Pool robot control methods

Abstract

This disclosure provides a control method for a swimming pool robot. The control method includes: during the process of the swimming pool robot switching from a pool wall state to a water surface state, controlling the swimming pool robot to adjust the parameters of at least one of a suction component, a walking mechanism, and a propulsion mechanism according to at least one of the swimming pool robot's posture and the water depth at the swimming pool robot's location. This disclosure improves the success rate of the swimming pool robot's switching from a pool wall state to a water surface state by adjusting the above parameters to change its operating mode.

Description

Technical Field

[0001] This disclosure relates to the field of artificial intelligence technology, and in particular to a method for controlling a swimming pool robot. Background Technology

[0002] In existing technologies, pool robots can usually only be controlled to move from the bottom of the pool to the pool wall, but cannot be controlled to move from the pool wall to the water surface. Therefore, they can usually only clean the bottom or the pool wall, or only clean the water surface, and cannot clean the bottom, the pool wall and the water surface at the same time, which reduces cleaning efficiency. Summary of the Invention

[0003] The main technical problem addressed by this disclosure is to provide a control method for a swimming pool robot that enables the robot to switch from a pool wall state to a water surface state.

[0004] To address the aforementioned technical problems, this disclosure provides a control method for a swimming pool robot, the swimming pool robot comprising: a main body;

[0005] At least one filter unit, at least partially disposed inside the main body, is used to filter liquids entering therein;

[0006] At least one suction component, at least partially disposed inside the main body, is used to draw liquid from the pool into the filter unit and to discharge the liquid filtered by the filter unit out of the main body.

[0007] At least one walking mechanism and / or at least one propulsion mechanism, the walking mechanism being disposed at the bottom or side of the main body; the walking mechanism being at least used to enable the pool robot to move on the surface of an object; the propulsion mechanism being disposed at the side or rear of the main body, the propulsion mechanism being at least used to enable the pool robot to move in or on the surface of water;

[0008] At least one mode switching component is provided, which is used to switch the pool robot between a pool wall state and a water surface state; wherein, the pool wall state is when the pool robot walks or stays still on the pool wall; and the water surface state is when the pool robot walks or stays still on the water surface.

[0009] Control methods include:

[0010] During the process of the pool robot switching from the pool wall state to the water surface state, the control system adjusts the parameters of at least one of the suction component, the walking mechanism, and the propulsion mechanism according to at least one of the following: the posture of the pool robot and the water depth at the location of the pool robot.

[0011] The beneficial effects of this disclosure are: the mode switching component enables the pool robot to switch between the pool wall state and the water surface state; it enables the pool robot to clean the pool in all directions, improves cleaning efficiency, and reduces the cleaning cost of the pool.

[0012] Furthermore, during the process of the pool robot switching from the pool wall state to the water surface state, the control system adjusts the parameters of at least one of the suction components, the walking mechanism, and the propulsion mechanism based on at least one of the pool robot's posture and the water depth at the pool robot's location. By adjusting the above parameters, the operation mode of the pool robot is changed, thereby improving its success rate in switching from the pool wall state to the water surface state. Attached Figure Description

[0013] Figure 1 This is a partial structural schematic diagram of a swimming pool robot provided in one embodiment of the present disclosure;

[0014] Figure 2 This is a partial structural schematic diagram of a swimming pool robot provided in one embodiment of the present disclosure;

[0015] Figure 3 This is a schematic diagram of the structure of a swimming pool robot provided in one embodiment of the present disclosure;

[0016] Figure 4 This is a longitudinal cross-sectional schematic diagram of a swimming pool robot provided in an embodiment of the present disclosure;

[0017] Figure 5 This is a schematic diagram of a swimming pool robot in a pool bottom state according to an embodiment of this disclosure;

[0018] Figure 6 This is a schematic diagram of a swimming pool robot in a pool wall state according to an embodiment of this disclosure;

[0019] Figure 7 This is a schematic diagram of a swimming pool robot in a water surface state according to an embodiment of this disclosure;

[0020] Figure 8 This is a schematic diagram of the transition state between the pool wall state and the water surface state of a swimming pool robot provided in an embodiment of this disclosure.

[0021] Icon labels:

[0022] 100. Pool robot; 101. Main body; 1009. Distance detection component; 1010. Image acquisition component; 1040. Liquid outlet; 1050. Filtration unit; 1060. Suction assembly; 1071. Walking mechanism; 1171. First walking wheel; 1172. Second walking wheel; 117. Track; 1072. Propulsion mechanism; 10721. Thruster; 1101. Float cavity; 113. First inlet; 119. Outlet; 120. Pool bottom; 121. Pool wall; 122. Water surface. Detailed Implementation

[0023] The technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. Based on the embodiments of this disclosure, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this disclosure.

[0024] It should be noted that the embodiments of this disclosure include descriptions involving "first," "second," etc., which 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, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features.

[0025] In the description of this disclosure, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified. All directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of this disclosure are only used to explain the relative positional relationships and movements between components in a specific orientation (as shown in the figures). If the specific orientation changes, the directional indication will also change accordingly. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or devices.

[0026] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0027] This disclosure provides a swimming pool robot. The swimming pool robot 100 is used to perform tasks such as cleaning, disinfection, and rescue in a target area. The target area may include, but is not limited to, swimming pools, water tanks, oil wells, sewers, etc., and the following description uses a water tank as an example. The swimming pool robot 100 is suitable for operation in the water of the pool, and the swimming pool robot 100 is capable of moving in at least one of the following: the water surface, underwater, and the pool wall. For the water tank, the pool includes at least a pool bottom and pool walls, wherein the pool wall can also be described as a wall or the side wall of the pool.

[0028] Underwater movement in the pool refers to the movement of the pool robot below the water surface. For example, the pool robot may move on the bottom of the pool, or it may move below the water surface but with its bottom not in contact with the pool bottom; that is, the pool robot can float and walk without its bottom touching the pool bottom. Pool wall movement refers to the movement of the pool robot on the pool wall or surrounding wall. Surface movement refers to the movement of the pool robot on the water surface, with at least a portion of the robot above and at least a portion below the water surface; or, the pool robot may float on the water surface but move on the surface using propulsion.

[0029] For example, a pool robot can be a robot powered by a built-in rechargeable battery or a device powered by an external cable. If the pool robot has the ability to move along the pool bottom and walls, it can clean the pool bottom and walls; if the pool robot has underwater movement, pool wall movement, and water surface movement, it can clean the pool bottom 120, pool walls 121, and water surface 122.

[0030] The pool robot includes a main body 101, such as Figure 4 As shown, the main body is provided with at least one liquid inlet, at least one filter unit 1050, at least one liquid outlet 1040, and at least one suction assembly 1060. For example, the liquid outlet 1040 includes a first water outlet, at least a portion of which is located on the top of the main body. The filter unit is at least partially located inside the main body. The filter unit may include a filter cartridge.

[0031] The inlet section serves as the entrance for liquid from the water supply tank to enter the main body. When the pool robot moves underwater, along the pool wall, or on the water surface, the liquid in the pool is drawn into the filtration unit by the suction assembly. The filtration unit filters the liquid entering it, and the filtered liquid is then discharged from the main body through the outlet section after passing through the suction assembly. Any debris carried by the liquid is collected in the filtration unit, thus cleaning the liquid in the pool. For example, in some embodiments, the suction assembly includes a main water pump.

[0032] In some embodiments, the pool robot includes at least one walking mechanism and / or at least one propulsion mechanism 1072. The walking mechanism 1071 may be located at the bottom or side of the main body 101. The propulsion mechanism may be located at the side or rear of the main body. The walking mechanism 1071 is at least adapted to enable the pool robot 100 to move on object surfaces (e.g., pool bottom surface, pool wall surface, obstacle surface, etc.). The propulsion mechanism 1072 is at least adapted to enable the pool robot 100 to travel in or on the surface of water.

[0033] For example, in one embodiment, the walking mechanism 1071 may include at least two walking wheels and at least one motor for driving the walking wheels. For instance, there may be two walking wheels symmetrically arranged on the main body. Alternatively, there may be four walking wheels, similar to those of a car, symmetrically arranged on the main body. Or, as... Figure 1 or Figure 2 As shown, the walking mechanism 1071 includes a first walking wheel 1171, a second walking wheel 1172, and a track 117 wrapped around the outer periphery of the first and second walking wheels, and an annular area formed between the inner sidewall of the track and the two walking wheels. There are two walking mechanisms, located on opposite sides of the main body.

[0034] The propulsion mechanism 1072 is at least adapted to drive the pool robot 100 to move in or on the surface of water. In one embodiment, the propulsion mechanism 1072 includes at least one thruster 10721, which propels liquid along a first preset direction. When the liquid moves along the first preset direction, the pool robot is subjected to a first driving force in the horizontal direction, wherein the direction of the first driving force is opposite to the first preset direction. By providing the thruster 10721, the position switching of the pool robot 100 in the horizontal direction can be realized. For example, it can move straight or turn in the horizontal direction, enabling the pool robot to walk on the water surface, which facilitates cleaning of the pool surface.

[0035] In some embodiments, the pool robot 100 further includes at least one reagent dispensing component. The reagent dispensing component includes a reagent storage component. The reagent dispensing component also includes a dispensing drive component, which at least includes a pump. A reagent opening is provided on the main body. The dispensing drive component is disposed on the main body 101 and connected to the reagent storage component. The dispensing drive component is used to drive and control the flow of reagent from the reagent storage component through the reagent opening. The dispensing drive component can control the reagent storage component to dispense reagent through the reagent opening based on a first operating parameter. The first operating parameter may include the exit speed of the reagent to be dispensed from the reagent storage component, such as a flow rate; it may also include the dispensing duration, such as a preset time for each dispensing cycle.

[0036] The reagent storage component can be used to store the reagent to be applied. The reagent storage component can be housed within the main body 101. Alternatively, the reagent storage component can be detachably installed within the main body 101. The reagent storage component is provided with a reagent opening. The reagent to be applied can be a reagent required for maintenance of the water body, such as algae removal, clarification, and disinfection.

[0037] In some implementations, after each reagent application, the application can be recorded. Specifically, it can record one or more of the following: whether application was carried out, the time of application, the number of applications, and the location of application. This record can be displayed on the APP interface.

[0038] In some embodiments, if the pool robot is submerged in water, after each reagent dispensing cycle or after a preset number of dispensing cycles, the dispensing drive component reverses its operation, i.e., it draws reagent from the reagent opening into the reagent storage component, thereby preventing reagent condensation and blockage of the pipeline between the reagent opening and the reagent storage component. In some embodiments, if an abnormal situation occurs during the reverse operation of the dispensing drive component, such as the pool robot exiting the water or shutting down, the reverse operation of the dispensing drive component stops. Once the pool robot returns to normal, such as re-entering the water or turning on, the reverse operation of the dispensing drive component may or may not continue; this disclosure does not impose any limitations.

[0039] In some embodiments, if the pool robot is outside the pool and reagents have been applied before the robot exits the water, the application drive component can reverse its operation immediately after the robot exits the water or after a certain period of time to prevent reagent condensation from clogging the tubing between the reagent opening and the reagent storage component. In some embodiments, if an abnormal situation occurs during the reverse operation of the application drive component, such as the pool robot re-entering the water or shutting down, the reverse operation of the application drive component will stop. Once the pool robot returns to normal, such as exiting the water again or turning on again, the reverse operation of the application drive component may or may not continue; this disclosure does not impose any limitations.

[0040] In some implementations, the time it takes for the spraying drive component to reverse when the pool robot is in the water can be less than or equal to the time it takes for the spraying drive component to reverse when the pool robot is outside the pool.

[0041] In some implementations, the time it takes for the spraying drive component to reverse when the pool robot is in the water can be greater than the time it takes for the spraying drive component to reverse when the pool robot is outside the pool.

[0042] In some embodiments, the pool robot includes a control component that can acquire various data information of the pool robot 100 and analyze and process the acquired data information to control the various components in the pool robot 100.

[0043] like Figure 3As shown, the pool robot includes a distance detection element 1009, with at least one distance detection element 1009 disposed on either side of the main body. The distance detection element 1009 is used to identify the distance between objects within the target area and the pool robot. The distance detection element can be a TOF (Time of Flight) based ranging sensor, an ultrasonic sensor, a line laser, LDS, etc. One or more distance detection elements can be disposed on one side of the main body. If one side of the main body contains at least two distance detection elements, the types of the different distance detection elements can be the same or different. For example, when one side of the main body contains two distance detection elements, one is an infrared sensor and the other is an ultrasonic sensor, or both are infrared sensors, or both are ultrasonic sensors.

[0044] In one implementation, such as Figure 3 , Figure 4 As shown, the pool robot 100 also includes one or more image acquisition units 1010, which are used to acquire images of the target area and process the acquired images through a control component to control the movement behavior of the pool robot 100.

[0045] In some implementations, the pool robot has a pool bottom state, a pool wall state, and a water surface state, such as... Figure 5 As shown, the pool bottom states are either the pool robot walking or stationary on the pool bottom; as Figure 6 As shown, the pool wall state indicates whether the pool robot is walking or stationary on the pool wall; the water surface state indicates whether the pool robot is walking or stationary on the water surface. Figure 7 As shown, when the pool robot is on the water surface, it is roughly parallel to or horizontal, with at least a portion of it above the water. When the pool robot is on the bottom, it is also roughly horizontal. In other words, the pool robot is roughly horizontal in both its surface and bottom states, with its top facing upwards and its bottom facing downwards.

[0046] In some embodiments, the pool robot includes at least one mode-switching component. The mode-switching component is used to switch the pool robot between a pool wall state and a water surface state, or between a pool bottom state and a water surface state.

[0047] In one embodiment, the posture of the pool robot includes the pitch angle of the pool robot;

[0048] The mode switching component is used to adjust the pitch angle of the pool robot, enabling the pool robot to switch between pool wall mode and water surface mode.

[0049] In one embodiment, the mode switching component is further used to adjust the force or buoyancy of the pool robot 100 in the vertical direction or perpendicular to the water surface, enabling the pool robot 100 to switch its posture above and below the water surface 122. The vertical direction can be the vertical direction of the target area, such as the vertical direction of the pool, i.e., the direction of gravity; the horizontal direction can be the horizontal direction of the target area, such as the horizontal direction of the pool, i.e., the direction perpendicular to gravity.

[0050] In some embodiments, the mode switching component is used to adjust the magnitude of the buoyancy force on the pool robot 100 in the vertical direction or in the direction perpendicular to the water surface, so as to realize the pose change above and below the water surface 122.

[0051] For example, the mode switching component includes a float cavity. By increasing the volume of gas in the float cavity and / or discharging the liquid in the float cavity, the buoyancy force on the pool robot is greater than or equal to the gravity, enabling the pool robot 100 to switch from the pool wall state to the water surface state, or directly from the pool bottom state to the water surface state, thus realizing the pose switching of the pool robot 100 from below the water surface to above the water surface 122. When the pool robot 100 is in the water surface state, by reducing the volume of gas in the float cavity and / or injecting liquid into the float cavity, the buoyancy force on the pool robot is less than or equal to the gravity, enabling the pool robot to switch from the water surface state to the pool wall state or to the pool bottom state, thus realizing the pose switching of the pool robot from above the water surface to below the water surface.

[0052] In one implementation, such as Figure 1 or Figure 2 As shown, the mode switching component includes a float cavity 1101, a first adjusting member, at least one first inlet 113, and at least one outlet 119. The float cavity 1101 is rigid or flexible and is used to contain gas and / or liquid. The first adjusting member is used to adjust the volume of gas and / or liquid within the float cavity 1101. The first inlet 113 communicates with the float cavity 1101, allowing external gas to enter the float cavity or gas within the float cavity to exit the float cavity. The outlet communicates with the float cavity, allowing liquid outside the float cavity to enter the float cavity or liquid within the float cavity to exit the float cavity. Adjusting the volume of gas within the float cavity 1101 by the first adjusting member includes increasing or decreasing the volume of gas within the float cavity 1101. Adjusting the volume of liquid within the float cavity 1101 by the first adjusting member includes increasing or decreasing the volume of liquid within the float cavity 1101.

[0053] In some embodiments, adjusting the volume of gas and / or liquid within the float cavity 1101 by the first adjusting member may include: opening the first adjusting member to begin adjusting the volume of gas and / or liquid within the float cavity 1101; or opening the first adjusting member and opening the switch associated with the first inlet 113 or outlet before starting to adjust the volume of gas and / or liquid within the float cavity 1101. Correspondingly, closing the first adjusting member to stop adjusting the volume of gas and / or liquid within the float cavity 1101; or closing the switch associated with the first inlet 113 or outlet regardless of whether the first adjusting member is open, thus stopping the adjustment of the volume of gas and / or liquid within the float cavity 1101.

[0054] For example, the first regulating component includes a pump.

[0055] In some embodiments, the first regulating member increases the volume of gas and / or decreases the volume of liquid in the float cavity 1101 by means including, but not limited to, increasing the volume of gas in the float cavity 1101 by decreasing the volume of liquid in the float cavity 1101. Specifically, the pump drives the liquid in the float cavity 1101 to be discharged through the discharge port or other liquid discharge port, and the pressure in the float cavity decreases to form a negative pressure, which drives gas to be injected into the float cavity 1101 from the first injection port or other gas inlet.

[0056] Alternatively, simply increase the volume of gas within the float cavity 1101. Specifically, a pump drives the gas within the float cavity 1101 to be injected into the float cavity 1101 from the first injection port or other gas inlets.

[0057] Alternatively, the volume of liquid within float cavity 1101 can be reduced. Specifically, the pump drives the liquid within float cavity 1101 to be discharged via a discharge port or other liquid discharge port.

[0058] In some embodiments, the first adjusting member reduces the volume of gas and / or increases the volume of liquid in the float cavity 1101 by means including, but not limited to, increasing the volume of liquid in the float cavity 1101 to decrease the volume of gas in the float cavity 1101. Specifically, gas originally exists in the float cavity 1101. The pump drives liquid to enter the float cavity 1101 from the discharge port or other liquid inlet. As the liquid gradually increases, the original gas in the float cavity 1101 is gradually compressed, thereby discharging the gas in the float cavity 1101 from the first injection port 113 or other gas discharge port.

[0059] Alternatively, the volume of gas within the float cavity 1101 can be reduced. Specifically, the pump drives the gas within the float cavity 1101 to be discharged via the first injection port 113 or another gas outlet.

[0060] Alternatively, simply increase the volume of liquid within float cavity 1101. Specifically, a pump drives the liquid within float cavity 1101 to enter float cavity 1101 through a discharge port or other liquid inlet.

[0061] In some implementations, when the pool robot switches from the surface state to the bottom state, if the robot tilts upon reaching the bottom due to factors such as stopping on a slope (e.g., the front is lower than the rear in the vertical direction, or the rear is lower than the front), this tilt may prevent the gas in the float cavity 1101 from being completely expelled within the preset working time of the first adjuster. The gas remaining in the float cavity 1101 may cause the robot's weight to become unbalanced while it is running on the bottom, potentially leading to the front or rear tilting up. This could not only make the robot prone to tipping over, but also prevent it from entering the pool wall area, or cause it to fall off the pool wall after entering it.

[0062] To address the aforementioned issues, when the pool robot reaches the bottom of the pool, if its posture meets the preset posture requirements (e.g., the pitch angle is greater than or equal to the preset angle, and the tilt direction conforms to the preset direction, such as the front facing the bottom of the pool and the rear facing the water surface, or the rear facing the bottom of the pool and the front facing the water surface), the pool robot is controlled to adjust its posture, such as adjusting the tilt direction (e.g., changing from the front facing the bottom of the pool and the rear facing the water surface to the rear facing the bottom of the pool and the front facing the water surface) or the tilt angle, etc.; and after adjusting the posture or during the posture adjustment process, the operation of reducing the volume of gas and / or increasing the volume of liquid in the float cavity 1101 is performed to reduce the possibility of residual gas in the float cavity 1101.

[0063] In some scenarios, the pool robot moves from the pool bottom or pool wall to the water surface. These scenarios include, but are not limited to: switching from pool wall cleaning mode or pool bottom cleaning mode to water surface cleaning mode; and during the return phase, when the pool robot is not on the water surface, but the return position is on the water surface. When the pool robot moves to the water surface, at least a portion of the robot is above the water surface. At this time, the pool robot can be in a pool wall state, a water surface state, or any other arbitrary state.

[0064] The pool robot can move to any position on the water surface. In some implementations, the pool robot can move to the boundary between the water surface and the pool wall, i.e., the waterline.

[0065] In some implementations, if the pool robot moves from the bottom of the pool to the surface, the pool robot 100 can float from the bottom to the surface, or it can first move from the bottom to the pool wall (i.e., switch from the bottom state to the pool wall state as described above), and then move from the pool wall to the surface. If the pool robot moves from the pool wall to the surface, the pool robot 100 can move from the pool wall toward the surface until it reaches the surface. Alternatively, it can first move from the pool wall to the bottom of the pool, and then move from the bottom to the surface.

[0066] In some implementations, before moving from the pool bottom to the pool wall, the pool robot 100 first moves to the boundary between the pool bottom and the pool wall (i.e., the intersection of the pool wall and the pool bottom). The way to reach the boundary can be: the pool robot 100 moves in any direction until it reaches the pool wall; or the pool robot 100 detects (e.g., detecting while stationary, or detecting while rotating) a target pool wall that meets the target conditions. The target conditions include, but are not limited to, at least one of the following: using the pool wall closest to the pool robot 100 as the target pool wall; or using the pool wall located in the direction the pool robot 100 is facing as the target pool wall.

[0067] If the target pool wall is detected, the robot can move from its current position in any manner (e.g., linear movement, planned path movement) to the intersection of the target pool wall and the pool bottom, thus reaching the boundary. When the pool robot detects the target pool wall, it can move in any direction until it reaches the intersection of the target pool wall and the pool bottom, i.e., reaches the boundary. Reaching the boundary can be either a preset distance between the pool robot and the target pool wall, or at least a portion of the pool robot touching the target pool wall.

[0068] In some embodiments, as the pool robot 100 moves from the pool bottom towards the pool wall, it adjusts the parameters of at least one of the suction component, the walking mechanism, and the propulsion mechanism according to the distance between itself and the pool wall. These parameter adjustments may include changes in the power, current, voltage, and energy consumption of the drive mechanisms corresponding to the suction component, the walking mechanism, and the propulsion mechanism; changes in the operating speed of the suction component, the walking mechanism, and the propulsion mechanism; control of the operating time; or opening or closing the suction component, the walking mechanism, and the propulsion mechanism. This embodiment does not limit these adjustments.

[0069] In one specific implementation, if the distance between the pool robot and the pool wall is less than a preset distance, the operating speed of the suction component (e.g., the rotation speed of the main water pump) can be reduced to a preset value. This prevents the force exerted by the suction component on the main body from the top to the bottom of the main body from hindering its lifting, thereby increasing the success rate of moving from the pool bottom to the pool wall. The reduction in the operating speed of the suction component can be done gradually: for example, when the distance is a first preset distance, the rotation speed of the suction component is reduced; when the distance is a second preset distance, the operating speed of the suction component is further reduced until it reaches 0 or close to 0. This avoids a situation where the deceleration time of the suction component is too long, and if the deceleration only begins when the robot is too close to the pool wall, the water pump rotation speed may not have decreased to the preset value by the time the robot is about to climb the wall, affecting the success rate of the pool robot moving from the pool bottom to the pool wall. The second preset distance is less than the first preset distance.

[0070] In one specific implementation, if the distance between the pool robot and the pool wall is less than a preset distance, the operating speed of the walking mechanism (e.g., the rotation speed of the walking wheels) can be increased to a preset value to enhance the movement ability of the pool robot and increase the success rate of moving from the bottom of the pool to the pool wall.

[0071] In some embodiments, during the process of the pool robot 100 switching from the pool bottom state to the pool wall state and / or from the pool wall state to the water surface state, the parameters of at least one of the following components—the suction assembly, the walking mechanism, the propulsion mechanism, and the first adjusting component—are adjusted based on the attitude of the pool robot 100 (e.g., pitch angle, heading angle, roll angle, etc.), the water depth at the location of the pool robot, and the state of the pool robot (e.g., pool wall state, pool bottom state, water surface state, or a transitional state between the above states, etc.). Adjusting the parameters of the first adjusting component may include turning the first adjusting component on or off, and may also include adjusting the power, current, voltage, energy consumption, and operating time of the first adjusting component. This embodiment does not limit this. By adjusting the above parameters to change the operating mode of the pool robot, the success rate of its switching from the pool bottom state to the pool wall state or from the pool wall state to the water surface state is improved.

[0072] The attitude of the pool robot can be acquired by an inertial measurement unit (IMU) installed inside the main body. The IMU may include one or more of an accelerometer, a gyroscope, and a magnetometer.

[0073] In one specific embodiment, during the process of the pool robot 100 switching from a pool bottom state to a pool wall state, when the pool robot is in the pool bottom state, the operating speed of the suction component (e.g., the rotational speed of the main water pump) is a first operating speed; when the pitch angle is less than or equal to a second pitch angle threshold (e.g., any value between 40° and 50°), the operating speed of the suction component is adjusted to a second operating speed (e.g., reduced to 0 or close to 0); when the pitch angle is greater than the second pitch angle threshold, the operating speed of the suction component is adjusted to a third operating speed; wherein, the second operating speed is less than the first operating speed, and the second operating speed is less than the third operating speed. The magnitudes of the first operating speed and the third operating speed can be the same or different.

[0074] In some implementations, when the pool robot switches from the pool bottom state to the pool wall state (e.g., when the front of the pool robot contacts the pool wall, or when the pool robot is at a certain distance from the pool wall, or any other situation where there is a tendency to switch from the pool bottom state to the pool wall state), the operating speed of the suction component is reduced. When the pitch angle switches to the second pitch angle threshold, the operating speed of the suction component is increased.

[0075] By reducing the operating speed of the suction component when the pool robot switches from the pool bottom to the pool wall, the force exerted by the suction component on the main body from top to bottom is prevented from hindering the robot's ascent, thus increasing the success rate of moving from the pool bottom to the pool wall. Once the pitch angle reaches the second pitch angle threshold (i.e., after the main body has partially lifted), the operating speed of the suction component is increased. The force exerted by the suction component presses the main body against the pool bottom and wall, improving the stability of the pool robot's subsequent wall-climbing actions.

[0076] In one specific implementation, during the process of the pool robot switching from the pool bottom state to the pool wall state, as the pitch angle increases, the operating speed of the walking mechanism is reduced accordingly to prevent the pool robot from tilting backward or even falling off the pool wall due to excessive movement speed. Specifically, reducing the operating speed of the walking mechanism as the pitch angle increases can be achieved in two ways: the operating speed of the walking mechanism continuously decreases as the pitch angle increases (i.e., the operating speed is always in a state of flux); or the operating speed of the walking mechanism does not decrease continuously as the pitch angle increases (i.e., the operating speed remains constant for a period of time before decreasing).

[0077] For example, if the pool robot is in the first pitch angle range (e.g., 0° to 45°), the running speed of the walking mechanism can be reduced to the first level (e.g., any value between 170mm / s and 210mm / s); when the pool robot is in the second pitch angle range (e.g., 45° to 60°), the running speed of the walking mechanism is further reduced to the second level (e.g., any value between 70mm / s and 90mm / s). The angle values ​​in the second pitch angle range are greater than or equal to the angle values ​​in the first pitch angle range, and the speed values ​​in the second level are less than or equal to the speed values ​​in the first level. It should be noted that the pitch angle range and speed level division method (e.g., the number of pitch angle ranges and speed levels, and the corresponding pitch angle values ​​or running speed values) can be set according to actual needs, and this embodiment does not impose any limitations on this.

[0078] In one embodiment, during the process of switching from the pool bottom state to the pool wall state, the pool robot 100 adjusts the parameters of at least one of the suction component, the walking mechanism, and the propulsion mechanism based on whether a transition zone exists at the boundary, or the attitude angle of the pool robot 100 (e.g., pitch angle). If a transition zone exists at the boundary, meaning the pool bottom and pool wall are connected by a transition zone, the shape of the transition zone can be one of an arc-shaped region, a ramp region, or a sloped region; if no transition zone exists at the boundary, meaning the pool bottom and pool wall are directly connected, the existence of a transition zone at the boundary can be determined in any way.

[0079] In one specific implementation, when a transition zone exists at the boundary, it is often difficult for the transition zone to completely conform to the bottom of the pool robot. If the contact area is too small, the pool robot may be unable to climb the pool wall or may fall off the pool wall. Therefore, during the process of the pool robot 100 moving from the pool bottom to the pool wall, the suction component can be kept active or its operating speed can be kept constant. The force exerted by the suction component on the main body will press the main body against the transition zone and the pool wall, thereby preventing the pool robot from losing contact with the pool wall and improving the success rate of the pool robot moving from the pool bottom to the pool wall.

[0080] In one specific implementation, the parameter adjustment methods for the suction component and / or the walking mechanism differ depending on whether a transition zone exists at the boundary. For example, the pitch angle range and speed level division methods may differ. For instance, when a transition zone exists, the suction component is in the on state when the pool robot's pitch angle is less than 45 degrees; when no transition zone exists, the suction component is in the off state when the pool robot's pitch angle is less than 45 degrees. Alternatively, when a transition zone exists, the walking mechanism operates at a first speed when the pool robot's pitch angle is less than 25 degrees; when no transition zone exists, the walking mechanism operates at a second speed when the pool robot's pitch angle is less than 45 degrees. The first and second speeds may be the same or different. By differentiating the parameters, the pool robot can adapt to different types of boundaries.

[0081] In one specific implementation, when there is no transition zone at the interface, the method described above can be used to perform at least one action to control the suction component to shut down or at least one action to control the suction component to reduce its operating speed during the process of the pool robot switching from the pool bottom state to the pool wall state. That is, at least once the operating speed of the suction component (e.g., the speed of the main water pump) is reduced to a preset value (e.g., reduced to 0 or close to 0).

[0082] In one specific embodiment, the existence of a transition zone at the boundary is determined by the detection data of a distance detection device. For example, the distance detection device includes at least a first sub-detection device and a second sub-detection device, one of which is an ultrasonic sensor and the other an infrared sensor. Because when the wall has a large slope, the ultrasonic sensor may not receive a return signal after sending a detection signal to the wall, thus failing to detect distance data; while the infrared sensor, due to its different distance detection principle, can usually detect distance data normally in this situation. Therefore, when both the ultrasonic sensor and the infrared sensor can detect distance data, the control component can determine that there is no transition zone at the boundary; when the ultrasonic sensor cannot detect distance data, but the infrared sensor can, the control component can determine that a transition zone exists at the boundary.

[0083] In one specific embodiment, whether a transition zone exists at the boundary is determined by the image acquired by the image acquisition device 1010.

[0084] In some implementations, after the pool robot completes its movement from the pool bottom to the pool wall, it continues to move from the pool wall to the water surface. The conditions for determining the completion of the movement from the pool bottom to the pool wall include, but are not limited to, the posture of the pool robot 100 meeting preset conditions (e.g., a pitch angle greater than or equal to a preset threshold).

[0085] In one embodiment, the operating speed of the suction component when the pool robot moves along the pool wall can be greater than the operating speed of the suction component during the movement from the pool bottom to the pool wall. This increases the force exerted by the suction component on the main body, pressing the main body against the pool wall and improving the stability of the pool robot climbing the wall.

[0086] In one embodiment, if the pool robot has difficulty moving from the pool wall to the water surface due to filter unit blockage or other reasons, the operating speed of the suction component can be reduced to decrease the possibility of damage to the suction component and its drive mechanism. In a specific embodiment, when the filter unit is blocked, the walking mechanism operates at a faster speed than when the filter unit is not blocked. By increasing the operating speed of the walking mechanism when the filter unit is blocked, the pool robot's ability to move on the pool wall is increased, preventing the pool robot from falling off the pool wall.

[0087] In one specific implementation, if the pool robot fails to move from the pool wall to the water surface after a preset number of attempts, the pool robot can move to the bottom of the pool or the bottom of the wall and prompt the user to retrieve it.

[0088] In one embodiment, during the process of moving from the pool wall to the water surface, the propulsion mechanism can be activated to provide thrust toward the water surface for the pool robot moving on the pool wall, thereby improving the efficiency and success rate of the pool robot's movement on the pool wall.

[0089] In some implementations, after the swimming pool robot completes its movement from the pool wall to the water surface, it continues to move, causing the robot to assume a near-horizontal posture on the water surface (i.e., switching from the pool wall state to the water surface state as described above). The conditions for determining the completion of the movement from the pool bottom to the pool wall include, but are not limited to, at least one of the following: the water depth at which the swimming pool robot 100 is located meets a preset condition (e.g., the water depth value is less than or equal to a preset depth threshold), or the posture of the swimming pool robot meets a preset condition (e.g., the pitch angle is greater than or equal to a preset angle threshold). The water depth at which the swimming pool robot is located is the distance between the robot and the water surface; that is, the shallower the water, the closer it is to the water surface. The water depth at which the swimming pool robot is located can be detected by a water depth sensor installed on the robot. This water depth can be the water depth at the location of the water depth sensor; or it can be the water depth at any location on the robot body calculated based on the installation location of the water depth sensor and the water depth at its location. Water depth sensors include, but are not limited to, pressure sensors, acoustic detectors, optical detectors, distance detectors, infrared detectors, distance encoders, and visual sensors.

[0090] In one embodiment, the process of the pool robot switching from the pool wall state to the water surface state may include at least one of the following stages: a first stage, such as... Figure 6 As shown, the pool robot is initially positioned against the pool wall, with at least a portion of it protruding above the water surface. From the pool wall position, the pool robot's pitch angle is adjusted. Specifically, the first adjusting component is activated, performing drainage and / or air intake operations on the float cavity, causing at least one end (e.g., the rear end) of the pool robot to rotate towards the water surface until the pool robot's pitch angle is less than or equal to a first pitch angle threshold. At this point, as... Figure 8 As shown, the pool robot is in a transitional state between the pool wall state and the water surface state, with the robot tilted relative to the water surface; in the second stage, the pool robot continues to perform drainage and / or air intake operations of the float cavity, adjusting the pool robot's pitch angle from the first pitch angle threshold until switching to the position shown. Figure 7 The water surface state is shown. During the transition from the first stage to the second stage, the pool robot can pause or switch directly without stopping.

[0091] In one embodiment, the pool robot is in contact with the pool wall in both the first and second phases.

[0092] In one embodiment, the first adjusting member is in the working state in both the first and second stages.

[0093] In one specific embodiment, during the process of the pool robot switching from the pool wall state to the water surface state, for example in the first stage, the pool robot can adjust the running speed and / or running direction of the walking mechanism according to the water depth. For example, when the water depth is within a preset threshold range (e.g., any value within the range of 110-160mm), the walking mechanism is controlled to remain stationary (running speed is 0); when the water depth is less than the preset threshold range (e.g., the preset threshold range is 130mm-160mm, then the water depth less than the preset threshold range can be less than 130mm), the walking mechanism is controlled to run in the opposite direction and the running speed is increased compared to being stationary; when the water depth is initially greater than the preset threshold range (e.g., the preset threshold range is 110mm-140mm, then the water depth is initially greater than the preset threshold range can be greater than 140mm), the running speed of the walking mechanism is controlled to increase compared to being stationary; if the water depth further exceeds the preset threshold range (e.g., any value greater than 340mm), the running speed of the walking mechanism is controlled to increase further. The above method ensures that the pool robot remains within a certain water depth range on the pool wall, allowing at least a portion of the robot (e.g., the first inlet) to protrude above the water surface. The preset threshold range can be adjusted according to the structure of the pool robot; this embodiment does not impose any limitations on it.

[0094] In one specific embodiment, during the first stage, the second stage, or any process in which the pool robot is running along the pool wall, the operating speed of the walking mechanism can be adjusted based on whether the pool robot is sliding. For example, if it is not sliding, or the number of slides is less than a preset number, the walking mechanism can be controlled to run at a first preset speed; if it is sliding, or the number of slides is greater than or equal to a preset number (the preset number can be any natural number greater than or equal to one), the walking mechanism can be controlled to run at a second preset speed; wherein, the second preset speed is greater than the first preset speed (i.e., increasing the operating speed of the walking mechanism). During sliding, the pool robot may or may not be in contact with the pool wall. Since sliding may indicate that the pool robot is finding it difficult to continue moving towards the water surface, adjusting the operating speed of the pool robot's walking mechanism during sliding can enhance its mobility and prevent the pool robot from being unable to reach the designated water depth.

[0095] In one specific implementation, whether the robot is sliding can be determined by the change in water depth at its location. For example, if the water depth changes from less than a preset water depth threshold (e.g., any value within the range of 300mm-400mm) to greater than the preset water depth threshold once, the robot can be considered to have slid once (e.g., if the preset water depth threshold is 350mm, the robot can be considered to have slid once each time the water depth changes from less than 350mm to greater than 350mm). It should be noted that the determination of whether the robot is sliding can be performed continuously throughout the first stage, or only when the robot is within a preset threshold range related to the preset water depth threshold (e.g., if the preset water depth threshold is 350mm, the preset threshold range can be greater than 130mm and less than 350mm).

[0096] In one specific implementation, if the pool robot has difficulty moving on the pool wall or switching from the pool wall state to the water surface state due to filter unit blockage or other reasons, the operating speed of the suction component can be reduced to decrease the possibility of damage to the suction component and its drive mechanism.

[0097] In one specific implementation, the conditions for determining whether the first stage is completed or the second stage is entered include, but are not limited to: the posture of the pool robot 100 meets preset conditions, such as the pitch angle being less than or equal to a first pitch angle threshold (such as any value within the range of 15°-25°).

[0098] In one embodiment, if the transition from the first stage to the second stage fails—for example, if the posture of the pool robot 100 does not meet the preset conditions within a preset time—the pool robot can be controlled to re-enter the first stage and attempt to transition from the first stage to the second stage again. Specifically, if the pool robot is tilted relative to the water surface, it can be controlled to return to the pool wall state and re-enter the first stage from there; or the pool robot can be controlled to sink to the bottom of the pool, then climb the pool wall from the bottom to enter the pool wall state, and re-enter the first stage from there.

[0099] In one specific implementation, if the pool robot is controlled to sink to the bottom of the pool and then climb the pool wall from the bottom to enter the pool wall state, the decision to control the pool robot to perform water intake and / or air intake operations on the float cavity can be determined based on whether water drainage and / or air intake operations were performed in the first stage and prior to that stage. Specifically, if water drainage and / or air intake operations were performed in the float cavity in the first stage and prior to that stage, the pool robot is controlled to perform water intake and / or air intake operations on the float cavity before climbing the pool wall again from the bottom. For example, if water drainage operations were performed in the float cavity in the first stage and prior to that stage, water intake operations are performed in the float cavity at this time; if air intake operations were performed in the float cavity in the first stage and prior to that stage, air intake operations are performed in the float cavity at this time. This avoids uneven weight distribution of the main body due to excessive gas or insufficient water storage when climbing the pool wall from the bottom, thus preventing phenomena such as tilting during climbing and improving the success rate of the pool robot entering the pool wall state.

[0100] In one specific embodiment, in the second stage, the pool robot performs drainage and / or air intake operations on the float cavity until a preset time (e.g., any value within the range of 60s-300s) is reached. Based on the pool robot's water depth and posture, it is determined whether the second stage has been completed or whether it has switched to the surface state. For example, if the pool robot is in water less than a preset water depth threshold (e.g., any value within the range of 0mm-300mm) and its pitch angle is less than a preset angle threshold (e.g., any value within the range of 5°-20°), it is determined that the pool robot has completed the second stage or switched to the surface state.

[0101] In one specific implementation, during the process of the pool robot switching from the pool wall state to the water surface state, for example in the second stage, the running direction and speed of the walking mechanism are adjusted according to the water depth and / or posture of the pool robot. For example, if the water depth of the pool robot is less than a first water depth threshold (e.g., any value within the range of 120mm-170mm) and the pitch angle is less than a preset angle threshold (e.g., any value within the range of 40°-60°), the walking mechanism runs in reverse and the running speed is greater than 0 (e.g., any value within the range of 70mm / s-90mm / s). This prevents the pool robot from overshooting the water surface, i.e., failing to stop at the designated position (e.g., the designated water depth) and instead continuing to move a distance to a shallower area before stopping. This would cause the actual position to exceed the designated position, potentially leading to gas entering other spaces within the main body except for the float cavity, resulting in uneven weight distribution of the main body. Consequently, the pool robot may detach from the pool wall and fail to complete the second stage. If the water depth where the pool robot is located is less than the second water depth threshold (e.g., any value within the range of 180mm-210mm), the walking mechanism operates at a speed of 0 or close to 0, allowing the pool robot to smoothly complete the second stage. If the water depth where the pool robot is located is greater than or equal to the second water depth threshold, the walking mechanism operates at a speed greater than 0 (e.g., any value within the range of 70mm / s-90mm / s), allowing the pool robot to move to a position where the first inlet 113 can be exposed above the water surface.

[0102] In one specific implementation, compared to the first stage, the operating speed of the suction component in the second stage can be relatively reduced. By reducing the force exerted on the main body from the top to the bottom by the suction component in the second stage, this force is prevented from hindering the lifting of the main body, thereby preventing the pool robot from switching to the pool wall state. At the same time, reducing the operating speed of the suction component can reduce water splash generation and prevent water spray during the process of the pool robot changing from an inclined posture relative to the water surface to a water surface state, and also reduce the power consumption of the suction component.

[0103] In one specific implementation, compared to the first stage, the operating speed of the propulsion mechanism can be relatively reduced in the second stage to avoid the pool robot from overshooting the water surface.

[0104] In one specific implementation, if the second stage is not completed or the switch to the water surface state fails after a preset time or after the pool robot has attempted a preset number of times, a prompt can be issued to the user. At this time, at least one of the suction component, walking mechanism and propulsion mechanism can be turned off or its operating power reduced to save electricity.

[0105] In one embodiment, after the pool robot switches from the pool wall state to the water surface state, it can dock at the waterline. The docking method can be that at least one end of the pool robot (e.g., the end with the handle) faces the pool wall at the waterline, and can rest against the pool wall or be spaced at a preset distance from the pool wall, making it convenient for the user to pick up.

[0106] In one specific embodiment, the pool robot can dock at the waterline for a preset time (e.g., any value within the range of 15-30 minutes). During the docking period, the propulsion mechanism can be in the active state to maintain the robot's contact with the pool wall. The suction component and / or the walking mechanism can be activated or deactivated during this time. For example, during the first part of the docking period (e.g., any value within the range of 1-10 minutes), both the suction component and the propulsion mechanism are activated; during the second part of the period (e.g., any value within the range of 1-30 minutes), only the propulsion mechanism is activated. The operating speed of the propulsion mechanism can remain constant during this period or can be adjusted (e.g., the operating speed is higher during the first part of the period than during the second part). When the suction component and / or the walking mechanism are deactivated, energy consumption during the pool robot's docking period can be saved.

[0107] In one specific implementation, after the pool robot stops at the waterline for a preset time, it can enter a standby state. At this time, the propulsion mechanism, suction component and walking mechanism of the pool robot can all stop operating or reduce their operating power to save energy.

[0108] In one specific implementation, when the pool robot is in standby mode, it can be woken up by any of the following methods: an app, a physical or virtual button on the pool robot, or a physical or virtual button on a base station connected to the pool robot. Once woken up, the pool robot can actively dock or dock in response to a user's docking command, solving the problem of the pool robot drifting away from the waterline during standby. Docking can include the pool robot stopping at the waterline. The docking method can be that the pool robot moves directly forward until it reaches the pool wall, or it detects the nearest pool wall and moves to that wall.

[0109] In one specific implementation, the pool robot can be automatically woken up after a preset time in standby mode (e.g., any value within the range of 15min-60min) and automatically move to the waterline, thus solving the problem of the pool robot drifting away from the waterline during standby.

[0110] In some embodiments, the control component includes a memory and a processor, the processor being configured to execute program instructions stored in the memory to implement the steps of the control method embodiments of the pool robot described above. The control component may be integrated onto the pool robot or may be independent of the pool robot but electrically connected to it.

[0111] Specifically, the processor controls itself and the memory to implement the steps of any of the above-described embodiments of the pool robot control method, where the executing entity is a pool robot. The processor can also be called a CPU (Central Processing Unit). The processor may be an integrated circuit chip with signal processing capabilities. The processor 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 gate or transistor logic devices, or discrete hardware components. A general-purpose processor can be a microprocessor or any conventional processor. Furthermore, the processor can be implemented using integrated circuit chips.

[0112] In some embodiments, a computer-readable storage medium stores program instructions that, when executed, implement the methods provided by any embodiment of the control method for the pool robot of this disclosure and any non-conflicting combination thereof.

[0113] The program instructions can be formed into a program file and stored in the aforementioned computer-readable storage medium in the form of a software product, so that a computer device (which may be a personal computer, server, or network device, etc.) can execute all or part of the steps of the methods of the various embodiments of this disclosure. The aforementioned computer-readable storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks, or terminal devices such as computers, servers, mobile phones, and tablets.

[0114] If the technical solution disclosed herein involves personal information, the product using this technical solution has clearly informed the user of the personal information processing rules and obtained the user's voluntary consent before processing the personal information. If the technical solution disclosed herein involves sensitive personal information, the product using this technical solution has obtained the user's separate consent before processing the sensitive personal information, and also meets the requirement of "express consent". For example, at personal information collection devices such as cameras, clear and prominent signs are set up to inform users that they have entered the scope of personal information collection and that personal information will be collected. If an individual voluntarily enters the collection scope, it is deemed that they have agreed to the collection of their personal information; or on the personal information processing device, with clear signs / information informing users of the personal information processing rules, authorization is obtained from the individual through pop-up information or by asking the individual to upload their personal information; wherein, 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 types of personal information processed.

Claims

1. A method of controlling a pool robot, c h a r a c t e r i s e d in that, The pool robot comprises: a main body; at least one filtering unit, at least partially arranged inside the main body, for filtering liquid entering the filtering unit; at least one suction assembly, at least partially arranged inside the main body, for sucking liquid in the pool into the filtering unit and discharging filtered liquid out of the main body; at least one walking mechanism arranged at the bottom or side of the main body, the walking mechanism being used at least for moving the pool robot on the surface of an object; and / or at least one propulsion mechanism arranged at the side or rear of the main body, the propulsion mechanism being used at least for moving the pool robot in or on a water body; at least one mode switching member, the mode switching member being used at least for switching the pool robot between a pool wall state and a water surface state, wherein the pool wall state is that the pool robot walks or is static on the pool wall of the pool, and the water surface state is that the pool robot walks or is static on the water surface of the pool; The control method comprises: during the process of switching the pool robot from the pool wall state to the water surface state, adjusting parameters of at least one of the suction assembly, the walking mechanism and the propulsion mechanism according to at least one of the attitude of the pool robot and the water depth of the position where the pool robot is located; the attitude of the pool robot comprises the pitch angle of the pool robot; the mode switching member is used at least for adjusting the pitch angle of the pool robot, so as to switch the pool robot between the pool wall state and the water surface state; in a first stage of the process of switching the pool wall state to the water surface state, the pool robot is switched from the pool wall state to a pitch angle of the pool robot being less than or equal to a first pitch angle threshold; in a second stage of the process of switching the pool wall state to the water surface state, the pitch angle of the pool robot is switched from the first pitch angle threshold to the water surface state; adjusting the parameters of at least one of the suction assembly, the walking mechanism and the propulsion mechanism comprises at least one of the following: in the second stage, compared with the first stage, the pool robot is controlled to reduce the running speed of the suction assembly; in the second stage, compared with the first stage, the pool robot is controlled to reduce the running speed of the propulsion mechanism.

2. The method according to claim 1, wherein: the mode switching member comprises a floating cavity and a first adjusting member, the floating cavity being used for containing gas and / or liquid, and the first adjusting member being used for adjusting the volume of the gas and / or liquid in the floating cavity; the method further comprises: during the process of switching the pool robot from the pool wall state to the water surface state, adjusting parameters of the first adjusting member according to at least one of the attitude of the pool robot and the water depth of the position where the pool robot is located.

3. The method of claim 1, wherein, controlling the pool robot to adjust a parameter of at least one of the suction assembly, the walking mechanism, and the propulsion mechanism according to at least one of a pose of the pool robot and a water depth at a location where the pool robot is located, including: controlling the pool robot to adjust a running speed and / or a running direction of the walking mechanism according to the water depth at the location where the pool robot is located.

4. The method of claim 3, wherein, controlling the pool robot to adjust a running speed and / or a running direction of the walking mechanism according to the water depth at the location where the pool robot is located, including: determining whether the pool robot is sliding according to a change in the water depth at the location where the pool robot is located; if a number of times of the sliding is greater than or equal to a preset number of times, increasing the running speed of the walking mechanism.

5. The method of claim 1, wherein, controlling the pool robot to adjust a parameter of at least one of the suction assembly, the walking mechanism, and the propulsion mechanism according to at least one of a pose of the pool robot and a water depth at a location where the pool robot is located, including: in the first stage, determining whether the pool robot is sliding according to a change in the water depth at the location where the pool robot is located; if a number of times of the sliding is greater than or equal to a preset number of times, increasing the running speed of the walking mechanism.

6. The method of claim 1, wherein, the pool robot further includes a pool bottom state, the pool bottom state being that the pool robot is walking or stationary at a pool bottom of the pool; the method further includes: in a process in which the pool robot switches from the pool bottom state to the pool wall state, adjusting a parameter of at least one of the suction assembly, the walking mechanism, and the propulsion mechanism according to a pose of the pool robot.

7. The method of claim 6, wherein, the pose of the pool robot includes a pitch angle of the pool robot, and in the process in which the pool robot switches from the pool bottom state to the pool wall state, adjusting a parameter of at least one of the suction assembly, the walking mechanism, and the propulsion mechanism according to the pose of the pool robot, including: when the pool robot is in the pool bottom state, a running speed of the suction assembly is a first running speed; when the pitch angle is less than or equal to a second pitch angle threshold, adjusting the running speed of the suction assembly to a second running speed; when the pitch angle is greater than the second pitch angle threshold, adjusting the running speed of the suction assembly to a third running speed; wherein the second running speed is less than the first running speed, and the second running speed is less than the third running speed.

8. The method of claim 6, wherein, the method further includes: when the pool robot switches from the pool bottom state to the pool wall state, decreasing the running speed of the suction assembly.

9. The method of claim 8, wherein, the pose of the pool robot includes a pitch angle of the pool robot, and in the process in which the pool robot switches from the pool bottom state to the pool wall state, adjusting a parameter of at least one of the suction assembly, the walking mechanism, and the propulsion mechanism according to the pose of the pool robot, including: when the pitch angle switches to a second pitch angle threshold, increasing the running speed of the suction assembly.

10. The method of claim 6, wherein, The posture of the pool robot includes a pitch angle of the pool robot, and parameters of at least one of the suction assembly, the walking mechanism and the propulsion mechanism are adjusted according to the posture of the pool robot during the process that the pool robot switches from the pool bottom state to the pool wall state, including: As the pitch angle increases, the running speed of the walking mechanism is reduced.

11. The method of claim 6, wherein, The method further includes: For the junction of the pool bottom and the pool wall, parameters of at least one of the suction assembly, the walking mechanism and the propulsion mechanism are adjusted according to whether a transition zone exists at the junction.

12. The method of claim 11, wherein, Adjusting the parameters of at least one of the suction assembly, the walking mechanism and the propulsion mechanism according to whether the transition zone exists at the junction includes: When the transition zone exists at the junction, the suction assembly is kept on or the running speed of the suction assembly is kept unchanged during the process that the pool robot switches from the pool bottom state to the pool wall state; When the transition zone does not exist at the junction, at least one of the following actions is performed during the process that the pool robot switches from the pool bottom state to the pool wall state: controlling the suction assembly to be turned off or controlling the suction assembly to reduce the running speed.

Images