Pool robot control method, pool robot guiding method and related devices

Abstract

The invention discloses a pool robot control method, a pool robot guiding method and a related device, and the pool robot control method comprises the steps: controlling a pool robot to move in a pool until a bearing assembly has a sensing signal for the pool robot; wherein the sensing signal is generated based on the detection signal, the bearing assembly is provided with a sensor, and the sensor emits the detection signal towards a first preset direction; and controlling the pool robot to move to the bearing assembly according to a second preset direction in response to the sensing signal so as to execute the target event. Through the above mode, the pool robot can quickly and accurately find the target position for executing the target event, so that the working efficiency of the pool robot is improved.

Description

Technical Field

[0001] The present application relates to the field of artificial intelligence technology, and in particular to a pool robot control method, a pool robot guidance method, and related devices. Background Art

[0002] Pools are ubiquitous in our daily lives. Traditionally, pool cleaning is done manually. With the advancement of technology, pool robots have emerged, which are used to clean pools. Typically, a pool robot enters the pool from shore before cleaning it. Once the robot is finished cleaning, it exits the pool. When the robot's battery is low or its dust box is full, it returns to a fixed location for charging or self-cleaning. This means that when executing target events like entering or leaving the pool, self-cleaning, or charging, a pool robot may need to stay at a fixed target location. However, existing pool robots are unable to quickly and accurately locate their target locations, resulting in low efficiency in executing these events. Summary of the Invention

[0003] The main technical problem solved by this application is to provide a pool robot control method, a pool robot guiding method and related devices, which can enable the pool robot to quickly and accurately find the target position to execute the target event, thereby improving the working efficiency of the pool robot.

[0004] In order to solve the above technical problems, the first aspect of the present application provides a pool robot control method, which includes: controlling the pool robot to move in the pool until the carrying component has a perception signal to the pool robot; wherein the perception signal is generated based on the detection signal, the carrying component is provided with a sensor, and the sensor emits a detection signal in a first preset direction; in response to the perception signal, the pool robot is controlled to move to the carrying component in a second preset direction to execute the target event.

[0005] The pool robot moves in the pool, including at least one of the following: moving along the edge of the water bottom, moving along the edge of the water surface, and moving along the waterline.

[0006] Among them, in response to the perception signal, the pool robot is controlled to move to the carrying component in a second preset direction, including: in response to the trajectory change signal sent by the carrying component, the pool robot is controlled to change the current motion trajectory and move to the carrying component; wherein, the trajectory change signal is generated based on the perception signal.

[0007] Among them, controlling the pool robot to move to the carrying component in a second preset direction includes: controlling the pool robot to approach the carrying component in the second preset direction; if it is not close, adjusting the movement direction of the pool robot, and approaching the carrying component in the second preset direction based on the adjusted movement direction.

[0008] Among them, the second preset direction is determined by at least one of the following: the second preset direction is determined based on the sending direction of the detection signal; the second preset direction is determined based on whether the perception signal is lost; the second preset direction is determined based on the distance information between the pool robot and the carrying component.

[0009] Among them, in response to the perception signal, the pool robot is controlled to move to the carrying component in a second preset direction, including: in response to the perception signal, based on the sending direction of the detection signal and the tracking device of the pool robot, moving to the carrying component in the second preset direction.

[0010] The detection signal includes at least one of an optical signal and an ultrasonic signal.

[0011] In order to solve the above technical problems, the second aspect of this application provides a pool robot guiding method, which includes: emitting a detection signal toward a first preset direction through a sensor until the supporting component has a perception signal for the pool robot; wherein the perception signal is generated based on the detection signal, and the sensor is arranged on the supporting component; based on the perception signal, the pool robot is guided to move to the supporting component in a second preset direction.

[0012] Among them, the sensor includes an image acquisition device, which emits a detection signal in a first preset direction through the sensor until the supporting component has a perception signal for the pool robot, including: obtaining an image of the pool taken by the image acquisition device; performing target detection on the image until the supporting component has a perception signal for the pool robot.

[0013] Among them, guiding the pool robot to move to the carrying component in a second preset direction based on the perception signal includes: in the process of the pool robot moving to the carrying component in the second preset direction, obtaining the position information of the pool robot through an image acquisition device, and sending the position information to the pool robot, so that the pool robot moves to the carrying component based on the position information.

[0014] Among them, the sensor includes a perception sensor, which guides the pool robot to move to the carrying component in a second preset direction based on the perception signal, including: detecting whether the perception signal is lost through the perception sensor; after detecting whether the perception signal is lost through the perception sensor, it also includes at least one of the following: sending whether the perception signal is lost to the pool robot; if lost, sending a prompt signal.

[0015] Among them, the sensor includes a ranging sensor, which guides the pool robot to move to the carrying component in a second preset direction based on the perception signal, including: detecting the distance information between the pool robot and the carrying component through the ranging sensor; after detecting the distance information between the pool robot and the carrying component through the ranging sensor, it also includes at least one of the following: sending the distance information to the pool robot; if the distance information shows that the distance between the pool robot and the carrying component increases, sending a prompt signal.

[0016] In order to solve the above technical problems, the third aspect of the present application provides a pool robot, which includes a memory and a processor. The memory stores program instructions, and the processor is used to execute the program instructions to implement the pool robot control method provided by the first aspect above.

[0017] In order to solve the above technical problems, the fourth aspect of the present application provides a carrying component, which includes a second memory and a second processor. The second memory stores program instructions, and the second processor is used to execute the program instructions to implement the pool robot guidance method provided by the above second aspect.

[0018] In order to solve the above technical problems, the fifth aspect of the present application provides a computer-readable storage medium, which is used to store program instructions. The program instructions can be executed to implement the pool robot control method provided by the first aspect or the second aspect above.

[0019] The beneficial effects of the present application are as follows: Unlike the prior art, the present application controls the pool robot to move within the pool until the supporting assembly senses the pool robot; wherein, the supporting assembly is provided with a sensor, the sensor emits a detection signal in a first preset direction, and the perception signal is generated based on the detection signal; in response to the perception signal, the pool robot is controlled to move to the supporting assembly in a second preset direction to execute a target event. The above scheme, by providing a sensor on the supporting assembly, when the sensor senses the pool robot, controls the pool robot to move to the supporting assembly in the second preset direction, thereby enabling the pool robot to quickly and accurately find the target position for executing the target event; on the supporting assembly, the pool robot can execute the target event, thereby improving the working efficiency of the pool robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a flow chart of an embodiment of a pool robot control method provided by the present application;

[0021] Figure 2 This is a flow chart of another embodiment of the pool robot guidance method provided by the present application;

[0022] Figure 3It is a schematic diagram of an embodiment of a load-bearing assembly and a water pool provided by the present application;

[0023] Figure 4 This is a schematic diagram of the framework of an embodiment of the pool robot provided by this application;

[0024] Figure 5 This is a schematic diagram of a framework of an embodiment of a carrier assembly provided by the present application;

[0025] Figure 6 This is a schematic diagram of the framework of an embodiment of the pool robot control system provided by this application;

[0026] Figure 7 This is a schematic diagram of a framework of an embodiment of a computer-readable storage medium provided by the present application;

[0027] Figure 8 This is a schematic diagram of the framework of an embodiment of the pool robot control device provided by the present application;

[0028] Figure 9 It is a schematic framework diagram of an embodiment of the pool robot guiding device provided in this application. DETAILED DESCRIPTION

[0029] The following is a clear and complete description of the technical solutions in the embodiments of the present application in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0030] It should be noted that the terms "first," "second," and so on, used in the embodiments of this application are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features specified as "first" or "second" may explicitly or implicitly include at least one of these features.

[0031] In the description of the application, the meaning of "multiple" is at least two, for example, two, three, etc., unless otherwise clearly and specifically limited. In the embodiments of the present application, all directional indications (such as up, down, left, right, front, back ...) are only used to explain the relative position relationship, movement situation, etc. between each component under a certain specific posture (as shown in the drawings). If this specific posture changes, this directional indication also changes accordingly. In addition, the terms "comprise" and "have" and any of their deformations are intended to cover non-exclusive inclusions. For example, the process, method, system, product or equipment comprising a series of steps or units is not limited to the steps or units listed, but optionally also includes steps or units that are not listed, or optionally also includes other steps or units inherent to these processes, methods, products or equipment.

[0032] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present invention. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute a separate or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0033] See also Figure 1 , Figure 1 This is a flow chart of an embodiment of a pool robot control method provided by the present application, which includes:

[0034] S11: Control the pool robot to move in the pool until the carrier component senses the pool robot.

[0035] In one embodiment, a sensor is provided on the supporting assembly, and the sensor is capable of emitting a detection signal in a first predetermined direction. The first predetermined direction can be toward any location, such as the bottom of the pool, the water surface, or the inner wall of the pool. When the detection signal reaches the pool robot while it is moving within the pool, the pool robot can generate a reflected signal or absorb the detection signal. The detection signal includes, but is not limited to, an optical signal and an ultrasonic signal. The timing of when the sensor emits the detection signal can be user-controlled, i.e., the user can determine when the sensor emits the detection signal. For example, the user can determine when to emit the detection signal based on the operating time of the pool robot. The sensor can also automatically control the timing of emitting the detection signal. For example, after the pool robot enters the water, the supporting assembly can emit a robot entry signal to the sensor. In response to the entry signal, the sensor continues to emit the detection signal. After the pool robot exits the water, the supporting assembly can again emit a robot exit signal to the sensor. In response to the exit signal, the sensor stops emitting the detection signal. In other embodiments, a visual sensor is further provided on the supporting assembly, and the visual sensor is used to capture images of the interior of the pool, identify the images, and after identifying the pool robot, send a water entry signal to the sensor, causing the sensor to start sending a detection signal.

[0036] The perception signal is generated based on the detection signal. This means it is the result of the detection signal and can include the detection signal itself or an indirect representation of the detection signal. The perception signal indicates that the load-bearing component has sensed the pool robot. For example, the load-bearing component may generate a perception signal after receiving a reflection of the detection signal from the pool robot. Alternatively, the load-bearing component may generate a perception signal if it does not receive a reflection of the detection signal from the pool robot within a preset timeframe. Alternatively, the load-bearing component may generate a perception signal if it does not receive a reflection of the detection signal from the pool robot.

[0037] In one embodiment, controlling the pool robot to move within the pool can include controlling the pool robot to move along the bottom of the pool; controlling the pool robot to move along the edge of the water surface, where movement along the water surface can include controlling the pool robot to move along the pool wall at the waterline; controlling the pool robot to move at the waterline, where movement at the waterline can include controlling the pool robot to float on the water surface and not move along the pool wall; or controlling the pool robot to move in the water, where movement in the water can include controlling the pool robot to move below the waterline and not move along the pool wall. In other words, the pool robot can move in any area of ​​the pool.

[0038] In one embodiment, the pool robot can move along a random trajectory during movement, for example, a straight trajectory, an N-shaped trajectory, or a U-shaped trajectory. If the pool robot moves along an N-shaped trajectory, taking the example of the pool robot moving along an N-shaped trajectory along the inner wall of the pool, the pool robot can move along a horizontal N-shaped trajectory along the inner wall of the pool, or it can move along a vertical N-shaped trajectory along the inner wall of the pool. Part of the horizontal N-shaped trajectory is nearly parallel to the plane of the pool bottom, and part of the vertical N-shaped trajectory is nearly perpendicular to the plane of the pool bottom.

[0039] S12: In response to the sensing signal, the pool robot is controlled to move to the carrying component in a second preset direction to execute the target event.

[0040] In one embodiment, the supporting assembly senses the pool robot and generates a sensing signal, which controls the pool robot to move toward the supporting assembly in a second predetermined direction. The second predetermined direction can be determined in any of the following ways: Method 1: The second predetermined direction is determined based on the direction in which the detection signal is transmitted. The second predetermined direction can be opposite to the direction in which the detection signal is transmitted. For example, if the detection signal is transmitted from the supporting assembly toward the bottom of the pool, the second predetermined direction can be from the bottom of the pool toward the supporting assembly.

[0041] Method 2: The second preset direction is determined based on whether the sensing signal is lost. In one embodiment, whether the sensing signal is lost can be determined by the pool robot's reflection of the detection signal. If the pool robot has a device that reflects the detection signal, the support component receives the reflected signal, indicating that the support component has sensed the pool robot, the support component is able to generate the sensing signal, and the sensing signal has not been lost. Otherwise, the sensing signal has been lost. If the pool robot has material or a device that absorbs the detection signal, the support component does not receive the reflected signal, indicating that the support component has sensed the pool robot, the support component is able to generate the sensing signal, and the sensing signal has not been lost. Otherwise, the sensing signal has been lost. The support component can send a notification to the pool robot indicating whether the sensing signal is lost. If the sensing signal is not lost, the second preset direction is the opposite direction of the direction in which the sensing signal was not lost. If the sensing signal is lost, the support component can also send a prompt signal to the robot when the sensing signal is lost. The robot can determine the second preset direction based on the prompt signal. The type and transmission method of the prompt signal can be different from or partially the same as the detection signal.

[0042] Method three: The second preset direction is determined based on the distance between the pool robot and the supporting assembly. This distance can be determined based on the strength of the reflected signal or a ranging sensor. A greater reflected signal strength indicates a closer distance between the pool robot and the supporting assembly. As the reflected signal received by the supporting assembly gradually increases, the pool robot is controlled to move in the current direction of travel, which becomes the second preset direction. As the reflected signal received by the supporting assembly gradually decreases, a prompt signal can be sent to the pool robot, prompting it to move in the opposite direction of the current direction of travel, which becomes the second preset direction.

[0043] In one embodiment, when the pool robot moves to the support assembly in a second preset direction, the support assembly may further issue a trajectory change signal. In response to the trajectory change signal issued by the support assembly, the pool robot is controlled to change its current motion trajectory to move to the support assembly. The trajectory change signal is triggered based on the sensing signal, and the content of the trajectory change signal may be predetermined or generated in real time, such as based on a reflection signal of a detection signal. For example, the pool robot may be controlled to change its current motion trajectory to move to the support assembly if the pool robot is currently moving horizontally along the pool wall, and the trajectory change signal is issued to cause the pool robot to move vertically along the pool wall to move to the support assembly located above the pool robot's current position. In another embodiment, if the pool robot does not need to change its current motion trajectory, the support assembly may not issue a trajectory change signal.

[0044] In one embodiment, when controlling the pool robot to move toward the support assembly in a second preset direction, the pool robot can first be controlled to approach the support assembly in the second preset direction. During the movement of the pool robot, the pool robot's position is acquired in real time. Based on the position of the pool robot and the position of the support assembly, it is determined whether the pool robot is approaching the support assembly. If the pool robot is not approaching the support assembly, the pool robot's movement direction is adjusted so that the pool robot approaches the support assembly in the second preset direction based on the adjusted movement direction. For example, if the pool robot is located at the bottom of a pool, the support assembly is located on a first wall and to the left of the pool robot, and the second preset direction is from the pool bottom to the water surface, the pool robot is moving in the second preset direction (i.e., climbing up along the first wall). If the pool robot moves in a rightward direction, the pool robot will not be able to reach the support assembly. In this case, if it is detected that the pool robot is not approaching the support assembly in the second preset direction, the pool robot's movement direction can be changed from rightward to leftward, thereby allowing the pool robot to approach the support assembly in the second preset direction.

[0045] In one embodiment, the pool robot is further provided with a tracking device, such as a sensor device or a visual device. When controlling the pool robot to move toward the load-bearing assembly in a second predetermined direction, the pool robot can be controlled to move toward the load-bearing assembly in the second predetermined direction in response to a sensing signal based on the direction of the detection signal and the tracking device of the pool robot. Specifically, based on the direction of the detection signal, the direction of the load-bearing assembly relative to the pool robot is determined. The tracking device is then used to further search for the load-bearing assembly in the direction relative to the pool robot, thereby preventing the pool robot from blindly searching for the load-bearing assembly in the pool and improving the pool robot's efficiency in searching for the load-bearing assembly.

[0046] In one embodiment, after the pool robot is controlled to approach the support assembly in a second preset direction, it can move onto the support assembly through the side or bottom of the support assembly. In one specific embodiment, if the pool robot approaches the side of the support assembly, it can reach the support assembly through the side. If the side of the support assembly is high and the support assembly cannot pass through the side, the pool robot can be dropped back to the bottom of the pool and adjusted from the bottom of the pool so that the pool robot moves onto the support assembly through the bottom of the support assembly. Alternatively, the pool robot can be driven a preset distance toward the bottom of the pool and then reach the support assembly through the side. In another specific embodiment, if the pool robot approaches the bottom of the support assembly, it can move onto the support assembly through the bottom of the support assembly.

[0047] In the above-described embodiment, the support assembly can be in a load-bearing state. This means that the pool robot can reach the support assembly through the side or bottom of the support assembly, that is, the side or bottom of the support assembly serves as an entrance for the pool robot to operate onto the support assembly. When the support assembly is in the load-bearing state, the angle between the support portion of the support assembly and the inner wall of the pool is a preset angle. The preset angle can be a range, such as between 0-90 degrees, or a specific angle value. It is understood that the preset angle can be set by the user based on the specific conditions of the pool and is not specifically limited here.

[0048] When the pool robot moves onto the carrying assembly, it can execute target events on the carrying assembly, including self-cleaning, leaving the pool, charging, etc. Specifically, the carrying assembly includes a carrying portion, which is provided with a movement stop position, and the pool robot can execute the target event at the movement stop position.

[0049] In one embodiment, after the pool robot arrives on the carrier assembly, it can determine whether the position the pool robot has moved to on the carrier assembly is at a first position. The first position can be where the carrier assembly and the waterline overlap. If not, the pool robot is controlled to climb along the carrier assembly from the position it has moved to on the carrier assembly to the first position. The pool robot is controlled to travel a preset distance along the carrier assembly from the first position toward the bottom of the pool until it reaches a second position. At the second position, the pool robot can send a connection device opening command to the carrier assembly. Upon receiving the connection device opening command, the carrier assembly can open the connection device, which connects the carrier assembly and the pool robot. The pool robot is controlled to continue traveling along the carrier assembly from the second position toward the bottom of the pool until it stops. The position where the pool robot stops traveling is the movement stop position. In one embodiment, after the connection device is opened, if the structure on the pool robot that cooperates with the connection device has not reached the connection device position, the connection device cannot connect with the pool robot. Therefore, the pool robot can be controlled to continue traveling until the connection device can connect with the pool robot, preventing the pool robot from moving forward. For example, the connecting device may be a first locking structure, which may be a locking hook or a groove. The pool robot is provided with a second locking structure for use with the first locking structure, which may be a groove or a locking hook. It is understood that when the first locking structure is a locking hook, the second locking structure may be a groove. The first locking structure can be released by the second locking structure and lock the second locking structure; or the second locking structure can be released by the first locking structure and lock the first locking structure; or the first locking structure and the second locking structure are locked by adsorption. For example, in the case of a groove provided on the pool robot and a locking hook provided on the supporting assembly, when the pool robot travels to the second position, the area of ​​the pool robot other than the groove overlaps with the locking hook, preventing the locking hook from opening. The locking hook opens until the groove overlaps with the connecting device, at which point it hooks onto the groove, causing the pool robot to stop traveling.

[0050] It is understandable that in other embodiments, the second position may not be set on the supporting component. When the pool robot reaches the first position, it can send a connection device opening instruction to the supporting component. After receiving the connection device opening instruction, the supporting component can open the connection device.

[0051] In one embodiment, a position sensor is provided on the carrier assembly, and the pool robot is provided with a device that receives a signal from the position sensor. The position sensor is used to indicate whether the pool robot has reached a stop position. When the pool robot reaches the carrier assembly, the pool robot is controlled to travel along a third preset trajectory on the carrier assembly. In response to receiving a position signal from the position sensor, the pool robot stops traveling. The stop position of the pool robot is the movement stop position. In one specific embodiment, the third preset trajectory can include movement in a first direction, such as upward, followed by movement in a second direction opposite to the first direction, such as downward. That is, after the pool robot reaches the carrier assembly, it can be controlled to travel along the carrier assembly toward the top of the pool until it reaches the waterline. During this process, if a position signal is received, the robot stops and opens the connecting device. If no position signal is received, the robot moves from the waterline along the carrier assembly toward the bottom of the pool until it reaches the position where the position signal is received. Because the movement stop position is provided on the carrier assembly, the robot will always reach the movement stop position during its movement from the waterline along the carrier assembly toward the bottom of the pool. In another specific embodiment, the third preset trajectory may be to first move in the second direction, such as downward, and then in the first direction, such as upward. Specifically, after the pool robot reaches the support assembly, it can be controlled to first move along the support assembly toward the bottom of the pool until it reaches the bottom edge. During this process, if no in-position signal is received, the pool robot is controlled to move from the bottom edge along the support assembly to the waterline. It is understood that if the pool robot reaches the support assembly via the bottom edge, the pool robot can move directly along the support assembly toward the waterline to find the stopping position. It is understood that in this embodiment, the device that receives the in-position sensor signal can only receive the in-position signal at the stopping position. The connecting device may be a locking hook. If the connecting device is a locking hook, after opening the connecting device, the pool robot can be controlled to descend a certain distance toward the bottom of the pool so that the locking hook can hook the pool robot. The connecting device may also be a magnetic member. If the connecting device is a magnetic member, the process of opening the connecting device is not required.

[0052] It can be understood that the opening of the above-mentioned connecting device can be active or passive. For example, the pool robot and the supporting assembly are respectively provided with magnetic parts that dock with each other. When the first magnetic part on the pool robot moves to a range where it can interact with the second magnetic part on the supporting assembly, it can guide the pool robot to move to the stop position without any additional control of the connecting device.

[0053] After finding the motion stop position, the connecting device can connect the carrying component and the pool robot, and the carrying component can drive the pool robot out of the pool when the pool robot stops at the motion stop position.

[0054] In one embodiment, the aforementioned support assembly is provided with a stop position, wherein the pool robot can be connected to the support assembly in the stop position. The support assembly is movable, for example, the support assembly can rotate, and the rotation of the support assembly can be used to drive the pool robot out of the pool. For another example, the support assembly can also move up and down, and by moving upward, it can drive the pool robot out of the pool. In a specific embodiment, the support assembly can include a support portion that is rotatable. When the support portion is in a load-bearing state, the support portion is parallel to or within a certain angle range with any inner sidewall of the pool, and is located on the inner sidewall of the pool. The connection point between the support portion and the pool can be located at the edge of the pool, that is, the support portion can be connected to the pool. After the support portion is connected to the pool robot, the angle between the support portion and the inner sidewall of the pool is adjusted so that the support portion is perpendicular to or within a certain angle range with the inner sidewall of the pool, thereby allowing the pool robot to exit the pool via the support portion. For another example, the supporting component may also include a supporting portion, which is connected to the supporting portion, and the connection position between the supporting portion and the supporting portion is located at the edge of the pool. At this time, the supporting portion does not need to be connected to the pool, but only needs to be connected to the connecting portion, and the automatic recovery of the pool robot can also be realized.

[0055] The above solution controls the pool robot to move within the pool until the supporting assembly detects a sensing signal for the pool robot. The supporting assembly is provided with a sensor that emits a detection signal in a first predetermined direction, and the sensing signal is generated based on the detection signal. In response to the sensing signal, the pool robot is controlled to move in a second predetermined direction toward the supporting assembly to execute a target event. By providing a sensor on the supporting assembly, when the sensor detects the pool robot, the pool robot is controlled to move in the second predetermined direction toward the supporting assembly. This allows the pool robot to quickly and accurately locate the target location for executing the target event. On the supporting assembly, the pool robot can then execute the target event, thereby improving the pool robot's operating efficiency.

[0056] See also Figure 2 , Figure 2 : is a flow chart of an embodiment of a pool robot guidance method provided by the present application, the method comprising:

[0057] S21: Transmitting a detection signal toward a first preset direction through a sensor until the supporting component senses the pool robot.

[0058] In one embodiment, the sensor is disposed on the supporting assembly, and the sensing signal is generated based on the detection signal. The sensor may be a light generator, an ultrasonic generator, etc., and the detection signal may be a light signal, an ultrasonic signal, etc. The first predetermined direction may be toward any location in the pool, such as the pool bottom, the water surface, or the inner wall of the pool.

[0059] The perception signal indicates whether the supporting component has detected the pool robot. In one embodiment, the supporting component may generate a perception signal after receiving a reflection of a detection signal from the pool robot. Alternatively, the supporting component may generate a perception signal if it does not receive a reflection of the detection signal from the pool robot within a preset time after the detection signal is transmitted. In this case, the pool robot includes a material or device capable of reflecting the detection signal. In another embodiment, the supporting component may generate a perception signal if it does not receive a reflection of the detection signal from the pool robot. In this case, the pool robot includes a material or device capable of absorbing the detection signal. In other embodiments, the sensor includes an image capture device. The sensor transmits the detection signal in a first preset direction. This may involve capturing an image in the first direction using the image capture device. The image capture device is configured to capture the pool and perform target detection on the image captured by the image capture device until the supporting component detects the presence of a perception signal for the pool robot. Specifically, the image capture device may capture an image of a specific area within the pool. If target detection is performed on the image and the pool robot is detected, a perception signal may be generated. Among them, the method of performing target detection on the image may include: performing target detection on the image may use an existing target detection method, or comparing a standard image with the pool robot with an image taken by an image acquisition device.

[0060] S22: Guiding the pool robot to move to the carrying component in a second preset direction based on the sensing signal.

[0061] In one embodiment, the sensor includes an image acquisition device, and guiding the pool robot to move toward the carrying assembly in a second preset direction based on the sensing signal includes: obtaining position information of the pool robot via the image acquisition device during the process of the pool robot moving toward the carrying assembly in the second preset direction, and transmitting the position information to the pool robot, so that the pool robot moves toward the carrying assembly based on the position information. The position information of the pool robot may be the specific position of the pool robot or the relative position of the pool robot relative to the carrying assembly.

[0062] In one embodiment, the sensor includes a perception sensor, and based on a perception signal, guiding the pool robot to move in a second preset direction to the supporting assembly includes: detecting whether the perception signal is lost by the perception sensor. In this embodiment, the perception sensor determines whether the supporting assembly receives a reflected signal to determine whether the perception signal is lost. Specifically, if the pool robot has a device that reflects the detection signal, then the supporting assembly receives the reflected signal, indicating that the supporting assembly has sensed the pool robot, the supporting assembly is capable of generating the perception signal, and the perception signal has not been lost; otherwise, the perception signal has been lost. If the pool robot has a material or device that absorbs the detection signal, then the supporting assembly does not receive the reflected signal, indicating that the supporting assembly has sensed the pool robot, the supporting assembly is capable of generating the perception signal, and the perception signal has not been lost; otherwise, the perception signal has been lost.

[0063] After detecting whether the sensing signal is lost by the sensing sensor, the method further includes at least one of the following: transmitting the sensing signal loss information to the pool robot; and transmitting a prompt signal if the sensing signal is lost. Specifically, the support assembly may only transmit a signal indicating whether the sensing signal is lost to the pool robot. Alternatively, when the sensing signal is lost, the support assembly may transmit a prompt signal to the robot. The robot may then determine a second preset direction based on the prompt signal. The prompt signal may include information such as the sensing signal loss and the direction in which the sensing signal was lost.

[0064] In one embodiment, the sensor includes a distance measuring sensor. Guiding the pool robot to move in a second preset direction toward the carrying assembly based on a sensing signal includes: detecting distance information between the pool robot and the carrying assembly using the distance measuring sensor; after detecting the distance information between the pool robot and the carrying assembly using the distance measuring sensor, further including at least one of the following: transmitting the distance information to the pool robot; and transmitting a prompt signal if the distance information indicates that the distance between the pool robot and the carrying assembly has increased. In this case, the prompt signal includes the distance information between the pool robot and the carrying assembly, the directions of the pool robot and the carrying assembly, and the like.

[0065] In the above embodiment, the carrying assembly can guide the pool robot so that the pool robot moves quickly onto the carrying assembly.

[0066] See also Figure 3 , Figure 3 It is a schematic diagram of an embodiment of the support assembly and the water pool provided in this application.

[0067] In one embodiment, the bearing assembly 20 may include a bearing portion 201 and a support portion 202. The support portion 202 is provided on the edge of the pool 10. The bearing portion 201 and the support portion 202 are connected by a rotating shaft. When the pool robot needs to leave the pool 10, the bearing portion 201 is set on an inner wall of the pool 10. Taking the pool 10 as a square pool as an example, when the bearing portion 201 is set on an inner wall of the pool 10, the angle between the bearing portion 201 and the support portion 202 is 90°. After the pool robot reaches the bearing portion 201 from the pool 10 and is connected to the bearing portion 201 through the connecting device, the bearing portion 201 can rotate. After rotating until the bearing portion 201 and the support portion 202 are in a horizontal line, the pool robot can detach from the bearing portion 201 and leave the pool 10 via the bearing portion 201 and the support portion 202. Among them, Figure 2 The middle dashed line represents the state of the carrying portion 201 after the carrying portion 201 and the supporting portion 202 are aligned with one another.

[0068] See also Figure 4 , Figure 4 It is a schematic diagram of the framework of an embodiment of the pool robot provided in this application.

[0069] The pool robot 40 includes a first memory 41 and a first processor 42 coupled to each other. The first processor 42 is configured to execute program instructions stored in the first memory 41 to implement the steps of any of the aforementioned embodiments of the pool robot control method in which the pool robot is the executing subject. In a specific implementation scenario, the pool robot 40 may include, but is not limited to, a microcomputer and a server. Furthermore, the pool robot 40 may also include a mobile device such as a laptop computer or a tablet computer, which is not limited herein.

[0070] Specifically, the first processor 42 is used to control itself and the first memory 41 to implement the steps of any of the above-mentioned embodiments of the pool robot control method in which the execution subject is the pool robot. The first processor 42 can also be called a CPU (Central Processing Unit). The first processor 42 may be an integrated circuit chip with signal processing capabilities. The first processor 42 can 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 gates or transistor logic devices, discrete hardware components. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. In addition, the first processor 42 can be implemented by an integrated circuit chip.

[0071] In one embodiment, the pool robot 40 further includes a communication circuit, which is used to establish a connection with the carrying component, receive and send relevant processing instructions, and realize the connection and interaction between the pool robot 40 and the carrying component.

[0072] See also Figure 5 , Figure 5 It is a schematic diagram of the framework of an embodiment of the carrier assembly provided in this application.

[0073] The carrying component 20 includes a second memory 21 and a second processor 22. The second memory 21 stores program instructions, and the second processor 22 is used to execute the program instructions to implement the steps of any embodiment of the above-mentioned pool robot guiding method.

[0074] Specifically, the second processor 22 is used to control itself and the second memory 21 to implement the steps of any of the above-mentioned embodiments of the pool robot guidance method. The second processor 22 can also be called a CPU (Central Processing Unit). The second processor 22 may be an integrated circuit chip with signal processing capabilities. The second processor 22 can 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 gates or transistor logic devices, discrete hardware components. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. In addition, the second processor 22 can be implemented by an integrated circuit chip.

[0075] See also Figure 6 , Figure 6 It is a framework diagram of an embodiment of the pool robot control system provided by this application.

[0076] The pool robot control system 60 includes a pool robot 40 and a carrier assembly 20, which communicate with each other. The pool robot 40 is the pool robot 40 described in the above-mentioned embodiment. The carrier assembly 20 is used to receive and / or send commands to the pool robot 40. The carrier assembly 20 is provided with a connection device and a sensor. The connection device is used to connect the pool robot 40 and the carrier assembly 20, and the sensor is used to generate detection signals.

[0077] See also Figure 7 , Figure 7It is a schematic diagram of a framework of an embodiment of a computer-readable storage medium provided in this application.

[0078] The computer-readable storage medium 70 of the embodiment of the present application stores program instructions 71 , which, when executed, implement the method provided by any method embodiment of the present application and any non-conflicting combination.

[0079] The program instructions 71 may be stored in the computer-readable storage medium 70 in the form of a program file as a software product, so that a computer device (which may be a personal computer, a server, or a network device, etc.) executes all or part of the steps of the methods of various embodiments of the present application. The aforementioned computer-readable storage medium 70 includes: various media that can store program codes, 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 disk, or a terminal device such as a computer, a server, a mobile phone, or a tablet.

[0080] See also Figure 8 , Figure 8 It is a schematic diagram of the framework of an embodiment of the pool robot control device provided in this application.

[0081] The pool robot control device 80 includes a first control module 81 and a second control module 82. The first control module 81 is used to control the pool robot to move in the pool until the carrying component has a perception signal for the pool robot; wherein, the carrying component is provided with a sensor, the sensor emits a detection signal in a first preset direction, and the perception signal is generated based on the detection signal; the second control module 82 is used to control the pool robot to move to the carrying component in a second preset direction in response to the perception signal to execute the target event.

[0082] In one embodiment, the first control module 81 is further used to control the pool robot to move along the edge of the bottom of the water, along the edge of the water surface, or along the waterline.

[0083] In one embodiment, the second control module 82 is further configured to control the pool robot to change the current motion trajectory to move to the carrying component in response to a trajectory change signal sent by the carrying component; wherein the trajectory change signal is generated based on the perception signal.

[0084] In one embodiment, the second control module 82 is also used to control the pool robot to approach the supporting component in a second preset direction; if it is not close, the movement direction of the pool robot is adjusted, and the pool robot approaches the supporting component in the second preset direction based on the adjusted movement direction.

[0085] In one embodiment, the second preset direction is determined by at least one of the following: the second preset direction is determined based on the sending direction of the detection signal; the second preset direction is determined based on whether the perception signal is lost; the second preset direction is determined based on the distance information between the pool robot and the carrying component.

[0086] In one embodiment, the second control module 82 is further configured to respond to the sensing signal and move to the carrying assembly in a second preset direction based on the sending direction of the detection signal and the tracking device of the pool robot.

[0087] In one embodiment, the detection signal includes at least one of an optical signal and an ultrasonic signal.

[0088] See also Figure 9 , Figure 9 It is a schematic framework diagram of an embodiment of the pool robot guiding device provided in this application.

[0089] The pool robot guiding device 90 includes a signal transmitting module 91 and a guiding module 92. The signal transmitting module 91 is used to transmit a detection signal toward a first preset direction through a sensor until the supporting component has a perception signal for the pool robot; wherein, the sensor is arranged on the supporting component, and the perception signal is generated based on the detection signal; the guiding module 92 is used to guide the pool robot to move to the supporting component in a second preset direction based on the perception signal.

[0090] In one embodiment, the sensor includes an image acquisition device, and the signal transmission module 91 is also used to obtain an image of the pool taken by the image acquisition device; perform target detection on the image until the carrier component has a perception signal for the pool robot.

[0091] In one embodiment, the guiding module 92 is also used to obtain the position information of the pool robot through an image acquisition device during the process of the pool robot moving to the carrying component in a second preset direction, and send the position information to the pool robot, so that the pool robot moves to the carrying component based on the position information.

[0092] In one embodiment, the sensor includes a perception sensor, and the guidance module 92 is further used to detect whether the perception signal is lost through the perception sensor, and send the information to the pool robot whether the perception signal is lost. If lost, a prompt signal is sent.

[0093] In one embodiment, the sensor includes a ranging sensor, and the guidance module 92 is further used to detect the distance information between the pool robot and the carrying component through the ranging sensor; send the distance information to the pool robot; if the distance information indicates that the distance between the pool robot and the carrying component increases, send a prompt signal.

[0094] If the technical solution of this application involves personal information, the product that applies the technical solution of this application has clearly informed the personal information processing rules and obtained the individual's voluntary consent before processing personal information. If the technical solution of this application involves sensitive personal information, the product that applies the technical solution of this application has obtained the individual's separate consent before processing sensitive personal information, and at the same time meets the "explicit consent" requirement. For example, on personal information collection devices such as cameras, a clear and prominent sign is set to inform that the personal information collection scope has been entered and personal information will be collected. If the individual voluntarily enters the collection scope, it is deemed that they agree to the collection of their personal information; or on the personal information processing device, when the personal information processing rules are notified by obvious signs / information, the individual's authorization is obtained through pop-up information or by asking the individual to upload their personal information; among which, the personal information processing rules may include information such as the personal information processor, the purpose of personal information processing, the processing method, and the type of personal information processed.

[0095] The above description is only an implementation method of the present application and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the description and drawings of this application, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A pool robot control method, characterized in that: include: Controlling the pool robot to move in the pool until the supporting assembly generates a sensing signal for the pool robot; wherein the supporting assembly is provided with a sensor, the sensor transmits a detection signal in a first preset direction, and the sensing signal is generated based on the detection signal; In response to the sensing signal, the pool robot is controlled to move to the carrying component in a second preset direction to execute a target event.

2. The method according to claim 1, characterized in that The exercise in the pool includes at least one of the following: Moving along the edge of the water bottom, moving along the edge of the water surface and moving along the waterline.

3. The method according to claim 1, characterized in that The step of controlling the pool robot to move to the carrying assembly in a second preset direction in response to the sensing signal includes: In response to a trajectory change signal sent by the carrying component, the pool robot is controlled to change the current motion trajectory to move to the carrying component; wherein the trajectory change signal is generated based on the perception signal.

4. The method according to claim 1, wherein The controlling the pool robot to move to the carrying assembly in a second preset direction includes: Controlling the pool robot to approach the carrying assembly in the second preset direction; If not, the movement direction of the pool robot is adjusted, and based on the adjusted movement direction, the robot approaches the carrying assembly in the second preset direction.

5. The method according to claim 4, characterized in that The second preset direction is determined by at least one of the following: The second preset direction is determined based on the sending direction of the detection signal; The second preset direction is determined based on whether the sensing signal is lost; The second preset direction is determined based on distance information between the pool robot and the carrying component.

6. The method according to claim 1, wherein In response to the sensing signal, controlling the pool robot to move to the carrying assembly in a second preset direction includes: In response to the sensing signal, based on the sending direction of the detection signal and the tracking device of the pool robot, the robot moves to the carrying assembly in a second preset direction.

7. The method according to any one of claims 1 to 6, characterized in that The detection signal includes at least one of an optical signal and an ultrasonic signal.

8. A pool robot guidance method, characterized in that: include: The sensor transmits a detection signal in a first preset direction until the supporting component receives a sensing signal for the pool robot; wherein the sensor is disposed on the supporting component, and the sensing signal is generated based on the detection signal; The pool robot is guided to move to the carrying component in a second preset direction based on the sensing signal.

9. The method according to claim 8, characterized in that The sensor includes an image acquisition device, and the sensor emits a detection signal toward a first preset direction until the supporting component senses the pool robot, including: Acquire an image of the pool captured by the image acquisition device; Target detection is performed on the image until the carrying component generates a perception signal for the pool robot.

10. The method according to claim 9, characterized in that The step of guiding the pool robot to move to the carrying component in a second preset direction based on the sensing signal includes: During the process of the pool robot moving to the carrying component in a second preset direction, the position information of the pool robot is obtained by the image acquisition device, and the position information is sent to the pool robot, so that the pool robot moves to the carrying component based on the position information.

11. The method according to claim 8, characterized in that The sensor includes a perception sensor, and the method of guiding the pool robot to move to the carrying component in a second preset direction based on the perception signal includes: detecting, by the perception sensor, whether the perception signal is lost; After detecting whether the sensing signal is lost by the sensing sensor, the method further includes at least one of the following: Sending whether the sensing signal is lost to the pool robot; If lost, a prompt signal is sent.

12. The method according to claim 8, characterized in that The sensor includes a distance measuring sensor, and the method of guiding the pool robot to move to the carrying component in a second preset direction based on the sensing signal includes: Detecting the distance information between the pool robot and the carrying component by the distance measuring sensor; After detecting the distance information between the pool robot and the carrying component by the distance measuring sensor, at least one of the following is further included: sending the distance information to the pool robot; If the distance information indicates that the distance between the pool robot and the carrying component increases, a prompt signal is sent.

13. A pool robot, characterized in that: The pool robot includes a first memory and a first processor, the first memory stores program instructions, and the first processor is used to execute the program instructions to implement the pool robot control method according to any one of claims 1 to 7.

14. A bearing assembly, characterized in that: The carrying component includes a second memory and a second processor, the second memory stores program instructions, and the second processor is used to execute the program instructions to implement the pool robot guiding method according to any one of claims 8 to 12.

15. A computer-readable storage medium, characterized in that The computer-readable storage medium is used to store program instructions, and the program instructions can be executed to implement the pool robot control method according to any one of claims 1 to 7, or to implement the pool robot guiding method according to any one of claims 7 to 12.

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