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

Abstract

The application provides a pool wall cleaning path generation and pool wall cleaning method and device and electronic equipment, which comprises the following steps: generating a cleaning path corresponding to the water depth of a swimming pool according to the dynamically measured water depth of the swimming pool during the cleaning of the pool wall by a pool cleaning robot; wherein each cleaning path comprises at least an uplink cleaning path segment extending from the bottom of the swimming pool to the surface of the swimming pool and a downlink cleaning path segment extending from the surface of the swimming pool to the 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] Embodiments of the present application relate to the technical field of cleaning control, and in particular to a pool wall cleaning path generation method, a pool wall cleaning route generation method, a pool wall cleaning method, a pool wall cleaning device, an electronic device, and a computer storage medium. BACKGROUND

[0002] A pool cleaning robot is a cleaning robot for pool cleaning needs, which can complete repeated cleaning of the pool bottom and pool wall and filtering of pool water in the pool.

[0003] Generally speaking, when the pool bottom is designed in a wavy shape or equipped with a staircase, steps, or other designs in the pool, the pool water depth will be inconsistent. However, the existing pool cleaning robot does not dynamically adjust the pool wall cleaning path according to the water depth when performing the pool wall cleaning task, resulting in an unsatisfactory pool wall cleaning effect and affecting the user experience of such products.

[0004] Therefore, there is a need for an improved pool wall cleaning path planning scheme to more efficiently complete the pool wall cleaning task. SUMMARY

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

[0006] According to one aspect of the present application, a pool wall cleaning path generation method is provided, which comprises generating a cleaning path corresponding to the pool water depth according to the pool water depth dynamically measured by a pool cleaning robot during cleaning of the pool wall; wherein each cleaning path at least includes an uplink cleaning path segment extending from the pool bottom to the pool surface of the pool, and a downlink cleaning path segment extending from the pool surface to the pool bottom of the pool.

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

[0008] According to another aspect of the present application, a pool wall cleaning method is provided, which comprises: controlling a pool cleaning robot to move according to a generated 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 of the above aspect.

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

[0010] According to another aspect of the present application, there is provided a pool wall cleaning route generation device, comprising: a route generation module configured 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, and each cleaning path is generated based on the pool wall cleaning path generation device according to the above aspect.

[0011] According to another aspect of the present application, there is provided a pool wall cleaning device, comprising: a cleaning module configured to control a pool cleaning robot to move along a cleaning route on a 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 is generated based on the pool wall cleaning path generation device according to the above aspect.

[0012] According to another aspect of the present application, there is provided an electronic device, comprising: a processor; and a memory storing a program; wherein the program comprises instructions which, when executed by the processor, cause the processor to perform the pool wall cleaning path generation method according to the above aspect, or cause the processor to perform the pool wall cleaning route generation method according to the above aspect, or cause the processor to perform the pool wall cleaning method according to the above aspect.

[0013] According to another aspect of the present application, there is provided a non-transitory computer readable storage medium storing computer instructions, wherein the computer instructions are configured to cause a computer to perform the pool wall cleaning path generation method according to the above aspect, or cause the processor to perform the pool wall cleaning route generation method according to the above aspect, or cause the processor to perform the pool wall cleaning method according to 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 by the present application can dynamically measure the water depth of a swimming pool during the cleaning of the pool wall, and generate a cleaning path corresponding to the current water depth of the swimming pool in real time based on the current water depth of the swimming pool, thereby improving the pool wall cleaning coverage and enhancing the pool wall cleaning effect. BRIEF DESCRIPTION OF DRAWINGS

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

[0016] Figure 1 A processing flowchart of a pool wall cleaning path generation method according to an exemplary embodiment of the present application.

[0017] Figures 2A-2D A schematic diagram of a cleaning path according to an exemplary embodiment of the present application.

[0018] Figures 3A-3C A schematic diagram of a cleaning path according to another exemplary embodiment of the present application.

[0019] Figure 4 A processing flowchart of a pool wall cleaning path generation method according to an exemplary embodiment of the present application.

[0020] Figure 5 A processing flowchart of a pool wall cleaning path generation method according to an exemplary embodiment of the present application.

[0021] Figure 6 A processing flowchart of a pool wall cleaning path generation method according to an exemplary embodiment of the present application.

[0022] Figure 7 A schematic diagram of a cleaning path according to another exemplary embodiment of the present application.

[0023] Figures 8A-8D A schematic diagram of a cleaning path of a plurality of pool walls according to an exemplary embodiment of the present application.

[0024] Figures 9A-9D A schematic diagram of a cleaning path of a plurality of pool walls according to another exemplary embodiment of the present application.

[0025] Figure 10 A processing flowchart of a pool wall cleaning method according to an exemplary embodiment of the present application.

[0026] Figure 11 A structural block diagram of a pool wall cleaning path generation apparatus according to an exemplary embodiment of the present application.

[0027] Figure 12 A structural block diagram of an electronic device according to an exemplary embodiment of the present application.

[0028] Explanation of Reference Signs:

[0029] 1100: pool wall cleaning path generation apparatus; 1102: water depth measurement module; 1104: path generation module; 1200: electronic device; 1201: calculation unit; 1202: ROM; 1203: RAM; 1204: bus; 1205: input / output interface; 1206: input unit; 1207: output unit; 1208: storage unit; 1209: communication unit. DETAILED DESCRIPTION

[0030] In order to make the technical features, objectives and effects of the embodiments of the present application clearer, the specific implementation manners of the embodiments of the present application will be described with reference to the drawings.

[0031] In this document, "illustrative" means "serving as an example, instance, or illustration," and should not necessarily be construed as preferred or advantageous over other examples. Any example described herein as "illustrative" is intended to be an example provided to enable persons skilled in the art to practice the disclosure, and is not necessarily to be construed as a preferred or advantageous example.

[0032] In order to make the drawings simple, only the parts related to the present application are schematically shown in the drawings, which do not represent the actual structure of the product. In addition, in order to make the drawings simple and easy to understand, in some drawings, only one or more of the components with the same structure or function are schematically shown, or only one or more of the components are indicated.

[0033] Figure 1 A flow chart of a processing procedure of a pool wall cleaning path generation method of an exemplary embodiment of the present application is shown. As shown in the figure, the present embodiment mainly includes the following steps:

[0034] In step S102, the water depth of the pool is dynamically measured during the cleaning of the pool wall by the pool cleaning robot.

[0035] Optionally, the pool bottom can be wavy (refer to Figure 2D ) or have a slope (refer to Figure 2B , Figure 3B , Figure 8A , Figure 8C , Figure 9A , Figure 9C ) to form different pool water depths.

[0036] Optionally, the pool bottom can include steps (refer to Figure 2C , Figure 3C , Figure 8B , Figure 8D , Figure 9B , Figure 9D ) to form different pool water depths.

[0037] In step S104, a cleaning path corresponding to the dynamically measured pool water depth is generated according to the dynamically measured pool water depth.

[0038] Optionally, the cleaning path can be a polyline path.

[0039] Optionally, each cleaning path includes at least one uplink cleaning path segment and one downlink cleaning path segment, wherein the uplink cleaning path segment extends from the pool bottom to the pool surface, and the downlink cleaning path segment extends from the pool surface to the pool bottom.

[0040] Optionally, the up-sweeping path segment and the down-sweeping path segment in each sweeping path can be directly connected to form an inverted V-shaped sweeping path.

[0041] For example, in the example shown in Figures 2A-2C , the up-sweeping path segment AB and the down-sweeping path segment BC directly connected thereto can form an inverted V-shaped sweeping path ABC; the up-sweeping path segment CD and the down-sweeping path segment DE directly connected thereto can form another inverted V-shaped sweeping path CDE; the up-sweeping path segment DR and the down-sweeping path segment FG directly connected thereto can form yet another inverted V-shaped sweeping path EFG, and so on.

[0042] Optionally, the up-sweeping path segment and the down-sweeping path segment in each sweeping path can be indirectly connected to form a trapezoidal-shaped sweeping path.

[0043] For example, in the example shown in Figures 3A-3C , the up-sweeping path segment HI and the down-sweeping path segment JK indirectly connected thereto can form a trapezoidal-shaped sweeping path HIJK; the up-sweeping path segment KL and the down-sweeping path segment MN indirectly connected thereto can form another trapezoidal-shaped sweeping path KLMN; the up-sweeping path segment NO and the down-sweeping path segment PQ indirectly connected thereto can form yet another trapezoidal-shaped sweeping path NOPQ.

[0044] In this embodiment, the pool cleaning robot can move forward along the up-sweeping path segment in each sweeping path from the pool bottom to the pool surface, or can move backward along the down-sweeping path segment in each sweeping path from the pool surface to the pool bottom.

[0045] For example, in the simple schematic diagram shown in Figures 2A-2C , Figures 3A-3C , the black area portion is the head end of the pool cleaning robot (the same in the following figures).

[0046] In this embodiment, the pool cleaning robot can move forward along any up-sweeping path segment on the pool wall (for example, the path segment AB, the path segment CD, the path segment EF in Figures 2A-2C , or the path segment HI, the path segment KL, the path segment NO in Figures 3A-3C ) to climb from the pool bottom to the pool surface, and can move backward along any down-sweeping path segment on the pool wall (for example, the path segment BC, the path segment DE, the path segment FG in Figures 2A-2C , or the path segment JK, the path segment MN, the path segment PQ in Figures 3A-3C ) to descend from the pool surface to the pool bottom.

[0047] Optionally, in the case that the uplink cleaning path section and the downlink cleaning path section in the cleaning path are indirectly connected, the cleaning path further comprises a translation path section respectively connecting the end of the uplink cleaning path section and the downlink cleaning path section in the cleaning path close to the pool surface.

[0048] For example, the uplink cleaning path section HI and the downlink cleaning path section JK are connected to each other via the translation path section IJ; the uplink cleaning path section KL and the downlink cleaning path section MN are connected to each other via the translation path section LM; and the uplink cleaning path section NO and the downlink cleaning path section PQ are connected to each other via the translation path section OP.

[0049] Optionally, the angle of the cleaning path can be determined according to the measured pool water depth, based on which the uplink cleaning path section extending obliquely from the pool bottom to the pool surface and the downlink cleaning path section extending obliquely from the pool surface to the pool bottom in the cleaning path are determined.

[0050] In summary, the pool wall cleaning path generation method provided by the embodiment can help improve the cleaning effect of the pool wall by dynamically measuring the pool water depth and generating the pool wall cleaning path corresponding to the current pool water depth.

[0051] Figure 4 The processing flowchart of the pool wall cleaning path generation method of another exemplary embodiment of the present application is shown in the figure. As shown in the figure, the embodiment mainly comprises the following steps:

[0052] In step S402, the current cleaning path following the previous cleaning path on the pool wall is generated according to the water depth measured when the pool cleaning robot moves along the previous cleaning path on the pool wall.

[0053] Optionally, the pool water depth can be updated according to the angle of the previous cleaning path, the moving time and speed of the pool cleaning robot along the previous uplink cleaning path section and / or the previous downlink cleaning path section in the previous cleaning path, and the uplink cleaning path section and the downlink cleaning path section in the current cleaning path are determined based on the updated pool water depth.

[0054] For example, in the case that the pool cleaning robot moves along the previous uplink cleaning path section AB and the previous downlink cleaning path section BC in the previous cleaning path ABC, Figures 2A-2C In the example shown in the figure, the uplink cleaning path section CD and the downlink cleaning path section DE in the current cleaning path CDE can be determined according to the angle of the previous cleaning path ABC, the moving time and speed of the pool cleaning robot along the previous uplink cleaning path section AB and / or the previous downlink cleaning path section BC in the previous cleaning path ABC; or the uplink cleaning path section EF and the downlink cleaning path section FG in the current cleaning path EFG can be determined according to the angle of the previous cleaning path CDE, the moving time and speed of the pool cleaning robot along the previous uplink cleaning path section CD and / or the previous downlink cleaning path section DE in the previous cleaning path CDE.

[0055] For another example, in the case that the pool cleaning robot moves along the previous uplink cleaning path section KL and the previous downlink cleaning path section LM in the previous cleaning path KLN,Figures 3A-3C In the illustrated example, the ascending cleaning section KL and the descending cleaning section MN in the current cleaning path KLMN can be determined according to the included angle of the previous cleaning path HIJK, the moving time and the moving speed of the pool cleaning robot along the previous ascending cleaning section HI and / or the previous descending cleaning section JK in the previous cleaning path HIJK; or the ascending cleaning section NO and the descending cleaning section PQ in the current cleaning path NOPQ can be determined according to the included angle of the previous cleaning path KLMN, the moving time and the moving speed of the pool cleaning robot along the previous ascending cleaning section KL and / or the previous descending cleaning section MN in the previous cleaning path KLMN.

[0056] Optionally, the distance of the translation section (e.g., the section IJ, the section LM, the section ) connecting the ascending cleaning section and the descending cleaning section can be a preset distance. Figures 3A-3C

[0057] In the embodiment, the pool cleaning robot can be controlled to perform differential motion at the waterline position to move along the translation section in each trapezoidal cleaning path.

[0058] In step S404, the current cleaning path is updated to the previous cleaning path, and the process returns to step S402.

[0059] Specifically, the current cleaning path can be updated to the previous cleaning path, and the process returns to step S402 to generate the next current cleaning path until the pool cleaning robot completes the pool wall cleaning.

[0060] Figure 5 A flowchart of the process of the pool wall cleaning path generation method of another exemplary embodiment of the present application is shown. The embodiment shows a specific implementation of step S402, as shown in the figure, the embodiment mainly includes the following steps:

[0061] In step S502, the pool water depth is updated according to the included angle of the previous cleaning path, the moving time and the moving speed of the pool cleaning robot along the previous ascending cleaning section and / or the previous descending cleaning section in the previous cleaning path.

[0062] Optionally, the pool water depth can be updated according to the included angle of the previous cleaning path, the moving time and the moving speed of the pool cleaning robot along the previous ascending cleaning section and the previous descending cleaning section in the previous cleaning path.

[0063] Optionally, the pool water depth can be updated according to the included angle of the previous cleaning path, the moving time and the moving speed of the pool cleaning robot along the previous ascending cleaning section in the previous cleaning path.

[0064] ​Preferably, the pool water depth is updated according to the included angle of the previous cleaning path, the moving time and the moving speed of the pool cleaning robot along the previous descending cleaning section in the previous cleaning path.

[0065] For example, referring to Figure 2A , the pool water depth is updated according to the included angle of the previous cleaning path ABC, the moving time and the moving speed of the pool cleaning robot along the previous descending cleaning section BC; or the pool water depth is updated according to the included angle of the previous cleaning path CDE, the moving time and the moving speed of the pool cleaning robot along the previous descending cleaning section DE, and so on.

[0066] In step S504, the included angle of the current cleaning path is determined according to the updated pool water depth and the length of the rolling brush of the pool cleaning robot.

[0067] In the embodiment, the deeper the pool water depth, the smaller the included angle of the cleaning path, and vice versa.

[0068] For example, in the example shown in Figure 2B , Figure 2C , Figure 2D , the pool water depth where the cleaning path CDE is located is greater than the pool water depth where the cleaning path ABC is located, so the included angle β of the cleaning path CDE should be smaller than the included angle α of the cleaning path ABC; for example, in the example shown in Figure 2B , Figure 2C , the pool water depth where the cleaning path EFG is located is greater than the pool water depth where the cleaning path CDE is located, so the included angle γ of the cleaning path EFG should be smaller than the included angle β of the cleaning path ABC.

[0069] For another example, in the example shown in Figure 3B , Figure 3C , the pool water depth where the cleaning path KLMN is located is greater than the pool water depth where the cleaning path ABC is located, so the included angle β of the cleaning path CDE should be smaller than the included angle α of the cleaning path ABC; the pool water depth where the cleaning path NOPQ is located is greater than the pool water depth where the cleaning path KLMN is located, so the included angle γ of the cleaning path NOPQ is smaller than the included angle β of the cleaning path KLMN.

[0070] In the embodiment, the ascending cleaning section and the descending cleaning section in the same cleaning path have the same included angle.

[0071] For example, in the example shown in Figures 2A-2C ,

[0072] In step S506, the current ascending cleaning section and the current descending cleaning section in the current cleaning path are determined according to the current position of the pool cleaning robot and the included angle of the current cleaning path.

[0073] For example, in the example shown in FIG. 2B or Figure 2C In the example shown in FIG. 2B, the uplink cleaning path segment CD and the downlink cleaning path segment DE in the current cleaning path CDE can be determined according to the included angle β of the current cleaning path CDE and the current position C of the pool cleaning robot.

[0074] For example, in the example shown in FIG. 2B or Figures 3B-3C In the example shown in FIG. 2B, the uplink cleaning path segment CD and the downlink cleaning path segment DE in the current cleaning path CDE can be determined according to the included angle β of the current cleaning path CDE and the current position C of the pool cleaning robot.

[0075] Optionally, the pool cleaning robot can be controlled to perform a first differential motion at the current position according to the included angle of the current cleaning path, and based on a first orientation of the pool cleaning robot after performing the first differential motion, the pool cleaning robot can be controlled to move from the current position towards the direction of the pool surface until the pool cleaning robot reaches the pool surface to determine a current uplink cleaning path segment in the current cleaning path, and the position of the pool cleaning robot reaching the pool surface can be updated as the current position. The pool cleaning robot can be controlled to perform a second differential motion at the current position again according to the included angle of the current cleaning path, and based on a second orientation of the pool cleaning robot after performing the second differential motion, the pool cleaning robot can be controlled to move from the current position towards the direction of the pool bottom until the pool cleaning robot reaches the pool bottom to determine a current downlink cleaning path segment in the current cleaning path.

[0076] Optionally, a water line sensor provided on the pool cleaning robot can be used to obtain the detection result of the pool cleaning robot reaching the pool surface when the water line position of the pool is sensed.

[0077] It should be noted that the water line sensor of the present embodiment can adopt an ultrasonic sensor. Since the sensor for detecting the position of the water line can be implemented by various prior art means, no limitation is made herein.

[0078] Optionally, a collision sensor provided on the pool cleaning robot can be used to obtain the detection result of the pool cleaning robot reaching the pool bottom when the pool cleaning robot is sensed to collide with the pool bottom.

[0079] It should be noted that whether the pool cleaning robot collides with the pool wall obstacle during movement can also be determined by other means, which is not limited to the above-mentioned scheme, and the present application does not limit this.

[0080] For example, referring to Figure 2B or Figure 2CAccording to the calculated included angle β of the current cleaning path CDE, the pool cleaning robot is controlled to perform a first differential motion at the current position C, and based on a first orientation of the pool cleaning robot after performing the first differential motion, the pool cleaning robot is controlled to move (e.g., forward movement) from the current position C towards the direction of the pool surface until the pool cleaning robot is detected to reach the pool surface (position D) to determine a current uplink cleaning segment CD in the current cleaning path CDE; and the position (position D) where the pool cleaning robot reaches the pool surface is updated as the current position, and again according to the included angle β 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 of the pool cleaning robot after performing the second differential motion, the pool cleaning robot is controlled to move (e.g., backward movement) from the current position (position D) towards the direction of the pool bottom until the pool cleaning robot is detected to reach the pool bottom to determine a current downlink cleaning segment DE in the current cleaning path CDE.

[0081] In this embodiment, the included 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 included angle of the cleaning path (i.e., the current generated cleaning path).

[0082] In summary, the pool wall cleaning path generation method of this embodiment generates a current cleaning path in real time according to the water depth dynamically measured by the pool cleaning robot moving along the previous cleaning path on the pool wall, and is particularly suitable for pool wall cleaning with different pool water depths, and can effectively improve the pool wall cleaning coverage.

[0083] Figure 6 The processing flow chart of the pool wall cleaning path generation method of another exemplary embodiment of the present application. This embodiment is another implementation of the above-mentioned Figure 1 embodiment. As shown in the figure, this embodiment mainly includes the following steps:

[0084] Step S102, dynamically measuring the pool water depth during the cleaning of the pool wall by the pool cleaning robot.

[0085] Step S103, determining whether the pool water depth is measured, if yes, performing step S104, and if no, performing step S106.

[0086] Specifically, if the pool water depth cannot be successfully measured during the cleaning of the pool wall by the pool cleaning robot, step S106 is performed.

[0087] Step S104, generating a cleaning path corresponding to the pool water depth according to the dynamically measured pool water depth, and returning to perform step S102.

[0088] Step S106, controlling the pool cleaning robot to move vertically along the pool wall between the pool bottom and the pool surface to measure the pool water depth, and continuing to execute step S104.

[0089] With reference to Figure 7 The pool cleaning robot can be controlled to move vertically upward (e.g., forward movement) along the pool wall at the current position (e.g., position A of the pool bottom) until the pool cleaning robot is detected to reach the pool surface (e.g., position X of the pool surface), and then the pool cleaning robot is controlled to move vertically downward (e.g., backward movement) along the pool wall based on the current position (position X of the pool surface) until the pool cleaning robot is detected to reach the pool bottom (e.g., position A of the pool bottom).

[0090] Optionally, the pool water depth can be calculated according to the moving time and moving speed of the pool cleaning robot moving vertically downward from the pool surface to the pool bottom along the pool wall.

[0091] It should be noted that the step S106 can also be executed in the absence of the previous cleaning path, for example, when the pool cleaning robot starts to execute the pool wall cleaning task, since there is no previous cleaning path, the pool water depth can be measured by executing the step.

[0092] In summary, in the case that the pool water depth cannot be measured during the execution of the pool wall cleaning process by the pool cleaning robot, the pool water depth can be measured by controlling the pool cleaning robot to move vertically along the pool wall between the pool bottom and the pool surface, which can ensure the smooth generation of the pool wall cleaning path and improve the success rate of the execution of the pool wall cleaning task.

[0093] The present application also provides a pool wall cleaning route generation method, which comprises generating a cleaning route covering at least one pool wall of a pool, the pool wall cleaning route being 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 embodiments.

[0094] In the present embodiment, the pool wall cleaning route can be a continuous polyline path.

[0095] Optionally, each cleaning path in the pool wall cleaning route can be in the shape of an inverted V or a trapezoid.

[0096] The present application also provides a pool wall cleaning method, which comprises controlling a pool cleaning robot to move along a cleaning route on a pool wall to execute 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 embodiments.

[0097] Figure 10 A flow chart of the pool wall cleaning method of an exemplary embodiment of the present application is shown. As shown in the figure, the present embodiment mainly comprises the following steps:

[0098] Step S1002, the pool cleaning robot is controlled to move according to the generated cleaning route on the first pool wall to perform the pool wall cleaning task of the first pool wall.

[0099] In this embodiment, the generated cleaning route on the first pool wall can include a plurality of inverted V-shaped cleaning paths (see FIG. 2A) or a plurality of trapezoidal cleaning paths (see FIG. 2B). Figures 8A-8D ) or a plurality of trapezoidal cleaning paths (see Figures 9A-9D ).

[0100] Step S1004, it is judged whether the pool cleaning robot collides with the second pool wall. If yes, step S1006 is performed. If no, step S1002 is repeatedly performed.

[0101] For example, referring to Figure 8A , Figure 8B , Figure 9A or Figure 9B , step S1006 can be performed when the pool cleaning robot collides with the second pool wall (for example, position W) during movement along any one of the downward cleaning path segments on the first pool wall.

[0102] For example, referring to Figure 8C , Figure 8D , Figure 9C or Figure 9D , step S1006 can also be performed when the pool cleaning robot collides with the second pool wall (for example, position W) during movement along any one of the upward cleaning path segments on the first pool wall.

[0103] Step S1006, the pool cleaning robot is controlled to move from the first pool wall to the pool bottom.

[0104] Referring to Figures 8A-8D or Figures 9A-9D , the pool cleaning robot can be controlled to move downward from the collision position W along the junction of the first pool wall and the second pool wall to a position X located on the pool bottom.

[0105] Step S1006, the pool cleaning robot is controlled to move along the pool bottom to the second pool wall and move according to the generated cleaning route on the second pool wall to perform the pool wall cleaning task of the second pool wall.

[0106] Referring to Figures 8A-8D or Figures 9A-9D , the 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 generated cleaning route on the second pool wall to perform the pool wall cleaning task of the second pool wall.

[0107] Optionally, after moving to the second pool wall, the pool cleaning robot can be controlled to move vertically between the pool bottom and the pool surface along the second pool wall (see step S106) to measure the pool water depth, based on which a first cleaning path on the second pool wall is generated.

[0108] Optionally, after moving to the second pool wall, the first cleaning path on the second pool wall can also be generated based on the pool water depth at which the last cleaning path on the first pool wall is generated.

[0109] For example, with reference to Figure 8A the cleaning path YIJ on the second pool wall can be generated based on the pool water depth at which the cleaning path GHWX on the first pool wall is generated (i.e., the angle between the cleaning path YIJ and the cleaning path GHW is the same, both being θ)

[0110] In summary, the pool wall cleaning method of the present embodiment can control the pool cleaning robot to move down to the pool bottom after the pool wall cleaning task of the first pool wall is completed, and continue to perform the pool wall cleaning of the second pool wall, thereby realizing continuous cleaning of multiple pool walls, improving the intelligence of the pool cleaning robot, and improving the user experience.

[0111] Figure 11 A structural block diagram of a pool wall cleaning path generation device of an example embodiment of the present application is shown. As shown, the pool wall cleaning device 1100 of the present embodiment mainly includes a water depth measurement module 1102 and a path generation module 1104.

[0112] The water depth measurement module 1102 is configured to dynamically measure the pool water depth during the pool cleaning robot cleaning the pool wall.

[0113] The path generation module 1104 is configured to generate a cleaning path corresponding to the pool water depth measured by the measurement module 1102, wherein each cleaning path includes at least an uplink cleaning path segment extending from the pool bottom to the pool surface of the pool, and a downlink cleaning path segment extending from the pool surface to the pool bottom of the pool.

[0114] Optionally, the path generation module 1102 is further configured to perform a path generation step of generating a current cleaning path on the pool wall following a previous cleaning path on the pool wall based on the water depth measured by the pool cleaning robot moving along the previous cleaning path, and a path updating step of updating the current cleaning path as the previous cleaning path and continuing to perform the path generation step.

[0115] Optionally, the water depth measuring module 1102 is further configured to update the water depth of the pool according to the angle of the previous cleaning path, the moving time of the pool cleaning robot moving along the previous uplink cleaning path segment and / or the previous downlink cleaning path segment in the previous cleaning path, and the moving speed of the pool cleaning robot.

[0116] Optionally, the path generating module 1102 is further configured to determine the angle of the current cleaning path according to the updated water depth of the pool and the length of the rolling brush of the pool cleaning robot, determine the current uplink cleaning path segment and the current downlink cleaning path segment in the current cleaning path according to the current position of the pool cleaning robot and the angle of the current cleaning path, wherein the angles of the uplink cleaning path segment and the downlink cleaning path segment in the same cleaning path are the same.

[0117] Optionally, the path generating module 1102 is further configured to control the pool cleaning robot to perform a first differential motion at the current position according to the angle of the current cleaning path, control the pool cleaning robot to move from the current position to the direction of the pool surface based on the first orientation of the pool cleaning robot after performing the first differential motion, and determine the current uplink cleaning path segment in the current cleaning path until the pool cleaning robot reaches the pool surface is detected, update the position of the pool cleaning robot reaching the pool surface as the current position, control the 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 pool cleaning robot to move from the current position to the direction of the pool bottom based on the second orientation of the pool cleaning robot after performing the second differential motion, and determine the current downlink cleaning path segment in the current cleaning path until the pool cleaning robot reaches the pool bottom is detected.

[0118] Optionally, the detection result of the pool cleaning robot reaching the pool surface can be obtained by using a water line sensor arranged on the pool cleaning robot when the water line position of the pool is sensed.

[0119] Optionally, the detection result of the pool cleaning robot reaching the pool bottom can be obtained by using a collision sensor arranged on the pool cleaning robot when the pool cleaning robot collides with the pool bottom of the pool is sensed.

[0120] Optionally, the uplink cleaning path segment and the downlink cleaning path segment in each cleaning path are directly connected to form an inverted V-shaped cleaning path, or the uplink cleaning path segment and the downlink cleaning path segment in each cleaning path are indirectly connected to form a trapezoidal cleaning path.

[0121] Optionally, in the case that the uplink cleaning path section and the downlink cleaning path section in the cleaning path are indirectly connected, the cleaning path further comprises a translation path section, which connects the end of the uplink cleaning path section and the end of the downlink cleaning path section in the cleaning path respectively close to the pool surface.

[0122] Optionally, the water depth measuring module 102 is further configured to: in the case that there is no previous cleaning path, or in the case that the pool cleaning robot fails to measure the water depth of the pool when moving along the previous cleaning path, control the 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 pool.

[0123] Optionally, the pool cleaning robot can move forward along the uplink cleaning path section in each cleaning path from the pool bottom to the pool surface, or the pool cleaning robot can move backward along the downlink cleaning path section in each cleaning path from the pool bottom to the pool surface.

[0124] The exemplary embodiments of the present application further provide a pool wall cleaning path generation device, comprising: a path generation module configured to generate a cleaning path covering at least one pool wall of a pool, wherein the pool wall cleaning path is composed of a plurality of continuous cleaning paths, and each cleaning path is generated based on the pool wall cleaning path generation device 1100 described in the above embodiments.

[0125] The exemplary embodiments of the present application further provide a pool wall cleaning device, comprising: a cleaning module configured to control a pool cleaning robot to move along a cleaning path on a pool wall to perform a pool wall cleaning task, wherein the cleaning path is composed of a plurality of continuous cleaning paths, and each cleaning path is generated based on the pool wall cleaning path generation device 1100 described in the above embodiments.

[0126] The exemplary embodiments of the present application further provide an electronic device, comprising: at least one processor; and a memory connected with the at least one processor in communication. The memory stores a computer program capable of being executed by the at least one processor, and the computer program, when executed by the at least one processor, is configured to cause the electronic device to perform the method according to the embodiments of the present application.

[0127] The exemplary embodiments of the present application further 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 configured to cause the computer to perform the method according to the embodiments of the present application.

[0128] The exemplary embodiments of the present application further provide a computer program product comprising a computer program, wherein the computer program, when executed by a processor of a computer, is configured to cause the computer to perform the method according to the embodiments of the present application.

[0129] refer to Figure 12 The present invention describes a structural block diagram of an electronic device 1200 that can serve as a server or client of this application, which is an example of a hardware device that can be applied to various aspects of this application. The electronic device is intended to represent various forms of digital electronic computer devices, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the application described and / or claimed herein.

[0130] like Figure 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. The RAM 1203 may also store various programs and data required for the operation of the device 1200. The computing unit 1201, ROM 1202, and RAM 1203 are interconnected via a bus 1204. An input / output (I / O) interface 1205 is also connected to the bus 1204.

[0131] Multiple components in electronic device 1200 are connected to I / O interface 1205, including: input unit 1206, output unit 1207, storage unit 1208, and communication unit 1209. Input unit 1206 can be any type of device capable of inputting information to electronic device 1200. Input unit 1206 can receive input digital or character information and generate key signal inputs related to user settings and / or function control of electronic device. Output unit 1207 can be any type of device capable of presenting information and may include, but is not limited to, a display, speaker, video / audio output terminal, vibrator, and / or printer. Storage unit 1204 may include, but is not limited to, disk and optical disk. Communication unit 1209 allows electronic device 1200 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks, and may include, but is not limited to, modems, network cards, infrared communication devices, wireless communication transceivers, and / or chipsets, such as Bluetooth™ devices, WiFi devices, WiMax devices, cellular communication devices, and / or the like.

[0132] The computing unit 1201 can be various general and / or special purpose 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 specialized artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, or the like. The computing unit 1201 performs various methods and processes described above. For example, in some embodiments, the pool wall cleaning path generation method or pool wall cleaning route generation method or pool wall cleaning method of the foregoing embodiments can be implemented as a computer software program tangibly embodied in a machine-readable medium, such as the storage unit 1208. In some embodiments, part or all of the computer program can be loaded and / or installed onto the electronic device 1200 via the ROM 1202 and / or the communication unit 1209. In some embodiments, the computing unit 1201 can be configured to perform the pool wall cleaning path generation method or pool wall cleaning route generation method or pool wall cleaning method of the foregoing embodiments by any other suitable means, such as by means of firmware.

[0133] Program code for carrying out the methods of the present application can be written in any combination of one or more programming languages. The program code can be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the program code, when executed by the processor or controller, produces the functions / operations specified in the flowcharts and / or the block diagrams. The program code can be embodied on the machine, partially on the machine, fully on the machine, partially on the machine and partially on a remote machine or fully on a remote machine or server.

[0134] In the context of the present application, a machine-readable medium can be a tangible medium that can contain or store program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. Machine-readable storage media can include, without limitation, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of the machine-readable storage medium would include one or more lines of a system, a portable computer diskette, 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 disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0135] As used in this application, the terms "machine-readable medium" and "computer- readable medium" refer to any computer program product, apparatus and / or device (e.g., magnetic discs, optical disks, memory, Programmable Logic Devices (PLDs)) used to provide 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 used to provide machine instructions and / or data to a programmable processor.

[0136] To provide for interaction with a user, the systems and techniques described here 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 a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the computer. Other kinds of devices can be used to provide for interaction with a user as well; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.

[0137] The systems and techniques described here can be implemented in a computing system that includes a back end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front end component (e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back end, middleware, or front end components. The components of the system can 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.

[0138] The computing system can include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other.

[0139] It should be understood that, although the present specification describes various embodiments with reference to the drawings, the specification is not limited to each embodiment. The description of each embodiment is merely one of many possible embodiments, and the specification should be understood as a whole, and the technical solutions in each embodiment can be combined appropriately to form other embodiments that can be understood by those skilled in the art.

[0140] The above merely describes the specific implementation of the embodiments of the present application, and is not intended to limit the scope of the embodiments of the present application. Any equivalent changes, modifications and combinations made by any person skilled in the art without departing from the concept and principle of the embodiments of the present application shall fall within the scope of protection of the embodiments of the present application.

Claims

1. A pool wall cleaning path generating method, comprising: generating a cleaning path corresponding to a pool water depth according to the pool water depth dynamically measured by a pool cleaning robot during cleaning a pool wall; specifically, determining an included angle of the cleaning path according to the measured pool water depth, and determining an uplink cleaning path extending from a pool bottom to a pool surface and a downlink cleaning path extending from the pool surface to the pool bottom according to the included angle; wherein each cleaning path comprises at least an uplink cleaning path segment extending from the pool bottom to the pool surface and a downlink cleaning path segment extending from the pool surface to the pool bottom.

2. The pool wall cleaning path generating method according to claim 1, wherein The generating of the cleaning path corresponding to the pool water depth according to the pool water depth dynamically measured by the pool cleaning robot during cleaning the pool wall comprises: a path generating step of generating a current cleaning path following a previous cleaning path on the pool wall according to the water depth measured by the pool cleaning robot moving along the previous cleaning path on the pool wall; a path updating step of updating the current cleaning path as the previous cleaning path and continuing to execute the path generating step.

3. The pool wall cleaning path generating method according to claim 2, wherein The path generating step comprises: updating the pool water depth according to an included angle of the previous cleaning path, a moving time of the pool cleaning robot moving along a previous uplink cleaning path segment and / or a previous downlink cleaning path segment in the previous cleaning path, and a moving speed; determining an uplink cleaning path segment and a downlink cleaning path segment in the current cleaning path based on the updated pool water depth.

4. The pool wall cleaning path generating method according to claim 3, wherein The determining of the uplink cleaning path segment and the downlink cleaning path segment in the current cleaning path based on the updated pool water depth comprises: determining an included angle of the current cleaning path according to the updated pool water depth and a length of a rolling brush of the pool cleaning robot; determining a current uplink cleaning path segment and a current downlink cleaning path segment in the current cleaning path according to a current position of the pool cleaning robot and the included angle of the current cleaning path; wherein the included angles of the uplink cleaning path segment and the downlink cleaning path segment in the same cleaning path are the same.

5. The pool wall cleaning path generation method according to claim 4, wherein The determining of the current uplink cleaning path segment and the current downlink cleaning path segment in the current cleaning path according to the current position of the pool cleaning robot and the included angle of the current cleaning path comprises: controlling the pool cleaning robot to perform a first differential motion at the current position according to the included angle of the current cleaning path, and controlling the pool cleaning robot to move from the current position to the pool surface until detecting that the pool cleaning robot reaches the pool surface based on a first orientation of the pool cleaning robot after performing the first differential motion, so as to determine the current uplink cleaning path segment in the current cleaning path. updating the position of the pool cleaning robot reaching the pool surface as a current position, and controlling the pool cleaning robot to perform a second differential motion at the current position according to the included angle of the current cleaning path, and controlling the pool cleaning robot to move from the current position to a direction of the pool bottom based on a second orientation of the pool cleaning robot after performing the second differential motion, until detecting that the pool cleaning robot reaches the pool bottom, to determine a current descending cleaning section in the current cleaning path.

6. The pool wall cleaning path generation method according to claim 5, wherein The method further comprises: obtaining a detection result of the pool cleaning robot reaching the pool surface by using a water line sensor arranged on the pool cleaning robot when the water line position of the pool is sensed; obtaining a detection result of the pool cleaning robot reaching the pool bottom by using a collision sensor arranged on the pool cleaning robot when the pool cleaning robot collides with the pool bottom of the pool.

7. The pool wall cleaning path generation method according to claim 2, wherein, the ascending cleaning section and the descending cleaning section in each cleaning path are directly connected to form an inverted V-shaped cleaning path; or the ascending cleaning section and the descending cleaning section in each cleaning path are indirectly connected to form a trapezoidal cleaning path. In the case that the ascending cleaning section and the descending cleaning section in the cleaning path are indirectly connected, the cleaning path further comprises a translation section respectively connecting the end of the ascending cleaning section and the descending cleaning section in the cleaning path close to the pool surface.

8. The pool wall cleaning path generation method according to claim 7, wherein The method further comprises:

9. The pool wall cleaning path generating method according to claim 2, wherein controlling the 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 pool in the case that there is no previous cleaning path, or in the case that the pool cleaning robot fails to measure the water depth of the pool when moving along the previous cleaning path.

10. The pool wall cleaning path generation method according to claim 1, wherein, the pool cleaning robot can move forward along the ascending cleaning section in each cleaning path from the pool bottom to the pool surface; or the pool cleaning robot can move backward along the descending cleaning section in each cleaning path from the pool surface to the pool bottom.

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

12. A pool wall cleaning method, comprising: controlling a pool cleaning robot to move according to a generated cleaning route on a 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 according to any one of claims 1 to 10. The pool wall comprises a first pool wall and a second pool wall, and the method further comprises:

13. The cell wall cleaning method of claim 12, wherein, ​ In a process that the pool cleaning robot moves according to the generated cleaning route on the first pool wall to perform the pool wall cleaning task of the first pool wall, when colliding with the second pool wall, the pool cleaning robot is controlled to move from the first pool wall to the pool bottom; The pool cleaning robot is controlled to move along the pool bottom to the second pool wall and move according to the generated cleaning route on the second pool wall to perform the pool wall cleaning task of the second pool wall.

14. A pool wall cleaning path generating device, comprising: a water depth measuring module for dynamically measuring the water depth of a pool during pool wall cleaning by a pool cleaning robot; a path generating module for generating a cleaning path corresponding to the water depth of the pool according to the water depth of the pool measured by the measuring module; specifically, determining the included angle of the cleaning path according to the measured water depth, to determine the uplink cleaning path extending obliquely from the pool bottom to the pool surface and the downlink cleaning path extending obliquely from the pool surface to the pool bottom; wherein each cleaning path includes at least an uplink cleaning path segment extending from the pool bottom to the pool surface of the pool, and a downlink cleaning path segment extending from the pool surface to the pool bottom of the pool.

15. 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 pool, the pool wall cleaning route being composed of a plurality of continuous cleaning paths; wherein each cleaning path can be generated based on the pool wall cleaning path generating device of claim 14.

16. A pool wall cleaning device, comprising: a cleaning module for controlling a pool cleaning robot to move along a cleaning route on a 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 of claim 14.

17. An electronic device, comprising: a processor; and a memory storing programs; wherein the programs include instructions that, when executed by the processor, cause the processor to perform the method of any one of claims 1-10, or cause the processor to perform the method of claim 11, or cause the processor to perform the method of any one of claims 12-13.

18. A non-transitory computer readable storage medium having stored thereon computer instructions, wherein, The computer instructions are used to cause the computer to perform the method of any one of claims 1-10, or cause the computer to perform the method of claim 11, or cause the computer to perform the method of any one of claims 12-13.

Images