Movement control method and device for swimming pool cleaning robot and swimming pool map construction method and device

Abstract

The invention provides a swimming pool cleaning robot movement control and swimming pool map construction method and device, and the method comprises the steps: controlling a swimming pool cleaning robot to move along a swimming pool planning path at a first speed, detecting a measurement distance between the swimming pool cleaning robot and an obstacle through a distance measurement unit, and when the measurement distance is smaller than an obstacle avoidance distance through comparison, executing the step 1; and controlling the swimming pool cleaning robot to execute speed reduction movement, acquiring attitude data of the swimming pool cleaning robot through an inertial measurement unit, and controlling the swimming pool cleaning robot to move along the obstacle avoidance path to avoid the obstacle according to the attitude data when it is judged that the swimming pool cleaning robot collides with the obstacle. According to the method and the device, the detection data of various sensors are fused, the moving operation of the swimming pool cleaning robot in the swimming pool is controlled, the moving safety and reliability of the swimming pool cleaning robot can be improved, and the method and the device are particularly suitable for being used in application scenes without swimming pool maps.

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 robot control technology, and more particularly to a method, device, electronic device, computer storage medium, and a swimming pool cleaning robot for controlling movement of the swimming pool cleaning robot and constructing a swimming pool map. 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] Swimming pools are usually equipped with various swimming pool facilities such as steps, ramps, handrails, water inlets, and water outlets. These facilities will hinder the movement of the pool cleaning robot in the pool. The pool cleaning robot needs to avoid these pool facilities according to the preset obstacle avoidance path and continue to move. In addition, the pool cleaning robot may collide with the pool wall while moving along the pool bottom, or collide with the pool bottom while moving along the pool wall. At this time, the pool cleaning robot is also required to frequently perform wall-collision and U-turn operations to continue moving after bypassing these obstacles.

[0006] However, the current obstacle avoidance operation design for pool cleaning robots is not entirely reasonable, and it is easy for the robot to be stuck by obstacles and unable to continue moving, resulting in abnormal interruption of the pool cleaning task, affecting the task execution efficiency of the pool cleaning robot and reducing the consumer's user experience.

[0007] Therefore, an improved robot movement control scheme is needed to improve the safety and reliability of the swimming pool cleaning robot moving in the swimming pool. Summary of the invention

[0008] In order to solve the above problems, the embodiments of the present disclosure provide an improved movement control solution of a swimming pool cleaning robot to at least partially solve the above problems.

[0009] According to a first aspect of the present disclosure, a movement control method of a swimming pool cleaning robot is provided, which is applied to a swimming pool cleaning robot including a ranging unit and an inertial measurement unit, and the method includes: controlling the swimming pool cleaning robot to move along a swimming pool planning path at a first speed, measuring the distance of an obstacle in the travel direction of the swimming pool cleaning robot by the ranging unit, and obtaining a measured distance between the swimming pool cleaning robot and the obstacle; when the measured distance is less than the obstacle avoidance distance, controlling the swimming pool cleaning robot to move at a second speed lower than the first speed, and obtaining posture data of the swimming pool cleaning robot by the inertial measurement unit; according to the posture data, when it is determined that the swimming pool cleaning robot collides with the obstacle, controlling the swimming pool cleaning robot to move along the obstacle avoidance path to avoid the obstacle, and returning to the step of controlling the swimming pool cleaning robot to move along the swimming pool planning path at the first speed.

[0010] According to a second aspect of the present disclosure, a method for constructing a swimming pool map is provided, comprising: using the swimming pool cleaning robot movement control method as described in the first aspect to control the swimming pool cleaning robot to move relative to the swimming pool, so as to obtain position information of each swimming pool facility object in the swimming pool; and constructing a pool map of the swimming pool according to the position information of each swimming pool facility object in the swimming pool.

[0011] According to a third aspect of the present disclosure, a mobile control device of a swimming pool cleaning robot is provided, which is applied to a swimming pool cleaning robot including a ranging unit and an inertial measurement unit, and the device includes: a mobile control module, which is used to control the swimming pool cleaning robot to move along a swimming pool planning path at a first speed, measure the distance of obstacles in the travel direction of the swimming pool cleaning robot through the ranging unit, obtain the measured distance between the swimming pool cleaning robot and the obstacle, and control the swimming pool cleaning robot to move at a second speed lower than the first speed when the measured distance is less than the obstacle avoidance distance, and obtain the posture data of the swimming pool cleaning robot through the inertial measurement unit; an obstacle avoidance control module, which is used to control the swimming pool cleaning robot to move along the obstacle avoidance path to avoid the obstacle according to the posture data, and continue to control the swimming pool cleaning robot to move along the swimming pool planning path at the first speed through the mobile control module.

[0012] According to a fourth aspect of the present disclosure, a swimming pool map construction device is provided, comprising: an information acquisition module, used to control the swimming pool cleaning robot to move relative to the swimming pool through the mobile control device of the swimming pool cleaning robot as described in the third aspect, so as to obtain position information of each swimming pool facility object in the swimming pool; and a map construction module, used to construct a swimming pool map of the swimming pool according to the position information of each swimming pool facility object in the swimming pool.

[0013] According to a fifth aspect of the present disclosure, an electronic device is provided, comprising: a processor; and a memory for storing a program; wherein the program comprises instructions, which, when executed by the processor, cause the processor to perform operations corresponding to the method described in the first aspect or the second aspect above.

[0014] According to a sixth aspect of the present disclosure, a non-transitory computer-readable storage medium storing computer instructions is provided, wherein the computer instructions are used to enable a computer to execute the method described in the first aspect or the second aspect above.

[0015] According to a seventh aspect of the present disclosure, a computer program product is provided, comprising computer instructions, wherein the computer instructions instruct a computing device to execute operations corresponding to the movement control method of a swimming pool cleaning robot as described in the first aspect, or to execute operations corresponding to the swimming pool map construction method as described in the second aspect.

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

[0017] In summary, the mobile control scheme of the swimming pool cleaning robot provided by various aspects of the present disclosure, by integrating the measurement distance of the ranging unit and the IMU posture of the inertial measurement unit, can slow down when detecting that the swimming pool cleaning robot is approaching an obstacle, and perform obstacle avoidance movement when detecting that the swimming pool cleaning robot collides with an obstacle, so as to improve the movement safety and stability of the swimming pool cleaning robot in the swimming pool, and help to improve the execution efficiency of swimming pool map construction. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0019] Figure 1 The present invention is a flowchart of a method for controlling movement of a pool cleaning robot according to an exemplary embodiment of the present invention.

[0020] FIG. 2A to FIG. 2B It is a schematic diagram of an application scenario of the mobile control and cleaning method or device of the swimming pool cleaning robot suitable for implementing the various embodiments of the present disclosure.

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

[0022] Figure 4 The present invention is a flowchart of a method for constructing a pool map according to an exemplary embodiment of the present invention.

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

[0024] Figure 6 The present invention is a structural block diagram of a device for constructing a pool map according to an exemplary embodiment of the present invention.

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

[0026] Description of reference numerals:

[0027] 500, mobile control device 702, ROM

[0028] 502, mobile control module 703, RAM

[0029] 504, obstacle avoidance control module 704, bus

[0030] 600, swimming pool map construction device 705, input and output interface

[0031] 602, information acquisition module 706, input unit

[0032] 604, map construction module 707, output unit

[0033] 700. Electronic device 708. Storage unit

[0034] 701. Calculation unit 709. 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] When performing swimming pool cleaning tasks, the swimming pool cleaning robot needs to frequently perform wall-hitting and U-turn operations. The current design of the wall-hitting and U-turn operations for the swimming pool cleaning robot is not entirely reasonable, and it is easy for the robot to get stuck when turning. In view of this, the embodiments of the present disclosure provide a mobile control solution for the swimming pool cleaning robot, which can improve the safety and reliability of the robot's movement in the swimming pool.

[0039] The following will describe various embodiments of the present disclosure in detail with reference to the accompanying drawings:

[0040] Mobile control method of swimming pool cleaning robot

[0041] Figure 1 The present invention is a flowchart of a method for controlling movement of a pool cleaning robot according to an exemplary embodiment of the present invention.

[0042] This embodiment is applicable to a pool cleaning robot equipped with a ranging unit and an inertial measurement unit. The ranging unit is used to detect the distance between the pool cleaning robot and obstacles in its direction of travel. The inertial measurement unit (IMU for short) may include an accelerometer and an angular velocity sensor, which are used to detect the three-axis attitude angle (or angular velocity) and acceleration of the pool cleaning robot during movement.

[0043] As shown in the figure, this embodiment mainly includes the following steps:

[0044] Step 102: Control the swimming pool cleaning robot to move along the planned swimming pool path at a first speed, and use a distance measuring unit to measure the distance of obstacles in the moving direction of the swimming pool cleaning robot to obtain a measured distance between the swimming pool cleaning robot and the obstacles.

[0045] In some embodiments, the pool planning path may include a pool bottom planning path (refer to Figure 2A ) or pool wall planning path (reference Figure 2B ). A pool planning path may include multiple moving segments, e.g. Figure 2A In the example of , the pool bottom planning path includes moving segment 1 to moving segment N. Figure 2B In the example, the pool wall planning path includes moving segment ABC, moving segment CDE, etc.

[0046] The swimming pool cleaning robot can move relative to the swimming pool bottom along each moving section in the planned path of the pool bottom (refer to Figure 2A ), or the swimming pool cleaning robot can also move relative to the swimming pool wall at each moving section in the pool wall planning path (reference Figure 2B ).

[0047] In some embodiments, the swimming pool planning path may include one of a serpentine movement path, a zigzag movement path, and a meander movement path.

[0048] In some embodiments, the pool cleaning robot may include a visual sensor, and the ranging unit may include a sonar sensor and a laser sensor.

[0049] Among them, during the movement of the pool cleaning robot, the turbidity of the water quality in the swimming pool can be detected by a visual sensor. If the turbidity of the water quality exceeds a given turbidity threshold, the distance to the obstacles in the direction of travel of the pool cleaning robot is measured by a sonar sensor; if the turbidity of the water quality does not exceed the turbidity threshold, the distance to the obstacles in the direction of travel of the pool cleaning robot is measured by a laser sensor.

[0050] 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 detect the turbidity of swimming 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 swimming pool cleaning robot in performing mobile operations.

[0051] In some embodiments, during the movement of the pool cleaning robot, obstacles in the travel direction of the pool cleaning robot can be measured by a laser sensor and a sonar sensor to obtain a laser measurement distance of the laser sensor and a sonar measurement distance of the sonar sensor.

[0052] The trend of the spacing change can be predicted according to the direction of the pool cleaning robot, and the laser measurement spacing or sonar measurement spacing that meets the spacing change trend can be marked as valid data. For example, if the measured spacing is predicted to be gradually decreasing according to the direction of the pool cleaning robot, if the obtained laser measurement spacing or sonar measurement spacing is gradually increasing, it will be determined as invalid data and eliminated.

[0053] The variation range of the spacing can also be predicted based on the moving speed of the pool cleaning robot, and the laser measurement spacing or sonar measurement spacing that meets the variation range can be marked as valid data. For example, the allowable variation range between any two adjacent measurement spacings can be predicted based on the moving speed of the pool cleaning robot. If the actual variation range of the laser measurement spacing or sonar measurement spacing obtained does not fall within the allowable variation range, it is determined as invalid data and is discarded.

[0054] In this embodiment, one of the spacing change trend and the spacing change amplitude can be selected to screen the effective data of the laser measurement spacing and the sonar measurement spacing, or the spacing change trend and the spacing change amplitude can be combined to screen the effective data of the laser measurement spacing and the sonar measurement spacing.

[0055] The laser measurement distances or sonar measurement distances marked as valid data can be counted. If only one of the laser measurement distances and the sonar measurement distances is marked as valid data, the laser measurement distance or the sonar measurement distance marked as valid data is determined as the measurement distance between the pool cleaning robot and the obstacle. If both the laser measurement distance and the sonar measurement distance are marked as valid data, one of the laser measurement distance and the sonar measurement distance can be arbitrarily selected as the measurement distance between the pool cleaning robot and the obstacle, or the average value of the laser measurement distance and the sonar measurement distance can be determined as the measurement distance between the pool cleaning robot and the obstacle.

[0056] In some embodiments, if during the movement of the pool cleaning robot, only the laser measurement distance of the laser sensor or the sonar measurement distance of the sonar sensor is obtained, the obtained laser measurement distance or sonar measurement distance is determined as the measurement distance between the pool cleaning robot and the obstacle.

[0057] Step 104 , determine whether the measured distance is less than the obstacle avoidance distance, if so, proceed to step 106 , otherwise return to step 102 .

[0058] In this embodiment, the obstacle avoidance distance may be determined based on parameters such as the moving speed and turning radius of the swimming pool cleaning robot.

[0059] If it is determined that the measured distance between the swimming pool cleaning robot and the obstacle is not less than the obstacle avoidance distance, it means that the swimming pool cleaning robot and the obstacle are at a safe distance, then the process returns to step 102 to control the swimming pool cleaning robot to continue moving along the swimming pool planned path at the first speed.

[0060] Step 106: Control the swimming pool cleaning robot to move at a second speed lower than the first speed, and obtain posture data of the swimming pool cleaning robot through an inertial measurement unit.

[0061] In some embodiments, when it is determined that the measured distance between the pool cleaning robot and an obstacle is less than the obstacle avoidance distance, it means that the pool cleaning robot has approached the obstacle. The pool cleaning robot can be controlled to slow down to avoid the abnormal occurrence of damage to the pool cleaning robot due to excessive collision force.

[0062] Step 108 , determining whether the swimming pool cleaning robot collides with an obstacle, if so, proceeding to step 110 , otherwise proceeding to step 106 .

[0063] In some embodiments, based on a plurality of continuous posture data of the swimming pool cleaning robot, when it is determined that a significant slope change occurs on the moving surface of the swimming pool cleaning robot, a determination result that the swimming pool cleaning robot has collided with an obstacle can be obtained.

[0064] Step 110 , control the swimming pool cleaning robot to move along the obstacle avoidance path to avoid obstacles, and return to step 102 .

[0065] In some embodiments, the obstacle category can be detected by the visual sensor of the pool cleaning robot to obtain the obstacle category of the obstacle, and based on the obstacle category of the obstacle and the preset correspondence between each obstacle category and each obstacle avoidance path, the obstacle avoidance path corresponding to the obstacle is determined from each obstacle avoidance path, and the pool cleaning robot is controlled to move along the obstacle avoidance path of the obstacle to avoid the obstacle.

[0066] In some embodiments, the obstacle category may include, but is not limited to, one of: swimming pool facilities, swimming pool bottom, and swimming pool wall. The swimming pool facilities may include, for example, steps, slopes, handrails, water inlets, water outlets, and the like.

[0067] To summarize, the mobile control scheme provided in the present embodiment, by integrating the detection data of the ranging unit and the inertial measurement unit, can control the pool cleaning robot to slow down when it is detected that the pool cleaning robot is approaching an obstacle, and control the pool cleaning robot to move along an obstacle avoidance path to avoid the obstacle when it is detected that the pool cleaning robot collides with an obstacle. This can ensure the safety and reliability of the pool cleaning robot's movement in the swimming pool, improve the task execution efficiency of the pool cleaning robot, and is particularly suitable for use in scenarios where a pool map has not yet been built.

[0068] Furthermore, the mobile control solution provided in this embodiment also integrates the visual sensor to screen the ranging values ​​of the laser sensor and the sonar sensor according to the detection results of the water turbidity to ensure the reliability of the ranging values, which helps to improve the mobile safety of the swimming pool cleaning robot. In addition, according to the obstacle type detected by the visual sensor, the swimming pool cleaning robot can be controlled to move along the corresponding obstacle avoidance path, which can improve the robot's obstacle avoidance execution efficiency.

[0069] Figure 3 This is a processing flow of a method for controlling the movement of a swimming pool cleaning robot according to another exemplary embodiment of the present disclosure. This embodiment mainly shows a movement control scheme when the obstacle is the bottom of a swimming pool or the bottom of a swimming pool, for example, when the swimming pool cleaning robot collides with the swimming pool wall while moving along the bottom of the swimming pool, or when the swimming pool cleaning robot collides with the bottom of the swimming pool while moving along the swimming pool wall.

[0070] As shown in the figure, this embodiment mainly includes the following steps:

[0071] Step 302: Determine a current section where the swimming pool cleaning robot is currently located from each moving section.

[0072] For example, in Figure 2AIn the example shown, the pool cleaning robot is currently in moving section A, and moving section A is determined as the current section. Figure 2B In the example shown, the swimming pool cleaning robot is currently in moving section ABC, and the moving section ABC is determined as the current section.

[0073] Step 304: Control the swimming pool cleaning robot to move along the current section at a first speed, and obtain a measured distance between the swimming pool cleaning robot and the obstacle through a distance measuring unit.

[0074] Specifically, when the swimming pool cleaning robot moves along the current section at a first speed, the distance measuring unit may be used to measure the distance of obstacles in the traveling direction of the swimming pool cleaning robot to obtain a measured distance between the swimming pool cleaning robot and the obstacles.

[0075] Step 306 , determine whether the measurement distance is less than the obstacle avoidance distance, if so, proceed to step 308 , otherwise proceed to step 304 .

[0076] In this embodiment, the obstacle avoidance distance may be determined based on parameters such as the moving speed and turning radius of the swimming pool cleaning robot.

[0077] If it is determined that the measured distance is not less than the obstacle avoidance distance, it means that the swimming pool cleaning robot is at a safe distance from the obstacle, and the process returns to step 304 to control the swimming pool cleaning robot to continue moving along the current section at the first speed.

[0078] For example, in Figure 2A In the example shown, when the pool cleaning robot moves to point A and detects that the measured distance between the pool cleaning robot and the first pool wall is greater than the obstacle avoidance distance, the process returns to step 304 to control the pool cleaning robot to continue moving along the current section (moving section A) at the first speed. When the pool cleaning robot moves to point B and detects that the measured distance between the pool cleaning robot and the first pool wall is less than the obstacle avoidance distance, the process proceeds to step 308.

[0079] For example, in Figure 2B In the example shown, when the pool cleaning robot moves to the position of point a1 and detects that the measured distance between the pool cleaning robot and the pool bottom is greater than the obstacle avoidance distance, the process returns to step 304 to control the pool cleaning robot to continue moving along the current section ABC at the first speed. When the pool cleaning robot moves to the position of point a2 and detects that the measured distance between the pool cleaning robot and the pool bottom is less than the obstacle avoidance distance, the process proceeds to step 308.

[0080] Step 308: Control the swimming pool cleaning robot to move along the current 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.

[0081] In this embodiment, when it is detected that the swimming pool cleaning robot is approaching an obstacle (the bottom or the wall of the swimming pool), the swimming pool cleaning robot is controlled to slow down, and the posture data of the swimming pool cleaning robot is detected by an inertial measurement unit.

[0082] Step 310 , determining whether the pool cleaning robot collides with an obstacle, if so, proceeding to step 312 , otherwise returning to step 308 .

[0083] In some embodiments, based on multiple continuous posture data of the swimming pool cleaning robot, when it is determined that the moving surface of the swimming pool cleaning robot has undergone an obvious slope change, a judgment result can be obtained that the swimming pool cleaning robot has collided with an obstacle (the bottom or wall of the swimming pool).

[0084] Step 312: determine the next moving section of the current section as an obstacle avoidance path, control the swimming pool cleaning robot to perform a wall-hitting U-turn operation based on the obstacle avoidance path, and return to step 304.

[0085] For example, in Figure 2A In the example shown, when it is determined that the swimming pool cleaning robot collides with the first pool wall, the next moving section (moving section B) of the current section (moving section A) is determined as the obstacle avoidance path, and the swimming pool cleaning robot is controlled to perform a wall-hitting U-turn operation to move from moving section A to moving section B, and return to step 302.

[0086] For example, in Figure 2B In the example shown, when it is determined that the swimming pool cleaning robot collides with the bottom of the swimming pool (point C), the next moving section (moving section CDE) of the current section (moving section ABC) is determined as the obstacle avoidance path, and the swimming pool cleaning robot is controlled to perform a wall-hitting U-turn operation to move from moving section ABC to moving section CDE, and return to step 304.

[0087] To sum up, the mobile control scheme provided in this embodiment controls the swimming pool cleaning robot to perform the wall-hitting and U-turn operation by integrating the detection data of the ranging unit and the inertial measurement unit, thereby reducing the risk of the swimming pool cleaning robot getting stuck when turning around after hitting the wall, and improving the mobile safety and reliability of the swimming pool cleaning robot.

[0088] Pool map construction method

[0089] Figure 4 The following is a process flow chart of a method for constructing a pool map according to an exemplary embodiment of the present disclosure. As shown in the figure, this embodiment mainly includes the following steps:

[0090] Step 402: Control the swimming pool cleaning robot to move relative to the swimming pool to obtain position information of each swimming pool facility object in the swimming pool.

[0091] In this embodiment, the swimming pool cleaning robot movement control method as described in any of the above embodiments can be used to control the swimming pool cleaning robot to move relative to the swimming pool, so as to obtain the position information of each swimming pool facility object in the swimming pool.

[0092] In this embodiment, the swimming pool facility objects may include but are not limited to: steps, ramps, handrails, water inlets, water outlets, etc.

[0093] Step 404: construct a pool map of the swimming pool based on the location information of each swimming pool facility object in the swimming pool.

[0094] In this embodiment, a three-dimensional pool map including various pool facility objects can be drawn by fusing sensing data of various sensors (e.g., visual sensors, radar sensors, sonar sensors, inertial measurement sensors, etc.), wherein the pool cleaning robot can perform pool cleaning tasks according to the constructed pool map.

[0095] In summary, the swimming pool map construction method of this embodiment uses the mobile control method described in any of the above embodiments to control the movement of the swimming pool cleaning robot in the swimming pool, which can improve the robot's movement safety and stability, prevent the robot from getting stuck when hitting the wall and turning around, and facilitate the smooth execution of the swimming pool mapping task.

[0096] Pool cleaning line generator

[0097] Figure 5 1 is a structural block diagram of a mobile control device 500 of a swimming pool cleaning robot according to an exemplary embodiment of the present disclosure, which is applied to a swimming pool cleaning robot including a ranging unit and an inertial measurement unit. The device 500 includes:

[0098] The mobile control module 502 is used to control the pool cleaning robot to move along the planned path of the pool at a first speed, measure the distance of obstacles in the travel direction of the pool cleaning robot through the distance measuring unit, obtain the measured distance between the pool cleaning robot and the obstacle, and when the measured distance is less than the obstacle avoidance distance, control the pool cleaning robot to move at a second speed lower than the first speed, and obtain the posture data of the pool cleaning robot through the inertial measurement unit;

[0099] The obstacle avoidance control module 504 is used to control the swimming pool cleaning robot to move along an obstacle avoidance path to avoid the obstacle based on the posture data and continue to control the swimming pool cleaning robot to move along the swimming pool planned path at a first speed through the movement control module.

[0100] In some embodiments, the pool cleaning robot includes a visual sensor. The obstacle avoidance control module 504 is further used to: detect the category of the obstacle through the visual sensor to obtain the obstacle category of the obstacle; determine the obstacle avoidance path corresponding to the obstacle from each obstacle avoidance path according to the obstacle category of the obstacle and the preset correspondence between each obstacle category and each obstacle avoidance path; and control the pool cleaning robot to move along the obstacle avoidance path of the obstacle to avoid the obstacle.

[0101] In some embodiments, the obstacle includes at least one of swimming pool facilities, swimming pool bottom, and swimming pool wall.

[0102] In some embodiments, the swimming pool planning path includes a plurality of moving sections connected in sequence, and when the obstacle is the bottom or wall of the swimming pool, the movement control module 502 is further used to: determine a current section where the swimming pool cleaning robot is currently located from each moving section; control the swimming pool cleaning robot to move along the current section at the first speed, and obtain the measured distance between the swimming pool cleaning robot and the obstacle through the distance measuring unit; if the measured distance is less than the obstacle avoidance distance, control the swimming pool cleaning robot to move along the current section at the second speed, and obtain the posture data of the swimming pool cleaning robot through the inertial measurement unit; if the measured distance is not less than the obstacle avoidance distance, return Returning to the step of controlling the swimming pool cleaning robot to move along the current section at the first speed; the obstacle avoidance control module 504 is also used for: according to the posture data, if it is determined that the swimming pool cleaning robot collides with the obstacle, determining the next moving section of the current section as the obstacle avoidance path of the obstacle, controlling the swimming pool cleaning robot to perform a wall-hitting U-turn operation based on the obstacle avoidance path, and re-executing the step of determining a current section where the swimming pool cleaning robot is currently located from each moving section through the movement control module 502; if it is determined that the swimming pool cleaning robot does not collide with the obstacle, continuing to control the swimming pool cleaning robot to move along the current section at the second speed by moving the control module 502.

[0103] In some embodiments, the swimming pool planned path includes a pool bottom planned path or a pool wall planned path; the swimming pool cleaning robot can move relative to the swimming pool bottom along each moving section in the pool bottom planned path, or move relative to the swimming pool wall along each moving section in the pool wall planned path.

[0104] In some embodiments, the swimming pool planning path includes one of a serpentine moving path, a zigzag moving path, and a roundabout moving path.

[0105] In some embodiments, the pool cleaning robot includes a visual sensor, and the distance measuring unit includes a laser sensor and a sonar sensor; the mobile control module 502 is also used to: 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 obstacle in the direction of travel of the pool cleaning robot through the sonar sensor to obtain the measured distance between the pool cleaning robot and the obstacle; or, if the turbidity of the water quality does not exceed the turbidity threshold, measure the distance of the obstacle in the direction of travel of the pool cleaning robot through the laser sensor to obtain the measured distance between the pool cleaning robot and the obstacle.

[0106] In some embodiments, the distance measuring unit includes a laser sensor and a sonar sensor, and the mobile control module 502 is further used to: measure the distance of obstacles in the travel direction of the pool cleaning robot by using the laser sensor and the sonar sensor to obtain the laser measurement distance of the laser sensor and the sonar measurement distance of the sonar sensor; predict the distance change trend according to the travel direction of the pool cleaning robot, mark the laser measurement distance or the sonar measurement distance that meets the distance change trend as valid data, and / or predict the distance change amplitude according to the moving speed of the pool cleaning robot, mark the laser measurement distance or the sonar measurement distance that meets the distance change amplitude as valid data. The sonar measurement distance is marked as valid data; if one of the laser measurement distance and the sonar measurement distance is marked as valid data, the laser measurement distance or the sonar measurement distance marked as valid data is determined as the measurement distance between the swimming pool cleaning robot and the obstacle; if both the laser measurement distance and the sonar measurement distance are marked as valid data, any one of the laser measurement distance and the sonar measurement distance is determined as the measurement distance between the swimming pool cleaning robot and the obstacle, or the average value of the laser measurement distance and the sonar measurement distance is determined as the measurement distance between the swimming pool cleaning robot and the obstacle.

[0107] Pool map builder

[0108] Figure 6 : is a structural block diagram of a swimming pool map construction device 600 according to an exemplary embodiment of the present disclosure, wherein the device 600 includes:

[0109] An information acquisition module 602, configured to control the swimming pool cleaning robot to move relative to the swimming pool through the mobile control device 500 of the swimming pool cleaning robot as described in any embodiment, so as to acquire position information of each swimming pool facility object in the swimming pool;

[0110] The map construction module 604 is used to construct a pool map of the swimming pool according to the location information of each swimming pool facility object in the swimming pool.

[0111] In addition, the mobile control device 500 and the pool map construction device 600 of the swimming pool cleaning robot of each embodiment of the present disclosure can also be used to implement the other steps in the aforementioned mobile control of the swimming pool cleaning robot and the pool map construction method embodiments, and have the beneficial effects of the corresponding method step embodiments, which will not be repeated here.

[0112] 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.

[0113] 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.

[0114] 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.

[0115] The exemplary embodiment of the present disclosure further provides a swimming pool cleaning robot, which includes a controller, wherein the controller stores control instructions, and when the control instructions are executed, the controller executes the movement control and swimming pool map construction methods of the swimming pool cleaning robot of each embodiment of the present disclosure.

[0116] refer to Figure 7 , a block diagram of an electronic device 700 that can be used as a server or client of the present disclosure will now be described, which is an example of a hardware device that can be applied to various aspects of the present disclosure. The electronic device is intended to represent various forms of digital electronic computer devices, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, large computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present disclosure described and / or required herein.

[0117] like Figure 7As shown, the electronic device 700 includes a computing unit 701, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 702 or a computer program loaded from a storage unit 708 into a random access memory (RAM) 703. In the RAM 703, various programs and data required for the operation of the device 700 can also be stored. The computing unit 701, the ROM 702, and the RAM 703 are connected to each other via a bus 704. An input / output (I / O) interface 705 is also connected to the bus 704.

[0118] A plurality of components in the electronic device 700 are connected to the I / O interface 705, including: an input unit 706, an output unit 707, a storage unit 708, and a communication unit 709. The input unit 706 may be any type of device capable of inputting information to the electronic device 700, and the input unit 706 may receive input digital or character information, and generate key signal inputs related to user settings and / or function control of the electronic device. The output unit 707 may be any type of device capable of presenting information, and may include, but is not limited to, a display, a speaker, a video / audio output terminal, a vibrator, and / or a printer. The storage unit 704 may include, but is not limited to, a disk, an optical disk. The communication unit 709 allows the electronic device 700 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks, and may include, but is not limited to, a modem, a network card, an infrared communication device, a wireless communication transceiver, and / or a chipset, such as a Bluetooth™ device, a WiFi device, a WiMax device, a cellular communication device, and / or the like.

[0119] The computing unit 701 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the computing unit 701 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. The computing unit 701 performs the various methods and processes described above. For example, in some embodiments, the mobile control and pool map construction methods 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 708. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 700 via the ROM 702 and / or the communication unit 709. In some embodiments, the computing unit 701 may be configured to perform the mobile control and pool map construction methods of the pool cleaning robot by any other appropriate means (e.g., by means of firmware).

[0120] 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.

[0121] 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.

[0122] 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.

[0123] 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).

[0124] 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.

[0125] 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.

[0126] 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.

[0127] 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 mobile control method for a swimming pool cleaning robot, wherein: Applied to a swimming pool cleaning robot including a range measuring unit and an inertial measurement unit, the method comprises: Controlling the swimming pool cleaning robot to move along a planned swimming pool path at a first speed, and measuring the distance of obstacles in the travel direction of the swimming pool cleaning robot by the distance measuring unit to obtain a measured distance between the swimming pool cleaning robot and the obstacles; When the measured distance is smaller than the obstacle avoidance distance, the swimming pool cleaning robot is controlled to move at a second speed lower than the first speed, and posture data of the swimming pool cleaning robot is acquired through the inertial measurement unit; According to the posture data, when it is determined that the swimming pool cleaning robot collides with the obstacle, the swimming pool cleaning robot is controlled to move along an obstacle avoidance path to avoid the obstacle, and the process returns to the step of controlling the swimming pool cleaning robot to move along the swimming pool planned path at a first speed.

2. The mobile control method according to claim 1, wherein: The swimming pool cleaning robot includes a visual sensor; And wherein, controlling the swimming pool cleaning robot to move along an obstacle avoidance path to avoid the obstacle comprises: Performing category detection on the obstacle by the visual sensor to obtain the obstacle category of the obstacle; Determining an obstacle avoidance path corresponding to the obstacle from among the obstacle avoidance paths according to the obstacle category of the obstacle and the preset correspondence between each obstacle category and each obstacle avoidance path; The swimming pool cleaning robot is controlled to move along an obstacle avoidance path of the obstacle to avoid the obstacle.

3. The mobile control method according to claim 2, wherein: The obstacle includes at least one of swimming pool facilities, swimming pool bottom, and swimming pool wall.

4. The mobile control method according to claim 1, wherein: The swimming pool planning path includes a plurality of moving sections connected in sequence; Wherein, in the case where the obstacle is a swimming pool bottom or a swimming pool wall, the method comprises: Determine a current section where the swimming pool cleaning robot is currently located from each moving section; Controlling the swimming pool cleaning robot to move along the current section at the first speed, and obtaining a measured distance between the swimming pool cleaning robot and the obstacle through the distance measuring unit; If the measured distance is less than the obstacle avoidance distance, control the swimming pool cleaning robot to move along the current section at the second speed, and obtain the posture data of the swimming pool cleaning robot through the inertial measurement unit; if the measured distance is not less than the obstacle avoidance distance, return to the step of controlling the swimming pool cleaning robot to move along the current section at the first speed; According to the posture data, if it is determined that the swimming pool cleaning robot has collided with the obstacle, the next moving section of the current section is determined as the obstacle avoidance path of the obstacle, the swimming pool cleaning robot is controlled to perform a wall-hitting U-turn operation based on the obstacle avoidance path, and the process returns to the step of determining a moving section currently located by the swimming pool cleaning robot as the current section. If it is determined that the swimming pool cleaning robot has not collided with the obstacle, the process returns to the step of controlling the swimming pool cleaning robot to move along the current section at the second speed.

5. The mobile control method according to claim 1 or 4, wherein: The swimming pool planning path includes a pool bottom planning path or a pool wall planning path; in, The swimming pool cleaning robot can move relative to the swimming pool bottom along each moving section in the pool bottom planned path, or can move relative to the swimming pool wall along each moving section in the pool wall planned path; The swimming pool planning path includes one of a serpentine moving path, a zigzag moving path, and a roundabout moving path.

6. The mobile control method according to claim 1 or 4, wherein: The swimming pool cleaning robot includes a visual sensor, and the distance measuring unit includes a laser sensor and a sonar sensor; The step of measuring the distance of the obstacle in the traveling direction of the swimming pool cleaning robot by the distance measuring unit to obtain the measured distance between the swimming pool cleaning robot and the obstacle includes: Detecting the turbidity of the water in the swimming pool by means of the visual sensor; If the water turbidity exceeds a given turbidity threshold, the sonar sensor is used to measure the distance of the obstacle in the direction of travel of the pool cleaning robot to obtain a measured distance between the pool cleaning robot and the obstacle; or If the water turbidity does not exceed the turbidity threshold, the laser sensor is used to measure the distance of the obstacle in the traveling direction of the swimming pool cleaning robot to obtain a measured distance between the swimming pool cleaning robot and the obstacle.

7. The mobile control method according to claim 1 or 4, wherein: The distance measuring unit includes a laser sensor and a sonar sensor: Measuring the distance of an obstacle in the traveling direction of the swimming pool cleaning robot by the distance measuring unit to obtain a measured distance between the swimming pool cleaning robot and the obstacle includes: The laser sensor and the sonar sensor are used to measure the distance of obstacles in the traveling direction of the pool cleaning robot to obtain the laser measurement distance of the laser sensor and the sonar measurement distance of the sonar sensor; Predicting a spacing variation trend according to the travel direction of the pool cleaning robot, marking the laser measurement spacing or the sonar measurement spacing satisfying the spacing variation trend as valid data, and / or predicting a spacing variation range according to the moving speed of the pool cleaning robot, marking the laser measurement spacing or the sonar measurement spacing satisfying the spacing variation range as valid data; If one of the laser measurement distance and the sonar measurement distance is marked as valid data, the laser measurement distance or the sonar measurement distance marked as valid data is determined as the measurement distance between the swimming pool cleaning robot and the obstacle; If both the laser measurement distance and the sonar measurement distance are marked as valid data, any one of the laser measurement distance and the sonar measurement distance is determined as the measurement distance between the swimming pool cleaning robot and the obstacle, or the average value of the laser measurement distance and the sonar measurement distance is determined as the measurement distance between the swimming pool cleaning robot and the obstacle.

8. A method for constructing a swimming pool map, comprising: Using the swimming pool cleaning robot movement control method according to any one of claims 1 to 7, the swimming pool cleaning robot is controlled to move relative to the swimming pool to obtain the position information of each swimming pool facility object in the swimming pool; A pool map of the swimming pool is constructed according to the location information of each swimming pool facility object in the swimming pool.

9. A mobile control device for a swimming pool cleaning robot, wherein: Applicable to a swimming pool cleaning robot including a distance measuring unit and an inertial measurement unit, the device comprising: a mobile control module, configured to control the pool cleaning robot to move at a first speed along a planned path of the pool, measure the distance of obstacles in the travel direction of the pool cleaning robot through the distance measuring unit, obtain a measured distance between the pool cleaning robot and the obstacle, and control the pool cleaning robot to move at a second speed lower than the first speed when the measured distance is less than the obstacle avoidance distance, and obtain posture data of the pool cleaning robot through the inertial measurement unit; The obstacle avoidance control module is used to control the swimming pool cleaning robot to move along an obstacle avoidance path to avoid the obstacle based on the posture data and to continue to control the swimming pool cleaning robot to move along the swimming pool planned path at a first speed through the movement control module.

10. A swimming pool map construction device, comprising: an information acquisition module, used to control the swimming pool cleaning robot to move relative to the swimming pool through the mobile control device of the swimming pool cleaning robot as claimed in claim 9, so as to obtain the position information of each swimming pool facility object in the swimming pool; The map construction module is used to construct a pool map of the swimming pool according to the location information of each swimming pool facility object in the swimming pool.

11. 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 movement control method of the swimming pool cleaning robot according to any one of claims 1 to 7, or to perform operations corresponding to the swimming pool map construction method according to claim 8.

12. A computer storage medium having a computer program stored thereon, wherein when the program is executed by a processor, the program implements the movement control method of the swimming pool cleaning robot as claimed in any one of claims 1 to 7, or executes the swimming pool map construction method as claimed in claim 8.

13. A computer program product, comprising computer instructions, wherein the computer instructions instruct a computing device to execute operations corresponding to the method for controlling the movement of a swimming pool cleaning robot according to any one of claims 1 to 7, or to execute operations corresponding to the method for building a swimming pool map according to claim 8.

14. 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 movement control method of the swimming pool cleaning robot as described in any one of claims 1 to 7, or executes the swimming pool map construction method as described in claim 8.

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