Swimming pool cleaning line generation method, swimming pool cleaning method and swimming pool cleaning robot

Abstract

The invention provides a swimming pool cleaning line generation method, a swimming pool cleaning method and a swimming pool cleaning robot, and the method comprises the steps: responding to a detection result that the swimming pool cleaning robot moves from a shallow water area to a slope area, controlling the swimming pool cleaning robot to execute wall detection operation of the slope area, and generating a slope moving path extending along a slope line of the slope area, the swimming pool cleaning robot is controlled to move towards the deep water area along the slope moving path, and the current position of the swimming pool cleaning robot is marked as a first cleaning starting point in response to the detection result that the swimming pool cleaning robot moves to the deep water area or collides with the wall; based on the first cleaning starting point, a cleaning route covering the swimming pool is generated in the first cleaning direction and the second cleaning direction opposite to the first cleaning direction of the swimming pool. Through reasonable cleaning line design, key cleaning of the deepwater area of the swimming pool can be achieved so as to improve the cleaning effect, and rapid generation of the cleaning line of the swimming pool can be achieved.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] The present disclosure claims priority to patent application with international application number PCT / CN2024 / 084559, whose patent name is “Swimming pool cleaning method, device, electronic device and swimming pool cleaning robot” and whose international application date is March 28, 2024, and all contents are incorporated into the present disclosure by reference. Technical Field

[0003] The disclosed embodiments relate to the field of cleaning control technology, and in particular to a swimming pool cleaning route generation and a swimming pool cleaning method, device, electronic device, storage medium, and swimming pool cleaning robot. Background Art

[0004] The swimming pool cleaning robot is a cleaning robot developed to meet the needs of swimming pool cleaning. It can repeatedly clean the pool bottom and pool walls and filter and clean the swimming pool water.

[0005] There are many different types of swimming pools, mainly including standard swimming pools, shallow water pools, and integrated pools. Among them, integrated pools usually have deep water areas, shallow water areas, and slope areas (or gentle slope areas) connecting the deep water areas and shallow water areas. The pool walls of the shallow water areas are mostly vertical walls, and the side of the shallow water area away from the deep water area may be equipped with steps or shallow water area platforms and other facilities. The pool walls of the deep water area may include steep slope walls extending upward from the pool bottom and vertical walls extending upward from the steep slope walls. Due to the different depths of the areas in the integrated pool, the dirt in the shallow water area and the slope area will drift to the deep water area. Therefore, the cleaning requirements of the deep water area are usually the greatest.

[0006] In summary, since the cleaning requirements of different swimming pool areas are different, how to design corresponding cleaning routes based on the different area types in the swimming pool is crucial to improving the swimming pool cleaning effect. Summary of the invention

[0007] In order to solve the above problems, the embodiments of the present disclosure provide an improved swimming pool cleaning route generation solution to at least partially solve the above problems.

[0008] According to a first aspect of the present disclosure, a method for generating a swimming pool cleaning route is provided, which is applied to a swimming pool including a deep water area, a shallow water area and a slope area, wherein the slope area is located between the deep water area and the shallow water area, and the method comprises: in response to a detection result that a swimming pool cleaning robot moves from the shallow water area to the slope area, controlling the swimming pool cleaning robot to perform a wall exploration operation in the slope area to generate a slope movement path extending along a slope line of the slope area; controlling the swimming pool cleaning robot to move toward the deep water area along the slope movement path, and in response to a detection result that the swimming pool cleaning robot moves to the deep water area or hits a wall, marking the current position of the swimming pool cleaning robot as a first cleaning starting point; based on the first cleaning starting point, generating a cleaning route covering the swimming pool along a first cleaning direction and a second cleaning direction of the swimming pool, respectively, wherein the first cleaning direction is opposite to the second cleaning direction.

[0009] According to a second aspect of the present disclosure, a swimming pool cleaning method is provided, which is applied to a swimming pool including a deep water area, a shallow water area and a slope area, wherein the slope area is located between the deep water area and the shallow water area, and the method comprises: generating a cleaning route for the swimming pool; controlling a swimming pool cleaning robot to move along the cleaning route to perform the cleaning task of the swimming pool; wherein the cleaning route of the swimming pool is generated using the swimming pool cleaning route generation method as described in the first aspect.

[0010] According to a third aspect of the present disclosure, a swimming pool cleaning route generating device is provided, which is applied to a swimming pool including a deep water area, a shallow water area and a slope area, wherein the slope area is located between the deep water area and the shallow water area, and the device comprises: a wall exploration module, which is used to control the swimming pool cleaning robot to perform a wall exploration operation in the slope area in response to a detection result that the swimming pool cleaning robot moves from the shallow water area to the slope area, and generate a slope movement path extending along the slope line of the slope area; a marking module, which is used to control the swimming pool cleaning robot to move toward the deep water area along the slope movement path, and in response to a detection result that the swimming pool cleaning robot moves to the deep water area or hits a wall, marks the current position of the swimming pool cleaning robot as a first cleaning starting point; and a generating module, which generates a cleaning route covering the swimming pool along a first cleaning direction and a second cleaning direction of the swimming pool, respectively, based on the first cleaning starting point, wherein the first cleaning direction is opposite to the second cleaning direction.

[0011] According to a fourth aspect of the present disclosure, there is provided a swimming pool cleaning device, which is applied to a swimming pool including a deep water area, a shallow water area and a slope area, wherein the slope area is located between the deep water area and the shallow water area, and comprises: an acquisition module, which is used to generate a cleaning route of the swimming pool by using the swimming pool cleaning route generation device as described in the third aspect; and a cleaning module, which controls a swimming pool cleaning robot to move along the cleaning route to perform the cleaning task of the swimming pool.

[0012] According to a fifth aspect of the present disclosure, an electronic device is provided, comprising: a processor; and a memory for storing a program; wherein the program comprises instructions, which, when executed by the processor, cause the processor to perform operations corresponding to the method described in the first aspect or the second aspect above.

[0013] According to a sixth aspect of the present disclosure, a non-transitory computer-readable storage medium storing computer instructions is provided, wherein the computer instructions are used to enable a computer to execute the method described in the first aspect or the second aspect above.

[0014] According to a seventh aspect of the present disclosure, a computer program product is provided, comprising computer instructions, wherein the computer instructions instruct a computing device to perform operations corresponding to the method for generating a swimming pool cleaning route as described in the first aspect, or to perform operations corresponding to the method for generating a swimming pool cleaning route as described in the second aspect.

[0015] According to an eighth aspect of the present disclosure, there is provided a swimming pool cleaning robot, comprising a controller, wherein control instructions are stored in the controller, and when the control instructions are executed, the controller executes the method described in the first aspect or the second aspect.

[0016] In summary, the pool cleaning route generation solution provided by various aspects of the present disclosure can generate a slope movement path extending along the slope line of the slope area, so that the pool cleaning robot can quickly move from the shallow water area to the deep water area to determine the cleaning starting point of the pool. The pool cleaning route is generated based on the cleaning starting point and the two opposite cleaning directions, which can not only meet the cleaning needs of different areas of the pool, but also has a reasonable cleaning route design, which can improve the pool cleaning efficiency.

[0017] Furthermore, the swimming pool cleaning method provided by various aspects of the present disclosure performs swimming pool cleaning tasks based on the swimming pool cleaning route generated by the above-mentioned swimming pool cleaning route generation scheme, which can shorten the swimming pool cleaning moving path and improve the swimming pool cleaning execution efficiency while meeting the cleaning needs of different areas of the swimming pool. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The following drawings are intended only to illustrate and explain the present disclosure, and do not limit the scope of the present disclosure.

[0019] Figure 1A to Figure 1B Schematic diagrams of different swimming pools suitable for implementing the swimming pool cleaning route generation and cleaning methods or devices of various embodiments of the present disclosure.

[0020] Figure 2 The present invention is a flowchart of a method for generating a swimming pool cleaning route according to an exemplary embodiment of the present invention.

[0021] Figure 3The present invention is a flowchart of a method for generating a swimming pool cleaning route according to another exemplary embodiment of the present invention.

[0022] Figure 4 The present invention is a process flow chart of a swimming pool cleaning method according to an exemplary embodiment of the present invention.

[0023] Figure 5 It is a structural block diagram of a swimming pool cleaning route generating device according to an exemplary embodiment of the present disclosure.

[0024] Figure 6 It is a structural block diagram of a swimming pool cleaning device according to an exemplary embodiment of the present disclosure.

[0025] Figure 7 It is a structural block diagram of an electronic device according to an exemplary embodiment of the present disclosure.

[0026] Description of reference numerals:

[0027] 2. Pool cleaning robot 126, slope movement path

[0028] 100, swimming pool 130, shallow water area

[0029] 102. Standard swimming pool F1, first cleaning direction

[0030] 104. Special-shaped swimming pool 35 F2. Second cleaning direction

[0031] 110, Deep Water Area 500, Pool Cleaning Route Generator

[0032] 120, slope area 502, wall exploration module

[0033] 122, first slope side wall 504, marking module

[0034] 124, second slope side wall 506, generation module

[0035] 125. Wall exploration path 40 600. Pool cleaning device

[0036] 602, acquisition module 704, bus

[0037] 604, cleaning module 705, input and output interface

[0038] 700. Electronic device 706. Input unit

[0039] 701, calculation unit 10 707, output unit

[0040] 702, ROM 708, storage unit

[0041] 703. RAM 709. Communication unit. DETAILED DESCRIPTION

[0042] In order to have a clearer understanding of the technical features, purposes and effects of the embodiments of the present disclosure, the specific implementation methods of the embodiments of the present disclosure are now described with reference to the accompanying drawings.

[0043] In this document, “exemplary” means “serving as an example, instance or illustration”, and any diagram or implementation described in this document as “exemplary” should not be interpreted as a more preferred or more advantageous technical solution.

[0044] In order to simplify the drawings, only the parts related to the present disclosure are schematically shown in each figure, and they do not represent the actual structure of the product. In addition, in order to simplify the drawings and facilitate understanding, in some figures, only one or more of the parts with the same structure or function are schematically drawn, or only one or more of them are marked.

[0045] For a comprehensive swimming pool that includes a deep water area, a slope area and a shallow water area, due to the different area depths, the dirt in the shallow water area and the slope area will drift to the deep water area. Therefore, the cleaning demand for the deep water area of ​​the swimming pool is also the greatest.

[0046] In view of this, various embodiments of the present disclosure provide a swimming pool cleaning route generation solution that can meet the cleaning needs of different areas of the swimming pool to improve the swimming pool cleaning effect and enhance the swimming pool cleaning efficiency.

[0047] Figure 1A to Figure 1B 1 is a top view schematic diagram of a swimming pool suitable for implementing the swimming pool cleaning route generation, mapping and cleaning scheme of various embodiments of the present disclosure. As shown in the figure, swimming pool 100 is, for example, Figure 1A The standard swimming pool 102 shown, or for example Figure 1B The irregular shaped swimming pool 104 is shown.

[0048] In this embodiment, the swimming pool 100 includes a deep water area 110 , a slope area 120 and a shallow water area 130 , wherein the slope area 120 is located between the deep water area 112 and the shallow water area 114 as a transition area.

[0049] Based on the above application scenarios, various embodiments of the present disclosure provide a swimming pool cleaning route generation and a swimming pool cleaning solution. The various embodiments of the present disclosure will be described in detail below in conjunction with the accompanying drawings.

[0050] Pool cleaning route generation method

[0051] Figure 2 The processing flow of the method for generating a swimming pool cleaning route according to an exemplary embodiment of the present disclosure is shown, which mainly includes the following steps:

[0052] Step 202: In response to the detection result that the swimming pool cleaning robot moves from the shallow water area to the slope area, the swimming pool cleaning robot is controlled to perform a wall exploration operation in the slope area, and a slope movement path extending along the slope line of the slope area is generated.

[0053] In some embodiments, after the swimming pool cleaning robot is put into the shallow water area 130 of the swimming pool 100, the swimming pool cleaning robot can be controlled to move along each flat slope straight section in the flat slope search path in turn to search for the slope area, and the posture data of the swimming pool cleaning robot during the movement can be obtained, and the posture data can be compared with a given slope posture range. If the posture data does not fall into the slope posture range, the swimming pool cleaning robot is controlled to continue moving along each flat slope straight section in the flat slope search path to search for the slope area; if the posture data falls into the slope posture range, a detection result of the swimming pool cleaning robot moving to the slope area is obtained.

[0054] In some embodiments, the pool cleaning robot 2 includes an inertial measurement unit (IMU for short), which includes an accelerometer and an angular velocity sensor, for detecting posture data of the pool cleaning robot during movement.

[0055] In this embodiment, it can be determined whether the swimming pool cleaning robot is located in the slope area of ​​the swimming pool based on the posture data of the swimming pool cleaning robot.

[0056] For example, the roll angle parameter value and pitch angle parameter value of the pool cleaning robot can be determined based on the posture data to determine whether the pool cleaning robot is located in a slope area; or, the inclination value of the pool cleaning robot can be calculated based on the posture data to determine whether the pool cleaning robot is located in a slope area.

[0057] In this embodiment, the slope posture range can be determined according to the slope of the slope area. Generally speaking, when the roll angle parameter value and the pitch angle parameter value of the pool cleaning robot are greater than positive 30 degrees or less than negative 30 degrees, or when the inclination value of the pool cleaning robot is greater than positive 30 degrees or less than negative 30 degrees, a judgment result that the pool cleaning robot is located in the slope area can be obtained.

[0058] In some embodiments, each flat slope straight road segment in the flat slope search path is distributed in a serpentine shape, a sawtooth shape, or a five-pointed star shape (refer to Figure 1A The dotted line segment of the five-pointed star abcde or Figure 1B The five-pointed star-shaped solid line segment). Among them, the five-pointed star-shaped flat slope search path design allows the swimming pool cleaning robot to quickly explore the path in a large area with fewer turns and movements, thereby improving the search efficiency in the slope area.

[0059] In this embodiment, at least one endpoint of each flat slope straight line segment falls at the junction of the pool bottom and the pool wall. The pool cleaning robot can move along the current flat slope straight line segment until it hits the wall, and then transfer to the next flat slope straight line segment to continue moving.

[0060] refer to Figure 1A to Figure 1B In the application scenarios of various embodiments of the present disclosure, the swimming pool 100 may include a first sloped side wall 122 and a second sloped side wall 124 located on opposite sides of the sloped area 120 .

[0061] In some embodiments, when it is determined that the pool cleaning robot has moved to a sloped area, the pool cleaning robot can be controlled to perform a wall exploration operation in the sloped area to determine the setting positions of the first sloped side wall and the second sloped side wall relative to the sloped area, and based on the setting positions of the first sloped side wall and the second sloped side wall relative to the sloped area, determine the midpoint position between the first sloped side wall and the second sloped side wall, and based on the midpoint position, generate a sloped movement path extending along the slope line of the sloped area.

[0062] In this embodiment, the slope line of the slope area is a straight line used to characterize the slope of the slope area.

[0063] In a specific application, in response to the detection result of the swimming pool cleaning robot moving from the shallow water area to the sloped area, based on the current position and posture data of the swimming pool cleaning robot, a wall exploration path substantially perpendicular to the slope line of the sloped area can be determined, and the swimming pool cleaning robot can be controlled to move forward and backward along the wall exploration path, detect the first sloped side wall and the second sloped side wall located at both ends of the wall exploration path, and determine the setting positions of the first sloped side wall and the second sloped side wall relative to the sloped area.

[0064] For example, in Figure 1A In the example shown, when the posture data of the swimming pool cleaning robot corresponding to the position point e is detected to fall into the slope posture range, a judgment result is obtained that the swimming pool cleaning robot moves from the shallow water area 130 to the slope area 120, and then the wall exploration path 125 substantially perpendicular to the slope line of the slope area 120 can be determined based on the position point e (i.e., the current position of the swimming pool cleaning robot) and the posture data. The swimming pool cleaning robot can be controlled to move forward and backward along the wall exploration path 125 to hit the first slope side wall 122 and the second slope side wall 124 respectively, and the first slope side wall 122 and the second slope side wall 124 located at both ends of the wall exploration path 125 are determined, and the setting positions of the first slope side wall 122 and the second slope side wall 124 relative to the slope area 120 are obtained. The midpoint position f of the first slope sidewall 122 and the second slope sidewall 124 can be obtained according to their setting positions relative to the slope area 120 , and based on the midpoint position f, a slope movement path 126 extending along the slope line of the slope area 120 is generated.

[0065] For example, in Figure 1B In the example shown, when the posture data of the swimming pool cleaning robot corresponding to the position point A is detected to fall into the slope posture range, a judgment result is obtained that the swimming pool cleaning robot moves from the shallow water area 130 to the slope area 120, then based on the position point A (i.e., the current position of the swimming pool cleaning robot) and the posture data, a wall exploration path 125 substantially perpendicular to the slope line of the slope area 120 is determined. The swimming pool cleaning robot can be controlled to move forward and backward along the wall exploration path 125 to hit the first slope side wall 122 and the second slope side wall 124 respectively, and the first slope side wall 122 and the second slope side wall 124 located at both ends of the wall exploration path 125 are determined, and the setting positions of the first slope side wall 122 and the second slope side wall 124 relative to the slope area 120 are obtained. According to the setting position of the first slope side wall 122 and the second slope side wall 124 relative to the slope area 120, the midpoint position B of the first slope side wall 122 and the second slope side wall 124 can be obtained, and based on the midpoint position B, a slope movement path 126 extending along the slope line of the slope area 120 is generated.

[0066] It should be noted that in practical applications, for the midpoint position (for example, Figure 1A The midpoint position f or Figure 1B The determination of the midpoint position B) does not need to be very precise, and a certain deviation range is allowed, and it only needs to fall roughly in the middle of the first slope side wall and the second slope side wall.

[0067] Step 204: Control the swimming pool cleaning robot to move along the sloped moving path toward the deep water area. In response to the detection result that the swimming pool cleaning robot moves to the deep water area or hits a wall, mark the current position of the swimming pool cleaning robot as the first cleaning starting point.

[0068] In this embodiment, the slope moving path 126 is a straight path substantially perpendicular to the wall exploration path 125. The swimming pool cleaning robot can move directly to the deep water area 100 along the slope moving path 126, or move along the slope moving path 126 to a position in the slope area 120 as close to the deep water area 110 as possible.

[0069] In some embodiments, the swimming pool cleaning robot can be controlled to move along a sloped moving path toward a deep water area, and the posture data of the swimming pool cleaning robot during the movement is obtained, and the posture data is respectively compared with a given wall-hitting posture range and a given flat slope posture range; if the posture data falls into the wall-hitting posture range or the flat slope posture range, the swimming pool cleaning robot is controlled to stop moving, and the current position of the swimming pool cleaning robot is marked as the first cleaning starting point; if the posture data does not fall into the wall-hitting posture range and does not fall into the flat slope posture range, the swimming pool cleaning robot is controlled to continue moving along the sloped moving path toward the deep water area.

[0070] In some embodiments, the flat slope posture range can be determined based on the slope of the flat slope area in the swimming pool. Generally speaking, when the roll angle parameter value and the pitch angle parameter value of the swimming pool cleaning robot are respectively within the range of ±30 degrees, or when the inclination value of the swimming pool cleaning robot is within the range of ±30 degrees, a judgment result that the posture data falls into the flat slope posture range can be obtained, indicating that the swimming pool cleaning robot has moved from the slope area to the deep water area.

[0071] In some embodiments, based on a plurality of continuous posture data of the pool cleaning robot, when it is determined that a significant slope change has occurred on the moving surface of the pool cleaning robot, a judgment result can be obtained that the posture data falls into a wall-hitting posture range, indicating that the pool cleaning robot has hit a wall.

[0072] For example, in Figure 1A In the example shown, the pool cleaning robot can be controlled to move from the midpoint position f along the slope movement path 126, and the posture data of the pool cleaning robot during the movement is detected. When it is determined that the posture data of the pool cleaning robot moving to the position point g falls within the flat slope posture range, the detection result that the pool cleaning robot moves to the deep water area 110 is obtained, that is, the pool cleaning robot is controlled to stop moving, and the position point g is marked as the first cleaning starting point. In this case, the position point g can be regarded as the boundary point between the deep water area 110 and the slope area 120.

[0073] For example, in Figure 1B In the example shown, the pool cleaning robot can be controlled to move from the midpoint position B along the slope movement path 126, and the posture data of the pool cleaning robot during the movement is detected. When the pool cleaning robot is detected to have hit the wall according to the posture data of the pool cleaning robot moving to the position point C, the pool cleaning robot is controlled to stop moving, and the position point C is marked as the first cleaning starting point. In this case, it can be regarded as the movable position of the pool cleaning robot in the slope area 120 that is closest to the deep water area 110.

[0074] Step 206: Based on the first cleaning starting point, a cleaning route covering the swimming pool is generated along the first cleaning direction and the second cleaning direction of the swimming pool.

[0075] In this embodiment, the first cleaning direction and the second cleaning direction are opposite, wherein the first cleaning direction corresponds to a direction extending from the shallow water area to the deep water area of ​​the swimming pool (refer to Figure 1A and Figure 1B The first cleaning direction F1 corresponds to the direction extending from the deep water area to the shallow water area of ​​the swimming pool (reference Figure 1A and Figure 1B The second cleaning direction F2).

[0076] In some embodiments, a cleaning route for a swimming pool may include a first cleaning segment and a second cleaning segment.

[0077] Specifically, based on the first cleaning starting point, a first cleaning segment covering the deep water area can be generated along the first cleaning direction, and the end point of the first cleaning segment can be used as the second cleaning starting point to generate a second cleaning segment covering the deep water area, slope area and shallow water area along the second cleaning direction opposite to the first cleaning direction.

[0078] In some embodiments, the first cleaning segment may only cover the pool bottom in the deep water area, or the first cleaning segment may cover both the pool bottom and the pool wall in the deep water area. Similarly, the second cleaning segment may only cover the entire pool bottom, or the second cleaning segment may cover the entire pool bottom and the entire pool wall (including the deep water area, the slope area, and the shallow water area).

[0079] For example, in Figure 1A In the example shown, based on the first cleaning starting point g, a first cleaning segment (refer to the zigzag dotted line gh) that only covers the pool bottom of the deep water area 110 can be generated along the first cleaning direction F1, and the end point h of the first cleaning segment is used as the second cleaning starting point to generate a second cleaning segment (refer to the zigzag solid line hi) along the second cleaning direction F2 that sequentially covers the pool bottom of the deep water area 110, the slope area 120 and the shallow water area 130.

[0080] For example, in Figure 1B In the example shown, based on the first cleaning starting point C, a first cleaning segment can be generated along the first cleaning direction F1 to cover the pool bottom and pool walls of the deep water area 110 (refer to the serpentine cleaning segment CD covering the pool bottom of the deep water area 110, and the serpentine cleaning segment DE covering the pool walls of the deep water area 110), and the end point E of the first cleaning segment is used as the second cleaning starting point to generate a second cleaning segment along the second cleaning direction F2 to cover the entire pool bottom and all pool walls of the swimming pool 100 (refer to the serpentine cleaning segment EF covering the entire pool bottom of the swimming pool 100, and the cleaning segment GHI covering all pool walls of the swimming pool 100, wherein the cleaning segment HI is a waterline cleaning path).

[0081] In summary, the swimming pool cleaning route generation method of this embodiment generates a slope movement path based on the wall exploration operation in the slope area, so that the swimming pool cleaning robot can quickly move from the shallow water area to the deep water area of ​​the swimming pool, thereby shortening the time for determining the starting point of swimming pool cleaning.

[0082] In addition, the pool cleaning route generated based on the cleaning starting point and the two opposite cleaning directions can perform two complete cleanings on the most polluted deep water area in the swimming pool to meet the cleaning needs of different areas of the swimming pool and improve the pool cleaning effect.

[0083] Figure 3This is a processing flow of a method for generating a swimming pool cleaning route according to another exemplary embodiment of the present disclosure. This embodiment mainly shows the specific implementation of controlling the swimming pool cleaning robot to move from a shallow water area to a slope area in the above step 202. In this embodiment, the swimming pool cleaning robot includes a ranging unit and an inertial measurement unit.

[0084] like Figure 3 The present embodiment mainly includes the following steps:

[0085] Step 302: Determine a current flat slope section and a subsequent flat slope section from each flat slope straight section of the flat slope search path.

[0086] In this embodiment, the flat slope straight sections of the flat slope search path are distributed in a five-pointed star shape.

[0087] In this embodiment, the subsequent straight road section is the next flat slope straight road section following the current flat slope road section.

[0088] For example, in Figure 1A In the example shown, when the current flat slope section is ab, the subsequent flat slope section is bc; when the current flat slope section is bc, the subsequent flat slope section is cd.

[0089] Step 304: Control the swimming pool cleaning robot to move along the current flat slope section at a first speed, measure the distance of the pool wall in the direction of travel of the swimming pool cleaning robot by a distance measuring unit, obtain an actual obstacle avoidance distance between the swimming pool cleaning robot and the pool wall, and obtain posture data of the swimming pool cleaning robot by an inertial measurement unit.

[0090] In some embodiments, the ranging unit of the pool cleaning robot may include a laser sensor and a sonar sensor, and the pool cleaning robot further includes a visual sensor.

[0091] Among them, during the movement of the pool cleaning robot, the turbidity of the pool water can be detected by a visual sensor. If the turbidity of the water exceeds a given turbidity threshold, the sonar sensor is used to measure the distance to the pool wall in the direction of travel of the pool cleaning robot; if the turbidity of the water does not exceed the turbidity threshold, the laser sensor is used to measure the distance to the pool wall in the direction of travel of the pool cleaning robot.

[0092] Specifically, due to the large scattering and absorption of lasers by water, especially in turbid water, the penetration ability and effective range of lasers will be greatly weakened, and suspended particles and optical impurities in the water will also affect the propagation and reflection effects of lasers. Therefore, by introducing visual sensors to judge the turbidity of pool water, when the turbidity is higher than the set standard, the detection data of the sonar sensor is used first, which can improve the reliability of the ranging results, thereby improving the safety and stability of the mobile operation of the pool cleaning robot.

[0093] Step 306 , determining whether the posture data of the swimming pool cleaning robot falls within the slope posture range, if so, proceeding to step 318 , otherwise proceeding to step 308 .

[0094] In some embodiments, when it is determined that the posture data of the swimming pool cleaning robot does not fall into the slope posture range, it means that the swimming pool cleaning robot is still moving in the shallow water area, and step 308 is performed.

[0095] Step 308 , determining whether the actual obstacle avoidance distance between the swimming pool cleaning robot and the pool wall is less than the minimum obstacle avoidance distance, if so, proceed to step 310 , otherwise, return to step 304 .

[0096] In some embodiments, the minimum obstacle avoidance distance may be determined based on parameters such as the moving speed and body length of the pool cleaning robot.

[0097] It should be noted that the execution order of step 306 and step 308 can be swapped or executed simultaneously, and the present disclosure does not limit this.

[0098] Step 310: Control the swimming pool cleaning robot to move along the current flat slope section at a second speed lower than the first speed.

[0099] Specifically, when it is detected that the swimming pool cleaning robot is approaching the pool wall, the swimming pool cleaning robot can be controlled to move at a reduced speed to prevent it from hitting the wall.

[0100] Step 312 , determining whether the posture data of the swimming pool cleaning robot falls within the slope posture range, if so, proceeding to step 318 , otherwise proceeding to step 314 .

[0101] Step 314 , determining whether the posture data of the swimming pool cleaning robot falls into the wall-hitting posture range, if so, proceed to step 316 , otherwise, return to step 310 .

[0102] Specifically, it can be determined based on the posture data whether the moving surface of the swimming pool cleaning robot has a significant slope change. If so, it means that the swimming pool cleaning robot has collided with the pool wall, and step 316 is performed.

[0103] It should be noted that the execution order of step 312 and step 314 can be swapped or executed simultaneously, and the present disclosure does not limit this.

[0104] Step 316 , control the swimming pool cleaning robot to move from the current flat slope section to the subsequent flat slope section, and update the subsequent flat slope section to the new current flat slope section, and return to step 302 .

[0105] Specifically, if it is determined that the swimming pool cleaning robot hits a wall, it means that the flat slope straight section that the swimming pool cleaning robot is currently traveling on ends, then the swimming pool cleaning robot is controlled to turn around to the next flat slope straight section (i.e., the subsequent flat slope section), and returns to step 302.

[0106] Step 318: Obtain the detection result of the swimming pool cleaning robot moving from the shallow water area to the slope area.

[0107] In summary, this embodiment controls the movement operation of the swimming pool cleaning robot by integrating the detection data of the visual sensor, laser sensor, sonar sensor and inertial measurement unit, thereby reducing the risk of the swimming pool cleaning robot getting stuck when turning around near the pool wall, so as to improve the safety and stability of the swimming pool cleaning robot moving from the shallow water area to the slope area.

[0108] In addition, the flat slope search path design distributed in a five-pointed star shape allows the pool cleaning robot to move quickly from shallow water areas to deep water areas with fewer turns.

[0109] Pool cleaning methods

[0110] Figure 4 The processing flow of the swimming pool cleaning method of the exemplary embodiment of the present disclosure is as follows. Figure 1A Or the swimming pool 100 shown in FIG. 1 includes a deep water area 110 , a shallow water area 130 , and a slope area 120 located between the deep water area 110 and the shallow water area 130 .

[0111] As shown in the figure, this implementation mainly includes the following steps:

[0112] Step 402: Generate a cleaning route for the swimming pool.

[0113] In this embodiment, the swimming pool cleaning route generation method described in any of the above embodiments may be used to generate a swimming pool cleaning route.

[0114] Step 404: Control the swimming pool cleaning robot to move along the cleaning route to perform the swimming pool cleaning task.

[0115] In some embodiments, the cleaning route includes a first cleaning segment covering the deep water area and a second cleaning segment covering the deep water area, the slope area and the shallow water area, and the end point of the first cleaning segment coincides with the starting point of the second cleaning segment.

[0116] For example, in Figure 1A In the example shown, the cleaning route of the swimming pool includes a first cleaning segment gh covering the pool bottom of the deep water area 110, and a second cleaning segment hi covering the pool bottom of the deep water area 110, the slope area 120, and the shallow water area 130. Figure 1BIn the example shown, the cleaning route of the swimming pool includes a first cleaning segment cde covering the pool bottom and pool walls of the deep water area 110, and a second cleaning segment efgih covering the pool bottom and pool walls of the deep water area 110, the slope area 120, and the shallow water area 130 (where ef covers the pool bottom cleaning route, gh covers the pool wall cleaning route, and ih covers the waterline cleaning route).

[0117] In some embodiments, the pool cleaning robot 2 can be controlled to perform a first cleaning task on the deep water area 110 along a first cleaning segment and a first cleaning direction F1 of the pool, and in response to a determination result that the first cleaning task has been completed, the pool cleaning robot 2 can be controlled to perform a second cleaning task on the deep water area, the slope area, and the shallow water area in sequence along a second cleaning segment and a second cleaning direction F2 of the pool.

[0118] In some embodiments, the task of generating a cleaning route and the cleaning task performed based on the cleaning route can be executed synchronously.

[0119] In summary, the swimming pool cleaning task of this embodiment can perform two complete cleanings on the deep water area with more serious pollution, which not only improves the swimming pool cleaning effect, but also has a reasonable cleaning route design, which can shorten the moving distance of the swimming pool cleaning robot and improve the cleaning efficiency.

[0120] Pool cleaning line generator

[0121] Figure 5 FIG. 5 is a structural block diagram of a swimming pool cleaning route generating device 500 according to an exemplary embodiment of the present disclosure, which is applied to Figure 1A or Figure 1B The swimming pool 100 shown includes a deep water area 110, a shallow water area 130, and a slope area 120 between the deep water area 110 and the shallow water area 130. The device 500 includes:

[0122] The wall detection module 502 is used to control the swimming pool cleaning robot to perform a wall detection operation in the slope area in response to the detection result that the swimming pool cleaning robot moves from the shallow water area to the slope area, and generate a slope movement path extending along the slope line of the slope area.

[0123] The marking module 504 is used to control the swimming pool cleaning robot to move along the slope moving path toward the deep water area, and in response to the detection result that the swimming pool cleaning robot moves to the deep water area or hits a wall, mark the current position of the swimming pool cleaning robot as a first cleaning starting point.

[0124] The generating module 506 is configured to generate a cleaning route covering the swimming pool along a first cleaning direction and a second cleaning direction of the swimming pool based on the first cleaning starting point, wherein the first cleaning direction is opposite to the second cleaning direction.

[0125] In some embodiments, the wall detection module 502 is also used to: control the swimming pool cleaning robot to move along each flat slope straight section in the flat slope search path in turn to search for the slope area, and obtain the posture data of the swimming pool cleaning robot during the movement; compare the posture data with a given slope posture range, if the posture data does not fall within the slope posture range, return to execute the flat slope movement step; if the posture data falls within the slope posture range, obtain the detection result of the swimming pool cleaning robot moving to the slope area; wherein the slope posture range is determined according to the slope of the slope area.

[0126] In some embodiments, each flat slope straight road segment in the flat slope search path is distributed in a serpentine shape, a sawtooth shape, or a five-pointed star shape.

[0127] In some embodiments, at least one endpoint of each flat slope straight line segment falls at the junction of the pool bottom and the pool wall.

[0128] In some embodiments, the swimming pool cleaning robot includes a ranging unit and an inertial measurement unit, and the swimming pool includes a pool wall; the wall detection module 502 is also used to: determine the current flat slope section and the subsequent flat slope section from each flat slope straight section of the flat slope search path, wherein the subsequent straight section is the next flat slope straight section following the current flat slope section; control the swimming pool cleaning robot to move along the current flat slope section at a first speed, measure the distance of the pool wall in the direction of travel of the swimming pool cleaning robot through the ranging unit, obtain the actual obstacle avoidance distance between the swimming pool cleaning robot and the pool wall, and obtain the posture data of the swimming pool cleaning robot through the inertial measurement unit; if the actual obstacle avoidance distance is less than the given minimum obstacle avoidance distance, control the swimming pool cleaning robot and moving along the current flat slope section at a second speed lower than the first speed; if the actual obstacle avoidance distance is not less than the minimum obstacle avoidance distance, returning to the step of controlling the swimming pool cleaning robot to move along the current flat slope section at the first speed; according to the posture data, if a judgment result that the swimming pool cleaning robot hits a wall is obtained, controlling the swimming pool cleaning robot to move from the current flat slope section to the subsequent flat slope section, updating the subsequent flat slope section as a new current flat slope section, and returning to the step of determining the current flat slope section and the subsequent flat slope section in each flat slope straight section; if a judgment result that the swimming pool cleaning robot hits a wall is not obtained, returning to the step of controlling the swimming pool cleaning robot to move along the current flat slope section at a second speed lower than the first speed.

[0129] In some embodiments, the swimming pool includes a first sloped side wall and a second sloped side wall located on opposite sides of the sloped area; the wall exploration module 502 is also used to: control the swimming pool cleaning robot to perform the wall exploration operation of the sloped area, determine the setting positions of the first sloped side wall and the second sloped side wall relative to the sloped area; determine the midpoint position between the first sloped side wall and the second sloped side wall according to the setting positions of the first sloped side wall and the second sloped side wall relative to the sloped area; based on the midpoint position, generate the sloped moving path extending along the slope line of the sloped area.

[0130] In some embodiments, the wall detection module 502 is also used to: in response to the detection result of the swimming pool cleaning robot moving from the shallow water area to the slope area, determine a wall detection path that is substantially perpendicular to the slope line of the slope area based on the current position and posture data of the swimming pool cleaning robot; control the swimming pool cleaning robot to move forward and backward along the wall detection path, detect the first slope side wall and the second slope side wall located at both ends of the wall detection path, and obtain the setting positions of the first slope side wall and the second slope side wall relative to the slope area.

[0131] In some embodiments, the marking module 504 is also used to: execute the slope movement step, control the swimming pool cleaning robot to move along the slope movement path toward the deep water area, and obtain the posture data of the swimming pool cleaning robot during the movement; compare the posture data with a given wall-hitting posture range and a given flat slope posture range respectively, if the posture data falls into the wall-hitting posture range or the flat slope posture range, control the swimming pool cleaning robot to stop moving, and mark the current position of the swimming pool cleaning robot as the first cleaning starting point; if the posture data does not fall into the wall-hitting posture range and does not fall into the flat slope posture range, return to execute the slope movement step.

[0132] In some embodiments, the first cleaning direction corresponds to a direction extending from a shallow water area to a deep water area of ​​the swimming pool, the second cleaning direction corresponds to a direction extending from a deep water area to a shallow water area of ​​the swimming pool, and the cleaning route of the swimming pool includes a first cleaning segment and a second cleaning segment; the generation module 506 is further used to: based on the first cleaning starting point, generate a first cleaning segment covering the deep water area along the first cleaning direction; take the end point of the first cleaning segment as the second cleaning starting point, and generate a second cleaning segment covering the deep water area, the slope area and the shallow water area along a second cleaning direction opposite to the first cleaning direction.

[0133] In some embodiments, the first cleaning segment only covers the bottom of the deep water area, or the first cleaning segment covers the bottom and walls of the deep water area; the second cleaning segment only covers the entire bottom of the swimming pool, or the second cleaning segment covers the entire bottom and walls of the swimming pool.

[0134] Pool cleaning device

[0135] Figure 6 FIG. 6 is a structural block diagram of a swimming pool cleaning route generating device 600 according to an exemplary embodiment of the present disclosure, which is applied to Figure 1A or Figure 1B The swimming pool 100 shown includes a deep water area 110, a shallow water area 130, and a slope area 120 between the deep water area 110 and the shallow water area 130. The device 600 includes:

[0136] The acquisition module 602 is used to generate a cleaning route for the swimming pool by using the swimming pool cleaning route generation device as described in any of the above embodiments.

[0137] The cleaning module 604 is used to control the swimming pool cleaning robot to move along the cleaning route to perform the cleaning task of the swimming pool.

[0138] In some embodiments, the cleaning route includes a first cleaning segment covering the deep water area and a second cleaning segment covering the deep water area, the slope area and the shallow water area, and the end point of the first cleaning segment coincides with the starting point of the second cleaning segment.

[0139] In some embodiments, the cleaning module 604 is used to: control the swimming pool cleaning robot to perform a first cleaning task on the deep water area along the first cleaning segment and the first cleaning direction of the swimming pool; in response to a determination result that the first cleaning task has been completed, control the swimming pool cleaning robot to perform a second cleaning task on the deep water area, the slope area and the shallow water area in sequence along the second cleaning segment and the second cleaning direction of the swimming pool.

[0140] In some embodiments, the task of generating the cleaning route and the cleaning task performed based on the cleaning route are performed synchronously.

[0141] In addition, the swimming pool cleaning route generating device 500 and the swimming pool cleaning device 600 of each embodiment of the present disclosure can also be used to implement the other steps in the aforementioned swimming pool cleaning route generating and swimming pool cleaning method embodiments, and have the beneficial effects of the corresponding method step embodiments, which will not be repeated here.

[0142] The exemplary embodiments of the present disclosure also provide an electronic device, comprising: at least one processor; and a memory connected to the at least one processor in communication. The memory stores a computer program that can be executed by the at least one processor, and the computer program is used to cause the electronic device to perform the method according to each embodiment of the present disclosure when executed by the at least one processor.

[0143] Exemplary embodiments of the present disclosure also provide a non-transitory computer-readable storage medium storing a computer program, wherein the computer program, when executed by a processor of a computer, is used to cause the computer to perform the method according to each embodiment of the present disclosure.

[0144] Exemplary embodiments of the present disclosure further provide a computer program product, including a computer program, wherein when the computer program is executed by a processor of a computer, the computer is used to enable the computer to perform the method according to each embodiment of the present disclosure.

[0145] The exemplary embodiment of the present disclosure further provides a swimming pool cleaning robot, which includes a controller, wherein the controller stores control instructions, and when the control instructions are executed, the controller executes the swimming pool cleaning route generation and swimming pool cleaning method of each embodiment of the present disclosure.

[0146] refer to Figure 7 , a block diagram of an electronic device 700 that can be used as a server or client of the present disclosure will now be described, which is an example of a hardware device that can be applied to various aspects of the present disclosure. The electronic device is intended to represent various forms of digital electronic computer devices, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, large computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present disclosure described and / or required herein.

[0147] like Figure 7 As shown, the electronic device 700 includes a computing unit 701, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 702 or a computer program loaded from a storage unit 708 into a random access memory (RAM) 703. In the RAM 703, various programs and data required for the operation of the device 700 can also be stored. The computing unit 701, the ROM 702, and the RAM 703 are connected to each other via a bus 704. An input / output (I / O) interface 705 is also connected to the bus 704.

[0148] A plurality of components in the electronic device 700 are connected to the I / O interface 705, including: an input unit 706, an output unit 707, a storage unit 708, and a communication unit 709. The input unit 706 may be any type of device capable of inputting information to the electronic device 700, and the input unit 706 may receive input digital or character information, and generate key signal inputs related to user settings and / or function control of the electronic device. The output unit 707 may be any type of device capable of presenting information, and may include, but is not limited to, a display, a speaker, a video / audio output terminal, a vibrator, and / or a printer. The storage unit 704 may include, but is not limited to, a disk, an optical disk. The communication unit 709 allows the electronic device 700 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks, and may include, but is not limited to, a modem, a network card, an infrared communication device, a wireless communication transceiver, and / or a chipset, such as a Bluetooth™ device, a WiFi device, a WiMax device, a cellular communication device, and / or the like.

[0149] The computing unit 701 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the computing unit 701 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. The computing unit 701 performs the various methods and processes described above. For example, in some embodiments, the pool cleaning route generation and pool cleaning method of the aforementioned embodiments may be implemented as a computer software program, which is tangibly included in a machine-readable medium, such as a storage unit 708. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 700 via the ROM 702 and / or the communication unit 709. In some embodiments, the computing unit 701 may be configured to perform the pool cleaning route generation and pool cleaning method by any other appropriate means (e.g., by means of firmware).

[0150] The program code for implementing the method of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that the program code, when executed by the processor or controller, enables the functions / operations specified in the flow chart and / or block diagram to be implemented. The program code may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0151] In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0152] As used in this disclosure, the terms "machine-readable medium" and "computer-readable medium" refer to any computer program product, apparatus, and / or device (e.g., disk, optical disk, memory, programmable logic device (PLD)) for providing machine instructions and / or data to a programmable processor, including a machine-readable medium that receives machine instructions as a machine-readable signal. The term "machine-readable signal" refers to any signal for providing machine instructions and / or data to a programmable processor.

[0153] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0154] The systems and techniques described herein may be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), and the Internet.

[0155] A computer system may include clients and servers. Clients and servers are generally remote from each other and usually interact through a communication network. The relationship of client and server is generated by computer programs running on respective computers and having a client-server relationship to each other.

[0156] It should be understood that although this specification is described according to various embodiments, not every embodiment contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0157] The above description is only an illustrative specific implementation of the embodiment of the present disclosure, and is not intended to limit the scope of the embodiment of the present disclosure. Any equivalent changes, modifications and combinations made by any technician in the field without departing from the concept and principle of the embodiment of the present disclosure shall fall within the scope of protection of the embodiment of the present disclosure.

Claims

1. A method for generating a swimming pool cleaning route, wherein: Applicable to a swimming pool comprising a deep water area, a shallow water area and a slope area, wherein the slope area is located between the deep water area and the shallow water area, the method comprises: In response to a detection result that the swimming pool cleaning robot moves from the shallow water area to the slope area, controlling the swimming pool cleaning robot to perform a wall exploration operation in the slope area to generate a slope movement path extending along a slope line of the slope area; Controlling the swimming pool cleaning robot to move along the slope moving path toward the deep water area, and in response to a detection result that the swimming pool cleaning robot moves to the deep water area or hits a wall, marking a current position of the swimming pool cleaning robot as a first cleaning starting point; Based on the first cleaning starting point, a cleaning route covering the swimming pool is generated along a first cleaning direction and a second cleaning direction of the swimming pool, respectively, wherein the first cleaning direction is opposite to the second cleaning direction.

2. The method for generating a swimming pool cleaning route according to claim 1, wherein: The detection result of the swimming pool cleaning robot moving from the shallow water area to the slope area is obtained by: Executing a flat slope movement step, controlling the swimming pool cleaning robot to move along each flat slope straight section in the flat slope search path in sequence to search for the slope area, and obtaining posture data of the swimming pool cleaning robot during the movement; Compare the posture data with a given slope posture range, and if the posture data does not fall within the slope posture range, return to execute the flat slope movement step; if the posture data falls within the slope posture range, obtain a detection result that the swimming pool cleaning robot moves to the slope area; Wherein, the slope posture range is determined according to the slope of the slope area.

3. The method for generating a swimming pool cleaning route according to claim 2, wherein: Each flat slope straight road section in the flat slope search path is distributed in a snake shape, a sawtooth shape, or a five-pointed star shape; At least one endpoint of each flat slope straight line section falls at the junction of the pool bottom and the pool wall of the swimming pool.

4. The method for generating a swimming pool cleaning route according to claim 2, wherein: The swimming pool cleaning robot comprises a distance measuring unit and an inertial measurement unit, and the swimming pool comprises a pool wall; Wherein, controlling the swimming pool cleaning robot to move sequentially along each flat slope straight section in the flat slope search path comprises: Determine a current flat slope section and a subsequent flat slope section from each flat slope straight section of the flat slope search path, wherein the subsequent straight section is a next flat slope straight section following the current flat slope section; Controlling the swimming pool cleaning robot to move along the current flat slope section at a first speed, measuring the distance of the pool wall in the direction of travel of the swimming pool cleaning robot by the distance measuring unit to obtain an actual obstacle avoidance distance between the swimming pool cleaning robot and the pool wall, and acquiring posture data of the swimming pool cleaning robot by the inertial measurement unit; If the actual obstacle avoidance distance is less than the given minimum obstacle avoidance distance, control the swimming pool cleaning robot to move along the current flat slope section at a second speed lower than the first speed; if the actual obstacle avoidance distance is not less than the minimum obstacle avoidance distance, return to the step of controlling the swimming pool cleaning robot to move along the current flat slope section at the first speed; According to the posture data, if a judgment result that the swimming pool cleaning robot hits a wall is obtained, the swimming pool cleaning robot is controlled to move from the current flat slope section to the subsequent flat slope section, the subsequent flat slope section is updated as a new current flat slope section, and the step of determining the current flat slope section and the subsequent flat slope section in each flat slope straight section is returned to execute; if a judgment result that the swimming pool cleaning robot hits a wall is not obtained, the step of controlling the swimming pool cleaning robot to move along the current flat slope section at a second speed lower than the first speed is returned to execute.

5. The method for generating a swimming pool cleaning route according to claim 1, wherein: The swimming pool includes a first sloped side wall and a second sloped side wall located on opposite sides of the sloped area; The controlling the swimming pool cleaning robot to perform the wall exploration operation in the slope area to generate the slope movement path extending along the slope line of the slope area includes: Controlling the swimming pool cleaning robot to perform a wall exploration operation on the slope area, and determining the setting positions of the first slope side wall and the second slope side wall relative to the slope area; Determining a midpoint position between the first slope sidewall and the second slope sidewall according to the arrangement positions of the first slope sidewall and the second slope sidewall relative to the slope area; Based on the midpoint position, the slope movement path extending along the slope line of the slope area is generated.

6. The method for generating a swimming pool cleaning route according to claim 5, wherein: The controlling the swimming pool cleaning robot to perform the wall exploration operation of the slope area to determine the setting positions of the first slope side wall and the second slope side wall relative to the slope area includes: In response to a detection result that the swimming pool cleaning robot moves from the shallow water area to the slope area, based on the current position and posture data of the swimming pool cleaning robot, a wall exploration path substantially perpendicular to the slope line of the slope area is determined; The swimming pool cleaning robot is controlled to move forward and backward along the wall-probing path, and the first slope side wall and the second slope side wall located at both ends of the wall-probing path are detected to obtain the setting positions of the first slope side wall and the second slope side wall relative to the slope area.

7. The method for generating a swimming pool cleaning route according to claim 1, wherein: The controlling the swimming pool cleaning robot to move along the slope moving path toward the deep water area, and in response to a detection result that the swimming pool cleaning robot moves to the deep water area or hits a wall, marking a current position of the swimming pool cleaning robot as a first cleaning starting point, comprises: Executing a slope movement step, controlling the swimming pool cleaning robot to move along the slope movement path toward the deep water area, and acquiring posture data of the swimming pool cleaning robot during the movement; The posture data is compared with a given wall-hitting posture range and a given flat slope posture range respectively. If the posture data falls into the wall-hitting posture range or the flat slope posture range, the swimming pool cleaning robot is controlled to stop moving, and the current position of the swimming pool cleaning robot is marked as the first cleaning starting point; if the posture data does not fall into the wall-hitting posture range and does not fall into the flat slope posture range, return to execute the slope movement step.

8. The method for generating a swimming pool cleaning route according to claim 1, wherein: The first cleaning direction corresponds to a direction extending from a shallow water area to a deep water area of ​​the swimming pool, the second cleaning direction corresponds to a direction extending from a deep water area to a shallow water area of ​​the swimming pool, and the cleaning route of the swimming pool includes a first cleaning segment and a second cleaning segment; The step of generating a cleaning route covering the swimming pool along a first cleaning direction and a second cleaning direction of the swimming pool based on the first cleaning starting point includes: Based on the first cleaning starting point, generating a first cleaning segment covering the deep water area along the first cleaning direction; The end point of the first cleaning segment is used as the second cleaning starting point, and a second cleaning segment covering the deep water area, the slope area and the shallow water area is generated along a second cleaning direction opposite to the first cleaning direction.

9. The method for generating a swimming pool cleaning route according to claim 8, wherein: The first cleaning segment only covers the pool bottom of the deep water area, or the first cleaning segment covers the pool bottom and pool wall of the deep water area; The second cleaning segment only covers the entire bottom of the swimming pool, or the second cleaning segment covers the entire bottom and entire walls of the swimming pool.

10. A method for cleaning a swimming pool, wherein: Applicable to a swimming pool comprising a deep water area, a shallow water area and a slope area, wherein the slope area is located between the deep water area and the shallow water area, the method comprises: generating a cleaning route for the swimming pool; Controlling the swimming pool cleaning robot to move along the cleaning route to perform the cleaning task of the swimming pool; Wherein, the cleaning route of the swimming pool is generated by using the swimming pool cleaning route generation method according to any one of claims 1 to 9.

11. The swimming pool cleaning method according to claim 10, wherein: The cleaning route includes a first cleaning segment covering the deep water area and a second cleaning segment covering the deep water area, the slope area and the shallow water area, and the end point of the first cleaning segment coincides with the starting point of the second cleaning segment; And wherein, the method further comprises: Controlling the swimming pool cleaning robot to perform a first cleaning task on the deep water area along the first cleaning segment and the first cleaning direction of the swimming pool; In response to the determination result that the first cleaning task is completed, the swimming pool cleaning robot is controlled to perform a second cleaning task on the deep water area, the slope area and the shallow water area in sequence along the second cleaning segment and the second cleaning direction of the swimming pool.

12. The swimming pool cleaning method according to claim 10 or 11, wherein: The task of generating the cleaning route and the cleaning task performed based on the cleaning route are performed synchronously.

13. A swimming pool cleaning route generation device, wherein: Applicable to a swimming pool including a deep water area, a shallow water area and a slope area, wherein the slope area is located between the deep water area and the shallow water area, the device comprises: a wall exploration module, for controlling the swimming pool cleaning robot to perform a wall exploration operation in the slope area in response to a detection result that the swimming pool cleaning robot moves from the shallow water area to the slope area, and generating a slope movement path extending along a slope line of the slope area; a marking module, used to control the swimming pool cleaning robot to move along the slope moving path toward the deep water area, and in response to a detection result that the swimming pool cleaning robot moves to the deep water area or hits a wall, mark the current position of the swimming pool cleaning robot as a first cleaning starting point; A generation module is used to generate a cleaning route covering the swimming pool along a first cleaning direction and a second cleaning direction of the swimming pool based on the first cleaning starting point, wherein the first cleaning direction is opposite to the second cleaning direction.

14. A swimming pool cleaning device, wherein: Applicable to a swimming pool including a deep water area, a shallow water area and a slope area, wherein the slope area is located between the deep water area and the shallow water area, and comprises: An acquisition module, configured to generate a cleaning route of the swimming pool by using the swimming pool cleaning route generation device as claimed in claim 13; The cleaning module is used to control the swimming pool cleaning robot to move along the cleaning route to perform the cleaning task of the swimming pool.

15. An electronic device, comprising: A processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface communicate with each other via the communication bus; The memory is used to store at least one executable instruction, and the executable instruction enables the processor to perform operations corresponding to the swimming pool cleaning route generation method according to any one of claims 1 to 9, or to perform operations corresponding to the swimming pool cleaning method according to any one of claims 10 to 12.

16. A computer storage medium having a computer program stored thereon, wherein when the program is executed by a processor, the method for generating a swimming pool cleaning route as claimed in any one of claims 1 to 9 is implemented, or the method for cleaning a swimming pool as claimed in any one of claims 10 to 12 is implemented.

17. A computer program product, comprising computer instructions, wherein the computer instructions instruct a computing device to execute operations corresponding to the method for generating a pool cleaning route according to any one of claims 1 to 9, or to execute operations corresponding to the method for cleaning a pool according to any one of claims 10 to 12.

18. A swimming pool cleaning robot, comprising a controller, wherein control instructions are stored in the controller, and when the control instructions are executed, the controller executes the swimming pool cleaning route generation method as described in any one of claims 1 to 9, or implements the swimming pool cleaning method as described in any one of claims 10 to 12.

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