Method and device for wall collision turning and swimming pool edge cleaning of swimming pool cleaning robot

Abstract

The invention provides a wall collision U-turn and swimming pool edge cleaning method and device of a swimming pool cleaning robot, electronic equipment and a computer storage medium, and the method mainly comprises the steps that the swimming pool cleaning robot is controlled to advance towards a swimming pool wall based on a preset orientation until the swimming pool wall is collided; the swimming pool cleaning robot is controlled to retreat relative to the swimming pool wall until the spacing distance between the swimming pool cleaning robot and the swimming pool wall can meet the requirement that the swimming pool cleaning robot executes turning-around motion; and the swimming pool cleaning robot is controlled to turn around relative to the swimming pool wall until the turning-around direction of the swimming pool cleaning robot after turning around is opposite to the preset direction. Therefore, the swimming pool cleaning robot can quickly and accurately perform wall collision and turn-around operation, and the cleaning effect of the edge of the swimming pool can be improved.

Description

Technical Field

[0001] The embodiments of the present application relate to the technical field of swimming pool cleaning robot control, and more particularly to a swimming pool cleaning robot's U-turn upon hitting a wall and a swimming pool edge cleaning method, device, electronic device, and computer storage medium. Background Art

[0002] The swimming pool cleaning robot is a swimming pool cleaning robot developed to meet the needs of swimming pool cleaning. It can repeatedly clean the bottom and walls of the swimming pool and filter the water in the swimming pool.

[0003] Existing swimming pool cleaning robots have the problem of unreasonable turning operation after hitting a wall when performing swimming pool cleaning tasks, resulting in poor cleaning effect on the edge of the swimming pool, affecting the user experience of this type of product.

[0004] Therefore, an improved swimming pool wall-impacting U-turn control scheme is needed to plan a more reasonable cleaning path so as to complete the cleaning task of the swimming pool edge more efficiently. Summary of the invention

[0005] In order to solve the above problems, an embodiment of the present application provides a solution for a swimming pool cleaning robot to turn around after hitting a wall and clean the edge of a swimming pool, so as to at least partially solve the above problems.

[0006] According to one aspect of the present application, a method for a swimming pool cleaning robot to turn around when hitting a wall is provided, comprising: controlling the swimming pool cleaning robot to move toward a swimming pool wall based on a preset direction until it collides with the swimming pool wall; controlling the swimming pool cleaning robot to retreat relative to the swimming pool wall until the interval distance between the swimming pool cleaning robot and the swimming pool wall is sufficient for the swimming pool cleaning robot to perform a turning movement; controlling the swimming pool cleaning robot to turn around relative to the swimming pool wall until the turning direction of the swimming pool cleaning robot after turning around is opposite to the preset direction.

[0007] Optionally, controlling the pool cleaning robot to move toward a pool wall based on a preset direction until colliding with the pool wall includes: controlling the pool cleaning robot to move in a direction approaching the pool wall relative to the pool bottom based on the preset direction until the pool cleaning robot collides with the pool wall.

[0008] Optionally, after the step of controlling the swimming pool cleaning robot to collide with the swimming pool wall, the method further includes: detecting the position of the swimming pool cleaning robot relative to the swimming pool wall, and if the position of the swimming pool cleaning robot relative to the swimming pool wall does not meet a preset condition, controlling the swimming pool cleaning robot to swing its tail relative to the swimming pool wall until the position of the swimming pool cleaning robot relative to the swimming pool wall meets the preset condition.

[0009] Optionally, the position of the pool cleaning robot relative to the pool wall that satisfies preset conditions includes: the front side of the pool cleaning robot is parallel or substantially parallel to a tangent of the pool wall; wherein the front side of the pool cleaning robot is a side located in front of the pool cleaning robot based on the forward direction of the pool cleaning robot.

[0010] Optionally, controlling the pool cleaning robot to retreat relative to the pool wall until the interval distance between the pool cleaning robot and the pool wall can satisfy the pool cleaning robot to perform a U-turn movement includes: controlling the pool cleaning robot to retreat in a straight line relative to the pool wall based on the posture of the pool cleaning robot colliding with the pool wall or the posture after swinging its tail relative to the pool wall.

[0011] Optionally, controlling the pool cleaning robot to turn around relative to the pool wall until the turning direction of the pool cleaning robot after turning around is opposite to the preset direction includes: controlling the pool cleaning robot to perform differential motion based on the backward posture to turn around relative to the pool wall until the turning direction of the pool cleaning robot is opposite to the preset direction.

[0012] Optionally, the controlling the pool cleaning robot to perform differential motion based on the backward posture to turn around relative to the pool wall until the turning direction of the pool cleaning robot is opposite to the preset direction includes: controlling the pool cleaning robot to perform differential forward motion based on the backward posture to turn around relative to the pool wall; or controlling the pool cleaning robot to perform differential forward motion based on the backward posture to turn around relative to the pool wall, and controlling the pool cleaning robot to perform differential backward motion based on the turned posture until the turning direction of the pool cleaning robot is opposite to the preset direction.

[0013] Optionally, the turning direction of the swimming pool cleaning robot is updated to a preset direction, and the step of returning to controlling the swimming pool cleaning robot to move toward the swimming pool wall based on the preset direction until the collision with the swimming pool wall is continued.

[0014] According to another aspect of the present application, a method for cleaning the edge of a swimming pool is provided, comprising: according to a swimming pool wall corresponding to an edge position to be cleaned, controlling a swimming pool cleaning robot to perform a wall-touching U-turn motion with respect to the swimming pool wall corresponding to the edge position to be cleaned, and performing cleaning on the edge position to be cleaned during the wall-touching U-turn motion process; wherein the wall-touching U-turn is performed using the wall-touching U-turn method of the swimming pool cleaning robot described in the above aspect.

[0015] According to another aspect of the present application, a device for turning around a swimming pool cleaning robot against a wall is provided, comprising: a collision control module, used to control the swimming pool cleaning robot to move toward a swimming pool wall based on a preset direction until it collides with the swimming pool wall; a retreat control module, used to control the swimming pool cleaning robot to retreat relative to the swimming pool wall until the interval distance between the swimming pool cleaning robot and the swimming pool wall can satisfy the swimming pool cleaning robot to perform a turning movement; and a turning control module, used to control the swimming pool cleaning robot to turn around relative to the swimming pool wall until the turning direction of the swimming pool cleaning robot after turning around is opposite to the preset direction.

[0016] According to another aspect of the present application, a swimming pool edge cleaning device is provided, comprising: a driving module, for controlling a swimming pool cleaning robot to perform a wall-touching U-turn relative to a swimming pool wall corresponding to the edge position to be cleaned according to the edge position to be cleaned, wherein the wall-touching U-turn is performed by using the wall-touching U-turn device of the swimming pool cleaning robot described in the above aspect; and a cleaning module, for controlling the swimming pool cleaning robot to perform cleaning at the edge position to be cleaned during the process in which the swimming pool cleaning robot performs a wall-touching U-turn motion relative to the swimming pool wall corresponding to the edge position to be cleaned.

[0017] According to another aspect of the present application, an electronic device is provided, comprising: a processor; and a memory storing a program, wherein the program comprises instructions, which, when executed by the processor, cause the processor to execute the method for turning around a pool cleaning robot upon hitting a wall or the method for cleaning the edge of a pool as described in the above aspects.

[0018] According to another aspect of the present application, a non-transitory computer-readable storage medium storing computer instructions is provided, wherein the computer instructions are used to enable a computer to execute the method for turning around a pool cleaning robot after hitting a wall or the method for cleaning the edge of a pool as described in the above aspect.

[0019] The pool cleaning robot provided in the present application is provided with a method, device, electronic device and computer storage medium, which controls the pool cleaning robot to retreat relative to the pool wall after colliding with the pool wall until the distance between the pool cleaning robot and the pool wall satisfies the pool cleaning robot to perform the turning motion, and controls the pool cleaning robot to turn relative to the pool wall. Accordingly, the present application can control the pool cleaning robot to perform the turning operation after hitting the wall safely and accurately, and has the advantages of being simple to operate and easy to implement.

[0020] In addition, the present application controls the swimming pool cleaning robot to perform cleaning operations at the edge of the swimming pool through the above-mentioned wall-hitting and turning scheme, which can effectively improve the cleaning coverage and cleaning speed of the swimming pool edge. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The following drawings are intended only to illustrate and explain the present application, and do not limit the scope of the present application.

[0022] Figure 1 It is a flowchart of a method for a swimming pool cleaning robot to turn around after hitting a wall according to an exemplary embodiment of the present application.

[0023] Figure 2 It is a flowchart of a method for a swimming pool cleaning robot to turn around after hitting a wall according to another exemplary embodiment of the present application.

[0024] FIG. 3A to FIG. 3F Schematic diagrams of embodiments of the swimming pool cleaning robot in different stages of hitting a wall and turning around are shown.

[0025] Figure 4 It is a flow chart of a method for cleaning the edge of a swimming pool according to an exemplary embodiment of the present application.

[0026] Figure 5 It is a structural block diagram of a wall-hitting U-turn device of a swimming pool cleaning robot according to an exemplary embodiment of the present application.

[0027] Figure 6 It is a structural block diagram of a swimming pool edge cleaning device according to an exemplary embodiment of the present application.

[0028] Figure 7 It is a structural block diagram of an electronic device according to an exemplary embodiment of the present application.

[0029] Description of reference numerals:

[0030] 500, a wall-hitting U-turn device of a swimming pool cleaning robot; 502, a collision control module; 504, a retreat control module; 506, a U-turn control module; 600, a swimming pool edge cleaning device; 602, a driving module; 604, a cleaning module; 700, an electronic device; 701, a computing unit; 702, a ROM; 703, a RAM; 704, a bus; 705, an input / output interface; 706, an input unit; 707, an output unit; 708, a storage unit; 709, a communication unit. DETAILED DESCRIPTION

[0031] In order to have a clearer understanding of the technical features, purposes and effects of the embodiments of the present application, the specific implementation methods of the embodiments of the present application are now described with reference to the accompanying drawings.

[0032] In this document, “exemplary” means “serving as an example, instance or illustration”, and any diagram or implementation described in this document as “exemplary” should not be interpreted as a more preferred or more advantageous technical solution.

[0033] In order to simplify the drawings, only the parts related to the present application are schematically shown in each figure, and they do not represent the actual structure of the product. In addition, in order to simplify the drawings and facilitate understanding, in some figures, only one or more of the parts with the same structure or function are schematically drawn or only one or more of them are marked.

[0034] The existing swimming pool cleaning robot has an unreasonable turning operation after hitting the wall, resulting in low cleaning efficiency at the edge of the swimming pool. In view of this, the present application proposes an improved method, device, electronic device and computer storage medium for turning around the wall and cleaning the edge of the swimming pool by the swimming pool cleaning robot, which can solve the various problems existing in the above-mentioned prior art.

[0035] The specific embodiments of each application will be described in detail below in conjunction with the accompanying drawings.

[0036] Figure 1 This is a flow chart of a method for generating a swimming pool cleaning path according to an exemplary embodiment of the present application. As shown in the figure, this embodiment mainly includes the following steps:

[0037] Step S102, controlling the swimming pool cleaning robot to move toward the swimming pool wall based on a preset direction until it collides with the swimming pool wall.

[0038] In this embodiment, the swimming pool cleaning robot can be controlled to move in a direction approaching the swimming pool wall relative to the swimming pool bottom based on a preset direction until the swimming pool cleaning robot collides with the swimming pool wall.

[0039] Step S104, controlling the swimming pool cleaning robot to retreat relative to the swimming pool wall until the distance between the swimming pool cleaning robot and the swimming pool wall is sufficient for the swimming pool cleaning robot to perform a U-turn.

[0040] Optionally, based on the posture of the pool cleaning robot colliding with the pool wall, the pool cleaning robot can be controlled to retreat in a straight line relative to the pool wall (that is, without changing the orientation of the pool cleaning robot) until the distance between the pool cleaning robot and the pool wall is sufficient for the pool cleaning robot to perform a U-turn relative to the pool wall.

[0041] Step S106, controlling the swimming pool cleaning robot to turn relative to the swimming pool wall until the turning direction of the swimming pool cleaning robot is opposite to the preset direction.

[0042] Optionally, the swimming pool cleaning robot may be controlled to perform differential motion to turn around relative to the swimming pool wall until the turning direction of the swimming pool cleaning robot is opposite to a preset direction.

[0043] In summary, the method for turning around a swimming pool cleaning robot after hitting a wall in the embodiment of the present application controls the swimming pool cleaning robot to retreat relative to the swimming pool wall after hitting the wall, so that the swimming pool cleaning robot can smoothly turn around relative to the swimming pool wall. In this way, the present application can allow the swimming pool cleaning robot to quickly and accurately perform a turning around operation after hitting a wall, and has the advantages of simple operation steps and high safety.

[0044] Figure 2 A processing flow chart of a method for turning around a swimming pool cleaning robot after hitting a wall according to another exemplary embodiment of the present application is shown. As shown in the figure, this embodiment mainly includes the following processing steps:

[0045] Step S202, controlling the swimming pool cleaning robot to move toward the swimming pool wall based on a preset direction until it collides with the swimming pool wall.

[0046] For example, refer to Figure 3A The swimming pool cleaning robot can be driven to move along the first cleaning path S1 relative to the swimming pool bottom toward the swimming pool wall based on the F1 direction until the front side of the swimming pool cleaning robot collides with the swimming pool wall.

[0047] In this embodiment, the front side of the swimming pool cleaning robot refers to a side located in front of the swimming pool cleaning robot based on the forward direction of the swimming pool cleaning robot.

[0048] Step S204, determining whether the position of the swimming pool cleaning robot relative to the swimming pool wall meets a preset condition, if not, executing step S206, if satisfied, executing step S208.

[0049] Optionally, the swimming pool wall includes a plane pool wall or a curved pool wall.

[0050] In this embodiment, when the swimming pool wall is a planar wall, when the front side of the swimming pool cleaning robot is parallel or substantially parallel to the swimming pool wall, or when both left and right ends of the front side of the swimming pool cleaning robot abut against the swimming pool wall, it indicates that the position of the swimming pool cleaning robot relative to the swimming pool wall meets the preset conditions.

[0051] In this embodiment, when the pool wall is an arc-shaped pool wall, when the front side of the pool cleaning robot is parallel or substantially parallel to the tangent of the pool wall, or when both left and right ends of the front side of the pool cleaning robot abut against the pool wall, it means that the position of the pool cleaning robot relative to the pool wall meets the preset condition (reference Figure 3A status shown).

[0052] Step S206, controlling the swimming pool cleaning robot to swing its tail relative to the swimming pool wall until the position of the swimming pool cleaning robot relative to the swimming pool wall meets a preset condition.

[0053] In this embodiment, the pool cleaning robot can utilize its own moving inertia to swing its tail relative to the pool wall, or a driving force can be applied to the pool cleaning robot to control the pool cleaning robot to swing its tail relative to the pool wall.

[0054] For example, when the swimming pool wall is a flat wall or a curved wall with a small curvature, if the angle between the swimming pool cleaning robot and the swimming pool wall is large when colliding with the swimming pool wall, the swimming pool cleaning robot's position relative to the swimming pool wall may not meet the preset conditions simply by relying on the swimming pool cleaning robot's own moving inertia to swing its tail relative to the swimming pool wall. In this case, a driving force may be applied to the swimming pool cleaning robot to control the swimming pool cleaning robot to swing its tail relative to the swimming pool wall until the pool cleaning robot's position relative to the swimming pool wall meets the preset conditions.

[0055] For another example, when the swimming pool wall is an arc-shaped wall with a large curvature, the pool cleaning robot's position relative to the pool wall may not meet the preset conditions simply by relying on the pool cleaning robot's own moving inertia to swing its tail relative to the pool wall. In this case, a driving force can also be applied to the pool cleaning robot to control the pool cleaning robot to swing its tail relative to the pool wall.

[0056] Specifically, the front side angle (the front side angle refers to a side angle of the front side of the pool cleaning robot) at which the pool cleaning robot collides with the pool wall can be used as a fulcrum to apply a driving force to the pool cleaning robot to control the pool cleaning robot to swing its tail relative to the pool wall based on the fulcrum until the position of the front side of the pool cleaning robot relative to the pool wall meets a preset condition (reference Figure 3A status shown).

[0057] Step S208: Control the swimming pool cleaning robot to retreat relative to the swimming pool wall until the distance between the swimming pool cleaning robot and the swimming pool wall is sufficient for the swimming pool cleaning robot to perform a U-turn.

[0058] Optionally, based on the posture of the swimming pool cleaning robot after tail swinging relative to the swimming pool wall, the swimming pool cleaning robot can be controlled to perform a linear backward motion relative to the swimming pool wall (refer to Figure 3B The swimming pool cleaning robot moves in a forward direction until the distance between the swimming pool cleaning robot and the swimming pool wall is sufficient for the swimming pool cleaning robot to perform a U-turn.

[0059] For example, the retreat distance can be set according to the rotation radius of the pool cleaning robot, and the pool cleaning robot can be driven to perform a linear retreat motion relative to the pool wall according to the set retreat distance (that is, without changing the direction of the pool cleaning robot) until the actual retreat distance of the pool cleaning robot meets the set retreat distance.

[0060] Step S210, controlling the swimming pool cleaning robot to turn relative to the swimming pool wall until the turning direction of the swimming pool cleaning robot is opposite to the preset direction.

[0061] Optionally, the pool cleaning robot may be controlled to turn around relative to the pool wall based on the backward posture and the preset arc until the pool cleaning robot turns in the opposite direction to the preset direction (e.g. Figure 3F F2 direction as shown).

[0062] Optionally, while the swimming pool cleaning robot is performing the turning operation, it can also move from the current cleaning path to an adjacent cleaning path.

[0063] In one embodiment, the swimming pool cleaning robot can be controlled to perform a differential forward motion based on the backward posture to turn around relative to the swimming pool wall (refer to Figure 3C , Figure 3D , Figure 3F until the swimming pool cleaning robot turns in a direction opposite to the preset direction (e.g. Figure 3F The swimming pool cleaning robot follows the first cleaning path (eg, Figure 3A The first cleaning path S1) shown in FIG. 1 is moved to a second cleaning path (eg, Figure 3F By means of the technical means of this embodiment, the swimming pool cleaning robot can realize rapid U-turn and path switching operations, so as to improve the execution efficiency of the swimming pool cleaning robot's U-turn when hitting a wall while ensuring the safety of the U-turn when hitting a wall.

[0064] In another embodiment, the swimming pool cleaning robot can be controlled to perform a differential forward motion based on the backward posture to turn relative to the swimming pool wall (refer to Figure 3C , Figure 3D , Figure 3E and controls the swimming pool cleaning robot based on the posture after turning (e.g. Figure 3E The swimming pool cleaning robot performs a differential backward motion until the swimming pool cleaning robot turns in a direction opposite to the preset direction and is aligned with the second cleaning path S2. For example, the central axis of the swimming pool cleaning robot coincides or substantially coincides with the central axis of the second cleaning path S2 (refer to FIG. 3E to FIG. 3F By means of the technical means of this embodiment, the swimming pool cleaning robot can realize more accurate turning and path switching operations in a smaller space, and the width of the cleaning path can be designed to match the body width of the swimming pool cleaning robot, thereby increasing the contact coverage between the swimming pool cleaning robot and the swimming pool bottom and swimming pool wall.

[0065] Step S212, updating the turning direction of the pool cleaning robot to a preset direction, and returning to step S202.

[0066] For example, the pool cleaning robot can be set to Figure 3A The F1 direction shown is updated to Figure 3F The swimming pool cleaning robot is controlled to move along the second cleaning path S2 based on the F2 direction to perform the next wall-hitting U-turn operation (refer to Figure 3F status shown).

[0067] Optionally, the swimming pool cleaning robot may be controlled to move backward based on the updated preset direction until it collides with the swimming pool wall, and then returns to execute step S202.

[0068] Specifically, when the preset orientation is updated to Figure 3F After the swimming pool cleaning robot moves in the direction F2 shown in the figure, it controls the swimming pool cleaning robot to move backward along the second cleaning path S2 in a straight line until it collides with the swimming pool wall at one end of the second cleaning path S2 (for example, collides with Figure 3F The swimming pool wall at the rear end of the second cleaning path S2 shown in the figure) is then returned to step S202 to control the swimming pool cleaning robot to move in a straight line along the second cleaning path S2 until it collides with the swimming pool wall at the other end of the second cleaning path S2 (for example, colliding Figure 3F The swimming pool wall at the left end of the second cleaning path S2 as shown), so that the swimming pool cleaning robot can effectively contact the swimming pool walls at the opposite ends of the second cleaning path S2.

[0069] To summarize, the method for turning around a swimming pool cleaning robot after hitting a wall provided in the embodiments of the present application, by adding a tail swinging operation after the swimming pool cleaning robot hits a wall, and performing a backward and U-turn operation based on the posture after the tail swinging, can enable the swimming pool cleaning robot to complete the wall turning operation more accurately and safely, and is particularly suitable for the wall turning operation against a curved pool wall.

[0070] In addition, by adding a backward wall-hitting operation after the pool cleaning robot completes the wall-hitting and turning operation, the pool cleaning robot can achieve effective contact with the pool walls at opposite ends of each row of cleaning paths, thereby improving the contact coverage rate between the pool cleaning robot and the pool walls.

[0071] Figure 4 The process flow chart of the pool edge cleaning method of the exemplary embodiment of the present application is shown. As shown in the figure, this embodiment mainly includes the following steps:

[0072] Step S402, according to the edge position to be cleaned, the swimming pool cleaning robot is controlled to perform a wall-hitting U-turn relative to the swimming pool wall corresponding to the edge position to be cleaned.

[0073] In this embodiment, based on the wall-hitting and U-turning methods of the swimming pool cleaning robot described in the above embodiments, the swimming pool cleaning robot can be controlled to perform a wall-hitting and U-turn relative to the swimming pool wall corresponding to the edge position to be cleaned.

[0074] Step S404, controlling the swimming pool cleaning robot to clean the edge position to be cleaned during the process of turning around after hitting the wall.

[0075] In summary, the embodiments of the present application can improve the cleaning efficiency of the swimming pool edge by controlling the swimming pool cleaning robot to perform the cleaning task of the swimming pool edge based on the wall-hitting and turning scheme described in the aforementioned embodiments.

[0076] Specifically, by utilizing the wall-impacting and U-turning solutions described in the above embodiments, the swimming pool cleaning robot can perform a fast and safe wall-impacting operation to increase the cleaning speed of the swimming pool edge.

[0077] Furthermore, by controlling the swimming pool cleaning robot to add a tail swinging operation after colliding with the curved pool wall, the contact area between the swimming pool cleaning robot and the curved edge can be increased, which is particularly suitable for cleaning the edge of a curved swimming pool.

[0078] In addition, by combining differential forward movement and differential backward movement, the pool cleaning robot can achieve precise path switching operations, and by adding a backward wall-impacting operation after turning around, the pool cleaning robot can achieve effective contact with the pool walls at both ends of each cleaning path, thereby effectively improving the cleaning coverage rate of the pool edge.

[0079] Figure 5 The structural block diagram of the wall-hitting U-turn device of the swimming pool cleaning robot of the exemplary embodiment of the present application is shown. As shown in the figure, the wall-hitting U-turn device 500 of the swimming pool cleaning robot of the present embodiment includes a collision control module 502, a backward control module 504, and a U-turn control module 506.

[0080] The collision control module 502 is used to control the swimming pool cleaning robot to move toward the swimming pool wall based on a preset direction until it collides with the swimming pool wall.

[0081] The retreat control module 504 is used to control the swimming pool cleaning robot to retreat relative to the swimming pool wall until the distance between the swimming pool cleaning robot and the swimming pool wall is sufficient for the swimming pool cleaning robot to perform a U-turn.

[0082] The turning control module 506 is used to control the swimming pool cleaning robot to turn relative to the swimming pool wall until the turning direction of the swimming pool cleaning robot is opposite to the preset direction.

[0083] Optionally, the collision control module 502 is further used to: control the swimming pool cleaning robot to move in a direction approaching the swimming pool wall relative to the swimming pool bottom based on the preset direction until the swimming pool cleaning robot collides with the swimming pool wall.

[0084] Optionally, the collision control module 502 is also used to: detect the position of the pool cleaning robot relative to the pool wall after controlling the pool cleaning robot to collide with the pool wall, and if the position of the pool cleaning robot relative to the pool wall does not meet a preset condition, control the pool cleaning robot to swing its tail relative to the pool wall until the position of the pool cleaning robot relative to the pool wall meets the preset condition.

[0085] Optionally, the position of the pool cleaning robot relative to the pool wall that satisfies preset conditions includes: the front side of the pool cleaning robot is parallel or substantially parallel to a tangent of the pool wall; wherein the front side of the pool cleaning robot is a side located in front of the pool cleaning robot based on the forward direction of the pool cleaning robot.

[0086] Optionally, the retreat control module 504 is further used to control the swimming pool cleaning robot to retreat in a straight line relative to the swimming pool wall based on the posture of the swimming pool cleaning robot colliding with the swimming pool wall or the posture after swinging its tail relative to the swimming pool wall.

[0087] Optionally, the turning control module 506 is further used to control the swimming pool cleaning robot to perform differential motion based on the backward posture to turn relative to the swimming pool wall until the turning direction of the swimming pool cleaning robot is opposite to the preset direction.

[0088] Optionally, the turning control module 506 is further used to: control the pool cleaning robot to perform differential forward motion based on the backward posture to turn relative to the pool wall; or control the pool cleaning robot to perform differential forward motion based on the backward posture to turn relative to the pool wall, and control the pool cleaning robot to perform differential backward motion based on the posture after turning, until the turning direction of the pool cleaning robot is opposite to the preset direction.

[0089] Optionally, the turning control module 506 is further used to: update the turning direction of the swimming pool cleaning robot to a preset direction, and trigger the collision control module 502 to continue to execute the step of controlling the swimming pool cleaning robot to move toward the swimming pool wall based on the preset direction until it collides with the swimming pool wall.

[0090] In addition, the wall-hitting and U-turning device 500 of the swimming pool cleaning robot in the embodiment of the present application can also be used to implement other steps in the aforementioned swimming pool cleaning robot wall-hitting and U-turning method embodiments, and has the beneficial effects of the corresponding method step embodiments, which will not be repeated here.

[0091] Figure 6 The structure block diagram of the pool edge cleaning device of the exemplary embodiment of the present application is shown. As shown in the figure, the pool edge cleaning device 600 of the present embodiment mainly includes: a driving module 602 and a cleaning module 604.

[0092] The driving module 602 is used to control the swimming pool cleaning robot to perform a wall-hitting U-turn relative to the swimming pool wall corresponding to the edge position to be cleaned according to the edge position to be cleaned.

[0093] In this embodiment, the driving module 602 can utilize the wall-hitting turning device of the swimming pool cleaning robot to execute the wall-hitting turning of the swimming pool cleaning robot.

[0094] The cleaning module 604 is used to control the swimming pool cleaning robot to clean the edge position to be cleaned during the process of turning around after hitting the wall.

[0095] In addition, the swimming pool cleaning path generation device 600 of the embodiment of the present application can also be used to implement other steps in the aforementioned swimming pool cleaning path generation method embodiments, and has the beneficial effects of the corresponding method step embodiments, which will not be repeated here.

[0096] The exemplary embodiment of the present application also provides an electronic device, comprising: at least one processor; and a memory connected to the at least one processor in communication. The memory stores a computer program that can be executed by the at least one processor, and the computer program is used to cause the electronic device to perform the method according to the embodiment of the present application when executed by the at least one processor.

[0097] The exemplary embodiments of the present application also provide a non-transitory computer-readable storage medium storing a computer program, wherein the computer program, when executed by a processor of a computer, is used to cause the computer to perform the method according to each embodiment of the present application.

[0098] The exemplary embodiments of the present application further provide a computer program product, including a computer program, wherein when the computer program is executed by a processor of a computer, it is used to enable the computer to execute the method according to each embodiment of the present application.

[0099] refer to Figure 7, the structural block diagram of the electronic device 700 that can be used as the server or client of the present application will now be described, which is an example of the hardware device that can be applied to various aspects of the present application. The electronic device is intended to represent various forms of digital electronic computer equipment, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices and other similar computing devices. The components shown herein, their connections and relationships, and their functions are only examples, and are not intended to limit the implementation of the present application described and / or required herein.

[0100] like Figure 7 As shown, the electronic device 700 includes a computing unit 701, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 702 or a computer program loaded from a storage unit 708 into a random access memory (RAM) 703. In the RAM 703, various programs and data required for the operation of the device 700 can also be stored. The computing unit 701, the ROM 702, and the RAM 703 are connected to each other via a bus 704. An input / output (I / O) interface 705 is also connected to the bus 704.

[0101] A plurality of components in the electronic device 700 are connected to the I / O interface 705, including: an input unit 706, an output unit 707, a storage unit 708, and a communication unit 709. The input unit 706 may be any type of device capable of inputting information to the electronic device 700, and the input unit 706 may receive input digital or character information, and generate key signal inputs related to user settings and / or function control of the electronic device. The output unit 707 may be any type of device capable of presenting information, and may include, but is not limited to, a display, a speaker, a video / audio output terminal, a vibrator, and / or a printer. The storage unit 704 may include, but is not limited to, a disk, an optical disk. The communication unit 709 allows the electronic device 700 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks, and may include, but is not limited to, a modem, a network card, an infrared communication device, a wireless communication transceiver, and / or a chipset, such as a Bluetooth™ device, a WiFi device, a WiMax device, a cellular communication device, and / or the like.

[0102] The computing unit 701 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the computing unit 701 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. The computing unit 701 performs the various methods and processes described above. For example, in some embodiments, the wall-touching U-turn method and the pool edge cleaning method of the pool cleaning robot of the aforementioned embodiments may be implemented as a computer software program, which is tangibly included in a machine-readable medium, such as a storage unit 708. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 700 via the ROM 702 and / or the communication unit 709. In some embodiments, the computing unit 701 may be configured to perform the wall-touching U-turn method and the pool edge cleaning method of the pool cleaning robot by any other appropriate means (e.g., by means of firmware).

[0103] The program code for implementing the method of the present application can be written in any combination of one or more programming languages. These program codes can be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that the program code, when executed by the processor or controller, implements the functions / operations specified in the flow chart and / or block diagram. The program code can be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0104] In the context of the present application, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0105] As used herein, the terms "machine-readable medium" and "computer-readable medium" refer to any computer program product, apparatus, and / or device (e.g., disk, optical disk, memory, programmable logic device (PLD)) for providing machine instructions and / or data to a programmable processor, including a machine-readable medium that receives machine instructions as a machine-readable signal. The term "machine-readable signal" refers to any signal for providing machine instructions and / or data to a programmable processor.

[0106] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0107] The systems and techniques described herein may be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), and the Internet.

[0108] A computer system may include clients and servers. Clients and servers are generally remote from each other and typically interact through a communication network. Computers that are running on respective computers and have a client-server relationship to each other

[0109] [SMOCN20221008][HS2210046CCN] procedure to create the relationship between client and server.

[0110] It should be understood that although this specification is described according to various embodiments, not every embodiment contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0111] The above description is only an illustrative specific implementation of the embodiment of the present application, and is not intended to limit the scope of the embodiment of the present application. Any equivalent changes, modifications and combinations made by any technician in this field without departing from the concept and principle of the embodiment of the present application should fall within the scope of protection of the embodiment of the present application.

Claims

1. A method for a swimming pool cleaning robot to turn around after hitting a wall. include: Controlling the swimming pool cleaning robot to move toward the swimming pool wall based on a preset direction until it collides with the swimming pool wall; Controlling the swimming pool cleaning robot to retreat relative to the swimming pool wall until the distance between the swimming pool cleaning robot and the swimming pool wall is sufficient for the swimming pool cleaning robot to perform a U-turn movement; The swimming pool cleaning robot is controlled to turn relative to the swimming pool wall until the turning direction of the swimming pool cleaning robot is opposite to the preset direction.

2. The method according to claim 1, It is characterized in that The method of controlling the swimming pool cleaning robot to move toward the swimming pool wall based on a preset direction until colliding with the swimming pool wall comprises: The swimming pool cleaning robot is controlled to move in a direction approaching the swimming pool wall relative to the swimming pool bottom based on the preset direction until the swimming pool cleaning robot collides with the swimming pool wall.

3. The method according to claim 2, It is characterized in that After the step of controlling the swimming pool cleaning robot to collide with the swimming pool wall, the method further includes: Detect the position of the swimming pool cleaning robot relative to the swimming pool wall, and if the position of the swimming pool cleaning robot relative to the swimming pool wall does not meet a preset condition, control the swimming pool cleaning robot to swing its tail relative to the swimming pool wall until the position of the swimming pool cleaning robot relative to the swimming pool wall meets the preset condition.

4. The method according to claim 3, It is characterized in that The position of the swimming pool cleaning robot relative to the swimming pool wall that meets the preset conditions includes: The front side of the swimming pool cleaning robot is parallel or substantially parallel to the tangent line of the swimming pool wall; The front side surface of the swimming pool cleaning robot is a side surface located in front of the swimming pool cleaning robot based on the forward direction of the swimming pool cleaning robot.

5. The method according to any one of claims 2 to 4, It is characterized in that The controlling the swimming pool cleaning robot to retreat relative to the swimming pool wall until the distance between the swimming pool cleaning robot and the swimming pool wall is sufficient for the swimming pool cleaning robot to perform a U-turn movement includes: Based on the posture of the swimming pool cleaning robot colliding with the swimming pool wall or the posture after tail swinging relative to the swimming pool wall, the swimming pool cleaning robot is controlled to retreat in a straight line relative to the swimming pool wall.

6. The method according to claim 1, It is characterized in that The controlling the swimming pool cleaning robot to turn around relative to the swimming pool wall until the turning direction of the swimming pool cleaning robot is opposite to the preset direction, comprises: The swimming pool cleaning robot is controlled to perform differential motion based on the backward posture to turn around relative to the swimming pool wall until the turning direction of the swimming pool cleaning robot is opposite to the preset direction.

7. The method according to claim 6, It is characterized in that The controlling the swimming pool cleaning robot to perform differential motion based on the backward posture to turn around relative to the swimming pool wall until the turning direction of the swimming pool cleaning robot is opposite to the preset direction includes: Controlling the swimming pool cleaning robot to perform a differential forward motion based on the backward posture so as to turn around relative to the swimming pool wall; or The swimming pool cleaning robot is controlled to perform differential forward motion based on the backward posture to turn relative to the swimming pool wall, and the swimming pool cleaning robot is controlled to perform differential backward motion based on the turned posture until the turning direction of the swimming pool cleaning robot is opposite to the preset direction.

8. The method according to claim 1, It is characterized in that The method further comprises: The turning direction of the swimming pool cleaning robot is updated to a preset direction, and the step of returning to controlling the swimming pool cleaning robot to move toward the swimming pool wall based on the preset direction until the swimming pool wall is collided is continued.

9. A method for cleaning the edge of a swimming pool. include: According to the pool wall corresponding to the edge position to be cleaned, the pool cleaning robot is controlled to perform a wall-touching and U-turning motion with respect to the pool wall corresponding to the edge position to be cleaned, and performs cleaning with respect to the edge position to be cleaned during the wall-touching and U-turning motion process; Wherein, the wall-impacting U-turn is performed using the wall-impacting U-turn method of the swimming pool cleaning robot as described in any one of claims 1 to 8.

10. A device for turning around when hitting a wall for a swimming pool cleaning robot. include: A collision control module, used to control the swimming pool cleaning robot to move toward the swimming pool wall based on a preset direction until it collides with the swimming pool wall; a retreat control module, used to control the swimming pool cleaning robot to retreat relative to the swimming pool wall until the distance between the swimming pool cleaning robot and the swimming pool wall is sufficient for the swimming pool cleaning robot to perform a U-turn movement; The turning control module is used to control the swimming pool cleaning robot to turn relative to the swimming pool wall until the turning direction of the swimming pool cleaning robot is opposite to the preset direction.

11. A swimming pool edge cleaning device, include: a driving module, for controlling the swimming pool cleaning robot to perform a wall turn relative to the swimming pool wall corresponding to the edge position to be cleaned according to the edge position to be cleaned, wherein the wall turn is performed by using the wall turn device of the swimming pool cleaning robot according to claim 10; The cleaning module is used to control the swimming pool cleaning robot to clean the edge position to be cleaned when the swimming pool cleaning robot performs a wall-touching and U-turning motion with respect to the swimming pool wall corresponding to the edge position to be cleaned.

12. An electronic device, include: processor; as well as A memory for storing programs; The program includes instructions, which, when executed by the processor, cause the processor to perform the method according to any one of claims 1 to 8, or the method according to claim 9.

13. A non-transitory computer-readable storage medium storing computer instructions, in, The computer instructions are used to make a computer execute the method according to any one of claims 1 to 8, or execute the method according to claim 9.

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