Path control method, swimming pool robot and computer program product

Abstract

The invention relates to the field of underwater robots, in particular to a path control method, a swimming pool robot and a computer program product. The path control method for the swimming pool robot comprises the steps that the swimming pool robot is controlled to move to the boundary line of a first working face and a second working face along a first working path in the first direction of the first working face of a swimming pool; the swimming pool robot is controlled to cross the boundary line and move by a first preset distance along the second working path in the second direction of the second working face to reach the first switching point; and the swimming pool robot is controlled to move from the first switching point to the starting point of a third working path of the second working face and move along the third working path in the second direction. According to the path control method for the swimming pool robot disclosed by the invention, the overall path planning across different working surfaces is carried out, and the cleaning of junctions, pool corners and waterline areas formed by different working surfaces is realized, so that the cleaning time is shortened, and the working efficiency and the cleaning effect are improved.

Description

Technical Field

[0001] The present disclosure relates to the field of underwater robots, and in particular to a path control method, a swimming pool robot and a computer program product. Background Art

[0002] With the development of artificial intelligence technology, pool robots have gradually become one of the main solutions in the field of home and commercial pool cleaning. Compared with traditional manual cleaning methods, pool robots can autonomously clean the bottom and walls of the pool, with faster cleaning speed, better results, and more economical cleaning.

[0003] At present, most swimming pool robots are unable to simultaneously clean the sides, bottom, the junction of the sides and bottom, the corners of the pool, and the waterline area in terms of cleaning path control, resulting in long cleaning time, low efficiency, and unsatisfactory results. Summary of the invention

[0004] The present disclosure is proposed in view of the above problems. The present disclosure provides a controllable sinking and floating swimming pool robot and a sinking and floating control method for the swimming pool robot.

[0005] According to one aspect of the present disclosure, a path control method for a swimming pool robot is provided, including: controlling the swimming pool robot to move along a first working path in a first direction of a first working surface of a swimming pool to a boundary line between the first working surface and a second working surface; controlling the swimming pool robot to cross the boundary line, and move along a second working path in a second direction on the second working surface a first predetermined distance to reach a first switching point; controlling the swimming pool robot to move from the first switching point to a starting point of a third working path on the second working surface, and move along the third working path in the second direction.

[0006] Furthermore, according to the path control method of one aspect of the present disclosure, one of the first working surface and the second working surface is a bottom surface of a swimming pool, and the other of the first working surface and the second working surface is a side surface of the swimming pool.

[0007] In addition, the path control method according to one aspect of the present disclosure also includes: when the second working surface is the side of the swimming pool, controlling the swimming pool robot to move to the waterline of the swimming pool along a third working path in a second direction; controlling the swimming pool robot to move to the boundary line along the third working path in a third direction opposite to the second direction.

[0008] In addition, the path control method according to one aspect of the present disclosure further includes: controlling the swimming pool robot to cross the boundary line and move a second predetermined distance along a fourth working path in a fourth direction opposite to the first direction on the first working surface.

[0009] In addition, the path control method according to one aspect of the present disclosure also includes: controlling the swimming pool robot to move again along the fourth working path in the first direction of the first working surface to the boundary line between the first working surface and the second working surface; controlling the swimming pool robot to cross the boundary line, and move along the fifth working path in the second direction of the second working surface a first predetermined distance to reach the second switching point; controlling the swimming pool robot to move from the second switching point to the starting point of the sixth working path of the second working surface, and move along the sixth working path in the second direction.

[0010] In addition, according to the path control method according to one aspect of the present disclosure, the first predetermined distance is determined based on at least the water depth of the swimming pool and / or the distance between the swimming pool robot and the liquid surface of the swimming pool.

[0011] In addition, according to a path control method of one aspect of the present disclosure, controlling the pool robot to move to a third working path on the second working surface includes: controlling the pool robot to rotate a predetermined angle at a first switching point and move to the starting point of the third working path.

[0012] In addition, according to the path control method according to one aspect of the present disclosure, the second working path is parallel to the third working path, and the distance between the second working path and the third working path is less than or equal to a predetermined width.

[0013] In addition, the path control method according to one aspect of the present disclosure further includes: before controlling the pool robot to move on the first working surface of the swimming pool, determining a second working surface, and taking a direction perpendicular to the second working surface as the first direction.

[0014] In addition, according to the path control method according to one aspect of the present disclosure, the second working surface is a working surface to be cleaned and / or a working surface closest to the swimming pool robot.

[0015] According to another aspect of the present disclosure, a swimming pool robot is provided, comprising: a memory for storing computer-readable instructions; and a processor for executing the computer-readable instructions so that the swimming pool robot executes the path control method as described above.

[0016] According to another aspect of the present disclosure, a non-transitory computer-readable storage medium is provided for storing computer-readable instructions. When the computer-readable instructions are executed by a processor, the processor executes the path control method as described above.

[0017] According to another aspect of the present disclosure, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, the path control method as described above is implemented.

[0018] As will be described in detail below, according to the path control method for a swimming pool robot, the swimming pool robot, the non-transitory computer-readable storage medium and the computer program product of the embodiments of the present disclosure, overall path planning across different working surfaces is performed to achieve cleaning of the intersections, pool corners and waterline areas formed by different working surfaces, thereby shortening the cleaning time and improving working efficiency and cleaning effects. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The above and other purposes, features and advantages of the present disclosure will become more apparent by describing the embodiments of the present disclosure in more detail in conjunction with the accompanying drawings. The accompanying drawings are used to provide a further understanding of the embodiments of the present disclosure and constitute a part of the specification. Together with the embodiments of the present disclosure, they are used to explain the present disclosure and do not constitute a limitation of the present disclosure. In the accompanying drawings, the same reference numerals generally represent the same components or steps.

[0020] Figure 1 It is a schematic diagram of a scenario illustrating the application of the path control method according to an embodiment of the present disclosure.

[0021] Figure 2 is a flow chart illustrating a path control method according to an embodiment of the present disclosure.

[0022] Figure 3 and Figure 4 is a schematic diagram illustrating a path control method according to an embodiment of the present disclosure.

[0023] Figure 5 is a flow chart further illustrating a path control method according to an embodiment of the present disclosure.

[0024] Figure 6 is a schematic diagram further illustrating a path control method according to an embodiment of the present disclosure.

[0025] Figure 7 is a block diagram illustrating a swimming pool robot according to an embodiment of the present disclosure.

[0026] Figure 8 is a schematic diagram illustrating a computer program product according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solution and advantages of the present disclosure more obvious, the exemplary embodiments according to the present disclosure will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present disclosure, rather than all the embodiments of the present disclosure, and it should be understood that the present disclosure is not limited to the exemplary embodiments described here.

[0028] Figure 1 Schematic diagram of a scenario in which the path control method according to an embodiment of the present disclosure is applied. Figure 1As shown, the swimming pool robot 10 according to the embodiment of the present disclosure performs cleaning operations in a swimming pool 20. The swimming pool 20 has a bottom surface 201, side surfaces 202, 203, 204 and 205, and a waterline 30. Each bottom surface and side surface forms a boundary line 40, and the bottom surface and the two side surfaces form a pool angle 50 ( Figure 1 Only one boundary line and one pool corner are shown). It should be understood that Figure 1 The swimming pool robot 10 and the swimming pool 20 shown are only exemplary, and the swimming pool robot and the swimming pool to which the path control method according to the embodiment of the present disclosure is applied are not limited thereto.

[0029] According to the path control method of the embodiment of the present disclosure, overall path planning is performed across different working surfaces (for example, across the bottom surface 201 and the side surface 202), so as to clean the boundary line 40, the pool corner 50 and the waterline 30 formed by different working surfaces, thereby shortening the cleaning time and improving the working efficiency and cleaning effect. Hereinafter, the path control method according to the embodiment of the present disclosure will be further described in detail with reference to the accompanying drawings.

[0030] Figure 2 FIG. 1 is a flow chart illustrating a path control method according to an embodiment of the present disclosure. Figure 2 As shown, the path control method according to the embodiment of the present disclosure includes the following steps.

[0031] In step S201, the swimming pool robot is controlled to move along a first working path in a first direction of a first working surface of the swimming pool to a boundary line between the first working surface and the second working surface. In one embodiment of the present disclosure, one of the first working surface and the second working surface is the bottom surface of the swimming pool, and the other of the first working surface and the second working surface is the side surface of the swimming pool.

[0032] In step S202, the swimming pool robot is controlled to cross the boundary line and move a first predetermined distance along a second working path in a second direction on a second working surface to reach a first switching point. In one embodiment of the present disclosure, the first predetermined distance is determined based at least on the water depth of the swimming pool and / or the distance between the swimming pool robot and the liquid surface of the swimming pool.

[0033] In step S203, the swimming pool robot is controlled to move from the first switching point to the starting point of the third working path of the second working surface, and to move along the third working path in the second direction. That is, the second working path and the third working path of the second working surface are along the same second direction, that is, the second working path and the third working path are parallel.

[0034] Reference Figure 3 and Figure 4 Further description Figure 2 A schematic diagram of a path control method according to an embodiment of the present disclosure is shown.

[0035] Figure 3 2 shows a case where the first working surface 201 is the bottom surface of the swimming pool 20, and the second working surface 202 is the side surface of the swimming pool 20. Figure 3 As shown, the swimming pool robot 10 is controlled to move along the first working path 301 in the first direction of the first working surface 201 of the swimming pool 20 to the boundary line 40 between the first working surface 201 and the second working surface 202 .

[0036] Further, the swimming pool robot 10 is controlled to cross the boundary line 40, and in the second direction of the second working surface 202, the swimming pool robot 10 moves a first predetermined distance L1 along the second working path 302 to reach the first switching point 303. Since the swimming pool robot 10 is in a cleaning operation state during the process of controlling the swimming pool robot 10 to cross the boundary line 40, the cleaning of the corresponding area of ​​the boundary line 40 is achieved. In one embodiment of the present disclosure, the first predetermined distance L1 is determined based on at least the water depth of the swimming pool 20 and / or the distance between the swimming pool robot 10 and the waterline 30. That is, as the water depth of the swimming pool 20 is deeper or the distance between the swimming pool robot 10 and the waterline 30 is greater, the first predetermined distance L1 can be correspondingly increased. When the water depth of the swimming pool 20 is shallower or the distance between the swimming pool robot 10 and the waterline 30 is smaller, the first predetermined distance L1 needs to be reduced accordingly to prevent the swimming pool robot 10 from being too close to the liquid surface after the subsequent turn. Alternatively, in another embodiment of the present disclosure, the first switching point 303 can be directly set on the boundary line 40.

[0037] Further, the swimming pool robot 10 is controlled to move from the first switching point 303 to the starting point 304 of the third working path 305 of the second working surface 202, and to move along the third working path 305 in the second direction. Specifically, in one embodiment of the present disclosure, the swimming pool robot is controlled to rotate a predetermined angle α at the first switching point and move to the starting point 304 of the third working path 305. More specifically, the predetermined angle α is preferably set to be within the range of 20°-40°. The second working path 302 and the third working path 305 are parallel, and the distance D between the second working path 302 and the third working path 305 is less than or equal to the predetermined width. Specifically, in one embodiment of the present disclosure, the distance D is less than or equal to the cleaning operation radius of the swimming pool robot 10, for example, less than or equal to half the body width of the swimming pool robot 10. In this case, there is no blank working area between the second working path 302 and the third working path 305 in the direction perpendicular to the second direction, thereby achieving coverage of the entire second working surface 202.

[0038] Figure 4 The first working surface 202 is the side surface of the swimming pool 20, and the second working surface 201 is the bottom surface of the swimming pool 20. Figure 3The situation shown is similar, the swimming pool robot 10 is controlled to translate the working path on the second working surface 201 , so as to cover the boundary line 40 between the first working surface 202 and the second working surface 201 and the entire second working surface 201 .

[0039] Above, refer to Figures 2 to 4 The path control method according to the embodiment of the present disclosure described above realizes overall path planning across different working surfaces, cleans the intersections formed by different working surfaces, and can clean the corner area of ​​the pool by cleaning multiple intersections. Figure 5 and Figure 6 The overall process of the path control method according to the embodiment of the present disclosure is described. Figure 5 and Figure 6 The example describes a case where the first working surface 201 is the bottom surface of the swimming pool 20 and the second working surface 202 is the side surface of the swimming pool 20. It is easy to understand that the path control method according to the embodiment of the present disclosure is not limited thereto.

[0040] In step S501, the swimming pool robot is controlled to move along a first operation path in a first direction on the bottom surface of the swimming pool to a boundary line between the bottom surface and the side surface.

[0041] like Figure 6 As shown, the pool robot 10 is controlled to move along the first working path 301 in the first direction of the bottom surface 201 of the pool 20 to the boundary line 40 between the bottom surface 201 and the side surface 202. In one embodiment of the present disclosure, before the pool robot 10 is controlled to move on the bottom surface 201 of the pool 20, the side surface 202 as the second working surface is determined, and the direction perpendicular to the side surface 202 is taken as the first direction. More specifically, the side surface 202 as the second working surface is the working surface to be cleaned and / or the side surface closest to the pool robot 10.

[0042] In step S502, the swimming pool robot is controlled to cross the boundary line and move a first predetermined distance along a second operation path in a second direction on the side to reach a first switching point.

[0043] like Figure 6As shown, the pool robot 10 is controlled to cross the boundary line 40, and move the first predetermined distance L1 along the second operation path 302 in the second direction of the side 202 to reach the first switching point 303. As described above, the first predetermined distance L1 is determined based on at least the water depth of the swimming pool 20 and / or the distance between the swimming pool robot 10 and the waterline 30. In other words, as the water depth of the swimming pool 20 is deeper or the distance between the swimming pool robot 10 and the waterline 30 is greater, the first predetermined distance L1 can be correspondingly increased. When the water depth of the swimming pool 20 is shallower or the distance between the swimming pool robot 10 and the waterline 30 is smaller, the first predetermined distance L1 needs to be reduced accordingly to prevent the swimming pool robot 10 from being too close to the liquid surface after the subsequent turn. Alternatively, in another embodiment of the present disclosure, the first switching point 303 can be directly set on the boundary line 40.

[0044] In step S503, the swimming pool robot is controlled to rotate a predetermined angle at the first switching point and move to the starting point of the third working path, and move in the second direction along the third working path to the waterline of the swimming pool.

[0045] like Figure 6 As shown, the pool robot 10 is controlled to rotate at a predetermined angle α at the first switching point 303, and move to the starting point 304 of the third operating path 305, and in the second direction, move to the waterline 30 of the swimming pool 20 along the third operating path 305. As described above, the predetermined angle α is preferably set to be in the range of 20°-40°. The second operating path 302 and the third operating path 305 are parallel, and the distance D between the second operating path 302 and the third operating path 305 is less than or equal to the predetermined width. Specifically, in one embodiment of the present disclosure, the distance D is less than or equal to the cleaning operation radius of the pool robot 10, for example, less than or equal to half the body width of the pool robot 10.

[0046] In step S504, the swimming pool robot is controlled to move to the boundary line along a third operating path in a third direction opposite to the second direction.

[0047] like Figure 6 As shown, the swimming pool robot 10 is controlled to move to the boundary line 40 along the third operation path 305 in a third direction opposite to the second direction. In one embodiment of the present disclosure, a water outlet detection sensor unit is configured, for example, by a capacitive sheet sensor or an ultrasonic distance measuring device. When the water outlet detection sensor unit detects that the swimming pool robot 10 moves out of the water line 30, the swimming pool robot 10 is controlled to move backward, thereby moving to the boundary line 40 along the third operation path 305 in the third direction opposite to the second direction. Since the swimming pool robot 10 is controlled to move backward after moving out of the water line 30, the swimming pool robot 10 is in a cleaning operation state, thereby achieving cleaning of the corresponding area of ​​the water line 30.

[0048] In step S505, the swimming pool robot is controlled to cross the boundary line and move a second predetermined distance along a fourth operating path in a fourth direction on the bottom surface opposite to the first direction.

[0049] like Figure 6 As shown, the swimming pool robot 10 is controlled to cross the boundary line 40 and move a second predetermined distance L2 along the fourth operation path 306 in a fourth direction opposite to the first direction of the bottom surface 201. In one embodiment of the present disclosure, the second predetermined distance L2 is, for example, in the range of 20 cm to 40 cm, i.e., about half the body width of the swimming pool robot 10, as long as the swimming pool robot 10 can be further controlled to return to the boundary line 40 again.

[0050] In step S506, the swimming pool robot is controlled to move again along the fourth operation path in the first direction of the bottom surface to the boundary line between the bottom surface and the side surface.

[0051] like Figure 6 As shown, the swimming pool robot 10 is controlled to move again along the fourth operation path 306 in the first direction of the bottom surface 201 to the boundary line 40 between the bottom surface 201 and the side surface 202 .

[0052] In step S507, the swimming pool robot is controlled to cross the boundary line and move along the fifth operating path in the second direction of the side for a first predetermined distance to reach the second switching point.

[0053] like Figure 6 As shown, the swimming pool robot 10 is controlled to cross the boundary line 40, and move along the fifth operating path 307 in the second direction of the side 202 by the first predetermined distance L1 to reach the second switching point 308. It should be understood that the swimming pool robot 10 does not change the operating angle in the process from the third operating path 305 to the fourth operating path 306 and then to the fifth operating path 307. In other words, the third operating path 305 and the fifth operating path 307 are substantially overlapped, and different reference numerals are used here only for the convenience of explanation.

[0054] In step S508, the swimming pool robot is controlled to rotate from the second switching point by a predetermined angle and move to the starting point of the sixth working path, and move in the second direction along the sixth working path to the waterline of the swimming pool.

[0055] like Figure 6As shown, the swimming pool robot 10 is controlled to rotate from the second switching point 308 to a predetermined angle α, and move to the starting point 309 of the sixth operation path 310, and move to the waterline 30 of the swimming pool 20 along the sixth operation path 310 in the second direction. Further, the swimming pool robot 10 is controlled to move to the boundary line 40 along the sixth operation path 310 in a third direction opposite to the second direction. The swimming pool robot 10 is controlled to cross the boundary line 40 and move along the seventh operation path 311 in a fourth direction opposite to the first direction of the bottom surface 201. In other words, the swimming pool robot 10 is controlled to repeat the operation path including crossing the boundary line 40 of the bottom surface 201 and the side surface 202, translating the operation path on the side surface 202, and then moving to the waterline and then backing up and crossing the boundary line 40, so as to achieve the cleaning of the junctions, pool corners and waterline areas formed by different operation surfaces, thereby shortening the cleaning time and improving the operation efficiency and cleaning effect.

[0056] Figure 7 is a block diagram illustrating a swimming pool robot according to an embodiment of the present disclosure. Figure 7 As shown, the swimming pool robot 10 according to the embodiment of the present disclosure includes at least a memory 701 and a processor 702. The memory 701 is used to store computer-readable instructions. The processor 702 is used to run the computer-readable instructions so that the swimming pool robot 10 performs the path control method according to the embodiment of the present disclosure as described above. It is easy to understand that the swimming pool robot 10 according to the embodiment of the present disclosure is not limited to the above components. Figure 7 Only components related to the path control method according to an embodiment of the present disclosure are shown.

[0057] Figure 8 is a schematic diagram illustrating a computer program product according to an embodiment of the present disclosure. Figure 8 As shown, the computer program product 800 according to the embodiment of the present disclosure includes a computer program 801. When the computer program 801 is executed by a processor, the path control method according to the embodiment of the present disclosure as described above is implemented.

[0058] The path control method for a swimming pool robot, a swimming pool robot, a non-transitory computer-readable storage medium, and a computer program product according to the embodiments of the present disclosure are described above with reference to the accompanying drawings. By performing overall path planning across different working surfaces, the cleaning of the intersections, pool corners, and waterline areas formed by different working surfaces is achieved, thereby shortening the cleaning time and improving the working efficiency and cleaning effect.

[0059] The basic principles of the present disclosure are described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, effects, etc. mentioned in the present disclosure are only examples and not limitations, and it cannot be considered that these advantages, strengths, effects, etc. are required by each embodiment of the present disclosure. In addition, the specific details disclosed above are only for the purpose of illustration and ease of understanding, and are not limitations. The above details do not limit the present disclosure to the necessity of adopting the above specific details to be implemented.

[0060] The block diagrams of the devices, apparatuses, equipment, and systems involved in this disclosure are only illustrative examples and are not intended to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagrams. As will be appreciated by those skilled in the art, these devices, apparatuses, equipment, and systems can be connected, arranged, and configured in any manner. Words such as "including," "comprising," "having," and the like are open words, referring to "including but not limited to," and can be used interchangeably therewith. The words "or" and "and" used herein refer to the words "and / or," and can be used interchangeably therewith, unless the context clearly indicates otherwise. The word "such as" used herein refers to the phrase "such as but not limited to," and can be used interchangeably therewith.

[0061] Additionally, as used herein, "or" used in a list of items beginning with "at least one" indicates a separate list, so that, for example, a list of "at least one of A, B, or C" means A or B or C, or AB or AC or BC, or ABC (i.e., A and B and C). Furthermore, the word "exemplary" does not mean that the example described is preferred or better than other examples.

[0062] It should also be noted that in the system and method of the present disclosure, each component or each step can be decomposed and / or recombined. Such decomposition and / or recombination should be regarded as equivalent solutions of the present disclosure.

[0063] Various changes, substitutions, and modifications of the techniques described herein may be made without departing from the teachings defined by the appended claims. Furthermore, the scope of the claims of the present disclosure is not limited to the specific aspects of the processes, machines, manufactures, compositions of events, means, methods, and actions described above. Currently existing or later to be developed processes, machines, manufactures, compositions of events, means, methods, or actions that perform substantially the same functions or achieve substantially the same results as the corresponding aspects described herein may be utilized. Thus, the appended claims include such processes, machines, manufactures, compositions of events, means, methods, or actions within their scope.

[0064] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present disclosure. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of the present disclosure. Therefore, the present disclosure is not intended to be limited to the aspects shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

[0065] The above description has been given for the purpose of illustration and description. In addition, this description is not intended to limit the embodiments of the present disclosure to the forms disclosed herein. Although multiple example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, changes, additions and sub-combinations thereof.

Claims

1. A path control method for a swimming pool robot, characterized in that: include: Controlling the swimming pool robot to move along a first working path in a first direction of a first working surface of the swimming pool to a boundary line between the first working surface and a second working surface; Controlling the swimming pool robot to cross the boundary line, and move a first predetermined distance along a second working path in a second direction of the second working surface to reach a first switching point; The swimming pool robot is controlled to move from the first switching point to a starting point of a third working path on the second working surface, and to move along the third working path in the second direction.

2. The path control method according to claim 1, characterized in that: One of the first working surface and the second working surface is a bottom surface of the swimming pool, and the other of the first working surface and the second working surface is a side surface of the swimming pool.

3. The path control method according to claim 1 or 2, characterized in that: Also includes: When the second working surface is a side surface of the swimming pool, controlling the swimming pool robot to move along the third working path in the second direction to the waterline of the swimming pool; The swimming pool robot is controlled to move to the boundary line along the third operation path in a third direction opposite to the second direction.

4. The path control method according to claim 3, characterized in that: Also includes: The swimming pool robot is controlled to cross the boundary line and move a second predetermined distance along a fourth operating path in a fourth direction opposite to the first direction on the first operating surface.

5. The path control method according to claim 4, characterized in that: Also includes: Controlling the swimming pool robot to move again along a fourth working path in the first direction of the first working surface to a boundary line between the first working surface and the second working surface; Controlling the swimming pool robot to cross the boundary line, and move a first predetermined distance along a fifth operating path in a second direction of the second operating surface to reach a second switching point; The swimming pool robot is controlled to move from the second switching point to a starting point of a sixth working path on the second working surface, and to move along the sixth working path in the second direction.

6. The path control method according to any one of claims 1 to 5, characterized in that: The first predetermined distance is determined based at least on the water depth of the swimming pool and / or the distance between the swimming pool robot and the liquid surface of the swimming pool.

7. The path control method according to any one of claims 1 to 6, characterized in that: The controlling the swimming pool robot to move to the third operating path of the second operating surface comprises: The swimming pool robot is controlled to rotate a predetermined angle at the first switching point and move to a starting point of the third operation path.

8. The path control method according to any one of claims 1 to 7, characterized in that: The second working path is parallel to the third working path, and a distance between the second working path and the third working path is less than or equal to a predetermined width.

9. The path control method according to any one of claims 1 to 8, characterized in that: Also includes: Before controlling the swimming pool robot to move on the first working surface of the swimming pool, the second working surface is determined, and a direction perpendicular to the second working surface is used as the first direction.

10. The path control method according to any one of claims 1 to 9, characterized in that: The second working surface is the working surface to be cleaned and / or the working surface closest to the swimming pool robot.

11. A swimming pool robot, characterized in that: include: a memory for storing computer readable instructions; as well as A processor, configured to run the computer-readable instructions so that the swimming pool robot executes the path control method according to any one of claims 1 to 10.

12. A non-transitory computer-readable storage medium for storing computer-readable instructions, characterized in that: When the computer-readable instructions are executed by a processor, the processor is caused to perform the path control method according to any one of claims 1 to 10.

13. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the path control method according to any one of claims 1 to 10 is implemented.

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