Swimming pool robot control method and swimming pool robot

Abstract

The invention discloses a control method of a swimming pool robot and the swimming pool robot. The method comprises the following steps: acquiring at least one piece of distance information from a swimming pool robot to a swimming pool boundary; and under the condition that the distance information is smaller than or equal to a preset distance, based on the direction corresponding to the distance information, the swimming pool robot is controlled to advance in the direction. According to the method, invalid paths and time consumption in the process that the swimming pool robot moves the swimming pool boundary are reduced.

Description

Technical Field

[0001] The present application relates to the technical field of cleaning equipment, and in particular to a control method for a swimming pool robot and a swimming pool robot. Background Art

[0002] The pool robot moves in the water with its cleaning mechanism and automatically performs pool-related tasks. In some scenarios, the pool robot needs to move to the pool boundary to perform tasks such as mapping. However, in the related art, the path planning of the pool robot moving randomly to the pool boundary is usually not reasonable, resulting in a long process. Summary of the invention

[0003] Based on this, the purpose of this application is to provide a control method of a swimming pool robot and a swimming pool robot to solve at least one technical problem in the related art. The technical solution is as follows:

[0004] On the one hand, the present application provides a control method for a swimming pool robot, the method comprising:

[0005] Obtain at least one distance information from the pool robot to the pool boundary;

[0006] When the distance information is less than or equal to a preset distance, based on the direction corresponding to the distance information, the swimming pool robot is controlled to move along the direction.

[0007] In some embodiments of the present application, the swimming pool robot includes a distance detection device, and the direction is determined at least according to an installation position of the corresponding distance detection device on the swimming pool robot.

[0008] In some embodiments of the present application, when multiple distance information is less than or equal to a preset distance, any one of the multiple distance information is selected to control the swimming pool robot to move in a direction corresponding to the distance information.

[0009] In some embodiments of the present application, it also includes:

[0010] When the distance information is greater than a preset distance, controlling the swimming pool robot to rotate a specified angle;

[0011] Acquire multiple distance information and corresponding direction information from the swimming pool robot to the swimming pool boundary during the rotation process;

[0012] One of the plurality of distance information is selected according to a preset condition, and based on the direction information corresponding to the selected distance information, the swimming pool robot is controlled to move along the direction information.

[0013] In some embodiments of the present application, obtaining a plurality of distance information from the swimming pool robot to the swimming pool boundary during the rotation process includes:

[0014] Acquire multiple distance information from the swimming pool robot to the swimming pool boundary during the rotation process at set time intervals; or

[0015] A plurality of distance information from the swimming pool robot to the swimming pool boundary during the rotation process is obtained at a set rotation angle.

[0016] In some embodiments of the present application, selecting one of the plurality of distance information according to a preset condition includes:

[0017] Select the minimum distance value among multiple distance information.

[0018] In some embodiments of the present application, obtaining a plurality of distance information and corresponding direction information of the swimming pool robot to the swimming pool boundary during the rotation process includes:

[0019] Detecting the corresponding distance information of the swimming pool robot during the rotation process by a distance detection device;

[0020] The angle detection device detects the rotation angle information of the swimming pool robot corresponding to the distance information during the rotation process.

[0021] The direction information is obtained according to the rotation angle information, the detection angle of the distance detection device, and the installation angle of the distance detection device.

[0022] In some embodiments of the present application, the further step includes: after the swimming pool robot completes its rotation, if no distance information is obtained, controlling the swimming pool robot to move in the current direction.

[0023] In some embodiments of the present application, the current direction is the direction in which the swimming pool robot moves after the rotation is completed.

[0024] On the other hand, the present application also provides a swimming pool robot, the swimming pool robot comprising:

[0025] fuselage components;

[0026] At least one distance detection device is disposed on the body assembly, and the distance detection device is configured to: detect distance information from the swimming pool robot to a swimming pool boundary;

[0027] A controller connected to the at least one distance detection device, the controller being configured to:

[0028] When the distance information is less than or equal to a preset distance, based on the direction corresponding to the distance information, the swimming pool robot is controlled to move along the direction.

[0029] On the other hand, the present application also provides a control device, which includes a processor and a memory, wherein the memory stores at least one instruction or at least one program, and the at least one instruction or at least one program is loaded and executed by the processor to implement a control method for a swimming pool robot as described in any of the above.

[0030] On the other hand, the present application also provides a computer-readable storage medium, in which at least one instruction or at least one program is stored, and the at least one instruction or at least one program is loaded and executed by a processor to implement the control method of the swimming pool robot as described in any of the above.

[0031] The present application provides a control method for a swimming pool robot and a swimming pool robot, which obtains at least one distance information from the swimming pool robot to the swimming pool boundary, and when the distance information is less than or equal to a preset distance, controls the swimming pool robot to move in the direction corresponding to the distance information. In this way, based on at least one distance information from the swimming pool robot to the swimming pool boundary, the swimming pool robot can reasonably plan the path to the swimming pool boundary, and can quickly move to the nearest swimming pool boundary, so as to quickly perform tasks such as mapping, reduce invalid paths and time consumption in the process of moving the swimming pool boundary, and improve the intelligence of the swimming pool robot and user experience.

[0032] It should be understood that the foregoing general description and the following detailed description are exemplary only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions and advantages in the embodiments of the present application or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0034] Figure 1 is a flow chart of a control method of a swimming pool robot provided in an embodiment of the present application;

[0035] Figure 2 is a flow chart of another control method of a swimming pool robot provided in an embodiment of the present application;

[0036] Figure 3 This is a flow chart of another method for controlling a swimming pool robot provided in an embodiment of the present application.

[0037] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiment is only one embodiment of the present application, not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present application.

[0039] "Some embodiments" or "embodiments" referred to herein refer to specific features, structures, or characteristics that may be included in at least one implementation of the present application.

[0040] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application described here can be implemented in an order other than those illustrated or described here. In addition, the term "at least one" refers to one or more, and the term "multiple" refers to two or more. The term "and / or" is an association relationship describing an associated object, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or server comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0041] In some scenarios, the pool robot needs to move to the pool boundary to perform tasks such as mapping, etc. However, in the related art, the path planning of the pool robot moving randomly to the pool boundary is usually not reasonable enough, resulting in a long process.

[0042] In view of this, the present application provides a control method for a swimming pool robot and a swimming pool robot, which obtains at least one distance information from the swimming pool robot to the swimming pool boundary, and when the distance information is less than or equal to a preset distance, controls the swimming pool robot to move in the direction corresponding to the distance information. In this way, based on at least one distance information from the swimming pool robot to the swimming pool boundary, the swimming pool robot can reasonably plan the path to the swimming pool boundary, and can quickly move to the nearest swimming pool boundary, so as to quickly perform tasks such as mapping, reduce invalid paths and time consumption in the process of moving the swimming pool boundary, and improve the intelligence of the swimming pool robot and user experience.

[0043] It should be noted that the pool robot provided by the present application is not limited to a robot that performs cleaning in a pool, but can be generally referred to as any smart device, smart mobile terminal, automatic device, etc. that can perform underwater cleaning work, but is not limited thereto. In addition, the pool cleaning device is not limited to having an underwater cleaning function, but can also have a water surface cleaning function and / or some other suitable functions.

[0044] The following is a detailed description of a control method for a swimming pool robot and a swimming pool robot involved in an embodiment of the present application in conjunction with the accompanying drawings.

[0045] Figure 1 is a flow chart of a control method of a swimming pool robot provided in an embodiment of the present application. The method can be implemented by software and / or hardware. Figure 1 , the control method of the swimming pool robot may include:

[0046] In step S102, at least one distance information from the swimming pool robot to the swimming pool boundary is obtained.

[0047] The distance information may include the distance between the swimming pool robot and the swimming pool boundary of the swimming pool where the swimming pool robot is located. The swimming pool boundary may refer to the pool wall of the swimming pool, such as a planar pool wall, a curved pool wall, etc.

[0048] As an example, the at least one distance information can be obtained by, for example, detecting at least one distance detection device. The at least one distance detection device can be used to respectively detect the distance between the swimming pool robot and the swimming pool boundary on one side corresponding to the distance detection device. Optionally, the distance detection device can be mounted on the swimming robot and / or on the swimming pool wall. The distance detection device can include but is not limited to sensors that use radar, infrared, ultrasonic sensors, DTOF sensors, cameras, etc. to measure distances. Some of these sensors can collect point cloud data of the target object, and the point cloud data includes distance information.

[0049] In step S104, when the distance information is less than or equal to the preset distance, based on the direction corresponding to the distance information, the swimming pool robot is controlled to move in the direction.

[0050] The preset distance may refer to a distance threshold from the pool robot to the pool boundary. The preset distance may be adaptively adjusted according to, for example, the specifications and dimensions of the pool robot and / or the pool, and the specific value or value range of the preset distance is not specifically limited in the present embodiment.

[0051] As an example, when there is distance information that is less than or equal to a preset distance, the swimming pool robot is controlled to move along a direction corresponding to the distance information.

[0052] Optionally, the above-mentioned controlling the swimming pool robot to move along the direction corresponding to the distance information includes: controlling the swimming pool robot to turn until the swimming pool robot rotates to the direction corresponding to the distance information, that is, the current moving direction of the swimming pool robot is consistent with the direction corresponding to the distance information, and then controlling the swimming pool robot to move straight along the direction corresponding to the distance information until it reaches or touches the swimming pool boundary corresponding to the distance information.

[0053] In some embodiments of the present application, when multiple distance information is less than or equal to a preset distance, any one of the multiple distance information is selected to control the swimming pool robot to move in a direction corresponding to the distance information.

[0054] In some optional embodiments, when multiple distance information is less than or equal to a preset distance, the minimum distance information among the multiple distance information can be selected to control the pool robot to move in the direction corresponding to the minimum distance information, thereby shortening the distance the pool robot travels to the pool boundary and further reducing the time consumption of the entire process. Alternatively, the distance information among the multiple distance information that requires the pool robot to rotate at the smallest angle can be selected to control the pool robot to move in the direction corresponding to the distance information, thereby reducing the time consumption of the pool robot's own rotation operation, avoiding rotation operation errors, and improving the accuracy of rapid driving to the pool boundary.

[0055] In an embodiment of the present application, based on at least one distance information from the pool robot to the pool boundary, the travel path of the pool robot to the pool boundary is rationally planned, and the pool robot can quickly move to the nearest pool boundary to facilitate rapid tasks such as mapping, thereby reducing invalid paths and time consumption in the process of moving the pool boundary, and improving the intelligence of the pool robot and user experience.

[0056] In some embodiments of the present application, the swimming pool robot includes a distance detection device, and the direction is determined at least according to an installation position of the corresponding distance detection device on the swimming pool robot.

[0057] As an example, the pool robot may include one or more distance detection devices, and different distance detection devices may be installed at different installation positions on the body assembly of the pool robot, for respectively detecting the distance information between different positions of the pool robot and the corresponding pool boundary. The distance detection device may include but is not limited to sensors that measure distance using radar, infrared, ultrasonic sensors, DTOF sensors, cameras, etc.

[0058] In this case, the process of determining the direction corresponding to the above distance information may include: when the distance information is less than or equal to the preset distance, determining the distance detection device corresponding to the distance information, and determining the direction corresponding to the distance information according to the installation position of the corresponding distance detection device on the pool robot. For example, if the distance detection device corresponding to the distance information is installed on the right side of the pool robot, the direction corresponding to the distance information is determined to be a 90° direction. For another example, if the distance detection device corresponding to the distance information is installed on the rear side of the pool robot, the direction corresponding to the distance information is determined to be a 180° direction.

[0059] In actual application, taking the example that the distance detection device corresponding to the distance information is installed on the right side of the swimming pool robot, the swimming pool robot is controlled to rotate based on the direction corresponding to the distance information, that is, the swimming pool robot is controlled to rotate 90° clockwise, and then the swimming pool robot is controlled to go straight until it hits the boundary of the swimming pool.

[0060] In other embodiments of the present application, the direction may also be determined according to a detection angle of a corresponding distance detection device on the swimming pool robot.

[0061] Among them, the detection angle can be determined based on the detection direction of the distance detection device on the swimming pool robot. Optionally, the detection angle can refer to the angle between the detection direction of the distance detection device and the current driving direction of the swimming pool robot. For example, if the detection angle of the distance detection device is 90°, the detection direction of the distance detection device is perpendicular to the current driving direction of the swimming pool robot. For another example, if the detection angle of the distance detection device is 30°, the detection direction of the distance detection device is at an angle of 30° to the current driving direction of the swimming pool robot. At this time, there is no need to consider the installation position of the distance detection device, and the direction corresponding to the distance information can be determined according to the detection angle.

[0062] In another optional manner, the detection angle may refer to the detection angle of the distance detection device at its installation position. For example, if the distance detection device corresponding to the distance information is installed on the right side of the pool robot, and the detection direction is vertical relative to the machine and 30 degrees to the left, then the direction corresponding to the distance information is determined to be 90° minus 30° relative to the driving direction. That is, the pool robot is controlled to rotate 60° clockwise, and then the pool robot is controlled to go straight until it hits the pool boundary.

[0063] In some embodiments of the present application, Figure 2 As shown, the above control method also includes:

[0064] In step S202, when the distance information is greater than a preset distance, the swimming pool robot is controlled to rotate a specified angle.

[0065] In the embodiment of the present application, the specified angle may be 360° or approximately 360°.

[0066] As an example, if at least one of the above distance information is greater than the preset distance, the swimming pool robot is controlled to rotate from the initial position to the target position by a specified angle, for example, the swimming pool robot is controlled to rotate 360° on the spot, that is, the rotated swimming pool robot returns to the initial position.

[0067] Of course, in some optional embodiments, the specified angle can be a value less than 360°, such as any value between 90° and 360°. For example, if the pool robot is provided with two distance detection devices arranged opposite to each other, such as being arranged directly in front of and directly behind the pool robot, the pool robot can be controlled to rotate 180° in situ, so that the multiple distance information detected by the two distance detection devices on the pool robot together can completely cover the distance information from the pool robot to the pool boundary around it.

[0068] In step S204, a plurality of distance information and corresponding direction information from the swimming pool robot to the swimming pool boundary during the rotation process are obtained.

[0069] In some embodiments of the present application, the above-mentioned obtaining multiple distance information from the swimming pool robot to the swimming pool boundary during the rotation process includes:

[0070] Acquire multiple distance information from the pool robot to the pool boundary during the rotation process at set time intervals; or

[0071] The multiple distance information from the pool robot to the pool boundary during the rotation process is obtained at a set rotation angle.

[0072] As an example, during the rotation of the pool robot, multiple distance information from the pool robot to the pool boundary is continuously obtained at preset time intervals. Exemplarily, the preset time interval may include, but is not limited to, any value from 1 second to 60 seconds. Taking the preset time interval of 3 seconds as an example, multiple distance information corresponding to the pool robot at multiple moments such as the 3rd second, the 6th second, and the 9th second of rotation can be obtained in sequence.

[0073] Of course, in some optional implementations, the preset time interval may be set to a shorter or longer time interval, such as milliseconds or minutes.

[0074] As another example, during the rotation of the pool robot, multiple distance information from the pool robot to the pool boundary is continuously obtained according to the preset rotation angle. Exemplarily, the preset rotation angle may include, but is not limited to, any value from 1° to 60°. Taking the preset rotation angle of 10° as an example, multiple distance information corresponding to the pool robot rotating at multiple rotation angles such as 10°, 20°, and 30° can be obtained in sequence.

[0075] Of course, in some optional implementations, the preset rotation angle may be set to a smaller or larger rotation angle value.

[0076] It should be noted that, while obtaining a plurality of distance information during the rotation process, direction information corresponding to the plurality of distance information can also be simultaneously obtained and associated and stored.

[0077] In some embodiments of the present application, obtaining multiple distance information and corresponding direction information from the swimming pool robot to the swimming pool boundary during the rotation process includes:

[0078] The distance detection device detects the corresponding distance information of the swimming pool robot during the rotation process;

[0079] The angle detection device detects the rotation angle information of the swimming pool robot corresponding to the distance information during the rotation process.

[0080] Direction information is obtained according to the rotation angle information, the detection angle of the distance detection device, and the installation angle of the distance detection device.

[0081] In the embodiment of the present application, the swimming pool robot may be provided with an angle detection device in addition to the aforementioned at least one distance detection device, wherein the angle detection device may include but is not limited to at least one sensor such as an inertial sensor IMU, a gyroscope, etc.

[0082] As an example, during the rotation of the pool robot, any of the at least one distance detection device continuously detects the corresponding distance information from the pool robot to the pool boundary; at the same time, the angle detection device continuously detects the rotation angle information of the corresponding distance information. Optionally, the rotation angle information may include the heading angle of the pool robot.

[0083] Optionally, at each preset time interval during the rotation process, the corresponding distance information detected by the same distance detection device can be obtained, and the distance information and the corresponding rotation angle information can be recorded at the same time. Afterwards, the direction information corresponding to the distance information can be calculated based on the rotation angle information, the detection angle of the distance detection device, and the installation angle of the distance detection device. Exemplarily, the detection angle can be adjusted based on the rotation angle information and the installation angle, and the direction information corresponding to the distance information can be calculated. After rotating the specified angle, multiple distance information and corresponding direction information of the swimming pool robot to the swimming pool boundary during the rotation process can be obtained. Among them, the detection angle can refer to the angle between the detection direction of the distance detection device and the travel direction of the swimming pool robot. The installation angle can refer to the angle between the installation position of the distance detection device and the orientation of the swimming pool robot.

[0084] It should be noted that, in order to simplify the amount of calculation, the direction information corresponding to each distance information can be calculated based on at least the rotation angle information and the installation angle of the distance detection device.

[0085] In step S206, one of the plurality of distance information is selected according to a preset condition, and based on the direction information corresponding to the selected distance information, the swimming pool robot is controlled to move along the direction information.

[0086] As an example, after selecting a distance information from multiple distance information, the pool robot can be controlled to turn based on the direction information corresponding to the selected distance information until the pool robot rotates to the direction corresponding to the selected distance information, that is, the current travel direction of the pool robot is consistent with the direction corresponding to the selected distance information, and then the pool robot is controlled to move straight in this direction until it reaches or touches the boundary of the swimming pool corresponding to the selected distance information.

[0087] In an embodiment of the present application, selecting one of the multiple distance information according to a preset condition includes: selecting the minimum distance value among the multiple distance information. Exemplarily, taking the rotation of the specified angle of 360° as an example, after one rotation, the distances among the multiple distance information of this circle are compared, and the distance information corresponding to the minimum distance value is selected as the selected distance information to control the swimming pool robot to move in the direction corresponding to the selected distance information. In this way, by selecting the direction corresponding to the minimum distance value among the multiple distance information as the direction to move to the swimming pool boundary, the distance to find the nearest swimming pool boundary is shortened, further reducing the overall time consumption.

[0088] It should be noted that after the swimming pool robot rotates, if the current orientation of the swimming pool robot is different from the initial orientation of the swimming pool robot before the rotation, the corresponding direction information is adjusted based on the current orientation to control the swimming pool robot to move in the adjusted direction information.

[0089] In the above-mentioned embodiment, more distance information from the swimming pool robot to the corresponding swimming pool boundary is obtained by controlling the swimming pool robot to rotate at a specified angle, so that the driving direction for quickly moving to the swimming pool boundary can be determined based on multiple distance information, thereby optimizing the path of the swimming pool robot moving to the swimming pool boundary. The entire control process does not require the additional setting of multiple distance detection devices, thereby reducing the cost of using sensors.

[0090] It should be noted that the above steps S202 to S206 are not limited to being performed after step S104, but may be performed before step S104. Alternatively, after step S102 is performed, step S104 or step S202 and subsequent steps may be selected to be performed according to the size relationship between the distance information and the preset distance.

[0091] In some embodiments of the present application, Figure 3 As shown, the above control method also includes:

[0092] In step S302, after the swimming pool robot completes its rotation, if no distance information is obtained, the swimming pool robot is controlled to move in the current direction.

[0093] In the embodiment of the present application, the current direction is the direction of travel of the swimming pool robot after the rotation is completed.

[0094] As an example, after the pool robot rotates to a specified angle, if no distance information is obtained, it means that the distance between the pool boundary and the pool robot exceeds the range of the distance detection device on the pool robot. The pool robot is controlled to continue moving straight in the current direction until it reaches or touches the pool boundary corresponding to the selected distance information.

[0095] In an optional embodiment, the pool robot can continue to move a specified distance in the current direction, and then repeat the above step S102 to obtain at least one distance information from the pool robot to the pool boundary and subsequent steps, until the pool robot is controlled to move in the direction corresponding to the distance information. Here, the specified distance is not specifically limited, and it can be adaptively adjusted according to the range of the distance detection device of the pool robot. In this way, after controlling the pool robot to move a specified distance, the control logic of quickly moving to the pool boundary is continued to reduce the invalid path and time consumption of randomly moving to the pool boundary.

[0096] The present application also provides a swimming pool robot, which may include:

[0097] fuselage components;

[0098] At least one distance detection device is disposed on the body assembly, and the distance detection device is configured to: detect distance information from the swimming pool robot to the swimming pool boundary;

[0099] A controller connected to at least one distance detection device, the controller being configured to:

[0100] When the distance information is less than or equal to the preset distance, the swimming pool robot is controlled to move along the direction based on the direction corresponding to the distance information.

[0101] In some embodiments of the present application, the direction is determined at least according to the installation position of the corresponding distance detection device on the swimming pool robot.

[0102] In some embodiments of the present application, when multiple distance information is less than or equal to a preset distance, any one of the multiple distance information is selected to control the swimming pool robot to move in a direction corresponding to the distance information.

[0103] In some embodiments of the present application, the controller is further configured to:

[0104] When the distance information is greater than the preset distance, the pool robot is controlled to rotate to a specified angle;

[0105] Obtain multiple distance information and corresponding direction information from the swimming pool robot to the swimming pool boundary during the rotation process;

[0106] One of the plurality of distance information is selected according to a preset condition, and based on the direction information corresponding to the selected distance information, the swimming pool robot is controlled to move along the direction information.

[0107] In some embodiments of the present application, the controller is further configured to:

[0108] Acquire multiple distance information from the pool robot to the pool boundary during the rotation process at set time intervals; or

[0109] The multiple distance information from the pool robot to the pool boundary during the rotation process is obtained at a set rotation angle.

[0110] In some embodiments of the present application, selecting one of the plurality of distance information according to a preset condition includes:

[0111] Select the minimum distance value among multiple distance information.

[0112] In some embodiments of the present application, the controller is further configured to:

[0113] The distance detection device detects the corresponding distance information of the swimming pool robot during the rotation process;

[0114] The angle detection device detects the rotation angle information of the swimming pool robot corresponding to the distance information during the rotation process.

[0115] Direction information is obtained according to the rotation angle information, the detection angle of the distance detection device, and the installation angle of the distance detection device.

[0116] In some embodiments of the present application, the controller is further configured to: after the swimming pool robot completes its rotation, if no distance information is obtained, control the swimming pool robot to move in the current direction.

[0117] In some embodiments of the present application, the current direction is the direction in which the swimming pool robot moves after the rotation is completed.

[0118] It should be noted that the specific details and related contents involved in the embodiments of the present application can be found in the above method embodiments and will not be repeated here.

[0119] The present application also provides a computer-readable storage medium, in which at least one instruction or at least one program is stored, and the at least one instruction or at least one program is loaded and executed by a processor to implement the control method of the swimming pool robot as described in any of the above.

[0120] The present application also provides a control device, which includes a processor and a memory, wherein the memory stores at least one instruction or at least one program, and the at least one instruction or at least one program is loaded and executed by the processor to implement a control method for a swimming pool robot as described in any one of the above.

[0121] In some embodiments, the control device (not shown) may include a processor, a memory, and a network interface connected via a system bus. The processor of the control device is used to provide computing and control capabilities. The memory of the control device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the control device is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor, a control method for a swimming pool robot is implemented.

[0122] It should be noted that the above-mentioned sequence of the embodiments of the present application is for description only and does not represent the advantages and disadvantages of the embodiments. The above-mentioned specific embodiments of this specification are described. Other embodiments are within the scope of the attached claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0123] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device and server embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiments.

[0124] A person skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware or by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a disk or an optical disk, etc.

[0125] The above is a preferred embodiment of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications are also considered to be within the scope of protection of the present application.

Claims

1. A control method for a swimming pool robot, characterized in that: The method comprises: Obtain at least one distance information from the pool robot to the pool boundary; When the distance information is less than or equal to a preset distance, based on the direction corresponding to the distance information, the swimming pool robot is controlled to move along the direction.

2. The method according to claim 1, characterized in that: The swimming pool robot comprises a distance detection device, and the direction is determined at least according to an installation position of the corresponding distance detection device on the swimming pool robot.

3. The method according to claim 1, characterized in that When a plurality of distance information is less than or equal to a preset distance, any one of the plurality of distance information is selected to control the swimming pool robot to move in a direction corresponding to the distance information.

4. The method according to claim 1, characterized in that: Also includes: When the distance information is greater than a preset distance, controlling the swimming pool robot to rotate a specified angle; Acquire multiple distance information and corresponding direction information from the swimming pool robot to the swimming pool boundary during the rotation process; One of the plurality of distance information is selected according to a preset condition, and based on the direction information corresponding to the selected distance information, the swimming pool robot is controlled to move along the direction information.

5. The method according to claim 4, characterized in that The obtaining of a plurality of distance information from the swimming pool robot to the swimming pool boundary during the rotation process includes: Acquire multiple distance information from the swimming pool robot to the swimming pool boundary during the rotation process at set time intervals; or A plurality of distance information from the swimming pool robot to the swimming pool boundary during the rotation process is obtained at a set rotation angle.

6. The method according to claim 4, characterized in that The selecting one of the plurality of distance information according to a preset condition comprises: Select the minimum distance value among multiple distance information.

7. The method according to claim 4, characterized in that The obtaining of a plurality of distance information and corresponding direction information from the swimming pool robot to the swimming pool boundary during the rotation process includes: Detecting the corresponding distance information of the swimming pool robot during the rotation process by a distance detection device; The angle detection device detects the rotation angle information of the swimming pool robot corresponding to the distance information during the rotation process. The direction information is obtained according to the rotation angle information, the detection angle of the distance detection device, and the installation angle of the distance detection device.

8. The method according to claim 4, characterized in that Also includes: After the swimming pool robot completes its rotation, if no distance information is obtained, the swimming pool robot is controlled to move in the current direction.

9. The method according to claim 8, characterized in that The current direction is the direction in which the swimming pool robot moves after the rotation is completed.

10. A swimming pool robot, characterized in that: The swimming pool robot comprises: fuselage components; At least one distance detection device is disposed on the body assembly, and the distance detection device is configured to: detect distance information from the swimming pool robot to a swimming pool boundary; A controller connected to the at least one distance detection device, the controller being configured to: When the distance information is less than or equal to a preset distance, based on the direction corresponding to the distance information, the swimming pool robot is controlled to move along the direction.

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