Water pool robot control method, storage medium and water pool robot

Abstract

The embodiment of the application provides a control method and a storage medium of a pool robot, and the pool robot, the method comprises the following steps: when the pool robot is switched from running in a first control mode to running in a second control mode in a target water area, judging whether the current position of the pool robot in the target water area is lost according to running information; determining the running route of the pool robot in the target water area according to the judgment result. Through the application, the problem that the position of the pool robot is lost when the pool robot is switched from the remote control mode to the automatic control mode in the related art, the running route of the pool robot is disordered, and the working efficiency is low is solved, and the working efficiency of the pool robot in the water area is effectively improved.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the computer field, in particular, to a pool robot control method, a storage medium and a pool robot. BACKGROUND

[0002] In the related art, when a pool robot operates in a water area, the pool robot can move according to a preset path in an automatic control mode. The operation of the pool robot in the water area can include performing a cleaning operation in the water area. During the movement of the pool robot according to the preset path, a user can control the pool robot through a remote control device to switch the pool robot to a remote control mode. However, when the pool robot switches back to the automatic control mode from the remote control mode, the position of the pool robot is lost, resulting in a problem of disorder of a route of the pool robot and low work efficiency. SUMMARY

[0003] Embodiments of the present application provide a pool robot control method, a storage medium and a pool robot to at least solve the problem of loss of the position of the pool robot when the pool robot switches back to the automatic control mode from the remote control mode in the related art, resulting in disorder of a route of the pool robot and low work efficiency.

[0004] According to an embodiment of the present application, a pool robot control method is provided, including: when a pool robot switches from running according to a first control mode to running according to a second control mode in a target water area, determining whether a current position of the pool robot in the target water area is lost according to running information, wherein the first control mode is used to control the pool robot to run according to real-time control instructions, the second control mode is used to control the pool robot to run according to a preset path, and the running information is obtained in the process of the pool robot running according to the first control mode; and determining a running route of the pool robot in the target water area according to a determination result.

[0005] According to an embodiment of the present application, a pool robot control device is provided, including: a first determination module, configured to determine whether a current position of a pool robot in a target water area is lost according to running information when the pool robot switches from running according to a first control mode to running according to a second control mode in the target water area, wherein the first control mode is used to control the pool robot to run according to real-time control instructions, the second control mode is used to control the pool robot to run according to a preset path, and the running information is obtained in the process of the pool robot running according to the first control mode; and a first determination module, configured to determine a running route of the pool robot in the target water area according to a determination result.

[0006] In an example embodiment, the first determining module comprises a first control unit configured to, in a case where it is determined according to the running information that the current position of the pool robot in the target water area is not lost, control the pool robot to start from the current position and run in the target water area according to the preset path under the control of the second control mode.

[0007] In an example embodiment, the first determining module comprises a first control unit configured to, in a case where it is determined according to the running information that the current position of the pool robot in the target water area is not lost, control the pool robot to start from the current position and run in the target water area according to the preset path under the control of the second control mode.

[0008] In an example embodiment, the first determining module comprises a first control unit configured to, in a case where it is determined according to the running information that the current position of the pool robot in the target water area is not lost, control the pool robot to start from the current position and run in the target water area according to the preset path under the control of the second control mode.

[0009] In an example embodiment, the second determining unit comprises a first determining sub-unit configured to determine the out-of-water state of the pool robot according to the pitch angle of the pool robot in the attitude information, wherein the out-of-water state is used to indicate whether the pool robot leaves the target water area; and a first judging sub-unit configured to determine whether the current position of the pool robot in the target water area is lost according to the out-of-water state.

[0010] In an example embodiment, the first determining module comprises a first control unit configured to, in a case where it is determined according to the running information that the current position of the pool robot in the target water area is not lost, control the pool robot to start from the current position and run in the target water area according to the preset path under the control of the second control mode.

[0011] In an example embodiment, the second determining unit comprises a first determining sub-unit configured to determine the out-of-water state of the pool robot according to the pitch angle of the pool robot in the attitude information, wherein the out-of-water state is used to indicate whether the pool robot leaves the target water area; and a first judging sub-unit configured to determine whether the current position of the pool robot in the target water area is lost according to the out-of-water state.

[0012] In one example embodiment, the first determining module comprises: a third determining unit configured to, in a case where the current position of the pool robot is lost from the sliding state, control the pool robot to stop running; a third positioning unit configured to, in a case where the pool robot stops running, reposition the pool robot to obtain a third positioning result; and a fourth control unit configured to control the pool robot to run in the target water area according to the third positioning result.

[0013] According to another embodiment of the present application, a computer readable storage medium is also provided, and the computer readable storage medium stores a computer program. The computer program is configured to perform the steps in any of the method embodiments when executed.

[0014] According to another embodiment of the present application, a pool robot is also provided, and the pool robot comprises a memory and a processor. The memory stores a computer program, and the processor is configured to execute the computer program to perform the steps in any of the method embodiments.

[0015] According to the present application, when the pool robot switches back to the automatic control mode from the remote control mode, the current position of the pool robot in the target water area is determined according to the running information, and the running route of the pool robot in the target water area is determined according to the determination result. The pool robot can run according to the determined running route, and the problem of disordered running route of the pool robot is solved. Therefore, the problem of disordered running route of the pool robot caused by the loss of the position of the pool robot when the pool robot switches back to the automatic control mode from the remote control mode is solved, and the working efficiency of the pool robot in the water area is effectively improved. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 is a hardware structure block diagram of a pool robot in a mobile terminal of a control method of the pool robot according to an embodiment of the present application;

[0017] Figure 2 is a flowchart of a control method of a pool robot according to an embodiment of the present application;

[0018] Figure 3 is a structure block diagram of a control device of a pool robot according to an embodiment of the present application. DETAILED DESCRIPTION

[0019] Hereinafter, the embodiments of the present application will be described in detail with reference to the accompanying drawings and in combination with the embodiments.

[0020] 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.

[0021] The methods and embodiments provided in this application can be executed on a mobile terminal, computer terminal, or similar computing device. Taking its operation on a pool robot as an example... Figure 1 This is a hardware structure block diagram of a pool robot in a mobile terminal according to an embodiment of this application, representing a control method for a pool robot. (See diagram below.) Figure 1 As shown, the pool robot 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 aforementioned pool robot 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 pool robot described above. For example, the pool robot may also include components that are larger than... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown.

[0022] 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, thereby implementing the above-described method. The memory 104 may include high-speed random access memory and may also include 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 the pool robot 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.

[0023] The transmission device 106 is configured to receive or send data via a network. The network can include a wireless network provided by a communication provider of the pool robot. In one example, the transmission device 106 includes a network interface controller (NIC) that is configured to connect to other network devices through a base station to communicate with the Internet. In one example, the transmission device 106 can be a radio frequency (RF) module that is configured to communicate with the Internet through a wireless manner.

[0024] In the present embodiment, a control method of a pool robot is provided, Figure 2 is a flow chart of the control method of the pool robot according to the present embodiment, as shown in Figure 2 the flow chart includes the following steps:

[0025] In step S202, when the pool robot switches from running in a first control mode to running in a second control mode in a target water area, it is determined whether the current position of the pool robot in the target water area is lost according to running information, wherein the first control mode is configured to control the pool robot to run according to real-time control instructions, the second control mode is configured to control the pool robot to run according to a preset path, and the running information is obtained in the process of the pool robot running in the first control mode.

[0026] In step S204, the running route of the pool robot in the target water area is determined according to the determination result.

[0027] In the above embodiments, the pool robot can perform a target operation during operation in the target water area, the target operation including a cleaning operation, a disinfection operation, a water quality detection operation, etc. The target water area can be any water area, the first control mode in which the pool robot is controlled to operate according to real-time control instructions being a remote control mode, for example, under the control of a remote controller or other remote control device, the pool robot performing an operation in the target water area according to a route remotely controlled by the remote control device. The second control mode in which the pool robot is controlled to operate according to a preset path being an automatic control mode. For example, in the case where the target water area is a swimming pool, the pool robot switches from automatic cleaning to manual remote control cleaning during cleaning in the swimming pool, the pool robot changing the original operation route and operating according to the command of the remote control device, at which time the position of the pool robot needs to be located in real time. When switching from manual remote control cleaning to automatic cleaning, whether the position of the pool robot is lost is checked from the real-time positioning information of the pool robot, and in the case where the position is not lost, the pool robot is controlled to operate to the cleaning position before the control mode is switched, and the original operation route is followed for cleaning. It should be noted that the above example is only an example embodiment and is not limited to the above example.

[0028] In the above embodiments, the current position includes a coordinate position of the pool robot located in real time during operation.

[0029] Optionally, the determination result includes two cases of loss of the current position of the pool robot and no loss of the current position, and the operation route of the pool robot is determined according to the two cases, which can avoid the situation that the pool robot operates in disorder due to loss of the current position.

[0030] The controller or the processor, or a device or a system having control capability, or a controller or a processor arranged in the device or the system, or a controller or a processor existing alone, or other processing devices or processing units having similar processing capability, etc.

[0031] Through the above steps, according to the present application, when the pool robot switches from the remote control mode to the automatic control mode, whether the current position of the pool robot in the target water area is lost is determined according to operation information, and the operation route of the pool robot in the target water area is determined according to the determination result, the pool robot can operate according to the determined operation route, and the problem of disorder of the operation route of the pool robot does not occur. Therefore, the problem that the position of the pool robot is lost when the pool robot switches from the remote control mode to the automatic control mode, the operation route of the pool robot is disordered, and the work efficiency is low in the related art can be solved, and the effect of effectively improving the work efficiency of the pool robot in the water area is achieved.

[0032] In an example embodiment, determining the operation route of the pool robot in the target water area according to the judgment result comprises: in the case that it is judged according to the operation information that the current position of the pool robot in the target water area is not lost, controlling the pool robot to take the current position as the starting point and operating in the target water area according to the preset path under the control of the second control mode. In this embodiment, in the case that it is determined from the operation information that the current position is not lost, it indicates that the position of the pool robot can be known, and it is not necessary to reposition the pool robot or to re-plan the route, but only to operate according to the original operation route, which can continue to execute the target operation according to the original operation route, thereby improving the operation efficiency.

[0033] In an example embodiment, when the pool robot switches from operating according to the first control mode to operating according to the second control mode in the target water area, judging whether the current position of the pool robot in the target water area is lost according to the operation information comprises: judging whether the current position of the pool robot in the target water area is lost according to the positioning information in the operation information; or judging whether the current position of the pool robot in the target water area is lost according to the attitude information in the operation information. In this embodiment, in the case that the current position of the pool robot cannot be determined from the operation information, it indicates that the position of the pool robot has been lost, and at this time it is necessary to reposition the pool robot and to re-plan a new operation route. That is, the original operation route is no longer suitable for the current position of the pool robot. In addition, the re-planned route can be a route that is set in advance and stored in the pool robot. It can also be a route along the edge of the pool robot in the target water area. For example, the pool robot cleans the pool along the edge to form a new cleaning route. Not only can the accuracy of the operation route of the pool robot be ensured, but also the working efficiency of the pool robot can be effectively improved.

[0034] Optionally, the operation route of the pool robot in the target water area is determined according to the judgment result, including: in the case that the current position of the pool robot in the target water area is lost according to the positioning information in the operation information, the pool robot is repositioned to obtain a first positioning result; and the pool robot is controlled to operate in the target water area according to the first positioning result. In this embodiment, the positioning information includes the coordinate position of the pool robot acquired in real time in the process of operation. In the case that the current coordinate position cannot be determined when the pool robot is switched back to the automatic control mode from the remote control mode, the pool robot is repositioned and controlled to operate, including the following three cases: case 1: the repositioning is successful, the current position of the pool robot is known, and the pool robot is controlled to operate from the current position to the preset path. Case 2: the repositioning is successful, the current position of the pool robot is known, the path is re-planned at the current position, the current position is taken as the starting position, and the pool robot is controlled to operate in the target water area according to the re-planned path under the control of the second control mode. Case 3: the repositioning fails, and the position of the pool robot is repositioned by mapping at the position of switching mode. In this embodiment, the pool robot is repositioned, the pool robot can be quickly controlled to operate according to the preset path or the re-planned path, and the operation confusion can be avoided.

[0035] In one example embodiment, the current position of the pool robot in the target water area is determined according to the attitude information in the operation information, including: the off-water state of the pool robot is determined according to the pitch angle of the pool robot in the attitude information, wherein the off-water state is used to indicate the state of whether the pool robot leaves the target water area; and the current position of the pool robot in the target water area is determined according to the off-water state. In this embodiment, when the pitch angle of the pool robot is greater than the normal operation angle, it is determined that the pool robot is in the off-water state. For example, the pool robot is lifted out of the water for charging by human in the process of operation, and the pitch angle changes greatly, so that the pool robot is in the off-water state. In the case that the pool robot is out of the water, when the pool robot is put back into the target water area again, the current position is easy to be lost.

[0036] Optionally, the operation route of the pool robot in the target water area is determined according to the determination result, including: in the case that the pool robot is determined to leave the target water area from the out-of-water state, it is determined that the current position of the target water area is lost; when the pool robot is repositioned in the target water area, the pool robot is repositioned to obtain a second positioning result; and the pool robot is controlled to operate in the target water area according to the second positioning result. In this embodiment, repositioning the pool robot and controlling the pool robot to operate include the following three cases: case 1: successful repositioning, the current position of the pool robot is known, and the pool robot is controlled to operate from the current position to the preset path. Case 2: successful repositioning, the current position of the pool robot is known, the path is re-planned at the current position, the current position is taken as the starting position, and the pool robot is controlled to operate in the target water area according to the re-planned path under the control of the second control mode. Case 3: repositioning fails, and the position of the pool robot is repositioned by mapping at the switching mode position. In this embodiment, the pool robot is repositioned to quickly control the pool robot to operate according to the preset path or the re-planned path, which can avoid the occurrence of operation confusion and ensure the timeliness of the operation of the pool robot.

[0037] In one example embodiment, the current position of the pool robot in the target water area is determined according to the attitude information in the operation information, including: determining the sliding state of the pool robot according to the running angle of the pool robot in the attitude information; and determining whether the current position of the pool robot in the target water area is lost according to the sliding state. In this embodiment, the running angle is used to represent the angle of rotation of the pool robot during operation. In the case that the rotation angle of the pool robot is greater than the rotation angle during normal operation, the pool robot may have skidded in place. The pool robot needs to be controlled to stop operating in time for repair.

[0038] In one example embodiment, determining the operation route of the pool robot in the target water area according to the judgment result comprises: in the case that the current position of the pool robot is determined to be lost from the sliding state, controlling the pool robot to stop operation; in the case that the pool robot stops operation, repositioning the pool robot to obtain a third positioning result; and controlling the pool robot to operate in the target water area according to the third positioning result. In this embodiment, the pool robot is in the state of skidding in place, and after restarting after stopping operation, the current position is lost and needs to be repositioned. Re-positioning the pool robot and controlling the pool robot to operate include the following three cases: case 1: successful repositioning, the current position of the pool robot is known, and the pool robot is controlled to operate from the current position to the preset path; case 2: successful repositioning, the current position of the pool robot is known, the path is re-planned at the current position, the current position is taken as the starting position, and the pool robot is controlled to operate in the target water area according to the re-planned path under the control of the second control mode; and case 3: failed repositioning, and the position of the pool robot is re-mapped and positioned at the switching mode position. In this embodiment, the pool robot can be quickly controlled to operate according to the preset path or the re-planned path by re-positioning the pool robot, which can avoid the occurrence of operation confusion and ensure the timeliness of the operation of the pool robot.

[0039] Optionally, when the pool robot is in the state of being remotely controlled, the current positioning can be used to control the pool robot to quickly respond to the remote control instruction at the current position and quickly resume work.

[0040] From the above description of the embodiments, those skilled in the art can clearly understand that the method according to the above embodiments can be realized by means of software and a general hardware platform as required, and of course, it can also be realized by hardware, but in many cases, the former is a better embodiment. Based on such understanding, the technical solutions of the present application can be embodied in the form of a software product, which is stored in a storage medium (such as a ROM / RAM, a magnetic disk, or an optical disk), and includes a plurality of instructions for causing a terminal device (which can be a mobile phone, a computer, a server, or a network device) to execute the methods described in the various embodiments of the present application.

[0041] In this embodiment, a control device of a pool robot is also provided, which is used to implement the above-described embodiments and preferred embodiments, and will not be described again. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, hardware or a combination of software and hardware is also possible and contemplated.

[0042] Figure 3 is a structural block diagram of a control device of a pool robot according to an embodiment of the present application, as shown, the device comprises: Figure 3

[0043] a first determining module 32, configured to determine whether a current position of the pool robot in the target water area is lost according to running information when the pool robot is switched from running in a first control mode to running in a second control mode, wherein the first control mode is used for controlling the pool robot to run according to real-time control instructions, the second control mode is used for controlling the pool robot to run according to a preset path, and the running information is obtained in the process of the pool robot running in the first control mode;

[0044] a first determining module 34, configured to determine a running route of the pool robot in the target water area according to a determination result.

[0045] In an example embodiment, the first determining module comprises: a first control unit, configured to control the pool robot to run in the target water area according to the preset path under the control of the second control mode with the current position as a starting point when it is determined according to the running information that the current position of the pool robot in the target water area is not lost.

[0046] In an example embodiment, the first determining module comprises: a first determining unit, configured to determine whether the current position of the pool robot in the target water area is lost according to positioning information in the running information; or a second determining unit, configured to determine whether the current position of the pool robot in the target water area is lost according to attitude information in the running information.

[0047] In an example embodiment, the first determining module comprises: a first positioning unit, configured to reposition the pool robot to obtain a first positioning result when it is determined according to the positioning information in the running information that the current position of the pool robot in the target water area is lost; and a second control unit, configured to control the pool robot to run in the target water area according to the first positioning result.

[0048] In an example embodiment, the second determining unit comprises: a first determining subunit, configured to determine a water-leaving state of the pool robot according to a pitch angle of the pool robot in the attitude information, wherein the water-leaving state is used to indicate whether the pool robot leaves the target water area; and a first determining subunit, configured to determine whether the current position of the pool robot in the target water area is lost according to the water-leaving state.

[0049] ​In an example embodiment, the first judging module comprises: a second determining unit configured to determine that the current position of the target water area is lost when it is determined that the pool robot leaves the target water area from the water-off state; a second positioning unit configured to re-position the pool robot when the pool robot is re-set in the target water area to obtain a second positioning result; and a third control unit configured to control the pool robot to run in the target water area according to the second positioning result.

[0050] In an example embodiment, the second judging unit comprises: a second determining sub-unit configured to determine the sliding state of the pool robot according to the running angle of the pool robot in the attitude information; and a second judging sub-unit configured to determine whether the current position of the pool robot in the target water area is lost according to the sliding state.

[0051] In an example embodiment, the first judging module comprises: a third determining unit configured to control the pool robot to stop running when it is determined that the current position of the pool robot is lost from the sliding state; a third positioning unit configured to re-position the pool robot when the pool robot stops running to obtain a third positioning result; and a fourth control unit configured to control the pool robot to run in the target water area according to the third positioning result.

[0052] It should be noted that each of the above modules can be implemented by software or hardware, and for the latter, the following implementation manners can be used, but are not limited thereto: all of the modules are located in the same processor; or each of the modules is located in a different processor in any combination.

[0053] Embodiments of the present application also provide a computer readable storage medium, which stores a computer program, and the computer program is configured to execute the steps in any of the above method embodiments when running.

[0054] In an example embodiment, the computer readable storage medium can include, but is not limited to, a U disk, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk, and various media that can store computer programs.

[0055] Embodiments of the present application also provide a pool robot, which comprises a memory and a processor, the memory stores a computer program, and the processor is configured to execute the computer program to perform the steps in any of the above method embodiments.

[0056] In one example embodiment, the pool robot described above can further include a transmission device connected to the processor and an input / output device connected to the processor.

[0057] The specific examples in the present embodiment can refer to the examples described in the above embodiments and exemplary implementations, which will not be repeated here.

[0058] Obviously, those skilled in the art should understand that the modules or steps of the present application described above can be realized by general computing devices, which can be concentrated on a single computing device or distributed on a network composed of multiple computing devices, which can be realized by program codes executable by the computing devices, so that they can be stored in storage devices and executed by the computing devices, and in some cases, the steps shown or described can be executed in different order, or they can be made into individual integrated circuit modules, or multiple modules or steps can be made into a single integrated circuit module. Thus, the present application is not limited to any specific combination of hardware and software.

[0059] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. within the principles of the present application shall be included in the protection scope of the present application.

Claims

1. A control method for a pool robot, characterized in that, include: When the pool robot switches from operating in the first control mode to operating in the second control mode in the target water area, it is determined whether the current position of the pool robot in the target water area has been lost based on the operation information. The first control mode is used to control the pool robot to operate according to real-time control commands, and the second control mode is used to control the pool robot to operate according to a preset path. The operation information is obtained during the operation of the pool robot in the first control mode. The operating route of the pool robot in the target water area is determined based on the judgment result; Specifically, when the pool robot switches from operating in the first control mode to operating in the second control mode in the target water area, determining whether the current position of the pool robot in the target water area is lost based on the operation information includes: determining the out-of-water state of the pool robot based on the pitch angle of the pool robot in the attitude information, wherein the attitude information is information included in the operation information, and the out-of-water state is used to indicate whether the pool robot has left the target water area. If the pitch angle of the pool robot is greater than the normal operating angle, it is determined that the pool robot is in the out-of-water state; and determining whether the current position of the pool robot in the target water area is lost based on the out-of-water state.

2. The method according to claim 1, characterized in that, Based on the judgment result, the operating route of the pool robot in the target water area is determined, including: If the current position of the pool robot in the target water area is not lost based on the operation information, the pool robot is controlled to start from the current position and run in the target water area according to the preset path under the control of the second control mode.

3. The method according to claim 1, characterized in that, When the pool robot switches from operating in the first control mode to operating in the second control mode in the target water area, it determines whether the current position of the pool robot in the target water area has been lost based on the operating information, including: Based on the positioning information in the operation information, determine whether the current position of the pool robot in the target water area has been lost.

4. The method according to claim 3, characterized in that, Based on the judgment result, the operating route of the pool robot in the target water area is determined, including: If the current location of the pool robot in the target water area is lost based on the positioning information in the operation information, the pool robot is repositioned to obtain a first positioning result; The water tank robot is controlled to operate in the target water area according to the first positioning result.

5. The method according to claim 1, characterized in that, Based on the judgment result, the operating route of the pool robot in the target water area is determined, including: If it is determined from the state of being out of water that the pool robot has left the target water area, it is determined that the current position of the target water area has been lost; When the pool robot is repositioned in the target water area, the pool robot is repositioned to obtain a second positioning result; The pool robot is controlled to operate in the target water area according to the second positioning result.

6. The method according to claim 1, characterized in that, Determining whether the current position of the pool robot in the target water area is lost based on the attitude information in the operational information includes: The sliding state of the pool robot is determined based on the running angle of the pool robot in the posture information; Based on the sliding state, it is determined whether the current position of the pool robot in the target water area has been lost.

7. The method according to claim 6, characterized in that, Based on the judgment result, the operating route of the pool robot in the target water area is determined, including: If the current position of the pool robot is lost from the sliding state, the pool robot is controlled to stop running; When the pool robot stops operating, the pool robot is repositioned to obtain a third positioning result; The pool robot is controlled to operate in the target water area according to the third positioning result.

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

9. A pool robot, operating in a target water area, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method described in any one of claims 1 to 7.

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