Swimming pool cleaning method and device, computer readable storage medium and robot

Abstract

The invention belongs to the technical field of robots, and particularly relates to a swimming pool cleaning method and device, a computer readable storage medium and a robot. The method comprises the steps that a robot is controlled to search for two parallel wall bodies in a swimming pool to be cleaned; controlling the robot to transversely clean the swimming pool; wherein the transverse cleaning is carried out according to a channel parallel to the two parallel wall bodies; controlling the robot to longitudinally clean the swimming pool; wherein the longitudinal cleaning is carried out according to a channel perpendicular to the two parallel wall bodies. Through organic combination of the two cleaning modes of transverse cleaning and longitudinal cleaning, more comprehensive cleaning can be performed in the swimming pool, the situation of missing sweeping is avoided, and the cleaning coverage rate is effectively increased.

Description

Technical Field

[0001] The present application belongs to the field of robotics technology, and in particular, relates to a swimming pool cleaning method, device, computer-readable storage medium, and robot. Background Art

[0002] With the continuous development of robot technology, it has been more and more widely used in various fields. Taking swimming pool cleaning as an example, there are relatively mature methods in the prior art to control robots to clean swimming pools. However, the existing swimming pool cleaning methods generally adopt a single cleaning mode, which is prone to missed cleaning and low cleaning coverage. Summary of the invention

[0003] In view of this, embodiments of the present application provide a swimming pool cleaning method, device, computer-readable storage medium, and robot to solve the problem of low cleaning coverage in existing swimming pool cleaning methods.

[0004] A first aspect of an embodiment of the present application provides a swimming pool cleaning method, which may include:

[0005] Control the robot to search for two parallel walls in the pool to be cleaned;

[0006] Controlling the robot to perform horizontal cleaning on the swimming pool; wherein the horizontal cleaning is to perform cleaning along a channel parallel to the two parallel walls;

[0007] The robot is controlled to perform longitudinal cleaning on the swimming pool; wherein the longitudinal cleaning is performed along a channel perpendicular to the two parallel walls.

[0008] In a specific implementation of the first aspect, controlling the robot to perform horizontal cleaning of the swimming pool may include:

[0009] Determine a first target area in the swimming pool according to the two parallel walls; wherein the first target area is the area between the two parallel walls;

[0010] Controlling the robot to detect a second target area in the swimming pool; wherein the second target area is an area located in a first direction outside the first target area;

[0011] controlling the robot to clean the second target area and the first target area;

[0012] Controlling the robot to detect a third target area in the swimming pool; wherein the third target area is an area located in a second direction outside the first target area, and the second direction is opposite to the first direction;

[0013] The robot is controlled to clean the detected third target area.

[0014] In a specific implementation of the first aspect, controlling the robot to clean the second target area and the first target area may include:

[0015] Controlling the robot to clean the second target area and the first target area according to a first arcuate moving direction;

[0016] Accordingly, controlling the robot to clean the detected third target area includes:

[0017] The robot is controlled to clean the third target area in a second arcuate moving direction; wherein the second arcuate moving direction is opposite to the first arcuate moving direction.

[0018] In a specific implementation of the first aspect, controlling the robot to clean the second target area and the first target area according to the first arcuate moving direction may include:

[0019] determining a first distance corresponding to the first target area;

[0020] Calculating a first channel number corresponding to the first target area according to the first distance and a preset channel spacing;

[0021] determining a second distance corresponding to the second target area;

[0022] Calculating the number of second channels corresponding to the second target area according to the second distance and the channel spacing;

[0023] Determining a total number of waterways corresponding to the second target area and the first target area according to the first number of waterways and the second number of waterways;

[0024] The robot is controlled to clean the second target area and the first target area according to the first arcuate moving direction and the total number of channels.

[0025] In a specific implementation of the first aspect, controlling the robot to clean the detected third target area may include:

[0026] determining a third distance corresponding to the third target area;

[0027] Calculating the number of third channels corresponding to the third target area according to the third distance and the preset channel spacing;

[0028] The robot is controlled to clean the third target area according to the second arcuate moving direction and the third channel number.

[0029] In a specific implementation of the first aspect, the swimming pool cleaning method may further include:

[0030] During the process of controlling the robot to clean the second target area and the first target area, if two consecutive collisions occur at the same end of the channel when the robot switches channels, the robot is controlled to move to the other end of the channel, and the step of controlling the robot to detect the third target area in the swimming pool and its subsequent steps are executed.

[0031] In a specific implementation of the first aspect, controlling the robot to search for two parallel walls in the swimming pool to be cleaned may include:

[0032] Determine a first heading angle between the robot and the first wall by controlling the robot to collide with the first wall;

[0033] Determine a second heading angle between the robot and the second wall by controlling the robot to collide with the second wall;

[0034] Calculating a heading angle deviation between the first heading angle and the second heading angle;

[0035] If the heading angle deviation is less than a preset deviation threshold, the first wall and the second wall are determined as the two parallel walls.

[0036] A second aspect of an embodiment of the present application provides a swimming pool cleaning device, which may include:

[0037] A parallel wall search module is used to control the robot to search for two parallel walls in the swimming pool to be cleaned;

[0038] A transverse cleaning control module, used to control the robot to perform transverse cleaning on the swimming pool; wherein the transverse cleaning is performed along a channel parallel to the two parallel walls;

[0039] The longitudinal cleaning control module is used to control the robot to perform longitudinal cleaning on the swimming pool; wherein the longitudinal cleaning is performed along a channel perpendicular to the two parallel walls.

[0040] In a specific implementation of the second aspect, the lateral cleaning control module may include:

[0041] A first target area determination submodule, configured to determine a first target area in the swimming pool according to the two parallel walls; wherein the first target area is an area between the two parallel walls;

[0042] A second target area detection submodule, used to control the robot to detect a second target area in the swimming pool; wherein the second target area is an area located in a first direction outside the first target area;

[0043] A first cleaning submodule, used for controlling the robot to clean the second target area and the first target area;

[0044] A third target area detection submodule, used to control the robot to detect a third target area in the swimming pool; wherein the third target area is an area located in a second direction outside the first target area, and the second direction is opposite to the first direction;

[0045] The second cleaning submodule is used to control the robot to clean the detected third target area.

[0046] In a specific implementation of the second aspect, the first cleaning submodule may include:

[0047] a first arcuate cleaning unit, configured to control the robot to clean the second target area and the first target area in a first arcuate moving direction;

[0048] Accordingly, the second cleaning submodule may include:

[0049] The second arcuate cleaning unit is used to control the robot to clean the third target area in a second arcuate moving direction; wherein the second arcuate moving direction is opposite to the first arcuate moving direction.

[0050] In a specific implementation of the second aspect, the first arcuate cleaning unit may include:

[0051] A first distance determining subunit, configured to determine a first distance corresponding to the first target area;

[0052] a first channel number calculation subunit, configured to calculate a first channel number corresponding to the first target area according to the first distance and a preset channel spacing;

[0053] A second distance determining subunit, configured to determine a second distance corresponding to the second target area;

[0054] A second channel number calculation subunit, configured to calculate a second channel number corresponding to the second target area according to the second distance and the channel spacing;

[0055] a total number of waterways determining subunit, configured to determine the total number of waterways corresponding to the second target area and the first target area according to the first number of waterways and the second number of waterways;

[0056] The first arch cleaning subunit is used to control the robot to clean the second target area and the first target area according to the first arch moving direction and the total number of channels.

[0057] In a specific implementation of the second aspect, the first arcuate cleaning unit may include:

[0058] A third distance determination subunit, configured to determine a third distance corresponding to the third target area;

[0059] a third channel number calculation subunit, configured to calculate a third channel number corresponding to the third target area according to the third distance and a preset channel spacing;

[0060] The second arch cleaning subunit is used to control the robot to clean the third target area according to the second arch moving direction and the third channel number.

[0061] In a specific implementation of the second aspect, the parallel wall search module may include:

[0062] A first heading angle determining unit, configured to determine a first heading angle between the robot and the first wall by controlling the robot to collide with the first wall;

[0063] A second heading angle determining unit, configured to determine a second heading angle corresponding to the robot and the second wall by controlling the robot to collide with the second wall;

[0064] a heading angle deviation calculation unit, configured to calculate a heading angle deviation between the first heading angle and the second heading angle;

[0065] A parallel wall determination unit is used to determine the first wall and the second wall as the two parallel walls if the heading angle deviation is less than or equal to a preset deviation threshold.

[0066] A third aspect of an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of any of the above-mentioned swimming pool cleaning methods are implemented.

[0067] A fourth aspect of an embodiment of the present application provides a robot, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of any one of the above-mentioned swimming pool cleaning methods when executing the computer program.

[0068] A fifth aspect of the embodiments of the present application provides a computer program product. When the computer program product runs on a robot, the robot executes the steps of any one of the above-mentioned swimming pool cleaning methods.

[0069] Compared with the prior art, the embodiments of the present application have the following beneficial effects: the embodiments of the present application control the robot to search for two parallel walls in the swimming pool to be cleaned; control the robot to clean the swimming pool horizontally; wherein the horizontal cleaning is to clean along a channel parallel to the two parallel walls; control the robot to clean the swimming pool vertically; wherein the vertical cleaning is to clean along a channel perpendicular to the two parallel walls. In the embodiments of the present application, two parallel walls can be searched in the swimming pool to be cleaned, and used as a reference for cleaning the swimming pool, and the swimming pool can be cleaned horizontally along a channel parallel to the two walls, and the swimming pool can be cleaned vertically along a channel perpendicular to the two walls. Through the organic combination of the two cleaning modes of horizontal cleaning and vertical cleaning, a more comprehensive cleaning can be performed in the swimming pool, avoiding missed cleaning and effectively improving the cleaning coverage rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0070] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0071] Figure 1 This is a flow chart of an embodiment of a swimming pool cleaning method in an embodiment of the present application;

[0072] Figure 2 A schematic flow chart for controlling a robot to search for two parallel walls in a swimming pool to be cleaned;

[0073] Figure 3 A schematic flow chart for controlling the robot to perform horizontal cleaning of a swimming pool;

[0074] Figure 4 is a schematic diagram of the first arcuate moving direction;

[0075] Figure 5 is a schematic diagram of the second bow movement direction;

[0076] Figure 6 A schematic diagram of a specific application scenario of an embodiment of the present application;

[0077] Figure 7 A schematic diagram of another specific application scenario of an embodiment of the present application;

[0078] Figure 8 This is a structural diagram of an embodiment of a swimming pool cleaning device in an embodiment of the present application;

[0079] Fig. 9 This is a schematic block diagram of a robot in an embodiment of the present application. DETAILED DESCRIPTION

[0080] In order to make the purpose, features, and advantages of the invention of this application more obvious and easy to understand, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the embodiments described below are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0081] It should be understood that when used in this specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or groups thereof.

[0082] It should also be understood that the terms used in this application specification are only for the purpose of describing specific embodiments and are not intended to limit the application. As used in this application specification and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0083] It should be further understood that the term “and / or” used in the specification and appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0084] As used in this specification and the appended claims, the term "if" may be interpreted as "when" or "upon" or "in response to determining" or "in response to detecting," depending on the context. Similarly, the phrases "if it is determined" or "if [described condition or event] is detected" may be interpreted as meaning "upon determination" or "in response to determining" or "upon detection of [described condition or event]" or "in response to detecting [described condition or event]," depending on the context.

[0085] In addition, in the description of the present application, the terms "first", "second", "third", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0086] With the continuous development of robot technology, it has been more and more widely used in various fields. Taking swimming pool cleaning as an example, there are relatively mature methods in the prior art to control robots to clean swimming pools. However, the existing swimming pool cleaning methods generally adopt a single cleaning mode, which is prone to missed cleaning and low cleaning coverage.

[0087] In view of this, embodiments of the present application provide a swimming pool cleaning method, device, computer-readable storage medium, and robot to solve the problem of low cleaning coverage in existing swimming pool cleaning methods.

[0088] In an embodiment of the present application, two parallel walls can be searched for in the swimming pool to be cleaned, which can be used as references for cleaning the swimming pool. The swimming pool can be cleaned horizontally along a channel parallel to the two walls, and the swimming pool can be cleaned vertically along a channel perpendicular to the two walls. By organically combining the two cleaning modes of horizontal cleaning and vertical cleaning, a more comprehensive cleaning can be performed in the swimming pool to avoid missed cleanings, thereby effectively improving the cleaning coverage rate.

[0089] The execution subject of the embodiment of the present application may be a robot, including but not limited to various types of robots that can be used for swimming pool cleaning.

[0090] See also Figure 1 , an embodiment of a swimming pool cleaning method in the embodiment of the present application may include:

[0091] Step S101: Control the robot to search for two parallel walls in the swimming pool to be cleaned.

[0092] In a specific implementation of the embodiment of the present application, step S101 may include: Figure 2 The process shown:

[0093] Step S1011: Determine a first heading angle between the robot and the first wall by controlling the robot to collide with the first wall.

[0094] Specifically, the robot can be controlled to move forward in a straight line according to the current heading angle (yaw), and detect whether the robot has a collision. If no collision occurs, the robot continues to be controlled to move forward, and continues to detect whether the robot has a collision. If a collision occurs, the robot continues to be controlled to move forward, and detects whether the robot has climbed a wall.

[0095] If the robot goes up the wall, the robot's posture can be adjusted, and the robot's roll angle (roll) can be adjusted to a preset angle range, so that the bottom of the robot is parallel to the wall. The angle range can be set according to the actual situation. For example, roll∈[-2°,2°] can be set. This embodiment of the present application does not specifically limit this. After adjusting the robot's posture, the robot can be controlled to keep the adjusted posture and go down the wall, and then rotate 180°, and the robot's heading angle at this time is used as the first heading angle.

[0096] If the robot continues to move forward for more than the preset first time period after the collision and still does not reach the wall, the robot can be controlled to rotate 180°, and the heading angle of the robot at this time is used as the first heading angle. The specific value of the first time period can be set according to actual conditions, for example, it can be set to 3 seconds or other values, and the embodiments of the present application do not specifically limit this.

[0097] Step S1012: Determine a second heading angle between the robot and the second wall by controlling the robot to collide with the second wall.

[0098] Specifically, the robot can be controlled to move forward in a straight line according to the first heading angle, and whether the robot collides or not can be detected. If no collision occurs, the robot can continue to be controlled to move forward, and whether the robot collides or not can be detected. If a collision occurs, the robot can continue to be controlled to move forward for a preset second duration, and then the heading angle of the robot at this time can be used as the second heading angle. Among them, the specific value of the second duration can be set according to the actual situation, for example, it can be set to 0.5 seconds (i.e., 500 milliseconds) or other values, and the embodiments of the present application do not specifically limit this.

[0099] Step S1013: Calculate the heading angle deviation between the first heading angle and the second heading angle.

[0100] In a specific implementation of the embodiment of the present application, the absolute value of the difference between the first heading angle and the second heading angle may be used as the heading angle deviation.

[0101] Step S1014: determine whether the heading angle deviation is less than or equal to a preset deviation threshold.

[0102] That is, determine whether the following formula is established: fabs(α-β)≤DeltaWallAngle, wherein α is the first heading angle, β is the second heading angle, fabs is the absolute value function, DeltaWallAngle is the deviation threshold, and the specific value of the deviation threshold can be set according to actual conditions. For example, it can be set to a value between 0° and 15°, that is, DeltaWallAngle∈[0°,15°]. The embodiment of the present application does not make specific limitations on this.

[0103] If the above formula is not true, that is, the heading angle deviation is greater than the deviation threshold, it means that the robot has not found two parallel walls in this round of search. At this time, it can return to execute step S1011 and its subsequent steps, that is, continue the next round of search process. If the number of search rounds exceeds the preset round number threshold and still no parallel walls are found, no more search is performed. Among them, the specific value of the round number threshold can be set according to the actual situation. For example, it can be set to 5 or other values, and the embodiment of the present application does not make specific limitations on this.

[0104] If the above formula is established, that is, the heading angle deviation is less than or equal to the deviation threshold, it means that the robot has searched for two parallel walls, and step S1015 can be executed at this time.

[0105] Step S1015: determine the first wall and the second wall as two parallel walls.

[0106] In the embodiment of the present application, the two parallel walls searched by the robot can be used as reference objects for swimming pool cleaning to perform a subsequent swimming pool cleaning process.

[0107] Step S102: Control the robot to clean the swimming pool horizontally.

[0108] Among them, horizontal cleaning is cleaning along a channel parallel to two parallel walls.

[0109] In a specific implementation of the embodiment of the present application, step S102 may include: Figure 3 The process shown:

[0110] Step S1021: determine a first target area in the swimming pool according to two parallel walls.

[0111] The first target area is the area between two parallel walls.

[0112] Step S1022: Control the robot to detect a second target area in the swimming pool.

[0113] The second target area is an area outside the first target area in a first direction, and the first direction is a direction from the first wall to the second wall.

[0114] In a specific implementation of the embodiment of the present application, the robot can be controlled to rotate so that the walking direction of the robot is parallel to the wall, and then the robot is controlled to move forward in a straight line until a collision occurs. After the collision occurs, the robot can be controlled to rotate so that its direction is consistent with the first direction, and the detection of the second target area is started. The robot is controlled to move forward in a straight line, and the distance the robot moves forward is recorded by the odometer until a collision occurs, thereby completing the detection of the second target area.

[0115] Step S1023: Control the robot to clean the second target area and the first target area.

[0116] In a specific implementation of the embodiment of the present application, the robot can be controlled to clean the second target area and the first target area according to the first arcuate moving direction. The first arcuate moving direction can be as follows: Figure 4 The direction of arcuate movement is shown from top to bottom.

[0117] Specifically, for the first target area, the first distance corresponding to the first target area can be determined first. For example, the distance between two parallel walls can be determined according to the robot's odometer and used as the first distance. Alternatively, the first distance can be measured by a distance measuring sensor, wherein the distance measuring sensor may include but is not limited to an ultrasonic-based distance measuring sensor or other types of distance measuring sensors, which are not specifically limited in the embodiments of the present application. Then, the number of channels corresponding to the first target area, i.e., the first channel number, can be calculated based on the first distance and the preset channel spacing, as shown in the following formula: N1=L1 / TranDistance, wherein N1 is the first channel number, L1 is the first distance, and TranDistance is the channel spacing. Its specific value can be set according to the actual situation. For example, it can be set to 1 fuselage length, which is not specifically limited in the embodiments of the present application.

[0118] For the second target area, the second distance corresponding to the second target area can be determined first. For example, the distance traveled by the robot in the process of detecting the second target area can be determined based on the robot's odometer, and used as the second distance. Alternatively, the second distance can be measured by a distance measuring sensor. Then, the number of channels corresponding to the second target area, i.e., the second channel number, can be calculated based on the second distance and the preset channel spacing, as shown in the following formula: N2 = L2 / TranDistance, where N2 is the second channel number and L2 is the second distance.

[0119] After respectively calculating the first number of waterways and the second number of waterways, the total number of waterways corresponding to the second target area and the first target area can be determined according to the first number of waterways and the second number of waterways, as shown in the following formula: Nmax=N1+N2, where Nmax is the total number of waterways.

[0120] After the total number of channels is determined, the robot may be controlled to clean the second target area and the first target area according to the first arcuate moving direction and the total number of channels.

[0121] Step S1024: Control the robot to detect a third target area in the swimming pool.

[0122] The third target area is an area in the second direction outside the first target area, and the second direction is the direction from the second wall to the first wall, which is opposite to the first direction. After completing the cleaning of the second target area and the first target area, the robot can be controlled to rotate so that its direction is consistent with the second direction, and the detection of the third target area can be started. The robot is controlled to move forward in a straight line, and the distance the robot moves forward is recorded by the odometer until a collision occurs, thereby completing the detection of the third target area.

[0123] Step S1025: Control the robot to clean the detected third target area.

[0124] In a specific implementation of the embodiment of the present application, the robot can be controlled to clean the third target area in the second arcuate moving direction. The second arcuate moving direction can be as follows: Figure 5 The direction of the arcuate movement from top to bottom shown is opposite to the direction of the first arcuate movement.

[0125] Specifically, the third distance corresponding to the third target area can be determined. For example, the distance traveled by the robot in the process of detecting the third target area can be determined based on the robot's odometer, and the distance can be used as the third distance. Alternatively, the third distance can also be measured by a distance measuring sensor. Then, the number of channels corresponding to the third target area, that is, the third channel number, can be calculated based on the third distance and the preset channel spacing, as shown in the following formula: N3 = L3 / TranDistance, where N3 is the third channel number and L3 is the third distance.

[0126] After the third channel number is determined, the robot may be controlled to clean the third target area according to the second arcuate moving direction and the third channel number.

[0127] Step S103: Control the robot to clean the swimming pool longitudinally.

[0128] Among them, longitudinal cleaning is cleaning along a channel that is perpendicular to two parallel walls.

[0129] Longitudinal cleaning is similar to transverse cleaning, and the difference lies mainly in the direction of the channel. The channel of transverse cleaning is parallel to the two parallel walls, while the channel of longitudinal cleaning is perpendicular to the two parallel walls. The specific process of longitudinal cleaning can be referred to the content of transverse cleaning above, and the embodiment of this application will not be repeated here.

[0130] As an example, Figure 6 A schematic diagram of a specific application scenario is shown. As shown in the figure, the robot searches for two parallel walls (i.e., the first wall and the second wall) in the swimming pool to be cleaned, and performs horizontal cleaning of the swimming pool in which the channel is parallel to the two walls. During the horizontal cleaning process, the first target area between the first wall and the second wall is first determined, and then the second target area above is detected, and the second target area and the first target area are cleaned according to the first bow-shaped moving direction. There is no third target area in this example, so the cleaning process for the third target area can be skipped. After the horizontal cleaning is completed, the swimming pool can be cleaned vertically in which the channel is perpendicular to the two walls in a similar manner.

[0131] As an example, Figure 7 A schematic diagram of another specific application scenario is shown. As shown in the figure, the robot searches for two parallel walls (i.e., the first wall and the second wall) in the swimming pool to be cleaned, and performs horizontal cleaning of the swimming pool in which the channel is parallel to the two walls. During the horizontal cleaning process, the first target area between the first wall and the second wall is first determined. In this example, there is no second target area, so the cleaning process for the second target area can be skipped, and only the first target area needs to be cleaned in the first bow-shaped moving direction. Then, the third target area below that needs further re-sweeping is detected, and the detected third target area is cleaned in the second bow-shaped moving direction. After the horizontal cleaning is completed, the swimming pool can be cleaned longitudinally in which the channel is perpendicular to the two walls in a similar manner.

[0132] In a specific implementation of the embodiment of the present application, after searching for two parallel walls, the robot can perform the subsequent swimming pool cleaning process according to the following steps:

[0133] (1) Determine the first channel number.

[0134] (2) Control the robot to rotate 90° clockwise so that the robot's walking direction is parallel to the wall, and reset the robot's heading angle to 0°, that is, yaw = 0°.

[0135] (3) Control the robot to move forward in a straight line until a collision occurs.

[0136] (4) Control the robot to rotate 90° counterclockwise so that its direction is consistent with the first direction and start detecting the second target area. Control the robot to move forward in a straight line until a collision occurs, determine the second channel number, and sum the first channel number and the second channel number to obtain the total channel number.

[0137] (5) Control the robot to clean along the first bow-shaped moving direction, record the length of each channel, and calculate the longest distance of the channels (denoted as Lmax).

[0138] (6) Each time the lane is switched, the number of lanes the robot has traveled (referred to as MoveCount) is increased by one count unit, i.e., MoveCount++. Check whether a collision occurs when switching to the next lane.

[0139] (7) Determine whether the robot collides when switching lanes twice in succession. If so, execute step (11); if not, execute step (8).

[0140] (8) Determine whether two consecutive collisions occur at the same end of the channel when the robot switches channels. If not, execute step (9); if so, control the robot to move to the other end of the channel, and then execute step (10).

[0141] (9) Determine whether the number of moving lanes is greater than the total number of lanes, that is, determine whether MoveCount>Nmax is established. If so, execute step (10); if not, return to execute step (5).

[0142] (10) Control the robot to rotate so that its direction is consistent with the second direction and start to detect the third target area. Control the robot to move forward in a straight line until a collision occurs, and determine the third channel number; control the robot to clean the third target area according to the second bow movement direction, and scan the third channel number in total.

[0143] (11) Determine whether the robot has currently entered the longitudinal cleaning mode.

[0144] In order to mark whether the robot has entered the longitudinal cleaning mode, a longitudinal cleaning flag (denoted as SecondCleanFlag) can be set in advance. When the longitudinal cleaning flag value is true (True), it indicates that the robot has entered the longitudinal cleaning mode. When the longitudinal cleaning flag value is false (False), it indicates that the robot has not entered the longitudinal cleaning mode, that is, the robot is performing horizontal cleaning. The initial value of the longitudinal cleaning flag is False.

[0145] If the robot has currently entered the longitudinal cleaning mode, that is, SecondCleanFlag==True, it means that the cleaning of the swimming pool has been completed and the cleaning process ends; if the robot has not currently entered the longitudinal cleaning mode, that is, SecondCleanFlag==False, then execute step (12).

[0146] (12) Control the robot to start longitudinal cleaning. Change the longitudinal cleaning flag to True, that is, SecondCleanFlag = True, and clear the number of travel lanes, that is, MoveCount = 0.

[0147] (13) Determine whether the robot's current heading angle is 0°. If so, proceed to step (14); if not, proceed to step (15).

[0148] (14) Control the robot to rotate 90° counterclockwise and reset the heading angle of the robot to 0°, that is, yaw = 0°; control the robot to move forward in a straight line until a collision occurs; control the robot to rotate 90° clockwise, and then control the robot to move forward in a straight line until a collision occurs; update the total number of channels to: Nmax = Lmax / TranDistance, and return to execute step (5).

[0149] (15) Control the robot to rotate 90° clockwise and reset the heading angle of the robot to 0°, that is, yaw = 0°; control the robot to move forward in a straight line until a collision occurs; control the robot to rotate 90° counterclockwise, and then control the robot to move forward in a straight line until a collision occurs; update the total number of channels to: Nmax = Lmax / TranDistance, and return to execute step (5).

[0150] In summary, the embodiment of the present application controls the robot to search for two parallel walls in the swimming pool to be cleaned; controls the robot to clean the swimming pool horizontally; wherein, horizontal cleaning is to clean along a channel parallel to the two parallel walls; controls the robot to clean the swimming pool vertically; wherein, vertical cleaning is to clean along a channel perpendicular to the two parallel walls. In the embodiment of the present application, two parallel walls can be searched in the swimming pool to be cleaned, and used as a reference for cleaning the swimming pool, and the swimming pool can be cleaned horizontally along a channel parallel to the two walls, and the swimming pool can be cleaned vertically along a channel perpendicular to the two walls. Through the organic combination of the two cleaning modes of horizontal cleaning and vertical cleaning, a more comprehensive cleaning can be performed in the swimming pool, avoiding missed cleaning, and effectively improving the cleaning coverage rate.

[0151] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0152] Corresponding to the swimming pool cleaning method described in the above embodiment, Figure 8 A structural diagram of an embodiment of a swimming pool cleaning device provided in an embodiment of the present application is shown.

[0153] In this embodiment, a swimming pool cleaning device may include:

[0154] A parallel wall search module 801 is used to control the robot to search for two parallel walls in the swimming pool to be cleaned;

[0155] A transverse cleaning control module 802 is used to control the robot to perform transverse cleaning on the swimming pool; wherein the transverse cleaning is performed along a channel parallel to the two parallel walls;

[0156] The longitudinal cleaning control module 803 is used to control the robot to perform longitudinal cleaning on the swimming pool; wherein the longitudinal cleaning is performed along a channel perpendicular to the two parallel walls.

[0157] In a specific implementation of the embodiment of the present application, the lateral cleaning control module may include:

[0158] A first target area determination submodule, configured to determine a first target area in the swimming pool according to the two parallel walls; wherein the first target area is an area between the two parallel walls;

[0159] A second target area detection submodule, used to control the robot to detect a second target area in the swimming pool; wherein the second target area is an area located in a first direction outside the first target area;

[0160] A first cleaning submodule, used for controlling the robot to clean the second target area and the first target area;

[0161] A third target area detection submodule, used to control the robot to detect a third target area in the swimming pool; wherein the third target area is an area located in a second direction outside the first target area, and the second direction is opposite to the first direction;

[0162] The second cleaning submodule is used to control the robot to clean the detected third target area.

[0163] In a specific implementation of the embodiment of the present application, the first cleaning submodule may include:

[0164] a first arcuate cleaning unit, configured to control the robot to clean the second target area and the first target area in a first arcuate moving direction;

[0165] Accordingly, the second cleaning submodule may include:

[0166] The second arcuate cleaning unit is used to control the robot to clean the third target area in a second arcuate moving direction; wherein the second arcuate moving direction is opposite to the first arcuate moving direction.

[0167] In a specific implementation of the embodiment of the present application, the first arcuate cleaning unit may include:

[0168] A first distance determining subunit, configured to determine a first distance corresponding to the first target area;

[0169] a first channel number calculation subunit, configured to calculate a first channel number corresponding to the first target area according to the first distance and a preset channel spacing;

[0170] A second distance determining subunit, configured to determine a second distance corresponding to the second target area;

[0171] A second channel number calculation subunit, configured to calculate a second channel number corresponding to the second target area according to the second distance and the channel spacing;

[0172] a total number of waterways determining subunit, configured to determine the total number of waterways corresponding to the second target area and the first target area according to the first number of waterways and the second number of waterways;

[0173] The first arch cleaning subunit is used to control the robot to clean the second target area and the first target area according to the first arch moving direction and the total number of channels.

[0174] In a specific implementation of the embodiment of the present application, the first arcuate cleaning unit may include:

[0175] A third distance determination subunit, configured to determine a third distance corresponding to the third target area;

[0176] a third channel number calculation subunit, configured to calculate a third channel number corresponding to the third target area according to the third distance and a preset channel spacing;

[0177] The second arch cleaning subunit is used to control the robot to clean the third target area according to the second arch moving direction and the third channel number.

[0178] In a specific implementation of the embodiment of the present application, the parallel wall search module may include:

[0179] A first heading angle determining unit, configured to determine a first heading angle between the robot and the first wall by controlling the robot to collide with the first wall;

[0180] A second heading angle determining unit, configured to determine a second heading angle corresponding to the robot and the second wall by controlling the robot to collide with the second wall;

[0181] a heading angle deviation calculation unit, configured to calculate a heading angle deviation between the first heading angle and the second heading angle;

[0182] A parallel wall determination unit is used to determine the first wall and the second wall as the two parallel walls if the heading angle deviation is less than or equal to a preset deviation threshold.

[0183] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described devices, modules and units can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0184] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0185] Fig. 9 A schematic block diagram of a robot provided in an embodiment of the present application is shown. For ease of explanation, only the parts related to the embodiment of the present application are shown.

[0186] like Fig. 9 As shown, the robot 9 of this embodiment includes: a processor 90, a memory 91, and a computer program 92 stored in the memory 91 and executable on the processor 90. When the processor 90 executes the computer program 92, the steps in the above-mentioned swimming pool cleaning method embodiments are implemented, for example Figure 1 Alternatively, when the processor 90 executes the computer program 92, the functions of each module / unit in the above-mentioned device embodiments are realized, for example, Figure 8 The functions of modules 801 to 803 are shown.

[0187] Exemplarily, the computer program 92 may be divided into one or more modules / units, which are stored in the memory 91 and executed by the processor 90 to complete the present application. The one or more modules / units may be a series of computer program instruction segments capable of completing specific functions, which are used to describe the execution process of the computer program 92 in the robot 9.

[0188] Those skilled in the art will understand that Fig. 9 It is only an example of the robot 9 and does not constitute a limitation of the robot 9. The robot 9 may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the robot 9 may also include input and output devices, network access devices, buses, etc.

[0189] The processor 90 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0190] The memory 91 may be an internal storage unit of the robot 9, such as a hard disk or memory of the robot 9. The memory 91 may also be an external storage device of the robot 9, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the robot 9. Further, the memory 91 may also include both an internal storage unit of the robot 9 and an external storage device. The memory 91 is used to store the computer program and other programs and data required by the robot 9. The memory 91 may also be used to temporarily store data that has been output or is to be output.

[0191] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0192] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0193] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0194] In the embodiments provided in the present application, it should be understood that the disclosed devices / robots and methods can be implemented in other ways. For example, the device / robot embodiments described above are merely schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0195] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0196] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0197] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable storage medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable storage medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable storage media do not include electric carrier signals and telecommunication signals.

[0198] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A swimming pool cleaning method, characterized in that: include: Control the robot to search for two parallel walls in the pool to be cleaned; Controlling the robot to perform horizontal cleaning on the swimming pool; wherein the horizontal cleaning is to perform cleaning along a channel parallel to the two parallel walls; The robot is controlled to perform longitudinal cleaning on the swimming pool; wherein the longitudinal cleaning is performed along a channel perpendicular to the two parallel walls.

2. The swimming pool cleaning method according to claim 1, characterized in that: The controlling the robot to perform horizontal cleaning of the swimming pool comprises: Determine a first target area in the swimming pool according to the two parallel walls; wherein the first target area is the area between the two parallel walls; Controlling the robot to detect a second target area in the swimming pool; wherein the second target area is an area located in a first direction outside the first target area; controlling the robot to clean the second target area and the first target area; Controlling the robot to detect a third target area in the swimming pool; wherein the third target area is an area located in a second direction outside the first target area, and the second direction is opposite to the first direction; The robot is controlled to clean the detected third target area.

3. The swimming pool cleaning method according to claim 2, characterized in that: The controlling the robot to clean the second target area and the first target area includes: Controlling the robot to clean the second target area and the first target area according to a first arcuate moving direction; Accordingly, controlling the robot to clean the detected third target area includes: The robot is controlled to clean the third target area in a second arcuate moving direction; wherein the second arcuate moving direction is opposite to the first arcuate moving direction.

4. The swimming pool cleaning method according to claim 3, characterized in that: The controlling the robot to clean the second target area and the first target area according to the first arcuate moving direction comprises: determining a first distance corresponding to the first target area; Calculating a first channel number corresponding to the first target area according to the first distance and a preset channel spacing; determining a second distance corresponding to the second target area; Calculating the number of second channels corresponding to the second target area according to the second distance and the channel spacing; Determining a total number of waterways corresponding to the second target area and the first target area according to the first number of waterways and the second number of waterways; The robot is controlled to clean the second target area and the first target area according to the first arcuate moving direction and the total number of channels.

5. The swimming pool cleaning method according to claim 3, characterized in that: The controlling the robot to clean the detected third target area includes: determining a third distance corresponding to the third target area; Calculating the number of third channels corresponding to the third target area according to the third distance and the preset channel spacing; The robot is controlled to clean the third target area according to the second arcuate moving direction and the third channel number.

6. The swimming pool cleaning method according to claim 2, characterized in that: Also includes: During the process of controlling the robot to clean the second target area and the first target area, if two consecutive collisions occur at the same end of the channel when the robot switches channels, the robot is controlled to move to the other end of the channel, and the step of controlling the robot to detect the third target area in the swimming pool and its subsequent steps are executed.

7. The swimming pool cleaning method according to any one of claims 1 to 6, characterized in that: The controlling robot searches for two parallel walls in the swimming pool to be cleaned, including: Determine a first heading angle between the robot and the first wall by controlling the robot to collide with the first wall; Determine a second heading angle between the robot and the second wall by controlling the robot to collide with the second wall; Calculating a heading angle deviation between the first heading angle and the second heading angle; If the heading angle deviation is less than a preset deviation threshold, the first wall and the second wall are determined as the two parallel walls.

8. A swimming pool cleaning device, characterized in that: include: A parallel wall search module is used to control the robot to search for two parallel walls in the swimming pool to be cleaned; A transverse cleaning control module, used to control the robot to perform transverse cleaning on the swimming pool; wherein the transverse cleaning is performed along a channel parallel to the two parallel walls; The longitudinal cleaning control module is used to control the robot to perform longitudinal cleaning on the swimming pool; wherein the longitudinal cleaning is performed along a channel perpendicular to the two parallel walls.

9. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the swimming pool cleaning method according to any one of claims 1 to 7 are implemented.

10. A robot comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the steps of the swimming pool cleaning method according to any one of claims 1 to 7 are implemented.

Images