A path planning method, device, electronic device and computer program product

Abstract

The present disclosure relates to the field of robot technology, and in particular, provides a path planning method, device, electronic device and computer program product. The method is applied to a pool cleaning robot, the pool cleaning robot has a first sensor configured on its first side and at least one second sensor configured on its second side, and the method includes: obtaining first distance information via the first sensor, the first distance information indicating a first distance between the first side and the edge of the pool; when the first distance information satisfies a first condition, controlling the pool cleaning robot at a first position to rotate a first angle, wherein the first angle enables a sensing signal emitted by at least one second sensor to reach the edge of the pool; obtaining second distance information via at least one second sensor, the second distance information indicating a second distance between the second side and the edge of the pool; and controlling the pool cleaning robot to travel to a second position while maintaining that the second distance information satisfies the second condition.

Description

Technical Field

[0001] The present disclosure relates to the field of robotics technology, and in particular to a path planning method, device, electronic device, and computer program product. Background Art

[0002] Current pool cleaning robots are mainly suitable for pool environments with regular shapes (such as rectangular or square pools). They can follow pre-set path planning, such as walking back and forth in a straight line along the length and / or width of the pool to clean.

[0003] However, when faced with an irregularly shaped pool, the straight-line cleaning path of the existing pool cleaning robot has a low degree of consistency with the edge of the pool, resulting in the dirt and debris in the irregular area not being cleaned (see Figure 1 ), it is impossible to achieve comprehensive and complete cleaning coverage. Summary of the invention

[0004] The present disclosure is proposed in view of the above problems. The present disclosure provides a path planning method, device, electronic device and computer program product.

[0005] According to one aspect of the present disclosure, a path planning method is provided, which is applied to a pool cleaning robot, wherein the pool cleaning robot has a first sensor configured on a first side thereof and at least one second sensor configured on a second side thereof, wherein the method comprises: acquiring first distance information via the first sensor, the first distance information indicating a first distance between the first side and an edge of a pool; when the first distance information satisfies a first condition, controlling the pool cleaning robot at a first position to rotate by a first angle, wherein the first angle enables a sensing signal emitted by at least one second sensor to reach the edge of the pool; acquiring second distance information via at least one second sensor, the second distance information indicating a second distance between the second side and the edge of the pool; and controlling the pool cleaning robot to move to a second position while maintaining that the second distance information satisfies the second condition.

[0006] In addition, according to a path planning method according to one aspect of the present disclosure, the method further includes: determining preset path information based on contour information of the pool edge, cleaning coverage requirements or size information of the pool cleaning robot, wherein the preset path information includes at least one of the following: the pool cleaning robot's walking rules, walking direction, path spacing, and path walking order.

[0007] In addition, according to a path planning method according to one aspect of the present disclosure, the first distance information indicates a first distance between the first side and the edge of the pool in a traveling direction based on preset path information.

[0008] In addition, according to a path planning method according to one aspect of the present disclosure, a third distance between the first position and the second position in a translation direction perpendicular to the traveling direction satisfies a third condition.

[0009] In addition, according to one aspect of the path planning method of the present disclosure, the first condition includes that the first distance is less than or equal to the first predetermined distance, the second condition includes that the second distance is within a second predetermined distance range, and the third condition includes that the third distance is equal to the third predetermined distance or the walking time between the second position and the first position reaches a preset time.

[0010] In addition, according to a path planning method according to one aspect of the present disclosure, the third predetermined distance includes an integer multiple of the path spacing.

[0011] In addition, according to a path planning method in one aspect of the present disclosure, the method further includes:

[0012] The pool cleaning robot at the second position is controlled to rotate to a second angle and continue to move based on the preset path information.

[0013] In addition, according to a path planning method according to one aspect of the present disclosure, the first angle includes a first preset angle value or the first angle is determined based on a sensing result of the second sensor.

[0014] In addition, according to a path planning method according to one aspect of the present disclosure, the second angle includes a second preset angle value or the second angle is determined based on the walking direction of the path or based on a yaw angle given by an inertial measurement unit IMU.

[0015] According to another aspect of the present disclosure, a pool cleaning robot is provided, the device comprising: a first sensor unit, configured on a first side of the pool cleaning robot, for obtaining first distance information, the first distance information indicating a first distance between the first side and an edge of a pool; a second sensor unit, configured on a second side of the pool cleaning robot, for obtaining second distance information, the second distance information indicating a second distance between the second side and the edge of the pool; a control unit, for controlling the pool cleaning robot at a first position to rotate to a first angle when the first distance information satisfies a first condition, wherein the first angle enables a sensing signal emitted by at least one second sensor unit to reach the edge of the pool; and controlling the pool cleaning robot to move to a second position while keeping the second distance information satisfying the second condition.

[0016] Furthermore, in the pool cleaning robot according to one aspect of the present disclosure, the first side includes a front side, and the second side includes a left side or a right side.

[0017] According to another aspect of the present disclosure, an electronic device is provided, including: a memory for storing computer-readable instructions; and a processor for executing the computer-readable instructions so that the electronic device executes the path planning method as described above.

[0018] According to another aspect of the present disclosure, a computer program product is provided, including a computer program, wherein when the computer program is executed by a processor, the path planning method as described above is implemented.

[0019] As will be described in detail below, according to the path planning method of the embodiment of the present disclosure, by configuring at least one second sensor to sense its distance from the edge of the pool, the cleaning path is made consistent with the edge of the pool, thereby improving the cleaning coverage and cleaning efficiency.

[0020] It is to be understood that both the foregoing general description and the following detailed description are exemplary, and are intended to provide further explanation of the technology as claimed. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The above and other purposes, features and advantages of the present disclosure will become more apparent by describing the embodiments of the present disclosure in more detail in conjunction with the accompanying drawings. The accompanying drawings are used to provide a further understanding of the embodiments of the present disclosure and constitute a part of the specification. Together with the embodiments of the present disclosure, they are used to explain the present disclosure and do not constitute a limitation of the present disclosure. In the accompanying drawings, the same reference numerals generally represent the same components or steps.

[0022] Figure 1 It is a scenario diagram illustrating an application scenario of the path planning method according to an embodiment of the present disclosure.

[0023] Figure 2 is a schematic diagram illustrating a pool cleaning robot according to an embodiment of the present disclosure.

[0024] Figure 3 is a method flow chart illustrating a path planning method according to an embodiment of the present disclosure.

[0025] Figure 4 is a method flow chart further illustrating the path planning method according to an embodiment of the present disclosure.

[0026] Figure 5 is a path schematic diagram illustrating a path planning method according to an embodiment of the present disclosure.

[0027] Figure 6 It is a path schematic diagram further illustrating the path planning method according to an embodiment of the present disclosure.

[0028] Figure 7 is a hardware block diagram illustrating an electronic device according to an embodiment of the present disclosure.

[0029] Figure 8 is a schematic diagram illustrating a computer program product according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical solution and advantages of the present disclosure more obvious, the exemplary embodiments according to the present disclosure will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present disclosure, rather than all the embodiments of the present disclosure, and it should be understood that the present disclosure is not limited to the exemplary embodiments described here.

[0031] First, refer to Figure 1 The application scenarios according to the embodiments of the present disclosure are summarized.

[0032] Figure 1 is a schematic diagram illustrating an application scenario of the path planning method according to an embodiment of the present disclosure. Figure 1 As shown, the application scenario may at least include: a pool cleaning robot 10 and a pool 11. The black solid line in the figure represents the edge shape of the pool 11, the black dotted line represents the cleaning path of the pool cleaning robot in the prior art, and the shaded part represents the area that the existing pool cleaning robot cannot clean.

[0033] Specifically, the pool 11 can be of any shape, which can be a regular geometric shape or an irregular shape with an arc. There is no specific limitation on this, and all are within the scope of the present disclosure.

[0034] As mentioned above, the existing pool cleaning robot can only clean along a straight line and is not suitable for pools 11 with irregular shapes. Figure 1 To solve this problem, the present disclosure proposes a pool cleaning robot 10, which is configured with at least one second sensor to sense the distance between the robot and the edge of the pool, thereby achieving the coincidence of the cleaning path with the edge of the pool, thereby improving the cleaning coverage and cleaning efficiency. Figure 2 shown.

[0035] Figure 2 Schematic diagram of a pool cleaning robot according to an embodiment of the present disclosure. Figure 2 As shown, the pool cleaning robot 10 of the embodiment of the present disclosure may include at least:

[0036] The first sensor unit 101 is disposed on a first side of the pool cleaning robot and is used to obtain first distance information, where the first distance information indicates a first distance between the first side and the edge of the pool. The first side may include the front side of the pool cleaning robot.

[0037] The second sensor unit 102 is disposed on the second side of the pool cleaning robot and is used to obtain second distance information, where the second distance information indicates a second distance between the second side and the edge of the pool. The second side may include the left side or the right side of the pool cleaning robot, or both the left side and the right side.

[0038] The control unit 103 is used to control the pool cleaning robot at the first position to rotate to a first angle when the first distance information satisfies a first condition, wherein the first angle enables a sensing signal emitted by at least one second sensor unit to reach an edge of the pool; and control the pool cleaning robot to move to the second position while maintaining that the second distance information satisfies a second condition.

[0039] Specifically, the pool cleaning robot 10 can be as follows Figure 2 As shown in (A) in FIG. 1 , a first sensor unit 101 , two second sensor units 102 (respectively arranged on the left and right sides of the body), and a control unit 103 are arranged on the front side of the robot body.

[0040] It is understandable that during the cleaning process, the second sensor unit 102 on the left and the second sensor unit 102 on the right can work together, that is, in this case, the first angle can be left-handed or right-handed. Of course, in the case of both left and right second sensor units 102, only one side can work, that is, the first angle is only left-handed or right-handed.

[0041] The pool cleaning robot 10 can also Figure 2 As shown in (B) in FIG. 1 , a first sensor unit 101 , a second sensor unit 102 (arranged on the left or right side of the body), and a control unit 103 are arranged on the front side of the robot body.

[0042] It should be noted that if Figure 2 In (B), the second sensor unit 102 is configured on the left side as an example, and the configuration on the right side is not shown. The principle is the same and will not be repeated. It can be understood that when only the left second sensor unit 102 is configured, the above first angle is only rightward.

[0043] In one embodiment of the present disclosure, the first sensor unit 101 and the second sensor unit 102 may be ultrasonic sensors, infrared sensors, inertial measurement unit (IMU) sensors, direct time-of-flight (DTOF) sensors, and the like.

[0044] Among them, ultrasonic sensors can perform navigation and distance measurement based on the characteristics of ultrasonic propagation and reflection in water through the forward and reverse piezoelectric effects and information processing. Specifically, ultrasonic waves are emitted, and when they encounter obstacles in the water, they will reflect echoes. After the sensor receives the echoes, the built-in circuit can convert the received signals into digital form and calculate the distance to the obstacle based on the time of flight (TOF) principle.

[0045] Infrared sensors can detect the presence of objects and measure distance in water by detecting infrared light.

[0046] The IMU sensor contains components such as accelerometers, gyroscopes and magnetometers, which can measure information such as the robot's acceleration, angular velocity and magnetic field strength in three-dimensional space, and then infer information such as the robot's posture, position and motion state.

[0047] Direct Time-of-Flight (DTOF) sensors can calculate distance by emitting light signals to a target object and measuring the time it takes for the light signals to go back and forth, such as by emitting laser signals. It should be noted that the present disclosure does not impose any specific restrictions on the type of sensor.

[0048] Specifically, the above-mentioned terms such as the first distance information, the second distance information, the first condition, the second condition, the first angle, and the second position will be described in detail in the following sections. Figure 3-Figure 6 A further detailed description is given in conjunction with specific embodiments.

[0049] Figure 3 is a method flow chart illustrating a path planning method according to an embodiment of the present disclosure. Figure 3 As shown, the path planning method may at least include the following steps.

[0050] In step S301, first distance information is acquired via a first sensor, the first distance information indicating a first distance between a first side and an edge of a pool, wherein the first distance information indicates a first distance between the first side and an edge of a pool in a traveling direction based on preset path information.

[0051] As described above, the first side may include the front side of the pool cleaning robot 10. That is, the pool cleaning robot 10 travels along the preset path information, and the first sensor unit 101 disposed on the front side thereof monitors the distance between the front side and the edge of the pool during its travel, and the distance is recorded as the first distance, and the corresponding information is recorded as the first distance information.

[0052] In step S302, when the first distance information satisfies a first condition, the pool cleaning robot at the first position is controlled to rotate a first angle, wherein the first angle enables a sensing signal emitted by at least one second sensor to reach an edge of the pool. The first condition includes that the first distance is less than or equal to a first predetermined distance.

[0053] Specifically, during the movement of the pool cleaning robot 10, when the distance between the front side and the edge of the pool is less than or equal to the first predetermined distance (i.e., when the pool cleaning robot 10 reaches the first position), it stops moving and rotates by a first angle. As described above, the present disclosure aims to solve the problem that the cleaning path of the pool cleaning robot does not coincide with the edge of the pool when cleaning an irregular pool. Therefore, the purpose of the rotation here is to allow the sensing signal emitted by at least one second sensor unit 102 to reach the edge of the pool, that is, after rotating by the first angle, the second sensor unit 102 monitors the distance between it and the edge of the pool to make it coincide.

[0054] It should be noted that the rotation angle value of the first angle can be a first preset angle value, or can be determined based on the sensing result of the second sensor unit 102. Specifically, it can be affected by the position of the second sensor unit 102 configured by the pool cleaning robot 10 and the shape of the pool edge. In other words, the first angle can be a fixed value, or can be dynamically determined according to the hardware equipment of the pool cleaning robot 10 and the external site.

[0055] In step S303, second distance information is acquired via at least one second sensor, where the second distance information indicates a second distance between the second side and the edge of the pool.

[0056] As described above, the second side may include the left side or the right side of the pool cleaning robot 10. The second distance information is similar to the first distance information. Specifically, when the pool cleaning robot 10 rotates, the second sensor unit 102 performs distance monitoring between the side where it is located (i.e., the second side) and the edge of the pool, and the distance is recorded as the second distance, and the corresponding information is recorded as the second distance information.

[0057] In step S304, the pool cleaning robot is controlled to move to a second position while the second distance information satisfies a second condition, wherein the second condition includes that the second distance is within a second predetermined distance range.

[0058] As described above, the pool cleaning robot 10 continues to move after turning the first angle, and its travel path is no longer determined by the preset path information, but is basically determined by the shape of the pool edge. By monitoring the second distance by the second sensor unit 102, the pool cleaning robot 10 can move while keeping the second distance between its second side and the pool edge within the second predetermined distance range (that is, making its travel path coincide with the pool edge) until it stops at the second position.

[0059] In one embodiment of the present disclosure, the second position can be determined by at least the first position and the third condition. Specifically, the distance between the first position and the second position in the translation direction perpendicular to the travel direction can be recorded as the third distance. When the third distance satisfies the third condition, it can be considered that the pool cleaning robot 10 has reached the second position. The third condition includes that the third distance is equal to the third predetermined distance or the walking time between the second position and the first position reaches a preset time. Specifically, see Figure 4-Figure 6 A further detailed description is given.

[0060] Figure 4 is a method flow chart further illustrating the path planning method according to an embodiment of the present disclosure. Figure 4 As shown, the method flow of the path planning method of the embodiment of the present disclosure may include at least the following steps.

[0061] 1. Program initialization. Specifically, this step includes but is not limited to determining preset path information based on the contour information of the pool edge, the cleaning coverage requirement, or the size information of the pool cleaning robot. The preset path information includes at least one of the following: the walking rules, walking direction, path spacing, and path walking order of the pool cleaning robot.

[0062] In one embodiment of the present disclosure, when the pool cleaning robot 10 does not have a map, its walking rules may be: go straight, turn left or right after encountering an obstacle, turn left or right after traveling a certain distance, and then go straight...

[0063] 2. Walking based on the preset path information to obtain the first distance information. As described above, after the preset path information is determined in step 1, the pool cleaning robot 10 moves along it. As described in the above embodiment, its direction of travel may be straight. During the travel, the first sensor unit 101 located at the front side of the pool cleaning robot 10 monitors the distance between the front side and the edge of the pool (i.e., obtains the first distance information).

[0064] 3. Determine whether the first distance information satisfies the first condition. As described above, as the pool cleaning robot 10 moves forward, the distance between its front side and the edge of the pool is continuously shortened. If the distance between the two (i.e., the first distance) is greater than the first predetermined distance, it is deemed that the first condition is not met, i.e., no obstacle is encountered, and step 2 is repeated to continue moving forward until the first condition is met; if the distance between the two is less than or equal to the first predetermined distance, it is deemed that the first condition is met, i.e., an obstacle is encountered, and the pool cleaning robot 10 stops moving at this time, and this position is recorded as the first position.

[0065] 4. Determine whether to turn right. As described above, the preset path information may include a walking rule of turning left or right after encountering an obstacle. In this step, the pool cleaning robot 10 can determine whether to turn right based on the preset path information. The first angle of rotation is determined according to the actual situation and is not limited here. If turning right, execute the subsequent steps 5-a to 7-a; if turning left, execute the subsequent steps 5-b to 7-b.

[0066] 5-a. The second sensor on the left side obtains the second distance information, and walks while keeping the second distance information satisfying the second condition. As described above, if a right turn is determined in step 4, the second sensor unit 102 on the left side operates to measure the second distance between the left side of the pool cleaning robot 10 and the edge of the pool by emitting a sensing signal. In order to make the travel path of the pool cleaning robot 10 coincide with the edge of the pool, the second distance is controlled to remain within the second predetermined distance range (i.e., satisfy the second condition).

[0067] 6-a. Determine whether the third distance satisfies the third condition. As described above, the pool cleaning robot 10 moves while maintaining the second distance to satisfy the second condition, until it moves to the second position and stops.

[0068] Specifically, whether the pool cleaning robot 10 has reached the second position can be determined by whether the third distance satisfies the third condition. If the third distance satisfies the third condition, then 7-a is continued to be executed; if the third distance does not satisfy the third condition, then 5-a is repeatedly executed until it is satisfied.

[0069] As described above, the third distance is the distance between the first position and the second position in the translation direction perpendicular to the direction of travel, that is, the first position can be regarded as the origin, and the direction of travel can be regarded as the y-axis direction. When the distance between the projection of the second position in the x-axis direction and the origin meets the third condition, the pool cleaning robot 10 reaches the second position.

[0070] In one embodiment of the present disclosure, the third condition may include that the third distance is equal to a third predetermined distance.

[0071] In another embodiment of the present disclosure, the third condition may include that the walking time between the second position and the first position reaches a preset time.

[0072] 7-a. Stop and rotate right. As described above, the pool cleaning robot 10 reaches the second position and then rotates right at a second angle, so that it can continue to move based on the preset path information, such as continuing to move straight forward.

[0073] It should be noted that the rotation angle value of the second angle may be a second preset angle value, may be determined based on the walking direction of the path, or may be determined based on the yaw angle given by the IMU. Specifically, the second angle may also have a certain correlation with the first angle.

[0074] 5-b. The second sensor on the right side obtains the second distance information, and walks while maintaining the second distance information to meet the second condition. As described above, if the left turn is determined in step 4, the second sensor unit 102 on the right side operates to measure the second distance between the right side of the pool cleaning robot 10 and the edge of the pool by emitting a sensing signal. In order to make the travel path of the pool cleaning robot 10 coincide with the edge of the pool, the second distance is controlled to be maintained within the second predetermined distance range (i.e., the second condition is met).

[0075] 6-b, determine whether the third distance satisfies the third condition. This step is similar to step 6-a. It can be understood that if the third distance satisfies the third condition, then continue to execute 7-b; if the third distance does not satisfy the third condition, then repeat 5-b until it satisfies the third condition, which will not be repeated here.

[0076] 7-b. Stop and rotate left. As described above, the pool cleaning robot 10 reaches the second position and then rotates left at a second angle, so that it can continue to move based on the preset path information, such as continuing to move forward straight.

[0077] It should be noted that the rotation angle value of the second angle may be a second preset angle value, may be determined based on the walking direction of the path, or may be determined based on the yaw angle given by the IMU. Specifically, the second angle may also have a certain correlation with the first angle.

[0078] 8. Continue walking based on the preset path information. As described above, after turning the second angle, the pool cleaning robot 10 returns to the preset path information and continues to move along it.

[0079] 9. Determine whether the preset path information has been completed. If the preset path information has been completed, the pool cleaning robot 10 ends the cleaning task; if the preset path information has not been completed, continue to repeat the above steps 2 to 9 until it is completed.

[0080] So far, the entire process of the path planning method of the embodiment of the present disclosure has been described. The cleaning paths of different types of pool cleaning robots 10 will be specifically introduced below. Figure 5 is a pool cleaning robot 10 equipped with two second sensor units 102; Figure 6 The pool cleaning robot 10 is equipped with a second sensor unit 102. The details are as follows:

[0081] Figure 5FIG. 1 is a schematic diagram illustrating a path planning method according to an embodiment of the present disclosure. Figure 5 As shown, the black solid line in the figure represents the outline of the pool, and the black dotted line represents the cleaning path of the pool cleaning robot 10. In this figure, the pool cleaning robot 10 is equipped with two second sensor units 102 (i.e., Figure 2 The robot shown in (A) in the figure can turn both left and right. Specifically:

[0082] 5-1. Based on the contour information of the pool edge, the cleaning coverage requirement or the size information of the pool cleaning robot 10, determine the preset path information.

[0083] Among them, the walking rules can be: go straight, turn right after encountering an obstacle for the first time, turn right after traveling a certain distance, continue to go straight, turn left after encountering an obstacle again, turn left after traveling a certain distance, and continue to go straight...

[0084] 5-2. The pool cleaning robot 10 moves along the preset path 1 for cleaning, and the first sensor unit 101 at the front side thereof monitors a first distance between it and the edge of the pool.

[0085] 5-3. When the first distance is equal to or less than the first preset distance, that is, when the first position is reached, the pool cleaning robot 10 stops moving.

[0086] 5-4. Based on the preset path information, since this is the first time that an obstacle is encountered, the pool cleaning robot 10 turns rightward by a first angle so that the sensing signal emitted by the second sensor unit 102 on its left side can reach the edge of the pool.

[0087] 5-5. The second sensor unit 102 on the left side monitors the second distance between itself and the edge of the pool, so that it keeps moving within the second predetermined distance range. Its travel path is shown as path 2 in the figure.

[0088] 5-6. When the third distance projected to the x-axis direction satisfies the third condition, the second position is reached.

[0089] 5-7. The pool cleaning robot 10 stops moving and rotates rightward by a second angle so that it can continue to move straight based on the preset path 3.

[0090] 5-8. The pool cleaning robot 10 continues to move along the preset path information 3.

[0091] 5-9. Determine whether the preset path information has been completed. If completed, end; if not completed, repeat the above process.

[0092] 5-10. The pool cleaning robot 10 moves along the preset path 3 for cleaning, and the first sensor unit 101 at the front side thereof monitors the first distance ' between it and the edge of the pool.

[0093] 5-11. When the first distance ' is equal to or less than the first preset distance, that is, when the first position ' is reached, the pool cleaning robot 10 stops moving.

[0094] 5-12. Based on the preset path information, the pool cleaning robot 10 encounters an obstacle again, and turns leftward by the first angle ', so that the sensing signal emitted by the second sensor unit 102 on its right side can reach the edge of the pool.

[0095] 5-13. The second sensor unit 102 on the right side monitors the second distance ' between itself and the edge of the pool, so that it keeps moving within the second predetermined distance range. Its moving path is shown as path 4 in the figure.

[0096] 5-14. When the third distance ' projected to the x-axis direction satisfies the third condition, the second position ' is reached.

[0097] 5-15. The pool cleaning robot 10 stops moving and rotates left by a second angle ', so that it can continue to move straight along the preset path 5.

[0098] 5-16. The pool cleaning robot 10 continues to move along the preset path information 5.

[0099] 5-17. Determine whether the preset path information has been completed. If completed, the process ends. If not completed, repeat the above process from 5-2 to 5-17 until completed.

[0100] It can be understood that, in the case shown in this figure, the length of the third distance that satisfies the third condition is equal to the path spacing in the preset path information.

[0101] Figure 6 FIG. 1 is a path diagram further illustrating the path planning method according to an embodiment of the present disclosure. Figure 6 As shown in the figure, the black solid line represents the outline of the pool, and the black dotted line represents the cleaning path of the pool cleaning robot 10. In this figure, the pool cleaning robot 10 is equipped with a second sensor unit 102 on the left side (i.e., Figure 2 The robot shown in (B) in the figure can only turn right. Specifically:

[0102] 6-1. Determine preset path information based on the contour information of the pool edge, the cleaning coverage requirement, or the size information of the pool cleaning robot 10 .

[0103] Among them, the walking rules can be: go straight, turn right after encountering an obstacle, turn right again after going a certain distance, and continue going straight...

[0104] 6-2. Same as step 5-2, no further details will be given.

[0105] 6-3. Same as step 5-3.

[0106] 6-4. Based on the preset path information, an obstacle is encountered here, and the pool cleaning robot 10 turns rightward by a first angle so that the sensing signal emitted by the second sensor unit 102 on its left side can reach the edge of the pool.

[0107] 6-5, same as step 5-5. It should be noted that the travel path 2 in this figure is Figure 5 The length of the travel path 2 in the figure is different (path 2 in this figure is shown as the path from the first position to the second position).

[0108] 6-6, same as step 5-6. It should be noted that the second position in this figure is Figure 5 The length of the third distance satisfying the third condition in this step is equal to 2 times the path spacing in the preset path information.

[0109] 6-7, same as step 5-7. It should be noted that the preset path 3 in this figure is Figure 5 The preset path 3 in is different.

[0110] 6-8. Same as steps 5-8.

[0111] 6-9. Determine whether the preset path information has been completed. If completed, end; if not completed, repeat the above 6-2 to 6-9 processes.

[0112] It should be noted that, since the pool cleaning robot 10 in this figure is not equipped with the second sensor unit 102 on the right side, it can only turn right, which causes the overlapping of its cleaning paths, and the judgment standard of the third distance for judging whether the third condition is met each time is not fixed.

[0113] When the pool cleaning robot 10 travels to the first position ', it turns right by a first angle ', and its travel path is shown in path 4, and the third distance ' between the projections of the first position ' and the second position ' is equal to 1 times the path spacing; then the pool cleaning robot 10 continues to move, ..., and its path from the first position '' to the second position '' is shown in path 6, and path 6 partially overlaps with path 2, and the projected third distance '' is 3 times the path spacing.

[0114] It can be understood that, in the case shown in this figure, the third distance that satisfies the third condition may be an integer multiple of the path spacing in the preset path information.

[0115] It should be noted that the configuration of the second sensor unit 102 only on the right side is not shown. Figure 6 The same, no further details are given.

[0116] Figure 7 1 is a hardware block diagram of an electronic device 700 according to an embodiment of the present disclosure. The electronic device according to an embodiment of the present disclosure includes at least a processor; and a memory for storing computer-readable instructions. When the computer-readable instructions are loaded and executed by the processor, the processor executes the path planning method as described above.

[0117] Figure 7 The electronic device 700 shown specifically includes: a central processing unit (CPU) 701, a graphics processing unit (GPU) 702 and a memory 703. These units are connected to each other via a bus 704. The central processing unit (CPU) 701 and / or the graphics processing unit (GPU) 702 can be used as the above-mentioned processor, and the memory 703 can be used as the above-mentioned memory for storing computer-readable instructions. In addition, the electronic device 700 may also include a communication unit 705, a storage unit 706, an output unit 707, an input unit 708 and an external device 709, which are also connected to the bus 704.

[0118] Figure 8 is a schematic diagram illustrating a computer program product according to an embodiment of the present disclosure. Figure 8 As shown, a computer program product 800 according to an embodiment of the present disclosure has a computer program 801 stored thereon. When the computer program 801 is executed by a processor, the path planning method described with reference to the above figures is executed. The computer program product includes, but is not limited to, for example, a volatile memory and / or a non-volatile memory. The volatile memory may, for example, include a random access memory (RAM) and / or a cache memory (cache), etc. The non-volatile memory may, for example, include a read-only memory (ROM), a hard disk, a flash memory, an optical disk, a magnetic disk, etc.

[0119] The path planning method, device, electronic device and computer program product according to the embodiments of the present disclosure are described above with reference to the accompanying drawings. According to the path planning method of the embodiments of the present disclosure, by configuring at least one second sensor to sense the distance from the edge of the pool, the cleaning path is matched with the edge of the pool, thereby improving the cleaning coverage and cleaning efficiency.

[0120] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this disclosure.

[0121] The basic principles of the present disclosure are described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, effects, etc. mentioned in the present disclosure are only examples and not limitations, and it cannot be considered that these advantages, strengths, effects, etc. are required by each embodiment of the present disclosure. In addition, the specific details disclosed above are only for the purpose of illustration and ease of understanding, and are not limitations. The above details do not limit the present disclosure to the necessity of adopting the above specific details to be implemented.

[0122] The block diagrams of the devices, apparatuses, equipment, and systems involved in this disclosure are only illustrative examples and are not intended to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagrams. As will be appreciated by those skilled in the art, these devices, apparatuses, equipment, and systems can be connected, arranged, and configured in any manner. Words such as "including," "comprising," "having," and the like are open words, referring to "including but not limited to," and can be used interchangeably therewith. The words "or" and "and" used herein refer to the words "and / or," and can be used interchangeably therewith, unless the context clearly indicates otherwise. The word "such as" used herein refers to the phrase "such as but not limited to," and can be used interchangeably therewith.

[0123] Additionally, as used herein, "or" used in a list of items beginning with "at least one" indicates a separate list, so that, for example, a list of "at least one of A, B, or C" means A or B or C, or AB or AC or BC, or ABC (i.e., A and B and C). Furthermore, the word "exemplary" does not mean that the example described is preferred or better than other examples.

[0124] It should also be noted that in the system and method of the present disclosure, each component or each step can be decomposed and / or recombined. Such decomposition and / or recombination should be regarded as equivalent solutions of the present disclosure.

[0125] Various changes, substitutions, and modifications of the techniques described herein may be made without departing from the teachings defined by the appended claims. Furthermore, the scope of the claims of the present disclosure is not limited to the specific aspects of the processes, machines, manufactures, compositions of events, means, methods, and actions described above. Currently existing or later to be developed processes, machines, manufactures, compositions of events, means, methods, or actions that perform substantially the same functions or achieve substantially the same results as the corresponding aspects described herein may be utilized. Thus, the appended claims include such processes, machines, manufactures, compositions of events, means, methods, or actions within their scope.

[0126] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present disclosure. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of the present disclosure. Therefore, the present disclosure is not intended to be limited to the aspects shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

[0127] The above description has been given for the purpose of illustration and description. In addition, this description is not intended to limit the embodiments of the present disclosure to the forms disclosed herein. Although multiple example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, changes, additions and sub-combinations thereof.

Claims

1. A path planning method, applied to a pool cleaning robot, wherein the pool cleaning robot has a first sensor disposed on a first side thereof and at least one second sensor disposed on a second side thereof, characterized in that: The method comprises: Controlling the pool cleaning robot to walk along a preset path to perform a cleaning operation on the bottom of the pool, wherein the preset path includes a plurality of parallel sub-paths; During walking along the sub-path, first distance information is acquired via the first sensor, where the first distance information indicates a first distance between the first side and an edge of the pool; When the first distance information satisfies a first condition, controlling the pool cleaning robot at the first position to rotate to a first angle, wherein the first angle enables the sensing signal emitted by the at least one second sensor to reach the edge of the pool; acquiring second distance information via the at least one second sensor, the second distance information indicating a second distance between the second side and the edge of the pool; Under the condition that the second distance information satisfies the second condition, the pool cleaning robot is controlled to move to a second position and enter a next sub-path from the second position.

2. The path planning method according to claim 1, characterized in that: The method further comprises: The preset path information is determined based on the contour information of the pool edge, the cleaning coverage requirement or the size information of the pool cleaning robot, wherein the preset path information includes at least one of the following: the walking rules, walking direction, path spacing, and walking order of the pool cleaning robot.

3. The path planning method according to claim 2, characterized in that: The first distance information indicates a first distance between the first side and the edge of the pool in a traveling direction based on preset path information.

4. The path planning method according to claim 3, characterized in that: A third distance between the first position and the second position in a translation direction perpendicular to the traveling direction satisfies a third condition.

5. The path planning method according to claim 4, characterized in that: The first condition includes that the first distance is less than or equal to a first predetermined distance, the second condition includes that the second distance is within a second predetermined distance range, and the third condition includes that the third distance is equal to a third predetermined distance or the walking time between the second position and the first position reaches a preset time.

6. The path planning method according to claim 5, characterized in that: The third predetermined distance comprises an integer multiple of the path pitch.

7. The path planning method according to any one of claims 2 to 6, characterized in that: The method further comprises: The pool cleaning robot at the second position is controlled to rotate to a second angle and continue to move based on the preset path information.

8. The path planning method according to claim 1, characterized in that: The first angle includes a first preset angle value or is determined based on a sensing result of the second sensor.

9. The path planning method according to claim 7, characterized in that: The second angle includes a second preset angle value or the second angle is determined based on the walking direction of the path or based on a yaw angle provided by an inertial measurement unit IMU.

10. A pool cleaning robot, characterized in that: include: a first sensor unit, disposed on a first side of the pool cleaning robot, for acquiring first distance information indicating a first distance between the first side and an edge of a pool; a second sensor unit, disposed on a second side of the pool cleaning robot, for acquiring second distance information, the second distance information indicating a second distance between the second side and an edge of the pool; a control unit, configured to control the pool cleaning robot to walk along a preset path to perform a cleaning operation on the bottom of the pool, wherein the preset path includes a plurality of parallel sub-paths; in the process of walking along the sub-paths, when the first distance information satisfies a first condition, controlling the pool cleaning robot at a first position to rotate by a first angle, wherein the first angle enables a sensing signal emitted by at least one of the second sensor units to reach the edge of the pool; Under the condition that the second distance information satisfies the second condition, the pool cleaning robot is controlled to move to a second position and enter a next sub-path from the second position.

11. The pool cleaning robot according to claim 10, characterized in that: The first side includes a front side, and the second side includes a left side or a right side.

12. An electronic device, characterized in that: include: a memory for storing computer readable instructions; as well as A processor is used to run the computer-readable instructions so that the electronic device executes the path planning method as described in any one of claims 1 to 9.

13. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the path planning method according to any one of claims 1 to 9 is implemented.

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