Obstacle-avoiding moving method and device of swimming pool cleaning robot and electronic equipment

Abstract

The invention provides an obstacle avoidance moving method and device for a swimming pool cleaning robot and electronic equipment, and the method comprises the steps: controlling the swimming pool cleaning robot to move in a working area defined by a swimming pool, and detecting an obstacle in the advancing direction of the swimming pool cleaning robot; based on the central axis of the swimming pool cleaning robot, the offset position of the obstacle relative to the swimming pool cleaning robot is detected, so that the swimming pool cleaning robot is controlled to execute deflection operation relative to the obstacle to avoid the obstacle. Therefore, the moving distance of the swimming pool cleaning robot can be reduced as much as possible under the condition of ensuring that obstacles are avoided, and the moving efficiency of the swimming pool cleaning robot in a swimming pool is improved.

Description

Technical Field

[0001] The embodiments of the present disclosure relate to the field of mobile control technology, and in particular to an obstacle avoidance mobile method, device, electronic equipment, computer storage medium and a swimming pool cleaning robot. Background Art

[0002] 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 the pool water.

[0003] There are usually various types of obstacles in the swimming pool, such as floor drains, wall drains, escalators, steps, corners, etc. These obstacles will hinder the movement of the pool cleaning robot in the swimming pool and affect the success rate and cleaning efficiency of the pool cleaning task.

[0004] Therefore, an obstacle avoidance and movement solution for a swimming pool cleaning robot is needed to improve the execution efficiency of the swimming pool cleaning task. Summary of the invention

[0005] In order to solve the above problems, an embodiment of the present disclosure provides an obstacle avoidance movement solution for a swimming pool cleaning robot, which can at least partially solve the above problems.

[0006] According to a first aspect of the present disclosure, a method for obstacle avoidance movement of a swimming pool cleaning robot is provided, comprising: controlling the swimming pool cleaning robot to move within a working area defined by a swimming pool, identifying obstacles in the travel direction of the swimming pool cleaning robot; detecting an offset position of the obstacle relative to the swimming pool cleaning robot based on a central axis of the swimming pool cleaning robot, wherein the central axis is defined as passing through a center point of the swimming pool cleaning robot and extending along the travel direction of the swimming pool cleaning robot; controlling the swimming pool cleaning robot to perform a deflection operation relative to the obstacle to avoid the obstacle according to the offset position of the obstacle relative to the swimming pool cleaning robot, and returning to the step of controlling the swimming pool cleaning robot to move within the working area defined by the swimming pool.

[0007] According to a second aspect of the present disclosure, an obstacle avoidance mobile device for a swimming pool cleaning robot is provided, comprising: a movement module, used to control the swimming pool cleaning robot to move within a working area defined by a swimming pool, and identify obstacles in the traveling direction of the swimming pool cleaning robot; a detection module, used to detect an offset position of the obstacle relative to the swimming pool cleaning robot based on a central axis of the swimming pool cleaning robot, wherein the central axis is defined as passing through a center point of the swimming pool cleaning robot and extending along the traveling direction of the swimming pool cleaning robot; an obstacle avoidance module, which controls the swimming pool cleaning robot to perform a deflection operation relative to the obstacle to avoid the obstacle according to the offset position of the obstacle relative to the swimming pool cleaning robot, and continues to control the swimming pool cleaning robot to move within the working area defined by the swimming pool through the movement module.

[0008] According to a third 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 described in the first aspect above.

[0009] According to a fourth 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 above.

[0010] According to a fifth aspect of the present disclosure, a computer program product is provided, comprising computer instructions, wherein the computer instructions instruct a computing device to perform operations corresponding to the method according to the first aspect.

[0011] According to a sixth aspect of the present disclosure, there is provided a swimming pool cleaning robot, comprising a controller, wherein control instructions are stored in the controller, and when the control instructions are executed, the controller executes the method described in the first aspect.

[0012] In summary, the obstacle avoidance movement scheme of the pool cleaning robot provided by various aspects of the present disclosure detects the offset position of the obstacle relative to the pool cleaning robot and controls the pool cleaning robot to perform adaptive deflection operations relative to the obstacle to avoid the obstacle, thereby ensuring the normal movement of the pool cleaning robot in the swimming pool and improving the task execution efficiency of the pool cleaning robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The following drawings are intended only to illustrate and explain the present disclosure, and do not limit the scope of the present disclosure.

[0014] Figure 1 The present invention is a flowchart of an obstacle avoidance movement method of a swimming pool cleaning robot according to an exemplary embodiment of the present invention.

[0015] FIG. 2A to FIG. 2B Schematic diagrams of various embodiments of obstacle avoidance movement methods or devices for a swimming pool cleaning robot suitable for implementing various embodiments of the present disclosure.

[0016] Figure 3 It is a structural block diagram of an obstacle avoidance mobile device of a swimming pool cleaning robot according to an exemplary embodiment of the present disclosure.

[0017] Figure 4 It is a structural block diagram of an electronic device according to an exemplary embodiment of the present disclosure.

[0018] Description of reference numerals:

[0019] 1. Obstacle X, the central axis of the pool cleaning robot

[0020] 2. Pool cleaning robot 300, obstacle avoidance mobile device

[0021] 20. Center point 302. Mobile module

[0022] 22. Left track 35 304. Detection module

[0023] 24. Right track 306, obstacle avoidance module

[0025] 400. Electronic equipment

[0026] 401. Computational Unit

[0027] 402, ROM

[0028] 403, RAM

[0029] 404, Bus

[0030] 405. Input and Output Interface

[0031] 406. Input Unit

[0032] 407. Output Unit

[0033] 408. Storage Unit

[0034] 409. Communication unit. DETAILED DESCRIPTION

[0035] 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.

[0036] 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.

[0037] 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.

[0038] Swimming pools are usually equipped with floor drains, wall drains, escalators, stairs, corners and other swimming pool facilities, which will hinder the movement of the pool cleaning robot in the swimming pool and affect the robot's efficiency in performing swimming pool tasks. Based on this, the embodiments of the present disclosure provide an obstacle avoidance movement solution to improve the movement efficiency of the pool cleaning robot in the swimming pool.

[0039] The following will describe in detail various specific implementations of the present disclosure in conjunction with the accompanying drawings:

[0040] Obstacle avoidance movement method for swimming pool cleaning robot

[0041] Figure 1 The process flow of the obstacle avoidance movement method of the swimming pool cleaning robot according to the exemplary embodiment of the present disclosure is shown, which mainly includes the following steps:

[0042] Step 102: Control the swimming pool cleaning robot to move within a working area defined by the swimming pool, and detect obstacles in the moving direction of the swimming pool cleaning robot.

[0043] In this step, the swimming pool cleaning robot may be controlled to move along a planned route in the swimming pool, or the swimming pool cleaning robot may be controlled to move arbitrarily in the swimming pool, and this embodiment does not impose any limitation on this.

[0044] In some embodiments, the pool cleaning robot may include a visual sensor (eg, a camera) and may detect obstacles in the direction of travel of the pool cleaning robot through the visual sensor.

[0045] In some embodiments, the work area defined by the swimming pool may include the floor or walls of the swimming pool.

[0046] In some embodiments, the category of obstacles in the direction of travel of the pool cleaning robot can be identified by a visual sensor, and when the category of the obstacle meets a preset category, the distance between the obstacle and the pool cleaning robot is detected by a ranging sensor (such as a sonar sensor and / or a laser sensor). If the distance between the obstacle and the pool cleaning robot falls within a given avoidance range, step 104 is continued.

[0047] In some embodiments, obstacles meeting the preset category may include a floor drain disposed at the bottom of the pool or a wall drain disposed at the wall of the pool.

[0048] Step 104: Based on the central axis of the swimming pool cleaning robot, detect the offset position of the obstacle relative to the swimming pool cleaning robot.

[0049] In this embodiment, the central axis X is defined as passing through the center point 20 of the pool cleaning robot 2 and extending along the travel direction F1 of the pool cleaning robot 2 (refer to Figure 2A ).

[0050] For example, in Figure 2B In the example, since the obstacle 1 is located slightly to the left of the central axis X of the swimming pool cleaning robot 2, a detection result indicating that the obstacle 1 is offset to the left relative to the swimming pool cleaning robot 2 can be obtained.

[0051] Step 106 : According to the offset position of the obstacle relative to the swimming pool cleaning robot, control the swimming pool cleaning robot to perform a deflection operation relative to the obstacle to avoid the obstacle, and return to step 102 .

[0052] In some embodiments, the pool cleaning robot 2 may include a left track 22 and a right track 24 symmetrically arranged on the left and right sides of the pool cleaning robot 2 along the central axis X of the pool cleaning robot 2 (refer to FIG. Figure 2B ).

[0053] In some embodiments, based on the offset position of the obstacle relative to the pool cleaning robot, one of the left track and the right track that is closer to the obstacle can be determined as the reference track, and the deflection direction of the pool cleaning robot can be determined. Based on the deflection direction, the cleaning robot can be controlled to perform a deflection operation relative to the obstacle so that the reference track can pass over the obstacle.

[0054] In some embodiments, when the obstacle is offset to the left relative to the pool cleaning robot, the left track can be determined as the reference track, and the deflection direction of the pool cleaning robot can be determined to deflect to the right; or, when the obstacle is offset to the right relative to the pool cleaning robot, the right track can be determined as the reference track, and the deflection direction of the pool cleaning robot can be determined to deflect to the left.

[0055] For example, in Figure 2B In the example shown, since the obstacle 1 is offset to the left relative to the pool cleaning robot 2, the left track 22 of the pool cleaning robot 2 can be determined as the reference track, and the deflection direction of the pool cleaning robot 2 can be determined to be deflected to the right.

[0056] In some embodiments, when the deflection direction is to the right, the pool cleaning robot can be controlled to rotate 90 degrees to the right, move forward a preset distance based on the posture after the right rotation, then rotate 90 degrees to the left, and continue to move based on the posture after the left rotation, so that the left track passes over the obstacle; or when the deflection direction is to the left, the pool cleaning robot can be controlled to rotate 90 degrees to the left, move forward a preset distance based on the posture after the left rotation, then rotate 90 degrees to the right, and continue to move based on the posture after the right rotation, so that the right track passes over the obstacle.

[0057] For example, in Figure 2B In the example shown, since the obstacle 1 is offset to the left relative to the pool cleaning robot 2, that is, the deflection direction is to the right, the pool cleaning robot 2 can rotate right by 90 degrees at position b, and move forward a preset distance to position c based on the posture after the right rotation, and then rotate left by 90 degrees, and continue to move to position d based on the posture after the left rotation, so that the left track 22 passes over the obstacle 1 and continues to control the pool cleaning robot 2 to move forward.

[0058] In some embodiments, the preset distance (i.e. Figure 2B The distance from the middle position point b to the position point c) can be determined based on the fuselage length of the swimming pool cleaning robot 2. For example, the preset distance for forward travel can be set to half the fuselage length of the swimming pool cleaning robot 2.

[0059] In some embodiments, after avoiding obstacles in the swimming pool, the swimming pool cleaning robot can be controlled to move relative to the swimming pool directly based on the current posture of the swimming pool cleaning robot. Figure 2B In the example shown, path ab is the original moving path of the pool cleaning robot 2. After the pool cleaning robot 2 moves along the obstacle avoidance moving path bcd to avoid obstacle 1, it continues to move forward along the moving path de directly based on the current posture of the pool cleaning robot 2, so as to improve the movement efficiency of the pool cleaning robot in the swimming pool by reducing the posture adjustment operation of the pool cleaning robot.

[0060] In summary, the obstacle avoidance movement method of the swimming pool cleaning robot of the present embodiment detects the offset position of the obstacle relative to the swimming pool cleaning robot to control the swimming pool cleaning robot to perform an adaptive deflection operation to avoid the obstacle. This can minimize the movement distance and posture adjustment operation of the swimming pool cleaning robot while ensuring that the obstacle is avoided, thereby improving the movement efficiency of the swimming pool cleaning robot in the swimming pool.

[0061] In addition, the obstacle avoidance movement method of this embodiment can be used in combination with various tasks of the swimming pool cleaning robot (for example, swimming pool mapping tasks, swimming pool cleaning tasks, etc.), which helps to improve the task execution efficiency of the swimming pool cleaning robot.

[0062] Obstacle avoidance mobile device for pool cleaning robot

[0063] Figure 3 4 is a block diagram of a cleaning route generating device 400 for pollutants according to an exemplary embodiment of the present disclosure. The cleaning route generating device 300 of this embodiment includes:

[0064] A moving module 302, used to control the swimming pool cleaning robot to move within a working area defined by the swimming pool, and detect obstacles in the moving direction of the swimming pool cleaning robot;

[0065] A detection module 304 is used to detect an offset position of the obstacle relative to the pool cleaning robot based on a central axis of the pool cleaning robot, wherein the central axis is defined as passing through a center point of the pool cleaning robot and extending along a travel direction of the pool cleaning robot;

[0066] The obstacle avoidance module 306 controls the pool cleaning robot to perform a deflection operation relative to the obstacle to avoid the obstacle according to the offset position of the obstacle relative to the pool cleaning robot, and continues to control the pool cleaning robot to move within the working area defined by the swimming pool through the movement module.

[0067] In some embodiments, the swimming pool cleaning robot includes a left track and a right track symmetrically arranged on the left and right sides of the swimming pool cleaning robot along the central axis of the swimming pool cleaning robot.

[0068] In some embodiments, the detection module 304 is further used to: determine one of the left track and the right track that is closer to the obstacle as a reference track according to the offset position of the obstacle relative to the pool cleaning robot, and determine the deflection direction of the pool cleaning robot; based on the deflection direction, control the cleaning robot to perform a deflection operation relative to the obstacle so that the reference track passes over the obstacle.

[0069] In some embodiments, the detection module 304 is also used for: when the obstacle is offset to the left relative to the pool cleaning robot, determining the left track as the reference track, and determining the deflection direction of the pool cleaning robot as deflecting to the right; when the obstacle is offset to the right relative to the pool cleaning robot, determining the right track as the reference track, and determining the deflection direction of the pool cleaning robot as deflecting to the left.

[0070] In some embodiments, the obstacle avoidance module 306 is also used for: when the deflection direction is a rightward deflection, controlling the pool cleaning robot to rotate right 90 degrees, moving forward a preset distance based on the posture after the rightward rotation, then rotating left 90 degrees, and continuing to move based on the posture after the leftward rotation, so that the left track passes over the obstacle; or when the deflection direction is a leftward deflection, controlling the pool cleaning robot to rotate left 90 degrees, moving forward a preset distance based on the posture after the leftward rotation, then rotating right 90 degrees, and continuing to move based on the posture after the rightward rotation, so that the right track passes over the obstacle; wherein the preset distance is determined based on the body length of the pool cleaning robot.

[0071] In some embodiments, the detection module 304 is further used to: identify the category of obstacles in the direction of travel of the pool cleaning robot; if the category of the obstacle meets a preset category, detect the distance between the obstacle and the pool cleaning robot; if the distance between the obstacle and the pool cleaning robot falls within a given avoidance range, control the pool cleaning robot to perform a deflection operation relative to the obstacle to avoid the obstacle.

[0072] In some embodiments, the working area defined by the swimming pool includes the pool bottom and / or pool wall of the swimming pool; the obstacle includes a floor drain arranged on the pool bottom and / or a wall drain arranged on the pool wall.

[0073] In addition, the obstacle avoidance movement device 400 of the swimming pool cleaning robot in each embodiment of the present disclosure can also be used to implement other steps in the aforementioned swimming pool cleaning robot obstacle avoidance movement method embodiments, and has the beneficial effects of the corresponding method step embodiments, which will not be repeated here.

[0074] 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.

[0075] 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.

[0076] 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.

[0077] An exemplary embodiment of the present disclosure further provides a swimming pool cleaning robot, which includes a controller, wherein control instructions are stored in the controller, and when the control instructions are executed, the controller executes the obstacle avoidance movement method of the swimming pool cleaning robot of each embodiment of the present disclosure.

[0078] refer to Figure 4 , a block diagram of an electronic device 400 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.

[0079] like Figure 4 As shown, the electronic device 400 includes a computing unit 401, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 402 or a computer program loaded from a storage unit 408 into a random access memory (RAM) 403. In the RAM 403, various programs and data required for the operation of the device 400 can also be stored. The computing unit 401, the ROM 402, and the RAM 403 are connected to each other via a bus 404. An input / output (I / O) interface 405 is also connected to the bus 404.

[0080] A plurality of components in the electronic device 400 are connected to the I / O interface 405, including: an input unit 406, an output unit 407, a storage unit 408, and a communication unit 409. The input unit 406 may be any type of device capable of inputting information to the electronic device 400, and the input unit 406 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 407 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 404 may include, but is not limited to, a disk, an optical disk. The communication unit 409 allows the electronic device 400 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.

[0081] The computing unit 401 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the computing unit 401 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 401 performs the various methods and processes described above. For example, in some embodiments, the obstacle avoidance movement method of the pool cleaning robot 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 408. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 400 via the ROM 402 and / or the communication unit 409. In some embodiments, the computing unit 401 may be configured to perform the obstacle avoidance movement method of the pool cleaning robot by any other appropriate means (e.g., by means of firmware).

[0082] 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.

[0083] 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.

[0084] 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.

[0085] 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).

[0086] 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.

[0087] 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.

[0088] 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.

[0089] 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. An obstacle avoidance movement method for a swimming pool cleaning robot, comprising: Controlling the swimming pool cleaning robot to move within a working area defined by the swimming pool, and identifying obstacles in the direction of travel of the swimming pool cleaning robot; Based on a central axis of the pool cleaning robot, detecting an offset position of the obstacle relative to the pool cleaning robot, wherein the central axis is defined as passing through a center point of the pool cleaning robot and extending along a travel direction of the pool cleaning robot; According to the offset position of the obstacle relative to the pool cleaning robot, the pool cleaning robot is controlled to perform a deflection operation relative to the obstacle to avoid the obstacle, and the process returns to the step of controlling the pool cleaning robot to move within a working area defined by the swimming pool.

2. The method according to claim 1, wherein: The swimming pool cleaning robot comprises a left track and a right track symmetrically arranged on the left and right sides of the swimming pool cleaning robot along the central axis of the swimming pool cleaning robot, and the obstacle comprises one of a floor drain or a wall drain; And wherein, according to the offset position of the obstacle relative to the swimming pool cleaning robot, controlling the swimming pool cleaning robot to perform a deflection operation relative to the obstacle includes: According to the offset position of the obstacle relative to the pool cleaning robot, one of the left track and the right track that is close to the obstacle is determined as a reference track, and a deflection direction of the pool cleaning robot is determined; Based on the deflection direction, the cleaning robot is controlled to perform a deflection operation relative to the obstacle, so that the reference track passes over the obstacle.

3. The method according to claim 2, wherein: The step of determining one of the left track and the right track that is closer to the obstacle as a reference track according to the offset position of the obstacle relative to the swimming pool cleaning robot, and determining the deflection direction of the swimming pool cleaning robot includes: In the case where the obstacle is offset to the left relative to the swimming pool cleaning robot, the left track is determined as the reference track, and the deflection direction of the swimming pool cleaning robot is determined to be deflected to the right; In the case that the obstacle is offset to the right relative to the swimming pool cleaning robot, the right track is determined as the reference track, and the deflection direction of the swimming pool cleaning robot is determined to be deflected to the left.

4. The method according to claim 3, wherein: The step of controlling the cleaning robot to perform a deflection operation relative to the obstacle based on the deflection direction so that the reference track passes over the obstacle includes: When the deflection direction is rightward deflection, the swimming pool cleaning robot is controlled to rotate rightward 90 degrees, move forward a preset distance based on the posture after rightward rotation, and then rotate leftward 90 degrees, and continue to move forward based on the posture after leftward rotation, so that the left track passes over the obstacle; or When the deflection direction is to the left, the swimming pool cleaning robot is controlled to rotate 90 degrees to the left, move forward a preset distance based on the posture after the left rotation, and then rotate 90 degrees to the right, and continue to move based on the posture after the right rotation, so that the right track passes over the obstacle; Wherein, the preset distance is determined based on the body length of the swimming pool cleaning robot.

5. The method according to claim 1, wherein: The method further comprises: Identifying the types of obstacles in the traveling direction of the pool cleaning robot; If the category of the obstacle meets the preset category, detecting the distance between the obstacle and the swimming pool cleaning robot; If the distance between the obstacle and the swimming pool cleaning robot falls within a given avoidance range, the swimming pool cleaning robot is controlled to perform a deflection operation relative to the obstacle to avoid the obstacle.

6. The method according to claim 1 or 5, wherein: The working area defined by the swimming pool includes the pool bottom and / or pool wall of the swimming pool.

7. An obstacle avoidance mobile device for a swimming pool cleaning robot, comprising: A moving module, used to control the swimming pool cleaning robot to move within a working area defined by the swimming pool, and to identify obstacles in the moving direction of the swimming pool cleaning robot; a detection module, configured to detect an offset position of the obstacle relative to the pool cleaning robot based on a central axis of the pool cleaning robot, wherein the central axis is defined as passing through a center point of the pool cleaning robot and extending along a travel direction of the pool cleaning robot; The obstacle avoidance module controls the pool cleaning robot to perform a deflection operation relative to the obstacle to avoid the obstacle according to the offset position of the obstacle relative to the pool cleaning robot, and continues to control the pool cleaning robot to move within the working area defined by the swimming pool through the movement module.

8. 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 an operation corresponding to the method according to any one of claims 1 to 6.

9. A computer storage medium having a computer program stored thereon, wherein when the program is executed by a processor, the method according to any one of claims 1 to 6 is implemented.

10. A computer program product, comprising computer instructions, wherein the computer instructions instruct a computing device to execute operations corresponding to the method according to any one of claims 1 to 6.

11. A swimming pool cleaning robot, comprising a controller, wherein control instructions are stored in the controller, and when the control instructions are executed, the controller executes the method according to any one of claims 1 to 6.

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