Obstacle crossing control method and device and swimming pool robot

Abstract

The invention is suitable for the technical field of intelligent mobile equipment, and provides an obstacle crossing control method and device and a swimming pool robot, and the method comprises the steps: controlling the swimming pool robot to keep straight advancing through a guide wheel under the condition that the swimming pool robot is judged to advance in an obstacle area; detecting whether the gravity center of the swimming pool robot crosses the obstacle area or not; when it is detected that the gravity center of the swimming pool robot crosses the obstacle area, the power of a water pump of the swimming pool robot is increased; detecting whether the swimming pool robot leaves the obstacle area or not; and when it is detected that the swimming pool robot leaves the obstacle area, the power of a water pump of the swimming pool robot is recovered. In this way, the probability that the swimming pool robot crosses the obstacle area can be improved.

Description

Technical Field

[0001] The present application belongs to the technical field of intelligent mobile devices, and in particular, relates to an obstacle control method, device, swimming pool robot and computer-readable storage medium. Background Art

[0002] A pool robot is an automated pool cleaning device that can move automatically in the swimming pool to clean sand, dust, impurities and dirt from the pool water, pool walls and pool bottom.

[0003] When encountering a raised obstacle (such as a floor drain), the existing swimming pool robot is easily stuck on the floor drain. It usually takes a long time for it to escape. Sometimes it even fails to escape and gets stuck on the floor drain, affecting the normal operation of the swimming pool robot. Summary of the invention

[0004] The embodiments of the present application provide an obstacle crossing control method, device and swimming pool robot, which can solve the problem that existing swimming pool robots are difficult to effectively pass through obstacles.

[0005] In a first aspect, an embodiment of the present application provides an obstacle control method, which is applied to a swimming pool robot, wherein a guide wheel is provided at the bottom of the swimming pool robot, and the obstacle control method comprises:

[0006] When it is determined that the swimming pool robot is moving forward in an obstacle area, controlling the swimming pool robot to move forward in a straight line by means of the guide wheels;

[0007] Detecting whether the center of gravity of the swimming pool robot has passed the obstacle area;

[0008] In the case where it is detected that the center of gravity of the swimming pool robot has passed the obstacle area, the power of the water pump of the swimming pool robot is increased, wherein the water pump of the swimming pool robot is installed in the head area of ​​the swimming pool robot, and when the power of the water pump is increased, the downward pressure on the head area of ​​the swimming pool robot will be increased;

[0009] Detecting whether the swimming pool robot leaves the obstacle area;

[0010] When it is detected that the swimming pool robot leaves the obstacle area, the power of the water pump of the swimming pool robot is restored.

[0011] In a second aspect, an embodiment of the present application provides an obstacle control device, which is applied to a swimming pool robot. A guide wheel is provided at the bottom of the swimming pool robot. The obstacle control device includes:

[0012] When it is determined that the swimming pool robot is moving forward in an obstacle area, controlling the swimming pool robot to move forward in a straight line by means of the guide wheels;

[0013] Detecting whether the center of gravity of the swimming pool robot has passed the obstacle area;

[0014] In the case where it is detected that the center of gravity of the swimming pool robot has passed the obstacle area, the power of the water pump of the swimming pool robot is increased, wherein the water pump of the swimming pool robot is installed in the head area of ​​the swimming pool robot, and when the power of the water pump is increased, the downward pressure of the head area of ​​the swimming pool robot will be increased;

[0015] Detecting whether the swimming pool robot leaves the obstacle area;

[0016] When it is detected that the swimming pool robot leaves the obstacle area, the power of the water pump of the swimming pool robot is restored.

[0017] In a third aspect, an embodiment of the present application provides a swimming pool robot, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method described in the first aspect when executing the computer program.

[0018] In a fourth aspect, 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 method described in the first aspect is implemented.

[0019] In a fifth aspect, an embodiment of the present application provides a computer program product. When the computer program product runs on a swimming pool robot, the swimming pool robot executes the method described in the first aspect above.

[0020] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0021] In the embodiment of the present application, since the bottom of the swimming pool robot is equipped with a guide wheel, and the guide wheel has the function of stabilizing the direction of movement, the swimming pool robot can be controlled by the guide wheel to keep moving forward in a straight line. After the center of the swimming pool robot passes over the obstacle area, the head area of ​​the swimming pool robot will be tilted upward, and increasing the power of the water pump is equivalent to increasing the pressure pressing down on the head area of ​​the swimming pool robot. Therefore, after increasing the pressure pressing down on the head area of ​​the swimming pool robot, the height of the head area tilting upward can be reduced, that is, the probability of the guide wheel contacting the ground can be increased, so that the swimming pool robot can continue to be controlled to move forward by relying on the guide wheel of the swimming pool robot, thereby increasing the probability of the swimming pool robot passing over the obstacle area and reducing the probability of the swimming pool robot missing the area in its forward direction. In addition, since the power of the water pump of the swimming pool robot is restored after the swimming pool robot leaves the obstacle area, and the head area of ​​the swimming pool robot no longer tilts upward after leaving the obstacle area, reducing the pressure pressing down on the head area of ​​the swimming pool robot is conducive to improving the cleaning efficiency of the swimming pool robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art.

[0023] Figure 1 It is a flowchart of an obstacle control method provided by an embodiment of the present application;

[0024] Figure 2 is a schematic diagram of a guide wheel installation structure provided in one embodiment of the present application;

[0025] Figure 3 is a schematic diagram of a swimming pool robot provided by an embodiment of the present application, in which the center of gravity does not cross an obstacle area;

[0026] Figure 4 is a schematic diagram of a swimming pool robot provided by an embodiment of the present application, wherein the center of gravity thereof passes over an obstacle area;

[0027] Figure 5 is a flow chart of another obstacle crossing control method provided by an embodiment of the present application;

[0028] Figure 6 It is a structural schematic diagram of an obstacle control device provided in one embodiment of the present application;

[0029] Figure 7 It is a schematic diagram of the structure of a swimming pool robot provided in one embodiment of the present application. DETAILED DESCRIPTION

[0030] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0031] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0032] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0033] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0034] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the phrases "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. appearing in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways.

[0035] A pool robot is a robot used to clean impurities and dirt in a pool. It draws water from the pool through a water pump installed on the pool robot and sends it to a filtration system to remove impurities, algae and other suspended matter in the water.

[0036] When the pool robot is working normally in the water, its head is usually parallel to the ground to be cleaned, but when it encounters a raised obstacle (such as a floor drain), its head will tilt up. In addition to the downward pressure of the water pump, the pool robot in the water is also affected by the buoyancy and thrust of the water. When the posture of the pool robot changes, the force it is subjected to may change. Therefore, when the head of the pool robot tilts up, the original thrust may not be able to push the pool robot to continue moving forward. At this time, the pool robot will be stuck on the obstacle, making it difficult to continue the cleaning action.

[0037] In order to improve the probability of crossing obstacles, the embodiment of the present application provides an obstacle crossing control method. In this method, when it is determined that the swimming pool robot is moving forward in an obstacle area, the swimming pool robot is controlled to keep moving forward in a straight line through the guide wheels at the bottom of the swimming pool robot, and after it is determined that the center of gravity of the swimming pool robot has crossed the obstacle area, the power of the water pump of the swimming pool robot is increased to increase the downward pressure on the head area of ​​the swimming pool robot, and then it is detected whether the swimming pool robot has left the obstacle area, and the power of the water pump of the swimming pool robot is restored after it is detected that the swimming pool robot has left the obstacle area.

[0038] The obstacle control method provided in the embodiment of the present application is described below with reference to the accompanying drawings.

[0039] Figure 1 A schematic flow chart of an obstacle control method provided in an embodiment of the present application is shown. The obstacle control method is applied to a swimming pool robot. A guide wheel is provided at the bottom of the swimming pool robot. The details are as follows:

[0040] S11, when it is determined that the swimming pool robot is moving in an obstacle area, controlling the swimming pool robot to move forward in a straight line through the guide wheels.

[0041] Specifically, considering that the posture of the swimming pool robot is usually different when moving on horizontal ground and on non-horizontal ground (i.e., obstacle area), the posture of the swimming pool robot moving on non-horizontal ground can be set in advance, and then the current posture of the swimming pool robot is compared with the pre-set posture for moving on non-horizontal ground to determine whether the swimming pool robot is moving in an obstacle area.

[0042] Optionally, the posture of the swimming pool robot can be represented by a posture angle, wherein the posture angle generally includes a roll angle (rotation around the x-axis) and a pitch angle (rotation around the y-axis). Specifically, the posture angle can be measured by an inertial measurement unit (IMU).

[0043] When the posture angle is used to represent the posture of the swimming pool robot, the thresholds corresponding to the posture angles for moving forward on non-horizontal ground (such as the non-horizontal roll angle threshold and the non-horizontal pitch angle threshold) can be pre-set. When the roll angle is judged to be greater than the preset non-horizontal roll angle threshold, or the pitch angle is judged to be greater than the preset non-horizontal pitch angle threshold, it is determined that the swimming pool robot is currently moving forward in the obstacle area. Otherwise, it is determined that the swimming pool robot is not currently moving forward in the obstacle area. In the embodiment of the present application, the preset non-horizontal roll angle threshold and the preset non-horizontal pitch angle threshold can be the same or different. If the preset non-horizontal roll angle threshold and the preset non-horizontal pitch angle threshold are the same (for example, assuming both are OutFloorAngle), the currently detected pitch angle is represented by fabs(pitch), and the currently detected roll angle is represented by fabs(rosll), then after detecting that fabs(pitch) is greater than OutFloorAngle or fabs(rosll) is greater than OutFloorAngle (i.e., after detecting that fabs(pitch)>OutFloorAngle||fabs(roll)>OutFloorAngle), it is determined that the swimming pool robot is at a non-horizontal ground angle, that is, it is determined that the swimming pool robot is moving in an obstacle area, otherwise, it is determined that the swimming pool robot is not moving in an obstacle area. Optionally, the above OutFloorAngle can be set to: OutFloorAngle∈[15°,20°], that is, OutFloorAngle can be a value greater than or equal to 15° and less than 20°.

[0044] It is introduced above that judging whether the pool robot is moving in an obstacle area by the posture of the pool robot. In actual situations, judgment can also be made according to other methods, such as using image data around the pool robot to judge whether the pool robot is currently moving in an obstacle area. This is not limited here.

[0045] In the embodiment of the present application, when it is determined that the swimming pool robot is moving in an obstacle area, the guide wheels installed at the bottom of the swimming pool robot are used to control the swimming pool robot to keep moving in a straight line by stabilizing the direction of movement.

[0046] Optionally, the guide wheel is installed in the central area of ​​the bottom of the swimming pool robot, so that the center of gravity of the swimming pool robot is within the central area before and after the guide wheel is installed.

[0047] Optionally, the number of guide wheels can be equal to 1 or greater than 1. For example, when the load requirement of the pool robot is low (such as less than a preset load requirement), one guide wheel can be used to guide the pool robot to maintain linear motion. Conversely, more than one guide wheel can be used to guide the pool robot to maintain linear motion. Since a larger load requires a larger force to achieve effective control of the pool robot, selecting a corresponding number of guide wheels according to the pool robot is beneficial to improving the accuracy of control. When the number of guide wheels is 2, the two guide wheels are usually installed symmetrically, such as Figure 2 As shown, the weight added by the two guide wheels is balanced, thereby improving the accuracy of controlling the swimming pool robot.

[0048] S12, detecting whether the center of gravity of the swimming pool robot has passed the obstacle area.

[0049] The above obstacle area is an area corresponding to the non-horizontal ground.

[0050] Since the swimming pool robot is controlled to keep moving forward in a straight line by the guide wheels when it is determined that the swimming pool robot is moving forward in an obstacle area, the swimming pool robot will continue to move forward in the obstacle area. Since the center of gravity of the swimming pool robot may pass over the obstacle area during the moving process, it is possible to detect whether the center of gravity of the swimming pool robot has passed over the obstacle area after the swimming pool robot is controlled to keep moving forward by the guide wheels.

[0051] In the embodiment of the present application, considering that when the center of gravity of the swimming pool robot passes over the obstacle area, the angle of its head area tilting upward is relatively large, that is, the posture of the swimming pool robot changes greatly, therefore, the threshold of the posture of the center of gravity of the swimming pool robot when it passes over the obstacle area can be set by counting the average value of the posture of the center of gravity of the swimming pool robot when it passes over the obstacle area. Subsequently, after the posture of the swimming pool robot is detected, the detected posture is compared with the threshold of the posture of the center of gravity of the swimming pool robot when it passes over the obstacle area to determine whether the center of gravity of the swimming pool robot has passed over the obstacle area.

[0052] S13, when it is detected that the center of gravity of the swimming pool robot has passed the obstacle area, increasing the power of the water pump of the swimming pool robot, wherein the water pump of the swimming pool robot is installed in the head area of ​​the swimming pool robot, and when the power of the water pump is increased, the downward pressure on the head area of ​​the swimming pool robot will be increased.

[0053] Specifically, the power of the water pump can be increased uniformly. For example, a power increase value is preset, and when the power needs to be increased, the power increase value is increased on the basis of the current power each time. Since the power of the water pump is increased uniformly, the force on the swimming pool robot is more uniform, which is conducive to maintaining the balance of the swimming pool robot.

[0054] Optionally, the power of the water pump may be increased non-uniformly. For example, a larger power value is increased at the beginning, and a smaller power value is increased later. For example, assuming that when it is determined that the power needs to be increased, the power increase value is increased by 1 for the first time, by 2 for the second time, and by 3 for the third time, and the power increase value 1>power increase value 2>power increase value 3.

[0055] It should be pointed out that the action of increasing the power of the water pump may be performed once or more than once, which is not limited here.

[0056] S14, detecting whether the swimming pool robot has left the obstacle area.

[0057] In the embodiment of the present application, the same method as S11 can be used to detect whether the swimming pool robot has left the obstacle area. For example, when judging whether the swimming pool robot has left the obstacle area based on the posture angle, if it is judged that the roll angle is not greater than the preset non-horizontal roll angle threshold and the pitch angle is not greater than the preset non-horizontal pitch angle threshold, it is judged that the swimming pool robot is not currently moving forward in the obstacle area, that is, it is judged that the swimming pool robot has currently left the obstacle area.

[0058] S15, when it is detected that the swimming pool robot leaves the obstacle area, restoring the power of the water pump of the swimming pool robot.

[0059] Specifically, restoring the power of the water pump of the swimming pool robot here means restoring the power of the water pump to the power before the power of the water pump is increased. For example, assuming that before the center of gravity of the swimming pool robot is detected to have passed the obstacle area and the power of the water pump is not increased, the power of the water pump is power 1, and the increased power is power 2, then after the swimming pool robot is detected to have left the obstacle area, the power of the water pump will be restored from power 2 to power 1.

[0060] In the embodiment of the present application, since the bottom of the swimming pool robot is equipped with a guide wheel, and the guide wheel has the function of stabilizing the direction of movement, the swimming pool robot can be controlled by the guide wheel to keep moving forward in a straight line. After the center of the swimming pool robot passes over the obstacle area, the head area of ​​the swimming pool robot will be tilted upward, and increasing the power of the water pump is equivalent to increasing the pressure pressing down on the head area of ​​the swimming pool robot. Therefore, after increasing the pressure pressing down on the head area of ​​the swimming pool robot, the height of the head area tilting upward can be reduced, that is, the probability of the guide wheel contacting the ground can be increased, so that the swimming pool robot can continue to be controlled to move forward by relying on the guide wheel of the swimming pool robot, thereby increasing the probability of the swimming pool robot passing over the obstacle area and reducing the probability of the swimming pool robot missing the area in its forward direction. In addition, since the power of the water pump of the swimming pool robot is restored after the swimming pool robot leaves the obstacle area, and the head area of ​​the swimming pool robot no longer tilts upward after leaving the obstacle area, reducing the pressure pressing down on the head area of ​​the swimming pool robot is conducive to improving the cleaning efficiency of the swimming pool robot.

[0061] In some embodiments, before increasing the power of the water pump of the swimming pool robot in S13, the method further includes:

[0062] The motor used for moving forward in the swimming pool robot is controlled to stop running.

[0063] In the embodiment of the present application, the swimming pool robot includes a motor for moving forward and a motor for a water pump. The motor for moving forward is usually arranged inside the swimming pool robot to drive the walking mechanism of the swimming pool robot. The number of the motors for moving forward can be equal to 1 or greater than 1.

[0064] In the embodiment of the present application, all motors used for moving forward are controlled to stop running. Considering that the swimming pool robot will be pushed by the water flow in front of it when moving forward, therefore, controlling all motors used for moving forward to stop running can reduce the downward resistance of the swimming pool robot. At the same time, since the head area of ​​the swimming pool robot will rise when crossing an obstacle, if the swimming pool robot does not stop moving forward, it may cause the swimming pool robot to climb up. For example, when the swimming pool robot is currently in the pool bottom cleaning mode, if it climbs up and leaves the water surface, it will cause the cleaning task to fail.

[0065] It should be pointed out that after the motor for moving forward stops running, the swimming pool robot can still move forward for a certain distance due to its forward inertia and the guide wheels installed at the bottom of the swimming pool robot, but the downward resistance of the swimming pool robot will be reduced.

[0066] In some embodiments, in S13, increasing the power of the water pump of the swimming pool robot includes:

[0067] Increase the power of the above pool robot's water pump to maximum.

[0068] Correspondingly, the above S14 includes:

[0069] After the power of the water pump of the swimming pool robot increases to a maximum value, it is detected whether the swimming pool robot leaves the obstacle area.

[0070] The maximum value here is the maximum value that the water pump of the swimming pool robot can reach, which is a preset value. Specifically, the power of the water pump can be increased uniformly to the maximum value, or the power of the water pump can be increased non-uniformly to the maximum value.

[0071] In the embodiment of the present application, when the swimming pool robot performs a cleaning task, the power of its water pump is the optimal power when cleaning garbage (assuming it is P0), then P0 is the minimum power that enables the swimming pool robot to absorb larger and heavier garbage, and P0 is not the maximum power of the swimming pool robot. It should be pointed out that different swimming pool robots may have different corresponding P0s. For example, assuming that after the swimming pool robot 1 is started, it uses P01 to perform the cleaning task, and P01 is the minimum power that the swimming pool robot can absorb larger and heavier garbage. Assuming that after the swimming pool robot 2 is started, it uses P02 to perform the cleaning task, and P02 is the minimum power that the swimming pool robot 2 can absorb larger and heavier garbage.

[0072] In the embodiment of the present application, it is considered that when the power of the water pump is maximum, the suction force it generates is maximum, that is, the downward pressure on the head area of ​​the swimming pool robot is maximum. When the downward pressure is maximum, the probability of the head area of ​​the swimming pool robot recovering from tilting upward to contacting the ground can be increased. Therefore, after the power of the water pump is increased to the maximum value, detecting whether the swimming pool robot has left the obstacle area is beneficial to increasing the probability of obtaining the result that the swimming pool robot has left the obstacle area, that is, increasing the probability of the swimming pool robot crossing the obstacle.

[0073] In some embodiments, after increasing the power of the water pump of the swimming pool robot to the maximum value, the following steps are included:

[0074] Record the time T1 when the power of the water pump of the swimming pool robot increases to the maximum value.

[0075] After the above S14, it also includes:

[0076] A1. When it is detected that the swimming pool robot has not left the obstacle area, the duration between the current time and T1 is calculated to obtain a first duration.

[0077] The current moment here refers to the moment when it is detected that the swimming pool robot has not left the obstacle area, and the first duration mentioned above is obtained by subtracting the moment from T1.

[0078] A2. When the first time duration is not greater than a preset first time duration threshold, return to the step of detecting whether the swimming pool robot has left the obstacle area and subsequent steps, wherein the first time duration threshold is determined according to the time duration required for the swimming pool robot to return to balance when the power of the water pump of the swimming pool robot increases to a maximum value.

[0079] Specifically, multiple experiments may be performed to calculate the multiple time durations required for the swimming pool robot to recover to balance when the power of the swimming pool robot's water pump increases to a maximum value, and then the average value of the multiple time durations may be calculated to obtain the first time duration threshold.

[0080] In the embodiment of the present application, when the swimming pool robot is performing a cleaning task on the horizontal ground, its body is usually parallel to the horizontal ground. At this time, the above-mentioned restoration to balance means that the body of the swimming pool robot is restored from being tilted to a state parallel to the horizontal ground.

[0081] In the embodiment of the present application, since the first time threshold is determined based on the time required for the swimming pool robot to return to balance when the power of the swimming pool robot's water pump increases to a maximum value, when it is determined that the time between the moment when the power of the swimming pool robot's water pump increases to a maximum value and the current moment is less than the above-mentioned first time threshold, it indicates that there is a high probability that the swimming pool robot has not left the obstacle area. At this time, the step of re-detecting whether the swimming pool robot has left the obstacle area and the subsequent steps are conducive to reducing the probability of obtaining erroneous detection results.

[0082] In some embodiments, considering that a swimming pool robot can usually clean the walls and bottom of a pool, the posture of the swimming pool robot when cleaning the walls is different from that when cleaning the bottom. For example, when cleaning the bottom of the pool is used as the standard, the head area of ​​the swimming pool robot is also equivalent to being tilted when cleaning the walls. Therefore, when it is found that the robot has not left the obstacle area for a long time, it is necessary to make a judgment in combination with the cleaning mode. That is, after the above A1, it also includes:

[0083] B1. When it is detected that the swimming pool robot has not left the obstacle area and the first time length is greater than the first time length threshold, detecting whether the swimming pool robot is currently in a wall cleaning mode.

[0084] The wall cleaning mode is a mode for cleaning the walls of a pool. Since there is a certain angle between the wall and the bottom of the pool, when the pool robot is in the wall cleaning mode, there is also a certain angle between its head area and the pool floor (usually horizontal ground).

[0085] B2. When it is detected that the swimming pool robot is currently in the wall cleaning mode, the swimming pool robot is controlled to continue moving forward and perform cleaning actions according to the wall cleaning mode.

[0086] In the embodiment of the present application, if it is still detected that the swimming pool robot has not left the obstacle area when the first time length exceeds the first time length threshold, it is detected whether the swimming pool robot is currently in the wall cleaning mode. If so, the motor used for the swimming pool robot to move forward is started to control the swimming pool robot to continue moving forward, and the swimming pool robot performs cleaning actions according to the wall cleaning mode during the moving forward process. Since the swimming pool robot is in the wall cleaning mode, its posture is usually similar to that of the swimming pool robot when it crosses the obstacle area when cleaning the pool bottom. Therefore, after determining that the swimming pool robot is in the wall cleaning mode, controlling the swimming pool robot to continue moving forward and cleaning is conducive to improving the cleaning efficiency of the swimming pool robot.

[0087] In the embodiment of the present application, performing a cleaning action according to the wall cleaning mode means adjusting the settings of various parameters in the wall cleaning mode accordingly. The parameters here include: the power of the water pump (i.e., the power of the motor of the water pump); and / or, the power of the motor for forward movement; and / or, one or more of the voltage, current, etc. of each motor (the motor of the water pump, the motor for forward movement).

[0088] In some embodiments, after the above B1, the method further includes:

[0089] In the case where it is detected that the swimming pool robot is currently in the pool bottom cleaning mode, the swimming pool robot is controlled to retreat and translate a preset distance, and then continues to perform the cleaning action according to the pool bottom cleaning mode.

[0090] Among them, when the swimming pool robot is in the pool bottom cleaning mode, its body is usually parallel to the pool bottom.

[0091] In an embodiment of the present application, after determining that the swimming pool robot is in the pool bottom cleaning mode, if the swimming pool robot is determined to be in an obstacle area for a long time, indicating that the swimming pool robot has difficulty crossing the obstacle area, at this time, retreating and translating a preset distance is beneficial to improving the success rate of the swimming pool robot in avoiding the obstacle area, thereby helping to improve the cleaning efficiency of the swimming pool robot.

[0092] Optionally, in order to further improve the success rate of the swimming pool robot in avoiding the obstacle area, after translating a preset distance, it also rotates a preset angle (such as 180°), and then performs the cleaning action according to the pool bottom cleaning mode.

[0093] In the embodiment of the present application, since the swimming pool robot rotates by a preset angle, the forward direction of the swimming pool robot is usually no longer directed toward the obstacle area, thereby further improving the success rate of the swimming pool robot in avoiding the obstacle area.

[0094] In some embodiments, the obstacle control method provided in the embodiments of the present application further includes:

[0095] Record the current time T2 when the above-mentioned swimming pool robot is judged to be moving forward in the obstacle area. Specifically, for each detected obstacle area, record the time when the swimming pool robot is first judged to be moving forward in the obstacle area to obtain the above-mentioned T2. It should be pointed out that, considering that the swimming pool robot may detect the same obstacle area in different time periods, the corresponding current time is recorded each time the obstacle area is detected and the swimming pool robot is first judged to be moving forward in the obstacle area. For example, if the swimming pool robot is first detected to be moving forward in obstacle area 1 at time M1, record M1 as T2 corresponding to obstacle area 1. If the swimming pool robot is detected to be moving forward in obstacle area 1 again at time M2 (M2 is later than M1) and it has been judged that the swimming pool robot did not move forward in obstacle area 1 at the moment before M2, record M2 as the new T2 corresponding to obstacle area 1.

[0096] Correspondingly, the above S12 includes:

[0097] C1. Detecting whether the pitch angle of the swimming pool robot is greater than a preset center-of-gravity pitch angle threshold, or detecting whether the roll angle of the swimming pool robot is greater than a preset center-of-gravity roll angle threshold.

[0098] Specifically, the pitch angle and roll angle of the center of gravity of this type of swimming pool robot when it crosses the obstacle area are counted, and the center of gravity pitch angle threshold and the center roll angle threshold are determined according to the average value of the statistical pitch angles and the average value of the roll angles.

[0099] refer to Figure 3 and Figure 4 ,in, Figure 3 The diagram shows the case where the center of gravity of the pool robot does not cross the obstacle area. Figure 4 The figure shows the schematic diagram of the pool robot when its center of gravity passes over the obstacle area. Figure 3 and Figure 4 In the figure, the solid downward arrow is the center of gravity of the pool robot, and the dotted left arrow indicates the forward direction of the pool robot. Figure 3 and Figure 4It can be seen that when the center of gravity of the swimming pool robot passes over the obstacle area, its corresponding pitch angle will be greater than the pitch angle when the center of gravity of the swimming pool robot does not pass over the obstacle area. Similarly, when the center of gravity of the swimming pool robot passes over the obstacle area, its corresponding roll angle will be greater than the roll angle when the center of gravity of the swimming pool robot does not pass over the obstacle area. Therefore, in the embodiment of the present application, the center of gravity pitch angle threshold is greater than the non-horizontal pitch angle threshold, and the center of gravity roll angle threshold is greater than the non-horizontal roll angle threshold.

[0100] Optionally, the center of gravity pitch angle threshold may be the same as the center of gravity roll angle threshold. For example, assuming that the non-horizontal pitch angle threshold and the non-horizontal roll angle threshold are ∈ [15°, 20°], the center of gravity pitch angle threshold and the center of gravity roll angle threshold may be ∈ [35°, 45°], that is, the center of gravity pitch angle threshold (or the center of gravity roll angle threshold) may be set to an angle greater than or equal to 35° and less than or equal to 45°.

[0101] C2. If the pitch angle of the swimming pool robot is greater than the center of gravity pitch angle threshold, or the roll angle of the swimming pool robot is greater than the center of gravity roll angle threshold, it is determined that the center of gravity of the swimming pool robot has crossed the obstacle area.

[0102] Specifically, the pitch angle detected at the current moment is compared with a preset center of gravity pitch angle threshold, and the roll angle detected at the current moment is compared with a preset center of gravity roll angle threshold, and whether the center of gravity of the swimming pool robot crosses the obstacle area is determined based on the two results.

[0103] C3. If the pitch angle of the swimming pool robot is not greater than the center of gravity pitch angle threshold, and the roll angle of the swimming pool robot is not greater than the center of gravity roll angle threshold, the time between the current time and T2 is counted to obtain a second time.

[0104] The current moment here is the moment corresponding to the judgment result that the pitch angle is not greater than the center of gravity pitch angle threshold, and the judgment result that the roll angle is not greater than the center of gravity roll angle threshold.

[0105] C4. If it is determined that the second time duration is not less than a preset second time duration threshold, it is determined that the center of gravity of the swimming pool robot has passed the obstacle area, wherein the second time duration threshold is determined based on the maximum theoretical time duration for the swimming pool robot to pass an obstacle.

[0106] Specifically, when it is determined that the pitch angle and roll angle of the swimming pool robot are not greater than the corresponding thresholds, it indicates that the center of gravity of the swimming pool robot has not yet crossed the obstacle area. At this time, the second time length corresponding to the current moment and T2 is counted. Since the second time length threshold is determined based on the maximum theoretical time length for the swimming pool robot to cross an obstacle, when the second time length is not less than the second time length threshold, it indicates that the center of gravity of the swimming pool robot has crossed the obstacle area.

[0107] In the embodiment of the present application, whether the center of gravity of the swimming pool robot has passed the obstacle can be determined in two ways, thereby improving the flexibility of the determination.

[0108] In some embodiments, considering that the obstacle area is small, the swimming pool robot can cross the obstacle in a shorter time, at this time, it can quickly resume normal cleaning action to improve cleaning efficiency. That is:

[0109] When it is determined that the second duration is less than the second duration threshold, it can be determined whether the pitch angle of the swimming pool robot is not greater than the non-horizontal pitch angle threshold, and whether the roll angle of the swimming pool robot is not greater than the non-horizontal roll angle threshold. If the pitch angle of the swimming pool robot is not greater than the non-horizontal pitch angle threshold, and the roll angle of the swimming pool robot is not greater than the non-horizontal roll angle threshold, it indicates that the swimming pool robot has crossed the obstacle area, and at this time, the swimming pool robot continues to perform normal cleaning tasks. However, if the pitch angle of the swimming pool robot is greater than the non-horizontal pitch angle threshold, or the roll angle of the swimming pool robot is greater than the non-horizontal roll angle threshold, the above step C1 and subsequent steps are executed.

[0110] In order to more clearly describe the obstacle control method provided in the embodiment of the present application, Figure 5 Give a description.

[0111] S501, the robot walks normally.

[0112] The robot here refers to a swimming pool robot, and normal walking refers to the swimming pool robot performing cleaning actions according to a preset cleaning mode.

[0113] S502: Detect whether the pitch angle is greater than a non-horizontal pitch angle threshold, or detect whether the roll angle is greater than a non-horizontal roll angle threshold.

[0114] Specifically, the current pitch angle or roll angle of the swimming pool robot is obtained, and the obtained pitch angle is compared with a preset non-horizontal pitch angle threshold, or the obtained roll angle is compared with a preset non-horizontal roll angle threshold.

[0115] S503: If the pitch angle is detected to be greater than the non-horizontal pitch angle threshold, or if the roll angle is detected to be greater than the non-horizontal roll angle threshold, then the vehicle continues to move forward in a straight line and records the current timestamp T2.

[0116] S503: If it is detected that the pitch angle is not greater than the non-horizontal pitch angle threshold, or if it is detected that the roll angle is not greater than the non-horizontal roll angle threshold, then return to S501.

[0117] S504, detecting whether the pitch angle is greater than a preset center-of-gravity pitch angle threshold, or detecting whether the roll angle is greater than a preset center-of-gravity roll angle threshold, if so, executing S506, otherwise, executing S505.

[0118] S505, when it is determined that the pitch angle of the swimming pool robot is not greater than the preset center of gravity pitch angle threshold, or when it is determined that the roll angle of the swimming pool robot is not greater than the preset center of gravity roll angle threshold, it is counted whether the time between the current moment and T2 is greater than the second time threshold, if so, execute S506, otherwise, execute S07.

[0119] S506, the robot stops moving, gradually increases the power of the water pump to the maximum value, and records the timestamp T1.

[0120] Specifically, the motor used for moving forward in the swimming pool robot is controlled to stop running, and the power of the water pump is gradually increased until the power of the water pump reaches a maximum value.

[0121] S507, if it is determined that the time length between the current moment and T2 is not greater than the second time length threshold, then detect whether the pitch angle of the swimming pool robot is not greater than the preset non-horizontal pitch angle threshold, and detect whether the roll angle of the swimming pool robot is not greater than the preset non-horizontal roll angle threshold, if so, return to S501, if not, return to S504.

[0122] S508, detecting whether the pitch angle of the swimming pool robot is not greater than the non-horizontal pitch angle threshold, or detecting whether the roll angle of the swimming pool robot is not greater than the non-horizontal roll angle threshold, if not, executing S509, if yes, executing S510.

[0123] S509, when it is determined that the pitch angle of the swimming pool robot is not greater than the non-horizontal pitch angle threshold, and when it is determined that the roll angle of the swimming pool robot is not greater than the non-horizontal roll angle threshold, determine whether the duration between the current moment and the T1 moment is greater than the preset first duration threshold, if so, execute S512, if not, return to S508.

[0124] S510: When it is determined that the pitch angle of the swimming pool robot is greater than the non-horizontal pitch angle threshold, or when it is determined that the roll angle of the swimming pool robot is greater than the non-horizontal roll angle threshold, it is determined that the swimming pool robot has crossed the obstacle area.

[0125] S511, the swimming pool robot restores the forward angle and the power of the water pump before the power of the water pump is increased, and continues to move forward.

[0126] S512, after determining that the duration between the current moment and the moment T1 is greater than the preset first duration threshold, determine whether the current mode of the swimming pool robot is the wall cleaning mode, if not, execute S513, if yes, execute S514.

[0127] Specifically, a mode identifier corresponding to the wall cleaning mode is preset, and subsequently, whether the current mode of the swimming pool robot is the wall cleaning mode can be determined according to the mode identifier of the mode started by the swimming pool robot.

[0128] S513, control the swimming pool robot to move backward, translate one body position, rotate 180 degrees, and then continue to execute the control action of the pool bottom cleaning mode.

[0129] It should be noted that the position of the translation can be set according to actual conditions. For example, when the body of the swimming pool robot is small, the position of the body of the translation can be increased, and when the body of the swimming pool robot is large, the position of the body of the translation can be reduced.

[0130] S514: The swimming pool robot continues to move forward and performs corresponding control actions according to the wall cleaning mode.

[0131] S515, end.

[0132] 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.

[0133] Corresponding to the obstacle control method described in the above embodiment, Figure 6 A structural block diagram of an obstacle control device 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.

[0134] Reference Figure 6 The obstacle control device 6 is applied to a swimming pool robot. A guide wheel is provided at the bottom of the swimming pool robot. The obstacle control device 6 includes:

[0135] The guide wheel control module is used to control the swimming pool robot to keep moving forward in a straight line through the guide wheel when it is determined that the swimming pool robot is moving forward in an obstacle area.

[0136] The module for detecting whether the center of gravity has passed through an obstacle area is used to detect whether the center of gravity of the swimming pool robot has passed through the obstacle area, wherein the obstacle area is an area corresponding to a non-horizontal ground.

[0137] The water pump power increasing module is used to increase the power of the water pump of the above-mentioned swimming pool robot when it is detected that the center of gravity of the above-mentioned swimming pool robot has passed the above-mentioned obstacle area, wherein the water pump of the above-mentioned swimming pool robot is installed in the head area of ​​the above-mentioned swimming pool robot. When the power of the above-mentioned water pump is increased, the downward pressure of the head area of ​​the above-mentioned swimming pool robot will be increased.

[0138] The obstacle area leaving detection module is used to detect whether the swimming pool robot leaves the obstacle area.

[0139] The water pump power recovery module is used to restore the power of the water pump of the swimming pool robot when it is detected that the swimming pool robot leaves the obstacle area.

[0140] In the embodiment of the present application, since the bottom of the swimming pool robot is equipped with a guide wheel, and the guide wheel has the function of stabilizing the direction of movement, the swimming pool robot can be controlled by the guide wheel to keep moving forward in a straight line. After the center of the swimming pool robot passes over the obstacle area, the head area of ​​the swimming pool robot will be tilted upward, and increasing the power of the water pump is equivalent to increasing the pressure pressing down on the head area of ​​the swimming pool robot. Therefore, after increasing the pressure pressing down on the head area of ​​the swimming pool robot, the height of the head area tilting upward can be reduced, that is, the probability of the guide wheel contacting the ground can be increased, so that the swimming pool robot can continue to be controlled to move forward by relying on the guide wheel of the swimming pool robot, thereby increasing the probability of the swimming pool robot passing over the obstacle area and reducing the probability of the swimming pool robot missing the area in its forward direction. In addition, since the power of the water pump of the swimming pool robot is restored after the swimming pool robot leaves the obstacle area, and the head area of ​​the swimming pool robot no longer tilts upward after leaving the obstacle area, reducing the pressure pressing down on the head area of ​​the swimming pool robot is conducive to improving the cleaning efficiency of the swimming pool robot.

[0141] In some embodiments, the obstacle control device 6 further includes:

[0142] The motor stop control module is used to control the motor used for moving forward in the swimming pool robot to stop running before increasing the power of the water pump of the swimming pool robot.

[0143] In some embodiments, the water pump power increasing module is specifically used to increase the power of the water pump of the swimming pool robot:

[0144] Increase the power of the above pool robot's water pump to maximum.

[0145] Correspondingly, the obstacle area leaving detection module is specifically used for:

[0146] After the power of the water pump of the swimming pool robot increases to a maximum value, it is detected whether the swimming pool robot leaves the obstacle area.

[0147] In some embodiments, the obstacle control device 6 further includes:

[0148] The time T1 recording module is used to record the time T1 when the power of the water pump of the swimming pool robot increases to the maximum value after the power of the water pump of the swimming pool robot is increased to the maximum value.

[0149] Correspondingly, the obstacle control device 6 further includes:

[0150] The first duration calculation module is used to calculate the duration between the current time and T1 to obtain a first duration when it is detected that the swimming pool robot has not left the obstacle area.

[0151] When the first time duration is not greater than the preset first time duration threshold, return to the step of detecting whether the swimming pool robot has left the obstacle area and subsequent steps, wherein the first time duration threshold is determined according to the time duration required for the swimming pool robot to return to balance when the power of the water pump of the swimming pool robot increases to a maximum value.

[0152] In some embodiments, the obstacle control device 6 further includes:

[0153] The cleaning mode judgment module is used to detect whether the swimming pool robot is currently in the wall cleaning mode when it is detected that the swimming pool robot has not left the obstacle area and the first time length is greater than the first time length threshold.

[0154] The control module of the wall cleaning mode is used to control the swimming pool robot to continue moving forward and perform cleaning actions according to the wall cleaning mode when detecting that the swimming pool robot is currently in the wall cleaning mode.

[0155] In some embodiments, the obstacle control device 6 further includes:

[0156] The control module of the pool bottom cleaning mode is used to control the swimming pool robot to retreat and translate a preset distance when detecting that the swimming pool robot is currently in the pool bottom cleaning mode, and then continue to perform cleaning actions according to the pool bottom cleaning mode.

[0157] In some embodiments, the obstacle control device 6 further includes:

[0158] The time T2 recording module is used to record the current time T2 when the swimming pool robot is judged to be moving forward in the obstacle area.

[0159] Correspondingly, the above-mentioned whether the center of gravity crosses the obstacle area detection module is specifically used for:

[0160] Detecting whether the pitch angle of the swimming pool robot is greater than a preset center of gravity pitch angle threshold, or detecting whether the roll angle of the swimming pool robot is greater than a preset center of gravity roll angle threshold;

[0161] If the pitch angle of the swimming pool robot is greater than the center of gravity pitch angle threshold, or the roll angle of the swimming pool robot is greater than the center of gravity roll angle threshold, it is determined that the center of gravity of the swimming pool robot has crossed the obstacle area;

[0162] If the pitch angle of the swimming pool robot is not greater than the center of gravity pitch angle threshold, and the roll angle of the swimming pool robot is not greater than the center of gravity roll angle threshold, then the time between the current time and T2 is counted to obtain a second time;

[0163] If it is determined that the second time duration is not less than a preset second time duration threshold, it is determined that the center of gravity of the swimming pool robot has passed the obstacle area, wherein the second time duration threshold is determined based on the maximum theoretical time duration for the swimming pool robot to pass an obstacle.

[0164] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the method embodiment of the present application. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0165] Figure 7 This is a schematic diagram of the structure of a swimming pool robot provided by an embodiment of the present application. Figure 7 As shown, the swimming pool robot 7 of this embodiment includes: at least one processor 70 ( Figure 7 Only one processor is shown in the figure), a memory 71, and a computer program 72 stored in the memory 71 and executable on the at least one processor 70, wherein the processor 70 implements the steps of any of the above-mentioned method embodiments when executing the computer program 72.

[0166] The swimming pool robot 7 may include, but is not limited to, a processor 70 and a memory 71. Those skilled in the art will appreciate that Figure 7 This is only an example of the swimming pool robot 7 and does not constitute a limitation on the swimming pool robot 7. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components, for example, it may also include input and output devices, network access devices, etc.

[0167] The processor 70 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.

[0168] In some embodiments, the memory 71 may be an internal storage unit of the pool robot 7, such as a hard disk or memory of the pool robot 7. In other embodiments, the memory 71 may also be an external storage device of the pool robot 7, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the pool robot 7. Further, the memory 71 may also include both an internal storage unit and an external storage device of the pool robot 7. The memory 71 is used to store an operating system, an application program, a boot loader (BootLoader), data, and other programs, such as the program code of the computer program. The memory 61 may also be used to temporarily store data that has been output or is to be output.

[0169] 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.

[0170] An embodiment of the present application further 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 in the above-mentioned method embodiments can be implemented.

[0171] An embodiment of the present application provides a computer program product. When the computer program product runs on a swimming pool robot, the swimming pool robot can implement the steps in the above-mentioned method embodiments when executing the computer program product.

[0172] If the integrated 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, which can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium. When the computer program is executed by the processor, the steps of the above-mentioned various method embodiments can be implemented. 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 medium can at least include: any entity or device that can carry the computer program code to the camera device / pool robot, recording medium, 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. For example, a USB flash drive, a mobile hard disk, a magnetic disk or an optical disk. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electric carrier signals and telecommunication signals.

[0173] 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.

[0174] 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.

[0175] In the embodiments provided in the present application, it should be understood that the disclosed devices / network equipment and methods can be implemented in other ways. For example, the device / network equipment 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.

[0176] 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.

[0177] 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. An obstacle control method, characterized in that: Applied to a swimming pool robot, the bottom of the swimming pool robot is provided with guide wheels, and the obstacle control method includes: When it is determined that the swimming pool robot is moving forward in an obstacle area, controlling the swimming pool robot to move forward in a straight line by means of the guide wheels; Detecting whether the center of gravity of the swimming pool robot has passed the obstacle area; In the case where it is detected that the center of gravity of the swimming pool robot has passed the obstacle area, the power of the water pump of the swimming pool robot is increased, wherein the water pump of the swimming pool robot is installed in the head area of ​​the swimming pool robot, and when the power of the water pump is increased, the downward pressure on the head area of ​​the swimming pool robot will be increased; Detecting whether the swimming pool robot leaves the obstacle area; When it is detected that the swimming pool robot leaves the obstacle area, the power of the water pump of the swimming pool robot is restored.

2. The obstacle control method according to claim 1, characterized in that: Before increasing the power of the water pump of the swimming pool robot, the method further comprises: The motor used for moving forward in the swimming pool robot is controlled to stop running.

3. The obstacle control method according to claim 2, characterized in that: Increasing the power of the water pump of the swimming pool robot comprises: Increasing the power of the pool robot's water pump to a maximum value; Correspondingly, the detecting whether the swimming pool robot leaves the obstacle area includes: After the power of the water pump of the swimming pool robot increases to a maximum value, it is detected whether the swimming pool robot leaves the obstacle area.

4. The obstacle control method according to claim 3, characterized in that: After increasing the power of the water pump of the swimming pool robot to the maximum value, the method further comprises: Record the time T1 when the power of the water pump of the swimming pool robot increases to the maximum value; After detecting whether the swimming pool robot has left the obstacle area, the method further includes: When it is detected that the swimming pool robot has not left the obstacle area, the duration between the current time and T1 is calculated to obtain a first duration; When the first time duration is not greater than a preset first time duration threshold, return to the step of detecting whether the swimming pool robot has left the obstacle area and subsequent steps, wherein the first time duration threshold is determined according to the time duration required for the swimming pool robot to return to balance when the power of the water pump of the swimming pool robot increases to a maximum value.

5. The obstacle control method according to claim 4, characterized in that: After calculating the duration between the current time and T1 to obtain the first duration, the method further includes: In the case where it is detected that the swimming pool robot has not left the obstacle area and the first time length is greater than the first time length threshold, detecting whether the swimming pool robot is currently in a wall cleaning mode; When it is detected that the swimming pool robot is currently in the wall cleaning mode, the swimming pool robot is controlled to continue moving forward and perform cleaning actions according to the wall cleaning mode.

6. The obstacle control method according to claim 5, characterized in that: After detecting whether the swimming pool robot is currently in the wall cleaning mode, the method further includes: When it is detected that the swimming pool robot is currently in the pool bottom cleaning mode, the swimming pool robot is controlled to retreat and translate a preset distance, and then continues to perform the cleaning action according to the pool bottom cleaning mode.

7. The obstacle control method according to any one of claims 1 to 6, characterized in that: Also includes: Recording the current time T2 at which the swimming pool robot is judged to be moving forward in the obstacle area; The detecting whether the center of gravity of the swimming pool robot has passed the obstacle area includes: Detecting whether the pitch angle of the swimming pool robot is greater than a preset center of gravity pitch angle threshold, or detecting whether the roll angle of the swimming pool robot is greater than a preset center of gravity roll angle threshold; If the pitch angle of the swimming pool robot is greater than the center of gravity pitch angle threshold, or the roll angle of the swimming pool robot is greater than the center of gravity roll angle threshold, it is determined that the center of gravity of the swimming pool robot has crossed the obstacle area; If the pitch angle of the swimming pool robot is not greater than the center of gravity pitch angle threshold, and the roll angle of the swimming pool robot is not greater than the center of gravity roll angle threshold, then the time between the current time and T2 is counted to obtain a second time; If it is determined that the second time duration is not less than a preset second time duration threshold, it is determined that the center of gravity of the swimming pool robot has passed the obstacle area, wherein the second time duration threshold is determined according to the maximum theoretical time duration for the swimming pool robot to pass an obstacle.

8. An obstacle control device, characterized in that: Applied to a swimming pool robot, the bottom of the swimming pool robot is provided with guide wheels, and the obstacle control device comprises: A guide wheel control module, used to control the swimming pool robot to keep moving forward in a straight line through the guide wheel when it is determined that the swimming pool robot is moving forward in an obstacle area; A module for detecting whether the center of gravity has passed through an obstacle area, used for detecting whether the center of gravity of the swimming pool robot has passed through the obstacle area; A water pump power increasing module, used to increase the power of the water pump of the swimming pool robot when it is detected that the center of gravity of the swimming pool robot has passed the obstacle area, wherein the water pump of the swimming pool robot is installed in the head area of ​​the swimming pool robot, and when the power of the water pump is increased, the downward pressure of the head area of ​​the swimming pool robot will be increased; An obstacle area leaving detection module is used to detect whether the swimming pool robot leaves the obstacle area; The water pump power recovery module is used to restore the power of the water pump of the swimming pool robot when it is detected that the swimming pool robot leaves the obstacle area.

9. A swimming pool robot, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the method according to any one of claims 1 to 7 is implemented.

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

Images