Pool robot, control method thereof and storage medium

Abstract

The invention discloses a pool robot and a control method thereof, and a storage medium. The pool robot comprises a robot main body; the cleaning part is arranged on the robot main body; and the motion driving assembly is arranged on the robot body, the motion driving assembly is connected with the cleaning component and used for driving the cleaning component to do telescopic motion relative to the robot body, and the telescopic motion comprises at least one of stretching motion in the direction away from the robot body and contracting motion in the direction close to the robot body. According to the scheme, the cleaning efficiency can be improved.

Description

Technical Field

[0001] The present application relates to the field of robots, and particularly to a pool robot, a control method thereof, and a storage medium. Background Art

[0002] A pool is the main place for people to carry out swimming activities. However, stains are likely to accumulate in the pool, so it is necessary to clean the pool regularly. With the development of science and technology, pool robots that can automatically clean the pool are becoming more and more popular among people. In the related art, the single cleaning area of the pool robot during the cleaning process is small, which makes the robot need to walk more paths to achieve a full cleaning of the pool, resulting in low cleaning efficiency. Summary of the Invention

[0003] The present application provides at least a pool robot, a control method thereof, and a storage medium, which can improve the cleaning efficiency.

[0004] In a first aspect of the present application, a pool robot is provided, including: a robot main body; a cleaning component disposed on the robot main body; a motion driving component disposed on the robot main body, the motion driving component being connected to the cleaning component and configured to drive the cleaning component to perform a telescopic motion relative to the robot main body, the telescopic motion including at least one of the following: an extending motion in a direction away from the robot main body, and a contracting motion in a direction close to the robot main body.

[0005] Wherein, when the cleaning component is in a contracted state, the cleaning component is entirely within the range of the robot main body, or at least a part of the cleaning component is within the range of the robot main body. The contracted state is a state formed by the motion driving component driving the cleaning component to perform a contracting motion, or a state when the motion driving component does not drive the cleaning component to perform an extending motion; and / or, when the cleaning component is in an extended state, at least a part of the cleaning component is outside the range of the robot main body. The extended state is a state formed by the motion driving component driving the cleaning component to perform an extending motion, or a state when the motion driving component does not drive the cleaning component to perform a contracting motion.

[0006] Wherein, the motion driving component includes: a connecting part, the cleaning component is connected to the robot main body through the connecting part; a first driving component, the first driving component is connected to the connecting part and configured to drive the cleaning component to perform a telescopic motion relative to the robot main body.

[0007] Wherein, the connecting part is a telescopic structure, and the first driving assembly includes a first power source for driving the connecting part to expand and contract, so as to drive the cleaning part to perform telescopic movement; alternatively, the first driving assembly includes a first transmission mechanism and a first power source, the input end of the first transmission mechanism is connected to the first power source, the output end of the first transmission mechanism is connected to the cleaning part, and the first power source is used to provide power for the first transmission mechanism, so that the first transmission mechanism drives the cleaning part to perform telescopic movement relative to the robot body and the connecting part; alternatively, the first end of the connecting part is connected to the cleaning part, the first driving assembly includes a first transmission mechanism and a first power source, the input end of the first transmission mechanism is connected to the first power source, and the output end of the first transmission mechanism is connected to the second end of the connecting part or a part located between the second end and the robot body, and the first power source is used to provide power for the first transmission mechanism, so that the first transmission mechanism drives the connecting part and the cleaning part to perform telescopic movement relative to the robot body.

[0008] Wherein, the first transmission mechanism controls the components connected thereto to rotate or translate, so that the cleaning part performs telescopic movement relative to the robot body.

[0009] Wherein, the motion driving assembly includes at least one group of second driving assemblies for driving the cleaning part to perform rotational movement relative to the robot body.

[0010] Wherein, the first end of the connecting part is connected to the cleaning part; wherein, at least one group of second driving assemblies includes a first group of second driving assemblies respectively connected to the robot body and the second end of the connecting part for driving the connecting part to perform rotational movement around the first direction axis, and further driving the cleaning part to perform rotational movement around the first direction axis; and / or, at least one group of second driving assemblies includes a second group of second driving assemblies, the first end of the connecting part is connected to the cleaning part through the second group of second driving assemblies, and the second group of second driving assemblies is used to drive the connecting part to perform rotational movement around the second direction axis, and further driving the cleaning part to perform rotational movement around the second direction axis.

[0011] Wherein, the motion driving assembly further includes a third driving assembly connected to the cleaning part for driving the cleaning part to rotate or reciprocate when the cleaning part needs to work.

[0012] Wherein, there are several cleaning parts, and the robot body is provided with a sewage suction port, and at least one cleaning part is used to expand the cleaning range of the sewage suction port.

[0013] Wherein, the sewage suction port is arranged on the front wall or the bottom of the robot body; and / or, along the opening direction of the sewage suction port, at least one cleaning part is located in front of the sewage suction port.

[0014] Wherein, the cleaning component is a side brush; and / or, the cleaning component is movably connected to the robot main body or the motion driving component; and / or, there are a plurality of cleaning components, wherein the plurality of cleaning components are arranged on at least one of the left side wall, the right side wall and the bottom of the robot main body; and / or, the cleaning component includes a rotating brush and a rotating shaft, the rotating brush is arranged around the rotating shaft, the rotating shaft is rotationally connected to the robot main body through the motion driving component, the rotating brush has at least one cleaning surface, and the cleaning surface is used to contact and stir the water flow.

[0015] Wherein, it further includes at least one of a trigger data acquisition unit and a position sensor. The trigger data acquisition unit is used to acquire trigger data regarding the cleaning component performing a preset motion, and the position sensor is used to acquire reference data on whether the preset motion performed by the cleaning component is in place.

[0016] Wherein, the cleaning component has a starting position and a telescopic position; the pool robot further includes a reset component, the reset component is arranged on the robot main body, the reset component is connected to the cleaning component, the reset component is used to provide a reset force for the cleaning component to remain in the starting position, and the cleaning component can reach the telescopic position when the power driving component drives the cleaning component to perform a telescopic motion; wherein, when the cleaning component is in the starting position, the cleaning component is in a contracted state, and when the cleaning component is in the telescopic position, the cleaning component is in an extended state; or, when the cleaning component is in the starting position, the cleaning component is in an extended state, and when the cleaning component is in the telescopic position, the cleaning component is in a contracted state.

[0017] A second aspect of the present application provides a control method for a pool robot, which is applied to the pool robot according to any one of the first aspect. The control method includes: detecting that the pool robot meets the telescopic trigger condition; controlling the cleaning component of the pool robot to perform a telescopic motion, and the telescopic motion includes at least one of the following: an extending motion in a direction away from the robot main body of the pool robot, and a contracting motion in a direction close to the robot main body.

[0018] Wherein, the telescopic trigger condition includes at least one of the following: the distance between the pool robot and the target object is within a preset distance range, the pool robot is in a trapped state, the pool robot receives a preset instruction, the pool robot is in a preset working mode, wherein the target object includes at least one of a wall and an obstacle.

[0019] Among them, detecting that the pool robot meets the telescopic trigger condition includes at least one of the following: In response to the telescopic trigger condition including that the distance between the pool robot and the target is within a preset distance range, based on the first sensing data collected by the first trigger sensor of the pool robot, determining that the distance between the pool robot and the target is within the preset distance range; In response to the telescopic trigger condition including that the pool robot is in a trapped state, performing any one or more of the following steps: Based on the second sensing data collected by the second trigger sensor of the pool robot, determining that there is a preset deviation between the actual rotation angle and the preset rotation angle of the pool robot; Detecting that the pool robot does not travel the target distance after moving for a first period of time; Detecting that the relative position difference between the pool robot and the reference point before and after a second time is within a preset difference range; The current of the drive motor of the pool robot increases and the current increase situation conforms to the trapped current change situation, where the reference point is determined by the third trigger sensor; In response to the telescopic trigger condition including that the pool robot receives a preset instruction, detecting that the pool robot receives the preset instruction; In response to the telescopic trigger condition including that the pool robot is in a preset working mode, detecting that the pool robot is in the preset working mode.

[0020] Among them, the default state of the cleaning component of the pool robot is the contracted state, and the telescopic trigger condition includes that the distance between the pool robot and the target is within a preset distance range; Controlling the cleaning component of the pool robot to perform a telescopic movement includes: Controlling the cleaning component of the pool robot to perform an extension movement in a direction away from the robot body of the pool robot.

[0021] Among them, the default state of the cleaning component of the pool robot is the extended state, and the telescopic trigger condition includes at least one of the pool robot being in a trapped state, receiving a preset instruction, and the pool robot being in a preset working mode; Controlling the cleaning component of the pool robot to perform a telescopic movement includes: Controlling the cleaning component of the pool robot to perform a contraction movement in a direction close to the robot body of the pool robot.

[0022] Among them, controlling the cleaning component of the pool robot to perform a telescopic movement includes: During the process of controlling the cleaning component to perform a telescopic movement, using a position sensor to detect whether the telescopic movement is in place; In response to detecting that the telescopic movement is in place, determining to control the cleaning component to stop the telescopic movement.

[0023] Among them, the method further includes any one or more of the following steps: Detecting that the pool robot currently meets the rotation trigger condition, and controlling the cleaning component of the pool robot to perform a rotational movement relative to the robot body; Detecting that the pool robot is in a target working state, and controlling the cleaning component of the pool robot to rotate or reciprocate to make the cleaning component work.

[0024] In a third aspect of the present application, a pool robot is provided, which includes a memory and a processor coupled to each other. The processor is configured to execute program instructions stored in the memory to implement the control method of the pool robot in the second aspect described above.

[0025] In a fourth aspect of the present application, a computer-readable storage medium is provided, on which program instructions are stored. When the program instructions are executed by a processor, the control method of the pool robot in the second aspect described above is implemented.

[0026] In the above solution, both the cleaning component and the motion driving component are provided on the robot main body of the pool robot, and the motion driving component is connected to the cleaning component. The motion driving component can drive the cleaning component to perform telescopic motion relative to the robot main body. Therefore, when using the pool robot for cleaning, the motion driving component can be used to drive the cleaning component to perform telescopic motion to clean the pool surface or the water in the pool at different distances from the pool robot. Thus, the number of times of moving the pool robot can be reduced, and the pool surface or the water in the pool in different ranges can be cleaned, thereby improving the cleaning efficiency of the pool robot.

[0027] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and do not limit the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The accompanying drawings herein are incorporated into the specification and constitute a part of this specification. These drawings illustrate embodiments consistent with the present application and, together with the specification, are used to explain the technical solutions of the present application.

[0029] Figure 1 is a schematic structural diagram of an embodiment of the pool robot of the present application;

[0030] Figure 2 is a schematic structural diagram of an embodiment of the cleaning component of the present application;

[0031] Figure 3 is a schematic structural diagram of an embodiment of the connecting portion of the present application;

[0032] Figure 4 is a schematic structural diagram of another embodiment of the connecting portion of the present application;

[0033] Figure 5 is a schematic structural diagram of an embodiment of the first transmission mechanism of the present application;

[0034] Figure 6 is a schematic structural diagram of another embodiment of the pool robot of the present application;

[0035] Figure 7 is a schematic flowchart of an embodiment of the control method of the pool robot of the present application;

[0036] Figure 8 It is a schematic diagram of the framework of an embodiment of the electronic device of the present application;

[0037] Figure 9 It is a schematic diagram of the framework of an embodiment of the computer-readable storage medium of the present application. Detailed implementation manners

[0038] The solutions of the embodiments of the present application will be described in detail below with reference to the accompanying drawings of the specification.

[0039] In the following description, specific details such as specific system architectures, interfaces, and technologies are presented for the purpose of illustration rather than limitation, so as to thoroughly understand the present application.

[0040] The term "and / or" in this article is merely a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in this article generally represents an "or" relationship between the associated objects before and after. In addition, "multiple" in this article means two or more than two. In addition, the term "at least one" in this article represents any one of multiple or any combination of at least two of multiple. For example, including at least one of A, B, and C can represent including any one or more elements selected from the set composed of A, B, and C.

[0041] Please refer to Figure 1 , Figure 1 It is a schematic diagram of the structure of an embodiment of the pool robot of the present application. The pool robot 100 includes: a robot main body 110; a cleaning component 120 disposed on the robot main body; a motion driving component (not shown in the figure) disposed on the robot main body 110, and the motion driving component is connected to the cleaning component 120 and is used to drive the cleaning component 120 to perform telescopic motion relative to the robot main body 110. The telescopic motion includes at least one of the following: an extending motion in a direction away from the robot main body 110, and a contracting motion in a direction close to the robot main body 110. During the cleaning process, the robot main body 110 can move along the bottom wall of the pool, the side wall of the pool, the water surface of the pool, or float in the liquid of the pool, etc.

[0042] This application is mainly applied to the field of robots. In this application, the cleaning component 120 is movably connected to the robot main body 110. Thus, the movement driving component in the pool robot 100 can be used to drive the cleaning component 120 to perform telescopic movement, making the cleaning component 120 more flexible to comprehensively clean the surface of the pool or the water in the pool in different directions and at different distances. Thereby, the movement of the pool robot 100 can be reduced to improve the cleaning efficiency. In addition, the movement driving component can also drive the cleaning component 120 to perform rotational movement. The rotational movement can be that the cleaning component 120 rotates at any angle around the position connected to the robot main body 110 as a fulcrum. The rotational movement can also realize the change of the cleaning component 120 between the extended state and the contracted state.

[0043] Please refer to Figure 2 , Figure 2 which is a schematic structural diagram of an embodiment of the cleaning component 120 of this application. The cleaning component 120 may include a rotary brush 121 and a rotating shaft 122. The rotary brush 121 is arranged around the rotating shaft 122. The rotating shaft 122 is rotatably connected to the robot main body 110 through a movement driving component. The rotary brush 121 has at least one cleaning surface 12111. The cleaning surface 12111 may be inclined. The cleaning surface 12111 is used to contact and agitate the water flow. Specifically, the rotary brush 121 includes a plurality of cleaning parts 1211. The cleaning parts 1211 are arranged around the outer circumference of the rotating shaft 122. The cleaning parts 1211 extend along the axial direction of the rotating shaft 122. One side of the cleaning part 1211 forms the cleaning surface 12111. At least part of the cleaning part 1211 is made of a flexible material, such as rubber, elastic cloth, bristles, etc. And / or at least part of the cleaning part 1211 is made of a rigid material, such as steel wire, etc. The rigid material can improve the cleaning ability of the cleaning component 120. In addition, the plurality of cleaning parts 1211 may be alternately arranged with a variety of materials. For example, rubber and steel wire are alternately arranged. The rotary brush 121 may be made of the same material as the rotating shaft 122 or different materials.

[0044] In some embodiments, when the cleaning component 120 moves telescopically under the drive of the motion driving assembly, it can be in a contracted state or an extended state. When the cleaning component 120 is in the contracted state, the entire cleaning component 120 is located within the range of the robot main body 110, or at least a part of the cleaning component 120 is located within the range of the robot main body 110. The contracted state is a state formed when the motion driving assembly drives the cleaning component 120 to perform a contraction motion, or a state in which the motion driving assembly does not drive the cleaning component 120 to perform an extension motion. For example, the contracted state is the state when the motion driving assembly drives the cleaning component 120 to perform a contraction motion in the direction close to the robot main body 110. At this time, the cleaning component 120 gradually retracts into the range of the robot main body 110. When the part of the cleaning component 120 located within the range of the robot main body 110 reaches a first preset value, the cleaning component 120 stops contracting. Among them, the first preset value can be 50%, 60%, 85%, 100%, etc. Another example is the state when the motion driving assembly does not drive the cleaning component 120 to perform an extension motion, that is, the cleaning component 120 is in the contracted state. In this case, when the motion driving assembly drives the cleaning component 120 to move again, it will only perform an extension motion.

[0045] When the cleaning component 120 is in the extended state, at least a part of the cleaning component 120 is located outside the range of the robot main body 110. The extended state is a state formed when the motion driving assembly drives the cleaning component 120 to perform an extension motion, or a state in which the motion driving assembly does not drive the cleaning component 120 to perform a contraction motion. For example, the extended state is the state when the motion driving assembly drives the cleaning component 120 to perform an extension motion in the direction away from the robot main body 110. At this time, the cleaning component 120 gradually moves out of the robot main body 110. When the part of the cleaning component 120 located within the range of the robot main body 110 reaches a second preset value, the cleaning component 120 stops extending. Among them, the second preset value can be 50%, 60%, 85%, etc. Another example is the state when the motion driving assembly does not drive the cleaning component 120 to perform a contraction motion, that is, the cleaning component 120 is in the extended state. In this case, if the motion driving assembly drives the cleaning component 120 to move again, it will only perform a contraction motion.

[0046] Among them, the cleaning component 120 can be in an extended state or a contracted state. When the cleaning component 120 moves in the direction close to the robot main body 110, the cleaning component 120 can be in the contracted state; when the cleaning component 120 moves in the direction away from the robot main body 110, the cleaning component 120 can be in the extended state.

[0047] In some embodiments, to drive the cleaning component 120 to perform telescopic movement, the movement driving assembly may include: a connecting portion 130 and a first driving assembly (not shown in the figure). The cleaning component 120 is connected to the robot main body 110 through the connecting portion 130. The first driving assembly is connected to the connecting portion 130 and is configured to drive the cleaning component 120 to perform telescopic movement relative to the robot main body 110.

[0048] In some embodiments, the connecting portion 130 may be a telescopic structure, and reference may be made to Figure 4 , the connecting portion 130 includes a fixed portion 133 and a telescopic portion 134. The fixed portion 133 is fixedly connected to the robot main body 110. One end of the telescopic portion 134 is connected to the fixed portion 133, and the other end is connected to the cleaning component 120. The telescopic portion 134 is capable of performing telescopic movement relative to the fixed portion 133. The first driving assembly includes a first power source (not shown in the figure). The first power source is disposed at the connection between the fixed portion 133 and the telescopic portion 134, and the first power source is configured to drive the connecting portion 130 to perform telescopic movement so as to drive the cleaning component 120 to perform telescopic movement. It can be understood that the first power source may be a power source such as a motor or a cylinder, and no specific limitation is made herein.

[0049] In some other embodiments, the cleaning component 120 is movably connected to the movement driving assembly. The first driving assembly includes a first transmission mechanism (not shown in the figure) and a first power source. The input end of the first transmission mechanism is connected to the first power source, and the output end of the first transmission mechanism is connected to the cleaning component 120. The first power source is configured to provide power for the first transmission mechanism so that the first transmission mechanism drives the cleaning component 120 to perform telescopic movement relative to the robot main body 110 and the connecting portion 130.

[0050] Specifically, the first transmission mechanism and the first power source may be disposed at one end of the connecting portion 130 where it is connected to the cleaning component 120, and are configured to control the cleaning component 120 to perform telescopic movement. Among them, the first transmission mechanism may include a turbine transmission mechanism and a gear transmission mechanism. For example, reference may be made to Figure 5, the first transmission mechanism includes a swing gear 1351, a worm gear 1352, a worm 1353 and a transmission gear 1354. The worm 1353 is fixedly connected to the output end of the first power source. The worm 1353 meshes with the worm gear 1352. The worm gear 1352 and the transmission gear 1354 are fixedly connected by a concentric shaft. The transmission gear 1354 meshes with the swing gear 1351. The swing gear 1351 serves as the output end of the first transmission mechanism and is used to drive the components connected to the output end of the first transmission mechanism to perform telescopic motion. It can be understood that, in addition to the turbine transmission mechanism and the gear transmission mechanism, the first transmission mechanism may also be other transmission mechanisms, which are not specifically limited herein. In addition, the component connected to the output end of the first transmission mechanism may be the cleaning component 120. The cleaning component 120 is eccentrically connected to the swing gear 1351 through a rotating shaft. Through the eccentric swing of the swing gear 1351 and the rotating shaft, the cleaning component 120 is extended in a direction away from the robot main body 110, so that at least a part of the cleaning component 120 extends out of the range of the robot main body 110; or, the cleaning component 120 is contracted in a direction close to the robot main body 110, and at least a part of the cleaning component 120 is retracted into the range of the robot main body 110.

[0051] In some other embodiments, the first end of the connecting portion 130 is connected to the cleaning component 120. The first driving assembly includes a first transmission mechanism and a first power source. The input end of the first transmission mechanism is connected to the first power source. The output end of the first transmission mechanism is connected to the second end of the connecting portion 130 or a component located between the second end and the robot main body 110. The first power source is used to provide power for the first transmission mechanism, so that the first transmission mechanism drives the connecting portion 130 and the cleaning component 120 to perform telescopic motion relative to the robot main body 110. Among them, the first transmission mechanism controls the components that can be connected to it to rotate or translate, so that the cleaning component 120 performs telescopic motion relative to the robot main body 110.

[0052] In some embodiments, the motion driving assembly includes at least one group of second driving assemblies. The at least one group of second driving assemblies is used to drive the cleaning component 120 to perform rotational motion relative to the robot main body 110.

[0053] Among them, each group of second driving assemblies may include: a second transmission mechanism and a second power source. The second power source is connected to the input end of the second transmission mechanism and is used to provide power for the second transmission mechanism, so that the second transmission mechanism directly or indirectly drives the cleaning component 120 to perform rotational motion. It can be understood that the second power source may be a power source such as a motor or a cylinder, which is not specifically limited herein.

[0054] In a specific embodiment, the first end of the connecting portion 130 is connected to the cleaning component 120. At least one group of second driving components includes a first group of second driving components. The first end of the connecting portion 130 is connected to the cleaning component 120. The first group of second driving components are respectively connected to the robot main body 110 and the second end of the connecting portion 130, and are used to drive the connecting portion 130 to perform a rotational movement around the first direction axis 131, and further indirectly drive the cleaning component 120 to perform a rotational movement around the first direction axis 131. Among them, the first direction axis 131 can be a linear rotation axis, and the linear rotation axis can be vertically arranged so that the connecting portion 130 performs a rotational movement in the horizontal direction, such as Figure 1 shown, or the linear rotation axis can be horizontally arranged so that the connecting portion 130 performs a rotational movement in the vertical direction; the first direction axis 131 can also be a spherical rotation axis so that the connecting portion 130 can perform a rotational movement in any angular direction, etc. No specific limitation is made on the first direction axis 131 here.

[0055] In another specific embodiment, at least one group of second driving components includes a second group of second driving components. Please refer to Figure 3 , the first end of the connecting portion 130 is connected to the cleaning component 120 through the second group of second driving components. The second group of second driving components is used to drive the connecting portion 130 to perform a rotational movement around the second direction axis 132, and further directly drive the cleaning component to perform a rotational movement around the second direction axis 132. It can be understood that the second direction axis 132 can be a linear rotation axis, a spherical rotation axis, etc., and no specific limitation is made here.

[0056] In another specific embodiment, the cleaning component 120 is movably connected to the robot main body 110. At least one group of second driving components includes a first group of second driving components and a second group of second driving components. Please refer to Figure 1 and Figure 3 , the first end of the connecting portion 130 is connected to the cleaning component 120. The first group of second driving components are respectively connected to the robot main body 110 and the second end of the connecting portion 130, and are used to drive the connecting portion 130 to perform a rotational movement around the first direction axis 131; one end of the second group of second driving components is connected to the cleaning component 120, and the other end is connected to the connecting portion 130, and is used to drive the connecting portion 130 to perform a rotational movement around the second direction axis 132, so as to perform multi-stage rotation control on the cleaning component 120, thereby expanding the cleaning range that the cleaning component 120 can clean.

[0057] For example, the first-direction axis is a linear rotation axis and is vertically arranged, and the second-direction axis is a linear rotation axis and is horizontally arranged. Therefore, when using the cleaning component 120 for cleaning, the connection part 130 can be first driven by the first group of second driving components to rotate horizontally around the first-direction axis 131. After reaching the preset position, the cleaning component 120 can be then driven by the second group of second driving components to rotate vertically around the second-direction axis 132 to perform up-and-down cleaning on the object to be cleaned. In addition, when the pool robot 100 is trapped during cleaning, the flexible rotation and swinging of the cleaning component 120 and the connection part 130 can also be used to make it easier for the pool robot 100 to get out of trouble. In addition, the second driving component and the first driving component can be the same component.

[0058] It can be understood that when controlling the rotational movement of the cleaning component 120 by using a group of second driving components and a second group of second driving components simultaneously, the connection part 130 can be first controlled to rotate vertically and then the cleaning component 120 can be controlled to rotate horizontally, or the connection part 130 can be first controlled to rotate horizontally and then the cleaning component 120 can be controlled to rotate vertically, etc. For the multi-stage rotational control scheme of the cleaning component 120, no specific limitation is made here.

[0059] In addition, with regard to at least one group of second driving components, one group, two groups or multiple groups of second driving components can be provided, which can be set according to actual cleaning requirements and no specific limitation is made here.

[0060] In some embodiments, to improve the flexibility of the cleaning component 120 and expand the cleaning range of the pool robot 100, the first driving component and the second driving component can be used to simultaneously control the connection part 130 to perform rotational movement and telescopic movement. At this time, the component located between the second end and the robot main body 110 and connected to the output end of the first transmission mechanism is the second driving component.

[0061] In addition, to facilitate the cleaning component 120 to clean the pool surface, the object to be cleaned or the water in the pool, a third driving component (not shown in the figure) can be provided in the motion driving component. The third driving component is connected to the cleaning component 120 and is used to drive the cleaning component 120 to rotate itself when the cleaning component 120 needs to work, so as to brush and clean the pool surface, the object to be cleaned or the water in the pool.

[0062] In some embodiments, there are multiple cleaning components 120, wherein at least one cleaning component 120 is used to perform cleaning work. For example, one cleaning component 120, two cleaning components 120, or multiple cleaning components 120 may be provided on the pool robot 100, and the arrangement may be made according to the specific cleaning situation. In addition, the cleaning components 120 may be provided only on the front wall, rear wall, or side wall of the robot body 110, or may be provided on two opposite side walls of the robot body 110, etc. Figure 1 In addition, at least one cleaning component 120 can also be used to get out of trouble. For example, when the pool robot 100 is trapped by water plants in the pool, the cleaning component 120 can be rotated and telescopically moved to get rid of the water plants, or the cleaning component 120 can be retracted into the range of the pool robot 100 to reduce the width of the pool robot 100, so that the pool robot 100 can pass easily.

[0063] There are a plurality of cleaning components 120 , and the plurality of cleaning components 120 are disposed on at least one of the left side wall 112 , the right side wall 113 , and the bottom of the robot body 110 .

[0064] Please continue reading Figure 1 The robot body 110 is also provided with a sewage suction port 140. At least one cleaning component 120 is used to expand the cleaning range of the sewage suction port 140. The cleaning component 120 may be a side brush. The sewage suction port 140 is used to suck water flow and stains into the robot body 110. The side brush is arranged on the side wall or the bottom of the robot body 110. When the pool robot 100 is along the edge of the pool, it can brush the surface of the pool. The side brush is provided with cleaning materials, and it can brush the object to be cleaned by self-rotation or reciprocating motion. The stains may be garbage floating in the pool, scale or black stains accumulated in the pool, etc. The cleaning range of the sewage suction port 140 refers to the range in which the sewage suction port 140 can affect the water flow and stains when the sewage suction port 140 is in the state of sucking water flow and stains. Figure 1 As shown, the sewage suction port 140 may be provided on the front wall 111 of the robot body 110, and along the opening direction of the sewage suction port 140, at least one cleaning component 120 is located in front of the sewage suction port 140, such as being provided on the left side wall 112 and / or the right side wall 113 of the robot body 110 and the cleaning component 120 extending toward the front wall 111. And the cleaning component 120 is inclined toward the sewage suction port 140, and the inclination angle may be 1 degree, 5 degrees, 8 degrees, 15 degrees, 25 degrees, 30 degrees, 33 degrees, 60 degrees, 75 degrees, 80 degrees, etc. The self-rotation direction of the cleaning component 120 is to rotate toward the sewage suction port 140, so that the cleaning component 120 can stir the water flow and stains outside the cleaning range of the sewage suction port 140, and guide the water flow and stains to the sewage suction port 140.

[0065] Further, a filtering structure, a receiving cavity, etc. can also be provided in the robot main body 110. The filtering structure can separate water flow and stains, that is, it plays a role in filtering stains. The receiving cavity can accommodate the stains filtered out by the filtering structure. The robot main body 110 can be configured with the receiving cavity, the filtering structure and the sewage suction port 140 in cooperation. The filtering structure filters the water flow sucked in by the sewage suction port 140 to separate the stains from the water flow. The stains are retained in the receiving cavity, and the clean water flow is discharged from the robot main body 110.

[0066] In some embodiments, when the sewage suction port 140 is provided on the front wall 111 of the robot main body 110, the cleaning component 120 can be provided at the bottom of the robot main body 110. Refer to Figure 6 , the cleaning component 120 is provided at the bottom of the robot main body 110 and can extend beyond the bottom range of the robot main body 110, and the cleaning component 120 can be set to be inclined towards the center of the sewage suction port 140 or parallel to the sewage suction port 140 to direct the water flow and stains below the sewage suction port 140 to the sewage suction port 140. In addition, when the cleaning component 120 extends outside the robot main body 110, it can also brush the contacted target object.

[0067] In addition, when the sewage suction port 140 is provided on the front wall 111 of the robot main body 110, at least one cleaning component 120 can be provided on one side of the robot main body 110, for example, on the left side wall 112 or the right side wall 113. At least one cleaning component 120 can also be provided on both the left side wall 112 and the right side wall 113 of the robot main body 110 at the same time. In this case, the end of the connecting portion 130 away from the robot main body 110 extends in the advancing direction of the robot main body 110, so that the cleaning component 120 located at the end of the connecting portion 130 away from the robot main body 110 can expand the cleaning range of the sewage suction port 140, and the cleaning component 120 is inclined towards the sewage suction port 140 located at the bottom of the robot main body 110 to direct the water flow and stains outside the bottom range of the robot main body 110 to the sewage suction port 140.

[0068] In some other embodiments, when the sewage suction port 140 is provided at the bottom of the robot main body 110, to expand the cleaning range of the sewage suction port 140, at least one cleaning component 120 can also be provided at the bottom of the robot main body 110, on both sides of the sewage suction port 140, to expand the cleaning range of the sewage suction port 140. At this time, the cleaning component 120 can also be inclined towards the sewage suction port 140 to stir the water flow and stains outside the cleaning range of the sewage suction port 140 and direct the water flow and stains to the sewage suction port 140.

[0069] In addition, when the sewage suction port 140 is provided at the bottom of the robot main body 110, at least one cleaning component 120 is disposed on the left side wall 112 and / or the right side wall 113 of the robot main body 110. One end of the connecting portion 130 away from the robot main body 110 extends towards the bottom of the robot main body 110, so that the cleaning component 120 located at the end of the connecting portion 130 away from the robot main body 110 is close to the bottom of the robot main body 110, and the cleaning component 120 is inclined towards the sewage suction port 140 located at the bottom of the robot main body 110, so as to direct the water flow and stains outside the bottom range of the robot main body 110 to the sewage suction port 140.

[0070] In some embodiments, the pool robot 100 further includes at least one of a trigger data acquisition unit and a position sensor. The trigger data acquisition unit is configured to acquire trigger data regarding a preset movement of the cleaning component, and the position sensor is configured to acquire reference data on whether the preset movement performed by the cleaning component is in place. For example, the position sensor may be an acceleration detection sensor, a distance sensor, a position detection sensor, etc.

[0071] In some embodiments, the robot main body 110 can float on the water surface. When the robot main body 110 floats on the water surface, at least a part of the cleaning component 120 is located below the water surface. For example, a part of the cleaning component 120 can be located below the water surface, or the cleaning component 120 can be entirely located below the water surface.

[0072] In a specific embodiment, when the robot main body 110 floats on the water surface, half of the cleaning component 120 is above the water surface and the other half is below the water surface. With the above arrangement, the cleaning component 120 can conveniently clean the stains on the water surface. In addition, when the cleaning component 120 is inclined, the part of the cleaning component 120 above the water surface will not stir the water flow during rotation. The stains will not be continuously pushed forward by this water flow and cannot reach near the sewage suction port 140, and the cleaning effect of the pool robot 100 is better.

[0073] In another specific embodiment, when the robot main body 110 floats on the water surface, the cleaning component 120 is entirely located below the water surface. With the above arrangement, since the cleaning component 120 is completely underwater, the cleaning component 120 is not likely to splash water during rotation and is not likely to wet the edge of the pool.

[0074] In addition, when the robot main body 110 floats on the water surface and the sewage suction port 140 is located on the front wall 111 of the robot main body 110, the sewage suction port 140 can also be at least partially located below the water surface. In a specific embodiment, half of the sewage suction port 140 is above the water surface and the other half is below the water surface. Thus, the stains near the water surface can directly enter the sewage suction port 140, and the stains do not have to overcome the buoyancy to move to the sewage suction port 140, and the cleaning efficiency is high.

[0075] In another specific embodiment, when the robot body floats on the water surface and the sewage suction port 140 is located on the front wall 111 of the robot body 110, the whole sewage suction port 140 is located below the water surface, or when the sewage suction port 140 is located at the bottom of the robot body 110, the whole sewage suction port 140 is located below the water surface. Thus, the whole sewage suction port 140 is located underwater, which can contact a larger flow of water and has high sewage suction efficiency.

[0076] In some embodiments, the cleaning component 120 has a starting position and a telescopic position. The pool robot 100 further includes a reset component (not shown in the figure). The reset component is arranged on the robot body 110. The reset component is connected to the cleaning component 120. The reset component is used to provide a reset force for the cleaning component 120 to stay at the starting position. The cleaning component 120 can reach the telescopic position when the power driving component drives the cleaning component 120 to perform telescopic movement.

[0077] In a specific embodiment, when the cleaning component 120 is in the starting position, the cleaning component 120 is in a contracted state at this time. If the cleaning component 120 is driven to the telescopic position, the cleaning component is in an extended state. For example, the starting position of the cleaning component 120 is the contracted position, that is, the cleaning component 120 is in a normally contracted state. When the motion driving component drives the cleaning component 120 to move towards the extended position, the cleaning component 120 changes from the normally contracted state to the extended state. If the subsequent motion driving component no longer provides power for the cleaning component 120 in the extended state, the reset component will provide a reset force for the cleaning component 120 to make the cleaning component 120 return to the starting position again.

[0078] In another specific embodiment, when the cleaning component 120 is in the starting position, the cleaning component 120 is in an extended state. If the cleaning component 120 is driven to the telescopic position, the cleaning component 120 is in a contracted state. For example, the starting position of the cleaning component 120 is the extended position, that is, the cleaning component 120 is in a normally extended state. When the motion driving component drives the cleaning component 120 to move towards the contracted position, the cleaning component 120 changes from the normally extended state to the contracted state. If the subsequent motion driving component no longer provides power for the cleaning component 120 in the contracted state, the reset component will provide a reset force for the cleaning component 120 to make the cleaning component 120 return to the starting position again.

[0079] Please refer to Figure 7 , Figure 7 which is a schematic flowchart of an embodiment of the control method of the pool robot of the present application. Among them, this control method is used to control the above-mentioned pool robot 100. Specifically, the following steps can be referred to:

[0080] Step S710: It is detected that the pool robot currently meets the telescopic trigger condition.

[0081] In some embodiments, the telescopic trigger condition includes at least one of the following:

[0082] 1) The distance between the pool robot 100 and the target object is within a preset distance range, where the target object includes at least one of a wall and an obstacle.

[0083] In some embodiments, the trigger data acquisition unit includes a first trigger sensor. Therefore, based on the first sensing data collected by the first trigger sensor of the pool robot 100, it can be determined that the distance between the pool robot 100 and the target object is within a preset distance range. For example, when the first trigger sensor is a distance sensor, the distance sensor on the pool robot 100 is used to detect the forward direction of the pool robot 100 or surrounding objects. If a target object is detected and the distance between the pool robot 100 and the target object is within a preset distance range, the motion drive component in the pool robot 100 can be triggered to control the cleaning component 120 to perform telescopic and rotational motions to clean the target object.

[0084] 2) The pool robot 100 is in a trapped state. When it is detected that the pool robot 100 is in a trapped state, the cleaning component 120 can be controlled to perform telescopic motion to reduce the range of the pool robot 100, making it easier for the pool robot 100 to pass through. The situations where it is detected that the pool robot 100 is in a trapped state may include, but are not limited to, the following situations:

[0085] 2-1. Based on the second sensing data collected by the second trigger sensor of the pool robot 100, it is determined that there is a preset deviation between the actual rotation angle and the preset rotation angle of the pool robot 100. The second trigger sensor belongs to the trigger data acquisition unit.

[0086] In some embodiments, the preset rotation angle can be obtained by analyzing the operation instructions received by the pool robot 100. The second trigger sensor can be a gyroscope sensor. Through the gyroscope sensor, the actual rotation angle of the pool robot 100 after receiving the operation instructions can be detected and sent to the central processing unit of the pool robot 100 for comparison with the preset rotation angle. If there is a deviation, the central processing unit determines that the pool robot 100 is currently trapped.

[0087] 2-2. It is detected that the pool robot 100 has not traveled the target distance after a first period of time of movement.

[0088] In some embodiments, an acceleration sensor is provided inside the pool robot 100. After the pool robot 100 receives an operation instruction to move forward a target distance within a first time, the acceleration sensor detects the acceleration of the pool robot 100 during the movement process and sends the detected acceleration to the central processing unit of the pool robot 100. The central processing unit can calculate the actual movement distance of the pool robot 100 based on the acceleration and the first time. If the calculated actual movement distance is inconsistent with the target distance, it is determined that the pool robot 100 is currently trapped. Herein, the first time can be set to 3 seconds, 5 seconds, 10 seconds, 20 seconds, etc.

[0089] 2-3. It is detected that the relative position difference between the pool robot 100 and the reference point before and after the second time is within a preset difference range, wherein the reference point is determined by using a third trigger sensor.

[0090] In some embodiments, the trigger data acquisition unit includes a third trigger sensor. The third trigger sensor 111 can be a TOF (Time of Flight) sensor. The TOF sensor can be arranged on the front wall 111 of the pool robot 100. A point in front of the pool robot 100 is determined as the reference point through the TOF sensor, and the first relative position of the current pool robot 100 relative to the reference point is calculated. After the second time, the second relative position of the pool robot 100 relative to the reference point is calculated again, and the difference between the first relative position and the second relative position is compared. If the difference is within the preset difference range, it indicates that the pool robot 100 has not moved or has moved a very small distance, and it is determined that the pool robot 100 is trapped. Herein, the second time can be set to 5 seconds, 10 seconds, 20 seconds, etc.

[0091] 2-4. The current of the drive motor of the pool robot increases and the current increase situation conforms to the trapped current change situation.

[0092] In some embodiments, while it is detected that the relative position difference between the pool robot 100 and the reference point before and after the second time is within the preset difference range, the current of the drive motor of the pool robot 100 increases. It can be determined that the current increase situation conforms to the trapped current change situation, and it is further determined that the pool robot 100 is trapped. It can be understood that, in addition to the above situations, the current increase situation of the drive motor can also be combined with 2-1 and 2-4, 2-2 and 2-4, or other situations to determine whether the pool robot 100 is trapped.

[0093] It can be understood that the situation where the pool robot 100 is in a trapped state, in addition to the above several situations, can also be other situations, which are not specifically limited herein.

[0094] 3) The pool robot receives a preset instruction.

[0095] In some embodiments, it is detected that the pool robot 100 receives a preset instruction, and controls the cleaning component 120 through the preset instruction. The preset instruction may be a remote instruction, and the remote instruction may be an instruction sent by a remote controller, or an instruction sent by an application such as a mobile phone or a tablet, etc., to control the cleaning component 120 of the pool robot 100 to perform telescopic movement and / or rotational movement. It is understood that the preset instruction may be not only a remote instruction, but also an instruction automatically generated according to the current state of the pool robot 100, etc., which is not specifically limited here.

[0096] 4) The pool robot 100 is in a preset working mode, wherein the preset working mode includes at least one of an energy-saving mode, a return mode, and a charging mode, and the return mode is when the cleaning work has been completed and the robot is in the process of returning. It is understood that the preset working mode may include an escape mode, etc. in addition to the above modes, which is not specifically limited here.

[0097] In some embodiments, when it is detected that the pool robot 100 is in a preset working mode, the cleaning component 120 is controlled. For example, when the pool robot 100 is in the energy-saving mode or the return mode and the cleaning component 120 is in the extended state, the cleaning component 120 needs to be controlled to retract in the direction close to the robot body; when the pool robot 100 is in the rest mode and the cleaning component 120 is in the retracted state, it is not necessary to control the cleaning component 120 to repeatedly retract in the direction close to the robot body.

[0098] Step S720: Control the cleaning component of the pool robot to perform telescopic movement.

[0099] The telescopic movement includes at least one of an extension movement in a direction away from the robot body 110 of the pool robot 100 and a contraction movement in a direction close to the robot body 110 .

[0100] In some embodiments, when the default state of the cleaning component 120 of the pool robot 100 is the retracted state, if it is detected that the distance between the pool robot 100 and the target object is within a preset distance range, the cleaning component 120 of the pool robot 100 can be controlled to extend in a direction away from the robot body 110 of the pool robot 100 to clean the target object.

[0101] In some other embodiments, the default state of the cleaning component 120 of the pool robot 100 is the extended state. When it is detected that the pool robot 100 is in a trapped state, a preset instruction is received, or the pool robot 100 is in at least one of the preset working modes, the cleaning component 120 of the pool robot 100 can be controlled to perform a contraction movement in a direction approaching the robot main body 110 of the pool robot 100.

[0102] Further, during the process of controlling the cleaning component 120 to perform telescopic movement, a in-place sensor is used to detect whether the telescopic movement is in place. In response to detecting that the telescopic movement is in place, it is determined to control the cleaning component 120 to stop the telescopic movement.

[0103] In addition, if it is detected that the pool robot 100 currently meets the rotation trigger condition, the cleaning component 120 of the pool robot 100 can be controlled to perform a rotational movement relative to the robot main body 110. Or when it is detected that the pool robot 100 is in the target working state, the cleaning component 120 of the pool robot 100 is controlled to rotate itself so that the cleaning component 120 can perform its work.

[0104] The cleaning component of the pool robot in the present application can perform rotational movement, telescopic movement and rotational motion, and can move flexibly. During the cleaning process, the range of single - time cleaning of the pool robot can be increased, and the cleaning path of the pool robot can be reduced, thereby improving the cleaning efficiency. And when the pool robot is trapped during the cleaning of the pool, it can also get out of trouble through the flexible movement of the cleaning component and reduce the range of the pool robot to facilitate getting out of trouble.

[0105] In addition, the installation position of the cleaning component can be associated with the sewage suction port, which is used to expand the cleaning range of the sewage suction port and improve the cleaning efficiency at the same time.

[0106] Those skilled in the art can understand that in the above - mentioned method of the specific embodiment, the writing order of each step does not mean a strict execution order and does not constitute any limitation to the implementation process. The specific execution order of each step should be determined according to its function and possible internal logic.

[0107] Please refer to Figure 8 , Figure 8 which is a schematic framework diagram of an embodiment of the electronic device 80 of the present application. The electronic device 80 includes a memory 81 and a processor 82 which are coupled to each other. The processor 82 is used to execute the program instructions stored in the memory 81 to implement the steps in any of the above - mentioned embodiments of the control method of the pool robot. In the present application, the electronic device 80 is a pool robot.

[0108] Specifically, the processor 82 is used to control itself and the memory 81 to implement the steps of any of the above-described control method embodiments of the pool robot. The processor 82 may also be referred to as a CPU (Central Processing Unit). The processor 82 may be an integrated circuit chip with the ability to process signals. The processor 82 may also be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc. Additionally, the processor 82 may be implemented jointly by integrated circuit chips.

[0109] Please refer to Figure 9 , Figure 9 which is a schematic framework diagram of an embodiment of the computer-readable storage medium 90 of the present application. The computer-readable storage medium 90 stores program instructions 901 that can be run by a processor, and the program instructions 901 are used to implement the steps in any of the above-described control method embodiments of the pool robot.

[0110] In some embodiments, the functions or modules included in the device provided by the embodiments of the present disclosure can be used to execute the methods described in the above method embodiments. The specific implementation can refer to the description of the above method embodiments. For the sake of brevity, it will not be repeated here.

[0111] The descriptions of the above embodiments tend to emphasize the differences between the embodiments. The same or similar parts can be referred to each other. For the sake of brevity, they will not be repeated in this article.

[0112] In several embodiments provided in the present application, it should be understood that the disclosed methods and devices can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of modules or units is only a logical function division. In actual implementation, there may be other division methods. For example, units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections to each other can be through some interfaces. The indirect couplings or communication connections of the devices or units can be in electrical, mechanical, or other forms.

[0113] In addition, each functional unit in various embodiments of the present application may be integrated into one processing unit, may exist physically alone for each unit, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of a software functional unit.

[0114] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it may be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, may be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor to execute all or part of the steps of the methods in various embodiments of the present application. The foregoing storage medium includes: various media such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disc that can store program codes.

Claims

1. A pool robot, characterized in that, Comprising: A robot main body; A cleaning component, disposed on the robot main body; A motion driving assembly, disposed on the robot main body, the motion driving assembly being connected to the cleaning component and configured to drive the cleaning component to perform telescopic motion relative to the robot main body, the telescopic motion including at least one of the following: an extending motion in a direction away from the robot main body and a contracting motion in a direction approaching the robot main body.

2. The pool robot according to claim 1, wherein, When the cleaning component is in a contracted state, the entire cleaning component is located within the scope of the robot main body, or at least a part of the cleaning component is located within the scope of the robot main body. The contracted state is a state formed by the motion driving assembly driving the cleaning component to perform a contracting motion, or a state in which the motion driving assembly does not drive the cleaning component to perform an extending motion; And / or, when the cleaning component is in an extended state, at least a part of the cleaning component is located outside the scope of the robot main body. The extended state is a state formed by the motion driving assembly driving the cleaning component to perform an extending motion, or a state in which the motion driving assembly does not drive the cleaning component to perform a contracting motion.

3. The pool robot according to claim 1, characterized in that, The motion driving assembly includes: A connecting portion, through which the cleaning component is connected to the robot main body; A first driving assembly, connected to the connecting portion and configured to drive the cleaning component to perform the telescopic motion relative to the robot main body.

4. The pool robot according to claim 3, characterized in that, The connecting portion is a telescopic structure, and the first driving assembly includes a first power source configured to drive the connecting portion to expand and contract so as to drive the cleaning component to perform the telescopic motion; Alternatively, the first driving assembly includes a first transmission mechanism and a first power source, an input end of the first transmission mechanism is connected to the first power source, an output end of the first transmission mechanism is connected to the cleaning component, and the first power source is configured to provide power for the first transmission mechanism so that the first transmission mechanism drives the cleaning component to perform the telescopic motion relative to the robot main body and the connecting portion; Alternatively, a first end of the connecting portion is connected to the cleaning component, the first driving assembly includes a first transmission mechanism and a first power source, an input end of the first transmission mechanism is connected to the first power source, and an output end of the first transmission mechanism is connected to a second end of the connecting portion or a component located between the second end and the robot main body. The first power source is configured to provide power for the first transmission mechanism so that the first transmission mechanism drives the connecting portion and the cleaning component to perform the telescopic motion relative to the robot main body.

5. The pool robot according to claim 4, wherein The first transmission mechanism controls the component connected thereto to rotate or translate so that the cleaning component performs the telescopic motion relative to the robot main body.

6. The pool robot according to claim 1, characterized in that, The motion driving assembly includes at least one set of second driving assemblies configured to drive the cleaning component to perform rotational motion relative to the robot main body.

7. The pool robot according to claim 6, characterized in that, The first end of the connecting part is connected to the cleaning component; wherein, The at least one set of second driving components includes a first set of second driving components, and the first set of second driving components are respectively connected to the robot main body and the second end of the connecting part, and are used for driving the connecting part to rotate around the first direction axis, so as to drive the cleaning component to rotate around the first direction axis; and / or, the at least one set of second driving components includes a second set of second driving components, the first end of the connecting part is connected to the cleaning component through the second set of second driving components, and the second set of second driving components is used for driving the connecting part to rotate around the second direction axis, so as to drive the cleaning component to rotate around the second direction axis.

8. The pool robot according to claim 1, wherein, The motion driving component further includes a third driving component, and the third driving component is connected to the cleaning component, and is used for driving the cleaning component to rotate or reciprocate when the cleaning component is required to work.

9. The pool robot according to claim 1, wherein, There are several cleaning components, wherein the robot main body is provided with a sewage suction port, and at least one cleaning component is used to expand the cleaning range of the sewage suction port.

10. The pool robot according to claim 9, characterized in that, The sewage suction port is arranged on the front wall or the bottom of the robot main body; and / or, along the opening direction of the sewage suction port, at least one cleaning component is located in front of the sewage suction port.

11. The pool robot according to claim 1, characterized in that, The cleaning component is a side brush; and / or, the cleaning component is movably connected to the robot main body or the motion driving component; and / or, there are several cleaning components, and several cleaning components are arranged on at least one of the left side wall, the right side wall and the bottom of the robot main body; and / or, the cleaning component includes a rotating brush and a rotating shaft, the rotating brush is arranged around the rotating shaft, the rotating shaft is rotatably connected to the robot main body through the motion driving component, the rotating brush has at least one cleaning surface, and the cleaning surface is used for contacting and agitating water flow.

12. The pool robot according to claim 1, wherein It further includes at least one of a trigger data acquisition unit and a position sensor. The trigger data acquisition unit is used for acquiring trigger data about a preset motion of the cleaning component, and the position sensor is used for acquiring reference data on whether the preset motion performed by the cleaning component is in place.

13. The pool robot according to claim 1, wherein The cleaning component has a starting position and a telescopic position; The pool robot further includes a reset component, the reset component is arranged on the robot main body, the reset component is connected to the cleaning component, and the reset component is used for providing a reset force for the cleaning component to maintain at the starting position, and the cleaning component can reach the telescopic position when the power driving component drives the cleaning component to perform a telescopic motion; Wherein, when the cleaning component is in the starting position, the cleaning component is in a contracted state, and when the cleaning component is in the telescopic position, the cleaning component is in an extended state; or, when the cleaning component is in the starting position, the cleaning component is in an extended state, and when the cleaning component is in the telescopic position, the cleaning component is in a contracted state.

14. A control method for a pool robot, characterized in that, Applied to the pool robot according to any one of claims 1 to 13, the control method includes: Detecting that the pool robot meets the telescopic trigger condition; Controlling the cleaning component of the pool robot to perform a telescopic movement, where the telescopic movement includes at least one of the following: an extension movement in a direction away from the robot body of the pool robot, and a contraction movement in a direction close to the robot body.

15. The method according to claim 14, wherein The telescopic trigger condition includes at least one of the following: the distance between the pool robot and the target is within a preset distance range, the pool robot is in a trapped state, the pool robot receives a preset instruction, the pool robot is in a preset working mode, where the target includes at least one of a wall and an obstacle.

16. The method according to claim 15, wherein The detecting that the pool robot meets the telescopic trigger condition includes at least one of the following: In response to the telescopic trigger condition including that the distance between the pool robot and the target is within a preset distance range, based on the first sensing data collected by the first trigger sensor of the pool robot, determining that the distance between the pool robot and the target is within the preset distance range; In response to the telescopic trigger condition including that the pool robot is in a trapped state, performing any one or more of the following steps: based on the second sensing data collected by the second trigger sensor of the pool robot, determining that there is a preset deviation between the actual rotation angle and the preset rotation angle of the pool robot; detecting that the pool robot does not travel the target distance after moving for a first time; detecting that the relative position difference between the pool robot and the reference point before and after a second time is within a preset difference range; the current of the drive motor of the pool robot increases and the current increase situation conforms to the trapped current change situation, where the reference point is determined by the third trigger sensor; In response to the telescopic trigger condition including that the pool robot receives a preset instruction, detecting that the pool robot receives the preset instruction; In response to the telescopic trigger condition including that the pool robot is in a preset working mode, detecting that the pool robot is in the preset working mode.

17. The method according to claim 15, wherein The default state of the cleaning component of the pool robot is the contracted state, and the telescopic trigger condition includes that the distance between the pool robot and the target is within a preset distance range; The controlling the cleaning component of the pool robot to perform a telescopic movement includes: Controlling the cleaning component of the pool robot to perform an extension movement in a direction away from the robot body of the pool robot.

18. The method according to claim 15, wherein The default state of the cleaning component of the pool robot is the extended state, and the telescopic trigger condition includes at least one of the following: the pool robot is in a trapped state, the pool robot receives a preset instruction, the pool robot is in a preset working mode; The controlling the cleaning component of the pool robot to perform a telescopic movement includes: Controlling the cleaning component of the pool robot to perform a contraction movement in a direction close to the robot body of the pool robot.

19. The method according to claim 14, characterized in that, The controlling the cleaning component of the pool robot to perform a telescopic movement includes: During the process of controlling the telescopic movement of the cleaning component, a position sensor is used to detect whether the telescopic movement is in place; In response to detecting that the telescopic movement is in place, it is determined to control the cleaning component to stop the telescopic movement.

20. The method according to claim 14, wherein The method further includes any one or more of the following steps: Detecting that the pool robot currently meets the rotation trigger condition, and controlling the cleaning component of the pool robot to perform a rotational movement relative to the robot body; Detecting that the pool robot is in the target working state, and controlling the cleaning component of the pool robot to rotate or reciprocate, so that the cleaning component works.

21. A pool robot, characterized in that, It includes a memory and a processor that are coupled to each other, and the processor is configured to execute program instructions stored in the memory to implement the control method of the pool robot according to any one of claims 14 to 20.

22. A computer-readable storage medium having program instructions stored thereon, characterized in that, When the program instructions are executed by the processor, the control method of the pool robot according to any one of claims 14 to 20 is implemented.

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