Swimming pool robot control method, electronic equipment, storage medium and program product

Abstract

The embodiment of the invention discloses a control method of a swimming pool robot, electronic equipment, a storage medium and a program product. The control method of the swimming pool robot comprises the steps that in the process that the swimming pool robot moves along a pool wall, under the condition that the swimming pool robot is in an obstacle avoidance scene, the swimming pool robot is controlled to execute an obstacle avoidance action on the pool wall, so that the swimming pool robot bypasses a target obstacle on the pool wall; wherein the obstacle avoidance scene represents that the distance between the swimming pool robot and the target obstacle is smaller than a preset obstacle avoidance threshold value, and the target obstacle is an obstacle on a first target track when the swimming pool robot moves along the pool wall. By executing the obstacle avoidance action through the embodiment of the invention, obstacle avoidance can be realized, and the efficiency of the swimming pool robot can also be improved.

Description

Technical Field

[0001] This application relates to, but is not limited to, the field of robotics, and particularly relates to a control method, an electronic device, a storage medium, and a program product for a pool robot. Background Art

[0002] In the related art, during the operation of a pool robot along the pool wall, various obstacles on the pool wall can easily cause the pool robot to become stuck or block the pool robot from moving forward and other out-of-control situations. Currently, to reduce the pool robot from colliding with various obstacles on the pool wall, the pool robot needs to move to the bottom of the pool and move at the bottom of the pool to bypass the obstacles, which results in the problem of low efficiency of the pool robot. Summary of the Invention

[0003] Embodiments of this application provide a control method, an electronic device, a storage medium, and a program product for a pool robot to solve the problem of low cleaning efficiency of the pool robot in the related art.

[0004] The technical solution of the embodiments of this application is implemented as follows:

[0005] Embodiments of this application provide a control method for a pool robot, and the method includes:

[0006] During the process of the pool robot moving along the pool wall, when the pool robot is in an obstacle avoidance scenario, control the pool robot to perform an obstacle avoidance action on the pool wall so that the pool robot bypasses the target obstacle on the pool wall;

[0007] Among them, the obstacle avoidance scenario indicates that the distance between the pool robot and the target obstacle is less than a preset obstacle avoidance threshold, and the target obstacle is an obstacle on the first target trajectory of the pool robot moving along the pool wall.

[0008] In this embodiment, by performing the obstacle avoidance action, the possibility of collision between the pool robot and the target obstacle can be reduced; the pool robot bypasses the target obstacle on the pool wall without having to move to the bottom of the pool, which can improve efficiency; during the process of the pool robot bypassing the target obstacle on the pool wall, the pool wall can continue to be cleaned, which can improve the cleaning coverage rate and cleaning effect of the pool robot.

[0009] In some embodiments, the method further includes:

[0010] When the pool robot performs an obstacle avoidance action on the pool wall, increase the current water spray amount of the pool robot to a first target water spray amount; the first target water spray amount is greater than the second target water spray amount when the pool robot moves along the bottom of the pool.

[0011] In this embodiment, when avoiding obstacles on the pool wall, by increasing the current water spray amount of the pool robot to the first target water spray amount, the friction between the pool robot and the pool wall can be increased, and thus the slipping of the pool robot during pool wall obstacle avoidance can be overcome. Moreover, by increasing the water spray amount of the pool robot to increase the friction, the cleaning effect and cleaning coverage rate of the pool robot can be further improved.

[0012] In some embodiments, when performing at least part of the obstacle avoidance actions on the pool wall, the first target water spray amount corresponding to at least part of the obstacle avoidance actions is greater than the third target water spray amount when the pool robot moves along the pool wall and does not enter the obstacle avoidance scenario.

[0013] In this embodiment, on the basis that the first target water spray amount is greater than the second target water spray amount, it is also set that the first target water spray amounts corresponding to all the obstacle avoidance actions are greater than the third target water spray amount, which can not only increase the current water spray amount of the pool robot more flexibly, but also better reduce the slipping situation of the pool robot.

[0014] Moreover, by setting the first target water spray amount corresponding to the pool robot performing part of the obstacle avoidance actions to be greater than the third target water spray amount, the power consumption of the pool robot during pool wall obstacle avoidance can be saved while reducing the slipping situation of the pool robot, and the service time of the pool robot can be extended.

[0015] In some embodiments, controlling the pool robot to perform obstacle avoidance actions on the pool wall includes:

[0016] Controlling the pool robot to move along the second target trajectory on the pool wall;

[0017] wherein, the second target trajectory represents that the pool robot does not contact the target obstacle.

[0018] In this embodiment, by controlling the pool robot to move along the second target trajectory on the pool wall, the pool robot does not contact the target obstacle during obstacle avoidance, which can enable the pool robot to better bypass the target obstacle and reduce the possibility of collision between the pool robot and the target obstacle. Moreover, the pool robot moves along the second target trajectory on the pool wall to bypass the target obstacle without having to move to the bottom of the pool, which can improve the efficiency.

[0019] In some embodiments, the target obstacle has a target edge facing the pool robot;

[0020] wherein, for the pool robot at different positions moving along the second target trajectory, the closest distance to the target edge is greater than or equal to the target spacing distance.

[0021] In this embodiment, by precisely controlling the distance between the pool robot and the target edge, the possibility of collision between the pool robot and the target obstacle can be reduced, and the obstacle avoidance effect can be improved. Moreover, cleaning during the obstacle avoidance process can also improve the cleaning coverage rate and cleaning effect of the pool robot while enhancing the obstacle avoidance effect.

[0022] In some embodiments, for the pool robot at all positions moving along the second target trajectory, the closest distance to the target edge is equal.

[0023] In this embodiment, by setting the closest distance between the pool robot at all positions moving along the second target trajectory and the target edge to be equal, the pool robot can move along the target edge during the obstacle avoidance process; controlling the movement of the pool robot at equal distances can simplify the control process of the pool robot; and cleaning during the obstacle avoidance process can also improve the cleaning coverage rate and cleaning effect of the pool robot simultaneously.

[0024] In some embodiments, the second target trajectory includes a bent trajectory; the bent trajectory is formed by bent line segments, and the number of bent line segments is determined by the maximum length of the target obstacle along the first target direction.

[0025] In this embodiment, the bent trajectory can adapt to the actual trajectory of bypassing the target obstacle during obstacle avoidance, enabling better bypassing of the obstacle; moreover, by setting the number of bent line segments to be determined by the maximum length of the target obstacle along the first target direction, a more reasonable bent trajectory can be set according to the target obstacle, further enabling better bypassing of the target obstacle.

[0026] In some embodiments, when the maximum length of the target obstacle along the first target direction is greater than a preset length threshold, the bent trajectory is formed by at least two connected bent line segments;

[0027] Among them, the bent line segment includes a bent straight line segment or a bent arc line segment.

[0028] In this embodiment, by setting that when the maximum length of the target obstacle along the first target direction is greater than the preset length threshold, the bent trajectory is formed by at least two connected bent line segments, the obstacle bypassing effect can be improved. And by setting that the bent line segment includes a bent straight line segment or a bent arc line segment, a more flexible bent trajectory can be set.

[0029] In some embodiments, the bent line segment includes an arc segment;

[0030] Among them, the arc diameter of the arc segment is greater than the maximum distance of the target obstacle in the second target direction; the distance between the center of the arc segment and the center of the target obstacle is within a preset distance range.

[0031] In this embodiment, an arc segment is set according to the target obstacle, so that the pool robot can move along the arc segment to bypass the target obstacle, without the need to calculate the distance between the pool robot and the target obstacle in real time, which simplifies the computational load of the pool robot.

[0032] Moreover, the pool robot can not only bypass the target obstacle by controlling the distance between the pool robot and the target obstacle, but also bypass the target obstacle by setting a fixed arc line segment. In this way, the obstacle bypass setting can be made more flexible, and the pool robot can be applicable to avoid obstacles for target obstacles with different shapes, expanding the applicable scenarios.

[0033] In some embodiments, the sensor system of the pool robot includes a forward sensor system located at the front of the pool robot and a first lateral sensor system located on the side of the pool robot;

[0034] The bending trajectory is determined by the first detection information obtained by the forward sensor system and the second detection information obtained by the first lateral sensor system. Both the first detection information and the second detection information are used to indicate the contour information of the target obstacle.

[0035] In this embodiment, the pool robot can obtain a more accurate bending trajectory through the contour information detected by the sensor systems at different positions, and control the pool robot to move along a more accurate bending trajectory to bypass the target obstacle, which can make the obstacle bypass effect better.

[0036] In some embodiments, before the pool robot moves according to the second target trajectory, the method further includes:

[0037] Controlling the pool robot to perform a turning action so that the second lateral sensor system of the pool robot faces the target obstacle.

[0038] In this embodiment, by performing the turning action, the pool robot can directly move forward along the second target trajectory, realizing that the pool robot can move better along the second target trajectory; and by making the second lateral sensor system face the target obstacle, the second lateral sensor can better monitor the contour information and distance of the target obstacle in real time, further enabling the pool robot to move better along the second target trajectory.

[0039] In some embodiments, the pool robot moves along the pool wall, including: the pool robot performing a cleaning task along the pool wall.

[0040] In this embodiment, during the process of the pool robot performing cleaning tasks on the pool wall, the pool robot supports performing effective obstacle avoidance actions when in an obstacle avoidance scenario, so as to enable the pool robot to support cleaning and bypass the target obstacle on the pool wall to achieve obstacle avoidance.

[0041] In some embodiments, the method further includes: when it is detected that the pool robot bypasses the target obstacle, controlling the pool robot to return to the first target trajectory before obstacle avoidance to continue performing the unfinished cleaning task.

[0042] In this embodiment, it is possible to increase the completion degree of cleaning and improve the cleaning effect, and the robot can automatically execute different functions through detection, making the pool robot more intelligent.

[0043] An embodiment of the present application provides a pool robot, including a controller, wherein: the controller is used to execute any one of the above methods.

[0044] An embodiment of the present application provides an electronic device, including a processor and a memory. The memory stores a computer program that can run on the processor. When the processor executes the computer program, any one of the above methods is implemented.

[0045] An embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, any one of the above methods is implemented.

[0046] An embodiment of the present application provides a computer program product. The computer program product includes a non-transitory computer-readable storage medium storing a computer program. When the computer program is read and executed by a computer, any one of the above methods is implemented.

[0047] In an embodiment of the present application, when the pool robot is in an obstacle avoidance scenario, the pool robot is controlled to perform obstacle avoidance actions so that the pool robot bypasses the target obstacle on the pool wall. Thus, on the one hand, the possibility of collision between the pool robot and the target obstacle can be reduced by performing obstacle avoidance actions; on the other hand, the pool robot bypasses the target obstacle on the pool wall without having to move to the bottom of the pool, which can improve efficiency; on the further hand, the pool robot can continue to clean the pool wall during the process of bypassing the target obstacle on the pool wall, which can improve the cleaning coverage rate and cleaning effect of the pool robot.

[0048] 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

[0049] The accompanying drawings here are incorporated into the specification and form a part of this specification. These drawings illustrate embodiments consistent with this application and, together with the specification, are used to explain the technical solutions of this application.

[0050] Figure 1 Schematic diagram of the composition structure of a pool robot provided for an embodiment of this application;

[0051] Figure 2 Schematic diagram of the implementation process of a control method for a pool robot provided for an embodiment of this application;

[0052] Figure 3 Schematic diagram of a pool robot moving along a fixed distance to avoid obstacles provided for an embodiment of this application;

[0053] Figure 4A Schematic diagram of a pool robot moving along an arc segment to avoid obstacles provided for an embodiment of this application;

[0054] Figure 4B Schematic diagram of a pool robot moving along multiple bent line segments to avoid obstacles provided for an embodiment of this application;

[0055] Figure 5 Schematic diagram of the hardware entity of an electronic device provided for an embodiment of this application. Detailed implementation manners

[0056] In order to make the objectives, technical solutions, and advantages of this application clearer, the following will further describe this application in detail with reference to the accompanying drawings. The described embodiments should not be regarded as limitations on this application. All other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of this application.

[0057] In the following description, "some embodiments" are involved, which describe a subset of all possible embodiments. However, it can be understood that "some embodiments" can be the same subset or different subsets of all possible embodiments and can be combined with each other without conflict.

[0058] In the following description, the terms "first / second / third" involved are only used to distinguish similar objects and do not represent a specific order for the objects. It can be understood that "first / second / third" can be interchanged with a specific order or sequence when allowed, so that the embodiments of this application described here can be implemented in an order other than that illustrated or described here.

[0059] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application.

[0060] The method provided by the embodiments of the present application can be executed by an electronic device, which can be various types of terminals such as a laptop computer, a tablet computer, a desktop computer, a set-top box, a mobile device (e.g., a mobile phone, a portable music player, a personal digital assistant, a dedicated messaging device, a portable gaming device), a robot, etc., or can also be implemented as a server. The server can be an independent physical server, or a server cluster or distributed system composed of multiple physical servers, or can also be a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, Content Delivery Network (CDN), and big data and artificial intelligence platforms.

[0061] Next, in combination with the accompanying drawings in the embodiments of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described.

[0062] Figure 1 It is a schematic diagram of the composition structure of a pool robot provided by the embodiments of the present application. As Figure 1 shown, the pool robot 10 includes a fuselage 11 and a sensor system 12, and the sensor system 12 is located on the fuselage 11.

[0063] The sensor system is used to detect obstacle information around the pool robot. Among them, the obstacle information may include, but is not limited to, the contour information of the target obstacle, the distance from the target obstacle, etc.

[0064] In implementation, when the pool robot is in a stationary, turning, forward, etc. state, the surrounding obstacle information can be obtained through the sensor system. For example, when the pool robot is moving forward, the distance from the target obstacle is obtained through the sensor system to determine whether it is in an obstacle avoidance scenario. Another example is that the pool robot obtains the contour information of the target obstacle through the sensor system so that the pool robot can bypass the target obstacle.

[0065] The sensor system can include any suitable sensor that can implement this function. For example, a vision sensor, a laser sensor, an acceleration sensor, an angle sensor, an infrared sensor, an acoustic sensor, etc. In implementation, the sensor system can include at least one sensor of at least one type.

[0066] Among them, the above-mentioned vision sensor may include, but is not limited to, a depth camera. The depth camera includes a time-of-flight (tof) depth camera, a structured light camera, a binocular camera, etc.

[0067] The above laser sensors may include, but are not limited to, two-dimensional (2D) lidar, 3D lidar, etc.

[0068] The above acoustic sensors may include, but are not limited to, ultrasonic sensors, sonar sensors, etc., and can be used to detect whether the pool robot is in an underwater environment or a water surface environment.

[0069] It should be noted that due to the performance differences of various sensors included in the sensor system in water, and the attenuation, refraction, scattering, etc. of light caused by the change of the medium in water, there are errors in the point cloud collected by the sensor system. In some embodiments, due to the different refractive indices of different media, when light enters each different medium, the path of the light will change. Then, in order to improve the accuracy of the point cloud collected by the sensor system, a multi-medium refraction model can be established based on the propagation path of light in the underwater environment first, and then the underwater camera can be calibrated according to the multi-medium refraction model and a special calibration object (for example, a calibration board), so as to overcome the distortion or deviation of underwater light to obtain an accurate point cloud, and further enable the pool robot to clearly see or accurately identify the contour of surrounding obstacles and the distance from surrounding obstacles.

[0070] During implementation, the initial internal and external parameters of the underwater camera can be determined by taking pictures of the calibration board from multiple angles first, and then the initial internal and external parameters of the underwater camera can be iteratively optimized multiple times using the multi-medium refraction model to complete the high-precision calibration of the underwater camera in a multi-medium environment, effectively solving the imaging distortion caused by the refraction effect and meeting the detection requirements of underwater obstacles.

[0071] In some embodiments, the sensor system of the pool robot includes a forward sensor system located at the front of the pool robot and a first lateral sensor system located at the side of the pool robot.

[0072] In this embodiment, the forward sensor system can be arranged at the front of the body of the pool robot to obtain the first detection information. The first lateral sensor system can be arranged at the side of the body of the pool robot to obtain the second detection information.

[0073] In some embodiments, the forward sensor system and the first lateral sensor system can both obtain the first detection information and the second detection information in a timed, real-time, command, etc. manner.

[0074] Here, both the first detection information and the second detection information are used to indicate the contour information of the target obstacle. The contour information includes the size, shape, etc. of the target obstacle.

[0075] In some embodiments, the first detection information and the second detection information can be used to indicate the contour information of different positions of the target obstacle.

[0076] Here, the first detection information may include the contour information of the first position of the target obstacle; the second detection information may include the contour information of the second position of the target obstacle. The contour information of the first position and the contour information of the second position may constitute the entire contour information of the target obstacle, or may also constitute partial contour information of the target obstacle. The embodiments of the present application do not limit this.

[0077] It should be noted that the pool robot can collect the first point cloud data of the target obstacle through the forward sensor system and the first lateral sensor system to construct the edge contour of the target obstacle, then perform edge detection on the edge contour of the target obstacle, and finally extract the contour information of the target obstacle based on the edge detection result.

[0078] Here, the forward sensor system and the first lateral sensor system may include at least one sensor of at least one type. For example, a time-of-flight (tof) depth camera, a structured light camera, a binocular camera, a laser sensor, an infrared sensor, an ultrasonic sensor, etc.

[0079] It should be noted that the forward sensor system and the first lateral sensor system can also be used to detect the distance to the target obstacle.

[0080] In this embodiment, the number of sensors included in the forward sensor system and the number of sensors included in the first lateral sensor system are not limited.

[0081] In some embodiments, the pool robot further includes a controller, and the controller is used to execute the control method of the pool robot provided in any one of the present application.

[0082] Here, the controller can be any suitable component capable of implementing the control function. For example, an MCU (Microcontroller Unit), a CPU (Central Processing Unit), a DSP (Digital Signal Processor), a single-chip microcomputer, etc.

[0083] In some embodiments, the pool robot further includes a power system, and the power system at least includes a left propeller and a right propeller. During implementation, by controlling the forward and reverse rotation, rotation speed, etc. of the left propeller and the right propeller, the pool robot can perform movements such as forward, backward, and turning.

[0084] For example, by controlling both the left propeller and the right propeller to rotate forward, the pool robot can move forward. Another example is by controlling the rotation speed of the left propeller to be different from that of the right propeller, the pool robot can turn.

[0085] In some embodiments, the power system further includes crawlers and / or wheels. During implementation, the crawlers and / or wheels contact the pool wall of the pool to provide stable movement ability.

[0086] It should be noted that during pool wall cleaning, the crawlers or wheels can be responsible for gripping the ground to prevent slipping; the left and right propellers can provide thrust to help the pool robot move closely along the pool wall.

[0087] In some embodiments, the pool robot may further include any other suitable components, for example, an operation module disposed on the body of the pool robot, etc., which are not limited in the embodiments of the present application.

[0088] Here, those skilled in the art can control the operation module to perform operations according to actual needs.

[0089] Based on the above embodiments, the embodiments of the present application further provide a control method for a pool robot. Figure 2 It is a schematic flowchart of the implementation of a control method for a pool robot provided by the embodiments of the present application. As Figure 2 shown, the method includes step S21, where:

[0090] Step S21: During the process of the pool robot moving along the pool wall, when the pool robot is in an obstacle avoidance scenario, control the pool robot to perform an obstacle avoidance action on the pool wall so that the pool robot bypasses the target obstacle on the pool wall; wherein, the obstacle avoidance scenario represents that the distance between the pool robot and the target obstacle is less than a preset obstacle avoidance threshold, and the target obstacle is an obstacle on the first target trajectory of the pool robot moving along the pool wall.

[0091] The above obstacle avoidance scenario may include, but is not limited to, that the distance between the pool robot and the target obstacle is less than a preset obstacle avoidance threshold. The obstacle avoidance threshold can be any suitable distance value that can represent that the distance between the pool robot and the target obstacle is very close, for example, 0.5 centimeters (cm), 1 cm, etc.

[0092] The above movement of the pool robot along the pool wall may include: the pool robot performing operations along the first target trajectory of the pool wall. Of course, the pool robot may also not perform operations when moving along the first target trajectory of the pool wall, which is not limited in the embodiments of the present application.

[0093] Here, the first target trajectory may include a straight trajectory or a bent trajectory, and the bent trajectory includes a bent straight trajectory or a bent curved trajectory.

[0094] The operations of the above-mentioned pool robot may include, but are not limited to, cleaning, inspection, rescue, environmental monitoring, environmental restoration, etc. In some embodiments, the pool robot moves along the pool wall, including: the pool robot performing a cleaning task along the pool wall.

[0095] Here, the cleaning task may include controlling the cleaning module of the pool robot to work. The cleaning module may include, but is not limited to, the roller brush of the pool robot.

[0096] It can be understood that during the process of the pool robot performing a cleaning task on the pool wall, the pool robot supports performing effective obstacle avoidance actions when in an obstacle avoidance scenario, so as to enable the pool robot to support cleaning and bypass the target obstacle on the pool wall to achieve obstacle avoidance.

[0097] The above-mentioned target obstacle is an obstacle set on the first target trajectory. When the pool robot moves along the first target trajectory, this target obstacle will hinder the pool robot, and thus the pool robot needs to avoid this target obstacle to reduce the possibility of collision between the pool robot and the target obstacle.

[0098] It should be noted that this target obstacle is the front obstacle when the pool robot moves along the first target trajectory. This target obstacle may include obstacles such as water inlets, ladders, steps, and corners set on the pool wall.

[0099] When the above-mentioned pool robot moves along the first target trajectory, the pool robot will use the sensor system to detect the distance from the target obstacle, and based on the distance between the pool robot and the target obstacle, determine whether the pool robot is in an obstacle avoidance scenario.

[0100] It should be noted that during the process of obtaining the distance between the pool robot and the target obstacle, the sensor system of the pool robot can be used to obtain the second point cloud data first; then a robot grid map is constructed based on the second point cloud data; finally, based on the grid coordinates of the target obstacle in the robot grid map, the distance between the pool robot and the target obstacle is determined.

[0101] Here, constructing a robot grid map based on the second point cloud data may include: converting the second point cloud data from the sensor coordinate system to the robot coordinate system through coordinate transformation to obtain transformed data; discretizing the transformed data to obtain the robot grid map. Among them, after obtaining the robot grid map, the grid coordinates of the obstacles located on the first target trajectory in the robot grid map can be used as the grid coordinates of the target obstacle.

[0102] In this embodiment, different obstacle avoidance scenarios may correspond to the same or different obstacle avoidance actions, so that the pool robot can bypass the target obstacle on the pool wall.

[0103] During implementation, a correspondence between obstacle avoidance scenarios and obstacle avoidance actions can be established in advance. Then, according to this correspondence, the obstacle avoidance action corresponding to the current obstacle avoidance scenario can be obtained.

[0104] Here, the obstacle avoidance actions performed by the pool robot may include, but are not limited to: movements such as forward movement and / or turning performed by the pool robot to bypass the target obstacle on the pool wall.

[0105] In some embodiments, the obstacle avoidance action corresponding to the current obstacle avoidance scenario may include the pool robot moving forward so that the pool robot bypasses the target obstacle on the pool wall.

[0106] In other embodiments, the obstacle avoidance action corresponding to the current obstacle avoidance scenario may include the pool robot moving forward first and then turning so that the pool robot bypasses the target obstacle on the pool wall.

[0107] In the embodiments of the present application, after the pool robot performs the obstacle avoidance action, the above sensor system is further used to detect whether the pool robot has bypassed the target obstacle.

[0108] In some embodiments, the method further includes: when it is detected that the pool robot has bypassed the target obstacle, controlling the pool robot to return to the first target trajectory before obstacle avoidance to continue performing the unfinished cleaning task.

[0109] That is to say, when the pool robot encounters a target obstacle, it will perform obstacle avoidance to bypass the target obstacle. After bypassing the target obstacle, it will continue to perform the cleaning task, so as to continue to complete the cleaning task after obstacle avoidance. In this way, on the one hand, the completion degree of cleaning can be increased and the cleaning effect can be improved; on the other hand, the pool robot can automatically execute different functions through detection, making the pool robot more intelligent.

[0110] In this embodiment, controlling the pool robot to continue performing the cleaning task includes controlling the pool robot to continue performing the cleaning task according to the first target trajectory. Here, the pool robot can perform the cleaning task through the cleaning module.

[0111] Here, as Figure 3 shown, the target obstacle 31 blocks the movement of the pool robot along the first target trajectory, and the first target trajectory can be separated into a first trajectory segment 32 and a second trajectory segment 33. During implementation, after the pool robot performs the obstacle avoidance action to bypass the target obstacle 31, it will continue to move along the second trajectory segment 33 and perform the cleaning task.

[0112] It can be understood that in the case where the pool robot is in an obstacle avoidance scenario, the control method of the pool robot controls the pool robot to perform an obstacle avoidance action so that the pool robot bypasses the target obstacle on the pool wall. In this way, on the one hand, the possibility of collision between the pool robot and the target obstacle can be reduced by performing the obstacle avoidance action; on the other hand, the pool robot bypasses the target obstacle on the pool wall and does not need to move to the bottom of the pool, which can improve the efficiency; on the third hand, the pool robot can continue to clean the pool wall during the process of bypassing the target obstacle on the pool wall, which can improve the cleaning coverage rate and cleaning effect of the pool robot.

[0113] In some embodiments, the control method of the pool robot further includes:

[0114] In the case where the pool robot performs an obstacle avoidance action on the pool wall, increase the current water spraying amount of the pool robot to a first target water spraying amount; the first target water spraying amount is greater than a second target water spraying amount when the pool robot moves along the bottom of the pool.

[0115] The above-mentioned first target water spraying amount can be understood as the water spraying amount output by the pool robot during obstacle avoidance on the pool wall. The first target water spraying amount is greater than the second target water spraying amount. That is, the first target water spraying amount can be used to increase the friction between the pool robot and the pool wall and reduce the slipping situation that occurs during obstacle avoidance on the pool wall.

[0116] In this embodiment, the first target water spraying amount can be any water spraying amount greater than the second target water spraying amount.

[0117] During implementation, the first target water spraying amount can be adjusted according to the slipping degree of the pool robot. Among them, the slipping degree of the pool robot is positively correlated with the first target water spraying amount, that is, the higher the slipping degree, the higher the first target water spraying amount.

[0118] Here, the pool robot has established a corresponding relationship between the slipping degree and the first target water spraying amount. By looking up this corresponding relationship, the first target water spraying amount corresponding to the current slipping degree of the pool robot can be obtained.

[0119] For example, during obstacle avoidance on the pool wall, if the pool robot has a first slipping degree, the current water spraying amount of the pool robot can be increased to the first target water spraying amount corresponding to the first slipping degree; if the pool robot has a second slipping degree, the current water spraying amount of the pool robot can also be increased to the second target water spraying amount corresponding to the second slipping degree.

[0120] Among them, the slipping of the pool robot is used to indicate that during the movement of the pool robot in the pool, the pool robot slides in the pool instead of rolling or gripping normally. The degree of slipping of the pool robot characterizes the degree of deviation between the actual movement and the expected movement of the pool robot due to insufficient friction between the pool robot and the pool wall during the movement along the pool wall.

[0121] It should be noted that the pool robot can be classified into two types according to the usage scenario and scale: household pool robot and commercial pool robot. Different types of pool robots can correspond to different first target water spray amounts.

[0122] For example, the first target water spray amount output by the household pool robot when avoiding obstacles on the pool wall can be less than the first target water spray amount output by the commercial pool robot when avoiding obstacles on the pool wall. Here, the first target water spray amount can be set according to the type of the pool robot, and the embodiments of the present application do not limit this.

[0123] In this embodiment, the pool robot can increase the current water spray amount of the pool robot to the first target water spray amount by adjusting the power of the water spray motor.

[0124] Here, the higher the power of the water spray motor of the pool robot, the greater the corresponding water spray amount output by the pool robot, which will further increase the friction between the pool robot and the pool wall.

[0125] During implementation, when the pool robot moves along the bottom of the pool, the water spray motor can be controlled to output a second target water spray amount at a first power;

[0126] When the distance between the pool robot and the target obstacle is less than the preset obstacle avoidance threshold, while controlling the pool robot to perform an obstacle avoidance action on the pool wall, the power of the water spray motor can be increased from the first power to the second power, so that the pool robot no longer outputs the second target water spray amount, but outputs the first target water spray amount.

[0127] It can be understood that by increasing the current water spray amount of the pool robot to the first target water spray amount during obstacle avoidance on the pool wall, the friction between the pool robot and the pool wall can be increased, thereby overcoming the slipping of the pool robot during obstacle avoidance on the pool wall, increasing the friction, and further improving the cleaning effect and cleaning coverage rate of the pool robot.

[0128] In some embodiments, when performing at least part of the obstacle avoidance action on the pool wall, the first target water spray amount corresponding to at least part of the obstacle avoidance action is greater than the third target water spray amount when the pool robot moves along the pool wall and does not enter the obstacle avoidance scenario.

[0129] In this embodiment, during the process of adjusting the water spray amount of the pool robot when performing an obstacle avoidance action, the first target water spray amounts corresponding to all the obstacle avoidance actions performed by the pool robot can be set to be greater than the third target water spray amount.

[0130] It can be understood that the first target water spray amount is not only greater than the second target water spray amount when the pool robot moves along the bottom of the pool, but also makes the first target water spray amounts corresponding to all the obstacle avoidance actions performed by the pool robot greater than the third target water spray amount. In this way, not only can the water spray amount of the pool robot be increased more flexibly, but also the slipping situation of the pool robot can be better reduced.

[0131] In this embodiment, during the process of adjusting the water spray amount of the pool robot when performing an obstacle avoidance action, the first target water spray amounts corresponding to some of the obstacle avoidance actions performed by the pool robot can also be set to be greater than the third target water spray amount.

[0132] During implementation, the obstacle avoidance actions performed by the pool robot may include a first sub-action and a second sub-action. The first target water spray amount output when the pool robot performs the first sub-action is greater than the third target water spray amount, and the first target water spray amount output when the pool robot performs the second sub-action may be less than or equal to the third target water spray amount.

[0133] It can be understood that, on the one hand, when the pool robot avoids obstacles on the pool wall, not only can the water spray amount of the pool robot be increased more flexibly, but also the slipping situation of the pool robot can be better reduced. On the other hand, by setting the first target water spray amounts corresponding to some of the obstacle avoidance actions to be greater than the third target water spray amount, the power consumption of the pool robot when avoiding obstacles on the pool wall can be saved, and the service time of the pool robot can be extended.

[0134] In some embodiments, controlling the pool robot to perform an obstacle avoidance action on the pool wall includes:

[0135] Controlling the pool robot to move along a second target trajectory on the pool wall;

[0136] Wherein, the second target trajectory represents that the pool robot does not contact the target obstacle.

[0137] In the embodiments of the present application, the second target trajectory may include any suitable trajectory that can represent that the pool robot does not contact the target obstacle.

[0138] Here, the second target trajectory can be a trajectory of any shape on the pool wall that does not contact the target obstacle.

[0139] For example, the second target trajectory may include a bent arc trajectory that does not contact the target obstacle. Another example is that the second target trajectory may include a bent straight-line trajectory that does not contact the target obstacle.

[0140] Here, the second target trajectory can be a trajectory at any distance on the pool wall that does not contact the target obstacle.

[0141] For example, the second target trajectory can be a trajectory where the closest distance between the pool robot and the target obstacle is a fixed distance. For another example, the second target trajectory can be a trajectory where the closest distance between the pool robot and the target obstacle is greater than or equal to the target interval distance.

[0142] In this embodiment, different contour shapes and / or sizes of the target obstacle correspond to different obstacle avoidance scenarios. Here, different obstacle avoidance scenarios can correspond to the same or different second target trajectories, so that the pool robot can bypass the target obstacle on the pool wall.

[0143] During implementation, the corresponding relationship between the obstacle avoidance scenario and the second target trajectory can be established in advance. Then, according to this corresponding relationship, the second target trajectory corresponding to the current obstacle avoidance scenario can be obtained.

[0144] Here, different trajectory directions of the second target trajectory correspond to the pool robot being able to move forward and / or turn along the second target trajectory, and this application embodiment does not limit this.

[0145] It can be understood that by controlling the pool robot to move according to the second target trajectory on the pool wall, the pool robot does not contact the target obstacle during obstacle avoidance, which can enable the pool robot to better bypass the target obstacle and reduce the possibility of collision between the pool robot and the target obstacle. Moreover, the pool robot moves along the second target trajectory on the pool wall to bypass the target obstacle without having to move to the bottom of the pool, which can improve efficiency.

[0146] In some embodiments, before the pool robot moves according to the second target trajectory, the method further includes:

[0147] Controlling the pool robot to perform a turning action so that the second lateral sensor system of the pool robot faces the target obstacle.

[0148] In this embodiment, the turning action can include a counterclockwise turning action or a clockwise turning action.

[0149] Here, when the second lateral sensor system of the pool robot faces the target obstacle, the forward sensor system no longer faces the target obstacle but faces a direction other than the target obstacle (such as the setting direction of the second target trajectory). In this way, it can be realized that the pool robot moves better according to the second target trajectory.

[0150] For example, as Figure 3 and 4AAs shown in the figure, before the pool robot moves along the second target trajectory 34, the pool robot is controlled to perform a turning action so that the second lateral sensor system of the pool robot faces the target obstacle 31, and the forward sensor system of the pool robot faces the starting point of the second target trajectory. In this way, the pool robot can directly move forward along the second target trajectory.

[0151] Here, the sensor system further includes a second lateral sensor, which is arranged on one side of the pool robot body facing the target obstacle.

[0152] It should be noted that the second lateral sensor system and the first lateral sensor system can be the same sensor system, can also be different sensor systems, or can be the same as the first lateral sensor system. The embodiments of the present application do not limit this.

[0153] It can be understood that when there is a target obstacle in front of the pool robot, by performing a turning action, the pool robot can directly move forward along the second target trajectory, realizing that the pool robot can move better along the second target trajectory. And by making the second lateral sensor system face the target obstacle, the second lateral sensor can better monitor the contour information and distance of the target obstacle in real time, further enabling the pool robot to move better along the second target trajectory.

[0154] In some embodiments, the target obstacle has a target edge facing the pool robot;

[0155] Among them, for the pool robot at different positions moving along the second target trajectory, the closest distance between the pool robot and the target edge is greater than or equal to the target spacing distance.

[0156] In this embodiment, the closest distance between the pool robot at different positions moving along the second target trajectory and the target edge may include: the perpendicular distance of the perpendicular line segment between the pool robot at different positions moving along the second target trajectory and the target edge. Here, this perpendicular line segment is perpendicular to the tangent of the target edge.

[0157] For example, as Figure 3 shown, the target edge 35 of the target obstacle 31 facing the pool robot is 35.

[0158] During the process of the pool robot moving along the second target trajectory 34, the closest distance between the pool robot at position A and the target edge 35 is the distance of the perpendicular line segment 36.

[0159] In this embodiment, the sensor system of the pool robot further includes a third lateral sensor system. The third lateral sensor system is arranged on one side of the pool robot body facing the target obstacle.

[0160] The third lateral sensor system detects the distance between itself and the target edge in real time, so that the closest distance between the pool robot at different positions moving along the second target trajectory and the target edge is greater than or equal to the target spacing distance.

[0161] Here, in addition to detecting the current distance between itself and the target edge in real time, the third lateral sensor system can also detect the motion information of the pool robot, so as to control the motion of the pool robot based on the current distance, so that the closest distance between the pool robot at different positions moving along the second target trajectory and the target edge is always greater than or equal to the target spacing distance.

[0162] Among them, the motion information of the pool robot may include but is not limited to linear velocity and / or angular velocity.

[0163] It should be noted that the third lateral sensor system may be the same as the first lateral sensor system, may be different from the first lateral sensor system, or may be the same as the first lateral sensor system. The embodiments of the present application do not limit this.

[0164] In this embodiment, the target spacing distance may be any suitable minimum spacing distance value that can characterize that there is no contact between the pool robot and the target obstacle. The embodiments of the present application do not limit the minimum spacing distance value.

[0165] It should be noted that when the closest distance between the pool robot at different positions moving along the second target trajectory and the target edge is equal to the minimum spacing distance value, the pool robot can better clean the pool wall while bypassing the target obstacle, so as to maximize the cleaning coverage rate and cleaning effect.

[0166] It can be understood that on the one hand, by precisely controlling the distance between the pool robot and the target edge, the possibility of collision between the pool robot and the target obstacle can be reduced, and the obstacle avoidance effect can be improved. On the other hand, cleaning during obstacle avoidance can also improve the cleaning coverage rate and cleaning effect of the pool robot while improving the obstacle avoidance effect.

[0167] In some embodiments, the closest distance between the pool robot at all positions moving along the second target trajectory and the target edge is equal.

[0168] In this embodiment, the third lateral sensor system of the pool robot detects the distance between itself and the target edge in real time, so that the closest distance between the pool robot at different positions moving along the second target trajectory and the target edge is equal.

[0169] It should be noted that the distance value, which is the same for all positions of the pool robot moving along the second target trajectory and the nearest distance between the pool robot and the target edge, can be any suitable distance value that can represent non-contact between the pool robot and the target obstacle. The embodiments of the present application do not limit this.

[0170] Here, for all positions of the pool robot moving along the second target trajectory, the nearest distance between the pool robot and the target edge can be the minimum interval distance value, or can also be a preset distance value greater than the minimum interval distance value.

[0171] For example, as Figure 3 shown, for all positions of the pool robot moving along the second target trajectory 34, the nearest distance between the pool robot and the target edge 35 can be set to the length of the perpendicular line segment 36.

[0172] For another example, for all positions of the pool robot moving along the second target trajectory 34, the nearest distance between the pool robot and the target edge 35 can be set to be greater than the length of the perpendicular line segment 36.

[0173] It can be understood that, on the one hand, by setting the nearest distance between all positions of the pool robot moving along the second target trajectory and the target edge to be equal, the pool robot can move along the target edge during the obstacle avoidance process. On the other hand, controlling the movement of the pool robot according to an equal distance can simplify the control process of the pool robot. On the further hand, cleaning during the obstacle avoidance process can also improve the cleaning coverage rate and cleaning effect of the pool robot at the same time.

[0174] In some embodiments, the second target trajectory includes a bent trajectory; the bent trajectory is formed by bent line segments, and the number of bent line segments is determined by the maximum length of the target obstacle along the first target direction.

[0175] In this embodiment, the first target direction can be any direction, which can include but is not limited to the width direction of the target obstacle, the length direction of the target obstacle, or the setting direction of the first target trajectory.

[0176] It should be noted that the maximum length of the target obstacle along the first target direction is positively correlated with the number of bent line segments. That is, the longer the maximum length of the target obstacle along the first target direction, the more the number of bent line segments.

[0177] Here, multiple bent line segments can be set according to the maximum length of the target edge of the target obstacle in the first target direction.

[0178] For example, as Figure 3 and 4AAs shown, the first target direction is the setting direction B of the first target trajectory. The second target trajectory 34 can be set to include a bent line segment 341 according to the maximum length of the target obstacle 31 in the setting direction B of the first target trajectory.

[0179] For another example, as Figure 3 , 4A and 4B show, Figure 4B the maximum length of the target obstacle 31 in the setting direction B of the first target trajectory in Figure 4A is greater than the maximum length of the target obstacle 31 in the setting direction B of the first target trajectory in

[0180] In this embodiment, when there are multiple bent line segments, the bent trajectory can be formed by sequentially connecting multiple bent line segments.

[0181] For example, as Figure 4B shows, the bent line segments 342, 343, and 344 are sequentially connected to form the bent trajectory. Among them, the tail end of the bent line segment 343 can be connected to the head end of the bent line segment 342, and the head end of the bent line segment 343 can be connected to the tail end of the bent line segment 344.

[0182] It can be understood that on the one hand, the bent trajectory can adapt to the actual trajectory of bypassing the target obstacle to avoid collision, and can better bypass the obstacle; on the other hand, by setting the number of bent line segments determined by the maximum length of the target obstacle along the first target direction, the bent trajectory can be set more reasonably according to the target obstacle, and further better bypass the target obstacle can be achieved.

[0183] In some embodiments, when the maximum length of the target obstacle along the first target direction is greater than a preset length threshold, the bent trajectory is formed by connecting at least two bent line segments;

[0184] wherein, the bent line segment includes a bent straight line segment or a bent arc line segment.

[0185] In this embodiment, the preset length threshold can be any suitable length that can represent that the pool robot needs to move along at least two bent line segments to bypass the target obstacle, and the embodiments of the present application do not limit this.

[0186] Here, the maximum length of the target obstacle along the first target direction is greater than the preset length threshold, indicating that the target obstacle may be a long-shaped target obstacle, and a bent trajectory formed by connecting at least two bent line segments needs to be set to bypass the target obstacle.

[0187] For example, Figure 4BWhen the target obstacle is a long and narrow target obstacle, setting a bent line segment cannot bypass the long and narrow target obstacle. At this time, the bent trajectory can be set to be formed by connecting three bent line segments, namely, bent line segment 342, bent line segment 343, and bent line segment 344, so that the pool robot can better bypass the long and narrow target obstacle.

[0188] Here, the maximum length of the target obstacle along the first target direction is less than or equal to the preset length threshold, indicating that setting multiple bent line segments is not required to bypass the target obstacle, and the pool robot can bypass the target obstacle by moving along one bent line segment.

[0189] For example, Figure 4A When the target obstacle is not a long and narrow target obstacle. At this time, the pool robot can bypass the target obstacle along the bent line segment 341, so there is no need to set multiple bent line segments. Of course, multiple bent line segments can also be selected based on other reasons, such as increasing the cleaning coverage rate.

[0190] In the embodiments of the present application, the bent trajectory is formed by connecting at least two bent line segments. The at least two bent line segments that form the bent trajectory can be of the same type or different types, and the embodiments of the present application do not limit this.

[0191] For example, the at least two bent line segments include bent straight line segments or bent arc line segments. Another example is that the at least two bent line segments include bent straight line segments and bent arc line segments.

[0192] Here, each segment in the bent straight line segment is a straight line segment, and there is no curvature at the corner of adjacent two straight line segments. For example, the bent straight line segment can include, but is not limited to, a sawtooth segment.

[0193] Here, each segment in the bent arc line segment is an arc line segment, and each arc line segment can be a circular arc, an elliptical arc, or other types of curves, and the corner between adjacent two arc line segments is smooth or has a curvature.

[0194] For example, the bent arc line segment can include, but is not limited to, a snake-shaped line segment, a spiral line segment, or other shapes composed of arc line segments.

[0195] It can be understood that, on the one hand, by setting that when the maximum length of the target obstacle along the first target direction is greater than the preset length threshold, the bent trajectory is formed by connecting at least two bent line segments, the obstacle bypassing effect can be improved. On the other hand, by setting that the bent line segment includes a bent straight line segment or a bent arc line segment, a more flexible setting of the bent trajectory can be achieved.

[0196] In some embodiments, the bent line segment includes an arc segment;

[0197] Among them, the arc diameter of the arc segment is greater than the maximum distance of the target obstacle in the second target direction; the distance between the center of the arc segment and the center of the target obstacle is within a preset distance range.

[0198] In this embodiment, the second target direction can be any direction, including but not limited to the width direction of the target obstacle, the length direction of the target obstacle, or the setting direction of the first target trajectory.

[0199] Here, the second target direction and the first target direction can be the same direction or different directions, and the embodiments of the present application do not limit this.

[0200] The above preset distance range can be any suitable range, for example, 0 cm to 5 cm, 0.1 cm to 0.8 cm, etc.

[0201] In some embodiments, the preset distance range can be set according to the sensitivity, accuracy, etc. of the sensor system of the pool robot.

[0202] In this embodiment, the center of the arc segment can be set to coincide with the center of the target obstacle. That is to say, the pool robot can use the center of the target obstacle as the center of the circle, and set the arc segment with a value greater than the maximum distance of the target obstacle in the second target direction as the diameter, and move along the arc segment to bypass the target obstacle.

[0203] It should be noted that when the maximum length of the target obstacle along the first target direction is greater than the preset length threshold, at least two arc segments can be connected to form a bent trajectory.

[0204] For example, the bent trajectory can be formed by connecting three arc segments, and the pool robot moves along the three arc segments in sequence to bypass the target obstacle.

[0205] It can be understood that on the one hand, setting the arc segment according to the target obstacle can enable the pool robot to move along the arc segment to bypass the target obstacle, and it is not necessary to calculate the distance between the pool robot and the target obstacle in real time, which simplifies the calculation amount of the pool robot.

[0206] On the other hand, the pool robot can not only bypass the target obstacle by controlling the distance between the pool robot and the target obstacle, but also bypass the target obstacle by setting a fixed arc segment. In this way, the obstacle bypass setting can be made more flexible, and the pool robot can be made to be applicable to avoiding obstacles for target obstacles of different shapes, expanding the applicable scenarios.

[0207] For example, for a target obstacle with a maximum length in any direction less than or equal to the preset length threshold, obstacle avoidance can be achieved by controlling the distance between the pool robot and the target obstacle;

[0208] For another example, in a case where it is difficult to determine a target obstacle or a target edge of a target obstacle whose maximum length in any direction is less than or equal to a preset length threshold (such as a low or narrow target obstacle), the pool robot can be controlled to move along a bent trajectory formed by arc segments to avoid obstacles.

[0209] In some embodiments, the bent trajectory is determined based on first detection information obtained by a forward sensor system and second detection information obtained by a first lateral sensor system.

[0210] During implementation, the pool robot can first determine the center of the target obstacle based on the contour information of the target obstacle included in the first detection information and the contour information of the target obstacle included in the second detection information; then traverse all contour points of the target obstacle to calculate the distance between each contour point and the center of the target obstacle; finally, based on the distance between each contour point and the center of the target obstacle, determine a second target trajectory along which the pool robot moves around the obstacle.

[0211] It should be noted that in a case where the second target trajectory includes an arc segment, the maximum distance can be determined from the distances between each contour point and the center of the target obstacle, and twice the maximum distance is used as the diameter of the arc segment.

[0212] It can be understood that on the one hand, the pool robot can obtain a more accurate bent trajectory through the contour information detected by sensor systems at different positions. On the other hand, controlling the pool robot to move along a more accurate bent trajectory to bypass the target obstacle can achieve a better obstacle avoidance effect.

[0213] It should be noted that in the embodiments of the present application, if the above method is implemented in the form of software function modules and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the embodiments of the present application essentially or the part that contributes to the related technology can be embodied in the form of a software product. The software product is stored in a storage medium and includes several instructions for causing an electronic device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the methods described in the 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 magnetic disk, or an optical disc that can store program codes. In this way, the embodiments of the present application are not limited to any specific combination of hardware and software.

[0214] The embodiments of the present application provide an electronic device, including a memory and a processor. The memory stores a computer program that can run on the processor, and when the processor executes the computer program, the above method is implemented.

[0215] An embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the above method is implemented. The computer-readable storage medium can be transient or non-transient.

[0216] An embodiment of the present application provides a computer program product. The computer program product includes a non-transient computer-readable storage medium storing a computer program. When the computer program is read and executed by a computer, some or all of the steps in the above method are implemented. The computer program product can be specifically implemented in a manner of hardware, software, or a combination thereof. In an alternative embodiment, the computer program product is specifically embodied as a computer storage medium. In another alternative embodiment, the computer program product is specifically embodied as a software product, such as a Software Development Kit (SDK), etc.

[0217] It should be noted that Figure 5 is a schematic diagram of the hardware entity of an electronic device provided by an embodiment of the present application. As Figure 5 shown, the hardware entity of the electronic device 500 includes: a processor 501, a communication interface 502, and a memory 503, where:

[0218] The processor 501 generally controls the overall operation of the electronic device 500.

[0219] The communication interface 502 can enable the electronic device to communicate with other terminals or servers through a network.

[0220] The memory 503 is configured to store instructions and applications executable by the processor 501, and can also cache data to be processed or already processed by the processor 501 and each module in the electronic device 500 (for example, image data, audio data, voice communication data, and video communication data), and can be implemented by flash memory (FLASH) or random access memory (Random Access Memory, RAM). Data transmission can be performed between the processor 501, the communication interface 502, and the memory 503 through a bus 504.

[0221] It should be pointed out here that: the descriptions of the above storage medium and device embodiments are similar to the descriptions of the above method embodiments, and have beneficial effects similar to those of the method embodiments. For the technical details not disclosed in the storage medium and device embodiments of the present application, please refer to the descriptions of the method embodiments of the present application for understanding.

[0222] It should be understood that the "one embodiment" or "an embodiment" mentioned throughout the specification means that the specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present application. Therefore, the appearances of "in one embodiment" or "in an embodiment" throughout the specification do not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics may be combined in one or more embodiments in any suitable manner. It should be understood that in various embodiments of the present application, the magnitudes of the serial numbers of the above processes do not mean the order of execution, and the order of execution of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present application. The serial numbers of the embodiments of the present application are only for description and do not represent the advantages or disadvantages of the embodiments.

[0223] It should be noted that in this text, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising one..." does not exclude the existence of additional identical elements in the process, method, article or device comprising such element.

[0224] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are only illustrative. For example, the division of the units is only a logical function division, and there may be other division methods in actual implementation. For example, multiple units or components can be combined, or can be integrated into another system, or some features can be ignored or not executed. In addition, the couplings, direct couplings or communication connections between the components shown or discussed with each other can be through some interfaces, and the indirect couplings or communication connections of devices or units can be electrical, mechanical or other forms.

[0225] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units; they can be located in one place or distributed to multiple network units; some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0226] In addition, each functional unit in the embodiments of the present application can be all integrated in one processing unit, or each unit can be separately used as a unit, or two or more units can be integrated in one unit; the above integrated units can be implemented in the form of hardware, or in the form of a combination of hardware and software functional units.

[0227] Those of ordinary skill in the art can understand that all or part of the steps for implementing the above method embodiments can be completed by hardware related to program instructions. The foregoing program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps including those of the above method embodiments; and the foregoing storage medium includes: various media such as removable storage devices, read-only memory (ROM), magnetic disks, or optical discs that can store program codes.

[0228] Alternatively, if the above integrated units of the present application are implemented in the form of software function modules and sold or used as independent products, they can also 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 makes contributions to the related technology, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing an electronic device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the methods described in the various embodiments of the present application. And the foregoing storage medium includes: various media such as removable storage devices, ROM, magnetic disks, or optical discs that can store program codes.

[0229] As described above, only the embodiments of the present application are provided, but the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present application can easily think of changes or substitutions, which should all be covered within the protection scope of the present application.

Claims

1. A control method for a pool robot, characterized in that, The method includes: During the process of the pool robot moving along the pool wall, when the pool robot is in an obstacle avoidance scenario, controlling the pool robot to perform an obstacle avoidance action on the pool wall so that the pool robot bypasses a target obstacle on the pool wall; wherein, the obstacle avoidance scenario indicates that the distance between the pool robot and the target obstacle is less than a preset obstacle avoidance threshold, and the target obstacle is an obstacle on a first target trajectory of the pool robot moving along the pool wall.

2. The control method according to claim 1, characterized in that, The method further includes: When the pool robot performs the obstacle avoidance action on the pool wall, increasing the current water spray amount of the pool robot to a first target water spray amount; The first target water spray amount is greater than a second target water spray amount when the pool robot moves along the pool bottom.

3. The control method according to claim 2, wherein When performing at least part of the obstacle avoidance action on the pool wall, the first target water spray amount corresponding to at least part of the obstacle avoidance action is greater than a third target water spray amount when the pool robot moves along the pool wall and does not enter the obstacle avoidance scenario.

4. The control method according to any one of claims 1 to 3, characterized in that, Controlling the pool robot to perform the obstacle avoidance action on the pool wall includes: Controlling the pool robot to move along a second target trajectory on the pool wall; wherein, the second target trajectory indicates that the pool robot does not contact the target obstacle.

5. The control method according to claim 4, characterized in that The target obstacle has a target edge facing the pool robot; wherein, for the pool robot at different positions moving along the second target trajectory, the closest distance to the target edge is greater than or equal to a target spacing distance.

6. The control method according to claim 4, wherein The second target trajectory includes a bending trajectory; the bending trajectory is formed by bending line segments, and the number of the bending line segments is determined by the maximum length of the target obstacle along a first target direction.

7. A pool robot, characterized in that, Including a controller, wherein: The controller is configured to execute the control method according to any one of claims 1 to 6.

8. An electronic device, comprising a processor and a memory, the memory storing a computer program that can run on the processor, characterized in that, When the processor executes the computer program, it implements the method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, Stored thereon is a computer program, which when executed by a processor, implements the method according to any one of claims 1 to 6.

10. A computer program product, characterized in that, The computer program product includes a non-transitory computer-readable storage medium storing a computer program, and when the computer program is read and executed by a computer, it implements the method according to any one of claims 1 to 6.

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