Obstacle avoidance moving method and device of pool cleaning robot, and electronic equipment

Abstract

The present disclosure provides an obstacle avoidance moving method and device of a pool cleaning robot and an electronic device, including: controlling the pool cleaning robot to move in a working area delimited by a pool, detecting an obstacle in a moving direction of the pool cleaning robot; detecting a bias position of the obstacle relative to the pool cleaning robot based on a central axis of the pool cleaning robot, and controlling the pool cleaning robot to perform a deflection operation relative to the obstacle to avoid the obstacle. In this way, the moving distance of the pool cleaning robot can be reduced as much as possible while ensuring that the obstacle is avoided, and the moving efficiency of the pool cleaning robot in the pool is improved.

Description

Technical Field

[0001] This disclosure relates to the field of mobile control technology, and in particular to a method, apparatus, electronic device, computer storage medium, and pool cleaning robot for obstacle avoidance and movement. Background Technology

[0002] Pool cleaning robots are a type of cleaning robot developed to meet the needs of pool cleaning. They can repeatedly clean the pool bottom and walls, as well as filter the pool water.

[0003] Swimming pools typically contain various types of obstacles such as floor drains, wall drains, ladders, steps, and corners. These obstacles can hinder the movement of pool cleaning robots in the pool and affect the success rate and efficiency of pool cleaning tasks.

[0004] Therefore, an obstacle avoidance and movement scheme for pool cleaning robots is needed to improve the efficiency of pool cleaning tasks. Summary of the Invention

[0005] To address the aforementioned problems, this disclosure provides an obstacle avoidance and movement scheme for a pool cleaning robot, which can at least partially solve the problems mentioned above.

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

[0007] According to a second aspect of this disclosure, an obstacle avoidance movement device for a pool cleaning robot is provided, comprising: a movement module for controlling the pool cleaning robot to move within a work area defined by a pool, and identifying obstacles in the direction of travel of the pool cleaning robot; a detection module for detecting the offset position of the obstacle relative to the pool cleaning robot based on the central axis of the pool cleaning robot, wherein the central axis is defined as passing through the center point of the pool cleaning robot and extending along the direction of travel of the pool cleaning robot; and an obstacle avoidance module for controlling the pool cleaning robot to perform a deflection operation relative to the obstacle to avoid the obstacle based on the offset position of the obstacle relative to the pool cleaning robot, and continuing to control the movement of the pool cleaning robot within the work area defined by the pool through the movement module.

[0008] According to a third aspect of this disclosure, an electronic device is provided, comprising: a processor; and a memory storing a program; wherein the program includes instructions that, 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 this disclosure, a non-transitory computer-readable storage medium is provided storing computer instructions, wherein the computer instructions are configured to cause a computer to perform the method described in the first aspect above.

[0010] According to a fifth aspect of this disclosure, a computer program product is provided, including computer instructions that instruct a computing device to perform an operation corresponding to the method described in the first aspect.

[0011] According to a sixth aspect of this disclosure, a pool cleaning robot is provided, comprising a controller storing control instructions that, when executed, cause the controller to perform the method described in the first aspect.

[0012] In summary, the obstacle avoidance and movement scheme for the pool cleaning robot provided in this 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. This ensures the normal movement of the pool cleaning robot in the pool and improves the task execution efficiency of the pool cleaning robot. Attached Figure Description

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

[0014] Figure 1 This is a flowchart illustrating the obstacle avoidance movement method of a pool cleaning robot, which is an exemplary embodiment of this disclosure.

[0015] Figures 2A to 2B Schematic diagrams of various embodiments of a pool cleaning robot obstacle avoidance movement method or apparatus suitable for implementing the various embodiments of this disclosure.

[0016] Figure 3 This is a structural block diagram of an obstacle avoidance mobile device for a pool cleaning robot, which is an exemplary embodiment of this disclosure.

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

[0018] Explanation of reference numerals in the attached figures:

[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, Moving module

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

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

[0024] [SMOCN20241017][HS2411382CCN]

[0025] 400. Electronic equipment

[0026] 401. Calculation Unit

[0027] 402, ROM

[0028] 403, RAM

[0029] 404, Bus

[0030] 405. Input / Output Interfaces

[0031] 406. Input Unit

[0032] 407. Output Unit

[0033] 408. Storage Unit

[0034] 409. Communication Unit. Detailed Implementation

[0035] To provide a clearer understanding of the technical features, objectives, and effects of the embodiments of this disclosure, specific implementation methods of the embodiments of this disclosure will now be described with reference to the accompanying drawings.

[0036] In this document, “illustrative” means “serving as an example, illustration or description”, and any illustration or implementation described herein as “illustrative” should not be construed as a more preferred or advantageous technical solution.

[0037] To keep the drawings concise, only the parts relevant to this disclosure are shown schematically in each drawing, and they do not represent the actual structure of the product. Furthermore, for ease of understanding, in some drawings, components with the same structure or function are shown only schematically, or only one or more are labeled.

[0038] Swimming pools typically have floor drains, wall drains, ladders, steps, corners, and other pool facilities. These facilities can obstruct the movement of pool cleaning robots, affecting their efficiency in performing pool tasks. Therefore, the embodiments of this disclosure provide an obstacle avoidance and movement scheme that can improve the movement efficiency of pool cleaning robots in swimming pools.

[0039] The specific implementations of this disclosure will be described in detail below with reference to the accompanying drawings:

[0040] Obstacle avoidance movement methods for pool cleaning robots

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

[0042] Step 102: Control the pool cleaning robot to move within the work area defined by the pool and detect obstacles in the direction of travel of the pool cleaning robot.

[0043] In this step, the pool cleaning robot can be controlled to move along a planned route within the pool, or it can be controlled to move freely within the pool; this embodiment does not impose any restrictions on this.

[0044] In some embodiments, the pool cleaning robot includes a vision sensor (e.g., a camera) that can detect obstacles in the direction the pool cleaning robot is traveling.

[0045] In some embodiments, the work area defined by the pool may include the bottom or walls of the 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 if the category of the identified obstacle meets the preset category, the distance between the obstacle and the pool cleaning robot can be detected by a ranging sensor (e.g., 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 that meet a preset category may include floor drains installed at the bottom of the pool or wall drains installed on the pool wall.

[0048] Step 104: Based on the central axis of the pool cleaning robot, detect the offset position of the obstacle relative to the 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 (see reference). Figure 2A ).

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

[0051] Step 106: Based on the offset position of the obstacle relative to the pool cleaning robot, control the 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 its central axis X (see reference). Figure 2B ).

[0053] In some embodiments, the one of the left and right tracks closest to the obstacle can be determined as the reference track based on the offset position of the obstacle relative to the pool cleaning robot, 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 as deflection 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 as deflection to the left.

[0055] For example, in Figure 2B In the example shown, since obstacle 1 is offset to the left relative to pool cleaning robot 2, the left track 22 of pool cleaning robot 2 can be determined as the reference track, and the deflection direction of pool cleaning robot 2 can be determined as deflection 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, travel a preset distance based on the posture after the right rotation, then rotate 90 degrees to the left, and continue to travel 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, travel a preset distance based on the posture after the left rotation, then rotate 90 degrees to the right, and continue to travel 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 obstacle 1 is offset to the left relative to pool cleaning robot 2, that is, the offset direction is to the right, pool cleaning robot 2 can rotate 90 degrees to the right at position b, move forward a preset distance to position c based on the posture after the right rotation, then rotate 90 degrees to the left, and continue to move to position d based on the posture after the left rotation, so that the left track 22 passes over obstacle 1, and continues to control pool cleaning robot 2 to move forward.

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

[0059] In some embodiments, after avoiding obstacles in the pool, the pool cleaning robot can be controlled to move relative to the pool directly based on its current posture. For example, in Figure 2B In the example shown, path ab is the original movement path of the pool cleaning robot 2. After the pool cleaning robot 2 moves along the obstacle avoidance movement path bcd to avoid obstacle 1, it continues to move forward along the movement path de based directly on the current posture of the pool cleaning robot 2. This reduces the posture adjustment operations of the pool cleaning robot and improves the movement efficiency of the pool cleaning robot in the pool.

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

[0061] Furthermore, the obstacle avoidance and movement method of this embodiment can be used in conjunction with various tasks of the pool cleaning robot (e.g., pool mapping task, pool cleaning task, etc.), which helps to improve the task execution efficiency of the pool cleaning robot.

[0062] Obstacle avoidance mobility device for pool cleaning robots

[0063] Figure 3 This is a structural block diagram of a pollutant cleaning route generation apparatus 400 according to an exemplary embodiment of the present disclosure. The cleaning route generation apparatus 300 of this embodiment includes:

[0064] The mobile module 302 is used to control the movement of the pool cleaning robot within the work area defined by the pool and to detect obstacles in the direction of travel of the pool cleaning robot.

[0065] The detection module 304 is used to detect the offset position of the obstacle relative to the pool cleaning robot based on the central axis of the pool cleaning robot, wherein the central axis is defined as passing through the center point of the pool cleaning robot and extending along the direction of travel 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 based on the offset position of the obstacle relative to the obstacle in order to avoid the obstacle, and continues to control the pool cleaning robot to move within the work area defined by the pool through the movement module.

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

[0068] In some embodiments, the detection module 304 is further configured to: determine one of the left track and the right track that is closer to the obstacle as a reference track based on 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 further configured to: determine the left track as the reference track and determine the deflection direction of the pool cleaning robot as right deflection when the obstacle is offset to the left relative to the pool cleaning robot; and determine the right track as the reference track and determine the deflection direction of the pool cleaning robot as left deflection when the obstacle is offset to the right relative to the pool cleaning robot.

[0070] In some embodiments, the obstacle avoidance module 306 is further configured to: when the deflection direction is to the right, control the pool cleaning robot to rotate 90 degrees to the right, travel a preset distance based on the posture after the right rotation, then rotate 90 degrees to the left, and continue traveling 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, control the pool cleaning robot to rotate 90 degrees to the left, travel a preset distance based on the posture after the left rotation, then rotate 90 degrees to the right, and continue traveling 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 pool cleaning robot.

[0071] In some embodiments, the detection module 304 is further configured to: identify the type of obstacle in the direction of travel of the pool cleaning robot; if the type of 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 work area defined by the pool includes the pool bottom and / or pool walls; the obstacles include floor drains disposed on the pool bottom and / or wall drains disposed on the pool walls.

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

[0074] Exemplary embodiments of this disclosure also provide an electronic device, including: at least one processor; and a memory communicatively connected to the at least one processor. The memory stores a computer program executable by the at least one processor, the computer program being executed by the at least one processor to cause the electronic device to perform methods according to embodiments of this disclosure.

[0075] Exemplary embodiments of this disclosure also provide a non-transitory computer-readable storage medium storing a computer program, wherein the computer program, when executed by a computer's processor, is used to cause the computer to perform methods according to embodiments of this disclosure.

[0076] Exemplary embodiments of this disclosure also provide a computer program product, including a computer program, wherein, when executed by a processor of a computer, the computer program is used to cause the computer to perform methods according to various embodiments of this disclosure.

[0077] Exemplary embodiments of this disclosure also provide a pool cleaning robot, which includes a controller storing control instructions. When executed, the control instructions cause the controller to perform the obstacle avoidance movement method of the pool cleaning robot according to various embodiments of this disclosure.

[0078] refer to Figure 4 The present invention describes a structural block diagram of an electronic device 400 that can serve as a server or client of the present disclosure, 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 laptops, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the present disclosure described and / or claimed 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. The RAM 403 may also store various programs and data required for the operation of the device 400. The computing unit 401, ROM 402, and RAM 403 are interconnected via a bus 404. An input / output (I / O) interface 405 is also connected to the bus 404.

[0080] Multiple components in electronic device 400 are connected to I / O interface 405, including: input unit 406, output unit 407, storage unit 408, and communication unit 409. Input unit 406 can be any type of device capable of inputting information to electronic device 400. Input unit 406 can receive input digital or character information and generate key signal inputs related to user settings and / or function control of electronic device. Output unit 407 can be any type of device capable of presenting information and may include, but is not limited to, a display, speaker, video / audio output terminal, vibrator, and / or printer. Storage unit 404 may include, but is not limited to, disks and optical discs. Communication unit 409 allows electronic device 400 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks, and may include, but is not limited to, modems, network cards, infrared communication devices, wireless communication transceivers, and / or chipsets, such as Bluetooth™ devices, WiFi devices, WiMax devices, cellular communication devices, and / or the like.

[0081] The computing unit 401 can be a variety of general-purpose and / or dedicated 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, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, 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 foregoing embodiments can be implemented as a computer software program tangibly contained in a machine-readable medium, such as storage unit 408. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 400 via ROM 402 and / or communication unit 409. In some embodiments, the computing unit 401 can be configured to perform the obstacle avoidance movement method of the pool cleaning robot by any other suitable means (e.g., by means of firmware).

[0082] The program code used to implement the methods of this disclosure may be written in any combination of one or more programming languages. This program code may be provided to a processor or controller of a general-purpose computer, special-purpose computer, or other programmable data processing apparatus, such that when executed by the processor or controller, the program code causes the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The program code may be executed entirely on a machine, partially on a machine, as a standalone software package partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0083] In the context of this disclosure, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, 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, device, and / or apparatus (e.g., disk, optical disk, memory, programmable logic device (PLD)) for providing machine instructions and / or data to a programmable processor, including machine-readable media that receive machine instructions as machine-readable signals. 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 for displaying information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor); and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the computer. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0086] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as a data server), or computing systems that include middleware components (e.g., an application server), or computing systems that include frontend components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with embodiments of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., a communication network). Examples of communication networks include local area networks (LANs), wide area networks (WANs), and the Internet.

[0087] Computer systems can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. Client-server relationships are created by computer programs running on the respective computers and having a client-server relationship with 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 way of describing the specification is only for clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0089] The above descriptions are merely illustrative embodiments of this disclosure and are not intended to limit the scope of this disclosure. Any equivalent changes, modifications, and combinations made by those skilled in the art without departing from the concept and principles of this disclosure should fall within the protection scope of this disclosure.

Claims

1. A method for obstacle avoidance movement of a pool cleaning robot, comprising: Control the pool cleaning robot to move within the work area defined by the pool, and identify obstacles in the direction of travel of the pool cleaning robot; Based on the central axis of the pool cleaning robot, the offset position of the obstacle relative to the pool cleaning robot is detected, wherein the central axis is defined as passing through the center point of the pool cleaning robot and extending along the direction of travel of the pool cleaning robot; the pool cleaning robot includes a left track and a right track symmetrically arranged on the left and right sides of the pool cleaning robot along the central axis of the pool cleaning robot, and the obstacle includes one of a floor drain or a wall drain. Based on the offset position of the obstacle relative to the pool cleaning robot, the one of the left and right tracks closest to the obstacle is determined as the reference track, and the 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. After avoiding the obstacle, the pool cleaning robot is controlled to continue moving forward directly based on its current posture, so as to reduce the posture adjustment operation of the pool cleaning robot, and then returns to the step of controlling the pool cleaning robot to move within the working area defined by the pool.

2. The method according to claim 1, wherein, The step of determining the reference track based on the offset position of the obstacle relative to the pool cleaning robot, specifically the track closest to the obstacle between the left and right sides, and determining the deflection direction of the pool cleaning robot, includes: When the obstacle is offset to the left relative to the pool cleaning robot, the left track is determined as the reference track, and the deflection direction of the pool cleaning robot is determined as deflection to the right. When the obstacle is offset to the right relative to the pool cleaning robot, the right track is determined as the reference track, and the deflection direction of the pool cleaning robot is determined to be to the left.

3. The method according to claim 2, 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 to the right, the pool cleaning robot is controlled to rotate 90 degrees to the right, travel a preset distance based on the posture after the right rotation, then rotate 90 degrees to the left, and continue to travel 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 is controlled to rotate 90 degrees to the left, travel a preset distance forward based on the posture after the left rotation, then rotate 90 degrees to the right, and continue to travel based on the posture after the right rotation, so that the right track passes over the obstacle. The preset distance is determined based on the body length of the pool cleaning robot.

4. The method according to claim 1, wherein, The method further includes: Identify the type of obstacles in the direction the pool cleaning robot is traveling; If the category of the obstacle meets the preset category, the distance between the obstacle and the pool cleaning robot is detected; If the distance between the obstacle and the pool cleaning robot falls within a given avoidance range, the pool cleaning robot is controlled to perform a deflection operation relative to the obstacle to avoid it.

5. The method according to claim 1 or 4, wherein, The work area defined by the swimming pool includes the bottom and / or walls of the pool.

6. An obstacle avoidance mobility device for a pool cleaning robot, comprising: A mobility module is used to control the movement of the pool cleaning robot within the work area defined by the pool and to identify obstacles in the direction of travel of the pool cleaning robot. A detection module is used to detect the offset position of the obstacle relative to the pool cleaning robot based on the central axis of the pool cleaning robot, wherein the central axis is defined as passing through the center point of the pool cleaning robot and extending along the direction of travel of the pool cleaning robot; the pool cleaning robot includes a left track and a right track symmetrically arranged on the left and right sides of the pool cleaning robot along the central axis of the pool cleaning robot, and the obstacle includes one of a floor drain or a wall drain; The obstacle avoidance module determines the one of the left and right tracks closest to the obstacle as the reference track based on the offset position of the obstacle relative to the pool cleaning robot, and determines the deflection direction of the pool cleaning robot. Based on the deflection direction, the module controls the cleaning robot to perform a deflection operation relative to the obstacle, so that the reference track passes over the obstacle. After avoiding the obstacle, the module directly controls the pool cleaning robot to continue moving forward based on its current posture, thereby reducing the posture adjustment operation of the pool cleaning robot. The module also continues to control the pool cleaning robot to move within the working area defined by the pool.

7. An electronic device, comprising: The processor, memory, communication interface, and communication bus are provided, wherein the processor, memory, and communication interface communicate with each other via the communication bus. The memory is used to store at least one executable instruction that causes the processor to perform the operation corresponding to the method as described in any one of claims 1 to 5.

8. A computer storage medium having a computer program stored thereon, which, when executed by a processor, implements the method as described in any one of claims 1 to 5.

9. A computer program product comprising computer instructions that instruct a computing device to perform an operation corresponding to the method as described in any one of claims 1 to 6.

10. A pool cleaning robot comprising a controller storing control instructions that, when executed, cause the controller to perform the method as described in any one of claims 1 to 5.

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