Obstacle crossing control method and device, and pool robot

Abstract

The application is suitable for the technical field of intelligent mobile devices, and provides an obstacle-crossing control method and device and a pool robot, which comprises the following steps: in the case that it is judged that the pool robot is moving forward in an obstacle area, the pool robot is controlled to keep moving forward in a straight line through the guide wheel; whether the center of gravity of the pool robot crosses the obstacle area is detected; in the case that it is detected that the center of gravity of the pool robot crosses the obstacle area, the power of the water pump of the pool robot is increased; whether the pool robot leaves the obstacle area is detected; and in the case that it is detected that the pool robot leaves the obstacle area, the power of the water pump of the pool robot is restored. In the above manner, the probability that the 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 particularly relates to an obstacle crossing control method and device, a swimming pool robot, and a computer readable storage medium. BACKGROUND

[0002] A swimming pool robot is an automatic swimming pool cleaning device that can automatically move in a swimming pool to clean sand, impurities and dirt on the pool water, pool wall and pool bottom.

[0003] The existing swimming pool robot is prone to being stuck above a raised obstacle (such as a floor drain), and it usually needs a long time to escape from the obstacle, and sometimes even fails to escape from the obstacle and is stuck above the floor drain, affecting the normal work of the swimming pool robot. SUMMARY

[0004] The obstacle crossing control method, device and swimming pool robot provided by the embodiments of the present application can solve the problem that the existing swimming pool robot cannot effectively pass through an obstacle.

[0005] In a first aspect, the embodiments of the present application provide an obstacle crossing control method applied to a swimming pool robot, wherein a guide wheel is arranged at the bottom of the swimming pool robot, and the obstacle crossing control method comprises the following steps.

[0006] In a case where it is judged that the swimming pool robot moves in an obstacle area, the swimming pool robot is controlled to keep straight movement by the guide wheel;

[0007] It is detected whether the center of gravity of the swimming pool robot crosses the obstacle area;

[0008] In a case where it is detected that the center of gravity of the swimming pool robot crosses the obstacle area, the power of a water pump of the swimming pool robot is increased, wherein the water pump of the swimming pool robot is installed in a head area of the swimming pool robot, and when the power of the water pump is increased, the pressure of the head area of the swimming pool robot downwardly pressed will be increased;

[0009] It is detected whether the swimming pool robot leaves the obstacle area;

[0010] In a case where 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, the embodiments of the present application provide an obstacle crossing control device applied to a swimming pool robot, wherein a guide wheel is arranged at the bottom of the swimming pool robot, and the obstacle crossing control device comprises the following steps.

[0012] In a case where it is judged that the swimming pool robot moves in an obstacle area, the swimming pool robot is controlled to keep straight movement by the guide wheel;

[0013] detect whether the center of gravity of the pool robot crosses the obstacle area;

[0014] in a case where it is detected that the center of gravity of the pool robot crosses the obstacle area, increase the power of a water pump of the pool robot, wherein the water pump of the pool robot is installed in a head area of the pool robot, and when the power of the water pump is increased, the pressure of the head area of the pool robot downwardly pressing will be increased;

[0015] detect whether the pool robot leaves the obstacle area;

[0016] in a case where it is detected that the pool robot leaves the obstacle area, restore the power of the water pump of the pool robot.

[0017] In a third aspect, the embodiments of the present application provide a pool robot, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the method according to the first aspect when executing the computer program.

[0018] In a fourth aspect, the embodiments of the present application provide a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the method according to the first aspect.

[0019] In a fifth aspect, the embodiments of the present application provide a computer program product, which, when executed on a pool robot, causes the pool robot to perform the method according to the first aspect.

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

[0021] In this embodiment, since the pool robot is equipped with guide wheels at its bottom, which stabilize its direction of movement, the robot can be controlled to maintain a straight-line trajectory. Furthermore, after the center of the pool robot crosses the obstacle area, its head area will tilt upwards. Increasing the power of the water pump is equivalent to increasing the downward pressure on the robot's head area. Therefore, increasing the downward pressure on the head area reduces the upward tilt of the head area, thus increasing the probability of the guide wheels contacting the ground. This allows the robot to continue moving forward using the guide wheels, increasing the probability of it crossing the obstacle area and reducing the probability of it missing areas in its path. Moreover, after the pool robot leaves the obstacle area, the water pump power is restored, and the head area no longer tilts upwards. Therefore, reducing the downward pressure on the head area improves the cleaning efficiency of the pool robot. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below.

[0023] Figure 1 This is a flowchart illustrating an obstacle crossing control method provided in an embodiment of this application;

[0024] Figure 2 This is a schematic diagram of a guide wheel mounting structure provided in one embodiment of this application;

[0025] Figure 3 This is a schematic diagram of a swimming pool robot provided in an embodiment of this application, showing that its center of gravity does not cross the obstacle area;

[0026] Figure 4 This is a schematic diagram of a pool robot's center of gravity crossing an obstacle area, according to an embodiment of this application.

[0027] Figure 5 This is a flowchart illustrating another obstacle crossing control method provided in an embodiment of this application;

[0028] Figure 6 This is a schematic diagram of the structure of an obstacle crossing control device provided in an embodiment of this application;

[0029] Figure 7 This is a schematic diagram of the structure of a swimming pool robot provided in one embodiment of this application. Detailed Implementation

[0030] In the following description, for purposes of explanation and not limitation, specific details are set forth such as particular architectures, technologies, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application can be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

[0031] It is to be understood that the terminology "includes", "has", "holds", "contains" and / or "comprising", when used in this specification and in the following claims, indicates the presence of the described features, integers, steps, operations, elements, and / or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0032] It is also to be understood that the terminology "and / or" when used in this specification and in the following claims, refers to at least one of the items, or any combination of the items, and includes all possible combinations when used in the description of the items.

[0033] In addition, in the description of the specification and the appended claims, the terms "first", "second", and the like are used only to distinguish different features, and do not imply a relative importance.

[0034] The description of the reference "one embodiment" or "some embodiments" and the like in the specification of the present application means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the present application. Thus, the appearance of the phrases "in one embodiment", "in some embodiments", "in other embodiments", "in yet some embodiments", and the like in various places in the specification is not necessarily all referring to the same embodiment, unless otherwise specifically noted. Rather, the appearance of these phrases in various places in the specification means that the particular feature, structure, or characteristic being described is included in at least one embodiment of the present application.

[0035] A pool robot is a robot for cleaning impurities and dirt in a pool, which removes impurities, algae, and other suspended matters in water by a water pump installed in the pool robot to draw water from the pool to a filtration system.

[0036] When the pool robot normally works in water, its head is usually in a state parallel to the ground to be cleaned, and when it encounters a raised obstacle (such as a drain), its head will be tilted up. Since the pool robot in water is subjected to the downward pressure of the water pump, the buoyancy and thrust of water, etc., when the posture of the pool robot changes, the acting force on the pool robot can also change, and thus, when the head of the pool robot is tilted up, the original thrust can also be difficult to push the pool robot to continue moving forward, at which time the pool robot will be stuck on the obstacle, and thus, it is difficult to continue the cleaning action.

[0037] In order to improve the probability of crossing the obstacle, the embodiment of the present application provides an obstacle crossing control method. In the method, when it is determined that the pool robot is moving in the obstacle area, the pool robot is controlled to keep straight moving by the guide wheel at the bottom of the pool robot, and after it is determined that the center of gravity of the pool robot crosses the obstacle area, the power of the water pump of the pool robot is increased to increase the pressure of the head area of the pool robot downward, and then it is detected whether the pool robot leaves the obstacle area, and after it is detected that the pool robot leaves the obstacle area, the power of the water pump of the pool robot is restored.

[0038] The obstacle crossing control method provided by the embodiment of the present application is described below in combination with the drawings.

[0039] Figure 1 A flowchart of an obstacle crossing control method provided by the embodiment of the present application is shown, and the obstacle crossing control method is applied to a pool robot, and the bottom of the pool robot is provided with a guide wheel, which is described in detail as follows.

[0040] S11, when it is determined that the pool robot is moving in the obstacle area, the pool robot is controlled to keep straight moving by the guide wheel.

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

[0042] Optionally, the posture of the pool robot can be represented by a posture angle, and the posture angle usually 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 of the pool robot is represented by the posture angle, the threshold corresponding to the posture angle of the non-horizontal ground running (such as the non-horizontal roll angle threshold and the non-horizontal pitch angle threshold) can be preset. When it is determined that the roll angle is greater than the preset non-horizontal roll angle threshold, or it is determined that the pitch angle is greater than the preset non-horizontal pitch angle threshold, it is determined that the pool robot is currently running in the obstacle area. Otherwise, it is determined that the pool robot is not currently running in the obstacle area. In the embodiments 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 that both are OutFloorAngle), the currently detected pitch angle is represented by fabs(pitch), and the currently detected roll angle is represented by fabs(roll), then after detecting that fabs(pitch) is greater than OutFloorAngle or fabs(roll) is greater than OutFloorAngle (i.e., after detecting fabs(pitch)>OutFloorAngle||fabs(roll)>OutFloorAngle), it is determined that the pool robot is in a non-horizontal ground angle, that is, it is determined that the pool robot is running in the obstacle area. Otherwise, it is determined that the pool robot is not running in the obstacle area. Alternatively, the above OutFloorAngle can be set as: OutFloorAngle∈[15°,20°], that is, OutFloorAngle can be a value greater than or equal to 15° and less than 20°.

[0044] The above describes that whether the pool robot is running in the obstacle area is determined by the posture of the pool robot. In actual situations, it can also be determined by other manners, such as using image data around the pool robot to determine whether the pool robot is currently running in the obstacle area, which is not limited here.

[0045] In the embodiments of the present application, when it is determined that the pool robot is running in the obstacle area, the characteristic of the guide wheel installed at the bottom of the pool robot that has a stable motion direction is used to control the pool robot to keep straight running.

[0046] Alternatively, the guide wheel is installed in the central region range of the bottom of the pool robot, so that the center of gravity of the pool robot is in the central region range of the pool robot before and after the guide wheel is installed.

[0047] Optionally, the number of the guide wheels can be equal to 1 or greater than 1. For example, when the load requirement of the pool robot is low (e.g., less than a preset load requirement), the pool robot can be guided to keep straight movement by one guide wheel. Conversely, the pool robot can be guided to keep straight movement by more than one guide wheel. When the load of the pool robot is large, a large force is required to effectively control the pool robot. Therefore, selecting a corresponding number of guide wheels according to the pool robot is beneficial to improve the accuracy of control. When the number of guide wheels is 2, the two guide wheels are usually symmetrically installed, as shown in FIG. 7, to balance the weight added by the two guide wheels, thereby improving the accuracy of control of the pool robot. Figure 2

[0048] S12, detecting whether the center of gravity of the pool robot exceeds the obstacle region.

[0049] The obstacle region is a region corresponding to a non-horizontal ground.

[0050] Since the pool robot is controlled to keep straight movement by the guide wheels when it is determined that the pool robot moves in front of the obstacle region, the pool robot will continue to move in front of the obstacle region. Since the center of gravity of the pool robot can exceed the obstacle region during movement, the center of gravity of the pool robot can be detected after the pool robot is controlled to keep straight movement by the guide wheels.

[0051] In the embodiment of the present application, when the center of gravity of the pool robot exceeds the obstacle region, the angle of the head region of the pool robot is large, that is, the change of the posture of the pool robot is large. Therefore, the average value of the posture of the pool robot when the center of gravity of the pool robot exceeds the obstacle region can be set by counting the posture of the pool robot when the center of gravity of the pool robot exceeds the obstacle region. Subsequently, the detected posture of the pool robot is compared with the threshold value of the posture of the pool robot when the center of gravity of the pool robot exceeds the obstacle region to determine whether the center of gravity of the pool robot exceeds the obstacle region.

[0052] S13, in the case where it is detected that the center of gravity of the pool robot exceeds the obstacle region, increasing the power of the water pump of the pool robot, wherein the water pump of the pool robot is installed in the head region of the pool robot, and when the power of the water pump is increased, the pressure of the head region of the pool robot downwardly pressed will be increased.

[0053] ​Specifically, the power of the water pump can be increased uniformly here. For example, a power increase value is preset, and when it is needed to increase the power, the power increase value is added each time on the basis of the current power. Since the power of the water pump is increased uniformly, the force borne by the pool robot is more uniform, thereby being beneficial to maintaining the balance of the pool robot.

[0054] Alternatively, the power of the water pump can also be increased non-uniformly here. For example, a larger power value is increased at the beginning, and a smaller power value is increased subsequently. For example, it is assumed that when it is judged that the power needs to be increased, the power is increased by power increase value 1 for the first time, by power increase value 2 for the second time, and by power increase value 3 for the third time, and power increase value 1> power increase value 2> power increase value 3.

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

[0056] S14, detecting whether the pool robot leaves the obstacle area.

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

[0058] S15, in the case where it is detected that the pool robot leaves the obstacle area, the power of the water pump of the pool robot is restored.

[0059] Specifically, the power of the water pump of the pool robot here refers to the power of the water pump being restored to the power before the power of the water pump is increased. For example, it is assumed that before the center of gravity of the pool robot crosses the obstacle area and the power of the water pump is not increased, the power of the water pump is power 1, and the power after being increased is power 2, and after it is detected that the pool robot leaves the obstacle area, the power of the water pump is restored from power 2 to power 1.

[0060] In the embodiments of the present application, the bottom of the pool robot is provided with a guide wheel, which can stabilize the movement direction, so that the pool robot can keep straight forward by the guide wheel. After the center of the pool robot passes the obstacle area, the head area of the pool robot will be raised, and increasing the power of the water pump is equivalent to increasing the downward pressure on the head area of the pool robot. Therefore, after increasing the downward pressure on the head area of the pool robot, the height of the head area can be reduced, that is, the probability of the guide wheel contacting the ground can be improved. Therefore, the pool robot can continue to move forward by the guide wheel, thereby improving the probability of the pool robot passing the obstacle area and reducing the probability of the pool robot missing the area in the forward direction. In addition, after the pool robot leaves the obstacle area, the power of the water pump of the pool robot is restored, and the head area of the pool robot is no longer raised. Therefore, reducing the downward pressure on the head area of the pool robot can improve the cleaning efficiency of the pool robot.

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

[0062] controlling the motor for forward movement of the pool robot to stop running.

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

[0064] In the embodiments of the present application, all the motors for forward movement are controlled to stop running. Considering that the pool robot will be subjected to the thrust of the water flow in front of the pool robot on the chassis of the pool robot during forward movement, controlling all the motors for forward movement to stop running can reduce the downward resistance of the pool robot. At the same time, since the head area of the pool robot will be raised when the pool robot passes the obstacle, if the pool robot does not stop moving forward, the pool robot may appear to climb, for example, when the pool robot is currently in the pool bottom cleaning mode, if it appears to climb out of the water surface, the cleaning task will fail.

[0065] It should be noted that after the motor for forward movement stops running, the pool robot still moves forward for a distance due to the inertia of forward movement, and the pool robot still moves forward due to the guide wheel installed at the bottom of the pool robot, but the downward resistance of the pool robot is reduced.

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

[0067] increasing the power of the water pump of the pool robot to a maximum value.

[0068] Correspondingly, S14 includes:

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

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

[0071] In the embodiments of the present application, when the pool robot performs a cleaning task, the power of the water pump is the optimal power (assuming P0) when cleaning garbage. The P0 is the minimum power that enables the pool robot to adsorb larger and heavier garbage, and the P0 is not the maximum power of the pool robot. It should be noted that the corresponding P0 of different pool robots can be different. For example, assuming that the pool robot 1 is started and performs a cleaning task using P01, which is the minimum power that enables the pool robot to adsorb larger and heavier garbage. Assuming that the pool robot 2 is started and performs a cleaning task using P02, which is the minimum power that enables the pool robot 2 to adsorb larger and heavier garbage.

[0072] In the embodiments of the present application, when the power of the water pump is at the maximum, the suction force generated by the water pump is at the maximum, that is, the downward pressure on the head region of the pool robot is at the maximum. When the downward pressure is at the maximum, the probability that the head region of the pool robot recovers from upward tilting to contact the ground is improved. Therefore, after the power of the water pump is increased to the maximum, it is detected whether the pool robot leaves the obstacle area, which is beneficial to improve the probability of obtaining the result that the pool robot leaves the obstacle area, that is, to improve the probability that the pool robot overcomes the obstacle.

[0073] In some embodiments, after the power of the water pump of the pool robot is increased to the maximum value, the following is included:

[0074] Recording the time T1 when the power of the water pump of the pool robot is increased to the maximum value.

[0075] After S14, the following is further included:

[0076] A1, in the case where it is detected that the pool robot does not leave the obstacle area, calculating the time length between the current time and T1 to obtain a first time length.

[0077] Wherein, the current time refers to the time when the pool robot is detected not to leave the obstacle area, and the first time length is obtained by subtracting the current time from T1.

[0078] A2, in the case where the first time length is not greater than a preset first time length threshold, returning to the step of detecting whether the pool robot leaves the obstacle area and the subsequent steps, wherein the first time length threshold is determined according to the time length required for the pool robot to recover to balance when the power of the water pump of the pool robot is increased to the maximum value.

[0079] Specifically, the time length required for the pool robot to recover to balance when the power of the water pump of the pool robot is increased to the maximum value can be calculated through multiple experiments, and the average value of the multiple time lengths is calculated to obtain the first time length threshold.

[0080] In the embodiments of the present application, when the pool robot is performing the cleaning task of the horizontal ground, the body of the pool robot is usually parallel to the horizontal ground, and at this time, the recovery to balance refers to that the body of the pool robot is recovered from the lifting to the state of being parallel to the horizontal ground.

[0081] In the embodiments of the present application, since the first time length threshold is determined according to the time length required for the pool robot to recover to balance when the power of the water pump of the pool robot is increased to the maximum value, when it is judged that the time length between the time when the power of the water pump of the pool robot is increased to the maximum value and the current time is less than the first time length threshold, it indicates that the probability that the pool robot still does not leave the obstacle area is relatively large, and at this time, the step of detecting whether the pool robot leaves the obstacle area and the subsequent steps are beneficial to reduce the probability of obtaining false detection results.

[0082] In some embodiments, considering that the pool robot can usually clean the wall and the bottom of the pool, and when cleaning the wall, the posture of the pool robot is different from that when cleaning the bottom. As in the standard of cleaning the bottom, the head region of the pool robot is also lifted when cleaning the wall, therefore, when it is found that the pool robot still does not leave the obstacle area for a long time, it is necessary to judge in combination with the cleaning mode. That is, after A1, it further includes:

[0083] B1, in the case where the pool robot is detected not to leave the obstacle area and the first time length is greater than the first time length threshold, detecting whether the pool robot is currently in a wall cleaning mode.

[0084] Wherein, the wall cleaning mode refers to a mode for cleaning the wall of the pool. Since the wall has a certain angle with the bottom of the pool, when the pool robot is in the wall cleaning mode, the head region of the pool robot also has a certain angle with the ground of the pool (usually the horizontal ground).

[0085] B2, in the case that it is detected that the pool robot is currently in the wall cleaning mode, controlling the pool robot to continue moving forward and performing a cleaning action in the wall cleaning mode.

[0086] In the embodiment of the present application, if the pool robot is still detected to not leave the obstacle area when the first time duration exceeds the first time duration threshold, it is detected whether the pool robot is currently in the wall cleaning mode, and if so, the motor for moving forward of the pool robot is started to control the pool robot to continue moving forward, and a cleaning action is performed in the wall cleaning mode during the moving forward process. Since the posture of the pool robot in the wall cleaning mode is usually similar to when the pool robot crosses the obstacle area while cleaning the pool bottom, after it is judged that the pool robot is in the wall cleaning mode, the pool robot is controlled to continue moving forward and cleaning, which is beneficial to improve the cleaning efficiency of the pool robot.

[0087] In the embodiment of the present application, performing a cleaning action in the wall cleaning mode means that corresponding adjustments are made according to the settings of various parameters in the wall cleaning mode. The parameters include one or more of the power of the water pump (i.e. the power of the motor of the water pump), the power of the motor for moving forward, and the voltage and current of each motor (the motor of the water pump, the motor for moving forward).

[0088] In some embodiments, after B1, further comprising:

[0089] In the case that it is detected that the pool robot is currently in the pool bottom cleaning mode, controlling the pool robot to move backward and translate a preset distance, and then continue performing a cleaning action in the pool bottom cleaning mode.

[0090] When the pool robot is in the pool bottom cleaning mode, the body of the pool robot is usually parallel to the pool bottom.

[0091] In the embodiment of the present application, after it is judged that the pool robot is in the pool bottom cleaning mode, if it is judged for a long time that the pool robot is in the obstacle area, it indicates that the pool robot is difficult to cross the obstacle area, at this time, moving backward and translating a preset distance is beneficial to improve the success rate of the pool robot avoiding the obstacle area, thereby improving the cleaning efficiency of the pool robot.

[0092] Optionally, to further improve the success rate of the pool robot avoiding the obstacle area, after translating the preset distance, the pool robot is also rotated by a preset angle (such as 180°), and then a cleaning action is performed in the pool bottom cleaning mode.

[0093] In the embodiment of the present application, since the pool robot rotates by the preset angle, the forward direction of the pool robot generally no longer points to the obstacle region, thereby further improving the success rate of the pool robot avoiding the obstacle region.

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

[0095] Record the current time T2 when it is judged that the pool robot is moving in the obstacle region. Specifically, for each detected obstacle region, record the time when the pool robot first judges that it is moving in the obstacle region, to obtain the T2. It should be noted that, considering that the pool robot may detect the same obstacle region at different times, the corresponding current time is recorded each time the pool robot detects the obstacle region and first judges that the pool robot is moving in the obstacle region. For example, if the pool robot is first detected to be moving in the obstacle region 1 at M1, record M1 as the T2 corresponding to the obstacle region 1, and if the pool robot is detected to be moving in the obstacle region 1 again at M2 (M2 is later than M1) and it is judged that the pool robot is not moving in the obstacle region 1 at the previous time of M2, record M2 as the new T2 corresponding to the obstacle region 1.

[0096] Correspondingly, the S12 includes:

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

[0098] Specifically, the pitch angle and the roll angle of the gravity center of the pool robot of the type when crossing the obstacle region are counted, and the gravity center pitch angle threshold and the gravity center roll angle threshold are determined according to the average value of each counted pitch angle and the average value of each counted roll angle.

[0099] Reference Figure 3 and Figure 4 wherein, Figure 3 Fig. 1 shows a schematic diagram when the gravity center of the pool robot does not cross the obstacle region, and Figure 4 Fig. 2 shows a schematic diagram when the gravity center of the pool robot crosses the obstacle region. In Figure 3 and Figure 4 , the position of the downward solid arrow represents the gravity center of the pool robot, and the left dashed arrow represents the forward direction of the pool robot. From Figure 3 and Figure 4It can be seen that, when the center of gravity of the pool robot crosses the obstacle region, the corresponding pitch angle will be greater than the pitch angle when the center of gravity of the pool robot does not cross the obstacle region, and similarly, when the center of gravity of the pool robot crosses the obstacle region, the corresponding roll angle will be greater than the roll angle when the center of gravity of the pool robot does not cross the obstacle region, so in the embodiment of the 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 can 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 ∈ [15°, 20°], the center of gravity pitch angle threshold and the center of gravity roll angle threshold can be ∈ [35°, 45°], that is, the center of gravity pitch angle threshold (or the center of gravity roll angle threshold) can 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 pool robot is greater than the center of gravity pitch angle threshold, or the roll angle of the pool robot is greater than the center of gravity roll angle threshold, it is determined that the center of gravity of the pool robot crosses the obstacle region.

[0102] Specifically, the detected pitch angle at the current time is compared with the preset center of gravity pitch angle threshold, and the detected roll angle at the current time is compared with the preset center of gravity roll angle threshold, and whether the center of gravity of the pool robot crosses the obstacle region is determined according to the two results.

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

[0104] Wherein, the current time here is the time corresponding to the determination result that the pitch angle is not greater than the center of gravity pitch angle threshold, and the determination 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 length is not less than a preset second time length threshold, it is determined that the center of gravity of the pool robot crosses the obstacle region, wherein the second time length threshold is determined according to the maximum theoretical time length of the pool robot crossing the obstacle.

[0106] Specifically, when it is judged that both the pitch angle and the roll angle of the pool robot are not greater than the corresponding threshold value, it indicates that the center of gravity of the pool robot has not crossed the obstacle region, at this time, a second duration corresponding to T2 is counted. Since the second duration threshold is determined according to the maximum theoretical duration of the pool robot crossing the obstacle, when the second duration is not less than the second duration threshold, it indicates that the center of gravity of the pool robot has crossed the obstacle region.

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

[0108] In some embodiments, considering that the obstacle region is small, the pool robot can cross the obstacle in a short time, at this time, the normal cleaning action can be quickly restored to improve the cleaning efficiency. That is:

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

[0110] In order to more clearly describe the obstacle crossing control method provided by the embodiments of the present application, the following will be described in combination with Figure 5 .

[0111] S501, the robot normally walks.

[0112] Wherein, the robot here refers to a pool robot, and normal walking refers to that the pool robot performs cleaning action according to a preset cleaning mode.

[0113] S502, detecting whether the pitch angle is greater than the non-horizontal pitch angle threshold, or detecting whether the roll angle is greater than the non-horizontal roll angle threshold.

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

[0115] S503, if the pitch angle is greater than the non-horizontal pitch angle threshold or the roll angle is greater than the non-horizontal roll angle threshold, keep straight forward, and record the current time stamp T2.

[0116] S503, if the pitch angle is not greater than the non-horizontal pitch angle threshold or the roll angle is not greater than the non-horizontal roll angle threshold, return to S501.

[0117] S504, detect whether the pitch angle is greater than the preset center of gravity pitch angle threshold or the roll angle is greater than the preset center of gravity roll angle threshold, if yes, execute S506, otherwise, execute S505.

[0118] S505, if it is judged that the pitch angle of the pool robot is not greater than the preset center of gravity pitch angle threshold or the roll angle of the pool robot is not greater than the preset center of gravity roll angle threshold, determine whether the time length between the current time and T2 is greater than the second time length threshold, if yes, 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 time stamp T1.

[0120] Specifically, the motor for forward movement in the pool robot is stopped running, and the power of the water pump is gradually increased until the power of the water pump is increased to the maximum value.

[0121] S507, if it is judged that the time length between the current time and T2 is not greater than the second time length threshold, detect whether the pitch angle of the pool robot is not greater than the preset non-horizontal pitch angle threshold, and detect whether the roll angle of the pool robot is not greater than the preset non-horizontal roll angle threshold, if yes, return to S501, if no, return to S504.

[0122] S508, detect whether the pitch angle of the pool robot is not greater than the non-horizontal pitch angle threshold or the roll angle of the pool robot is not greater than the non-horizontal roll angle threshold, if no, execute S509, if yes, execute S510.

[0123] S509, if it is judged that the pitch angle of the pool robot is not greater than the non-horizontal pitch angle threshold and the roll angle of the pool robot is not greater than the non-horizontal roll angle threshold, determine whether the time length between the current time and T1 is greater than the preset first time length threshold, if yes, execute S512, if no, return to S508.

[0124] S510, if it is judged that the pitch angle of the pool robot is greater than the non-horizontal pitch angle threshold or the roll angle of the pool robot is greater than the non-horizontal roll angle threshold, it is determined that the pool robot has passed the obstacle area.

[0125] S511, the 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 judging that the length of time between the current time and the T1 time is greater than the preset first time threshold, judging whether the current mode of the pool robot is the wall cleaning mode, if not, executing S513, if yes, executing S514.

[0127] Specifically, the mode identifier corresponding to the wall cleaning mode is set in advance, and subsequently, whether the current mode of the pool robot is the wall cleaning mode can be judged according to the mode identifier of the mode started by the pool robot.

[0128] S513, the pool robot is controlled to move backward, and the position of the body is translated by one body, and after rotating 180°, the control action of the pool bottom cleaning mode is continued.

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

[0130] S514, the pool robot continues to move forward, and performs the corresponding control action according to the wall cleaning mode.

[0131] S515, end.

[0132] It should be understood that the size of the serial number of each step in the above embodiment does not mean the order of execution, and the execution order of each process should be determined according to its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0133] Corresponding to the above-mentioned obstacle crossing control method of the embodiment, Figure 6 The structural block diagram of an obstacle crossing control device provided by the embodiment of the present application is shown, and only the part related to the embodiment of the present application is shown for the convenience of explanation.

[0134] Referring to Figure 6 The obstacle crossing control device 6 is applied to a pool robot, the bottom of the pool robot is provided with a guide wheel, and the obstacle crossing control device 6 comprises:

[0135] A guide wheel control module is configured to control the pool robot to keep straight moving forward through the guide wheel when it is judged that the pool robot moves forward in the obstacle area.

[0136] A gravity center crossing obstacle area detection module is configured to detect whether the gravity center of the pool robot crosses the obstacle area, wherein the obstacle area is the area corresponding to the non-horizontal ground.

[0137] A power increasing module of the water pump is configured to increase the power of the water pump of the pool robot when it is detected that the center of gravity of the pool robot has crossed the obstacle area, wherein the water pump of the pool robot is installed in the head area of the pool robot, and when the power of the water pump is increased, the pressure pressing the head area of the pool robot downward will be increased.

[0138] An obstacle area departure detection module is configured to detect whether the pool robot has departed from the obstacle area.

[0139] A power restoring module of the water pump is configured to restore the power of the water pump of the pool robot when it is detected that the pool robot has departed from the obstacle area.

[0140] In the embodiments, the pool robot is provided with a guide wheel at the bottom, which can be used to control the pool robot to move in a straight line. When the center of the pool robot crosses the obstacle area, the head area of the pool robot will be raised, and increasing the power of the water pump is equivalent to increasing the pressure pressing the head area of the pool robot downward. Therefore, after the pressure pressing the head area of the pool robot downward is increased, the height of the head area raised can be reduced, i.e., the probability of the guide wheel contacting the ground can be increased. Thus, the pool robot can continue to move forward by means of the guide wheel, so that the probability of the pool robot crossing the obstacle area can be increased, and the probability of the pool robot missing the area in the moving direction can be reduced. In addition, after the pool robot departs from the obstacle area, the power of the water pump of the pool robot is restored, and the head area of the pool robot is no longer raised. Therefore, the pressure pressing the head area of the pool robot downward is reduced, which is beneficial to improving the cleaning efficiency of the pool robot.

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

[0142] A motor stopping control module is configured to control a motor for moving forward of the pool robot to stop running before the power of the water pump of the pool robot is increased.

[0143] In some embodiments, the power increasing module of the water pump is specifically configured to:

[0144] increase the power of the water pump of the pool robot to a maximum value.

[0145] Correspondingly, the obstacle area departure detection module is specifically configured to:

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

[0147] In some embodiments, the obstacle-crossing control device 6 further comprises:

[0148] A time T1 recording module is configured to record a time T1 at which the power of the water pump of the pool robot is increased to the maximum value after the power of the water pump of the pool robot is increased to the maximum value.

[0149] Correspondingly, the obstacle-crossing control device 6 further comprises:

[0150] A first time length calculation module is configured to calculate a time length between the current time and T1 to obtain a first time length in a case where it is detected that the pool robot does not leave the obstacle area.

[0151] In a case where the first time length is not greater than a preset first time length threshold, the step of detecting whether the pool robot leaves the obstacle area and subsequent steps are returned, wherein the first time length threshold is determined according to a time length required for the pool robot to return to balance when the power of the water pump of the pool robot is increased to the maximum value.

[0152] In some embodiments, the obstacle-crossing control device 6 further comprises:

[0153] A cleaning mode judgment module is configured to detect whether the pool robot is currently in a wall cleaning mode in a case where it is detected that the pool robot does not leave the obstacle area and the first time length is greater than the first time length threshold.

[0154] A wall cleaning mode control module is configured to control the pool robot to continue to move forward and perform a cleaning action according to the wall cleaning mode in a case where it is detected that the pool robot is currently in the wall cleaning mode.

[0155] In some embodiments, the obstacle-crossing control device 6 further comprises:

[0156] A pool bottom cleaning mode control module is configured to control the pool robot to retreat and then continue to perform a cleaning action according to the pool bottom cleaning mode after retreating by a preset distance in a case where it is detected that the pool robot is currently in the pool bottom cleaning mode.

[0157] In some embodiments, the obstacle-crossing control device 6 further comprises:

[0158] A time T2 recording module is configured to record a current time T2 at which it is judged that the pool robot moves in the obstacle area.

[0159] Correspondingly, the center of gravity crossing obstacle region detection module is specifically configured to:

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

[0161] if the pitch angle of the pool robot is greater than the preset center of gravity pitch angle threshold, or the roll angle of the pool robot is greater than the preset center of gravity roll angle threshold, it is determined that the center of gravity of the pool robot crosses the obstacle region;

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

[0163] if it is determined that the second time length is not less than a preset second time length threshold, it is determined that the center of gravity of the pool robot crosses the obstacle region, wherein the second time length threshold is determined according to a maximum theoretical time length of the pool robot crossing the obstacle.

[0164] It should be noted that the information interaction, execution process and the like between the above devices / units are based on the same concept as the method embodiments of the present application, and the specific functions and technical effects brought by them can be referred to the method embodiments part, which will not be repeated here.

[0165] Figure 7 A structural schematic diagram of a pool robot according to an embodiment of the present application is provided. As shown in the figure, Figure 7 the pool robot 7 of this embodiment includes at least one processor 70 (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 executes the computer program 72 to implement the steps in any of the above method embodiments. Figure 7

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

[0167] ​The processor 70 can be a central processing unit (CPU), and can also be other general-purpose processors, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor.

[0168] The memory 71 can be an internal storage unit of the pool robot 7, such as a hard disk or a memory of the pool robot 7 in some embodiments. The memory 71 can 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 in other embodiments. Further, the memory 71 can include both the internal storage unit and the external storage device of the pool robot 7. The memory 71 is used to store an operating system, an application program, a boot loader, data, and other programs, such as program codes of the computer program, etc. The memory 61 can also be used to temporarily store data that has been output or will be output.

[0169] It can be clearly understood by those skilled in the art that, for the convenience and brevity of description, only the division of the above functional units and modules is taken as an example for illustration, and in actual application, the above functions can be completed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to complete all or part of the above-described functions. Each functional unit and module in the embodiment can be integrated in one processing unit, or each unit can exist physically independently, or two or more units can be integrated in one unit, and the integrated unit can be realized in the form of hardware or in the form of a software functional unit. In addition, the specific names of the functional units and modules are only for the convenience of mutual distinction, and do not limit the protection scope of the present application. The specific working process of the units and modules in the system can refer to the corresponding process in the foregoing method embodiments, which will not be described here.

[0170] The embodiment of the present application further provides a computer readable storage medium, which stores a computer program. The computer program is executed by a processor to implement the steps in each of the above method embodiments.

[0171] The embodiment of the present application provides a computer program product. When the computer program product is run on the pool robot, the pool robot is caused to perform the steps in each of the above method embodiments.

[0172] The integrated unit, if realized in the form of a software function unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on such understanding, the embodiment of the present application can implement all or part of the processes in the above method by a computer program to instruct related hardware to complete. The computer program can be stored in a computer readable storage medium. The computer program is executed by a processor to implement the steps in each of the above method embodiments. The computer program includes computer program code. The computer program code can be in the form of source code, object code, executable files or some intermediate forms. The computer readable medium at least includes any entity or device capable of carrying the computer program code to the photographing device / pool robot, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunications signal and a software distribution medium. For example, a U disk, a mobile hard disk, a magnetic disk or an optical disk. In some jurisdictions, according to legislation and patent practice, the computer readable medium cannot be an electrical carrier signal and a telecommunications signal.

[0173] In the above embodiments, the description of each embodiment has its own focus. The parts not described or recorded in detail in a certain embodiment can be referred to the relevant description of other embodiments.

[0174] Those skilled in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be realized by electronic hardware or a combination of computer software and electronic hardware. Whether the functions are realized in hardware or software depends on the specific application and design constraints of the technical solution. The skilled person can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0175] In the embodiments provided by the present application, it should be understood that the disclosed apparatus / network device and method can be implemented in other manners. For example, the embodiments of the apparatus / network device described above are merely illustrative. For example, the division of the modules or units is merely logical function division, and there can be another division manner in actual implementation. For example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections between the units can be indirect couplings or communication connections through some interfaces, devices or units, and can be electrical, mechanical or in other forms.

[0176] The units described as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, that is, can be located in one place, or can be distributed on a plurality of network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiments.

[0177] The above-described embodiments are merely used to illustrate the technical solutions of the present application, but not limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacements for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. An obstacle surmounting control method characterized by comprising: The application is applied to a pool robot, the bottom of the pool robot is provided with a guide wheel, and the obstacle crossing control method comprises the following steps: In the case that it is judged that the pool robot is moving in the obstacle area, the pool robot is controlled to keep straight moving through the guide wheel; It is detected whether the center of gravity of the pool robot crosses the obstacle area; In the case that it is detected that the center of gravity of the pool robot crosses the obstacle area, the power of the water pump of the pool robot is increased, wherein the water pump of the pool robot is installed in the head area of the pool robot, and when the power of the water pump is increased, the pressure of the head area of the pool robot downwardly pressed will be increased; It is detected whether the pool robot leaves the obstacle area; In the case that it is detected that the pool robot leaves the obstacle area, the power of the water pump of the pool robot is restored.

2. The obstacle negotiation control method of claim 1, wherein, Before the power of the water pump of the pool robot is increased, the following step is further included: The motor for moving forward in the pool robot is controlled to stop running.

3. The obstacle negotiation control method of claim 2, wherein, The power of the water pump of the pool robot is increased, comprising the following steps: The power of the water pump of the pool robot is increased to the maximum value; Correspondingly, the detection of whether the pool robot leaves the obstacle area comprises the following steps: After the power of the water pump of the pool robot is increased to the maximum value, it is detected whether the pool robot leaves the obstacle area.

4. The obstacle negotiation control method of claim 3, wherein, After the power of the water pump of the pool robot is increased to the maximum value, the following step is included: The time T1 when the power of the water pump of the pool robot is increased to the maximum value is recorded; After the detection of whether the pool robot leaves the obstacle area, the following step is further included: In the case that it is detected that the pool robot does not leave the obstacle area, the time length between the current time and T1 is calculated to obtain a first time length; In the case that the first time length is not greater than a preset first time length threshold, the step of detecting whether the pool robot leaves the obstacle area and the subsequent steps are returned, wherein the first time length threshold is determined according to the time length required for the pool robot to recover to the balance when the power of the water pump of the pool robot is increased to the maximum value.

5. The obstacle negotiation control method of claim 4, wherein, After the time length between the current time and T1 is calculated to obtain the first time length, the following step is further included: In the case that it is detected that the pool robot does not leave the obstacle area and the first time length is greater than the first time length threshold, it is detected whether the pool robot is currently in a wall cleaning mode; In the case that it is detected that the pool robot is currently in the wall cleaning mode, the pool robot is controlled to continue moving forward and perform cleaning actions according to the wall cleaning mode.

6. The obstacle negotiation control method of claim 5, wherein, After the detection of whether the pool robot is currently in the wall cleaning mode, the following step is further included: In the case that it is detected that the pool robot is currently in a pool bottom cleaning mode, after the pool robot is controlled to retreat and translate a preset distance, the pool robot is controlled to continue performing cleaning actions according to the pool bottom cleaning mode.

7. The obstacle negotiation control method according to any one of claims 1 to 6, characterized by, Further comprising the following steps: The current time T2 when it is judged that the pool robot is moving in the obstacle area is recorded; The detection of whether the center of gravity of the pool robot crosses the obstacle area comprises the following steps: detecting whether the pitch angle of the pool robot is greater than a preset center of gravity pitch angle threshold, or detecting whether the roll angle of the pool robot is greater than a preset center of gravity roll angle threshold; if the pitch angle of the pool robot is greater than the center of gravity pitch angle threshold, or the roll angle of the pool robot is greater than the center of gravity roll angle threshold, it is determined that the center of gravity of the pool robot has crossed the obstacle region; if the pitch angle of the pool robot is not greater than the center of gravity pitch angle threshold, and the roll angle of the pool robot is not greater than the center of gravity roll angle threshold, a time length between the current time and T2 is counted to obtain a second time length; if it is determined that the second time length is not less than a preset second time length threshold, it is determined that the center of gravity of the pool robot has crossed the obstacle region, wherein the second time length threshold is determined according to a maximum theoretical time length of the pool robot crossing the obstacle.

8. An obstacle surmounting control device characterized by comprising: The application is applied to a pool robot, the bottom of the pool robot is provided with a guide wheel, and the obstacle crossing control device comprises: a guide wheel control module, configured to control the pool robot to keep straight forward movement through the guide wheel when it is determined that the pool robot is moving in front of the obstacle region; a center of gravity crossing obstacle region detection module, configured to detect whether the center of gravity of the pool robot has crossed the obstacle region; a water pump power increasing module, configured to increase the power of the water pump of the pool robot when it is detected that the center of gravity of the pool robot has crossed the obstacle region, wherein the water pump of the pool robot is installed in the head region of the pool robot, and the pressure of the head region of the pool robot downwardly pressing will be increased when the power of the water pump is increased; an obstacle region departure detection module, configured to detect whether the pool robot has departed from the obstacle region; a water pump power recovery module, configured to recover the power of the water pump of the pool robot when it is detected that the pool robot has departed from the obstacle region.

9. A pool robot comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, The processor executes the computer program to realize the method of any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, the computer program comprising instructions that, when executed by a computer, cause the computer to perform the method of any one of claims 1 to 9. The computer program is executed by the processor to realize the method of any one of claims 1 to 7.

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