A method for planning a path for a pool robot and related devices

Abstract

This application provides a method and related equipment for planning the path of a swimming pool robot, which can accurately plan the cleaning path of the swimming pool robot. The method includes: if the swimming pool robot is powered on, detecting whether the swimming pool robot is underwater; if the swimming pool robot is underwater, determining the distance data to the pool boundary and the current deflection angle data corresponding to the current position of the swimming pool robot; generating a first map coordinate system corresponding to the target swimming pool based on the pool boundary distance data and the current deflection angle data; if the swimming pool robot is connected to a terminal device, sending the first map coordinate system to the terminal device and receiving control information corresponding to the swimming pool robot sent by the terminal device; and generating a cleaning path corresponding to the target swimming pool based on the control information and the first map coordinate system.

Description

Technical Field

[0001] This application relates to the technical field of pool robots, and in particular to a path planning method and related equipment for pool robots. Background Technology

[0002] A pool robot is a device that can be used to clean swimming pools in water, enabling intelligent and efficient pool cleaning.

[0003] Currently, traditional pool robots typically clean pools using simple random or fixed paths without precise path planning, resulting in low cleaning efficiency and the tendency for repeated cleaning. Summary of the Invention

[0004] To address the issue of low cleaning efficiency in existing pool robots, this application provides a pool robot path planning method and related equipment.

[0005] Firstly, this application provides a path planning method for a swimming pool robot, employing the following technical solution:

[0006] If the pool robot is powered on, it checks whether the robot is underwater. If it is underwater, it determines the distance to the pool boundary and the current deflection angle corresponding to the robot's current position. Based on the distance to the pool boundary and the current deflection angle, it generates a first map coordinate system corresponding to the target pool. If the pool robot is connected to a terminal device, it sends the first map coordinate system to the terminal device and receives control information corresponding to the pool robot from the terminal device. Based on the control information and the first map coordinate system, it generates a cleaning path for the target pool.

[0007] Optionally, the control information includes the first cleaning mode corresponding to the target pool, the coordinate range of the cleaning area corresponding to the target pool, the coordinates of the first outlet area corresponding to the target pool, and the coordinates of the first inlet area corresponding to the target pool. Generating the cleaning path corresponding to the target pool based on the control information and the first map coordinate system includes:

[0008] Step 201: Determine the first cleaning area based on the coordinate range of the cleaning area;

[0009] Step 202: Control the pool robot to move to the first target position within the first cleaning area;

[0010] Step 203: Determine whether there is a first water outlet or a first water inlet within the cleaning area based on the coordinates of the first water outlet area and the first water inlet area;

[0011] Step 204: If there is a first water outlet or a first water inlet in the cleaning area, determine the location information of the first water outlet or the location information of the first water inlet.

[0012] Step 205: Based on the first cleaning mode, the location information of the first water outlet and the location information of the first water inlet, starting from the first target location, keeping the value of the first coordinate axis in the first map coordinate system unchanged, the value of the second coordinate axis in the first map coordinate system is incremented to the first location point. The first location point is the location point on the first boundary of the cleaning area, and the first coordinate axis and the second coordinate axis are two coordinate axes in the first map coordinate system.

[0013] Step 206: Starting from the first position point, keep the value of the second coordinate axis unchanged, and increment the value of the first coordinate axis to the second position point, which is the position point on the first boundary;

[0014] Step 207: Starting from the second position point, keep the value of the first coordinate axis unchanged, and decrease the value of the second coordinate axis to the third position point. The third position point is the position point on the second boundary of the clean area.

[0015] Step 208: Starting from the third position point, keep the value of the second coordinate axis unchanged, and increase the value of the first coordinate axis to the fourth position point, which is the position point on the second boundary;

[0016] Repeat steps 205 to 208 until the path planning for the first cleaning area is completed and the cleaning path is obtained.

[0017] Optionally, the control information includes the second cleaning mode corresponding to the target pool, the coordinate range of the cleaning area corresponding to the target pool, the coordinates of the second outlet area corresponding to the target pool, and the coordinates of the second inlet area corresponding to the target pool. The cleaning path corresponding to the target pool is generated based on the control information and the first map coordinate system, including:

[0018] Step 301: Determine the second cleaning area based on the coordinate range of the existing cleaning area;

[0019] Step 302: Control the pool robot to move to the second target position within the second cleaning area;

[0020] Step 303: Determine whether there is a second water outlet or a second water inlet within the second cleaning area based on the coordinates of the second water outlet area and the second water inlet area;

[0021] Step 304: If there is a second water outlet or a second water inlet in the second cleaning area, determine the location information of the second water outlet or the location information of the second water inlet.

[0022] Step 305: Based on the second cleaning mode, the location information of the second water outlet and the location information of the second water inlet, starting from the second target location, increase in a preset direction until the boundary of the second cleaning area is reached to generate the first sub-path;

[0023] Step 306: Return to the second target location along the first sub-path;

[0024] Step 307: Based on the second target position and the preset angle of the first sub-path offset;

[0025] Step 308: Based on a preset angle, increase the angle in a preset direction until the boundary of the clean area is reached to generate a second sub-path;

[0026] Based on the second sub-path, repeat steps 305 to 308 until the path planning for the second cleaning area is completed, and the cleaning path is obtained.

[0027] Optionally, the control information includes the third cleaning mode corresponding to the target pool, the coordinate range of the cleaning area corresponding to the target pool, the coordinates of the third outlet area corresponding to the target pool, and the coordinates of the third inlet area corresponding to the target pool. The cleaning path corresponding to the target pool is generated based on the control information and the first map coordinate system, including:

[0028] Step 401: Determine the third cleaning area based on the coordinate range of the cleaning area;

[0029] Step 402: Control the pool robot to move to the third target location within the third cleaning area;

[0030] Step 403: Determine whether there is a third water outlet or a third water inlet within the third cleaning area based on the coordinates of the third water outlet area and the third water inlet area.

[0031] Step 404: If there is a third water outlet or a third water inlet in the second cleaning area, determine the location information of the third water outlet or the location information of the third water inlet.

[0032] Step 405: Based on the third cleaning mode, the location information of the third water outlet and the location information of the third water inlet, starting from the third target location, keep the value of the third coordinate axis in the first map coordinate system unchanged, and extend along the wall of the target pool in a direction parallel to the horizontal plane of the target pool until the third target location is reached.

[0033] Step 406: Starting from the third target position, increment the value of the third coordinate axis to the fourth target position;

[0034] Repeat steps 405 and 406 until the path planning for the third cleaning area is completed, and the cleaning path is obtained.

[0035] Optionally, generating the first map coordinate system corresponding to the current cleaning mode of the pool robot based on the pool boundary distance data and the current deflection angle data includes: establishing a first planar map coordinate system based on the pool boundary distance data and the current deflection angle data; or, obtaining the water level height between the water surface and the bottom of the target pool at the current moment; establishing a second planar map coordinate system based on the pool boundary distance data and the current deflection angle data; and generating a three-dimensional map coordinate system based on the second planar map coordinate system and the water level height; wherein, both the first planar map coordinate system and the three-dimensional map coordinate system are the first map coordinate system.

[0036] Optionally, establishing a first planar map coordinate system based on the pool boundary distance data and the current deflection angle data includes: constructing a relative map coordinate system corresponding to the target pool based on the pool boundary distance data and the current deflection angle data; and converting the relative map coordinate system into a first planar map coordinate system, wherein the first planar map coordinate system is a Cartesian map coordinate system.

[0037] Optionally, converting the relative map coordinate system to the first planar map coordinate system includes determining the X and Y values ​​of the planar map coordinate system using the following formulas:

[0038] X = r * cosθ;

[0039] Y = r * sinθ;

[0040] Where r is the distance data to the pool boundary and θ is the current deflection angle data; the first planar map coordinate system is generated based on the X and Y values.

[0041] Optionally, the method further includes: determining the working time of the pool robot; if the working time reaches a first preset threshold, determining the second pool boundary distance data and the second deflection angle data corresponding to the pool robot at the current moment, wherein the first preset threshold is obtained by the terminal device; and updating the first map coordinate system according to the second pool boundary distance data and the second deflection angle data to generate a second map coordinate system.

[0042] Optionally, the method also includes: cleaning the target pool according to the cleaning path; obtaining the location information of the pool robot in the target pool in real time; determining the cleaning progress of the pool robot at the current moment; and sending the location information and cleaning progress to the terminal device so that the terminal device can display the location information and cleaning progress.

[0043] Optionally, the method also includes: real-time monitoring of the remaining battery power of the pool robot; if the remaining battery power is lower than a second preset threshold, then moving to the fifth target position corresponding to the target pool, wherein the second preset threshold and the fifth target position are obtained by the terminal device.

[0044] Secondly, this application provides another method for path planning of a swimming pool robot. The method includes: if the swimming pool robot is connected to a terminal device, receiving a first map coordinate system corresponding to the target swimming pool sent by the swimming pool robot, wherein the first map coordinate system is generated based on the pool boundary distance data and the current deflection angle data, and the pool boundary distance data and the current deflection angle data are the pool boundary data and the current deflection angle data corresponding to the current position of the swimming pool robot when it is underwater; generating control information corresponding to the swimming pool robot based on the first map coordinate system; and sending the control information to the swimming pool robot so that the swimming pool robot generates a cleaning path corresponding to the target swimming pool based on the control information and the first map coordinate system.

[0045] Optionally, the control information includes at least one of the following: the coordinate range of the cleaning area, the coordinates of the inlet area corresponding to the target pool, the coordinates of the outlet area corresponding to the target pool, the cleaning mode corresponding to the target pool, the low battery docking coordinates, and the coordinate calibration time.

[0046] Thirdly, this application provides a swimming pool robot comprising: a detection module for detecting whether the swimming pool robot is in a water-entry state, and determining the pool boundary distance data and current deflection angle data corresponding to the current position of the swimming pool robot; a first generation module for generating a first map coordinate system corresponding to the current cleaning mode of the swimming pool robot based on the pool boundary distance data and the current deflection angle data; a second generation module for determining the cleaning area corresponding to the target swimming pool, and generating a cleaning path corresponding to the target swimming pool based on the first map coordinate system; a remote control module for establishing a communication connection with a terminal device; and a local storage module for storing the first map coordinate system corresponding to the current cleaning mode of the swimming pool robot.

[0047] Fourthly, this application provides a terminal device comprising: a receiving module, configured to receive, if a pool robot is connected to the terminal device, a first map coordinate system corresponding to a target pool sent by the pool robot, wherein the first map coordinate system is generated based on pool boundary distance data and current deflection angle data, the pool boundary distance data and current deflection angle data being the pool boundary data and current deflection angle data corresponding to the current position of the pool robot when it is underwater; a generating module, configured to generate control information corresponding to the pool robot based on the first map coordinate system; and a sending module, configured to send the control information to the pool robot, so that the pool robot generates a cleaning path corresponding to the target pool based on the control information and the first map coordinate system.

[0048] Fifthly, this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the above-described swimming pool robot path planning method.

[0049] In summary, this application includes at least one of the following beneficial technical effects:

[0050] 1. By establishing the coordinate system of the target pool based on the boundary distance data and deflection angle data corresponding to the current position of the target pool, the pool robot can accurately locate and plan its path.

[0051] 2. By connecting to terminal equipment, the corresponding control information is set for the pool robot according to the actual situation of the target pool, avoiding instability and failure risk of the pool robot during the cleaning process, and realizing path planning in local areas. Attached Figure Description

[0052] Figure 1 This is a flowchart illustrating the swimming pool robot path planning method provided in an embodiment of this application;

[0053] Figure 2 This is another flowchart illustrating the swimming pool robot path planning method provided in this application embodiment;

[0054] Figure 3 This is a schematic diagram of path planning provided in an embodiment of this application;

[0055] Figure 4 This is another path planning diagram provided in an embodiment of this application;

[0056] Figure 5 This is another path planning diagram provided in the embodiments of this application;

[0057] Figure 6 This is another schematic diagram of the swimming pool robot path planning method provided in the embodiments of this application;

[0058] Figure 7 This is an interactive flowchart of the swimming pool robot path planning method provided in the embodiments of this application;

[0059] Figure 8 This is a virtual structural diagram of the swimming pool robot provided in the embodiments of this application;

[0060] Figure 9 This is a schematic diagram of the virtual structure of the terminal device provided in the final embodiment of this application. Detailed Implementation

[0061] The terminology used in the following embodiments of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of this application. As used in the specification and appended claims of this application, the singular expressions “a,” “an,” “the,” “the,” “the,” and “this” are intended to include the plural expressions as well, unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used in this application refers to any or all possible combinations including one or more of the listed items.

[0062] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as implying or suggesting relative importance or implicitly indicating the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature, and in the description of the embodiments of this application, unless otherwise stated, "multiple" means two or more.

[0063] The following describes the pool robot path planning method provided in this application from the perspective of a pool robot. Please refer to [link / reference]. Figure 1 , Figure 1 This is a flowchart illustrating a swimming pool robot path planning method provided in an embodiment of this application.

[0064] Step 101: If the pool robot is powered on, check if the pool robot is underwater.

[0065] Specifically, the pool robot is equipped with a water ingress detection sensor. The pool robot can use this sensor to detect whether it is underwater. If it is, then step 102 is executed.

[0066] Step 102: Determine the distance data to the pool boundary and the current deflection angle data corresponding to the current position of the pool robot.

[0067] Specifically, the pool robot is equipped with a gyroscope sensor and a distance sensor. The gyroscope sensor is used to determine the angle data of the pool robot in the water to determine the cleaning mode of the pool robot. The distance sensor is used to determine the distance data between the pool robot and the boundary of the target pool. After the pool robot enters the underwater state, it slowly rotates 360° in place with a preset accuracy unit. At the same time, the pool robot uses the distance sensor to determine the distance data of the pool boundary corresponding to the current position (where the pool boundary distance data is the distance between the current position and the boundary of the target pool) and uses the gyroscope sensor to determine the current deflection angle data corresponding to the current position (where the current deflection angle data is the deflection angle of the current position relative to the horizontal plane). Specifically, the pool robot can take a preset accuracy unit of 1° as an example, and collect data once every 1° of rotation, requiring the collection of 360 sets of data.

[0068] It should be noted that the pool robot can also collect data using other preset precision units, such as 5°, without any specific limitation.

[0069] Step 103: Generate the first map coordinate system corresponding to the target pool based on the pool boundary distance data and the current deflection angle data.

[0070] Specifically, the distance data and deflection angle data of the pool boundary are collected in polar coordinates and combined with the position of the pool robot relative to the target pool to generate a coordinate system with the pool robot as the origin, namely the first map coordinate system.

[0071] The pool robot can store the generated initial map coordinates locally for offline cleaning.

[0072] Step 104: If the pool robot is connected to the terminal device, it sends the first map coordinate system to the terminal device and receives the control information corresponding to the pool robot sent by the terminal device.

[0073] Specifically, if the pool robot is connected to the terminal device, the pool robot sends the first map coordinate system to the terminal device, and the terminal device sets up based on the first map coordinate system to generate control information; if the pool robot is not connected to the terminal device, step 104 is not executed, and step 105 is executed instead.

[0074] Step 105: Generate the cleaning path corresponding to the target swimming pool based on the control information and the first map coordinate system.

[0075] Specifically, if the pool robot is connected to the terminal device, after receiving the control information from the terminal device, the pool robot generates a cleaning path corresponding to the target pool based on the control information and the first map coordinate system; if the pool robot is not connected to the terminal device, the pool robot generates a cleaning path corresponding to the target pool based on the first map coordinate system stored in its internal storage.

[0076] In summary, this application provides a path planning method for a swimming pool robot. By establishing a coordinate system for the target swimming pool based on the boundary distance data and deflection angle data corresponding to the current position of the target swimming pool, the method can connect to a terminal device to set the data related to the path planning of the target swimming pool's map coordinate system, so that the swimming pool robot can accurately and efficiently locate and plan its path during the cleaning process.

[0077] In some embodiments, the control information includes a first cleaning mode corresponding to the target pool, the coordinate range of the cleaning area corresponding to the target pool, the coordinates of the first outlet area corresponding to the target pool, and the coordinates of the first inlet area corresponding to the target pool. The first cleaning mode refers to the bottom cleaning mode or the wall cleaning mode for a square pool, and the first cleaning area is the specified coordinate range of the cleaning area set for the terminal pool. Multiple different cleaning modes can be generated based on the shape of the target pool. Each of these cleaning modes corresponds to a cleaning path for that target pool. The following describes the process in conjunction with... Figures 2 to 5 Explanation for each:

[0078] Please see Figure 2 , Figure 2 This is another flowchart illustrating the swimming pool robot path planning method provided in this application embodiment, including the following steps:

[0079] Step 201: Determine the first cleaning area based on the coordinate range of the cleaning area.

[0080] Specifically, the pool robot determines the position of the cleaning area relative to the first map coordinate system based on the coordinate range of the cleaning area, so as to obtain the first cleaning area.

[0081] Step 202: Control the pool robot to move to the first target position within the first cleaning area.

[0082] Specifically, the first target position can be the first coordinate point mapped by the pool robot on the target boundary. The target boundary is the boundary with the shortest path from the current position to the boundary of the cleaning area. It can also be the intersection of the two boundaries closest to the first coordinate point in the target area, or it can be the origin of the coordinate system. There are no specific limitations.

[0083] Step 203: Determine whether there is a first water outlet or a first water inlet within the cleaning area based on the coordinates of the first water outlet area and the first water inlet area.

[0084] Specifically, the coordinates of the first outlet area and the first inlet area can be manually marked by the terminal device, or they can be automatically confirmed by the pool robot during the cleaning process.

[0085] Step 204: If there is a first water outlet or a first water inlet in the cleaning area, determine the location information of the first water outlet or the first water inlet.

[0086] Specifically, when only the first water outlet exists in the cleaning area, the location information of the first water outlet is determined.

[0087] Determine the coordinate information of the first outlet and the first inlet in the first map coordinate system. This coordinate information is the location information of the first outlet or the location information of the first inlet.

[0088] Step 205: Based on the first cleaning mode, the location information of the first water outlet and the location information of the first water inlet, starting from the first target location, keeping the value of the first coordinate axis in the first map coordinate system unchanged, the value of the second coordinate axis in the first map coordinate system is increased to the first location point. The first location point is the location point on the first boundary of the cleaning area, and the first coordinate axis and the second coordinate axis are two coordinate axes in the first map coordinate system.

[0089] If there is a first water outlet and / or a first water inlet during the increasing or decreasing process of the coordinate axis, then the first water outlet and / or the first water inlet should be avoided when planning the path for the cleaning area.

[0090] Specifically, the first map coordinate system can be a planar coordinate system or a three-dimensional coordinate system. If the first map coordinate system is a planar rectangular coordinate system, then the first coordinate axis is either the X-axis or the Y-axis, and the second coordinate axis is the other of the X-axis and the Y-axis. If the first map coordinate system is a three-dimensional coordinate system, then the first coordinate axis is either the X-axis or the Y-axis or any one of the Z-axis. If the first coordinate axis is either the X-axis or the Y-axis, then the second coordinate axis is the Z-axis. If the first coordinate axis is the Z-axis, then the second coordinate axis is the other of the X-axis or the Y-axis.

[0091] The first boundary of a clean area refers to any one of the boundaries of the clean area.

[0092] Step 206: Starting from the first position point, keep the value of the second coordinate axis unchanged, and increment the value of the first coordinate axis to the second position point, which is the position point on the first boundary.

[0093] Specifically, the increasing distance between the first position point and the second position point can be the length of the cleaning rollers of the pool robot.

[0094] Step 207: Starting from the second position point, keep the value of the first coordinate axis unchanged, and decrease the value of the second coordinate axis to the third position point. The third position point is the position point on the second boundary of the clean area.

[0095] Specifically, the second boundary of the clean area can be a boundary parallel to the first boundary of the clean area.

[0096] Step 208: Starting from the third position point, keep the value of the second coordinate axis unchanged, and increase the value of the first coordinate axis to the fourth position point, which is the position point on the second boundary.

[0097] Repeat steps 205 to 208 until the path planning for the first cleaning area is completed and the cleaning path is obtained.

[0098] To facilitate understanding, the following will be combined with... Figure 3 For a detailed explanation of how to perform route planning, please refer to [link / reference]. Figure 3 , Figure 3 This is a path planning diagram provided in an embodiment of this application. Taking the first map coordinate system as the XY-axis plane coordinate system, the first coordinate axis as the Y-axis, and the second coordinate axis as the X-axis as an example, the diagram illustrates the path planning. Starting from the first target position P1, the value of the Y-axis remains unchanged, while the value of the X-axis increases to the first position point A of the first boundary. Then, the value of the X-axis remains unchanged, and starting from the first position point A, the value of the Y-axis increases to the second position point B of the first boundary. The value of the Y-axis remains unchanged, and starting from the second position point B, the value of the X-axis decreases to the third position point C of the second boundary. This process is repeated until the first cleaning area is completely covered. The generated path is the robot's cleaning path.

[0099] If the pool robot does not establish a connection with the terminal device, the pool robot may not receive control information from the terminal device and may repeatedly execute steps 205 to 208 based on the locally stored first map coordinate system until the path planning for the first cleaning area is completed and the cleaning path is obtained.

[0100] It should be noted that the above example uses the swimming pool robot moving to the first target position for path planning. Of course, other methods can also be used. For example, if the swimming pool robot is in the first cleaning area, then the position of the swimming pool robot in the first cleaning area is determined as the first target position for path planning. There is no specific limitation.

[0101] In some embodiments, the control information includes a second cleaning mode corresponding to the target pool, the coordinate range of the cleaning area corresponding to the target pool, the coordinates of the second outlet area corresponding to the target pool, and the coordinates of the second inlet area corresponding to the target pool. The second cleaning mode refers to the bottom cleaning mode of a circular pool, and the second cleaning area is a specified coordinate range of the cleaning area set by the terminal device.

[0102] The steps for generating the cleaning path corresponding to the target swimming pool based on the above control information and the first map coordinate system are as follows:

[0103] Step 301: Determine the second cleaning area based on the coordinate range of the cleaning area.

[0104] Step 302: Control the pool robot to move to the second target position within the second cleaning area.

[0105] Step 303: Determine whether there is a second water outlet or a second water inlet within the second cleaning area based on the coordinates of the second water outlet area and the second water inlet area.

[0106] Step 304: If there is a second water outlet or a second water inlet in the second cleaning area, determine the location information of the second water outlet or the location information of the second water inlet.

[0107] It should be noted that steps 301 to 304 are related to... Figure 2 Steps 201 to 204 are similar and have been described in detail above, so they will not be repeated here.

[0108] Step 305: Based on the second cleaning mode, the location information of the second outlet and the location information of the second inlet, starting from the second target location, increase in a preset direction until the boundary of the second cleaning area is reached to generate the first sub-path.

[0109] Specifically, the second target location can be any point within the second cleaning area, and the preset direction is the direction from the pool robot from the second target location to the boundary of the second cleaning area.

[0110] Step 306: Return to the second target location along the first sub-path.

[0111] Step 307: Based on the second target position and the preset angle of the first sub-path offset.

[0112] Specifically, the offset preset angle refers to the pool robot rotating clockwise or counterclockwise by a preset angle based on the first sub-path. The preset angle can be determined based on the width of the first sub-path, which is the length of the cleaning roller of the pool robot, to ensure that the cleaning path can cover the entire cleaning area.

[0113] Step 308: Based on a preset angle, increase the angle in a preset direction until the boundary of the clean area is reached to generate a second sub-path.

[0114] Specifically, the preset direction refers to the direction from the second target position along a preset angle to the boundary of the clean area.

[0115] Based on the second sub-path, repeat steps 305 to 308 until the path planning for the second cleaning area is completed, and the cleaning path is obtained.

[0116] To facilitate understanding, the following will be combined with... Figure 4 For a detailed explanation of how to perform route planning, please refer to [link / reference]. Figure 4 , Figure 4This is another path planning diagram provided in this application embodiment. Starting from the second target position P2, the path increases in the direction from P2 to point D until the boundary point D of the second cleaning area is reached. The path from P2 to point D is the first sub-path. Then, the pool robot returns from point D to P2. Based on P2 and the first sub-path offset by a preset angle α, the path increases from P2 to point E. The path from P2 to point E is the second sub-path. The above trajectory is repeated until the second cleaning area is completely covered. The generated path is the robot's cleaning path.

[0117] In some embodiments, the control information includes a third cleaning mode corresponding to the target pool, the coordinate range of the cleaning area corresponding to the target pool, the coordinates of the third outlet area corresponding to the target pool, and the coordinates of the third inlet area corresponding to the target pool. The third cleaning mode refers to the pool wall cleaning mode for a circular pool, and the third cleaning area is a specified coordinate range of the cleaning area set by the terminal device.

[0118] The steps for generating the cleaning path corresponding to the target swimming pool based on the above control information and the first map coordinate system are as follows:

[0119] Step 401: Determine the third cleaning area based on the coordinate range of the cleaning area.

[0120] Step 402: Control the pool robot to move to the third target position within the third cleaning area.

[0121] Step 403: Determine whether there is a third water outlet or a third water inlet within the third cleaning area based on the coordinates of the third water outlet area and the third water inlet area.

[0122] Step 404: If there is a third water outlet or a third water inlet in the second cleaning area, determine the location information of the third water outlet or the location information of the third water inlet.

[0123] It should be noted that steps 401 to 404 are related to... Figure 2 Steps 201 to 204 are similar and have been described in detail above, so they will not be repeated here.

[0124] Step 405: Based on the third cleaning mode, the location information of the third water outlet and the location information of the third water inlet, starting from the third target location, keep the value of the third coordinate axis in the first map coordinate system unchanged, and extend along the pool wall of the target pool in a direction parallel to the horizontal plane of the target pool until the third target location is reached.

[0125] Specifically, the first map coordinate system can be a three-dimensional coordinate system with XYZ axes, and the third coordinate axis is the Z axis.

[0126] Step 406: Starting from the third target position, increment the value of the third coordinate axis to the fourth target position.

[0127] Repeat steps 405 and 406 until the path planning for the third cleaning area is completed, and the cleaning path is obtained.

[0128] like Figure 5 As shown, Figure 5 This is another path planning diagram provided in the embodiment of this application. Starting from P3, the robot travels along the pool wall until it returns to the P3 position after completing a full circle. Then, the Z-axis value is increased to the P4 position, and the above trajectory is repeated until the third cleaning area is completely covered. The generated path is the robot's cleaning path.

[0129] In some embodiments, generating a first map coordinate system corresponding to the current cleaning mode of the pool robot based on pool boundary distance data and current deflection angle data includes:

[0130] A first planar map coordinate system is established based on the pool boundary distance data and the current deflection angle data, or the water level height between the target pool surface and the bottom of the target pool at the current moment is obtained; a second planar map coordinate system is established based on the pool boundary distance data and the current deflection angle data; a three-dimensional map coordinate system is generated based on the second planar map coordinate system and the water level height; wherein, both the first planar map coordinate system and the three-dimensional map coordinate system are the first map coordinate system.

[0131] Specifically, when the pool robot is in pool bottom cleaning mode, a first map plane coordinate system is generated by combining the pool boundary distance data, the current deflection angle data, and the robot's current position. The robot's current position is used as the origin coordinate. The first plane map coordinate system, namely the XY axis Cartesian coordinate system, is generated based on the pool boundary distance data and the current deflection angle data. When the pool robot is in pool wall cleaning mode, the pool robot is driven to the bottom of the pool. The gyroscope sensor is used to adjust the direction of the robot until the robot body is perpendicular to the horizontal plane. At the same time, the water level height is measured by the distance sensor, and a three-dimensional map coordinate system, namely the XYZ axis three-dimensional coordinate system, is generated.

[0132] In some embodiments, establishing a first planar map coordinate system based on pool boundary distance data and current deflection angle data includes:

[0133] Construct a relative map coordinate system corresponding to the target pool based on the pool boundary distance data and the current deflection angle data;

[0134] The relative map coordinate system is converted to the first planar map coordinate system, which is a planar rectangular map coordinate system.

[0135] Specifically, the pool boundary distance data and deflection angle data are collected in polar coordinates and combined with the position of the pool robot relative to the target pool to generate a relative map coordinate system corresponding to the pool robot. The pool boundary distance data and current deflection angle data in the relative coordinate system are then converted into X and Y values ​​in the first plane map coordinate system using the following formula:

[0136] X = r * cosθ;

[0137] Y = r * sinθ;

[0138] Where R is the distance to the pool boundary and θ is the current deflection angle.

[0139] After obtaining the X and Y values, a first planar map coordinate system can be generated based on the X and Y values.

[0140] In some embodiments, the pool robot also performs the following operations:

[0141] Determine the working time of the pool robot;

[0142] If the working time reaches the first preset threshold, determine the second pool boundary distance data and the second deflection angle data corresponding to the pool robot at the current moment. The first preset threshold is obtained by the terminal device.

[0143] The first map coordinate system is updated based on the distance data to the second pool boundary and the second deflection angle data to generate the second map coordinate system.

[0144] Specifically, during the cleaning process, the pool robot acquires the current working time in real time. If the working time reaches the first preset threshold, it acquires the second pool boundary distance data and the second deflection angle data at the current position to generate a second map coordinate system in order to clear the accumulated errors of the sensors and calibrate the first map coordinate system.

[0145] It should be noted that the method for generating the second map coordinate system here is similar to the method for generating the first coordinate system described above, which has been explained in detail above and will not be repeated here.

[0146] In some embodiments, after determining the cleaning path, the pool robot also performs the following operations:

[0147] Clean the target pool according to the cleaning path;

[0148] The system acquires the real-time location information of the pool robot in the target pool; determines the current cleaning progress of the pool robot; and sends the location information and cleaning progress to the terminal device so that the terminal device can display the location information and cleaning progress.

[0149] Specifically, the cleaning progress is calculated by dividing the area of ​​the target pool to be cleaned by the area that has already been cleaned.

[0150] In some embodiments, after determining the cleaning path, the pool robot also performs the following operations:

[0151] Monitor the remaining battery power of the pool robot in real time;

[0152] If the remaining battery power is lower than the second preset threshold, then move to the fifth target location corresponding to the target pool. The second preset threshold and the fifth target location are obtained by the terminal device.

[0153] Specifically, the second preset threshold and the fifth target position can be obtained from the control information sent by the terminal.

[0154] The above description of the pool robot path planning method provided in this application embodiment is from the perspective of the pool robot. The following description is from the perspective of the terminal device. Please refer to [link / reference]. Figure 6 , Figure 6 This is another flowchart illustrating the path planning method for a swimming pool robot provided in this application embodiment. The method specifically includes the following steps:

[0155] Step 601: If the pool robot is connected to the terminal device, then receive the first map coordinate system corresponding to the target pool sent by the pool robot. The first map coordinate system is generated based on the pool boundary distance data and the current deflection angle data. The pool boundary distance data and the current deflection angle data are the pool boundary data and the current deflection angle data corresponding to the current position of the pool robot when the pool robot is underwater.

[0156] Specifically, the terminal device receives the first map coordinate system and displays the first map coordinate system on the terminal device.

[0157] Step 602: Generate the control information corresponding to the pool robot based on the first map coordinate system;

[0158] After the terminal device displays the first map coordinate system, the user can operate within it. The terminal device generates control information based on the user's commands. This control information includes at least one of the following: the coordinate range of the cleaning area, the coordinates of the inlet area corresponding to the target pool, the coordinates of the outlet area corresponding to the target pool, the cleaning mode corresponding to the target pool, the low battery docking coordinates, and the coordinate calibration time. In other words, the user can set some operating parameters for the pool robot according to the actual situation.

[0159] Step 603: Send control information to the pool robot so that the pool robot can generate a cleaning path corresponding to the target pool based on the control information and the first map coordinate system.

[0160] In summary, this application provides a path planning method for a swimming pool robot. After the terminal device is connected to the swimming pool robot, it receives the first map coordinate system corresponding to the target swimming pool sent by the swimming pool robot. The terminal device can display the first map coordinate system. Users can set some working parameters of the swimming pool robot according to the actual situation, so that the swimming pool robot and the terminal device can be combined to perform path planning more accurately, thereby improving the user experience.

[0161] The above descriptions of the pool robot path planning method in this application have been presented from the perspectives of the pool robot and the terminal device, respectively. The following description will focus on the interaction between the pool robot and the terminal device. Please refer to [link / reference]. Figure 7 , Figure 7 This is an interactive flowchart of the swimming pool robot path planning method provided in the embodiments of this application.

[0162] 701. If the pool robot is powered on, check whether the pool robot is underwater.

[0163] 702. Determine the distance data to the pool boundary and the current deflection angle data corresponding to the current position of the pool robot.

[0164] 703. Generate the first map coordinate system corresponding to the target pool based on the pool boundary distance data and the current deflection angle data.

[0165] 704. If the pool robot is connected to the terminal device, it will send the first map coordinate system to the terminal device.

[0166] It should be noted that steps 701 to 704 are related to... Figure 1 Steps 101 to 104 are similar and have been explained in detail above, so they will not be repeated here.

[0167] 705. Receive the first map coordinate system corresponding to the target pool sent by the pool robot.

[0168] 706. Generate the control information corresponding to the pool robot based on the first map coordinate system.

[0169] 707. Send control information to the pool robot.

[0170] It should be noted that steps 705 to 707 are related to... Figure 6 Steps 601 to 603 are similar and have been described in detail above, so they will not be repeated here.

[0171] 708. The pool robot generates a cleaning path corresponding to the target pool based on the control information and the first map coordinate system.

[0172] In summary, this application provides a path planning method for a swimming pool robot. The swimming pool robot generates a map coordinate system of the target swimming pool through sensors. After the terminal device and the swimming pool robot are connected, the terminal device receives the first map coordinate system corresponding to the target swimming pool sent by the swimming pool robot. The terminal device can display the parameters of the swimming pool robot, such as the first map coordinate system, so that the user can set some working parameters of the swimming pool robot according to the actual situation to generate control information. The terminal device then returns the control information to the swimming pool robot. Through the interaction between the swimming pool robot and the terminal device, the swimming pool robot can perform path planning more accurately and efficiently during the cleaning process.

[0173] The embodiments of this application have been described above from the perspective of path planning. The path planning method for the pool robot provided in the embodiments will be described below from the perspectives of the pool robot and the terminal device, respectively. Please refer to... Figure 8 , Figure 8 This is a virtual structural diagram of the pool robot provided in the embodiments of this application. The pool robot 80 includes:

[0174] The detection module 801 is used to detect whether the pool robot 80 is in the water, and to determine the distance data of the pool boundary and the current deflection angle data corresponding to the current position of the pool robot 80.

[0175] The first generation module 802 is used to generate the first map coordinate system corresponding to the current cleaning mode of the pool robot 80 based on the pool boundary distance data and the current deflection angle data.

[0176] The second generation module 803 is used to determine the cleaning area corresponding to the target pool and generate the cleaning path corresponding to the target pool according to the first map coordinate system.

[0177] The remote control module 804 is used to establish a communication connection with the terminal device.

[0178] Please participate Figure 9 , Figure 9 This is a virtual structural diagram of the terminal device provided in the embodiments of this application. The terminal device 90 includes:

[0179] The receiving module 901 is used to receive the first map coordinate system corresponding to the target pool sent by the pool robot if the pool robot is connected to the terminal device. The first map coordinate system is generated based on the pool boundary distance data and the current deflection angle data. The pool boundary distance data and the current deflection angle data are the pool boundary data and the current deflection angle data corresponding to the current position of the pool robot when the pool robot is underwater.

[0180] The generation module 902 is used to generate control information corresponding to the pool robot based on the first map coordinate system.

[0181] The sending module 903 is used to send control information to the pool robot so that the pool robot can generate a cleaning path corresponding to the target pool based on the control information and the first map coordinate system.

[0182] This application also provides a computer device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps of the above-described swimming pool robot path planning method.

[0183] The computer device includes a processor, memory, and a network interface connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides the environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The database stores data. The network interface allows for communication with external terminals via a network connection.

[0184] This application also provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the above-described functionality. Figures 1 to 7 The steps of the path planning method for a swimming pool robot.

[0185] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, or optical storage, etc. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc.

[0186] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered by the protection of this application.

Claims

1. A path planning method for a swimming pool robot, characterized in that, The method includes: If the pool robot is powered on, it will detect whether the pool robot is underwater. If the pool robot is underwater, then determine the pool boundary distance data and the current deflection angle data corresponding to the current position of the pool robot; A first map coordinate system corresponding to the target pool is generated based on the pool boundary distance data and the current deflection angle data; If the pool robot is connected to the terminal device, it sends the first map coordinate system to the terminal device and receives the control information corresponding to the pool robot sent by the terminal device. A cleaning path corresponding to the target swimming pool is generated based on the control information and the first map coordinate system; The control information includes the first cleaning mode corresponding to the target pool, the coordinate range of the cleaning area corresponding to the target pool, the coordinates of the first water outlet area corresponding to the target pool, and the coordinates of the first water inlet area corresponding to the target pool. Generating the cleaning path corresponding to the target pool based on the control information and the first map coordinate system includes: Step 201: Determine the first cleaning area based on the coordinate range of the cleaning area; Step 202: Control the pool robot to move to the first target position within the first cleaning area; Step 203: Determine whether there is a first water outlet or a first water inlet within the cleaning area based on the coordinates of the first water outlet area and the coordinates of the first water inlet area; Step 204: If the first water outlet or the first water inlet exists within the cleaning area, determine the location information of the first water outlet or the location information of the first water inlet. Step 205: Based on the first cleaning mode, the first water outlet location information and the first water inlet location information, starting from the first target location, keeping the value of the first coordinate axis in the first map coordinate system unchanged, the value of the second coordinate axis in the first map coordinate system is increased to the first location point. The first location point is the location point on the first boundary of the cleaning area. The first coordinate axis and the second coordinate axis are two coordinate axes in the first map coordinate system. Step 206: Starting from the first position point, while keeping the value of the second coordinate axis unchanged, increment the value of the first coordinate axis to the second position point, where the second position point is a position point on the first boundary; Step 207: Starting from the second position point, while keeping the value of the first coordinate axis unchanged, decrease the value of the second coordinate axis to the third position point, where the third position point is a position point on the second boundary of the cleaning area; Step 208: Starting from the third position point, while keeping the value of the second coordinate axis unchanged, increase the value of the first coordinate axis to the fourth position point, where the fourth position point is a position point on the second boundary; Repeat steps 205 to 208 until the path planning for the first cleaning area is completed, and the cleaning path is obtained. The step of generating the first map coordinate system corresponding to the current cleaning mode of the pool robot based on the pool boundary distance data and the current deflection angle data includes: A first planar map coordinate system is established based on the pool boundary distance data and the current deflection angle data; or, Obtain the water level height between the water surface and the bottom of the target pool at the current moment; A second planar map coordinate system is established based on the pool boundary distance data and the current deflection angle data; A three-dimensional map coordinate system is generated based on the second planar map coordinate system and the water level height. Wherein, both the first planar map coordinate system and the three-dimensional map coordinate system are the first map coordinate system.

2. The method according to claim 1, characterized in that, The control information is replaced with a second cleaning mode corresponding to the target pool, the coordinate range of the cleaning area corresponding to the target pool, the coordinates of the second outlet area corresponding to the target pool, and the coordinates of the second inlet area corresponding to the target pool. Generating the cleaning path corresponding to the target pool based on the control information and the first map coordinate system includes: Step 301: Determine the second cleaning area based on the coordinate range of the cleaning area; Step 302: Control the pool robot to move to the second target position within the second cleaning area; Step 303: Determine whether there is a second water outlet or a second water inlet within the second cleaning area based on the coordinates of the second water outlet area and the coordinates of the second water inlet area; Step 304: If the second water outlet or the second water inlet exists in the second cleaning area, determine the location information of the second water outlet or the location information of the second water inlet. Step 305: Based on the second cleaning mode, the second water outlet location information and the second water inlet location information, starting from the second target location, increase in a preset direction until the boundary of the second cleaning area is reached to generate a first sub-path; Step 306: Return to the second target location along the first sub-path; Step 307: Based on the second target position and the first sub-path offset preset angle; Step 308: Based on the preset angle, increase the angle in the preset direction until the boundary of the cleaning area is reached to generate a second sub-path; Based on the second sub-path, steps 305 to 308 are repeated until the path planning for the second cleaning area is completed, and the cleaning path is obtained.

3. The method according to claim 1, characterized in that, The control information is replaced with the third cleaning mode corresponding to the target pool, the coordinate range of the cleaning area corresponding to the target pool, the coordinates of the third outlet area corresponding to the target pool, and the coordinates of the third inlet area corresponding to the target pool. Generating the cleaning path corresponding to the target pool based on the control information and the first map coordinate system includes: Step 401: Determine the third cleaning area based on the coordinate range of the cleaning area; Step 402: Control the pool robot to move to the third target position within the third cleaning area; Step 403: Determine whether there is a third water outlet or a third water inlet in the third cleaning area based on the coordinates of the third water outlet area and the coordinates of the third water inlet area; Step 404: If the third water outlet or the third water inlet exists in the third cleaning area, then determine the location information of the third water outlet or the location information of the third water inlet. Step 405: Based on the third cleaning mode, the third outlet location information and the third inlet location information, starting from the third target location, keeping the value of the third coordinate axis in the first map coordinate system unchanged, extend along the pool wall of the target pool in a direction parallel to the horizontal plane of the target pool until the third target location is reached. Step 406: Starting from the third target position, increment the value of the third coordinate axis to the fourth target position; Repeat steps 405 and 406 until the path planning for the third cleaning area is completed, and the cleaning path is obtained.

4. The method according to claim 1, characterized in that, The step of establishing a first planar map coordinate system based on the pool boundary distance data and the current deflection angle data includes: Construct a relative map coordinate system corresponding to the target pool based on the pool boundary distance data and the current deflection angle data; The relative map coordinate system is converted to the first planar map coordinate system.

5. The method according to claim 4, characterized in that, The step of converting the relative map coordinate system to the first planar map coordinate system includes: The X-value and Y-value of the planar map coordinate system are determined using the following formulas: X = r * cosθ; Y = r * sinθ; Wherein, r is the distance data to the pool boundary, and θ is the current deflection angle data; The first planar map coordinate system is generated based on the X value and the Y value.

6. The method according to any one of claims 1 to 5, characterized in that, The method further includes: Determine the working time of the pool robot; If the working time reaches the first preset threshold, determine the second pool boundary distance data and the second deflection angle data corresponding to the pool robot at the current moment. The first preset threshold is obtained by the terminal device. The first map coordinate system is updated based on the second pool boundary distance data and the second deflection angle data to generate a second map coordinate system.

7. The method according to any one of claims 1 to 5, characterized in that, The method further includes: Clean the target swimming pool according to the cleaning path; Real-time acquisition of the pool robot's position information within the target pool; Determine the cleaning progress of the pool robot at the current moment; The location information and the cleaning progress are sent to the terminal device so that the terminal device can display the location information and the cleaning progress.

8. The method according to any one of claims 1 to 5, characterized in that, The method further includes: The remaining battery power of the pool robot is monitored in real time; If the remaining battery power is lower than the second preset threshold, then move to the fifth target location corresponding to the target pool. The second preset threshold and the fifth target location are obtained by the terminal device.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the swimming pool robot path planning method according to any one of claims 1 to 8.

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