation angle to the first direction and perform the target operation along the first direction. Through the application, the problem of low cleaning efficiency of the pool robot is solved, and the effect of improving the cleaning efficiency of the pool robot is achieved.

Description

Technical Field

[0001] This application relates to the field of computers, and more specifically, to a control method and storage medium for a pool robot. Background Technology

[0002] With their low cost and extremely low error rate, robots are gradually replacing many manual labor jobs, such as pool robots.

[0003] However, the existing pool robots lack planning and rules for their running routes. When they collide with the pool wall, they randomly choose to run in a direction, resulting in low operating efficiency. For example, some areas may be cleaned repeatedly, while other areas may be missed.

[0004] There is currently no effective solution to the above problems in the relevant technologies. Summary of the Invention

[0005] This application provides a control method and storage medium for a pool robot, which at least solves the problem of low operating efficiency of pool robots in related technologies.

[0006] According to one embodiment of this application, a control method for a pool robot is provided, comprising: during the process of the pool robot performing a target operation on the surface of a target water body along a first direction, obtaining a first distance between the pool robot and an obstacle; if the first distance is less than a first threshold, determining a first rotation angle of the pool robot; controlling the pool robot to rotate the first rotation angle to a second direction, and performing the target operation along the second direction; if the time for the pool robot to perform the target operation in the second direction meets a preset time, or if the distance for the pool robot to perform the target operation in the second direction meets a preset distance, determining a second rotation angle of the pool robot, and controlling the pool robot to rotate the second rotation angle to the first direction and perform the target operation along the first direction.

[0007] In an exemplary embodiment, determining the first rotation angle of the pool robot when the first distance is less than a first threshold includes: determining a first preset angle as the first rotation angle when the current running direction is a first pointing direction; and determining a second preset angle as the first rotation angle when the current running direction is a second pointing direction; wherein the first direction includes the first pointing direction and the second pointing direction, the first pointing direction and the second pointing direction are opposite directions, and the first preset angle and the second preset angle correspond to opposite directions.

[0008] In an exemplary embodiment, during the process of the pool robot performing the target operation along the first direction on the surface of the target water body, the method further includes: acquiring the current running direction of the pool robot in real time during the process of the pool robot performing the target operation along the first direction on the surface of the target water body; adjusting the running angular velocity of the pool robot when the current running direction deviates from the first direction; and adjusting the current running direction according to the running angular velocity to control the pool robot to perform the target operation along the first direction.

[0009] In an exemplary embodiment, before the current running direction of the pool robot is obtained in real time during the process of the pool robot performing the target operation along the first direction on the surface of the target water area, the method further includes: if the deviation angle between the current running direction and the first direction is greater than or equal to a second threshold, determining that the current running direction deviates from the first direction.

[0010] In an exemplary embodiment, when the time for the pool robot to perform the target operation in the second direction meets a preset time, or when the distance for the pool robot to perform the target operation in the second direction meets a preset distance, determining the second rotation angle of the pool robot includes: determining the first rotation direction of the first rotation angle; and determining the second rotation angle according to the first rotation direction and the first rotation angle.

[0011] In an exemplary embodiment, when the first distance is less than a first threshold, a first rotation angle of the pool robot is determined; after controlling the pool robot to rotate the first rotation angle to a second direction and performing the target operation along the second direction, the method further includes: obtaining a second distance between the pool robot and the obstacle; when the second distance is less than a third threshold, controlling the pool robot to stop running to stop performing the target operation.

[0012] In one exemplary embodiment, before obtaining a first distance between the pool robot and an obstacle during the process of the pool robot performing a target operation along a first direction on the surface of the water in the target water area, the pool robot is controlled to perform at least one of the following in the target water area: performing the target operation along the boundary of the target water area on the surface of the water in the target water area; running along the boundary of the target water area on the surface of the water in the target water area; and constructing a map of the target water area after running along the boundary of the target water area.

[0013] In one exemplary embodiment, the obstacle includes at least one of the following: a physical obstacle and a virtual obstacle.

[0014] In an exemplary embodiment, before acquiring the first distance between the pool robot and an obstacle during the process of the pool robot performing a target operation along a first direction on the surface of the target water area, the method further includes: acquiring a map of the pool robot, wherein the map is constructed during the operation of the pool robot in the target water area, or the map is acquired from a pre-established map; determining the running direction of the pool robot according to the map, wherein the running direction includes the first direction and the second direction, or, after controlling the pool robot to run one revolution along the boundary of the target water area, determining the running direction whose running time exceeds a preset threshold as the first direction; and determining the direction perpendicular to the first direction as the second direction.

[0015] According to another embodiment of this application, an execution device for a target operation is provided, comprising: a first acquisition module, configured to acquire a first distance between a pool robot and an obstacle during the process of a pool robot performing a target operation along a first direction on the surface of a target water area; a first determination module, configured to determine a first rotation angle of the pool robot when the first distance is less than a first threshold; a first control module, configured to control the pool robot to rotate the first rotation angle to a second direction and perform the target operation along the second direction; and a second control module, configured to determine a second rotation angle of the pool robot when the time for the pool robot to perform the target operation in the second direction meets a preset time, or when the distance for the pool robot to perform the target operation in the second direction meets a preset distance, and control the pool robot to rotate the second rotation angle to the first direction and perform the target operation along the first direction.

[0016] In an exemplary embodiment, the first determining module further includes: a first determining submodule, configured to determine the first preset angle as the first rotation angle when the direction of the current running direction is a first direction; and a second determining submodule, configured to determine the second preset angle as the first rotation angle when the direction of the current running direction is a second direction, wherein the first direction includes the first direction and the second direction, the first direction and the second direction are opposite directions, and the first preset angle and the second preset angle correspond to opposite directions.

[0017] In one exemplary embodiment, the apparatus further includes: a second acquisition module, configured to acquire, in real time, the current running direction of the pool robot during the process of the pool robot performing the target operation along the first direction on the surface of the target water body; a first adjustment module, configured to adjust the running angular velocity of the pool robot when the current running direction deviates from the first direction; and a second adjustment module, configured to adjust the current running direction according to the running angular velocity to control the pool robot to perform the target operation along the first direction.

[0018] In an exemplary embodiment, the apparatus further includes a third determining module, configured to determine that the current running direction deviates from the first direction if the deviation angle between the current running direction and the first direction is greater than or equal to a second threshold before the pool robot performs the target operation along the first direction in real time on the surface of the target water area.

[0019] In one exemplary embodiment, the second determining module further includes: a third determining submodule, configured to determine a first rotation direction of the first rotation angle; and a fourth determining submodule, configured to determine the second rotation angle according to the first rotation direction and the first rotation angle.

[0020] In one exemplary embodiment, the apparatus further includes: a third acquisition module, configured to determine a first rotation angle of the pool robot when the first distance is less than a first threshold; control the pool robot to rotate the first rotation angle to a second direction, and after performing the target operation along the second direction, acquire a second distance between the pool robot and the obstacle; and a second control module, configured to control the pool robot to stop running when the second distance is less than a third threshold, so as to stop performing the target operation.

[0021] In one exemplary embodiment, the apparatus further includes: a third control module, configured to, before acquiring a first distance between the pool robot and an obstacle during the process of the pool robot performing a target operation along a first direction on the surface of the target water body, control the pool robot to perform at least one of the following in the target water body: perform the target operation along the boundary of the target water body on the surface of the target water body; run along the boundary of the target water body on the surface of the target water body; and construct a map of the target water body after running along the boundary of the target water body.

[0022] In one exemplary embodiment, the obstacle includes at least one of the following: a physical obstacle and a virtual obstacle.

[0023] In one exemplary embodiment, the apparatus further includes: a fourth control module, configured to acquire a map of the pool robot before acquiring a first distance between the pool robot and an obstacle during the process of the pool robot performing a target operation along a first direction on the surface of the target water area, wherein the map is constructed during the operation of the pool robot in the target water area, or the map is acquired from a pre-established map; a third determining module, configured to determine the running direction of the pool robot according to the map, wherein the running direction includes the first direction and the second direction; or, the apparatus further includes: a fourth determining module, configured to determine the running direction whose running time exceeds a preset threshold as the first direction after the pool robot has run one revolution along the boundary of the target water area; and a fifth determining module, configured to determine the direction perpendicular to the first direction as the second direction.

[0024] According to yet another embodiment of this application, a computer-readable storage medium is also provided, wherein a computer program is stored in the computer-readable storage medium, and the computer program is configured to perform the steps in any of the above method embodiments when it is run.

[0025] According to another embodiment of this application, a pool robot is also provided, including a memory and a processor, wherein the memory stores a computer program and the processor is configured to run the computer program to perform the steps in any of the above method embodiments.

[0026] This application utilizes the distance between the pool robot and obstacles to continuously adjust the robot's rotation angle and direction of movement, enabling the robot to operate in a planned manner and avoiding random direction selection upon collision with the pool wall. Therefore, it solves the problem of low operating efficiency in related technologies for pool robots, thereby improving their overall efficiency. Attached Figure Description

[0027] Figure 1 This is a hardware structure block diagram of a mobile terminal for a control method of a pool robot according to an embodiment of this application;

[0028] Figure 2 This is a flowchart of a control method for a pool robot according to an embodiment of this application;

[0029] Figure 3 This is a working route diagram of the pool robot according to an embodiment of this application;

[0030] Figure 4 This is a main flowchart of a water tank robot cleaning a rectangular swimming pool according to an embodiment of this application;

[0031] Figure 5 This is a flowchart illustrating the process of a water tank robot performing full-coverage cleaning of the water surface according to an embodiment of this application;

[0032] Figure 6 This is a structural block diagram of the control device for a pool robot according to an embodiment of this application. Detailed Implementation

[0033] The embodiments of this application will be described in detail below with reference to the accompanying drawings and examples.

[0034] It should be noted that the terms "first," "second," etc., in the specification, claims, and drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0035] The methods and embodiments provided in this application can be executed on a mobile terminal, computer terminal, or similar computing device. Taking running on a mobile terminal as an example, Figure 1 This is a hardware structure block diagram of a mobile terminal for a control method of a pool robot according to an embodiment of this application. (See diagram below.) Figure 1 As shown, a mobile terminal may include one or more ( Figure 1 Only one is shown in the diagram. A processor 102 (which may include, but is not limited to, a microprocessor MCU or a programmable logic device FPGA, etc.) and a memory 104 for storing data are also shown. The mobile terminal may further include a transmission device 106 for communication functions and an input / output device 108. Those skilled in the art will understand that... Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the mobile terminal described above. For example, the mobile terminal may also include components that are more... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown.

[0036] The memory 104 can be used to store computer programs, such as application software programs and modules, like the computer program corresponding to the control method of the pool robot in this embodiment. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, thus implementing the above-described method. The memory 104 may include high-speed random access memory and non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to a mobile terminal via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0037] The transmission device 106 is used to receive or send data via a network. Specific examples of the network described above may include a wireless network provided by the mobile terminal's communication provider. In one example, the transmission device 106 includes a Network Interface Controller (NIC), which can connect to other network devices via a base station to communicate with the Internet. In another example, the transmission device 106 may be a Radio Frequency (RF) module, used for wireless communication with the Internet.

[0038] This embodiment provides a control method for a pool robot. Figure 2 This is a flowchart of a control method for a pool robot according to an embodiment of this application, such as... Figure 2 As shown, the process includes the following steps:

[0039] Step S202: During the process of the pool robot performing the target operation along the first direction on the water surface in the target water area, the first distance between the pool robot and the obstacle is obtained;

[0040] Step S204: If the first distance is less than the first threshold, determine the first rotation angle of the pool robot.

[0041] Step S206: Control the above-mentioned pool robot to rotate the first rotation angle to the second direction, and perform the above-mentioned target operation along the second direction;

[0042] Step S208: If the time for the pool robot to perform the target operation in the second direction meets a preset time, or if the distance for the pool robot to perform the target operation in the second direction meets a preset distance, determine the second rotation angle of the pool robot, and control the pool robot to rotate the second rotation angle to the first direction and perform the target operation along the first direction.

[0043] The entity performing the above steps can be the controller of the pool robot, or a processor with data processing and signal interaction capabilities, or other processing devices or processing units with similar processing capabilities, but is not limited to these.

[0044] In the above embodiments, the first distance is the distance between the front of the pool robot and the obstacle. The target water area includes, but is not limited to, swimming pools, ornamental reservoirs, and outdoor ponds. The first threshold can be 20cm, 30cm, or 25cm. Of course, the above is only an illustrative example. The first threshold can be any length within 20-30cm, which is slightly smaller than the working width of the pool robot. The working width of the pool robot can be 30-35cm. The purpose of this setting is to increase the actual coverage area of ​​the pool robot in the target water area and improve the coverage rate of the pool robot's actual working range over the target water area. The pool robot can run in the target water area according to a predetermined travel route. For example, it can run in a "bow" shaped trajectory or an "S" shaped trajectory. During the process of the pool robot running in a "bow" shaped trajectory in the target water area, the directions of the first rotation angle and the second rotation angle are consistent, for example, 90 degrees clockwise or 90 degrees counterclockwise. The first direction can be any direction in the target water area and is perpendicular to the second direction. For example, when the target water area is a rectangular pool, the first direction can be the direction along the long side of the rectangular pool, including two directions along the long side, and the second direction can be the direction along the short side of the rectangular pool. The preset time can be 2 seconds, 3 seconds, or 2.5 seconds. The preset time is related to the speed at which the pool robot moves in the target water area. The distance the pool robot moves in the second direction within the preset time is slightly less than the working width of the pool robot. For example, the distance the pool robot moves in the second direction within the preset time is 1 / 2 to 1 / 3 of the working width of the pool robot. The purpose of this setting is to increase the actual coverage area of ​​the pool robot in the target water area and improve the coverage rate of the actual working range of the pool robot over the target water area.

[0045] Optionally, the obstacles mentioned above include at least one of the following: physical obstacles and virtual obstacles, wherein the virtual obstacles may be the boundary lines of water area zones or virtual walls, etc., and the physical obstacles may include walls in the target water area.

[0046] Optionally, in the event of a collision between the pool robot and an obstacle, the pool robot is controlled to rotate through a first rotation angle to perform the target operation in a second direction.

[0047] Optionally, if the distance at which the pool robot performs the target operation in the second direction meets a preset distance, a second rotation angle of the pool robot is determined, and the pool robot is controlled to rotate through the second rotation angle to perform the target operation along the first direction.

[0048] By obtaining the distance between the pool robot and obstacles, the robot's rotation angle and running direction are continuously adjusted, allowing the robot to operate in a planned manner and avoiding random direction selection when colliding with the pool wall. Therefore, this solves the problem of low operating efficiency in related technologies for pool robots, achieving the effect of improving the operating efficiency of pool robots.

[0049] In an exemplary embodiment, determining the first rotation angle of the pool robot when the first distance is less than a first threshold includes: determining a first preset angle as the first rotation angle when the current running direction points to a first direction; and determining a second preset angle as the first rotation angle when the current running direction points to a second direction. The first direction includes the first pointing and the second pointing, the first pointing and the second pointing are opposite directions, and the first preset angle and the second preset angle correspond to opposite directions. In the above embodiment, the first pointing and the second pointing are opposite directions, so that... Figure 3 Taking a rectangular swimming pool as an example, where the target water area is oriented east-west, the first direction can be from west to east, and the second direction can be from east to west. Furthermore, if the robot's coverage direction on the water surface is from south to north, the first rotation angle determined during its west-to-east movement is 90 degrees counterclockwise (in a top-down view of the pool), i.e., a 90-degree northward rotation. If the robot moves from east to west, the first rotation angle is 90 degrees clockwise, also a 90-degree northward rotation. Through these embodiments, determining the next turning angle based on the robot's forward direction effectively reduces the difficulty of handling complex water areas and improves cleaning efficiency.

[0050] In an exemplary embodiment, during the process of the pool robot performing a target operation along a first direction on the surface of the target water body, the method further includes: acquiring the current running direction of the pool robot in real time during the process of the pool robot performing the target operation along the first direction on the surface of the target water body; adjusting the running angular velocity of the pool robot when the current running direction deviates from the first direction; and adjusting the current running direction according to the running angular velocity to control the pool robot to perform the target operation along the first direction. In the above embodiment, the running angular velocity can be 1 rad / s or 1.5 rad / s. Of course, the above running angular velocity is only an illustrative example, and the running angular velocity can be any suitable angular velocity determined according to the adjustment requirements of the pool robot. Through the above embodiment, when it is confirmed that the current forward direction of the pool robot has deviated, the angular velocity is output in a timely manner to adjust the forward direction of the pool robot, which can effectively improve the stability of the working path of the pool robot.

[0051] In an exemplary embodiment, before acquiring the current running direction of the pool robot in real time during the process of the pool robot performing the target operation along the first direction on the surface of the target water area, the method further includes: determining that the current running direction deviates from the first direction if the deviation angle between the current running direction and the first direction is greater than or equal to a second threshold. In the above embodiment, the second threshold can be 20 degrees, 30 degrees, or 25 degrees. Of course, the above is merely an illustrative example, and the second threshold can be any angle within the allowable deviation of the pool robot's direction. Determining whether there is a deviation in the current forward direction of the pool robot by using a preset threshold has the advantages of accuracy and ease of execution, improving the working efficiency of the pool robot.

[0052] In an exemplary embodiment, when the time taken for the pool robot to perform the target operation in the second direction meets a preset time, or when the distance traveled by the pool robot to perform the target operation in the second direction meets a preset distance, determining the second rotation angle of the pool robot includes: determining the first rotation direction of the first rotation angle; and determining the second rotation angle according to the first rotation direction and the first rotation angle. In the above embodiment, determining the first rotation direction of the first rotation angle means that when the pool robot is running in the short side direction, the rotation direction for turning to the long side can be referenced to the rotation direction from the previous long side to the current short side, and the two are consistent. For example, as... Figure 3As shown, in a rectangular swimming pool with its long side oriented east-west, a pool robot cleans from south to north. The short sides of the robot's bow-shaped path can be divided into eastern and western sides. When the robot enters the eastern short side from the long side, it needs to rotate 90 degrees counter-clockwise; when it enters the western short side, it needs to rotate 90 degrees clockwise. Furthermore, when entering the long side from the eastern short side, the robot needs to rotate 90 degrees counter-clockwise; when entering the long side from the western short side, it needs to rotate 90 degrees clockwise. In other words, the turning direction when entering the long side from the short side is consistent with the turning direction when entering the current short side from the previous long side. Through this embodiment, the second rotation angle from the second direction to the first direction can be quickly determined, improving the robot's working efficiency.

[0053] In an exemplary embodiment, when the first distance is less than a first threshold, a first rotation angle of the pool robot is determined; after controlling the pool robot to rotate the first rotation angle to a second direction and performing the target operation along the second direction, the method further includes: obtaining a second distance between the pool robot and the obstacle; and when the second distance is less than a third threshold, controlling the pool robot to stop operating to stop performing the target operation. In the above embodiment, the second distance is the distance between the front of the pool robot and the obstacle, and the third threshold can be 20cm, 30cm, or 25cm. Of course, the above is only an illustrative example, and the third threshold can be any value within a reasonable range less than the working width of the pool robot. In the above embodiment, by setting a third threshold, the appropriate time for the pool robot to end the cleaning process can be determined, effectively improving the overall cleaning efficiency.

[0054] In one exemplary embodiment, before obtaining a first distance between the pool robot and an obstacle during the process of the pool robot performing a target operation along a first direction on the surface of the target water body, the pool robot is controlled to perform at least one of the following in the target water body: performing the target operation along the boundary of the target water body on the surface of the target water body; running along the boundary of the target water body on the surface of the target water body; and constructing a map of the target water body after running along the boundary of the target water body. Through the above embodiment, cleaning the target water body along the edge in advance can effectively adapt to different target water bodies and reduce the complexity of comprehensive water body cleaning.

[0055] In one exemplary embodiment, the obstacle includes at least one of the following: a physical obstacle and a virtual obstacle. In the above embodiment, the virtual obstacle may be a boundary line of a water area or a virtual wall, etc., and the physical obstacle may be a pool wall if the target water area is a swimming pool.

[0056] In an exemplary embodiment, before acquiring the first distance between the pool robot and an obstacle during the process of the pool robot performing a target operation along a first direction on the surface of the target water area, the method further includes: acquiring a map of the pool robot, wherein the map is constructed during the operation of the pool robot in the target water area, or the map is acquired from a pre-established map; determining the running direction of the pool robot according to the map, wherein the running direction includes the first direction and the second direction, or, after controlling the pool robot to run one revolution along the boundary of the target water area, determining the running direction whose running time exceeds a preset threshold as the first direction; and determining the direction perpendicular to the first direction as the second direction. In the above embodiments, the map can be a surface map or an underwater map. The map construction can be constructed during the process of the pool robot performing the target operation in the target water area, or it can be constructed when the pool robot only runs in the target water area without performing the target operation. For example, when the target body of water is a rectangular swimming pool, the long side of the rectangular pool can be determined as the first direction on the map, the short side as the second direction, and the corner of the rectangular pool on the map can be determined as the starting point for the robot's operation. The first direction is defined as the running direction whose running time exceeds a preset threshold; that is, the angle with the longest straight-line time along the edge of the water is determined as the first direction. There can be one or more running directions exceeding the preset threshold. If there are multiple running directions exceeding the preset threshold, the first direction can be determined by random selection. For example, when the target body of water is a rectangular swimming pool, the angle with the longest straight-line time during a complete cycle along the pool edge is the long side direction. Similarly, when the target body of water is a circular pool, there are multiple straight-line directions with the same running time during a complete cycle along the pool edge, and the first direction can be determined by random selection. Through the above embodiments, the starting point and direction of the robot's operation can be quickly determined based on a map built during the robot's operation or a previously built map, effectively improving the robot's operating efficiency.

[0057] The present invention will now be described with reference to specific embodiments, using the process of a pool robot cleaning a rectangular swimming pool as an example to illustrate this specific embodiment. Figure 4 As shown, the steps for a pool robot to clean a rectangular swimming pool include:

[0058] S1: The pool robot enters the rectangular pool and begins cleaning;

[0059] S2: The pool robot cleans along the edge of the rectangular pool and creates a pool map;

[0060] S3: The pool robot performs full-coverage cleaning of the water surface;

[0061] S4: The pool robot cleans along the edge of the rectangular pool again;

[0062] S5: The pool robot finishes cleaning the rectangular pool.

[0063] The process of the pool robot performing full-coverage cleaning of the water surface is as follows: Figure 5 As shown, it includes the following steps:

[0064] Step 1: The pool robot begins the water surface cleaning process;

[0065] Step 2: The pool robot determines the direction of the long side and the position of the corner of the rectangular pool based on the above pool shape map;

[0066] Step 3: The pool robot moves to the corner of the rectangular pool and rotates to face the longer side;

[0067] Step 4: Starting from the corner of the rectangular pool, the pool robot moves along the long side and cleans the pool surface along the way;

[0068] Step 5: As the pool robot moves along the long side, it continuously detects the distance between itself and the pool wall in front of it;

[0069] Step 6: If the pool robot detects that the distance to the pool wall in front is less than the first threshold, calculate the first azimuth angle, which is the angle required for the pool robot to turn to the short side.

[0070] Step 7: The pool robot turns through the first azimuth angle and enters the short side direction;

[0071] Step 8: The pool robot moves along the shorter side;

[0072] Step 9: After the pool robot has moved along the short side for a preset time, the pool robot calculates the second azimuth angle, which is the angle required for the pool robot to turn to the long side.

[0073] Step 10: As the pool robot moves along the short side, it continuously detects the distance between itself and the pool wall in front. If the distance is less than the second threshold, it executes step 11. If the distance is greater than the second threshold, it executes step 3 according to the second azimuth angle and repeats the above process.

[0074] Step 11: The pool robot completes the water surface cleaning process.

[0075] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods according to the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0076] This embodiment also provides a pool robot control device, which is used to implement the above embodiments and optional implementations; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0077] Figure 6 This is a structural block diagram of a pool robot device according to an embodiment of this application, such as... Figure 6 As shown, the device includes:

[0078] The first acquisition module 62 is used to acquire the first distance between the pool robot and the obstacle during the process of the pool robot performing the target operation along the first direction on the water surface in the target water area;

[0079] The first determining module 64 is used to determine the first rotation angle of the pool robot when the first distance is less than the first threshold.

[0080] The first control module 66 is used to control the pool robot to rotate from the first rotation angle to the second direction, and to perform the target operation along the second direction;

[0081] The second determining module 68 is used to determine the second rotation angle of the pool robot when the time for the pool robot to perform the target operation in the second direction meets a preset time, or when the distance for the pool robot to perform the target operation in the second direction meets a preset distance, and control the pool robot to rotate the second rotation angle to the first direction and perform the target operation along the first direction.

[0082] In an exemplary embodiment, the first determining module 64 further includes: a first determining submodule, configured to determine the first preset angle as the first rotation angle when the direction of the current running direction is a first direction; and a second determining submodule, configured to determine the second preset angle as the first rotation angle when the direction of the current running direction is a second direction, wherein the first direction includes the first direction and the second direction, the first direction and the second direction are opposite directions, and the first preset angle and the second preset angle correspond to opposite directions.

[0083] In one exemplary embodiment, the apparatus further includes: a second acquisition module, configured to acquire, in real time, the current running direction of the pool robot during the process of the pool robot performing the target operation along the first direction on the surface of the target water body; a first adjustment module, configured to adjust the running angular velocity of the pool robot when the current running direction deviates from the first direction; and a second adjustment module, configured to adjust the current running direction according to the running angular velocity to control the pool robot to perform the target operation along the first direction.

[0084] In an exemplary embodiment, the apparatus further includes a third determining module, configured to determine that the current running direction deviates from the first direction if the deviation angle between the current running direction and the first direction is greater than or equal to a second threshold before the pool robot performs the target operation along the first direction in real time on the surface of the target water area.

[0085] In one exemplary embodiment, the second determining module 68 further includes: a third determining submodule, configured to determine a first rotation direction of the first rotation angle; and a fourth determining submodule, configured to determine the second rotation angle according to the first rotation direction and the first rotation angle.

[0086] In one exemplary embodiment, the apparatus further includes: a third acquisition module, configured to determine a first rotation angle of the pool robot when the first distance is less than a first threshold; control the pool robot to rotate the first rotation angle to a second direction, and after performing the target operation along the second direction, acquire a second distance between the pool robot and the obstacle; and a second control module, configured to control the pool robot to stop running when the second distance is less than a third threshold, so as to stop performing the target operation.

[0087] In one exemplary embodiment, the apparatus further includes: a third control module, configured to, before acquiring a first distance between the pool robot and an obstacle during the process of the pool robot performing a target operation along a first direction on the surface of the water in the target water area, control the pool robot to perform at least one of the following in the target water area: performing the target operation along the boundary of the target water area on the surface of the water; running along the boundary of the target water area on the surface of the water; and constructing a map of the target water area after running along the boundary of the target water area.

[0088] In one exemplary embodiment, the obstacle includes at least one of the following: a physical obstacle and a virtual obstacle.

[0089] In one exemplary embodiment, the apparatus further includes: a fourth control module, configured to acquire a map of the pool robot before acquiring a first distance between the pool robot and an obstacle during the process of the pool robot performing a target operation along a first direction on the surface of the target water area, wherein the map is constructed during the operation of the pool robot in the target water area, or the map is acquired from a pre-established map; a third determining module, configured to determine the running direction of the pool robot according to the map, wherein the running direction includes the first direction and the second direction; or, the apparatus further includes: a fourth determining module, configured to determine the running direction whose running time exceeds a preset threshold as the first direction after the pool robot has run one revolution along the boundary of the target water area; and a fifth determining module, configured to determine the direction perpendicular to the first direction as the second direction.

[0090] It should be noted that the above modules can be implemented by software or hardware. For the latter, they can be implemented in the following ways, but are not limited to: all the above modules are located in the same processor; or, the above modules are located in different processors in any combination.

[0091] Embodiments of this application also provide a computer-readable storage medium storing a computer program, wherein the computer program is configured to perform the steps in any of the above method embodiments when it is run.

[0092] In one exemplary embodiment, the aforementioned computer-readable storage medium may include, but is not limited to, various media capable of storing computer programs, such as a USB flash drive, read-only memory (ROM), random access memory (RAM), portable hard disk, magnetic disk, or optical disk.

[0093] Embodiments of this application also provide a pool robot, including a memory and a processor, wherein the memory stores a computer program and the processor is configured to run the computer program to perform the steps in any of the above method embodiments.

[0094] In one exemplary embodiment, the pool robot may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor and the input / output device is connected to the processor.

[0095] Specific examples in this embodiment can be found in the examples described in the above embodiments and exemplary implementations, and will not be repeated here.

[0096] Obviously, those skilled in the art should understand that the modules or steps of this application described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. They can be implemented using computer-executable program code, and thus can be stored in a storage device for execution by a computing device. In some cases, the steps shown or described can be performed in a different order than those presented here, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, this application is not limited to any particular combination of hardware and software.

[0097] The above description is merely an optional embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the principles of this application should be included within the protection scope of this application.

Claims

1. A control method of a pool robot, characterized by, The method comprises the following steps: acquiring a first distance between the pool robot and an obstacle during the pool robot performing a target operation on the water surface in a target water area along a first direction; determining a first rotation angle of the pool robot when the first distance is less than a first threshold value; controlling the pool robot to rotate the first rotation angle to a second direction and perform the target operation along the second direction; determining a second rotation angle of the pool robot when a time for the pool robot performing the target operation in the second direction meets a preset time, and controlling the pool robot to rotate the second rotation angle to the first direction and perform the target operation along the first direction, wherein a distance for the pool robot moving in the second direction within the preset time is slightly less than a working width of the pool robot; controlling the pool robot to perform the following operation in the target water area before acquiring the first distance between the pool robot and the obstacle during the pool robot performing a target operation on the water surface in a target water area along a first direction: running along a boundary of the target water area on the water surface of the target water area; and constructing a map of the target water area after running along the boundary of the target water area in the target water area.

2. The method of claim 1, wherein, The method further comprises the following steps: determining a first preset angle as the first rotation angle when a pointing direction of a current running direction is a first pointing direction; determining a second preset angle as the first rotation angle when the pointing direction of the current running direction is a second pointing direction; wherein the first direction comprises the first pointing direction and the second pointing direction, the first pointing direction and the second pointing direction are opposite directions, and the first preset angle and the second preset angle correspond to opposite directions.

3. The method of claim 1, wherein, The method further comprises the following steps during the pool robot performing a target operation on the water surface in a target water area along a first direction: acquiring a current running direction of the pool robot in real time during the pool robot performing the target operation on the water surface in the target water area along the first direction; adjusting a running angular velocity of the pool robot when the current running direction deviates from the first direction; adjusting the current running direction according to the running angular velocity to control the pool robot to perform the target operation along the first direction.

4. The method of claim 1, wherein, The method further comprises the following steps when a time for the pool robot performing the target operation in the second direction meets a preset time: determining a first rotation direction of the first rotation angle; determining the second rotation angle according to the first rotation direction and the first rotation angle.

5. The method of claim 1, wherein, The method further comprises the following steps after determining the first rotation angle of the pool robot when the first distance is less than a first threshold value; and controlling the pool robot to rotate the first rotation angle to a second direction and perform the target operation along the second direction: acquiring a second distance between the pool robot and the obstacle; In a case where the second distance is less than a third threshold value, the pool robot is controlled to stop running to stop performing the target operation.

6. The method of claim 1, wherein, The obstacle comprises at least one of a solid obstacle and a virtual obstacle.

7. The method of claim 1, wherein, In a process in which the pool robot performs a target operation along a first direction on a water surface in a target water area, before the first distance between the pool robot and the obstacle is acquired, the method further comprises: acquiring the map of the pool robot, wherein the map is constructed in a process in which the pool robot runs in the target water area; determining a running direction of the pool robot according to the map, wherein the running direction comprises the first direction and the second direction; or controlling the pool robot to determine a running direction with a running time exceeding a preset threshold value as the first direction after running along a boundary of the target water area for one round in the target water area; determining a direction perpendicular to the first direction as the second direction.

8. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a computer program, wherein the computer program is executed by the processor to implement the steps of the method in any one of claims 1 to 7.

9. A pool robot comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor executes the computer program to implement the steps of the method in any one of claims 1 to 7.

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