Return control method and device of swimming pool cleaning robot and electronic equipment

Abstract

The invention provides a return control method and device for a swimming pool cleaning robot, electronic equipment and a computer storage medium, and the method comprises the steps: responding to the triggering of a return instruction, and obtaining the current position of the swimming pool cleaning robot in a swimming pool map of a swimming pool; and generating a return path according to a movable block in the swimming pool map, a preset return position and the current position, and controlling the swimming pool cleaning robot to return from the current position to the preset return position based on the return path. Therefore, the swimming pool cleaning robot can be controlled to automatically return to the designated position of the swimming pool based on triggering of the return instruction, the use intelligence of the swimming pool cleaning robot can be improved, and the use experience of a user is improved.

Description

Technical Field

[0001] The embodiments of the present application relate to the technical field of swimming pool cleaning robot control, and in particular to a return control method, device, electronic device and computer storage medium of a swimming pool cleaning robot. Background Art

[0002] The swimming pool cleaning robot is a cleaning robot developed to meet the needs of swimming pool cleaning. It can establish a pool map corresponding to the swimming pool working area, and perform cleaning operations on the swimming pool wall and pool wall based on the pool map.

[0003] In the current technology, after completing the pool mapping task and / or the pool cleaning task, the pool cleaning robot stays at a random position in the pool, and the pool cleaning robot may stay in the central water area of ​​the pool. In addition, during the pool mapping task and / or the pool cleaning task, the pool cleaning robot may be stopped in the central water area of ​​the pool due to the abnormal interruption of the task due to insufficient power, clogging of the filter basket of the pool cleaning robot, or other sudden failures, and the pool cleaning robot may be difficult to recover.

[0004] Therefore, there is a need for an improved automatic return technology for the swimming pool cleaning robot to facilitate the recovery of the swimming pool cleaning robot. Summary of the invention

[0005] In order to solve the above problems, an embodiment of the present application provides a return control technology for a swimming pool cleaning robot, which can at least partially solve the above problems.

[0006] According to one aspect of the present application, a return control method for a swimming pool cleaning robot is provided, comprising: in response to the triggering of a return instruction, obtaining the current position of the swimming pool cleaning robot in a pool map of the swimming pool; generating a return path according to a movable block in the swimming pool map, a preset return position, and the current position, and controlling the swimming pool cleaning robot to return from the current position to the preset return position based on the return path.

[0007] Optionally, the method further comprises: determining the preset return position according to an initial position of the swimming pool cleaning robot, a charging station position of the swimming pool cleaning robot, and one of a designated position in the swimming pool.

[0008] Optionally, the initial position of the cleaning robot can be determined in the following ways: determining the initial position of the swimming pool cleaning robot based on the position where the swimming pool cleaning robot freely sinks to the bottom of the swimming pool; or controlling the swimming pool cleaning robot to move to a designated position relative to the bottom of the swimming pool according to a movement instruction, and determining the designated position as the initial position of the swimming pool cleaning robot.

[0009] Optionally, the swimming pool map including movable blocks may be generated by the following steps: determining the center position of the swimming pool map according to the initial position; generating the swimming pool map that completely covers the working area of ​​the swimming pool and includes a plurality of grid blocks according to the center position; controlling the swimming pool cleaning robot to move relative to the swimming pool map within the working area of ​​the swimming pool, and determining each grid block in the swimming pool map that the swimming pool cleaning robot can reach as a movable block.

[0010] Optionally, generating a return path according to the movable blocks in the pool map, the preset return position, and the current position, and controlling the pool cleaning robot to return from the current position to the preset return position based on the return path, includes: determining a grid block in the pool map corresponding to the preset return position as a return block according to the preset return position; determining a grid block in the pool map corresponding to the current position as a current block according to the current position of the pool cleaning robot; generating a return path for moving from the current block to the return block according to each movable block in the pool map, the return block, and the current block; and controlling the pool cleaning robot to move from the current block to the return block via at least one movable block in the pool map based on the return path.

[0011] Optionally, generating a return path from the current block to the return block according to each movable block in the pool map, the return block, and the current block includes: using a preset pathfinding algorithm, according to each movable block in the pool map, the return block, and the current block, generating a shortest moving path between the current block and the return block as the return path.

[0012] Optionally, the preset path-finding algorithm includes an A-STAR algorithm.

[0013] Optionally, the triggering of the return instruction includes automatic system triggering or manual human-computer interaction input triggering that meets preset rules.

[0014] Optionally, the system automatic triggering that meets preset rules includes: system automatic triggering when detecting that the pool cleaning robot completes a preset work task, system automatic triggering when detecting that the current power of the pool cleaning robot is lower than a preset power threshold, system automatic triggering when detecting that the blockage degree of the filter basket of the pool cleaning robot meets a preset blockage condition, system automatic triggering when detecting that the pool cleaning robot has an operating failure, and system automatic triggering when detecting that the operating time of the pool cleaning robot meets a preset time. At least one of the following.

[0015] According to another aspect of the present application, a return control device for a swimming pool cleaning robot is provided, comprising: a current position determination module, for responding to the triggering of a return instruction and acquiring the current position of the swimming pool cleaning robot in a pool map of the swimming pool; a return control module, for generating a return path according to a movable block in the swimming pool map, a preset return position, and the current position, and controlling the swimming pool cleaning robot to return from the current position to the preset return position based on the return path.

[0016] 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, and when the instructions are executed by the processor, the processor executes the method described in the above aspect.

[0017] 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 described in the above aspects.

[0018] The return control technical solution of the swimming pool cleaning robot provided in the present application can control the swimming pool cleaning robot to return from the current position to a preset return position in the swimming pool based on the generated return path when the return instruction is triggered, so that the swimming pool cleaning robot can be recovered or charged at the preset return position, thereby improving the intelligent use of the swimming pool cleaning robot and having the advantages of low development cost and simple operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The following drawings are intended only to illustrate and explain the present application, and do not limit the scope of the present application.

[0020] Figure 1 It is a flowchart of a return control method of a swimming pool cleaning robot according to an exemplary embodiment of the present application.

[0021] Figure 2 It is a flowchart of a return control method of a swimming pool cleaning robot according to another exemplary embodiment of the present application.

[0022] Figure 3 4 is a structural block diagram of a return control device of a swimming pool cleaning robot according to an exemplary embodiment of the present application.

[0023] Figure 4 is a structural block diagram of an electronic device according to an exemplary embodiment of the present application.

[0024] Description of reference numerals:

[0025] 300. Return control device of swimming pool cleaning robot; 302. Current position determination module; 304. Return control module; 400. Electronic device; 401. Computing unit; 402. ROM; 403. RAM; 404. Bus; 405. Input and output interface; 406. Input unit; 407. Output unit; 408. Storage unit; 409. Communication unit. DETAILED DESCRIPTION

[0026] 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.

[0027] 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.

[0028] 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.

[0029] With existing pool cleaning robots, after completing the pool mapping task and / or pool cleaning task, the pool cleaning robot stays at a random position in the pool, and the pool cleaning robot may stay in the central water area of ​​the pool. Alternatively, during the execution of the pool mapping task and / or pool cleaning task, the pool cleaning robot may stay in the central water area of ​​the pool due to an abnormal interruption in the execution of the task, due to insufficient power, a clogged filter basket of the pool cleaning robot, or other sudden failures, making it difficult to recover the pool cleaning robot.

[0030] In view of this, the present application proposes an improved return control method, device, electronic device and computer storage medium of a swimming pool cleaning robot, which can solve the various problems existing in the above-mentioned prior art.

[0031] The specific embodiments of each application will be described in detail below in conjunction with the accompanying drawings.

[0032] Figure 1 This is a processing flow chart of the return control method of the swimming pool cleaning robot according to an exemplary embodiment of the present application. As shown in the figure, this embodiment mainly includes the following steps:

[0033] Step S102, in response to the triggering of the return instruction, obtain the current position of the swimming pool cleaning robot in the swimming pool map of the swimming pool.

[0034] Optionally, the triggering of the return instruction may include automatic system triggering that meets preset rules, or manual human-computer interaction input triggering.

[0035] In this embodiment, the system automatic triggering that meets the preset rules may include but is not limited to: the system automatic triggering when the swimming pool cleaning robot is detected to have completed a preset work task; the system automatic triggering when the current power of the swimming pool cleaning robot is detected to be lower than a preset power threshold; the system automatic triggering when the blockage degree of the filter basket of the swimming pool cleaning robot is detected to meet the preset blockage condition; the system automatic triggering when the swimming pool cleaning robot is detected to have an operating failure; the system automatic triggering when the operating time of the swimming pool cleaning robot meets the preset time.

[0036] For example, when the swimming pool cleaning robot is detected to have completed one or more preset swimming pool tasks, a return instruction is triggered to be generated.

[0037] For another example, when the pool cleaning robot is performing various pool tasks, when it is detected that the current power of the pool cleaning robot is lower than a preset power threshold, or when it is detected that an operating failure occurs in the pool cleaning robot, or when it is detected that the filter basket of the pool cleaning robot is severely clogged, a return instruction may be triggered.

[0038] For another example, the estimated working time of the swimming pool cleaning robot can be set, and when the actual running time of the swimming pool cleaning robot is detected to meet the estimated working time, a return instruction is triggered to be generated.

[0039] Step S104, generating a return path according to the movable blocks in the swimming pool map, the preset return position, and the current position, and controlling the swimming pool cleaning robot to return from the current position to the preset return position based on the return path.

[0040] Optionally, the preset return position in the pool map may be determined based on an initial position of the pool cleaning robot, a charging station position of the pool cleaning robot, or a designated position in the pool.

[0041] In one embodiment, the initial position of the swimming pool cleaning robot may be determined according to the position of the swimming pool cleaning robot freely sinking to the bottom of the swimming pool.

[0042] For example, the position where the swimming pool cleaning robot freely sinks to the bottom of the swimming pool after being placed into the swimming pool along the pool wall can be determined as the initial position of the swimming pool cleaning robot.

[0043] In another embodiment, the swimming pool cleaning robot can also be controlled to move to a designated position relative to the bottom of the swimming pool according to the movement instruction, and the designated position is determined as the initial position of the swimming pool cleaning robot.

[0044] For example, after the pool cleaning robot freely sinks to the bottom of the pool, the pool cleaning robot can be controlled to move to a designated position that meets the user's expectations relative to the bottom of the pool according to movement instructions, and this designated position is determined as the initial position of the pool cleaning robot.

[0045] Therefore, if the initial position of the pool cleaning robot is determined as the return position, the user can conveniently retrieve the pool cleaning robot from the swimming pool; if the charging pile position of the pool cleaning robot is determined as the return position, the pool cleaning robot can automatically return to the charging pile and perform the charging operation.

[0046] In this embodiment, the designated location in the swimming pool may be a location in the swimming pool designated by a human-computer interaction instruction.

[0047] In addition, when the swimming pool cleaning robot fails or the power of the swimming pool cleaning robot is lower than a preset power threshold, an edge position of the swimming pool adjacent to the current position of the swimming pool cleaning robot may be designated as the return position.

[0048] Optionally, a pool map containing multiple movable tiles can be generated by the following steps:

[0049] According to the initial position of the pool cleaning robot, the center position of the pool map is determined, and according to the center position, a pool map is generated that completely covers the working area of ​​the swimming pool and includes multiple grid blocks. The pool cleaning robot is controlled to move relative to the pool map within the working area of ​​the swimming pool, and each grid block in the pool map that the pool cleaning robot can reach is determined as a movable block.

[0050] Specifically, the central coordinate point of the swimming pool map can be determined according to the initial position of the swimming pool cleaning robot, and the swimming pool map that completely covers the working area of ​​the swimming pool can be generated according to the central coordinate point.

[0051] In this embodiment, the coordinate value of the center point may be determined according to a preset size of the swimming pool map, and the coordinate value of each grid block in the swimming pool map is not less than zero.

[0052] For example, if the size of the swimming pool map is 101*101, the coordinate value of the center point of the swimming pool map can be set to (50,50), so that the coordinate value of each grid block in the swimming pool map is not less than zero, so that the system can correctly identify it.

[0053] In this embodiment, the A-STAR algorithm can be used to generate a return path from the current position to the preset return position according to each movable block in the swimming pool map, so as to control the swimming pool cleaning robot to return to the preset return position.

[0054] In summary, the return control method of the swimming pool cleaning robot of the present embodiment generates a return path according to the current position of the swimming pool cleaning robot and the preset return position when the return instruction is detected to be triggered, so as to drive the swimming pool cleaning robot to automatically return from the current position to the preset return position, so that the swimming pool cleaning robot can be recovered or charged at the preset return position, thereby improving the intelligent use of the swimming pool cleaning robot and improving the user experience.

[0055] Figure 2 This is a processing flow chart of a return control method of a swimming pool cleaning robot according to another exemplary embodiment of the present application. This embodiment shows a specific implementation scheme of the above step S104. As shown in the figure, this embodiment mainly includes the following steps:

[0056] Step S202: According to the preset return position, a grid block corresponding to the preset return position in the swimming pool map is determined as a return block.

[0057] Optionally, the preset return position may include an initial position of the swimming pool cleaning robot when it falls into the water, a charging station position of the swimming pool cleaning robot, or a designated position in the swimming pool.

[0058] Step S204: according to the current position of the swimming pool cleaning robot, a grid block corresponding to the current position in the swimming pool map is determined as the current block.

[0059] In this embodiment, the current position of the swimming pool cleaning robot in the swimming pool map may be synchronously updated according to the movement trajectory of the swimming pool cleaning robot relative to the swimming pool map.

[0060] Step S206, generating a return path from the current block to the return block according to each movable block, the return block, and the current block in the swimming pool map.

[0061] In this embodiment, a preset path-finding algorithm may be used to generate the shortest moving path between the current block and the return block according to each movable block, the return block, and the current block in the swimming pool map as the return path.

[0062] Optionally, the preset path algorithm may include but is not limited to an A-STAR algorithm.

[0063] Step S208 , controlling the swimming pool cleaning robot to move from the current block to the return block via at least one movable block in the swimming pool map based on the return path.

[0064] In summary, the embodiment of the present application utilizes a preset path-finding algorithm to calculate the optimal moving path from the current position to the preset return position based on the movable blocks in the swimming pool map, which can provide the swimming pool cleaning robot with the advantages of fast and safe return operation, and is easy and safe to operate.

[0065] Figure 3 The structure block diagram of the return control device of the swimming pool cleaning robot according to the exemplary embodiment of the present application is shown. As shown in the figure, the return control device 300 of the swimming pool cleaning robot according to the present embodiment mainly includes:

[0066] The current position determination module 302 is used to obtain the current position of the swimming pool cleaning robot in the swimming pool map in response to the triggering of the return instruction.

[0067] The return control module 304 is used to generate a return path according to the movable blocks in the swimming pool map, the preset return position, and the current position, and control the swimming pool cleaning robot to return from the current position to the preset return position based on the return path.

[0068] Optionally, the return control module 304 is further used to determine the preset return position according to an initial position of the swimming pool cleaning robot, a charging station position of the swimming pool cleaning robot, and one of the designated positions in the swimming pool.

[0069] Optionally, the initial position of the cleaning robot can be determined in the following ways: determining the initial position of the swimming pool cleaning robot based on the position where the swimming pool cleaning robot freely sinks to the bottom of the swimming pool; or controlling the swimming pool cleaning robot to move to a designated position relative to the bottom of the swimming pool according to a movement instruction, and determining the designated position as the initial position of the swimming pool cleaning robot.

[0070] Optionally, the swimming pool map including movable blocks may be generated by the following steps: determining the center position of the swimming pool map according to the initial position; generating the swimming pool map that completely covers the working area of ​​the swimming pool and includes a plurality of grid blocks according to the center position; controlling the swimming pool cleaning robot to move relative to the swimming pool map within the working area of ​​the swimming pool, and determining each grid block in the swimming pool map that the swimming pool cleaning robot can reach as a movable block.

[0071] Optionally, the return control module 304 is further used to: determine, according to the preset return position, a grid block in the pool map corresponding to the preset return position as a return block; according to the current position of the pool cleaning robot, determine, as the current block, a grid block in the pool map corresponding to the current position; generate a return path for moving from the current block to the return block according to each movable block in the pool map, the return block, and the current block; and control the pool cleaning robot to move from the current block to the return block via at least one movable block in the pool map based on the return path.

[0072] Optionally, the return control module 304 is further configured to: generate, using a preset path-finding algorithm, the shortest moving path between the current block and the return block according to each movable block in the pool map, the return block, and the current block, as the return path.

[0073] Optionally, the preset path-finding algorithm includes an A-STAR algorithm.

[0074] Optionally, the triggering of the return instruction includes automatic system triggering or manual human-computer interaction input triggering that meets preset rules.

[0075] Optionally, the system automatic triggering that meets preset rules includes: system automatic triggering when detecting that the pool cleaning robot completes a preset work task, system automatic triggering when detecting that the current power of the pool cleaning robot is lower than a preset power threshold, system automatic triggering when detecting that the blockage degree of the filter basket of the pool cleaning robot meets a preset blockage condition, system automatic triggering when detecting that the pool cleaning robot has an operating failure, and system automatic triggering when detecting that the operating time of the pool cleaning robot meets a preset time. At least one of the following.

[0076] In addition, the return control device 300 of the swimming pool cleaning robot in the embodiment of the present application can also be used to implement other steps in the aforementioned return control method embodiments of the swimming pool cleaning robot, and has the beneficial effects of the corresponding method step embodiments, which will not be repeated here.

[0077] 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.

[0078] 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.

[0079] 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.

[0080] refer to Figure 4 , the structural block diagram of the electronic device 400 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.

[0081] like Figure 4 As shown, the electronic device 400 includes a computing unit 401, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 402 or a computer program loaded from a storage unit 408 into a random access memory (RAM) 403. In the RAM 403, various programs and data required for the operation of the device 400 can also be stored. The computing unit 401, the ROM 402, and the RAM 403 are connected to each other via a bus 404. An input / output (I / O) interface 405 is also connected to the bus 404.

[0082] A plurality of components in the electronic device 400 are connected to the I / O interface 405, including: an input unit 406, an output unit 407, a storage unit 408, and a communication unit 409. The input unit 406 may be any type of device capable of inputting information to the electronic device 400, and the input unit 406 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 407 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 404 may include, but is not limited to, a disk, an optical disk. The communication unit 409 allows the electronic device 400 to exchange information / data with other devices through 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.

[0083] The computing unit 401 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the computing unit 401 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 401 performs the various methods and processes described above. For example, in some embodiments, the return control 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 408. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 400 via the ROM 402 and / or the communication unit 409. In some embodiments, the computing unit 401 may be configured to perform the return control method of the pool cleaning robot by any other appropriate means (e.g., by means of firmware).

[0084] 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.

[0085] 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.

[0086] 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.

[0087] 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).

[0088] 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.

[0089] A computer system may include clients and servers. Clients and servers are generally remote from each other and usually interact through a communication network. The relationship of client and server is generated by computer programs running on respective computers and having a client-server relationship to each other.

[0090] 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.

[0091] 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 return control method for a swimming pool cleaning robot, comprising: In response to triggering of the return instruction, obtaining a current position of the swimming pool cleaning robot in a swimming pool map of the swimming pool; A return path is generated according to the movable blocks in the swimming pool map, the preset return position, and the current position, and the swimming pool cleaning robot is controlled to return from the current position to the preset return position based on the return path.

2. The method according to claim 1, characterized in that The method further comprises: The preset return position is determined according to an initial position of the swimming pool cleaning robot, a charging pile position of the swimming pool cleaning robot, and one of a designated position in the swimming pool.

3. The method according to claim 2, characterized in that The initial position of the cleaning robot can be determined in the following manner: Determining an initial position of the swimming pool cleaning robot according to a position at which the swimming pool cleaning robot freely sinks to the bottom of the swimming pool; or The swimming pool cleaning robot is controlled to move to a designated position relative to the bottom of the swimming pool according to a movement instruction, and the designated position is determined as an initial position of the swimming pool cleaning robot.

4. The method according to claim 2 or 3, characterized in that: The pool map containing movable tiles can be generated by the following steps: Determining the center position of the swimming pool map according to the initial position; Generate the swimming pool map that completely covers the working area of ​​the swimming pool and includes a plurality of grid blocks according to the central position; The pool cleaning robot is controlled to move within a working area of ​​the pool relative to the pool map, and each grid block in the pool map that the pool cleaning robot can reach is determined as a movable block.

5. The method according to claim 4, characterized in that The generating a return path according to the movable block in the swimming pool map, the preset return position, and the current position, and controlling the swimming pool cleaning robot to return from the current position to the preset return position based on the return path, comprises: According to the preset return position, determining a grid block in the swimming pool map corresponding to the preset return position as a return block; According to the current position of the swimming pool cleaning robot, determining a grid block corresponding to the current position in the swimming pool map as a current block; Generate a return path from the current block to the return block according to each movable block in the pool map, the return block, and the current block; The swimming pool cleaning robot is controlled to move from the current block to the return block via at least one movable block in a swimming pool map based on the return path.

6. The method according to claim 5, wherein: The step of generating a return path from the current block to the return block according to each movable block in the pool map, the return block, and the current block, comprises: By using a preset path-finding algorithm, according to each movable block in the swimming pool map, the return block, and the current block, a shortest moving path between the current block and the return block is generated as the return path.

7. The method according to claim 6, wherein: The preset path-finding algorithm includes the A-STAR algorithm.

8. The method according to claim 1, characterized in that The triggering of the return instruction includes automatic system triggering or manual human-computer interaction input triggering that meets preset rules.

9. The method according to claim 8, characterized in that The system automatic triggering that meets the preset rules includes: system automatic triggering when detecting that the swimming pool cleaning robot completes a preset work task, system automatic triggering when detecting that the current power of the swimming pool cleaning robot is lower than a preset power threshold, system automatic triggering when detecting that the blockage degree of the filter basket of the swimming pool cleaning robot meets a preset blockage condition, system automatic triggering when detecting that the swimming pool cleaning robot has an operating failure, and system automatic triggering when detecting that the operating time of the swimming pool cleaning robot meets a preset time.

10. A return control device for a swimming pool cleaning robot, comprising: A current position determination module, for obtaining the current position of the swimming pool cleaning robot in a swimming pool map of the swimming pool in response to the triggering of the return instruction; The return control module is used to generate a return path according to the movable blocks in the swimming pool map, the preset return position, and the current position, and control the swimming pool cleaning robot to return from the current position to the preset return position based on the return path.

11. An electronic device, comprising: 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 9.

12. A non-transitory computer-readable storage medium storing computer instructions, wherein: The computer instructions are used to make a computer execute the method according to any one of claims 1-9.

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