Pool cleaning method and device, computer equipment and storage medium

Abstract

The invention relates to the technical field of robot control, in particular to a pool cleaning method and device, computer equipment and a storage medium. The method comprises the steps of obtaining environment information, detected by a robot in real time, of a pool, extracting intersection position information of the pool bottom and the pool wall in the environment information, generating a first cleaning path of the robot for the pool bottom of the pool, extracting pool wall information in the environment information, generating a second cleaning path corresponding to the pool wall of the pool, and obtaining the edge length of the edge of the pool; determining a third cleaning path corresponding to the water level of the pool, determining the first cleaning path according to the intersection position information in the environment information, determining the second cleaning path according to the pool wall information and the machine body step length, and determining the third cleaning path according to the edge length and the pool wall height; and cleaning the pool according to the first cleaning path, the second cleaning path and the third cleaning path. Therefore, the cleaning path can be planned comprehensively and automatically, and the cleaning work of the pool can be completed comprehensively.

Description

Technical Field

[0001] The present invention relates to the technical field of robot control, and particularly to a pool cleaning method, device, computer device and storage medium. Background Art

[0002] With the continuous improvement of people's living standards, pools are more and more widely used in daily life and industrial production. In order to maintain the water quality and the cleanliness of the pool wall, regular pool cleaning has become a necessary maintenance task. Traditional pool cleaning methods mainly rely on manual or partially automatic cleaning tools, but these pool cleaning tools still have problems such as low intelligence and imperfect cleaning functions.

[0003] Currently, most automatic cleaning robots are mostly simple battery-driven devices, and the cleaning effect is limited. Their working principle is mostly to randomly move on the pool bottom through a wheeled or tracked chassis to brush or adsorb impurities. However, these devices have problems such as low efficiency and incomplete cleaning. Most cleaning robots can only perform partial cleaning and cannot efficiently cover the entire pool, especially the corner parts. Although some automatic cleaning robots can suck away the impurities at the bottom of the pool, the cleaning effect on the stains on the pool wall or the garbage floating on the water surface is limited.

[0004] Therefore, how to comprehensively and automatically plan the cleaning path to comprehensively complete the pool cleaning work has become an urgent problem to be solved. Summary of the Invention

[0005] Embodiments of the present invention provide a pool cleaning method, device, computer device and storage medium to solve the problem of how to comprehensively and automatically plan the cleaning path to comprehensively complete the pool cleaning work.

[0006] In a first aspect, embodiments of the present invention provide a pool cleaning method, which is characterized by including: Obtain the environmental information of the pool detected by the robot in real time, extract the intersection position information of the pool bottom and the pool wall in the environmental information, and generate a first cleaning path for the robot to clean the pool bottom according to the intersection position information; Extract the pool wall information in the environmental information, and generate a second cleaning path for the pool wall corresponding to the pool according to the pool wall information and the body step length of the robot; According to the intersection position information, obtain the edge length of the pool edge, and determine a third cleaning path corresponding to the water level line of the pool according to the edge length and the pool wall height; Complete the cleaning of the pool by the robot according to the first cleaning path, the second cleaning path, and the third cleaning path.

[0007] Second aspect, an embodiment of the present invention provides a pool cleaning device, characterized by comprising: A first path determination module, configured to obtain the environmental information of the pool detected by the robot in real time, extract the intersection position information of the pool bottom and the pool wall in the environmental information, and generate a first cleaning path of the robot for the pool bottom according to the intersection position information; A second path determination module, configured to extract the pool wall information in the environmental information, and generate a second cleaning path corresponding to the pool wall of the pool according to the pool wall information and the body step length of the robot; A third path determination module, configured to obtain the edge length of the pool edge according to the intersection position information, and determine a third cleaning path corresponding to the water level line of the pool according to the edge length and the pool wall height; A cleaning module, configured to complete the cleaning of the pool by the robot according to the first cleaning path, the second cleaning path, and the third cleaning path.

[0008] Third aspect, an embodiment of the present invention provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the above-mentioned pool cleaning method is implemented.

[0009] Fourth aspect, an embodiment of the present invention provides a computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the above-mentioned pool cleaning method is implemented.

[0010] The beneficial effects of the present invention compared with the prior art are as follows: By obtaining the environmental information of the pool detected by the robot in real time, extracting the intersection position information of the pool bottom and the pool wall in the environmental information, generating a first cleaning path of the robot for the pool bottom according to the intersection position information, extracting the pool wall information in the environmental information, generating a second cleaning path corresponding to the pool wall of the pool according to the pool wall information and the body step length of the robot, obtaining the edge length of the pool edge according to the intersection position information, determining a third cleaning path corresponding to the water level line of the pool according to the edge length and the pool wall height, and completing the cleaning of the pool by the robot according to the first cleaning path, the second cleaning path, and the third cleaning path. By determining the first cleaning path according to the intersection position information in the environmental information, determining the second cleaning path according to the pool wall information and the body step length, determining the third cleaning path according to the edge length and the pool wall height, and cleaning the pool according to the first cleaning path, the second cleaning path, and the third cleaning path. Thus, the cleaning path is comprehensively and automatically planned to comprehensively complete the cleaning work of the pool. Description of the Drawings

[0011] To more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the accompanying drawings required for the description of the embodiments of the present invention. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can also be obtained based on these drawings.

[0012] Figure 1 It is a schematic diagram of the application environment of a pool cleaning method provided in the first embodiment of the present invention; Figure 2 It is a schematic flowchart of a pool cleaning method provided in the second embodiment of the present invention; Figure 3 It is a schematic flowchart of a pool cleaning method provided in the third embodiment of the present invention; Figure 4 It is a schematic flowchart of a pool cleaning method provided in the fourth embodiment of the present invention; Figure 5 It is a schematic flowchart of a pool cleaning method provided in the fifth embodiment of the present invention; Figure 6 It is a schematic structural diagram of a pool cleaning device provided in the sixth embodiment of the present invention; Figure 7 It is a schematic structural diagram of a computer device provided in the seventh embodiment of the present invention. Detailed implementation manners

[0013] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, rather than all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0014] As Figure 1 shown, it is a schematic diagram of the application environment of a pool cleaning method provided in the first embodiment of the present invention. Among them, the client and the server are connected for communication. The user can provide conditions, requirements, operation instructions, etc. for pool cleaning to the server by operating the client. The server is used to execute the pool cleaning method of the present invention according to the relevant content sent by the client. Among them, the client includes, but is not limited to, various computer devices such as personal computers, laptop computers, smart phones, tablet computers, and portable wearable devices. The computer device corresponding to the server can be implemented by an independent server or a server cluster composed of multiple servers.

[0015] As Figure 2 shown, it is a schematic flowchart of a pool cleaning method provided in the second embodiment of the present invention. Among them, the pool cleaning method is applied inFigure 1 The server in Step S201: Obtain the environmental information of the pool detected by the robot in real time, extract the intersection position information of the pool bottom and the pool wall from the environmental information, and generate a first cleaning path for the robot to clean the pool bottom according to the intersection position information.

[0016] Among them, when the robot operates in the pool environment, it will detect various environmental information of the pool in real time. This information can be collected through various sensors carried by the robot (such as cameras, lidar, etc.), covering the overall layout of the pool, the characteristics of the pool bottom and the pool wall, etc. From the obtained environmental information, find the position where the pool bottom intersects the pool wall. This position information helps to determine the boundary of the pool bottom. According to the intersection position information of the pool bottom and the pool wall, plan the cleaning route of the robot on the pool bottom, that is, the first cleaning path. When planning, consider how to fully cover the pool bottom to avoid omission, and snake-shaped, spiral-shaped and other methods can be used for path planning.

[0017] Step S202: Extract the pool wall information from the environmental information, and generate a second cleaning path for the corresponding pool wall according to the pool wall information and the body step length of the robot.

[0018] Among them, also extract the detailed information about the pool wall from the previously obtained environmental information, such as the shape of the pool wall (vertical, inclined, etc.), the area size, etc. The body step length refers to the distance that the robot moves each time, and this moving distance is equal to the body length of the robot. According to the pool wall information and the body step length of the robot, plan the cleaning route of the robot on the pool wall, that is, the second cleaning path. When planning, ensure that the robot can effectively clean every part of the pool wall, and at the same time consider the safety and stability of the robot moving on the pool wall.

[0019] Step S203: According to the intersection position information, obtain the edge length of the pool edge, and determine the third cleaning path of the water level line of the corresponding pool according to the edge length and the pool wall height.

[0020] Among them, according to the previously extracted intersection position information of the pool bottom and the pool wall, determine the edge length of the pool edge. After knowing the pool edge length and the pool wall height, plan the cleaning route of the corresponding pool water level line, that is, the third cleaning path. The water level line is usually the place where dirt is easy to accumulate in the pool, so a special path needs to be planned for cleaning.

[0021] Step S204: Complete the cleaning of the pool by the robot according to the first cleaning path, the second cleaning path, and the third cleaning path.

[0022] Among them, after the cleaning path planning of the pool bottom, pool wall, and water level line is completed, the robot sweeps different areas of the pool in sequence according to the first cleaning path, the second cleaning path, and the third cleaning path, thereby completing the cleaning work of the entire pool.

[0023] In the embodiment of the present application, by obtaining the environmental information of the pool detected by the robot in real time, extracting the intersection position information of the pool bottom and the pool wall in the environmental information, generating the first cleaning path of the robot for the pool bottom according to the intersection position information, extracting the pool wall information in the environmental information, generating the second cleaning path corresponding to the pool wall of the pool according to the pool wall information and the body step length of the robot, obtaining the edge length of the pool edge according to the intersection position information, determining the third cleaning path of the water level line corresponding to the pool according to the edge length and the pool wall height, and completing the cleaning of the pool by the robot according to the first cleaning path, the second cleaning path, and the third cleaning path. By determining the first cleaning path according to the intersection position information in the environmental information, determining the second cleaning path according to the pool wall information and the body step length, determining the third cleaning path according to the edge length and the pool wall height, and cleaning the pool according to the first cleaning path, the second cleaning path, and the third cleaning path. Thus, the cleaning path is planned comprehensively and automatically to complete the cleaning work of the pool comprehensively.

[0024] As Figure 3 shown, it is a schematic flowchart of a pool cleaning method provided in Embodiment 3 of the present invention. Generating the first cleaning path of the robot for the pool bottom in step S201 may include the following steps: Step S301, calculate the intersection position information to obtain the first cleaning area.

[0025] Step S302, extract the intersection position points of the pool bottom and the pool wall in the intersection position information, adjust the movement direction of the robot at the intersection position points until the movement range of the robot covers the first cleaning area, and obtain the first cleaning path of the robot for the pool bottom.

[0026] Among them, by calculating the intersection position information of the pool bottom and the pool wall, the size of the area that needs to be cleaned on the pool bottom, that is, the first cleaning area, can be determined. The intersection position of the pool bottom and the pool wall outlines the boundary of the pool bottom. Based on this boundary information, appropriate mathematical methods (for example, if the pool bottom is regular in shape, the corresponding geometric area calculation formula can be used; if the shape is irregular, numerical calculation methods can be adopted according to needs) can be used to obtain the specific cleaning area. For example, if the pool bottom is a rectangle and the length and width of the rectangle are determined through the intersection position information, the first cleaning area can be calculated.

[0027] Among them, the specific intersection positions of the pool bottom and the pool wall can be found in the intersection position information. These intersection positions are the key reference points for the robot to move on the pool bottom. They define the edge of the pool bottom, and the movement direction of the robot is adjusted at the intersection positions, aiming to enable the robot to fully cover the first cleaning area. Based on these intersection positions, the robot continuously changes its movement direction to ensure that every corner of the pool bottom can be cleaned. When the movement range of the robot completely covers the first cleaning area, the trajectory it has traveled constitutes the first cleaning path for the pool bottom. This path can take various forms, such as the common snake shape, spiral shape, etc. The specific path shape depends on factors such as the shape and size of the pool and the movement characteristics of the robot.

[0028] Optionally, after the robot finishes cleaning the pool in step S204, the following steps may also be included: Obtain the preset target cleaning range and determine whether the target cleaning range is located at the bottom of the pool; If it is located at the bottom of the pool, calculate the target cleaning area according to the target cleaning range; Extract the intersection positions of the pool bottom and the pool wall from the intersection position information, and adjust the movement direction of the robot at the intersection positions until the movement range of the robot covers the target cleaning area, obtaining the target cleaning path for the pool bottom of the pool by the robot.

[0029] Among them, before or during the entire pool cleaning task, the user or the system will preset a specific target cleaning range in advance. This range may be specified due to reasons such as more dirt in certain areas of the pool or special cleaning requirements. The system determines whether this target cleaning range is at the bottom of the pool. This step is to prepare for formulating different cleaning strategies according to different positions. If the target cleaning range is at the bottom of the pool, the path needs to be planned according to the cleaning method of the pool bottom.

[0030] After it is determined that the target cleaning range is located at the bottom of the pool, it is necessary to further clarify the size of this range. According to the boundary information of the target cleaning range, etc., use appropriate mathematical methods to calculate the target cleaning area. For example, if the target cleaning range is a regular circular area, the area can be calculated according to the circle area formula by measuring the radius; if it is an irregular shape, numerical calculation methods such as dividing it into multiple regular figures and then summing can be used.

[0031] Extract the intersection position points of the pool bottom and the pool wall from the intersection position information. These points are key references for determining the movement boundary and adjusting the direction of the robot. Adjust the movement direction of the robot at these intersection position points to make the robot move on the pool bottom. By continuously adjusting the direction, the movement range of the robot can completely cover the previously calculated target cleaning area. When the movement range of the robot just covers the target cleaning area, the trajectory it has traveled constitutes the target cleaning path for the target cleaning range of the pool bottom.

[0032] In this embodiment, the first cleaning area is calculated, and the first cleaning path is generated according to the first cleaning area, so as to clean the first cleaning path. Thus, the cleaning path of the robot on the pool bottom can be planned more accurately.

[0033] As Figure 4 shown, it is a schematic flowchart of a pool cleaning method provided by the fourth embodiment of the present invention. Extracting the pool wall information in the environmental information in step S202, and generating a second cleaning path corresponding to the pool wall of the pool according to the pool wall information and the body step length of the robot may include the following steps: Step S401, detect the force exerted by the pool wall on the robot in the pool wall information, and judge whether the change in the force conforms to a preset force range. If it conforms to the preset force range, obtain the water outlet position of the robot.

[0034] Step S402, obtain the water level height of the corresponding pool according to the water outlet position of the robot, and determine the climbing distance of the robot according to the water level height.

[0035] Step S403, generate a second cleaning path corresponding to the pool wall of the pool according to the climbing distance and the body step length.

[0036] Among them, when the robot moves on the pool wall, the pool wall will exert a certain force on the robot, and this force may include friction force, supporting force, etc. The robot detects these forces through the force sensors carried on itself, and the preset force range is set according to the movement of the robot on the pool wall. When the change in the force exerted by the pool wall on the robot is within this preset range, it means that the movement state of the robot is normal. For example, too small friction force may cause the robot to slip, and abnormal supporting force may indicate that the posture of the robot is problematic. When the change in the force conforms to the preset force range, it means that the robot is in a suitable state. At this time, the water outlet position of the robot can be determined. This position is an important reference point for subsequent cleaning path planning and is related to the water level line, the special structure of the pool wall, etc.

[0037] Among them, according to the previously determined water exit position of the robot, the water level height of the corresponding pool can be inferred. Since there is usually a certain correlation between the water exit position of the robot and the water level line. For example, if the robot just leaves the water surface at the water level line, then the height of this position is approximately the water level height. After determining the water level height and combining the actual situation of the pool (such as the starting position of the pool wall, etc.), the climbing distance of the robot on the pool wall can be determined, that is, the wall climbing distance. This distance determines the longitudinal cleaning range of the robot on the pool wall.

[0038] The body step length is the fixed distance that the robot moves on the pool wall each time, and this fixed distance is the same as the length of the robot body. According to the wall climbing distance and the body step length, the movement trajectory of the robot on the pool wall is planned. For example, if the wall climbing distance is 10 meters and the body step length is 0.1 meters, then theoretically the robot needs to move 100 steps to cover this height range.

[0039] On the basis of considering the wall climbing distance and the body step length, and comprehensively considering factors such as the shape of the pool wall (such as vertical, inclined, etc.) and the presence or absence of obstacles, a cleaning path that can comprehensively cover the pool wall is planned, that is, the second cleaning path. This path can be in the form of going up and down back and forth, spiral rising, etc., to ensure that every part of the pool wall can be cleaned.

[0040] Optionally, after the robot finishes cleaning the pool in step S204, the following steps can also be included: Judge whether the target cleaning range is located on the pool wall of the pool.

[0041] If it is located on the pool wall of the pool, then according to the target cleaning range, the target cleaning height is obtained, and according to the target cleaning height, the wall climbing distance of the robot is determined.

[0042] According to the wall climbing distance and the body step length, the second cleaning path of the pool wall of the corresponding pool is determined.

[0043] Among them, after the robot finishes cleaning the entire pool, it is first necessary to clarify the location of the preset target cleaning range. Judge whether this target cleaning range is on the pool wall of the pool. This is a key judgment step because the cleaning conditions of the pool wall and the pool bottom are different, and different cleaning strategies and path planning methods need to be adopted according to different positions in the follow-up. When it is judged that the target cleaning range is located on the pool wall of the pool, it is necessary to determine the corresponding height on the pool wall according to this target cleaning range, that is, the target cleaning height. This requires comprehensive analysis by combining the previously obtained pool wall information, water level height and other data. For example, if the target cleaning range is a certain distance above the water level line, the target cleaning height can be obtained through measurement or calculation.

[0044] After the system determines the target cleaning height, it can be used as the distance that the robot needs to climb on the pool wall, that is, the wall-climbing distance. On the basis of considering the wall-climbing distance and the body step length, and combining the actual situation of the pool wall, such as the shape of the pool wall (vertical, inclined, etc.), whether there are obstacles and other factors, a cleaning path that can comprehensively cover the target cleaning range is planned, that is, the second cleaning path corresponding to the pool wall. This path may adopt different forms such as going up and down back and forth, spiral rising, etc. to ensure that every part of the target cleaning range on the pool wall can be effectively cleaned.

[0045] In this embodiment, by determining the water outlet position of the robot, the corresponding water level line height is obtained. According to the water level line height, the wall-climbing distance of the robot is determined. According to the body step length, the corresponding second cleaning path is generated. Thus, an effective pool wall cleaning path is generated.

[0046] As Figure 5 shown, it is a schematic flowchart of a pool cleaning method provided by Embodiment 5 of the present invention. In step S203, according to the intersection position information, the edge length of the pool edge is obtained. According to the edge length and the pool wall height, the third cleaning path of the water level line corresponding to the pool can include the following steps: Step S501, according to the pool environment information, obtain the relative position information between the robot and the pool wall surface.

[0047] Step S502, determine whether the relative position information meets the preset relative distance. If it meets the preset relative position distance, obtain the current position. According to the current position and the relative position information, determine the water level line movement distance of the robot.

[0048] Step S503, according to the water level line movement distance and the pool wall height, determine the third cleaning path of the water level line corresponding to the pool.

[0049] Among them, the pool environment information can extract the position information of the robot relative to the pool wall surface. These environmental information may be collected through various sensors installed on the robot (such as laser sensors, vision sensors, etc.). By analyzing and processing the environmental information, the specific position of the robot in the pool and its relative position relationship with each wall surface of the pool are clarified, such as the specific distance of the robot from a certain side wall surface and the angle with the wall surface.

[0050] The preset relative distance is a suitable distance range preset according to the requirements of the cleaning task and the working characteristics of the robot. It is judged whether the relative position information between the robot and the pool wall is within this preset distance. For example, it is preset that the suitable distance for the robot from the wall is 10 - 20 cm. If the actually measured relative position is within this range, it meets the requirements. When the relative position information conforms to the preset relative distance, the position where the robot is located at this time is determined as the current position. Combining the current position and the relative position information, the distance that the robot needs to move along the water level line is determined. For example, if the entire water level line needs to be cleaned, it is necessary to calculate how much further it needs to move according to the length of the pool edge and the current position of the robot to complete the cleaning of the water level line.

[0051] The moving distance along the water level line determines the range that the robot needs to move along the water level line in the horizontal direction, while the height of the pool wall affects the cleaning path in the vertical direction (for example, whether it is necessary to clean the water level lines at different heights, etc.). Considering the moving distance along the water level line and the height of the pool wall comprehensively, the cleaning path of the robot at the water level line position is planned, that is, the third cleaning path. This path needs to ensure that the robot can completely clean all parts of the water level line and may be designed into different routes according to the shape of the pool (round, square, etc.), such as a circular route around the pool edge, etc.

[0052] Optionally, after the robot completes the cleaning of the pool in step S204, it may further include: Judge whether the target cleaning range is located at the water level line of the pool.

[0053] If it is located at the water level line of the pool, according to the target cleaning range, the target cleaning length of the water level line is obtained.

[0054] According to the target cleaning length and the height of the pool wall, the third cleaning path of the water level line of the pool is determined.

[0055] Among them, after the robot completes the cleaning task of the entire pool, it is first necessary to clarify the position where the preset target cleaning range is located. The key is to judge whether this target cleaning range is at the water level line of the pool. Because the water level line area usually has its unique dirt characteristics and cleaning requirements, which are different from the cleaning conditions of the pool bottom and pool wall. Different cleaning strategies and path planning methods need to be adopted according to different positions later.

[0056] If it is judged that the target cleaning range is located at the water level line of the pool, it is necessary to determine the corresponding cleaning length of the water level line according to this range, that is, the target cleaning length, and conduct a comprehensive analysis by combining the previously obtained information such as the length of the pool edge, the specific position of the water level line, and the boundaries of the target cleaning range. For example, if the target cleaning range is a certain arc-shaped area of the water level line, it may be necessary to use geometric knowledge to calculate the length of this arc. The target cleaning length determines the range that the robot needs to move horizontally at the water level line, while the height of the pool wall affects the cleaning path vertically (such as whether cleaning is required at water level lines of different heights, etc.). Considering the target cleaning length and the height of the pool wall comprehensively, and combining with the actual shape of the pool (circular, square, etc.), whether there are obstacles near the water level line and other factors, the cleaning path of the robot at the water level line is planned, that is, the third cleaning path. This path should ensure that the robot can completely clean all parts of the target cleaning range at the water level line, and can be designed in different forms such as a circular route along the edge of the pool around the water level line.

[0057] In this embodiment, the moving distance of the robot at the water level line is determined through the relative position information of the pool wall surface and the current position, so as to determine the third cleaning path, thereby ensuring effective cleaning of the pool water level line.

[0058] As Figure 6 shown, it is a schematic diagram of a pool cleaning device provided in Embodiment 6 of the present invention, and this pool cleaning device corresponds one by one to the pool cleaning method in the above embodiment. The pool cleaning device includes a first path determination module 61, a second path determination module 62, a third path determination module 63, and a cleaning module 64. The detailed description of each functional module is as follows: The first path determination module 61 is used to obtain the environmental information of the pool detected by the robot in real time, extract the intersection position information of the pool bottom and the pool wall in the environmental information, and generate the first cleaning path of the robot for the pool bottom according to the intersection position information; The second path determination module 62 is used to extract the pool wall information in the environmental information, and generate the second cleaning path corresponding to the pool wall of the pool according to the pool wall information and the body step length of the robot; The third path determination module 63 is used to obtain the edge length of the pool edge according to the intersection position information, and determine the third cleaning path corresponding to the water level line of the pool according to the edge length and the height of the pool wall; The cleaning module 64 is used to complete the cleaning of the pool by the robot according to the first cleaning path, the second cleaning path, and the third cleaning path.

[0059] Optionally, the above first path determination module 61 includes: The first cleaning area acquisition unit is used to calculate the intersection position information to obtain the first cleaning area.

[0060] The motion adjustment unit is used to extract the intersection position points of the pool bottom and the pool wall in the intersection position information, adjust the motion direction of the robot at the intersection position points until the motion range of the robot covers the first cleaning area, and obtain the first cleaning path of the robot for the pool bottom.

[0061] Optionally, the above-mentioned second path determination module 62 includes: An effluent position determination unit, configured to detect the force exerted by the pool wall on the robot in the pool wall information, determine whether the change in the force conforms to a preset force range, and if it conforms to the preset force range, obtain the effluent position of the robot; A wall-climbing distance determination unit, configured to obtain the water level line height of the corresponding pool according to the effluent position of the robot, and determine the wall-climbing distance of the robot according to the water level line height; A pool wall path generation unit, configured to generate a second cleaning path for the pool wall of the corresponding pool according to the wall-climbing distance and the body step length.

[0062] Optionally, the above-mentioned third path determination module 63 includes: A relative position information determination unit, configured to obtain the relative position information between the robot and the pool wall surface according to the pool environment information; A water level line movement distance determination unit, configured to determine whether the relative position information conforms to a preset relative distance, and if it conforms to the preset relative position distance, obtain the current position, and determine the water level line movement distance of the robot according to the current position and the relative position information; A water level line path determination unit, configured to determine a third cleaning path for the water level line of the corresponding pool according to the water level line movement distance and the pool wall height.

[0063] Optionally, the above-mentioned cleaning module 64 includes: A pool bottom judgment unit, configured to obtain a preset target cleaning range after the robot finishes cleaning the pool, and judge whether the target cleaning range is located at the bottom of the pool; A target cleaning unit, configured to calculate a target cleaning area according to the target cleaning range if it is located at the bottom of the pool; A pool bottom target path determination unit, configured to extract the intersection position point between the pool bottom and the pool wall in the intersection position information, adjust the movement direction of the robot at the intersection position point until the movement range of the robot covers the target cleaning area, and obtain the target cleaning path of the robot for the bottom of the pool.

[0064] Optionally, the above-mentioned cleaning module 64 further includes: A pool wall judgment unit, configured to judge whether the target cleaning range is located on the pool wall after the robot finishes cleaning the pool; A wall-climbing distance determination unit, configured to obtain a target cleaning height according to the target cleaning range if it is located on the pool wall, and determine the wall-climbing distance of the robot according to the target cleaning height; A pool wall path determination unit, configured to determine a second cleaning path for the pool wall of the corresponding pool according to the wall-climbing distance and the body step length.

[0065] Optionally, the above cleaning module 64 further includes: A water level line determination unit for determining whether the target cleaning range is located at the water level line of the pool; A target length determination unit for, if it is located at the water level line of the pool, obtaining the target cleaning length of the water level line according to the target cleaning range; A water level line path determination unit for determining a third cleaning path of the water level line of the pool according to the target cleaning length and the pool wall height.

[0066] For the specific limitations of the pool cleaning device, reference can be made to the limitations of the pool cleaning method in the above text, which will not be elaborated here. Each module in the above pool cleaning device can be implemented in whole or in part by software, hardware, and their combination. The above modules can be embedded in the processor of the computer device in hardware form or be independent of it, or can be stored in the memory of the computer device in software form, so that the processor can call and execute the operations corresponding to the above modules.

[0067] As Figure 7 shown, it is a schematic structural diagram of a computer device provided in Embodiment VII of the present invention. The computer device includes a processor, a memory, a network interface, and a database connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, it implements a pool cleaning method.

[0068] In an embodiment, a computer device is provided, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, it implements the pool cleaning method in the above embodiment. For example Figures 2 to 5 shown, to avoid repetition, it will not be elaborated here. Alternatively, when the processor executes the computer program, it implements the functions of each module / unit in this embodiment of the pool cleaning device. For example Figure 6 shown, the functions of the first path determination module 61, the second path determination module 62, the third path determination module 63, and the cleaning module 64 will not be elaborated here to avoid repetition.

[0069] In an embodiment, a computer-readable storage medium is provided. A computer program is stored on the computer-readable storage medium. When the computer program is executed by the processor, it implements the pool cleaning method in the above embodiment. As Figures 2 to 5As shown, to avoid repetition, it will not be elaborated here. Alternatively, when the computer program is executed by a processor, it implements the functions of each module / unit in the above-described embodiment of the pool cleaning device. For example Figure 6 the functions of the first path determination module 61, the second path determination module 62, the third path determination module 63, and the cleaning module 64 shown. To avoid repetition, it will not be elaborated here. The computer-readable storage medium can be non-volatile or volatile.

[0070] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above-described embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-described methods. Among them, any reference to a memory, storage, database, or other medium used in the various embodiments provided in the present application can include non-volatile and / or volatile memories. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or an external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and Rambus dynamic RAM (RDRAM), etc.

[0071] Those skilled in the art can clearly understand that for the convenience and brevity of description, only the above division of each functional unit and module is used as an example. In actual applications, the above functions can be allocated to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above.

[0072] The above-described embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments or perform equivalent replacements for some of the technical features. These modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention and should all be included in the protection scope of the present invention.

Claims

1. A pool cleaning method, characterized in that: include: Acquire environmental information of the pool detected by the robot in real time, extract intersection position information of the pool bottom and the pool wall from the environmental information, and generate a first cleaning path of the pool bottom by the robot according to the intersection position information; Extracting pool wall information from the environmental information, and generating a second cleaning path corresponding to the pool wall according to the pool wall information and the body step length of the robot; According to the intersection position information, the edge length of the pool edge is obtained, and according to the edge length and the pool wall height, a third cleaning path corresponding to the water level of the pool is determined; According to the first cleaning path, the second cleaning path, and the third cleaning path, the robot completes cleaning the pool.

2. The pool cleaning method according to claim 1, characterized in that: The step of generating a first cleaning path of the robot for the bottom of the pool according to the intersection position information comprises: Calculating the intersection position information to obtain a first cleaning area; The intersection point of the pool bottom and the pool wall in the intersection position information is extracted, and the movement direction of the robot is adjusted at the intersection point until the movement range of the robot covers the first cleaning area, thereby obtaining a first cleaning path of the robot for the pool bottom.

3. The pool cleaning method according to claim 1, characterized in that: The step of extracting the pool wall information from the environmental information and generating a second cleaning path corresponding to the pool wall according to the pool wall information and the body step length of the robot comprises: Detecting the force of the pool wall on the robot in the pool wall information, determining whether the force change meets a preset force range, and if so, obtaining the robot's water exit position; According to the water exit position of the robot, the water level of the corresponding pool is obtained, and according to the water level, the wall climbing distance of the robot is determined; A second cleaning path corresponding to the pool wall of the pool is generated according to the wall climbing distance and the body step length.

4. The pool cleaning method according to claim 1, characterized in that: The step of obtaining the edge length of the pool edge according to the intersection position information, and determining a third cleaning path corresponding to the water level of the pool according to the edge length and the pool wall height, comprises: Obtaining relative position information between the robot and the pool wall according to the pool environment information; Determine whether the relative position information meets the preset relative distance, if it meets the preset relative distance, obtain the current position, and determine the water level moving distance of the robot according to the current position and the relative position information; A third cleaning path corresponding to the water level line of the pool is determined according to the moving distance of the water level line and the height of the pool wall.

5. The pool cleaning method according to claim 1, characterized in that: After the robot cleans the pool, the method further includes: Obtaining a preset target cleaning range, and determining whether the target cleaning range is located at the bottom of the pool; If it is located at the bottom of the pool, the target cleaning area is calculated according to the target cleaning range; The intersection point of the pool bottom and the pool wall in the intersection position information is extracted, and the movement direction of the robot is adjusted at the intersection point until the movement range of the robot covers the target cleaning area, thereby obtaining the target cleaning path of the robot for the pool bottom.

6. The pool cleaning method according to claim 5, characterized in that: After the robot cleans the pool, the method further includes: Determining whether the target cleaning range is located on the wall of the pool; If the robot is located at the wall of the pool, a target cleaning height is obtained according to the target cleaning range, and a wall climbing distance of the robot is determined according to the target cleaning height; A second cleaning path corresponding to the pool wall of the pool is determined according to the wall climbing distance and the body step length.

7. The pool cleaning method according to claim 5, characterized in that: After the robot cleans the pool, the method further includes: Determining whether the target cleaning range is located at the water level of the pool; If it is located at the water level line of the pool, then according to the target cleaning range, the target cleaning length of the water level line is obtained; A third cleaning path of the water level line of the pool is determined according to the target cleaning length and the pool wall height.

8. A pool cleaning device, characterized in that: include: A first path determination module is used to obtain environmental information of the pool detected by the robot in real time, extract the intersection position information of the pool bottom and the pool wall in the environmental information, and generate a first cleaning path of the pool bottom of the robot according to the intersection position information; A second path determination module is used to extract the pool wall information in the environmental information, and generate a second cleaning path corresponding to the pool wall according to the pool wall information and the body step length of the robot; A third path determination module, configured to obtain an edge length of an edge of the pool according to the intersection position information, and determine a third cleaning path corresponding to a water level line of the pool according to the edge length and the pool wall height; A cleaning module is used to complete the cleaning of the pool by the robot according to the first cleaning path, the second cleaning path, and the third cleaning path.

9. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the pool cleaning method according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the pool cleaning method according to any one of claims 1 to 7 is implemented.

Images