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

Abstract

The present disclosure provides a pool cleaning route generation and pool cleaning method and pool cleaning robot, comprising: in response to a detection result that the pool cleaning robot moves from a shallow water area to a slope area, controlling the pool cleaning robot to perform a wall detection operation of the slope area, generating a slope moving path extending along the slope line of the slope area, controlling the pool cleaning robot to move along the slope moving path to a deep water area, in response to a detection result that the pool cleaning robot moves to the deep water area or collides with the wall, marking the current position of the pool cleaning robot as a first cleaning starting point; based on the first cleaning starting point, generating a cleaning route covering the pool along a first cleaning direction and an opposite second cleaning direction of the pool respectively. The present disclosure can not only realize the key cleaning of the deep water area of the pool to improve the cleaning effect, but also realize the rapid generation of the pool cleaning route through reasonable cleaning route design.

Description

[0001] Cross-reference to related applications

[0002] This disclosure claims priority to international application number PCT / CN2024 / 084559, entitled “Pool Cleaning Method, Apparatus, Electronic Equipment and Pool Cleaning Robot”, filed on March 28, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This disclosure relates to the field of cleaning control technology, and in particular to a pool cleaning route generation and pool cleaning method, apparatus, electronic device, storage medium and pool cleaning robot. Background Technology

[0004] Pool cleaning robots are a type of cleaning robot developed to meet the needs of pool cleaning. They can repeatedly clean the pool bottom and pool walls, as well as filter and clean the pool water.

[0005] Swimming pools come in various shapes and sizes, primarily including standard pools, shallow pools, and mixed-use pools. Mixed-use pools typically feature a deep end, a shallow end, and a sloping area (or gentle slope) connecting the two. The shallow end usually has vertical walls, and the side of the shallow end away from the deep end may have steps or platforms. The deep end walls may include steep walls extending upwards from the pool bottom and vertical walls extending upwards from the steep walls. Due to the varying depths within a mixed-use pool, waste from the shallow and sloping areas tends to drift to the deep end; therefore, the deep end usually requires the most cleaning.

[0006] In conclusion, since the cleaning needs of different pool areas vary, designing appropriate cleaning routes based on the different types of areas within the pool is crucial for improving the effectiveness of pool cleaning. Summary of the Invention

[0007] To address the aforementioned problems, this disclosure provides an improved swimming pool cleaning route generation scheme, which at least partially solves the problems.

[0008] According to a first aspect of the present disclosure, a pool cleaning route generation method is provided, applied to a pool including a deep water area, a shallow water area and a slope area between the deep water area and the shallow water area. The method comprises: in response to a detection result that a pool cleaning robot moves from the shallow water area to the slope area, controlling the pool cleaning robot to perform a wall detection operation of the slope area, and generating a slope moving path extending along a slope line of the slope area; controlling the pool cleaning robot to move along the slope moving path to the deep water area, and in response to a detection result that the pool cleaning robot moves to the deep water area or collides with a wall, marking a current position of the pool cleaning robot as a first cleaning starting point; and based on the first cleaning starting point, generating a cleaning route covering the pool along a first cleaning direction and a second cleaning direction of the 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 pool cleaning method is provided, applied to a pool including a deep water area, a shallow water area and a slope area between the deep water area and the shallow water area. The method comprises: generating a cleaning route of the pool; and controlling a pool cleaning robot to move along the cleaning route to perform a cleaning task of the pool; wherein the cleaning route of the pool is generated by the pool cleaning route generation method according to the first aspect.

[0010] According to a third aspect of the present disclosure, a pool cleaning route generation device is provided, applied to a pool including a deep water area, a shallow water area and a slope area between the deep water area and the shallow water area. The device comprises: a wall detection module, configured to, in response to a detection result that a pool cleaning robot moves from the shallow water area to the slope area, control the pool cleaning robot to perform a wall detection operation of the slope area, and generate a slope moving path extending along a slope line of the slope area; a marking module, configured to control the pool cleaning robot to move along the slope moving path to the deep water area, and in response to a detection result that the pool cleaning robot moves to the deep water area or collides with a wall, mark a current position of the pool cleaning robot as a first cleaning starting point; and a generation module, configured to, based on the first cleaning starting point, generate a cleaning route covering the pool along a first cleaning direction and a second cleaning direction of the pool respectively, wherein the first cleaning direction is opposite to the second cleaning direction.

[0011] According to a fourth aspect of the present disclosure, a pool cleaning device is provided, applied to a pool including a deep water area, a shallow water area and a slope area between the deep water area and the shallow water area. The device comprises: an acquisition module, configured to generate a cleaning route of the pool by the pool cleaning route generation device according to the third aspect; and a cleaning module, configured to control a pool cleaning robot to move along the cleaning route to perform a cleaning task of the pool.

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

[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 cause a computer to perform the method of the first aspect or the second aspect.

[0014] According to a seventh aspect of the present disclosure, a computer program product is provided, comprising computer instructions instructing a computing device to perform operations corresponding to the pool cleaning route generation method of the first aspect or the pool cleaning method of the second aspect.

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

[0016] In summary, the pool cleaning route generation schemes provided by the aspects of the present disclosure can generate a slope movement path extending along the slope line of the slope area, so as to provide the pool cleaning robot to quickly move from the shallow water area to the deep water area to determine the cleaning starting point of the pool. According to the cleaning starting point and the two opposite cleaning directions, the pool cleaning route is generated, which not only meets the cleaning requirements of different areas of the pool, but also improves the pool cleaning efficiency due to the reasonable design of the cleaning route.

[0017] Furthermore, the pool cleaning method provided by the aspects of the present disclosure can perform the pool cleaning task based on the pool cleaning route generated by the pool cleaning route generation scheme, which can shorten the pool cleaning movement path and improve the pool cleaning execution efficiency while meeting the cleaning requirements of different areas of the pool. BRIEF DESCRIPTION OF DRAWINGS

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

[0019] Figures 1A-1B Different pool schematic diagrams suitable for implementing the pool cleaning route generation and cleaning method or device of the embodiments of the present disclosure.

[0020] Figure 2 The process flowchart of the pool cleaning route generation method of the exemplary embodiments of the present disclosure.

[0021] Figure 3A processing flowchart of a pool cleaning route generation method according to another exemplary embodiment of the present disclosure.

[0022] Figure 4 A processing flowchart of a pool cleaning method according to an exemplary embodiment of the present disclosure.

[0023] Figure 5 A structure block diagram of a pool cleaning route generation device according to an exemplary embodiment of the present disclosure.

[0024] Figure 6 A structure block diagram of a pool cleaning device according to an exemplary embodiment of the present disclosure.

[0025] Figure 7 A structure block diagram of an electronic device according to an exemplary embodiment of the present disclosure.

[0026] Explanation of Reference Numerals:

[0027] 2, pool cleaning robot 126, slope movement path

[0028] 100, pool 130, shallow water area

[0029] 102, standard pool F1, first cleaning direction

[0030] 104, special-shaped pool 35 F2, second cleaning direction

[0031] 110, deep water area 500, pool cleaning route generation device

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

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

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

[0035] 125, wall detection path 40 600, pool cleaning device

[0036] 602, acquisition module 704, bus

[0037] 604, cleaning module 705, input / 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 make the technical features, objectives and effects of the embodiments of the present disclosure clearer, the specific implementation manners of the embodiments of the present disclosure will be described with reference to the drawings.

[0043] In the present document, "schematic" means "serving as an example, instance or illustration", and any illustration, implementation described as "schematic" in the present document should not be interpreted as a more preferred or more advantageous technical solution.

[0044] In order to make the drawings simple, only the parts related to the present disclosure are schematically shown in the drawings, which do not represent the actual structure of the product. In addition, in order to make the drawings simple and easy to understand, in some drawings, only one or more of the parts with the same structure or function are schematically shown, or only one or more of them are marked.

[0045] For a comprehensive swimming pool including a deep water area, a slope area and a shallow water area, due to different depths of different areas, dirt in the shallow water area and the slope area will drift to the deep water area, so the cleaning demand of the deep water area of the swimming pool is also the largest.

[0046] Therefore, the embodiments of the present disclosure provide a swimming pool cleaning route generation scheme, which can meet the cleaning demand of different areas of the swimming pool, so as to improve the cleaning effect of the swimming pool and improve the cleaning efficiency of the swimming pool.

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

[0048] In the present 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 scenario, the embodiments of the present disclosure provide a swimming pool cleaning route generation and a swimming pool cleaning scheme, which will be described in detail below in combination with the drawings.

[0050] Swimming pool cleaning route generation method

[0051] Figure 2 The processing flow of the swimming pool cleaning route generation method of the exemplary embodiments of the present disclosure is shown, which mainly includes the following steps:

[0052] ​​Step 202: In response to the detection result of the pool cleaning robot moving from the shallow water area to the slope area, control the pool cleaning robot to perform the wall probing operation in the slope area and generate a slope movement path extending along the slope line of the slope area.

[0053] In some embodiments, after the pool cleaning robot is placed in the shallow water area 130 of the pool 100, the pool cleaning robot can be controlled to move sequentially along each straight section of the flat slope search path to search for the slope area, and the attitude data of the pool cleaning robot during the movement can be obtained. The attitude data can be compared with a given slope attitude range. If the attitude data does not fall within the slope attitude range, the pool cleaning robot is controlled to continue moving along each straight section of the flat slope search path to search for the slope area. If the attitude data falls within the slope attitude range, the detection result of the 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) comprising an accelerometer and an angular velocity sensor for detecting attitude data of the pool cleaning robot during movement.

[0055] In this embodiment, the position data of the pool cleaning robot can be used to determine whether the pool cleaning robot is located in the sloping area of ​​the pool.

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

[0057] In this embodiment, the slope attitude range can be determined based on the slope of the slope area. Generally, when the roll angle and pitch angle parameters of the pool cleaning robot are greater than +30 degrees or less than -30 degrees, or when the tilt angle of the pool cleaning robot is greater than +30 degrees or less than -30 degrees, the determination result that the pool cleaning robot is located in the slope area can be obtained.

[0058] In some embodiments, the straight sections of flat slopes in the flat slope search path are distributed in a serpentine, sawtooth, or pentagonal pattern (see reference). Figure 1A The five-pointed star-shaped dashed line segment abcde or Figure 1B (The actual route segment is a five-pointed star). Among them, the design of the search paths for each flat slope in a five-pointed star distribution allows the pool cleaning robot to quickly explore a large area with fewer turning movements, thereby improving the search efficiency in sloping areas.

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

[0060] refer to Figures 1A-1B In the application scenarios of the various embodiments of this disclosure, the swimming pool 100 may include a first slope sidewall 122 and a second slope sidewall 124 located on opposite sides of the slope area 120.

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

[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 practical applications, in response to the detection results of the pool cleaning robot moving from the shallow water area to the sloping area, based on the current position and attitude data of the pool cleaning robot, a wall-probing path that is substantially perpendicular to the slope line of the sloping area can be determined. The pool cleaning robot can be controlled to move forward and backward along the wall-probing path, and the first and second sloping sidewalls located at both ends of the wall-probing path can be detected to determine the setting position of the first and second sloping sidewalls relative to the sloping area.

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

[0065] For example, in Figure 1B In the example shown, when the posture data of the pool cleaning robot corresponding to position point A falls within the slope posture range, a judgment result is obtained that the pool cleaning robot has moved from the shallow water area 130 to the slope area 120. Based on position point A (i.e., the current position of the pool cleaning robot) and posture data, a wall-penetrating path 125 substantially perpendicular to the slope line of the slope area 120 is determined. The pool cleaning robot can be controlled to move forward and backward along the wall-penetrating path 125 to collide with the first slope sidewall 122 and the second slope sidewall 124 respectively. The first slope sidewall 122 and the second slope sidewall 124 located at both ends of the wall-penetrating path 125 are determined, and the setting positions of the first slope sidewall 122 and the second slope sidewall 124 relative to the slope area 120 are obtained. Based on the positions of the first slope sidewall 122 and the second slope sidewall 124 relative to the slope area 120, the midpoint position B of the first slope sidewall 122 and the second slope sidewall 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 (e.g., 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. It is sufficient that it falls approximately in the middle of the first slope sidewall and the second slope sidewall.

[0067] Step 204: Control the pool cleaning robot to move towards the deep water area along the ramp path. In response to the detection results of the pool cleaning robot moving to the deep water area or hitting the wall, mark the current position of the pool cleaning robot as the first cleaning starting point.

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

[0069] In some embodiments, the pool cleaning robot can be controlled to move towards the deep water area along a ramp path, and the attitude data of the pool cleaning robot during the movement can be acquired. The attitude data is compared with a given wall-collision attitude range and a given flat slope attitude range. If the attitude data falls within the wall-collision attitude range or the flat slope attitude range, the pool cleaning robot is controlled to stop moving and the current position of the pool cleaning robot is marked as the first cleaning starting point. If the attitude data does not fall within the wall-collision attitude range or the flat slope attitude range, the pool cleaning robot is controlled to continue moving towards the deep water area along the ramp path.

[0070] In some embodiments, the flat slope attitude range can be determined based on the slope of the flat slope area in the pool. Generally, when the roll angle parameter value and pitch angle parameter value of the pool cleaning robot are within ±30 degrees, or when the tilt angle value of the pool cleaning robot is within ±30 degrees, the attitude data can be judged to fall within the flat slope attitude range, indicating that the pool cleaning robot has moved from the sloping area to the deep water area.

[0071] In some embodiments, based on multiple consecutive posture data of the pool cleaning robot, when it is determined that the slope of the moving surface of the pool cleaning robot has changed significantly, a judgment result can be obtained that the posture data falls into the wall collision posture range, indicating that the pool cleaning robot has collided with the wall.

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

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

[0074] Step 206: Based on the first cleaning starting point, generate a cleaning route covering the pool along the first and second cleaning directions of the pool.

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

[0076] In some embodiments, the cleaning route of the 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, the slope area and the shallow water area along the second cleaning direction opposite to the first cleaning direction.

[0078] In some embodiments, the first cleaning section may cover only the bottom of the deep water area, or the first cleaning section may cover both the bottom and walls of the deep water area. Similarly, the second cleaning section may cover only the entire bottom of the pool, or the second cleaning section may cover the entire bottom and all walls of the pool (including the deep water area, the ramp area, and the shallow water area).

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

[0080] For example, in Figure 1B In the example shown, a first cleaning segment covering the bottom and walls of the deep water area 110 can be generated along the first cleaning direction F1 based on the first cleaning starting point C (refer to the serpentine cleaning segment CD covering the bottom of the deep water area 110 and the serpentine cleaning segment DE covering the walls of the deep water area 110). The end point E of the first cleaning segment is used as the second cleaning starting point, and a second cleaning segment covering the entire bottom and walls of the pool 100 can be generated along the second cleaning direction F2 (refer to the serpentine cleaning segment EF covering the entire bottom of the pool 100 and the cleaning segment GHI covering the entire walls of the pool 100, where the cleaning segment HI is the 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 probing operation in the slope area, which enables the swimming pool cleaning robot to quickly move from the shallow water area to the deep water area of ​​the pool, thereby shortening the time for determining the starting point of the swimming pool cleaning.

[0082] Furthermore, the pool cleaning routes generated based on the cleaning starting point and two opposite cleaning directions can perform two complete cleanings on the deepest water areas of the pool, thereby meeting the cleaning needs of different areas of the pool and improving the pool cleaning effect.

[0083] Figure 3A processing flow of a pool cleaning route generation method of another exemplary embodiment of the present disclosure is shown. This embodiment mainly shows a specific implementation of controlling the pool cleaning robot to move from the shallow water area to the slope area in step 202.

[0084] As Figure 3 mentioned, this embodiment mainly includes the following steps:

[0085] Step 302, determining a current flat slope segment and a subsequent flat slope segment from each flat slope straight line segment of the flat slope search path.

[0086] In this embodiment, each flat slope straight line segment of the flat slope search path is distributed in a five-point star shape.

[0087] In this embodiment, the subsequent straight line segment is the next flat slope straight line segment connected to the current flat slope segment.

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

[0089] Step 304, controlling the pool cleaning robot to move along the current flat slope segment at a first speed, using the ranging unit to measure the pool wall in the direction of travel of the pool cleaning robot to obtain the actual obstacle avoidance distance between the pool cleaning robot and the pool wall, and using the inertial measurement unit to obtain the attitude data of the pool cleaning robot.

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

[0091] In this embodiment, the vision sensor can be used to detect the turbidity of the pool water during the movement of the pool cleaning robot. If the turbidity of the pool water exceeds a given turbidity threshold, the sonar sensor is used to measure the pool wall in the direction of travel of the pool cleaning robot; if the turbidity of the pool water does not exceed the turbidity threshold, the laser sensor is used to measure the pool wall in the direction of travel of the pool cleaning robot.

[0092] Specifically, because the scattering and absorption of water to laser is large, especially in turbid water, the penetration ability and effective range of laser will be greatly weakened, and suspended particles and optical impurities in water will also affect the propagation and reflection effect of laser. Therefore, by introducing the vision sensor to judge the turbidity of the pool water, when the turbidity is higher than the set standard, the detection data of the sonar sensor is preferred, which can improve the reliability of the ranging result, thereby improving the safety and stability of the pool cleaning robot performing the movement operation.

[0093] Step 306, determine whether the attitude data of the pool cleaning robot falls into the slope attitude range, if yes, proceed to step 318, otherwise proceed to step 308.

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

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

[0096] In some embodiments, the minimum obstacle avoidance distance can be determined according to the moving speed of the pool cleaning robot, the length of the body, and other parameters.

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

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

[0099] Specifically, in the case of detecting that the pool cleaning robot approaches the pool wall, the pool cleaning robot can be controlled to move at a reduced speed to prevent wall collision.

[0100] Step 312, determine whether the attitude data of the pool cleaning robot falls into the slope attitude range, if yes, proceed to step 318, otherwise proceed to step 314.

[0101] Step 314, determine whether the attitude data of the pool cleaning robot falls into the wall collision attitude range, if yes, proceed to step 316, otherwise return to step 310.

[0102] Specifically, the moving surface of the pool cleaning robot can be determined according to the attitude data whether there is a significant change in slope, if yes, it is represented that the pool cleaning robot has collided with the pool wall, and then step 316 is performed.

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

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

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

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

[0107] In summary, the embodiment fuses the detection data of the visual sensor, the laser sensor, the sonar sensor, and the inertial measurement unit, controls the movement operation of the pool cleaning robot, can reduce the risk of the pool cleaning robot being stuck when performing a turn around near the pool wall, and improves the safety and stability of the pool cleaning robot moving from the shallow water area to the slope area.

[0108] In addition, through the design of the five-star-shaped distribution of the flat slope search path, the pool cleaning robot can move from the shallow water area to the deep water area quickly through fewer times of turning.

[0109] Swimming pool cleaning method

[0110] Figure 4 The processing flow of the pool cleaning method of the exemplary embodiment of the present disclosure. The embodiment is applicable to a pool 100 as shown in Figure 1A or FIG. 1, which 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, the embodiment mainly includes the following steps:

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

[0113] In the embodiment, the cleaning route of the pool can be generated by using the pool cleaning route generation method described in any of the above embodiments.

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

[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 start point of the second cleaning segment.

[0116] For example, in the example shown in Figure 1A The cleaning route of the pool includes a first cleaning segment gh covering the bottom of the deep water area 110, and a second cleaning segment hi covering the bottom of the deep water area 110, the slope area 120, and the shallow water area 130. In Figure 1BIn the illustrated example, the cleaning route of the pool includes a first cleaning segment cde covering the pool bottom and pool wall of the deep water area 110, and a second cleaning segment efigh covering the pool bottom and pool wall of the deep water area 110, the slope area 120, and the shallow water area 130 (wherein ef covers the pool bottom cleaning route, gh covers the pool wall cleaning route, and ih covers the water line 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 the first cleaning segment and in the first cleaning direction F1 of the pool, and in response to a determination that the first cleaning task is 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 the second cleaning segment and in the second cleaning direction F2 of the pool.

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

[0119] In summary, the pool cleaning task of the present embodiment can perform two complete cleanings on the deep water area which is more seriously contaminated, which not only improves the pool cleaning effect, but also shortens the moving distance of the pool cleaning robot and improves the cleaning efficiency due to the reasonable design of the cleaning route.

[0120] Swimming pool cleaning route generation device

[0121] Figure 5 A structural block diagram of a pool cleaning route generation device 500 of an exemplary embodiment of the present disclosure is applied to a pool 100 as shown in Figure 1A or Figure 1B The pool 100 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. The device 500 includes:

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

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

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

[0125] In some embodiments, the pool cleaning robot further moves along each of the straight line segments of the flat slope searching path in sequence to search for the slope region, and obtains attitude data of the pool cleaning robot during the moving.

[0126] In some embodiments, each of the straight line segments of the flat slope searching path is distributed in a serpentine shape, a zigzag shape, or a pentacle shape.

[0127] In some embodiments, at least one endpoint of each of the straight line segments falls on the intersection of the pool bottom and the pool wall.

[0128] In some embodiments, the pool cleaning robot comprises a ranging unit and an inertial measurement unit, and the pool comprises a pool wall; the wall detection module 502 further determines a current straight line segment and a subsequent straight line segment from each of the straight line segments of the flat slope searching path, wherein the subsequent straight line segment is the next straight line segment of the pool cleaning robot after the current straight line segment; controls the pool cleaning robot to move along the current straight line segment at a first speed, obtains an actual obstacle avoidance distance between the pool cleaning robot and the pool wall by measuring the pool wall in the moving direction of the pool cleaning robot through the ranging unit, and obtains attitude data of the pool cleaning robot through the inertial measurement unit; if the actual obstacle avoidance distance is less than a given minimum obstacle avoidance distance, controls the pool cleaning robot to move along the current straight line segment at a second speed lower than the first speed; if the actual obstacle avoidance distance is not less than the minimum obstacle avoidance distance, returns to the step of controlling the pool cleaning robot to move along the current straight line segment at the first speed; according to the attitude data, if a result of the pool cleaning robot hitting the wall is obtained, controls the pool cleaning robot to move from the current straight line segment to the subsequent straight line segment, updates the subsequent straight line segment as a new current straight line segment, and returns to the step of determining the current straight line segment and the subsequent straight line segment; if the result of the pool cleaning robot hitting the wall is not obtained, returns to the step of controlling the pool cleaning robot to move along the current straight line segment at the second speed lower than the first speed.

[0129] In some embodiments, the pool includes a first slope sidewall and a second slope sidewall located at opposite sides of the slope region; the wall detection module 502 is further configured to: control the pool cleaning robot to perform a wall detection operation of the slope region, determine the positions of the first slope sidewall and the second slope sidewall relative to the slope region; determine a midpoint position between the first slope sidewall and the second slope sidewall according to the positions of the first slope sidewall and the second slope sidewall relative to the slope region; and generate the slope movement path extending along the slope line of the slope region based on the midpoint position.

[0130] In some embodiments, the wall detection module 502 is further configured to: in response to a detection result that the pool cleaning robot moves from the shallow water region to the slope region, determine a wall detection path substantially perpendicular to the slope line of the slope region based on current position and attitude data of the pool cleaning robot; control the pool cleaning robot to advance and retreat along the wall detection path, detect the first slope sidewall and the second slope sidewall located at two ends of the wall detection path, and obtain the positions of the first slope sidewall and the second slope sidewall relative to the slope region.

[0131] In some embodiments, the marking module 504 is further configured to: perform a slope movement step, control the pool cleaning robot to move along the slope movement path to the deep water region, and obtain attitude data of the pool cleaning robot during the movement; compare the attitude data with a given wall collision attitude range and a given flat slope attitude range respectively, and if the attitude data falls into the wall collision attitude range or the flat slope attitude range, control the pool cleaning robot to stop moving, and mark a current position of the pool cleaning robot as the first cleaning starting point; if the attitude data does not fall into the wall collision attitude range and the flat slope attitude range, return to perform the slope movement step.

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

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

[0134] Swimming pool cleaning device

[0135] Figure 6 A structural block diagram of a swimming pool cleaning route generation device 600 of an exemplary embodiment of the present disclosure is applied to a swimming pool 100 as shown in Figure 1A or Figure 1B The device 600 includes:

[0136] The acquisition module 602 is configured to generate a cleaning route of the swimming pool by using the swimming pool cleaning route generation device according to any one of the above embodiments.

[0137] The cleaning module 604 is configured to control the swimming pool cleaning robot to move along the cleaning route to perform a 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 an end point of the first cleaning segment coincides with a start point of the second cleaning segment.

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

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

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

[0142] The exemplary embodiments of the present disclosure also provide an electronic device, comprising: at least one processor; and a memory communicatively connected to the at least one processor. The memory stores a computer program capable of being executed by the at least one processor, and the computer program, when executed by the at least one processor, causes the electronic device to perform the method according to the embodiments of the present disclosure.

[0143] The 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, causes the computer to perform the method according to the embodiments of the present disclosure.

[0144] The exemplary embodiments of the present disclosure also provide a computer program product comprising a computer program, wherein the computer program, when executed by a processor of a computer, causes the computer to perform the method according to the embodiments of the present disclosure.

[0145] The exemplary embodiments of the present disclosure also provide a pool cleaning robot, comprising a controller, wherein control instructions are stored in the controller, and the control instructions, when executed, cause the controller to perform the pool cleaning route generation method and the pool cleaning method according to the embodiments of the present disclosure.

[0146] Reference Figure 7 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 computing devices such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computing devices. 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, their connections, and relationships, and their functions, as described herein, are meant to be examples only, and are not intended to limit implementations of the present disclosure described and / or claimed in this document.

[0147] As shown in Figure 7 , the electronic device 700 includes a computing unit 701 that can perform various appropriate actions and processes in accordance with 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. Various programs and data required for the operation of the device 700 can also be stored in the RAM 703. The computing unit 701, the ROM 702, and the RAM 703 are connected to each other through 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 can be any type of device capable of inputting information to the electronic device 700, and can receive inputted digital or character information, and generate key signal inputs related to user settings and / or function controls of the electronic device. The output unit 707 can be any type of device capable of presenting information, and can 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 can include, but is not limited to, a magnetic 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 can 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 can be various general and / or special purpose processing components having 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 special-purpose artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The computing unit 701 performs various methods and processes described above. For example, in some embodiments, the pool cleaning route generation and pool cleaning methods of the foregoing embodiments can be implemented as a computer software program, which is tangibly embodied in a machine-readable medium, such as the storage unit 708. In some embodiments, part or all of the computer program can be loaded and / or installed onto the electronic device 700 via the ROM 702 and / or the communication unit 709. In some embodiments, the computing unit 701 can be configured to perform the pool cleaning route generation and pool cleaning methods by any other appropriate means, such as by means of firmware.

[0150] Program code for carrying out methods of the present disclosure can be written in any combination of one or more programming languages. The program code can be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the program code, when executed by the processor or controller, causes the functions / operations specified in the flow charts and / or block diagrams to be implemented. The program code can be implemented in a wholly or partially in machine language, in a wholly or partially in software, and in a wholly or partially in firmware. The program code can be executed entirely on a machine, partially on a machine, partially on a machine as part of a standalone software package, and partially on a remote machine or server.

[0151] In the context of this disclosure, a machine-readable medium can be a tangible medium that contains or stores a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can include but is not limited to an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium will include one or more lines of electrical connections, portable computer disks, hard disk drives, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or Flash memory), optical fibers, portable compact disc read-only memories (CD-ROMs), optical storage devices, magnetic storage devices, 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., magnetic discs, optical disks, memory, Programmable Logic Devices (PLDs)) used to provide 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 that can be used to provide machine instructions and / or data to a programmable processor.

[0153] To provide for interaction with a user, the systems and techniques described here 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 a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the computer. Other kinds of devices can be used to provide for interaction with a user as well; for example, 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, speech, or tactile input.

[0154] The systems and techniques described herein can be implemented in a computing system that includes a back end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front end component (e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described herein), or any combination of such back end, middleware, or front end components. The components of the system can 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] The computing system can include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other.

[0156] It should be understood that, although the present specification is described in terms of various embodiments, not every embodiment need necessarily include every independent technique described herein, and descriptions of a particular embodiment herein can be repeated in different combinations to arrive at other embodiments also within the scope of the present specification.

[0157] The specific implementation described above is only a schematic and illustrative, not to limit the scope of the present embodiment. Any equivalent changes, modifications and combinations made by those skilled in the art without departing from the concept and principles of the present embodiment shall fall within the scope of protection of the present embodiment.

Claims

1. A pool cleaning route generation method, wherein, The method is applied to a swimming pool including a deep water area, a shallow water area and a slope area between the deep water area and the shallow water area, and comprises the following steps: In response to detection that the pool cleaning robot moves from the shallow water area to the slope area, controlling the pool cleaning robot to perform a wall-probing operation of the slope area, and generating a slope moving path extending along a slope line of the slope area; Controlling the pool cleaning robot to move along the slope moving path to the deep water area, and in response to detection that the pool cleaning robot moves to the deep water area or collides with a wall, marking a current position of the pool cleaning robot as a first cleaning starting point; Based on the first cleaning starting point, generating a cleaning route of 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; The first cleaning direction corresponds to a direction extending from the shallow water area to the deep water area of the swimming pool, and the second cleaning direction corresponds to a direction extending from the deep water area to the shallow water area of the swimming pool, and the cleaning route of the swimming pool comprises a first cleaning segment and a second cleaning segment; correspondingly, the step of generating the cleaning route of the swimming pool along the first cleaning direction and the second cleaning direction respectively based on the first cleaning starting point comprises the following steps: generating the first cleaning segment covering the deep water area along the first cleaning direction based on the first cleaning starting point; taking an end point of the first cleaning segment as a second cleaning starting point, and generating the second cleaning segment covering the deep water area, the slope area and the shallow water area along the second cleaning direction opposite to the first cleaning direction.

2. The pool cleaning route generation method according to claim 1, wherein, The detection that the pool cleaning robot moves from the shallow water area to the slope area is obtained by the following steps: Performing a flat slope moving step, and controlling the pool cleaning robot to move along each flat slope straight line segment in a flat slope searching path in sequence to search for the slope area, and acquiring attitude data of the pool cleaning robot in the moving process; Comparing the attitude data with a given slope attitude range, if the attitude data does not fall into the slope attitude range, returning to perform the flat slope moving step; if the attitude data falls into the slope attitude range, obtaining the detection that the pool cleaning robot moves to the slope area; Wherein, the slope attitude range is determined according to the slope of the slope area.

3. The pool cleaning route generation method according to claim 2, wherein Each flat slope straight line segment in the flat slope searching path is distributed in a snake shape, a zigzag shape or a pentagram shape; At least one end point of each flat slope straight line segment falls on an intersection of a pool bottom and a pool wall of the swimming pool.

4. The pool cleaning route generation method according to claim 2, wherein, The pool cleaning robot comprises a distance measuring unit and an inertial measurement unit, and the swimming pool comprises a pool wall; Wherein, the step of controlling the pool cleaning robot to move along each flat slope straight line segment in a flat slope searching path in sequence comprises the following steps: Determining a current flat slope segment and a subsequent flat slope segment from each flat slope straight line segment in the flat slope searching path, wherein the subsequent straight line segment is the next flat slope straight line segment connected to the current flat slope segment; controlling the pool cleaning robot to move along the current flat slope section at a first speed, performing distance measurement on a pool wall in a moving direction of the pool cleaning robot by the distance measurement unit to obtain an actual obstacle avoidance distance between the pool cleaning robot and the pool wall, and obtaining attitude data of the pool cleaning robot by the inertial measurement unit; if the actual obstacle avoidance distance is less than a given minimum obstacle avoidance distance, controlling the pool cleaning robot to move along the current flat slope section at a second speed lower than the first speed; and if the actual obstacle avoidance distance is not less than the minimum obstacle avoidance distance, returning to the step of controlling the pool cleaning robot to move along the current flat slope section at the first speed. if a result of determining that the pool cleaning robot collides with the pool wall is obtained according to the attitude data, controlling the 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; and if a result of determining that the pool cleaning robot does not collide with the pool wall is obtained, returning to the step of controlling the pool cleaning robot to move along the current flat slope section at the second speed lower than the first speed.

5. The pool cleaning route generation method according to claim 1, wherein, The pool includes a first slope side wall and a second slope side wall located on opposite sides of the slope area. The control of the pool cleaning robot to perform the wall detection operation of the slope area to generate the slope movement path extending along the slope line of the slope area includes: controlling the pool cleaning robot to perform the wall detection operation of the slope area to determine the arrangement 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 side wall and the second slope side wall according to the arrangement positions of the first slope side wall and the second slope side wall relative to the slope area; and generating the slope movement path extending along the slope line of the slope area based on the midpoint position.

6. The pool cleaning route generation method according to claim 5, wherein, The control of the pool cleaning robot to perform the wall detection operation of the slope area to determine the arrangement 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 pool cleaning robot moves from the shallow water area to the slope area, determining a wall detection path substantially perpendicular to the slope line of the slope area based on current position and attitude data of the pool cleaning robot; controlling the pool cleaning robot to move forward and backward along the wall detection path to detect the first slope side wall and the second slope side wall located at two ends of the wall detection path to obtain the arrangement positions of the first slope side wall and the second slope side wall relative to the slope area.

7. The pool cleaning route generation method according to claim 1, wherein, The control of the pool cleaning robot to move along the slope movement path to the deep water area in response to a detection result that the pool cleaning robot moves to the deep water area or collides with the pool wall includes: controlling the pool cleaning robot to move along the slope movement path to the deep water area in response to a detection result that the pool cleaning robot moves to the deep water area or collides with the pool wall, and marking a current position of the pool cleaning robot as a first cleaning starting point. performing a slope moving step of controlling the pool cleaning robot to move along a slope moving path to the deep water area, and acquiring attitude data of the pool cleaning robot during the movement; comparing the attitude data with a given wall collision attitude range and a given flat slope attitude range, respectively, and if the attitude data falls within the wall collision attitude range or the flat slope attitude range, controlling the pool cleaning robot to stop moving and marking a current position of the pool cleaning robot as the first cleaning starting point, and if the attitude data does not fall within the wall collision attitude range and the flat slope attitude range, returning to perform the slope moving step.

8. The pool cleaning route generation method of claim 1, wherein the first cleaning segment only covers a pool bottom of the deep water area, or the first cleaning segment covers the pool bottom and a pool wall of the deep water area; the second cleaning segment only covers an entire pool bottom of the pool, or the second cleaning segment covers the entire pool bottom and an entire pool wall of the pool.

9. A method of cleaning a swimming pool wherein, The method is applied to a pool including a deep water area, a shallow water area, and a slope area between the deep water area and the shallow water area, and the method includes: generating a cleaning route of the pool; controlling a pool cleaning robot to move along the cleaning route to perform a cleaning task of the pool; wherein the cleaning route of the pool is generated by the pool cleaning route generation method of any one of claims 1 to 8.

10. The pool cleaning method of claim 9, 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 an end point of the first cleaning segment coincides with a start point of the second cleaning segment; and wherein the method further includes: controlling the pool cleaning robot to perform a first cleaning task on the deep water area along the first cleaning segment and a first cleaning direction of the pool; in response to a determination that the first cleaning task is completed, controlling the 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 a second cleaning direction of the pool.

11. The pool cleaning method of claim 9 or 10, wherein, The generation task of the cleaning route and the cleaning task performed based on the cleaning route are synchronously performed.

12. A swimming pool cleaning route generating apparatus, wherein, The device is applied to a pool including a deep water area, a shallow water area, and a slope area between the deep water area and the shallow water area, and the device includes: a wall detection module configured to, in response to a detection result that a pool cleaning robot moves from the shallow water area to the slope area, control the pool cleaning robot to perform a wall detection operation on the slope area and generate a slope moving path extending along a slope line of the slope area; a marking module configured to control the pool cleaning robot to move along the slope moving path to the deep water area and, in response to a detection result that the pool cleaning robot moves to the deep water area or collides with a wall, mark a current position of the pool cleaning robot as a first cleaning starting point. The generating module 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; the first cleaning direction corresponds to a direction extending from the shallow water area to the deep water area of the swimming pool, and the second cleaning direction corresponds to a direction extending from the deep water area to the shallow water area of the swimming pool; the cleaning route of the swimming pool comprises a first cleaning segment and a second cleaning segment; correspondingly, the generating module is further configured to generate the first cleaning segment covering the deep water area along the first cleaning direction based on the first cleaning starting point, and generate the second cleaning segment covering the deep water area, the slope area and the shallow water area along the second cleaning direction opposite to the first cleaning direction with the end point of the first cleaning segment as the second cleaning starting point.

13. A swimming pool cleaning device wherein, The application is applied to a swimming pool comprising a deep water area, a shallow water area and a slope area, and comprises the following steps of: The obtaining module is configured to generate the cleaning route of the swimming pool by the swimming pool cleaning route generation device in claim 12. The cleaning module is configured to control the swimming pool cleaning robot to move along the cleaning route to perform a cleaning task of the swimming pool.

14. An electronic device comprising: The processor, the memory, the communication interface and the communication bus are in communication with each other. The memory is configured to store at least one executable instruction, and the executable instruction is configured to make the processor perform operations corresponding to the swimming pool cleaning route generation method in any one of claims 1 to 8 or perform operations corresponding to the swimming pool cleaning method in any one of claims 9 to 11.

15. A computer storage medium having a computer program stored thereon, wherein the program is executed by a processor to implement the swimming pool cleaning route generation method in any one of claims 1 to 8 or implement the swimming pool cleaning method in any one of claims 9 to 11.

16. A computer program product comprising computer instructions configured to instruct a computing device to perform operations corresponding to the swimming pool cleaning route generation method in any one of claims 1 to 8 or perform operations corresponding to the swimming pool cleaning method in any one of claims 9 to 11.

17. A swimming pool cleaning robot comprising a controller, wherein the controller stores control instructions, and the control instructions are configured to make the controller perform the swimming pool cleaning route generation method in any one of claims 1 to 8 or implement the swimming pool cleaning method in any one of claims 9 to 11 when executed.

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