Swimming pool partition searching, mapping and cleaning method and device and swimming pool cleaning robot

Abstract

The invention provides a swimming pool partition searching, mapping and cleaning method and device and a swimming pool cleaning robot, and the method comprises the steps: controlling the swimming pool cleaning robot to move along the pool bottom of a swimming pool, and obtaining the posture data of the swimming pool cleaning robot in the moving process; and according to the attitude data, controlling the swimming pool cleaning robot to move along a flat slope searching path of the flat slope area or along a slope searching path of the slope area so as to execute a searching task of the slope area or the flat slope area. Therefore, different areas in the swimming pool can be quickly and accurately identified, and the execution efficiency of a subsequent swimming pool cleaning task can be improved.

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 more particularly to a method, device, electronic device, storage medium, and swimming pool cleaning robot for searching, mapping, and cleaning swimming pool partitions. 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 effectively distinguish different areas in the swimming pool is crucial to improving the cleaning effect of the swimming pool. Therefore, an efficient swimming pool zoning technology is needed to improve the cleaning effect of different swimming pool zones. Summary of the invention

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

[0008] According to a first aspect of the present disclosure, a swimming pool partition search method is provided, which is applied to a swimming pool including adjacent flat slope areas and slope areas, the method comprising: controlling a swimming pool cleaning robot to move along the bottom of the swimming pool, and acquiring posture data of the swimming pool cleaning robot during the movement; based on the posture data, when it is determined that the swimming pool cleaning robot is located in the flat slope area, controlling the swimming pool cleaning robot to move along a flat slope search path in the flat slope area to perform a search task in the slope area, or when it is determined that the swimming pool cleaning robot is located in the slope area, controlling the swimming pool cleaning robot to move along a slope search path in the slope area to perform a search task in the flat slope area; wherein the flat slope search path comprises a plurality of flat slope straight line sections connected in sequence, and the slope search path is a slope straight line section extending along the slope of the slope area.

[0009] According to a second aspect of the present disclosure, a method for mapping swimming pool zoning is provided, the method comprising: utilizing the swimming pool zoning search method as described in the first aspect to control a swimming pool cleaning robot to move within a working area defined by the swimming pool to search for each flat slope area and each slope area in the swimming pool; and generating a swimming pool zoning map of the swimming pool based on each flat slope area and each slope area in the swimming pool.

[0010] According to a third aspect of the present disclosure, a swimming pool partition cleaning method is provided, the method comprising: utilizing the swimming pool partition search method as described in the first aspect, or utilizing the swimming pool partition mapping method as described in the second aspect, to determine the deep water area, shallow water area and slope area in the swimming pool; and executing the partition cleaning task of the swimming pool according to the regional cleaning strategies for the deep water area, the shallow water area and the slope area.

[0011] According to a fourth aspect of the present disclosure, there is provided a swimming pool partition search device, which is applied to a swimming pool including a flat slope area and a slope area arranged adjacent to each other, and the device includes: a detection module, which is used to control a swimming pool cleaning robot to move along the bottom of the swimming pool and obtain posture data of the swimming pool cleaning robot during the movement; a search module, which is used to control the swimming pool cleaning robot to move along a flat slope search path in the flat slope area to perform a search task in the slope area when it is determined that the swimming pool cleaning robot is located in the flat slope area, or to control the swimming pool cleaning robot to move along a slope search path in the slope area to perform a search task in the flat slope area when it is determined that the swimming pool cleaning robot is located in the slope area, wherein the flat slope search path includes a plurality of flat slope straight line sections connected in sequence, and the slope search path is a slope straight line section extending along the slope of the slope area.

[0012] According to a fifth aspect of the present disclosure, a swimming pool partition mapping device is provided, the device comprising: a search module for controlling a swimming pool cleaning robot to move within a working area defined by a swimming pool through the swimming pool partition search device as described in the fourth aspect, so as to search for each flat slope area and each slope area in the swimming pool; a mapping module for generating a swimming pool partition map of the swimming pool based on each flat slope area and each slope area in the swimming pool.

[0013] According to a sixth aspect of the present disclosure, a swimming pool partition cleaning device is provided, the device comprising: a partition module, used to determine the deep water area, shallow water area and slope area in the swimming pool through the swimming pool partition search device as described in the fourth aspect, or using the swimming pool partition mapping device as described in the fifth aspect; a cleaning module, used to perform the partition cleaning task of the swimming pool according to the regional cleaning strategy of the deep water area, the shallow water area and the slope area.

[0014] According to the seventh 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, the second aspect or the third aspect above.

[0015] According to an eighth 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, the second aspect or the third aspect above.

[0016] According to a ninth aspect of the present disclosure, a swimming pool cleaning robot is provided, comprising a controller, wherein control instructions are stored in the controller, and when the control instructions are executed, the controller executes the swimming pool partition search method as described in the first aspect, or executes the swimming pool partition mapping method as described in the second aspect, or executes the swimming pool partition cleaning method as described in the third aspect.

[0017] In summary, the swimming pool partition search scheme provided by various aspects of the present disclosure determines the corresponding area search path by judging the partition type in which the swimming pool cleaning robot is currently located, so that the swimming pool cleaning robot can quickly and accurately search the flat and sloped areas in the swimming pool, thereby improving the swimming pool partition search efficiency.

[0018] Furthermore, the swimming pool partition mapping solution provided by various aspects of the present disclosure can quickly and accurately determine different partitions in the swimming pool using the above-mentioned swimming pool partition search solution, thereby enabling rapid construction of a swimming pool partition map.

[0019] In addition, the swimming pool partition cleaning scheme provided by various aspects of the present disclosure can quickly determine the different partitions in the swimming pool through the above-mentioned swimming pool partition search scheme or swimming pool partition mapping scheme, and adopt different area cleaning strategies to perform swimming pool partition cleaning, which can effectively improve the efficiency and cleaning effect of swimming pool cleaning. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The following drawings are intended only to illustrate and explain the present disclosure, and do not limit the scope of the present disclosure.

[0021] Figures 1A to 1C Schematic diagrams of different swimming pools suitable for implementing the swimming pool partition search, mapping, and cleaning methods or devices of various embodiments of the present disclosure.

[0022] Figure 2 The present invention is a flowchart of a pool partition search method according to an exemplary embodiment of the present invention.

[0023] Figure 3 The present invention is a flowchart of a method for searching for swimming pool zones according to another exemplary embodiment of the present invention.

[0024] Figure 4 The present invention is a flowchart of a method for mapping swimming pool zones according to an exemplary embodiment of the present invention.

[0025] Figure 5 The present invention is a flowchart of a method for cleaning swimming pool zones according to an exemplary embodiment of the present invention.

[0026] Figure 6 It is a structural block diagram of a swimming pool partition search device according to an exemplary embodiment of the present disclosure.

[0027] Figure 7 The present invention is a structural block diagram of a swimming pool partition mapping device according to an exemplary embodiment of the present invention.

[0028] Figure 8 It is a structural block diagram of a swimming pool partition cleaning device according to an exemplary embodiment of the present disclosure.

[0029] Fig. 9 It is a structural block diagram of an electronic device according to an exemplary embodiment of the present disclosure.

[0030] Description of reference numerals:

[0031] 2. Pool cleaning robot 704, mapping module

[0032] 100, swimming pool 800, swimming pool partition cleaning device

[0033] 102. Standard swimming pool 802. Partition module

[0034] 104. Special-shaped swimming pool 804. Cleaning module

[0035] 106. Special-shaped swimming pool 900. Electronic equipment

[0036] 110, flat area 901, calculation unit

[0037] 112, Deep Water 902, ROM

[0038] 114, Shallow Water 903, RAM

[0039] 120, slope area 904, bus

[0040] 600, swimming pool partition search device 905, input and output interface

[0041] 602, detection module 906, input unit

[0042] 604, search module 907, output unit

[0043] 700: Swimming pool partition mapping device 908, storage unit

[0044] 702, search module 909, communication unit. DETAILED DESCRIPTION

[0045] 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.

[0046] 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.

[0047] 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.

[0048] For comprehensive swimming pools that include deep and shallow water areas, due to the different depths of the areas, dirt in the shallow and slope areas will drift to the deep water areas, and the deep water areas will have the greatest cleaning needs. Therefore, how to effectively distinguish different areas in the swimming pool is crucial to improving the cleaning effect of the swimming pool.

[0049] In view of this, the embodiments of the present disclosure provide a swimming pool partition search solution, which can realize rapid search of different areas in the swimming pool, and not only helps to quickly establish a swimming pool partition map, but also can implement a swimming pool partition cleaning strategy and improve swimming pool cleaning efficiency.

[0050] Figures 1A to 1C 1 is a top view of a swimming pool suitable for implementing the swimming pool partition search, mapping and cleaning solutions 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 and Figure 1C Irregular shaped swimming pools 104, 106 are shown.

[0051] In this embodiment, the swimming pool 100 includes a flat slope area 110 and a slope area 120. The swimming pool 100 may include a plurality of flat slope areas 110 with different depths. Figure 1A and Figure 1B In the example shown, the flat slope area 110 can be further divided into a deep water area 112 and a shallow water area 114 according to the depth of the swimming pool, wherein the slope area 120 can serve as a transition area, located between the deep water area 112 and the shallow water area 114 .

[0052] Based on the above application scenarios, various embodiments of the present disclosure provide a swimming pool partition search, mapping and cleaning solution. The embodiments of the present disclosure will be described in detail below in conjunction with the accompanying drawings.

[0053] Pool Zone Search Method

[0054] Figure 2 The processing flow of the swimming pool partition search method of the exemplary embodiment of the present disclosure is shown, which mainly includes the following steps:

[0055] Step 202: Control the swimming pool cleaning robot to move along the bottom of the swimming pool, and obtain posture data of the swimming pool cleaning robot during the movement.

[0056] 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.

[0057] In this embodiment, it can be determined whether the swimming pool cleaning robot is located in a flat slope area or a slope area in the swimming pool according to the posture data of the swimming pool cleaning robot.

[0058] Exemplarily, the roll angle parameter value and the 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 flat slope area or a slope area in the swimming pool; 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 flat slope area or a slope area in the swimming pool.

[0059] In this embodiment, since the bottom of the swimming pool is not completely horizontal, the area where the slope of the bottom falls within ±30 degrees is defined as a flat slope area, and the area where the slope is greater than +30 degrees or less than -30 degrees is defined as a slope area.

[0060] Step 204: Based on the posture data, when it is determined that the swimming pool cleaning robot is located in the flat slope area, the swimming pool cleaning robot is controlled to move along the flat slope search path in the flat slope area to perform the search task in the slope area.

[0061] In some embodiments, when it is recognized that the posture data of the swimming pool cleaning robot falls into the flat slope posture range, a judgment result that the swimming pool cleaning robot is located in the flat slope area can be obtained.

[0062] 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 swimming pool cleaning robot is located in the flat slope area can be obtained.

[0063] In some embodiments, the pool cleaning robot can be controlled to move along each flat slope straight section in the flat slope search path in sequence, and the posture data of the pool cleaning robot during the movement is obtained, and the posture data is analyzed. If the posture data falls into a given slope posture range (refer to Figure 1A The position of e or Figure 1C A), a judgment result is obtained that the swimming pool cleaning robot has searched the slope area 120, otherwise the swimming pool cleaning robot is controlled to continue to move along each flat slope straight section in the flat slope search path in sequence.

[0064] 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.

[0065] In some embodiments, the flat slope straight road segments in the flat slope search path are distributed in a serpentine shape (refer to Figure 1B ), sawtooth distribution.

[0066] In some embodiments, the flat slope search path may include a plurality of flat slope straight road segments connected in sequence, and each flat slope straight road segment may be distributed in a five-pointed star shape (refer to Figure 1A and Figure 1C ). Through the design of this mobile search path, the pool cleaning robot can achieve rapid pathfinding in a large area with fewer turns and movements, thereby improving the search efficiency in slope areas.

[0067] Specifically, when the flat slope straight sections in the flat slope search path are distributed in a five-pointed star shape, the current flat slope section and the subsequent flat slope section in each flat slope straight section can be determined, wherein the subsequent straight section is the next flat slope straight section following the current flat slope section. The swimming pool cleaning robot can be controlled to move along the current flat slope section, and the posture data of the swimming pool cleaning robot during the movement process can be detected. If the swimming pool cleaning robot hits a wall according to the posture data, the subsequent flat slope section is updated to the 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; if the swimming pool cleaning robot does not hit a wall, the step of controlling the swimming pool cleaning robot to move along the current flat slope section is returned.

[0068] Exemplarily, referring to Figure 1, when the current flat slope section is ab and the subsequent flat slope section is bc, the swimming pool cleaning robot can be controlled to move along section ab, and the posture data of the swimming pool cleaning robot during the movement is detected. If a judgment result that the swimming pool cleaning robot hits a wall is obtained based on the posture data, representing the end position of the section ab to which the swimming pool cleaning robot moves, the swimming pool cleaning robot is controlled to transfer from section ab to section bc based on the section angle between the subsequent flat slope section bc and the current flat slope section ab (for example, 144 degrees), and after updating section bc to the new current flat slope section, the step of determining the current flat slope section and the subsequent flat slope section in each flat slope straight section is returned; if a judgment result that the swimming pool cleaning robot hits a wall is not obtained based on the posture data, the swimming pool cleaning robot is controlled to continue moving along the current flat slope section.

[0069] Step 206: When it is determined based on the posture data that the swimming pool cleaning robot is located in the slope area, the swimming pool cleaning robot is controlled to move along the slope search path in the slope area to perform the search task in the flat slope area.

[0070] In some embodiments, when it is recognized that the posture data of the swimming pool cleaning robot falls into the slope posture range, a judgment result that the swimming pool cleaning robot is located in a slope area can be obtained.

[0071] In some embodiments, the slope posture range can be determined based on the slope of the 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 greater than positive 30 degrees or less than negative 30 degrees, or when the inclination value of the swimming pool cleaning robot is greater than positive 30 degrees or less than negative 30 degrees, a judgment result that the swimming pool cleaning robot is located in the slope area can be obtained.

[0072] In some embodiments, the pool cleaning robot can be controlled to move along a slope search path, and the posture data of the pool cleaning robot during the movement is continuously acquired. The posture data is analyzed, and if the posture data falls within a given flat slope posture range (refer to Figure 1A The position f, or Figure 1C The pool cleaning robot is controlled to move along the slope search path.

[0073] In some embodiments, the slope search path may include a slope straight line segment extending along the slope of the slope area (refer to Figure 1A section ef).

[0074] To summarize, the swimming pool partition search method of this embodiment determines the type of area (flat area or slope area) in which the swimming pool cleaning robot is currently located based on the posture data of the swimming pool cleaning robot, and performs the search task of the adjacent area according to the area search path corresponding to the area type, thereby quickly and accurately searching the flat slope area and slope area in the swimming pool, thereby improving the efficiency of the swimming pool partition search.

[0075] Furthermore, the flat slope search path designed in the five-pointed star shape in this embodiment allows the swimming pool cleaning robot to quickly explore a large flat slope area with fewer turns and movements, thereby improving the search efficiency in the slope area.

[0076] Figure 3 This is a processing flow of a swimming pool partition search method according to another exemplary embodiment of the present disclosure. This embodiment mainly shows the specific implementation of the above step 204. In this embodiment, the swimming pool cleaning robot includes a distance measuring unit and an inertial measurement unit.

[0077] like Figure 3 The present embodiment mainly includes the following steps:

[0078] Step 302: Determine the current flat slope section and the subsequent flat slope section in each flat slope straight section.

[0079] In this embodiment, the subsequent straight road section is the next flat slope straight road section following the current flat slope road section.

[0080] For example, in Figure 1A In the example shown, when the current flat slope section is ab, the subsequent flat slope section is bc.

[0081] Step 304: Control the swimming pool cleaning robot to move along the current flat slope section at a first speed, and during the movement, measure the distance of the swimming pool cleaning robot to the pool wall in the direction of travel by a distance measuring unit to obtain an actual obstacle avoidance distance between the swimming pool cleaning robot and the pool wall.

[0082] 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.

[0083] 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.

[0084] 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.

[0085] Step 306 , 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 308 , otherwise, return to step 304 .

[0086] 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.

[0087] Step 308: Control the swimming pool cleaning robot to move along the current flat slope section at a second speed lower than the first speed, and obtain posture data of the swimming pool cleaning robot through an inertial measurement unit during the movement.

[0088] 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, and at the same time, the posture data of the swimming pool cleaning robot is detected by an inertial measurement unit.

[0089] Step 310 , determine whether the swimming pool cleaning robot hits a wall, if so, proceed to step 312 , otherwise return to step 308 .

[0090] Specifically, it can be determined based on the posture data whether the moving surface of the swimming pool cleaning robot has an obvious slope change. If so, it means that the swimming pool cleaning robot has collided with the pool wall, and step 312 is performed.

[0091] Step 312 , 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 .

[0092] Specifically, if it is determined that the pool cleaning robot hits a wall, it means that the flat slope straight section that the pool cleaning robot is currently traveling on ends, so the pool cleaning robot is controlled to turn around to the next flat slope straight section (i.e., the subsequent flat slope section) and return to step 302 to perform the search task based on the slope area.

[0093] 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, thereby improving the safety and stability of movement, and helping to improve the execution efficiency of the slope area search task.

[0094] Pool zoning map construction method

[0095] Figure 4 The processing flow of the method for mapping the pool zoning according to the exemplary embodiment of the present disclosure is shown in the figure. As shown in the figure, this implementation mainly includes the following steps:

[0096] Step 402: Control the swimming pool cleaning robot to move within the working area defined by the swimming pool to determine the position information of each flat slope area and each slope area in the swimming pool.

[0097] In this embodiment, the swimming pool partition search method described in any of the above embodiments can be used to control the swimming pool cleaning robot to search for each slope area and each flat slope area in the swimming pool to determine the location information of each slope area and each flat slope area.

[0098] Step 404: Generate a pool zoning map of the swimming pool based on the location information of each flat slope area and each slope area in the swimming pool.

[0099] In summary, this embodiment utilizes the swimming pool partition search method described in the above embodiments to quickly and accurately determine different partitions in the swimming pool, and can achieve the technical effect of quickly constructing a swimming pool partition map.

[0100] Pool partition cleaning method

[0101] Figure 5 The processing flow of the pool partition cleaning method of the exemplary embodiment of the present disclosure is shown in the figure. As shown in the figure, this implementation mainly includes the following steps:

[0102] Step 502: Determine the deep water area, shallow water area and slope area in the swimming pool.

[0103] In this embodiment, the swimming pool partition search method described in any of the above embodiments or the swimming pool partition mapping method described in any of the above embodiments can be used to determine the deep water area, shallow water area and slope area in the swimming pool.

[0104] Step 504: Perform the zone cleaning task of the swimming pool according to the zone cleaning strategies of the deep water area, the shallow water area and the slope area.

[0105] Since the shallow water area and slope area of ​​the swimming pool are shallow, pollutants in the shallow water area and slope area will drift to the deep water area. Therefore, the cleaning demand of the deep water area is often the greatest. In view of this, this embodiment sets different area cleaning strategies according to different areas in the swimming pool. For example, the deep water area is cleaned twice, and the shallow water area and slope area are cleaned in turn to meet the cleaning needs of different areas and improve the cleaning effect of the swimming pool.

[0106] The following references Figure 1C The swimming pool partition cleaning method of this embodiment is described in detail:

[0107] After the swimming pool cleaning robot 2 is put into the area 114 of the swimming pool 100 , a judgment result that the area 114 is a flat slope area can be obtained through the posture data of the swimming pool cleaning robot 2 .

[0108] The pool cleaning robot 2 can be controlled to move along the flat slope straight sections distributed in a five-pointed star shape in the flat slope search path to search for the slope area of ​​the swimming pool. When the pool cleaning robot 2 moves to point A, it is detected that the posture data of the pool cleaning robot 2 falls into the slope posture range, and it is determined that the pool cleaning robot 2 has entered the slope area from the flat slope area.

[0109] The swimming pool cleaning robot 2 is controlled to move along the slope search path (line segment BC) of the slope area. Based on the moving direction and posture data of the swimming pool cleaning robot 2, it can be determined that the swimming pool cleaning robot 2 is moving toward a deeper swimming pool area. Therefore, the area identification of area 114 can be updated to shallow water area 114.

[0110] The posture data of the swimming pool cleaning robot 2 is continuously acquired during its movement along the slope search path (line segment BC). When the swimming pool cleaning robot 2 moves to point C, it is detected that the posture data of the swimming pool cleaning robot 2 falls into the flat slope posture range again, then it is determined that the swimming pool cleaning robot 2 has entered the deep water area 112 from the slope area 120. At this point, the deep water area 112, the shallow water area 114 and the slope area 120 in the swimming pool 100 have all been searched, then the zone cleaning task of the swimming pool 100 can be executed based on the zone cleaning strategies for different areas.

[0111] Exemplarily, position point C at the bottom of the pool can be used as the first starting cleaning point of the deep water area 112, and the swimming pool cleaning robot 2 can be controlled to move along the serpentine cleaning route in the swimming pool 100 until it reaches position point D at the bottom of the pool to complete the first cleaning of the bottom and walls of the deep water area 112.

[0112] Position point E on the pool bottom (wherein position point E and position point D may substantially coincide with each other) may be used as the second starting cleaning point, and the swimming pool cleaning robot 2 may be controlled to move along a serpentine cleaning route in the swimming pool 100 from the deep water area 112 to the shallow water area 114 until it reaches position point F on the pool bottom in the shallow water area 114, so as to complete the cleaning of the pool bottom of all areas of the swimming pool 100 (including the pool bottoms of the deep water area 112, the slope area 120, and the shallow water area 114).

[0113] The swimming pool cleaning robot 2 can be controlled to perform the wall climbing task from the pool bottom position F to move to the pool wall position G, and clean the pool wall of the entire area along the pool wall cleaning route until it reaches the position point H. Then, the water line of the entire area of ​​the swimming pool 100 is cleaned along the water line cleaning route (line segment HI) on the pool wall, thereby completing the entire cleaning task of the swimming pool 100.

[0114] To sum up, the swimming pool zoning cleaning solution of this embodiment implements different cleaning strategies based on different zones in the swimming pool. Among them, two cleanings are performed for the deep water area with a more serious pollution degree, and one cleaning is performed for the shallow water area and slope area with a less serious pollution degree. This can well meet the cleaning needs of different areas of the swimming pool and improve the cleaning effect of the swimming pool.

[0115] Figure 6 FIG. 6 is a block diagram of a swimming pool partition search device 600 according to an exemplary embodiment of the present disclosure. The swimming pool partition search device of this embodiment can be applied to Figures 1A to 1C The swimming pool 100 shown includes a flat slope area 110 and a slope area 120 which are adjacently arranged.

[0116] As shown in the figure, the swimming pool partition search device 600 in this embodiment includes:

[0117] The detection module 602 is used to control the swimming pool cleaning robot to move along the bottom of the swimming pool and obtain the posture data of the swimming pool cleaning robot during the movement.

[0118] A search module 604 is configured to, based on the posture data, control the swimming pool cleaning robot to move along a flat slope search path in the flat slope area to perform the search task in the slope area if it is determined that the swimming pool cleaning robot is located in the flat slope area, or control the swimming pool cleaning robot to move along a slope search path in the slope area to perform the search task in the flat slope area if it is determined that the swimming pool cleaning robot is located in the slope area;

[0119] The flat slope search path includes a plurality of flat slope straight line sections connected in sequence, and the slope search path is a slope straight line section extending along the slope of the slope area.

[0120] In some embodiments, the search module 604 is also used to: execute the flat slope movement step, control the swimming pool cleaning robot to move along each flat slope straight section in the flat slope search path in sequence, and obtain the posture data of the swimming pool cleaning robot during the movement; analyze the posture data, if the posture data falls into a given slope posture range, obtain a judgment result that the swimming pool cleaning robot has searched the slope area, otherwise return to execute the flat slope movement step.

[0121] In some embodiments, the search module 604 is also used to: execute the slope movement step, control the swimming pool cleaning robot to move along the slope search path, and continuously obtain the posture data of the swimming pool cleaning robot during the movement; analyze the posture data, if the posture data falls into a given flat slope posture range, obtain a judgment result that the swimming pool cleaning robot has searched for the flat slope area, otherwise return to execute the slope movement step.

[0122] In some embodiments, the slope posture range is determined based on the slope of the slope area, and the flat slope posture range is determined based on the slope of the flat slope area.

[0123] In some embodiments, at least one endpoint of each flat slope straight line segment falls at the junction between the bottom and the wall of the swimming pool.

[0124] 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.

[0125] In some embodiments, the search module 604 is further used to: for any one of the target posture ranges in the slope posture range and the flat slope posture range, obtain a judgment result that the posture data falls into the target posture range by the following method:

[0126] According to the posture data, a roll angle parameter value and a pitch angle parameter value of the swimming pool cleaning robot are determined, and / or an inclination value of the swimming pool cleaning robot is calculated; if the roll angle parameter value and the pitch angle parameter value of the swimming pool cleaning robot respectively fall into the target posture range, and / or the inclination value of the swimming pool cleaning robot falls into the target posture range, a judgment result that the posture data falls into the target posture range is obtained.

[0127] 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 search module 604 is also used to: determine the current flat slope section and the subsequent flat slope section in each flat slope straight section, 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, and during the movement, measure the distance of the pool wall in the direction of travel of the swimming pool cleaning robot through the ranging unit to obtain the actual obstacle avoidance distance between the swimming pool cleaning robot and the pool wall; if the actual obstacle avoidance distance is less than a 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, and during the movement, obtain the actual obstacle avoidance distance of the swimming pool cleaning robot through the inertial measurement unit. the posture data of the robot; 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 a 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.

[0128] In some embodiments, the swimming pool cleaning robot includes a laser sensor, a sonar sensor, and a visual sensor. The search module 604 is also used to: during the movement of the swimming pool cleaning robot, detect the turbidity of the water quality of the swimming pool through the visual sensor; if the turbidity of the water quality exceeds a given turbidity threshold, measure the distance of the pool wall in the direction of travel of the swimming pool cleaning robot through the sonar sensor; if the turbidity of the water quality does not exceed the turbidity threshold, measure the distance of the pool wall in the direction of travel of the swimming pool cleaning robot through the laser sensor.

[0129] Figure 7 The structure block diagram of the swimming pool partition mapping device 700 according to the exemplary embodiment of the present disclosure includes:

[0130] The search module 702 is used to control the swimming pool cleaning robot to move within the working area defined by the swimming pool through the swimming pool partition search device 600 as described in the above embodiment, so as to search for each flat slope area and each slope area in the swimming pool.

[0131] The mapping module 704 is used to generate a pool partition map of the swimming pool based on each flat slope area and each slope area in the swimming pool.

[0132] Figure 8 The structure block diagram of the swimming pool partition cleaning device 800 according to the exemplary embodiment of the present disclosure includes:

[0133] The partition module 802 is used to determine the deep water area, shallow water area and slope area in the swimming pool by using the swimming pool partition search device 600 as described in the above embodiment, or using the swimming pool partition mapping device 700 as described in the above embodiment.

[0134] The cleaning module 804 is used to perform the partition cleaning task of the swimming pool according to the regional cleaning strategies of the deep water area, the shallow water area and the slope area.

[0135] In addition, the swimming pool partition search device 600, swimming pool partition mapping device 700 and swimming pool partition cleaning device 800 of each embodiment of the present disclosure can also be used to implement other steps in the aforementioned swimming pool partition search, mapping and cleaning method embodiments, and have the beneficial effects of the corresponding method step embodiments, which will not be repeated here.

[0136] 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.

[0137] 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.

[0138] 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.

[0139] The exemplary embodiment of the present disclosure further provides a swimming pool cleaning robot, which includes a controller, in which control instructions are stored. When the control instructions are executed, the controller executes the swimming pool partition search, mapping and cleaning methods of various embodiments of the present disclosure.

[0140] refer to Fig. 9, a block diagram of an electronic device 900 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.

[0141] like Fig. 9 As shown, the electronic device 900 includes a computing unit 901, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 902 or a computer program loaded from a storage unit 908 into a random access memory (RAM) 903. In the RAM 903, various programs and data required for the operation of the device 900 can also be stored. The computing unit 901, the ROM 902, and the RAM 903 are connected to each other via a bus 904. An input / output (I / O) interface 905 is also connected to the bus 904.

[0142] A plurality of components in the electronic device 900 are connected to the I / O interface 905, including: an input unit 906, an output unit 907, a storage unit 908, and a communication unit 909. The input unit 906 may be any type of device capable of inputting information to the electronic device 900, and the input unit 906 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 907 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 904 may include, but is not limited to, a disk, an optical disk. The communication unit 909 allows the electronic device 900 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.

[0143] The computing unit 901 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the computing unit 901 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 901 performs the various methods and processes described above. For example, in some embodiments, the pool partition search, mapping, and cleaning methods 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 908. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 900 via the ROM 902 and / or the communication unit 909. In some embodiments, the computing unit 901 may be configured to perform the pool partition search, mapping, and cleaning methods in any other appropriate manner (e.g., by means of firmware).

[0144] 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.

[0145] 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.

[0146] 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.

[0147] 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).

[0148] 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.

[0149] 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.

[0150] 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.

[0151] 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 swimming pool partition search method, applied to a swimming pool including adjacent flat slope areas and slope areas, wherein: The method comprises: Controlling the swimming pool cleaning robot to move along the bottom of the swimming pool, and obtaining posture data of the swimming pool cleaning robot during the movement; According to the posture data, when it is determined that the swimming pool cleaning robot is located in the flat slope area, the swimming pool cleaning robot is controlled to move along the flat slope search path of the flat slope area to perform the search task of the slope area, or when it is determined that the swimming pool cleaning robot is located in the slope area, the swimming pool cleaning robot is controlled to move along the slope search path of the slope area to perform the search task of the flat slope area; The flat slope search path includes a plurality of flat slope straight line sections connected in sequence, and the slope search path is a slope straight line section extending along the slope of the slope area.

2. The swimming pool partition search method according to claim 1, in, The step of controlling the swimming pool cleaning robot to move along the flat slope search path in the flat slope area to perform the search task in the slope area includes: 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, and acquiring posture data of the swimming pool cleaning robot during the movement; Analyze the posture data, and if the posture data falls within a given slope posture range, obtain a judgment result that the swimming pool cleaning robot has searched for the slope area, otherwise return to execute the flat slope movement step; Wherein, controlling the swimming pool cleaning robot to move along the slope search path in the slope area to perform the search task in the flat slope area includes: Executing a slope movement step, controlling the swimming pool cleaning robot to move along the slope search path, and continuously acquiring posture data of the swimming pool cleaning robot during the movement; The posture data is analyzed, and if the posture data falls within a given flat slope posture range, a judgment result is obtained that the swimming pool cleaning robot has searched for the flat slope area, otherwise, the step of returning to execute the slope movement step is performed.

3. The swimming pool partition search method according to claim 2, wherein: The slope posture range is determined based on the slope of the slope area, and the flat slope posture range is determined based on the slope of the flat slope area.

4. The swimming pool partition search method according to claim 1 or 2, wherein: At least one endpoint of each flat slope straight line segment falls at the junction between the pool bottom and the pool wall of the swimming pool.

5. The swimming pool partition search method according to claim 1, 2 or 4, 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.

6. The swimming pool partition search method according to claim 2, wherein: For any one of the target posture ranges of the slope posture range and the flat slope posture range, the judgment result of whether the posture data falls into the target posture range is obtained by the following method: Determine a roll angle parameter value and a pitch angle parameter value of the swimming pool cleaning robot according to the posture data, and / or calculate an inclination value of the swimming pool cleaning robot; If the roll angle parameter value and the pitch angle parameter value of the pool cleaning robot fall into the target posture range respectively, and / or the inclination value of the pool cleaning robot falls into the target posture range, a judgment result is obtained that the posture data falls into the target posture range.

7. The swimming pool partition search method 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; The step of making the swimming pool cleaning robot move along each flat slope straight section in the flat slope search path in sequence includes: Determine a current flat slope section and a subsequent flat slope section in each flat slope straight section, wherein the subsequent straight section is the 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, and measuring the distance of the pool wall in the direction of travel of the swimming pool cleaning robot by the distance measuring unit during the movement to obtain an actual obstacle avoidance distance between the swimming pool cleaning robot and the pool wall; 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, and obtain the posture data of the swimming pool cleaning robot through the inertial measurement unit during the movement; 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.

8. The swimming pool partition search method according to claim 1, 2 or 7, wherein: The swimming pool cleaning robot includes a laser sensor, a sonar sensor, and a visual sensor; Wherein, the method further comprises: During the movement of the swimming pool cleaning robot, the turbidity of the water in the swimming pool is detected by the visual sensor; If the water turbidity 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 water turbidity 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.

9. A method for mapping swimming pool partitions, the method comprising: Using the swimming pool partition search method according to any one of claims 1 to 8, the swimming pool cleaning robot is controlled to move within a working area defined by the swimming pool to search for each flat slope area and each slope area in the swimming pool; A pool zoning map of the swimming pool is generated based on each flat slope area and each slope area in the swimming pool.

10. A method for cleaning a swimming pool by partitions, the method comprising: Determine the deep water area, shallow water area and slope area in the swimming pool by using the swimming pool partition search method according to any one of claims 1 to 8, or by using the swimming pool partition mapping method according to claim 9; According to the regional cleaning strategies for the deep water area, the shallow water area and the slope area, the partition cleaning task of the swimming pool is performed.

11. A swimming pool partition search device, applied to a swimming pool including adjacent flat slope areas and slope areas, wherein: The device comprises: A detection module, used to control the swimming pool cleaning robot to move along the bottom of the swimming pool and obtain posture data of the swimming pool cleaning robot during the movement; a search module, for controlling the swimming pool cleaning robot to move along a flat slope search path in the flat slope area to perform a search task in the slope area, or for controlling the swimming pool cleaning robot to move along a slope search path in the slope area to perform a search task in the flat slope area, if the swimming pool cleaning robot is determined to be located in the slope area, based on the posture data; The flat slope search path includes a plurality of flat slope straight line sections connected in sequence, and the slope search path is a slope straight line section extending along the slope of the slope area.

12. A swimming pool partition mapping device, the device comprising: A search module, used to control the swimming pool cleaning robot to move within a working area defined by the swimming pool through the swimming pool partition search device as claimed in claim 11, so as to search for each flat slope area and each slope area in the swimming pool; A mapping module is used to generate a pool zoning map of the swimming pool based on each flat slope area and each slope area in the swimming pool.

13. A swimming pool partition cleaning device, the device comprising: A partitioning module, for determining a deep water area, a shallow water area and a slope area in a swimming pool by using the swimming pool partitioning search device as claimed in claim 11 or the swimming pool partitioning mapping device as claimed in claim 12; The cleaning module is used to perform the partition cleaning task of the swimming pool according to the regional cleaning strategies of the deep water area, the shallow water area and the slope area.

14. 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 partition search method according to any one of claims 1 to 8, or to perform operations corresponding to the swimming pool partition mapping method according to claim 9, or to perform operations corresponding to the swimming pool partition cleaning method according to claim 10.

15. A computer storage medium having a computer program stored thereon, wherein when the program is executed by a processor, the program implements the swimming pool partition search method according to any one of claims 1 to 8, or the swimming pool partition mapping method according to claim 9, or the swimming pool partition cleaning method according to claim 10.

16. 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 partition search method according to any one of claims 1 to 8, or executes the swimming pool partition mapping method according to claim 9, or executes the swimming pool partition cleaning method according to claim 10.

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