Pool wall cleaning path generation method and device, pool wall cleaning method and device and electronic equipment

Abstract

The invention provides a pool wall cleaning path generation method and device, a pool wall cleaning method and device and electronic equipment, and the method comprises the steps: generating a cleaning path corresponding to the water depth of a swimming pool according to the water depth of the swimming pool dynamically measured by a swimming pool cleaning robot in the pool wall cleaning process; wherein each cleaning path at least comprises an upward cleaning road section which extends from the pool bottom of the swimming pool to the pool surface of the swimming pool and a downward cleaning road section which extends from the pool surface of the swimming pool to the pool bottom of the swimming pool. Therefore, the pool wall cleaning path can be generated based on the dynamically measured water depth, and the pool wall cleaning effect can be improved.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of cleaning control technology, and in particular to a pool wall cleaning path generation, a pool wall cleaning route generation and a pool wall cleaning method, device, electronic device, and computer storage medium. Background Art

[0002] The swimming pool cleaning robot is a cleaning robot developed to meet the needs of swimming pool cleaning. It can repeatedly clean the pool bottom and pool walls and filter the pool water.

[0003] Generally speaking, when the pool bottom is designed in a wave shape, or when there are escalators, steps, etc. in the pool, the water depth of the pool will be inconsistent. However, when performing the pool wall cleaning task, the existing pool cleaning robot does not dynamically adjust the pool wall cleaning path according to the water depth, resulting in unsatisfactory pool wall cleaning effect, affecting the user experience of such products.

[0004] In view of this, an improved pool wall cleaning path planning scheme is needed to complete the swimming pool wall cleaning task more efficiently. Summary of the invention

[0005] In order to solve the above problems, the embodiments of the present application provide a pool wall cleaning path generation, pool wall cleaning route generation and pool wall cleaning method, device, electronic device, and computer storage medium to at least partially solve the above problems.

[0006] According to one aspect of the present application, a method for generating a pool wall cleaning path is provided, comprising generating a cleaning path corresponding to the pool water depth based on the dynamically measured pool water depth during the process of cleaning the pool wall by a pool cleaning robot; wherein each cleaning path comprises at least an upward cleaning section extending from the bottom of the pool toward the pool surface, and a downward cleaning section extending from the pool surface toward the bottom of the pool.

[0007] According to another aspect of the present application, a pool wall cleaning route generation method is provided to generate a cleaning route covering at least one pool wall of a swimming pool, wherein the pool wall cleaning route is composed of a plurality of continuous cleaning paths; wherein each cleaning path can be generated based on the pool wall cleaning path generation method described in the above aspect.

[0008] According to another aspect of the present application, a pool wall cleaning method is provided, comprising: controlling a swimming pool cleaning robot to move according to a cleaning route generated on the pool wall to perform a pool wall cleaning task; wherein the cleaning route is composed of a plurality of continuous cleaning paths, and each cleaning path can be generated based on the pool wall cleaning path generation method described in the above aspect.

[0009] According to another aspect of the present application, a pool wall cleaning path generating device is provided, comprising: a water depth measuring module, used to dynamically measure the swimming pool water depth when the swimming pool cleaning robot is cleaning the pool wall; a path generating module, used to generate a cleaning path corresponding to the swimming pool water depth according to the swimming pool water depth measured by the measuring module; wherein each cleaning path comprises at least an upward cleaning section extending from the bottom of the swimming pool toward the pool surface, and a downward cleaning section extending from the pool surface toward the bottom of the swimming pool.

[0010] According to another aspect of the present application, a pool wall cleaning route generating device is provided, comprising: a route generating module for generating a cleaning route covering at least one pool wall of a swimming pool, wherein the pool wall cleaning route is composed of a plurality of continuous cleaning paths; wherein each cleaning path can be generated based on the pool wall cleaning path generating device described in the above aspect.

[0011] According to another aspect of the present application, a pool wall cleaning device is provided, comprising: a cleaning module, used to control the swimming pool cleaning robot to move along a cleaning route on the pool wall to perform a pool wall cleaning task; wherein the cleaning route is composed of a plurality of continuous cleaning paths, and each cleaning path can be generated based on the pool wall cleaning path generating device described in the above aspect.

[0012] According to another aspect of the present application, 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 execute the pool wall cleaning path generation method described in the above aspect, or cause the processor to execute the pool wall cleaning route generation method described in the above aspect, or cause the processor to execute the pool wall cleaning method described in the above aspect.

[0013] According to another aspect of the present application, 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 pool wall cleaning path generation method described in the above aspect, or enable the processor to execute the pool wall cleaning route generation method described in the above aspect, or enable the processor to execute the pool wall cleaning method described in the above aspect.

[0014] The pool wall cleaning path generation, pool wall cleaning route generation and pool wall cleaning method, device, electronic device, and computer storage medium provided in the present application can dynamically measure the swimming pool water depth during the pool wall cleaning process, and based on the current water depth of the swimming pool, generate a cleaning path corresponding to the current water depth of the swimming pool in real time, thereby increasing the pool wall cleaning coverage rate and improving the pool wall cleaning effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The following drawings are intended only to illustrate and explain the present application, and do not limit the scope of the present application.

[0016] Figure 1 It is a processing flow chart of a method for generating a pool wall cleaning path according to an exemplary embodiment of the present application.

[0017] FIG. 2A to FIG. 2D A schematic diagram is generated for the cleaning path of an exemplary embodiment of the present application.

[0018] FIG. 3A to FIG. 3C A schematic diagram of a cleaning path generation for another exemplary embodiment of the present application.

[0019] Figure 4 It is a processing flow chart of a method for generating a pool wall cleaning path according to an exemplary embodiment of the present application.

[0020] Figure 5 It is a processing flow chart of a method for generating a pool wall cleaning path according to an exemplary embodiment of the present application.

[0021] Figure 6 It is a processing flow chart of a method for generating a pool wall cleaning path according to an exemplary embodiment of the present application.

[0022] Figure 7 A schematic diagram is generated for a cleaning path of another exemplary embodiment of the present application.

[0023] FIG. 8A to FIG. 8D Schematic diagram of cleaning paths for multiple pool walls according to an exemplary embodiment of the present application.

[0024] 9A to 9D This is a schematic diagram of the cleaning paths of multiple pool walls according to another exemplary embodiment of the present application.

[0025] Fig.10 It is a process flow chart of a pool wall cleaning method according to an exemplary embodiment of the present application.

[0026] Fig.11 It is a structural block diagram of a pool wall cleaning path generating device according to an exemplary embodiment of the present application.

[0027] Fig.12 It is a structural block diagram of an electronic device according to an exemplary embodiment of the present application. Description of reference numerals: 1100: Pool wall cleaning path generating device; 1102, water depth measuring module; 1104, path generating module; 1200, electronic device; 1201, computing unit; 1202, ROM; 1203, RAM; 1204, bus; 1205, input and output interface; 1206, input unit; 1207, output unit; 1208, storage unit; 1209, communication unit. DETAILED DESCRIPTION

[0028] In order to have a clearer understanding of the technical features, purposes and effects of the embodiments of the present application, the specific implementation methods of the embodiments of the present application are now described with reference to the accompanying drawings.

[0029] 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.

[0030] In order to simplify the drawings, only the parts related to the present application 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.

[0031] Figure 1 The processing flow chart of the pool wall cleaning path generation method of the exemplary embodiment of the present application is shown. As shown in the figure, this embodiment mainly includes the following steps:

[0032] Step S102: dynamically measuring the water depth of the swimming pool while the swimming pool cleaning robot is cleaning the pool wall.

[0033] Optionally, the pool bottom can be wavy (see Figure 2D ) or with an inclined surface (reference Figure 2B , Figure 3B , Fig. 8A , Figure 8C , Fig.9A , Fig. 9C ) to create different pool water depths.

[0034] Optionally, the pool floor may include steps (see Figure 2C , Figure 3C , Figure 8B , Fig.8D , Fig. 9B , Fig.9D ) to create different pool water depths.

[0035] Step S104, generating a cleaning path corresponding to the swimming pool water depth according to the dynamically measured swimming pool water depth.

[0036] Optionally, the cleaning path may be a zigzag path.

[0037] Optionally, each cleaning path includes at least an ascending cleaning section and a descending cleaning section, wherein the ascending cleaning section may extend from the bottom of the swimming pool toward the pool surface, and the descending cleaning section may extend from the pool surface toward the bottom of the swimming pool.

[0038] Optionally, the ascending sweeping section and the descending sweeping section in each sweeping path may be directly connected to form an inverted V-shaped sweeping path.

[0039] For example, in FIG. 2A to FIG. 2C In the example shown in , the upward sweeping section AB and the directly connected downward sweeping section BC can constitute an inverted V-shaped sweeping path ABC; the upward sweeping section CD and the directly connected downward sweeping section DE can constitute another inverted V-shaped sweeping path CDE; the upward sweeping section DR and the directly connected downward sweeping section FG can constitute another inverted V-shaped sweeping path EFG, and so on.

[0040] Optionally, the ascending cleaning section and the descending cleaning section in each cleaning path may be indirectly connected to form a trapezoidal cleaning path.

[0041] For example, in FIG. 3A to FIG. 3C In the example shown in , the upward sweeping section HI and the downward sweeping section JK indirectly connected to it can constitute a trapezoidal sweeping path HIJK; the upward sweeping section KL and the downward sweeping section MN indirectly connected to it can constitute another trapezoidal sweeping path KLMN; the upward sweeping section NO and the downward sweeping section PQ indirectly connected to it can constitute another trapezoidal sweeping path NOPQ.

[0042] In this embodiment, the swimming pool cleaning robot can move forward from the bottom of the swimming pool to the pool surface along the upward cleaning section in each cleaning path, or can move backward from the pool surface to the bottom of the swimming pool along the downward cleaning section in each cleaning path.

[0043] For example, in FIG. 2A to FIG. 2C , FIG. 3A to FIG. 3C In the simplified schematic diagram shown, the black area is the head end of the pool cleaning robot (the same applies to the following figures).

[0044] The swimming pool cleaning robot can clean along any upward cleaning section on the pool wall (for example, FIG. 2A to FIG. 2C Section AB, Section CD, Section EF, or FIG. 3A to FIG. 3C The robot can move forward along the sections HI, KL, and NO in the pool to climb from the bottom of the pool to the surface of the pool, and can clean along any downward cleaning section on the pool wall (for example, FIG. 2A to FIG. 2C Segment BC, Segment DE, Segment FG, or FIG. 3A to FIG. 3C The sections JK, MN and PQ in the pipeline are moved backwards to move downwards from the pool surface to the pool bottom.

[0045] Optionally, in the case where the ascending cleaning section and the descending cleaning section in the cleaning path are indirectly connected, the cleaning path also includes a translation section, which respectively connects the ends of the ascending cleaning section and the descending cleaning section in the cleaning path close to the pool surface.

[0046] For example, the upward sweeping section HI and the downward sweeping section JK are connected to each other via the translation section IJ; the upward sweeping section KL and the downward sweeping section MN can be connected to each other via the translation section LM; the upward sweeping section NO and the downward sweeping section PQ are connected to each other via the translation section OP.

[0047] Optionally, the angle of the cleaning path can be determined based on the measured swimming pool water depth, thereby determining an upward cleaning path extending obliquely from the pool bottom to the pool surface and a downward cleaning path extending obliquely from the pool surface to the pool bottom.

[0048] In summary, the pool wall cleaning path generation method provided in this embodiment can help improve the cleaning effect of the swimming pool wall by dynamically measuring the water depth of the swimming pool and generating a pool wall cleaning path corresponding to the current water depth of the swimming pool.

[0049] Figure 4 This is a processing flow chart of a method for generating a pool wall cleaning path according to another exemplary embodiment of the present application. As shown in the figure, this embodiment mainly includes the following steps:

[0050] Step S402, generating a current cleaning path on the pool wall that continues the previous cleaning path according to the water depth measured by the swimming pool cleaning robot moving along the previous cleaning path on the pool wall.

[0051] Optionally, the swimming pool water depth can be updated based on the angle of the previous cleaning path, the movement time and the movement speed of the swimming pool cleaning robot along the previous upward cleaning section and / or the previous downward cleaning section in the previous cleaning path, and based on the updated swimming pool water depth, the upward cleaning section and the downward cleaning section in the current cleaning path are determined.

[0052] For example, in FIG. 2A to FIG. 2C In the example shown, the upward cleaning section CD and the downward cleaning section DE in the current cleaning path CDE can be determined based on the angle of the previous cleaning path ABC, and the moving time and moving speed of the swimming pool cleaning robot along the previous upward cleaning section AB and / or the previous downward cleaning section BC in the previous cleaning path ABC; or, the upward cleaning section EF and the downward cleaning section FG in the current cleaning path EFG can be determined based on the angle of the previous cleaning path CDE, and the moving time and moving speed of the swimming pool cleaning robot along the previous upward cleaning section CD and / or the previous downward cleaning section DE in the previous cleaning path CDE.

[0053] For example, in FIG. 3A to FIG. 3C In the example shown, the upward cleaning section KL and the downward cleaning section MN in the current cleaning path KLMN can be determined based on the angle of the previous cleaning path HIJK, the moving time and the moving speed of the swimming pool cleaning robot along the previous upward cleaning section HI and / or the previous downward cleaning section JK in the previous cleaning path HIJK; alternatively, the upward cleaning section NO and the downward cleaning section PQ in the current cleaning path NOPQ can be determined based on the angle of the previous cleaning path KLMN, the moving time and the moving speed of the swimming pool cleaning robot along the previous upward cleaning section KL and / or the previous downward cleaning section MN in the previous cleaning path KLMN.

[0054] Optionally, the translation section connecting the upward sweeping section and the downward sweeping section (eg FIG. 3A to FIG. 3C The distances of section IJ, section LM, section ) in the example can be preset distances.

[0055] In this embodiment, the swimming pool cleaning robot can be controlled to perform differential motion at the waterline position to move along the translation sections in each trapezoidal cleaning path.

[0056] Step S404, update the current cleaning path to the previous cleaning path, and return to execute step S402.

[0057] Specifically, the current cleaning path may be updated to the previous cleaning path, and the process returns to step S402 to generate the next current cleaning path until the swimming pool cleaning robot completes the cleaning of the pool wall.

[0058] Figure 5 This is a processing flow chart of a pool wall cleaning path generation method according to another exemplary embodiment of the present application. This embodiment shows a specific implementation scheme of the above step S402. As shown in the figure, this embodiment mainly includes the following steps:

[0059] Step S502, updating the swimming pool water depth according to the angle of the preceding cleaning path, the moving time and the moving speed of the swimming pool cleaning robot along the preceding ascending cleaning section and / or the preceding descending cleaning section in the preceding cleaning path.

[0060] Optionally, the swimming pool water depth may be updated according to the angle of the preceding cleaning path, the moving time and the moving speed of the swimming pool cleaning robot along the preceding ascending cleaning section and the preceding descending cleaning section in the preceding cleaning path.

[0061] Optionally, the swimming pool water depth may be updated according to the angle of the preceding cleaning path, the moving time and the moving speed of the swimming pool cleaning robot along the preceding ascending cleaning section in the preceding cleaning path.

[0062] Preferably, the swimming pool water depth can be updated according to the angle of the preceding cleaning path, the moving time and the moving speed of the swimming pool cleaning robot along the preceding downward cleaning section in the preceding cleaning path.

[0063] For example, refer to Figure 2A The swimming pool water depth can be updated according to the angle of the previous cleaning path ABC, the moving time and the moving speed of the swimming pool cleaning robot along the previous downward cleaning section BC; or, the swimming pool water depth can be updated according to the angle of the previous cleaning path CDE, the moving time and the moving speed of the swimming pool cleaning robot along the previous downward cleaning section DE, and so on.

[0064] Step S504: Determine the angle of the current cleaning path according to the updated swimming pool water depth and the roller brush length of the swimming pool cleaning robot.

[0065] In this embodiment, when the water depth of the swimming pool is deeper (larger), the angle of the cleaning path is smaller. Conversely, when the water depth of the swimming pool is shallower (smaller), the angle of the cleaning path is smaller.

[0066] For example, in Figure 2B , Figure 2C , Figure 2D In the example shown, the water depth of the pool where the cleaning path CDE is located is greater than the water depth of the pool where the cleaning path ABC is located, then the angle β of the cleaning path CDE should be smaller than the angle α of the cleaning path ABC; for example, Figure 2B , Figure 2C In the example shown, the water depth of the swimming pool where cleaning path EFG is located is greater than the water depth of the swimming pool where cleaning path CDE is located, so the angle γ of cleaning path EFG should be smaller than the angle β of cleaning path ABC.

[0067] For example, in Figure 3B , Figure 3C In the example shown, the water depth of the swimming pool where cleaning path KLMN is located is greater than the water depth of the swimming pool where cleaning path ABC is located, then the angle β of cleaning path CDE should be smaller than the angle α of cleaning path ABC; the water depth of the swimming pool where cleaning path NOPQ is located is greater than the water depth of the swimming pool where cleaning path KLMN is located, then the angle γ of cleaning path NOPQ is smaller than the angle β of cleaning path KLMN.

[0068] In this embodiment, the upward cleaning section and the downward cleaning section in the same cleaning path have the same angle.

[0069] For example, in FIG. 2A to FIG. 2C In the example shown,

[0070] Step S506, determining a current upward cleaning section and a current downward cleaning section in the current cleaning path according to the current position of the swimming pool cleaning robot and the angle of the current cleaning path.

[0071] For example, in 2B or Figure 2C In the example shown, the upward cleaning section CD and the downward cleaning section DE in the current cleaning path CDE can be determined according to the angle β of the current cleaning path CDE and the current position C of the swimming pool cleaning robot.

[0072] For example, in FIG. 3B to FIG. 3C In the example shown, the upward cleaning section KL and the downward cleaning section MN in the current cleaning path KLMN can be determined according to the angle β of the current cleaning path KLMN and the current position K of the swimming pool cleaning robot.

[0073] Optionally, the pool cleaning robot can be controlled to perform a first differential motion at the current position according to the angle of the current cleaning path, and based on a first orientation after the pool cleaning robot performs the first differential motion, the pool cleaning robot is controlled to move from the current position toward the pool surface until the pool cleaning robot is detected to arrive at the pool surface, so as to determine a current upward cleaning section in the current cleaning path; and the position where the pool cleaning robot arrives at the pool surface is updated to the current position, and again according to the angle of the current cleaning path, the pool cleaning robot is controlled to perform a second differential motion at the current position, and based on a second orientation after the pool cleaning robot performs the second differential motion, the pool cleaning robot is controlled to move from the current position toward the pool bottom, until the pool cleaning robot is detected to arrive at the pool bottom, so as to determine a current downward cleaning section in the current cleaning path.

[0074] Optionally, a waterline sensor disposed on the swimming pool cleaning robot may be used to sense the waterline position of the swimming pool and obtain a detection result of the swimming pool cleaning robot reaching the pool surface.

[0075] It should be noted that the waterline sensor of this embodiment may be an ultrasonic sensor. Since the sensor for detecting the position of the waterline can be implemented by a variety of existing technical means, no limitation is made here.

[0076] Optionally, a collision sensor provided on the swimming pool cleaning robot may be used to obtain a detection result that the swimming pool cleaning robot has reached the bottom of the pool when it is sensed that the swimming pool cleaning robot has collided with the bottom of the pool.

[0077] It should be noted that other methods may also be used to determine whether the pool cleaning robot collides with a pool wall obstacle during movement, and are not limited to the above-mentioned solution, and the present application does not impose any restrictions on this.

[0078] For example, refer to Figure 2B or Figure 2C, the swimming pool cleaning robot can be controlled to perform a first differential motion at the current position C according to the calculated angle β of the current cleaning path CDE, and based on the first orientation after the swimming pool cleaning robot performs the first differential motion, the swimming pool cleaning robot is controlled to move from the current position C toward the pool surface (e.g., forward movement) until the swimming pool cleaning robot is detected to arrive at the pool surface (position D), so as to determine the current upward cleaning section CD in the current cleaning path CDE; and the position (position D) where the swimming pool cleaning robot arrives at the pool surface is updated as the current position, and the swimming pool cleaning robot is controlled to perform a second differential motion at the current position again according to the angle β of the current cleaning path, and based on the second orientation after the swimming pool cleaning robot performs the second differential motion, the swimming pool cleaning robot is controlled to move from the current position (position D) toward the pool bottom (e.g., backward movement) until the swimming pool cleaning robot is detected to arrive at the pool bottom, so as to determine the current downward cleaning section DE in the current cleaning path CDE.

[0079] In this embodiment, the angle between the second orientation of the pool cleaning robot after performing the second differential motion and the first orientation after performing the first differential motion is twice the angle of the cleaning path (that is, the currently generated cleaning path).

[0080] To summarize, the pool wall cleaning path generation method of the present embodiment generates a current cleaning path that continues the previous cleaning path in real time based on the water depth dynamically measured by the swimming pool cleaning robot moving along the previous cleaning path on the pool wall. The current cleaning path is particularly suitable for cleaning pool walls with different swimming pool water depths, and can effectively improve the pool wall cleaning coverage rate.

[0081] Figure 6 This is a processing flow chart of a method for generating a pool wall cleaning path according to another exemplary embodiment of the present application. Figure 1 Another implementation scheme of the embodiment shown. As shown in the figure, this embodiment mainly includes the following steps:

[0082] Step S102: dynamically measuring the water depth of the swimming pool while the swimming pool cleaning robot is cleaning the pool wall.

[0083] Step S103, determining whether the swimming pool water depth is measured, if so, executing step S104, if not, executing step S106.

[0084] Specifically, if the swimming pool cleaning robot fails to successfully measure the water depth during the process of cleaning the pool wall, step S106 is executed.

[0085] Step S104, generating a cleaning path corresponding to the swimming pool water depth according to the dynamically measured swimming pool water depth, and returning to execute step S102.

[0086] Step S106, controlling the swimming pool cleaning robot to move vertically along the pool wall between the pool bottom and the pool surface to measure the water depth of the swimming pool, and continuing to execute step S104.

[0087] Mate Reference Figure 7 , the swimming pool cleaning robot can be controlled to move vertically upward along the pool wall (e.g., forward movement) at the current position (e.g., position A at the pool bottom) until the swimming pool cleaning robot is detected to arrive at the pool surface (e.g., position X on the pool surface), and then the swimming pool cleaning robot can be controlled to move vertically downward along the pool wall (e.g., backward movement) based on the current position (position X on the pool surface) until the swimming pool cleaning robot is detected to arrive at the pool bottom (e.g., position A at the pool bottom).

[0088] Optionally, the water depth of the swimming pool may be measured based on the movement time and movement speed of the swimming pool cleaning robot moving vertically downward from the pool surface to the pool bottom along the pool wall.

[0089] It should be noted that this step S106 can also be executed when there is no preceding cleaning path. For example, when the swimming pool cleaning robot starts to perform the pool wall cleaning task, since there is no preceding cleaning path, the swimming pool water depth can be measured by executing this step.

[0090] To summarize, in the present embodiment, when the swimming pool cleaning robot is performing pool wall cleaning and is unable to measure the water depth of the swimming pool, the swimming pool cleaning robot can be controlled to move vertically along the pool wall between the pool bottom and the pool surface to measure the water depth of the swimming pool, thereby ensuring the smooth generation of the pool wall cleaning path and improving the success rate of the pool wall cleaning task.

[0091] The present application also provides a pool wall cleaning route generation method, which includes generating a cleaning route covering at least one pool wall of a swimming pool, wherein the pool wall cleaning route is composed of a plurality of continuous cleaning paths, wherein each cleaning path in the pool wall cleaning route can be generated based on the pool wall cleaning path generation method described in the above-mentioned embodiments.

[0092] In this embodiment, the pool wall cleaning route may be a continuous zigzag path.

[0093] Optionally, each cleaning path in the pool wall cleaning route may be in an inverted V shape or a trapezoidal shape.

[0094] The present application also provides a pool wall cleaning method, comprising controlling a swimming pool cleaning robot to move along a cleaning route on the pool wall to perform a pool wall cleaning task, wherein the cleaning route is composed of a plurality of continuous cleaning paths, and each cleaning path can be generated based on the pool wall cleaning path generation method described in the above-mentioned embodiments.

[0095] Fig.10 The process flow chart of the pool wall cleaning method according to an exemplary embodiment of the present application is shown. As shown in the figure, this embodiment mainly includes the following steps:

[0096] Step S1002, controlling the swimming pool cleaning robot to move according to the cleaning route generated on the first pool wall to perform the pool wall cleaning task of the first pool wall.

[0097] In this embodiment, the cleaning route generated on the first pool wall may include a plurality of inverted V-shaped cleaning paths (refer to FIG. 8A to FIG. 8D ) or multiple trapezoidal cleaning paths (reference 9A to 9D ).

[0098] Step S1004, determine whether the swimming pool cleaning robot collides with the second pool wall, if so, proceed to step S1006, if not, repeat step S1002.

[0099] For example, refer to Fig. 8A , Figure 8B , Fig.9A or Fig. 9B , when the swimming pool cleaning robot collides with the second pool wall (for example, position W) while moving along any downward cleaning section on the first pool wall, step S1006 is executed.

[0100] For example, refer to Figure 8C , Fig.8D , Fig. 9C or Fig.9D Alternatively, when the swimming pool cleaning robot collides with the second pool wall (eg, position W) while moving along any upward cleaning section on the first pool wall, step S1006 may be executed.

[0101] Step S1006, controlling the swimming pool cleaning robot to move from the first pool wall to the pool bottom.

[0102] refer to FIG. 8A to FIG. 8D or 9A to 9D , the swimming pool cleaning robot can be controlled to move downward from the collision position W to the position X at the bottom of the pool along the junction of the first pool wall and the second pool wall.

[0103] Step S1006, controlling the swimming pool cleaning robot to move along the pool bottom to the second pool wall, and move according to the cleaning route generated on the second pool wall to perform the pool wall cleaning task of the second pool wall.

[0104] refer to FIG. 8A to FIG. 8D or 9A to 9D , the swimming pool cleaning robot can be controlled to move from position X to position Y along the pool bottom, and continue to move according to the cleaning route generated on the second pool wall to perform the pool wall cleaning task of the second pool wall.

[0105] Optionally, after moving to the second pool wall, the swimming pool cleaning robot can be controlled to move vertically along the second pool wall between the pool bottom and the pool surface (refer to step S106), and the water depth of the swimming pool is measured to generate a first cleaning path on the second pool wall.

[0106] Optionally, after moving to the second pool wall, a first cleaning path on the second pool wall may be generated based on the swimming pool water depth for generating the last cleaning path on the first pool wall.

[0107] For example, refer to Fig. 8A , the cleaning path YIJ on the second pool wall can be generated according to the pool water depth for generating the cleaning path GHWX on the first pool wall (i.e., the included angle between the cleaning path YIJ and the cleaning path GHW is the same, both are θ)

[0108] To sum up, the pool wall cleaning method of this embodiment can control the swimming pool cleaning robot to move down to the bottom of the pool after the pool wall cleaning task of the first pool wall is completed, and continue to perform pool wall cleaning of the second pool wall, thereby realizing continuous cleaning of multiple pool walls, improving the intelligence of the swimming pool cleaning robot, and enhancing the user experience.

[0109] Fig.11 The structure block diagram of the pool wall cleaning path generation device of the exemplary embodiment of the present application is shown. As shown in the figure, the pool wall cleaning device 1100 of the present embodiment mainly includes: a water depth measurement module 1102 and a path generation module 1104.

[0110] The water depth measurement module 1102 is used to dynamically measure the water depth of the swimming pool when the swimming pool cleaning robot is cleaning the pool wall.

[0111] The path generation module 1104 is used to generate a cleaning path corresponding to the water depth of the swimming pool according to the water depth of the swimming pool measured by the measurement module 1102, wherein each cleaning path includes at least an upward cleaning section extending from the bottom of the swimming pool toward the pool surface, and a downward cleaning section extending from the pool surface toward the bottom of the swimming pool.

[0112] Optionally, the path generation module 1102 is also used to: execute a path generation step, generate a current cleaning path on the pool wall that continues the previous cleaning path based on the water depth measured when the swimming pool cleaning robot moves along the previous cleaning path on the pool wall; and perform a path updating step, update the current cleaning path to the previous cleaning path, and continue to execute the path generation step.

[0113] Optionally, the water depth measurement module 1102 is also used to update the swimming pool water depth according to the angle of the previous cleaning path, the movement time and the movement speed of the swimming pool cleaning robot along the previous upward cleaning section and / or the previous downward cleaning section in the previous cleaning path; the path generation module 1102 is also used to determine the upward cleaning section and the downward cleaning section in the current cleaning path based on the updated swimming pool water depth.

[0114] Optionally, the path generation module 1102 is also used to: determine the angle of the current cleaning path based on the updated water depth of the swimming pool and the roller brush length of the swimming pool cleaning robot; determine the current upward cleaning section and the current downward cleaning section in the current cleaning path based on the current position of the swimming pool cleaning robot and the angle of the current cleaning path; wherein the angles of the upward cleaning section and the downward cleaning section in the same cleaning path are the same.

[0115] Optionally, the path generation module 1102 is also used to: control the swimming pool cleaning robot to perform a first differential motion at the current position according to the angle of the current cleaning path, and control the swimming pool cleaning robot to move from the current position toward the pool surface based on a first orientation after the swimming pool cleaning robot performs the first differential motion, until the swimming pool cleaning robot is detected to arrive at the pool surface, so as to determine a current upward cleaning section in the current cleaning path; update the position where the swimming pool cleaning robot arrives at the pool surface to the current position, and control the swimming pool cleaning robot to perform a second differential motion at the current position according to the angle of the current cleaning path, and control the swimming pool cleaning robot to move from the current position toward the pool bottom based on a second orientation after the swimming pool cleaning robot performs the second differential motion, until the swimming pool cleaning robot is detected to arrive at the pool bottom, so as to determine a current downward cleaning section in the current cleaning path.

[0116] Optionally, a waterline sensor provided on the swimming pool cleaning robot may be used to obtain a detection result of the swimming pool cleaning robot reaching the pool surface when the waterline position of the swimming pool is sensed.

[0117] Optionally, a collision sensor provided on the swimming pool cleaning robot may be used to obtain a detection result that the swimming pool cleaning robot has reached the pool bottom when it is sensed that the swimming pool cleaning robot has collided with the pool bottom.

[0118] Optionally, the upward cleaning section and the downward cleaning section in each cleaning path are directly connected to form an inverted V-shaped cleaning path; or the upward cleaning section and the downward cleaning section in each cleaning path are indirectly connected to form a trapezoidal cleaning path.

[0119] Optionally, in the case where the ascending cleaning section and the descending cleaning section in the cleaning path are indirectly connected, the cleaning path also includes a translation section, which respectively connects the ascending cleaning section and the descending cleaning section in the cleaning path close to the end of the pool surface.

[0120] Optionally, the water depth measurement module 102 is also used to: in the absence of a preceding cleaning path, or in the case where the swimming pool cleaning robot fails to measure the water depth of the swimming pool by moving along the preceding cleaning path, control the swimming pool cleaning robot to move vertically along the pool wall between the pool bottom and the pool surface to measure the water depth of the swimming pool.

[0121] Optionally, the swimming pool cleaning robot may move forward from the bottom of the swimming pool to the pool surface along an ascending cleaning section in each cleaning path; or the swimming pool cleaning robot may move backward from the bottom of the swimming pool to the pool surface along a descending cleaning section in each cleaning path.

[0122] An exemplary embodiment of the present application also provides a pool wall cleaning route generating device, comprising: a route generating module, for generating a cleaning route covering at least one pool wall of a swimming pool, wherein the pool wall cleaning route is composed of a plurality of continuous cleaning paths; wherein each cleaning path can be generated based on the pool wall cleaning path generating device 1100 described in the above embodiment.

[0123] An exemplary embodiment of the present application also provides a pool wall cleaning device, comprising: a cleaning module, used to control the swimming pool cleaning robot to move along a cleaning route on the pool wall to perform a pool wall cleaning task; wherein the cleaning route is composed of a plurality of continuous cleaning paths, and each cleaning path can be generated based on the pool wall cleaning path generating device 1100 described in the above embodiment.

[0124] The exemplary embodiment of the present application also provides 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 application when executed by the at least one processor.

[0125] The exemplary embodiments of the present application 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 application.

[0126] The exemplary embodiments of the present application further provide a computer program product, including a computer program, wherein when the computer program is executed by a processor of a computer, it is used to enable the computer to execute the method according to each embodiment of the present application.

[0127] refer to Fig.12 , the structural block diagram of the electronic device 1200 that can be used as the server or client of the present application will now be described, which is an example of a hardware device that can be applied to various aspects of the present application. The electronic device is intended to represent various forms of digital electronic computer equipment, such as laptop computers, desktop computers, workbenches, 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 processing, cellular phones, smart phones, wearable devices and other similar computing devices. The components shown herein, their connections and relationships, and their functions are only examples, and are not intended to limit the implementation of the present application described and / or required herein.

[0128] like Fig.12 As shown, the electronic device 1200 includes a computing unit 1201, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 1202 or a computer program loaded from a storage unit 1208 into a random access memory (RAM) 1203. In the RAM 1203, various programs and data required for the operation of the device 1200 can also be stored. The computing unit 1201, the ROM 1202, and the RAM 1203 are connected to each other via a bus 1204. An input / output (I / O) interface 1205 is also connected to the bus 1204.

[0129] A plurality of components in the electronic device 1200 are connected to the I / O interface 1205, including: an input unit 1206, an output unit 1207, a storage unit 1208, and a communication unit 1209. The input unit 1206 may be any type of device capable of inputting information to the electronic device 1200, and the input unit 1206 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 1207 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 1204 may include, but is not limited to, a disk, an optical disk. The communication unit 1209 allows the electronic device 1200 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.

[0130] The computing unit 1201 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the computing unit 1201 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 1201 performs the various methods and processes described above. For example, in some embodiments, the pool wall cleaning path generation method or the pool wall cleaning route generation method or the pool wall cleaning method 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 1208. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 1200 via the ROM 1202 and / or the communication unit 1209. In some embodiments, the computing unit 1201 may be configured to perform the pool wall cleaning path generation method or the pool wall cleaning route generation method or the pool wall cleaning method of the aforementioned embodiments by any other appropriate means (e.g., by means of firmware).

[0131] The program code for implementing the method of the present application can be written in any combination of one or more programming languages. These program codes can 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, implements the functions / operations specified in the flow chart and / or block diagram. The program code can 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.

[0132] In the context of the present application, 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.

[0133] As used herein, 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.

[0134] 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).

[0135] 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.

[0136] 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.

[0137] 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.

[0138] The above description is only an illustrative specific implementation of the embodiment of the present application, and is not intended to limit the scope of the embodiment of the present application. Any equivalent changes, modifications and combinations made by any technician in this field without departing from the concept and principle of the embodiment of the present application should fall within the scope of protection of the embodiment of the present application.

Claims

1. A method for generating a pool wall cleaning path, comprising: Generate a cleaning path corresponding to the swimming pool water depth according to the swimming pool water depth dynamically measured by the swimming pool cleaning robot during the process of cleaning the pool wall; Each cleaning path at least includes an upward cleaning section extending from the bottom of the swimming pool to the pool surface, and a downward cleaning section extending from the pool surface to the bottom of the swimming pool.

2. The method for generating a pool wall cleaning path according to claim 1, wherein: The method of generating a cleaning path corresponding to the swimming pool water depth dynamically measured by the swimming pool cleaning robot during the process of cleaning the pool wall comprises: a path generating step, generating a current cleaning path on the pool wall that continues the previous cleaning path according to the water depth measured when the swimming pool cleaning robot moves along the previous cleaning path on the pool wall; A path updating step is to update the current cleaning path to the previous cleaning path, and continue to execute the path generating step.

3. The method for generating a pool wall cleaning path according to claim 2, wherein: The path generation step comprises: updating the swimming pool water depth according to the angle of the preceding cleaning path, the moving time and the moving speed of the swimming pool cleaning robot along the preceding ascending cleaning section and / or the preceding descending cleaning section in the preceding cleaning path; Based on the updated swimming pool water depth, an upward cleaning section and a downward cleaning section in the current cleaning path are determined.

4. The method for generating a pool wall cleaning path according to claim 3, wherein: The determining, based on the updated swimming pool water depth, an upward cleaning section and a downward cleaning section in the current cleaning path includes: Determining the angle of the current cleaning path according to the updated swimming pool water depth and the roller brush length of the swimming pool cleaning robot; Determine a current upward cleaning section and a current downward cleaning section in the current cleaning path according to the current position of the swimming pool cleaning robot and the angle of the current cleaning path; Among them, the angles between the upward cleaning section and the downward cleaning section in the same cleaning path are the same.

5. The method for generating a pool wall cleaning path according to claim 4, wherein: The determining, according to the current position of the swimming pool cleaning robot and the angle of the current cleaning path, a current upward cleaning section and a current downward cleaning section in the current cleaning path comprises: According to the angle of the current cleaning path, the swimming pool cleaning robot is controlled to perform a first differential motion at the current position, and based on the first orientation of the swimming pool cleaning robot after the first differential motion, the swimming pool cleaning robot is controlled to move from the current position toward the pool surface until the swimming pool cleaning robot is detected to arrive at the pool surface, so as to determine the current upward cleaning section in the current cleaning path; The position at which the swimming pool cleaning robot arrives at the pool surface is updated as the current position, and according to the angle of the current cleaning path, the swimming pool cleaning robot is controlled to perform a second differential motion at the current position, and based on a second orientation after the swimming pool cleaning robot performs the second differential motion, the swimming pool cleaning robot is controlled to move from the current position toward the pool bottom until the swimming pool cleaning robot is detected to arrive at the pool bottom, so as to determine a current downward cleaning section in the current cleaning path.

6. The method for generating a pool wall cleaning path according to claim 5, wherein: The method further comprises: Using a waterline sensor provided on the swimming pool cleaning robot, when the waterline position of the swimming pool is sensed, a detection result of the swimming pool cleaning robot reaching the pool surface is obtained; By utilizing the collision sensor disposed on the swimming pool cleaning robot, when it is sensed that the swimming pool cleaning robot collides with the pool bottom, a detection result that the swimming pool cleaning robot reaches the pool bottom is obtained.

7. The method for generating a pool wall cleaning path according to claim 2, wherein: The upward sweeping section and the downward sweeping section in each sweeping path are directly connected to form an inverted V-shaped sweeping path; or The upward cleaning section and the downward cleaning section in each cleaning path are indirectly connected to form a trapezoidal cleaning path.

8. The method for generating a pool wall cleaning path according to claim 7, wherein: In the case where the upward cleaning section and the downward cleaning section in the cleaning path are indirectly connected, the cleaning path also includes a translation section, which respectively connects the upward cleaning section and the downward cleaning section in the cleaning path close to the end of the pool surface.

9. The method for generating a pool wall cleaning path according to claim 2, wherein: The method further comprises: In the absence of a preceding cleaning path, or in the case where the swimming pool cleaning robot fails to measure the water depth of the swimming pool by moving along the preceding cleaning path, the swimming pool cleaning robot is controlled to move vertically along the pool wall between the pool bottom and the pool surface to measure the water depth of the swimming pool.

10. The method for generating a pool wall cleaning path according to claim 1, wherein: The swimming pool cleaning robot may move forward from the bottom of the swimming pool to the surface of the swimming pool along the upward cleaning section in each cleaning path; or The swimming pool cleaning robot can move backward from the pool surface to the pool bottom along the downward cleaning section in each cleaning path.

11. A method for generating a pool wall cleaning route, comprising: generating a cleaning route covering at least one pool wall of the swimming pool, wherein the pool wall cleaning route is composed of a plurality of continuous cleaning paths; Wherein, each cleaning path can be generated based on the pool wall cleaning path generation method described in any one of claims 1 to 10 above.

12. A pool wall cleaning method comprising: Control the pool cleaning robot to move according to the cleaning route generated on the pool wall to perform the pool wall cleaning task; Wherein, the cleaning route is composed of a plurality of continuous cleaning paths, and each cleaning path can be generated based on the pool wall cleaning path generation method described in any one of claims 1 to 10 above.

13. The pool wall cleaning method according to claim 12, wherein: The pool wall comprises a first pool wall and a second pool wall, and the method further comprises: When the swimming pool cleaning robot moves according to the cleaning route generated on the first pool wall to perform the pool wall cleaning task of the first pool wall and collides with the second pool wall, controlling the swimming pool cleaning robot to move from the first pool wall to the pool bottom; The swimming pool cleaning robot is controlled to move along the pool bottom to the second pool wall, and to move according to a cleaning route generated on the second pool wall, so as to perform a pool wall cleaning task of the second pool wall.

14. A pool wall cleaning path generating device, comprising: The water depth measurement module is used to dynamically measure the water depth of the swimming pool while the swimming pool cleaning robot is cleaning the pool wall; A path generation module, used to generate a cleaning path corresponding to the water depth of the swimming pool according to the water depth of the swimming pool measured by the measurement module; Each cleaning path at least includes an upward cleaning section extending from the bottom of the swimming pool to the pool surface, and a downward cleaning section extending from the pool surface to the bottom of the swimming pool.

15. A pool wall cleaning route generating device, comprising: A route generation module, used to generate a cleaning route covering at least one pool wall of the swimming pool, wherein the pool wall cleaning route is composed of a plurality of continuous cleaning paths; Wherein, each cleaning path can be generated based on the pool wall cleaning path generating device described in claim 14 above.

16. A pool wall cleaning device, comprising: A cleaning module is used to control the swimming pool cleaning robot to move along a cleaning route on the pool wall to perform a pool wall cleaning task; Wherein, the cleaning route is composed of a plurality of continuous cleaning paths, and each cleaning path can be generated based on the pool wall cleaning path generating device described in claim 14 above.

17. An electronic device comprising: processor; as well as A memory for storing programs; The program includes instructions, which, when executed by the processor, cause the processor to execute the method according to any one of claims 1-10, or cause the processor to execute the method according to claim 11, or cause the processor to execute the method according to any one of claims 12-13.

18. A non-transitory computer-readable storage medium storing computer instructions, wherein: The computer instructions are used to make a computer execute the method according to any one of claims 1-10, or make the processor execute the method according to claim 11, or make the processor execute the method according to any one of claims 12-13.

Images