Control method of cleaning robot, cleaning method, and cleaning robot

Abstract

The present disclosure provides a cleaning robot control method, a cleaning method and a cleaning robot, comprising: when the cleaning robot moves close to the pool wall of the swimming pool, controlling the cleaning robot to move in a first driving mode or a second driving mode, and collecting the topographic feature information of the swimming pool; wherein the first driving mode is to control the cleaning robot to climb along the pool wall; the second driving mode is to control the cleaning robot to float upwards; if the topographic feature information meets the preset topographic profile condition, the pool wall profile of the swimming pool is identified; wherein the pool wall profile includes at least one of a no-transition area, a chamfer area, an inclined area, a step area and a bowl-shaped area; according to the different types of pool wall profile information, the cleaning robot is controlled to move in the first driving mode or the second driving mode, and the swimming pool is mapped.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of intelligent robots, in particular, to a control method of a cleaning robot, a cleaning method and a cleaning robot. BACKGROUND

[0002] The existing underwater pool cleaning robot mainly relies on single line laser radar or collision sensor to realize sensing positioning and navigation control. In the related art, the pool cleaning robot walks around the pool bottom along the pool wall according to a preset order (such as clockwise or counterclockwise), and the pool cleaning robot collects distance information between the robot and the pool wall through various sensors during the walking process, adjusts and controls the pool cleaning robot to maintain a preset distance from the pool wall, and walks around the pool bottom for one round. After walking around the pool bottom for one round, the pool is mapped. However, when the pool robot collects environmental feature data of the pool contour through the sensor on the pool bottom, only a single driving mode is used to map different pool wall contours, and only the pool robot crawling on the pool wall is used to collect data of the pool contour. In particular, when the robot cannot climb to the wall in the case of a large change in the pool wall contour, the number of corresponding pool wall contour data collected is small, the robot may slip on the pool wall, and other problems, which make the data collected by the robot unreliable, and thus the robot cannot accurately identify different pool wall contours, resulting in a large difference between the pool map identified by the pool cleaning robot and the actual situation of the pool, and even the pool cleaning robot cannot map the complex pool contour. SUMMARY

[0003] The purpose of the present disclosure is to provide a control method of a cleaning robot, a control method and a cleaning robot to solve the problem that the single driving mode of the robot in the prior art cannot accurately collect complex pool contour data, resulting in unreliable pool contour data, which leads to a large difference between the pool map identified by the pool cleaning robot and the actual situation of the pool, and even the pool cleaning robot cannot map the complex pool contour.

[0004] Additional aspects and advantages of the present disclosure will be set forth in part in the following description, and in part will become apparent to those skilled in the art from the description, or can be learned by practice of the present disclosure.

[0005] According to a first aspect of the present disclosure, a control method of a cleaning robot is provided, comprising: when the cleaning robot moves close to a pool wall of a swimming pool, controlling the cleaning robot to move in a first driving mode or a second driving mode, and collecting topographic feature information of the swimming pool; wherein the first driving mode is to control the cleaning robot to climb along the pool wall; the second driving mode is to control the cleaning robot to float upwards; if the topographic feature information meets a preset topographic profile condition, the pool wall profile of the swimming pool is identified; wherein the pool wall profile comprises at least one of a no-transition region, a chamfer region, an inclined region, a step region, and a bowl region; according to different types of pool wall profile information, the cleaning robot is controlled to move in the first driving mode or the second driving mode to map the swimming pool.

[0006] According to the above-mentioned embodiments, the execution subject can identify the change trend of the pool wall profile, such as the no-transition region, the chamfer region, the inclined region, the step region, and the bowl region, according to the topographic feature information of the swimming pool, and adaptively adopt the first driving mode or the second driving mode to control the cleaning robot to move according to the difference. Thus, the cleaning robot can move in different driving modes according to different pool wall profiles, such as the no-transition region, the chamfer region, the inclined region, the step region, and the bowl region. For example, when the robot encounters a pool wall profile with a large change, if the cleaning robot moves in the first driving mode, it may slip due to a steep slope, or it may not be able to reach the complex terrain, resulting in missing of some map data of the pool wall. At this time, the cleaning robot can be controlled to collect the pool wall profile in the second driving mode, so as to obtain the topographic data of the corresponding pool wall, and more comprehensive and accurate data can be obtained. According to the running state of the cleaning robot in the first driving mode, the second driving mode can be switched, so that the robot can adapt to different pool wall profiles, and the robot can reach different positions of the complex pool wall profile in a more suitable way to collect data of different complex pool wall profiles, so that the data collected by the cleaning robot is more comprehensive, accurate, and reliable, and the map data obtained by the cleaning robot according to the collected data is more consistent with the actual environment of the swimming pool.

[0007] The no-transition region is a region where the pool wall and the pool bottom have an approximately vertical angle and form a junction line. When the angle between the pool wall and the pool bottom is less than or equal to 90°, it belongs to this case. In this case, if the angle between the pool wall and the pool bottom is too small, the cleaning robot cannot collect the pool wall profile by the first driving mode, and the cleaning robot can select the second driving mode to collect the pool wall profile information, or directly collect the pool wall profile information by the second driving mode, so as to further improve the efficiency and reliability of the data collected by the cleaning robot when collecting the pool wall profile.

[0008] According to a second aspect of the present disclosure, a control method of a cleaning robot is provided, comprising: in the process of controlling the cleaning robot to move in a pool, a detection component of the cleaning robot identifies a horizontal ranging value and an inclined ranging value, the horizontal ranging value being a ranging value of the cleaning robot to a first position of a pool wall contour in a first detection direction, the inclined ranging value being a ranging value of the cleaning robot to a second position of the pool wall contour in a second detection direction, the first detection direction being a horizontal direction, and the second detection direction having a non-zero included angle with the first detection direction in a vertical direction; the detection component may, for example, be two groups of single-line laser radars with a horizontal direction and a preset inclination angle installed on the top of the cleaning robot. In actual application, the first detection direction and the second detection direction are not limited to this, and can be adjusted according to actual needs, so that the detection directions capable of obtaining ranging values of two different positions (for example, height positions) are set, and the implementation mode of the detection component is not limited to the single-line laser radar.

[0009] Based on the change of the horizontal ranging value and the inclined ranging value, terrain feature data is generated, and the cleaning robot is controlled to move in a first driving mode or a second driving mode. In this embodiment, the change of the horizontal ranging value and the inclined ranging value refers to the difference between the horizontal ranging value and the inclined ranging value of the pool wall contour or the change (for example, whether the change occurs or the change amplitude) of the difference in the moving process of the cleaning robot. Different changes directly correspond to the change trend of the shape of the pool wall contour of the pool. Therefore, in this embodiment, according to the different changes, the change trend of the shape of the pool wall contour is determined, and the subject executes the corresponding control of the cleaning robot moving in the first driving mode or the second driving mode. The first driving mode is to control the cleaning robot to climb along the pool wall, and the second driving mode is to control the cleaning robot to float up.

[0010] If the terrain feature meets a preset terrain contour condition, the pool wall contour of the pool is identified, wherein the pool wall contour includes at least one of a non-transition region, a chamfer region, an inclined region, a step region, and a bowl region; according to different types of pool wall contour information, the cleaning robot is controlled to move in the first driving mode or the second driving mode to map the pool.

[0011] After identifying different types of pool wall contours, the cleaning robot can be controlled to move in the first driving mode or the second driving mode according to the corresponding type, and in the moving process, data of the pool wall contour can be obtained, so that the pool can be mapped according to the data. In this embodiment, for different types of pool wall contours, the subject can determine the corresponding driving mode according to the identified features (for example, terrain features, boundary features, etc.) of the pool wall contour, or adjust the corresponding driving mode according to the change of the horizontal ranging value and the inclined ranging value.

[0012] Through the above embodiments, the execution subject can identify the different trends of the pool wall profile such as the non-transition region, the chamfer region, the slope region, the step region, and the bowl-shaped region according to the change between the horizontal distance value and the inclined distance value, and adaptively adopt the first driving mode or the second driving mode to control the cleaning robot to move according to the difference. In this way, the cleaning robot can move in different driving modes according to different pool wall profiles such as the non-transition region, the chamfer region, the slope region, the step region, and the bowl-shaped region. For example, when the cleaning robot encounters a pool wall profile with a large change, if the cleaning robot moves through the first driving mode, the cleaning robot may slip due to a steep slope, or the terrain is too complex to reach, thereby causing some of the pool wall map data to be missing. At this time, the cleaning robot can be selected to collect the pool wall profile in the second driving mode, thereby obtaining the corresponding pool wall terrain data, and more comprehensive data can be obtained. The robot can also switch to the second driving mode according to the running condition of the first driving mode, thereby being able to adapt to different pool wall profiles, so that the robot can reach different positions of the complex pool wall profile in a more suitable way to collect data of different complex pool wall profiles, so that the data collected by the cleaning robot is more comprehensive, accurate, and reliable, and the map data obtained by the cleaning robot according to the data collected in this way is more consistent with the actual environment of the pool.

[0013] The non-transition region is a region where the pool wall and the pool bottom have an approximately vertical included angle and form an intersection line. Such an intersection line is a non-transition region. When the included angle between the pool wall and the pool bottom is less than or equal to 90°, it belongs to this case. In this case, if the included angle between the pool wall and the pool bottom is too small, the robot cannot collect the pool wall profile through the first driving mode, and the cleaning robot can select the second driving mode to collect the pool wall profile information, or directly collect such pool wall profile information through the second driving mode, to further improve the efficiency and reliability of the data collected by the cleaning robot when collecting the pool wall profile.

[0014] In an example embodiment of the present disclosure, if the terrain feature satisfies the preset terrain profile condition, the pool wall profile of the swimming pool is identified, including: if the terrain feature satisfies, in the vertical direction, a trend of local arc-shaped change of the terrain profile is identified, the pool wall profile is identified as a chamfer region; if the terrain feature satisfies, in the vertical direction, the terrain profile includes at least three regions, one of which is a deep water area, one of which is a shallow water area, and a transition area in the form of an inclined plane between the deep water area and the shallow water area, the pool wall profile is identified as a slope region; if the terrain feature satisfies, in the vertical direction, a trend of step change of the terrain profile is identified, the pool wall profile is identified as a step region; if the terrain feature satisfies, in the vertical direction, the terrain profile includes at least two regions, one of which is a deep water area with an arc-shaped change trend around the terrain profile, and the other is a shallow water area adjacent to the deep water area, the pool wall profile is identified as a bowl-shaped region.

[0015] Through the above-mentioned embodiments, the control method of the cleaning robot provided by the example embodiments of the present disclosure can analyze the pool wall profile features in combination with the differences of specific features in the pool wall profile, and compare them with the preset terrain profile conditions, so as to accurately identify the specific type of the pool wall profile detected by the cleaning robot. Moreover, for different pool wall profiles, the specific regional features can be identified to achieve accurate division of each type of pool wall profile. The pool wall profile and its regional features accurately identified through the above-mentioned process are an important basis for the subsequent control of the cleaning robot to adaptively move on the corresponding type of pool wall profile, can provide a more accurate basis for the subsequent control of the cleaning robot to determine which driving mode to move, and can further improve the reliability of the control of the cleaning robot moving in the swimming pool.

[0016] In an example embodiment of the present disclosure, the cleaning robot is controlled to climb along the pool wall in a first driving mode, including: starting an anti-skid mode, in which the friction between the bottom of the cleaning robot and the pool wall is increased, and the cleaning robot is controlled to climb along the pool wall profile. Starting the anti-skid mode includes: increasing the output power of the water pump of the cleaning robot to increase the friction between the bottom of the cleaning robot and the pool wall, and the water pump is used to generate negative pressure to suck water in the swimming pool into a filter assembly. The cleaning robot is controlled to float upwards in a second driving mode, including: starting a buoyancy adjustment mode to control the cleaning robot to float upwards towards the water surface. Starting the buoyancy adjustment mode includes: adjusting the buoyancy tank of the cleaning robot, which includes a gas-liquid exchange chamber that can exchange the volume of gas and liquid with the outside to control the weight of the cleaning robot.

[0017] Through the above-mentioned embodiments, the two driving modes can work independently or cooperatively according to the specific types or characteristics of the pool wall contour. The cleaning robot can be controlled to collect the pool wall contour in the second driving mode. In addition, the cleaning robot can be switched to the second driving mode according to the running state of the first driving mode of the robot, and the like. Therefore, the cleaning robot can adapt to various different types of terrain features in the swimming pool, so as to reach a more in-depth position in the swimming pool to collect environmental feature data in the swimming pool. As a result, the data collected by the cleaning robot is more comprehensive and accurate. In addition, the map data obtained by the cleaning robot according to the collected data is more consistent with the actual environment of the swimming pool.

[0018] In an exemplary embodiment of the present disclosure, the cleaning robot is controlled to move in the first driving mode or the second driving mode according to different types of pool wall contour information to map the swimming pool, including: controlling the cleaning robot to move in the first driving mode or the second driving mode according to different types of pool wall contour information to determine the boundary of the pool wall contour; wherein controlling the cleaning robot to move in the first driving mode or the second driving mode according to different types of pool wall contour information to determine the boundary of the pool wall contour includes: in the case of controlling the cleaning robot to climb along the pool wall in the first driving mode, determining the position where the pitch angle of the cleaning robot changes as the first starting position, determining the position where the pitch angle of the cleaning robot returns to parallel to the bottom surface of the swimming pool as the first ending position, and determining the boundary of the pool wall contour according to the first starting position and the first ending position; in the case of controlling the cleaning robot to float upwards in the second driving mode, determining the position where the horizontal distance and the inclined distance have a distance difference in the horizontal direction as the second starting position, determining the position where the horizontal distance and the inclined distance of the pool wall in the horizontal direction return to the same as the second ending position, and determining the boundary of the pool wall contour according to the second starting position and the second ending position; and mapping the swimming pool according to the boundary of the different types of pool wall contour.

[0019] Through the above-mentioned embodiments, the two driving modes can work independently or cooperatively according to the specific types or characteristics of the pool wall contour. The cleaning robot can be controlled to collect the pool wall contour in the second driving mode. In addition, the cleaning robot can be switched to the second driving mode according to the running state of the first driving mode of the robot, and the like. Therefore, the cleaning robot can adapt to various different types of terrain features in the swimming pool, so as to reach a more in-depth position in the swimming pool to collect environmental feature data in the swimming pool. As a result, the data collected by the cleaning robot is more comprehensive and accurate. In addition, the map data obtained by the cleaning robot according to the collected data is more consistent with the actual environment of the swimming pool.

[0020] In an example embodiment of the present disclosure, the pool is mapped according to the boundaries of different types of pool wall contours, including: if the pool wall contour information is a bowl-shaped region, the pool wall contour information is identified as a layered region, the layered region including the boundary of the bowl-shaped region and two pool regions adjacent to the bowl-shaped region; wherein the first layer region in the bowl-shaped layered region is a deep water area formed by the boundary of the bowl-shaped region and one pool region adjacent to the bowl-shaped region; the second layer region in the layered region is a shallow water area formed by the other pool region; the distance from the lowest position in the deep water area to the water surface of the pool is greater than the distance from the lowest position in the shallow water area to the water surface of the pool.

[0021] In an example embodiment of the present disclosure, if the pool wall contour information is a slope region, the slope region is identified as a slope single-layer region or a slope layered region according to the inclination angle of the slope in the slope region, and the slope layered region includes the boundary of the slope region and two pool regions adjacent to the slope region; wherein the slope region is identified as a slope single-layer region or a slope layered region according to the inclination angle of the slope in the slope region, including: if the inclination angle is less than or equal to a preset angle, the slope region and the two pool regions adjacent to the slope region are identified as a single-layer region; if the inclination angle is greater than the preset angle, a deep water area formed by the boundary of the slope region and one pool region adjacent to the slope region is identified as a first slope layered region; a shallow water area formed by the other pool region is identified as a second slope layered region; the distance from the lowest position in the deep water area to the water surface of the pool is greater than the distance from the lowest position in the shallow water area to the water surface of the pool.

[0022] In an example embodiment of the present disclosure, if the pool wall contour information is a chamfer region, the first starting position or the second starting position of the chamfer region and the pool region adjacent to the chamfer region are identified as a horizontal pool region.

[0023] In an example embodiment of the present disclosure, if the pool wall contour information is a stepped region, multi-level step information is identified according to the boundary of the stepped region, and the stepped region is identified as a pool stepped region according to the multi-level step information. Wherein the multi-level step information is identified according to the boundary of the stepped region, including: in the case of controlling the cleaning robot to climb along the stepped region in a first driving mode, the height information of a single-level step is marked according to the distance of a single climb of the cleaning robot, and the width information of the single-level step is marked according to the distance moved by the cleaning robot before the next climb; in the case of controlling the cleaning robot to float up in a second driving mode, the height information of a single-level step is marked according to the distance of the cleaning robot floating up at the second starting position and the second ending position, and the width information of the single-level step is marked according to the difference between the horizontal distance and the inclined distance of the pool wall in the horizontal direction; the multi-level step information is generated according to the height information and the width information of the plurality of single-level steps.

[0024] According to the above embodiments, the control method of the cleaning robot can control the cleaning robot to move on the pool wall contour by using the first driving mode or the second driving mode according to different types, shapes, and other characteristics of the pool wall contour. In addition, the cleaning robot can move at a closer distance to the pool wall contour, or even along the pool wall contour, so as to obtain the specific topographic characteristics (such as shape, boundary, etc.) of the pool wall contour. After identifying the boundary information of the pool wall contour, the pool can be mapped in combination with the boundary information, and different types of pool wall contours can be mapped in different layers or in a single layer, so that the obtained map data can more accurately and comprehensively reflect the specific types or characteristics of the pool wall contour in the pool. On this basis, the map information constructed according to the obtained specific topographic characteristics can more comprehensively and accurately depict the specific characteristics in the pool, and is more consistent with the actual environment of the pool.

[0025] In an exemplary embodiment of the present disclosure, the control method further comprises detecting whether the cleaning robot is at least partially out of the water; if the cleaning robot is completely submerged below the water surface, returning to execute the steps of identifying the horizontal distance value and the tilt distance value information on the pool wall contour of the pool in the process of controlling the movement of the cleaning robot in the pool, and mapping the pool according to different types of pool wall contour information until the cleaning robot is at least partially out of the water.

[0026] According to the above embodiments, the control method of the cleaning robot can control the cleaning robot to move on the pool wall contour by using the first driving mode or the second driving mode according to different types, shapes, and other characteristics of the pool wall contour. In addition, the cleaning robot can move at a closer distance to the pool wall contour, or even along the pool wall contour, so as to obtain the specific topographic characteristics (such as shape, boundary, etc.) of the pool wall contour. After identifying the boundary information of the pool wall contour, the pool can be mapped in combination with the boundary information, and different types of pool wall contours can be mapped in different layers or in a single layer, so that the obtained map data can more accurately and comprehensively reflect the specific types or characteristics of the pool wall contour in the pool. On this basis, the map information constructed according to the obtained specific topographic characteristics can more comprehensively and accurately depict the specific characteristics in the pool, and is more consistent with the actual environment of the pool.

[0027] In an example embodiment of the present disclosure, the control method further comprises adjusting the posture of the cleaning robot based on the change in the pitch angle of the cleaning robot. In order to ensure the stability of the cleaning robot, the execution subject can obtain the change in the pitch angle of the cleaning robot, and adjust the posture of the cleaning robot according to the change in the pitch angle, so that the cleaning robot can further improve the stability of the movement process in the case of adapting to different types of pool wall contour movement, thereby ensuring that the map data obtained according to the action trajectory of the cleaning robot in the swimming pool is more stable and accurate, and improving the accuracy of mapping for the swimming pool.

[0028] According to a second aspect of the present disclosure, a cleaning method of a cleaning robot is provided, comprising: constructing a map of a swimming pool by using the control method of the cleaning robot of any of the first aspect; and controlling the cleaning robot to perform a cleaning task according to the map.

[0029] According to a third aspect of the present disclosure, a cleaning robot is provided, comprising: a controller configured to execute the method of any of the first aspect or the second aspect, and further comprising a detection assembly, the detection assembly being a laser radar, the laser radar being arranged on the top of the robot, the laser radar comprising a first laser detection piece and a second laser detection piece, the first laser detection piece being configured to collect a horizontal ranging value of a first position of a pool wall contour along a first detection direction, and the second laser detection piece being configured to collect an inclined ranging value of a second position of the pool wall contour along a second detection direction.

[0030] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present disclosure. BRIEF DESCRIPTION OF DRAWINGS

[0031] The accompanying drawings, which are incorporated into and form part of the specification, illustrate an embodiment consistent with the present disclosure and, together with the specification, serve to explain the principles of the present disclosure. Obviously, the drawings in the following description are only some embodiments of the present disclosure, and other drawings can be obtained by those skilled in the art without creative labor based on these drawings.

[0032] Figure 1 A structural schematic diagram of a cleaning robot in an embodiment of the present disclosure is shown;

[0033] Figure 2 A flowchart of a control method of a cleaning robot in an embodiment of the present disclosure is shown;

[0034] Figure 3 A flowchart of another control method of a cleaning robot in an embodiment of the present disclosure is shown;

[0035] Figure 4 A partial schematic side view showing a cleaning robot moving on the bottom of a pool in an embodiment of the present disclosure is shown;

[0036] Figures 5A-5E A partial schematic side view showing different types of pool wall profiles in an embodiment of the present disclosure is shown;

[0037] Figures 6A-6D A schematic diagram showing a process of a cleaning robot moving in different types of pool wall profiles in an embodiment of the present disclosure is shown;

[0038] Figure 7 A flowchart showing a control method of another cleaning robot in an embodiment of the present disclosure is shown;

[0039] Figures 8A-8D A schematic diagram showing a floating process of a cleaning robot in different types of pool wall profiles in an embodiment of the present disclosure is shown;

[0040] Figure 9 A layered schematic diagram of a bowl-shaped area in an embodiment of the present disclosure is shown;

[0041] Figure 10 A layered schematic diagram of a slope area in an embodiment of the present disclosure is shown;

[0042] Figure 11 A boundary division schematic diagram of a chamfer area in an embodiment of the present disclosure is shown;

[0043] Figure 12A A schematic diagram showing a cleaning robot identifying step information in a step area in an embodiment of the present disclosure is shown;

[0044] Figure 12B A schematic diagram showing another cleaning robot identifying step information in a step area in an embodiment of the present disclosure is shown;

[0045] Figure 13 A flowchart showing a control method of another cleaning robot in an embodiment of the present disclosure is shown;

[0046] Figure 14 A flowchart showing a control method of a cleaning robot in an application scenario in an embodiment of the present disclosure is shown;

[0047] Figure 15 A schematic diagram showing quantitatively calculating a step width in an embodiment of the present disclosure is shown.

[0048] Explanation of reference signs:

[0049] 111 - bottom surface; 112 - containing cavity; 113 - top surface; 114 - filtering passage; 115 - water inlet; 116 - water outlet; 117 - one-way valve; 118 - sealing cavity; 121, 122 - rolling brush; 130 - filtering assembly; 131 - filtering cavity; 140 - suction assembly; 10 - cleaning robot; a1, a1', L1, L1' - horizontal distance value; a2, a2', L2, L2' - inclined distance value; 31, 34, S1, S2 - deep water area; 32, 35, Q1, Q2 - shallow water area; 33 - area between deep water area and shallow water area; x, y, z - position of cleaning robot; W1, W2, W3 - boundary; d1, d2 - distance; b - step width. DETAILED DESCRIPTION

[0050] Example embodiments now will be described more fully hereinafter with reference to the accompanying drawings. Example embodiments, may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. Like reference numerals refer to like elements throughout the figures, and description of these elements will not be repeated. In addition, the drawings are only schematic and are non-limiting.

[0051] Although relative terms such as "upper", "lower", etc. are used herein to describe one component's relationship to another component as the figure is oriented, such terminology is used for convenience only and is not limiting. Terms such as "above", "below", "upper", "lower", "up", "down", and the like are used herein for ease of description to describe the orientations of figures or steps in methods. It is to be understood that when a structure is "above" or "below" another structure, it can mean that the structure is formed directly on the other structure or that the structure is "directly" on the other structure, or that the structure is "indirectly" on the other structure by having another structure therebetween.

[0052] The terms "a", "an", "the" and "at least one" are used to mean one or more elements / components / etc.; the terms "comprises", "comprising", "includes", "including" and the like are used to mean including, but not limited to; the term "first" and "second" are used to mean different or separate elements / components / etc. unless otherwise specified.

[0053] The cleaning robot provided by the embodiments of the present disclosure is mainly used for pool cleaning and maintenance, and in particular, the cleaning robot can move on the water surface or in the water of a pool for cleaning and maintenance. The cleaning robot comprises a controller or control system for executing the control method of the cleaning robot described in the embodiments of the present disclosure. The cleaning robot mainly comprises a body, a suction assembly and a filter assembly, the bottom of the body is provided with a water inlet, the water inlet is in communication with the filter assembly, the suction assembly and the filter assembly and the water inlet are located in the same flow channel, and in one working state, the suction assembly is started, and the water flow containing impurities enters the filter assembly through the water inlet and is discharged to the outside of the body after being filtered. As shown in Figure 1 The body mainly comprises a bottom surface 111 and a receiving cavity 112, and the bottom surface 111 is provided with a water inlet 115 communicating with the receiving cavity 112. Exemplarily, the receiving cavity 112 can be used to arrange mechanical and electronic components required by the cleaning robot, such as a circuit board, a battery, a suction assembly (for example, a water pump), a filter assembly, a driving device of a walking part and a transmission device, etc. In the embodiments of the present disclosure, the types and quantities of the mechanical and electronic components arranged in the receiving cavity 112 are not further limited. Exemplarily, a sealed cavity 118 can be arranged in the receiving cavity 112, wherein the circuit board, electronic components, battery, etc. of the cleaning robot are arranged in the sealed cavity 118 to prevent the electronic components and the battery from being short-circuited after encountering liquid, thereby causing damage to the cleaning robot.

[0054] The body can further comprise a filter assembly 130, a suction assembly 140, a filter passage 114, a water outlet 116 and roller brushes 121 and 122. Exemplarily, the water outlet 116 is located on the top surface 113 of the body, and it can be understood that the top surface 113 and the bottom surface 111 are mutually away from each other in the height direction of the cleaning robot. In the advancing direction of the cleaning robot, the roller brushes 121 and 122 are arranged at intervals from the water inlet 115, and a one-way valve 117 can be arranged at the water inlet 115, which is used to control the liquid to enter from the water inlet 115 and prevent the liquid or part of the impurities from flowing out of the water inlet 115. The filter assembly 130 of the cleaning robot comprises a filter cavity 131, and when the cleaning robot is located in the water, the suction assembly 140 is started to apply suction to the water inlet 115, so that the water flow containing impurities enters the filter cavity 131 through the water inlet 115 after being filtered, and then the filtered water flow is discharged to the outside of the cleaning robot through the filter passage 114 and the water outlet 116. The filter assembly 130 can use different types of filters according to needs, such as cloth bag or grid filters. If the cleaning robot is equipped with brushes, it will use the brushes to remove stains and dirt on the walls and floors of the swimming pool during the cleaning process.

[0055] Please refer to Figure 2 , Figure 2A flowchart of a control method of a cleaning robot is provided in the embodiments of the present application, wherein the flow 200 comprises the following steps:

[0056] Step 201: When the cleaning robot moves close to the pool wall of the swimming pool, the cleaning robot is controlled to move in a first driving mode or a second driving mode, and the topographic feature information of the swimming pool is collected; wherein the first driving mode is to control the cleaning robot to climb along the pool wall, and the second driving mode is to control the cleaning robot to float upwards.

[0057] This step aims to control the cleaning robot to move in the swimming pool by the execution subject of the control method of the cleaning robot (for example, the control system of the cleaning robot), such as Figure 4 As shown in FIG. 1, it is a partial schematic side view of the cleaning robot 10 moving at the bottom of the swimming pool, the direction indicated by the arrow is the direction of the cleaning robot 10, which is also the direction of the front of the cleaning robot. The frames on both sides represent the bottom or pool wall of the swimming pool. After the cleaning robot moves close to the pool wall of the swimming pool, it can move by the first driving mode or the second driving mode, and collect the topographic feature information of the swimming pool. The first driving mode is to control the cleaning robot to climb along the pool wall, and the second driving mode is to control the cleaning robot to float upwards. In this embodiment, when the cleaning robot is controlled to float upwards by the second driving mode, it can float in the approximate vertical direction, or it can float while approaching the pool wall direction during the floating process. The specific moving mode can be adjusted adaptively according to the accuracy and range of the detection components such as laser radar and visual sensor provided on the cleaning robot. If the sensing accuracy and range of the detection component are high, the topographic features of the swimming pool can be detected only by the floating process in the approximate vertical direction; if the sensing accuracy and range of the detection component are relatively low, the cleaning robot can be controlled to float while approaching the pool wall direction to detect the topographic features of the swimming pool. The collection of the topographic feature information of the swimming pool can be realized in various ways, for example, a laser radar can be provided on the cleaning robot to sense the topographic features of the swimming pool through the laser radar signal; or a visual sensor can be provided on the cleaning robot to obtain the topographic features of the swimming pool through image recognition; or the cleaning robot can be controlled to move to the corresponding topographic position, and the topographic features of the swimming pool can be determined by combining the collision and pitch angle change of the cleaning robot and the swimming pool. In this embodiment, the way of collecting the topographic feature information is not limited to this.

[0058] In some optional embodiments of the present disclosure, in step 201, the main process of controlling the cleaning robot to climb along the pool wall in the first driving mode includes: starting the anti-skid mode of the cleaning robot, in which the friction between the bottom of the cleaning robot and the pool wall is increased, so that the cleaning robot can climb along the pool wall profile more stably. For example, the friction between the bottom of the cleaning robot and the pool wall can be increased by increasing the output power of the water pump of the cleaning robot, which is used to generate negative pressure to suck water in the pool into the filter assembly. When the cleaning robot is controlled to float up in the second driving mode, it includes: starting the buoyancy adjustment mode, controlling the cleaning robot to float up in the direction of the water surface, and after floating up, the robot can be controlled to move forward in the plane after floating up. In this embodiment, the cleaning robot is also provided with a buoyancy tank, which includes a gas-liquid exchange cavity that can exchange the volume of gas and liquid with the outside world to control the weight of the cleaning robot, so as to adjust the buoyancy of the cleaning robot in the water of the pool, and control the cleaning robot to float or dive in the water. Wherein, the floating process refers to the process that the cleaning robot moves to the water surface by adjusting its own buoyancy or structure under the action of buoyancy, and finally partially or completely exposes the water surface. Diving refers to the process that the cleaning robot moves to a specific depth position (such as the bottom of the pool) in the pool by adjusting its own buoyancy or structure to overcome the buoyancy.

[0059] In this scenario, the cleaning robot can be controlled to move to the pool wall profile with a relatively flat change trend by the first driving mode. When encountering a pool wall profile with a large change trend, if the cleaning robot is moved by the first driving mode, it may slip due to the steep slope, or it may not be able to reach the complex terrain, resulting in missing of some map data of the pool wall. At this time, the second driving mode can be switched to control the cleaning robot to move in the direction close to the pool wall profile by floating up, so that the cleaning robot can reach the pool wall profile in a more stable posture, thereby obtaining the terrain data of the corresponding pool wall. Through the two driving modes, the cleaning robot can adapt to various types of terrain features in the pool by working independently or cooperatively, so as to reach a more in-depth position in the pool to collect environmental feature data in the pool, so that the data collected by the cleaning robot is more comprehensive and accurate, and the map data obtained by the cleaning robot according to the data collected in this way is more consistent with the actual environment of the pool.

[0060] Step 202: If the terrain feature information meets the preset terrain profile condition, the pool wall profile is identified; wherein the pool wall profile includes at least one of a no-transition region, a chamfer region, an inclined slope region, a step region, and a bowl-shaped region.

[0061] The region without a transition surface is a region between the pool wall and the pool bottom with an approximately vertical included angle and forms a boundary line. Such a boundary line is a region without a transition surface. When the included angle between the pool wall and the pool bottom is less than or equal to 90°, it belongs to this case, as shown in FIG. 7. In this case, if the included angle between the pool wall and the pool bottom is too small, the cleaning robot cannot collect the pool wall profile by the first driving mode. The cleaning robot can select the second driving mode to collect the pool wall profile information, or directly collect such pool wall profile information by the second driving mode, so as to further improve the efficiency and reliability of the data collected by the cleaning robot when collecting the pool wall profile. Figure 5E

[0062] In the above manner, the cleaning robot can adaptively move to a position of a pool wall profile of different types, and identify the type of the pool wall profile according to the terrain profile condition corresponding to the different features of the identified pool wall profile. The type of the pool wall profile mainly includes at least one of a region without a transition surface, a chamfer region, an inclined slope region, a step region, and a bowl region (also referred to as a pit region), as shown in FIG. 8, wherein, Figures 5A-5E Figure 5A FIG. 9 shows a schematic diagram of the chamfer region, Figure 5B FIG. 10 shows a schematic diagram of the inclined slope region, Figure 5C FIG. 11 shows a schematic diagram of the step region, Figure 5D FIG. 12 shows a schematic diagram of the bowl region, and Figure 5E FIG. 13 shows a schematic diagram of the region without a transition surface.

[0063] Step 203: According to the pool wall profile information of different types, the cleaning robot is controlled to move in the first driving mode or the second driving mode to map the swimming pool.

[0064] After the execution subject identifies the different types of pool wall profiles, the cleaning robot can be controlled to move in the first driving mode or the second driving mode according to the corresponding type. During the movement, the data of the pool wall profile can be obtained, so that the swimming pool can be mapped according to the data. In this embodiment, for different types of pool wall profiles, the execution subject can determine the corresponding driving mode according to the features (such as terrain features, boundary features, etc.) of the identified pool wall profile.

[0065] ​​In this scenario, the execution subject can identify different types of pool wall profiles in which the cleaning robot is located, and adaptively adopt the first driving mode or the second driving mode to control the cleaning robot to move according to the difference. In this way, the cleaning robot can move in different driving modes for different pool wall profiles, can adapt to different pool wall profiles, and can reach more in-depth positions on the pool wall profile to collect data of the pool wall profile, so that the data collected by the cleaning robot is more comprehensive, accurate and reliable, and the map data obtained by the cleaning robot according to the collected data is more consistent with the actual environment of the swimming pool.

[0066] In some optional embodiments of the present disclosure, the control method of the cleaning robot further includes detecting whether the cleaning robot is at least partially out of the water.

[0067] In the present embodiment, in the process of controlling the cleaning robot to move in the swimming pool by the execution subject, the cleaning robot is mainly controlled to move on the bottom surface of the swimming pool, in the water, and the like, to realize subsequent cleaning and the like after the collection of the map information. That is to say, the target area in the swimming pool mainly includes the bottom surface of the swimming pool, the pool wall and the water, and if the cleaning robot moves out of the water or floats out of the water along with the change of the bottom surface of the swimming pool during the movement, it indicates that the cleaning robot is about to leave the target area. Therefore, in order to ensure that the cleaning robot can move in the target area, in the present embodiment, it is detected whether the cleaning robot is at least partially out of the water. In actual application, the water pressure sensor or the water level sensor or the like can be arranged on the cleaning robot to detect whether the cleaning robot is out of the water.

[0068] If the cleaning robot is completely submerged below the water surface, the execution of steps 201 to 203 is returned until at least part of the cleaning robot floats out of the water, and the mapping is completed or a prompt information is issued.

[0069] If the cleaning robot is completely submerged below the water surface and does not float out of the water, the execution subject can continue to control the cleaning robot to move on the bottom surface of the swimming pool, the pool wall or in the water, collect the map data inside the swimming pool, and the like, until at least part of the cleaning robot floats out of the water, which indicates that the cleaning robot has completed the collection of the map data inside the swimming pool and the mapping of the swimming pool. Alternatively, the cleaning robot can move to the edge area of the swimming pool to float out of the water, and a prompt information can be issued to inform the relevant staff to control the cleaning robot to move back into the swimming pool through a terminal device such as a mobile phone or a computer, and continue the previous task, and the like.

[0070] Through the above process, the control method of the cleaning robot provided by the embodiments of the present disclosure can identify different trends of changes in the pool wall profile in which the cleaning robot is located according to the changes between the horizontal ranging value and the tilt ranging value, and adaptively adopt the first driving mode or the second driving mode to control the movement of the cleaning robot. In this way, the cleaning robot can move in different driving modes according to different pool wall profiles, can adapt to different pool wall profiles, and can reach more in-depth positions on the pool wall profile to collect data of the pool wall profile. Therefore, the data collected by the cleaning robot is more comprehensive, accurate and reliable, and the map data obtained by the cleaning robot according to the collected data is more consistent with the actual environment of the swimming pool.

[0071] In some optional embodiments of the present disclosure, in step 202, if the terrain feature meets the preset terrain profile condition, the process of identifying the pool wall profile of the swimming pool mainly includes:

[0072] If the terrain feature meets the trend of local arc change of the terrain profile in the vertical direction, the pool wall profile is identified as a chamfer region. In the present embodiment, as shown in FIG. 3, the features of the chamfer region include that at least part of the region of the terrain profile in the vertical direction is in the trend of arc change. For the pool wall profile with such terrain profile features, it is identified as a chamfer region. Figure 5A

[0073] If the terrain feature meets the trend of the terrain profile including at least three regions in the vertical direction, one of which is a deep water area, one of which is a shallow water area, and a transition area in the form of an inclined plane between the deep water area and the shallow water area, the pool wall profile is identified as a slope region. In the present embodiment, as shown in FIG. 4, the features of the slope region include that the terrain profile in the vertical direction includes at least three regions, one of which is a deep water area 31, one of which is a shallow water area 32, and the other of which is a region 33 between the deep water area and the shallow water area, and at least part of the region 33 is in the form of an inclined plane. For the pool wall profile with such terrain profile features, it is identified as a slope region. Figure 5B

[0074] If the terrain feature meets the trend of the terrain profile in the vertical direction, the pool wall profile is identified as a step region. In the present embodiment, as shown in FIG. 5, the features of the step region include the trend of the terrain profile in the vertical direction. For the pool wall profile with such terrain profile features, it is identified as a step region. Figure 5C

[0075] ​​​If the terrain feature meets the condition that, in the vertical direction, the terrain profile is identified to include at least two regions, one of which is a deep water region with an arc-shaped change trend around the terrain profile, and the other is a shallow water region adjacent to the deep water region, the pool wall profile is identified as a bowl-shaped region. In this embodiment, as shown in FIG. 3B, the bowl-shaped region has the following features: in the vertical direction, the terrain profile includes at least two regions, one of which is a deep water region 34, and in the deep water region 34, the terrain profile has an arc-shaped change trend around the terrain profile, and the other is a shallow water region 35 adjacent to the deep water region 34. For the pool wall profile with such terrain profile features, it is identified as a slope region. Figure 5D

[0076] Through the above embodiments, different pool wall profiles are identified in combination with their corresponding terrain features, which can enable the cleaning robot to clearly understand the main features of each type of pool wall profile. For different pool wall profiles, specific regional features can be identified to accurately classify each type of pool wall profile, provide accurate information support for subsequent control of the cleaning robot to move based on the features and corresponding driving modes, and further improve the reliability of controlling the cleaning robot to move in the swimming pool.

[0077] In some optional embodiments of the present disclosure, the step 203 of controlling the cleaning robot to move in the first driving mode or the second driving mode according to the pool wall profile information of different types mainly includes:

[0078] Step one: controlling the cleaning robot to move in the first driving mode or the second driving mode according to the pool wall profile information of different types to determine the boundary of the pool wall profile.

[0079] In this embodiment, when the cleaning robot moves according to the corresponding driving mode according to the pool wall profile information of different types, the boundary of the pool wall profile is first determined according to the pool wall profile information of different types. In actual applications, the boundary of some pool wall profiles may have different effects on the movement trajectory of the cleaning robot due to the different types of pool wall profiles, which will be described in detail below.

[0080] In some optional embodiments of the present disclosure, the process of controlling the cleaning robot to move in the first driving mode or the second driving mode according to the pool wall profile information of different types to determine the boundary of the pool wall profile mainly includes:

[0081] ​When the cleaning robot is controlled to climb along the pool wall using the first driving method, the position where the cleaning robot's pitch angle changes is defined as the first starting position, and the position where the cleaning robot's pitch angle returns to parallel with the bottom of the pool is defined as the first ending position. The boundary of the pool wall profile is determined based on the first starting position and the first ending position. In this embodiment, for the various types of pool wall profiles mentioned above, whether it is a chamfered area, a sloping area, a bowl-shaped area, or a stepped area, when the execution body can control the cleaning robot to climb along the pool wall using the first driving method, such as Figures 6A-6D As shown, the pitch angle of the cleaning robot changes as it moves from position x to position y, or from position y to position z, due to the change in the pool wall profile. Therefore, in this embodiment, the position where the cleaning robot's pitch angle changes is defined as the first starting position, and the position where the cleaning robot's pitch angle returns to being parallel to the bottom of the pool is defined as the first ending position, thereby determining the boundary of the pool wall profile.

[0082] When the cleaning robot is controlled to float using the second drive method, the boundary can be determined based on information sensed by the detection components installed on the cleaning robot. For example, horizontal and tilt distance values ​​can be obtained through the detection components. The position where the horizontal and tilt distance values ​​differ is determined as the second starting position, and the position where the pool wall returns to the same position when the horizontal and tilt distance values ​​are equal is determined as the second ending position. The boundary of the pool wall contour is determined based on the second starting and second ending positions. In this embodiment, for the various types of pool wall contours mentioned above, whether it is a chamfered area, a sloped area, a bowl-shaped area, or a stepped area, when the execution body can control the cleaning robot to float using the second drive method, such as Figures 8A-8D As shown, during the process of the cleaning robot rising from position x to position y, its pitch angle may not change. In this case, the boundary of the pool wall contour can be identified by the change between the horizontal and tilt distance measurements. The position where the horizontal and tilt distance measurements differ in the horizontal direction indicates the presence of terrain features such as chamfers, slopes, steps, or bowl-shaped terrain in the pool wall contour. Therefore, this position is determined as the second starting position. The position where the difference between the horizontal and tilt distance measurements in the horizontal direction returns to the same value indicates the end of the chamfer, slope, step, or bowl-shaped terrain. Therefore, this position is determined as the second ending position, and the boundary of the pool wall contour is determined based on the second starting position and the second ending position.

[0083] Step 2: Create a map of the swimming pool based on the boundaries of different types of pool wall outlines.

[0084] In this embodiment, during the process of controlling the cleaning robot to move near or in the pool wall contour in a corresponding driving mode, after the boundary information of the pool wall contour is recognized, the pool can be mapped in combination with the boundary information. The obtained map data can more accurately and comprehensively reflect the specific type or characteristics of the pool wall contour in the pool. The cleaning robot can move in different driving modes for different pool wall contours, can adapt to different pool wall contours, and can reach more in-depth positions on the pool wall contour, or even boundary positions, to collect data of the pool wall contour. Therefore, the data collected by the cleaning robot is more comprehensive, accurate and reliable, and the map data obtained by the cleaning robot according to the collected data is more consistent with the actual environment of the pool.

[0085] Please refer to Figure 3 , Figure 3 A flowchart of a control method of a cleaning robot according to an embodiment of the present application is provided, wherein the flowchart 200 comprises the following steps:

[0086] Step 301: During the process of controlling the cleaning robot to move in the pool, the detection assembly of the cleaning robot recognizes the horizontal distance value and the inclined distance value.

[0087] This step aims to control the cleaning robot to move in the pool by the execution subject of the control method of the cleaning robot (for example, the control system of the cleaning robot), as shown in Figure 4 is a partial schematic side view of the cleaning robot 10 moving on the bottom of the pool. The direction indicated by the arrow is the direction of travel of the cleaning robot 10, and is also the direction in which the front of the cleaning robot is facing. The side frames represent the bottom surface or pool wall of the pool. During the process of the cleaning robot moving in the pool, the detection assembly of the cleaning robot can recognize the horizontal distance value and the inclined distance value. The horizontal distance value is the straight-line distance between the pool wall contour in the first detection direction, and the inclined distance value is the straight-line distance between the pool wall contour in the second detection direction. For example, the first detection direction can be the horizontal direction (correspondingly, the horizontal distance value is a1 in Figure 4 ), and the second detection direction has a non-zero angle with the first detection direction in the vertical direction (correspondingly, the inclined distance value is a2 in Figure 4 ).

[0088] In some optional embodiments of the present disclosure, the detection assembly can be a laser radar, which includes a first laser detection element and a second laser detection element. The first laser detection element is configured to collect a horizontal distance value of the pool wall profile at a first position along a first detection direction, and the second laser detection element is configured to collect an inclined distance value of the pool wall profile at a second position along a second detection direction. The first laser detection element and the second laser detection element can be, for example, two groups of single-line laser radars with a preset inclination angle installed on the top of the cleaning robot. In practical applications, the first detection direction and the second detection direction are not limited to this. The detection assembly arranged on the top can achieve 360° detection, so as to collect detection data around the cleaning robot, or can be adjusted according to actual needs to be able to obtain distance values of two different detection directions. The implementation mode of the detection assembly is not limited to the single-line laser radar.

[0089] Step 302: generating terrain feature data based on the change of the horizontal distance value and the inclined distance value, and controlling the cleaning robot to move in a first driving mode or a second driving mode. If the terrain feature meets a preset terrain profile condition, the pool wall profile of the swimming pool is identified.

[0090] In this step, the execution subject can generate terrain feature data according to the change of the horizontal distance value and the inclined distance value, and control the cleaning robot to move in the first driving mode or the second driving mode according to the different terrain feature data. In this embodiment, the change of the horizontal distance value and the inclined distance value refers to the change of the difference between the horizontal distance value and the inclined distance value during the movement of the cleaning robot (for example, whether the change occurs or the change amplitude). Different change conditions directly correspond to the change trend of the shape of the pool wall profile. Therefore, in this embodiment, the change trend of the shape of the pool wall profile can be determined according to the different change conditions, and the execution subject controls the cleaning robot to move in the first driving mode or the second driving mode. In some optional embodiments of the present disclosure, the degree of the change between the horizontal distance value and the inclined distance value can be defined by a first threshold value and a second threshold value, and the second threshold value is greater than the first threshold value. If the change does not exceed the first threshold value, it indicates that the change between the horizontal distance value and the inclined distance value is small, and correspondingly, the change trend of the pool wall profile is small, and the execution subject can control the cleaning robot to climb along the pool wall in the first driving mode. If the change exceeds the second threshold value, it indicates that the change between the horizontal distance value and the inclined distance value is large, and correspondingly, the change trend of the pool wall profile is large, and the execution subject can control the cleaning robot to float in the second driving mode.

[0091] In some optional embodiments of the present disclosure, the first driving mode refers to controlling the cleaning robot to climb along the pool wall, and the second driving mode refers to controlling the cleaning robot to float upwards. In the present embodiment, when the cleaning robot is controlled to float upwards by the second driving mode, the cleaning robot can float upwards in an approximately vertical direction, or can float upwards while approaching the pool wall. The specific way of movement can be adjusted adaptively according to the accuracy and range of the detection components such as the laser radar and the vision sensor arranged on the cleaning robot. If the sensing accuracy and range of the detection components are high, the topography of the swimming pool can be detected only by the process of floating upwards in an approximately vertical direction; if the sensing accuracy and range of the detection components are relatively low, the cleaning robot can be controlled to float upwards while approaching the pool wall, so as to detect the topography of the swimming pool.

[0092] In some optional embodiments of the present disclosure, the main process of controlling the cleaning robot to climb along the pool wall in the first driving mode in step 302 includes starting the anti-skid mode of the cleaning robot, in which the friction between the bottom of the cleaning robot and the pool wall is increased, so that the cleaning robot can climb along the pool wall more stably. For example, the friction between the bottom of the cleaning robot and the pool wall can be increased by increasing the output power of the water pump of the cleaning robot, which is used to generate negative pressure to suck water in the swimming pool into the filter assembly. When the cleaning robot is controlled to float upwards in the second driving mode, the process includes starting the buoyancy adjustment mode to control the cleaning robot to float upwards towards the water surface, and after floating upwards, the robot can be controlled to move forward in the plane after floating upwards. In the present embodiment, the cleaning robot is also provided with a buoyancy tank including a gas-liquid exchange chamber, which can exchange the volume of gas and liquid with the outside to control the weight of the cleaning robot, so as to adjust the buoyancy of the cleaning robot in the water of the swimming pool, and to control the cleaning robot to float upwards or dive in the water. The floating upwards process refers to the process that the cleaning robot moves towards the water surface by adjusting its own buoyancy or structure under the action of the buoyancy, and finally partially or completely exposes the water surface. The diving process refers to the process that the cleaning robot moves towards the water by adjusting its own buoyancy or structure to overcome the buoyancy, and finally reaches a specific depth position (for example, the bottom of the pool) in the swimming pool.

[0093] In this scenario, the cleaning robot can be controlled to move to a pool wall contour with a relatively gentle change trend by the first driving mode. When encountering a pool wall contour with a large change trend, if the cleaning robot moves by the first driving mode, it may slip due to a steep slope or cannot reach the pool wall due to a complex terrain, resulting in missing of map data of part of the pool wall. At this time, the second driving mode can be switched to control the cleaning robot to move in the direction close to the pool wall contour in a floating manner, so that the cleaning robot can reach the pool wall contour in a relatively stable posture, thereby obtaining the terrain data of the corresponding pool wall and being able to obtain more and more comprehensive data. Through the two driving modes, the cleaning robot can independently or cooperatively work according to the specific type or characteristics of the pool wall contour, so that the cleaning robot can adapt to various types of terrain features in the pool and reach a more in-depth position in the pool to collect environmental feature data in the pool, so that the data collected by the cleaning robot is more comprehensive and accurate, and the map data obtained by the cleaning robot according to the data collected in this way is more consistent with the actual environment of the pool.

[0094] In the above manner, the cleaning robot can adaptively move to a position of a pool wall contour of different types and identify the type of the pool wall contour according to the terrain contour condition corresponding to the different characteristics of the identified pool wall contour. The type of the pool wall contour mainly includes at least one of a no-transition region, a chamfer region, an inclined slope region, a step region, and a bowl region (also referred to as a pit region), as shown in FIG. 1A, wherein the no-transition region is shown in FIG. 1B, the chamfer region is shown in FIG. 1C, the inclined slope region is shown in FIG. 1D, the step region is shown in FIG. 1E, and the bowl region is shown in FIG. 1F. Figures 5A-5E Figure 5A FIG. 1C shows a schematic view of the chamfer region, Figure 5B FIG. 1D shows a schematic view of the inclined slope region, Figure 5C FIG. 1E shows a schematic view of the step region, Figure 5D FIG. 1F shows a schematic view of the bowl region, Figure 5E FIG. 1B shows a schematic view of the no-transition region. It should be noted that in the figures, the angle between the dashed lines of the two detection directions is shown to be relatively large in order to clearly distinguish the horizontal ranging value and the inclination ranging value, but this does not limit the present application. In actual application, the included angle between the different detection directions of the detection assembly, the detection distance, etc. can be set or adjusted according to the actual situation. The slight change of the terrain can be detected according to the ranging values of the different detection directions, and is not limited to the situation shown in the figures. Moreover, since the detection assembly is arranged at the top of the cleaning robot, a detection angle of 360° can be achieved, so that the terrain features encountered in the direction of movement of the cleaning robot can be detected. In the case where the range is allowed, the terrain data of 360° around the cleaning robot can be scanned at one time to identify the types of the above-mentioned various pool wall contours.

[0095] ​Step 303: according to the different types of pool wall contour information, the cleaning robot is controlled to move in the first driving mode or the second driving mode, and the pool is mapped.

[0096] After the execution subject identifies the different types of pool wall contours, it can control the cleaning robot to move in the first driving mode or the second driving mode according to the corresponding type. During the movement, data of the pool wall contour can be obtained, so that the pool can be mapped according to the data. In this embodiment, for different types of pool wall contours, the execution subject can determine the corresponding driving mode according to the identified features of the pool wall contour (such as terrain features, boundary features, etc.), or adjust the corresponding driving mode according to the change of the horizontal ranging value and the inclination ranging value.

[0097] In this scenario, the execution subject can identify the different trends of the pool wall contour where the cleaning robot is located according to the change between the horizontal ranging value and the inclination ranging value, and adaptively adopt the first driving mode or the second driving mode to control the cleaning robot to move. In this way, the cleaning robot can move in different driving modes for different pool wall contours, better adapt to different pool wall contours, and reach more in-depth positions on the pool wall contour to collect data of the pool wall contour. The data collected by the cleaning robot is more comprehensive, accurate and reliable. The map data obtained by the cleaning robot according to the collected data is more consistent with the actual environment of the pool.

[0098] In some optional embodiments of the present disclosure, in step 302, if the terrain feature satisfies the preset terrain contour condition, the process of identifying the pool wall contour of the pool mainly includes:

[0099] If the terrain feature satisfies that, in the vertical direction, the local of the terrain contour is identified to have an arc-shaped change trend, the pool wall contour is identified as a chamfer region. In this embodiment, as shown in FIG. 6, the features of the chamfer region include that, in the vertical direction, at least part of the region of the terrain contour has an arc-shaped change trend. For the pool wall contour with such terrain contour features, it is identified as a chamfer region. Figure 5A

[0100] If the terrain feature satisfies that, in the vertical direction, the terrain contour is identified to include at least three regions, one of which is a deep water region, one of which is a shallow water region, and a transition region between the deep water region and the shallow water region is an inclined plane, the pool wall contour is identified as a slope region. In this embodiment, as shown in FIG. 7, the features of the slope region include that, in the vertical direction, the terrain contour includes at least three regions, one of which is a deep water region, one of which is a shallow water region, and a transition region between the deep water region and the shallow water region is an inclined plane. For the pool wall contour with such terrain contour features, it is identified as a slope region. Figure 5B ​As shown, the features of the slope region include that the terrain profile in the vertical direction includes at least three regions, one of which is a deep water area 31, one is a shallow water area 32, and the other is a region 33 between the deep water area and the shallow water area, and at least part of the region 33 is a sloping plane. For the pool wall profile with such terrain profile features, it is identified as a slope region.

[0101] If the terrain features meet the terrain profile in the vertical direction is identified to have a stepped change trend, the pool wall profile is identified as a step region. In the embodiment, as shown in the figure, Figure 5C As shown, the features of the step region include that the terrain profile in the vertical direction has a stepped change trend. For the pool wall profile with such terrain profile features, it is identified as a step region.

[0102] If the terrain features meet the terrain profile in the vertical direction includes at least two regions, one of which is a deep water area with an arc-shaped change trend around the terrain profile, and the other is a shallow water area adjacent to the deep water area, the pool wall profile is identified as a bowl-shaped region. In the embodiment, as shown in the figure, Figure 5D As shown, the features of the bowl-shaped region include that the terrain profile in the vertical direction includes at least two regions, one of which is a deep water area 34, and the terrain profile around the deep water area 34 has an arc-shaped change trend, and the other is a shallow water area 35 adjacent to the deep water area 34. For the pool wall profile with such terrain profile features, it is identified as a slope region.

[0103] Through the above embodiments, different pool wall profiles are identified in combination with their corresponding terrain features, which can enable the cleaning robot to clearly understand the main features of each type of pool wall profile. For different pool wall profiles, specific regional features can be identified to accurately classify each type of pool wall profile, provide accurate information support for subsequent driving mode control of the cleaning robot based on the features, and further improve the reliability of controlling the cleaning robot to move in the pool.

[0104] In some optional embodiments of the embodiments of the present disclosure, the executing subject can also determine the specific type of the pool wall profile by the difference between the horizontal ranging value and the tilt ranging value. The process mainly includes:

[0105] If the difference between the horizontal ranging value and the tilt ranging value of the pool wall at different heights is different, as shown in the figure, Figure 6AAs shown, when the cleaning robot is at position x, the difference between the horizontal distance measurement value and the tilt distance measurement value is d1=|a1-a2|, and when it is at position y, the difference between the horizontal distance measurement value and the tilt distance measurement value is d2=|a1'-a2'|. Since d1 and d2 are obviously different, it indicates that the position of the cleaning robot has a curvature change, so the pool wall contour is identified as a chamfered area.

[0106] If the difference between the horizontal and inclined distance measurements at different heights of the pool wall is the same, such as Figure 6B As shown, when the cleaning robot is at position x, the difference between the horizontal and tilted distance measurements is d1 = |a1 - a2|, and at position y, the difference is d2 = |a1' - a2'|. d1 and d2 are the same (because the slope angle remains constant, the difference in distance measurements at the same height difference should be the same). Furthermore, since there is an angle between the horizontal and tilted distance measurements, with a fixed slope angle, the changes in d1 and d2 conform to an almost linear trend, indicating that the cleaning robot is located on a slope with a fixed tilt angle. Therefore, the pool wall outline is identified as the slope region. It should be noted that... Figure 6B In order to show the distance measurement position of the cleaning robot at the same height difference detected at positions x and y, the detection direction at position y is shown to have a large deviation from that at position x. In actual applications, the detection directions of the horizontal distance measurement values ​​at positions x and y can coincide.

[0107] If the difference between the horizontal and inclined distance measurements of the pool wall at different locations exceeds a preset threshold, such as Figure 6C As shown, if the difference between the horizontal distance measurement value a1 and the inclined distance measurement value a2 is large, then the pool wall outline is identified as a stepped area.

[0108] If the pitch angle of the cleaning robot changes negatively, and the difference between the horizontal distance measurement value and the tilt distance measurement value is different at different heights of the pool wall, such as Figure 6D As shown, when the cleaning robot is at position x, the pitch angle changes to a negative angle. At position y, the difference between the horizontal distance measurement value and the tilt distance measurement value is d1=|a1-a2|. At position z, the difference between the horizontal distance measurement value and the tilt distance measurement value is d2=|a1'-a2'|. Since d1 and d2 are obviously different, it indicates that the position of the cleaning robot has an arc change around the whole circle, so the outline of the pool wall is identified as a bowl-shaped area.

[0109] Through the above process, the control method of the cleaning robot in the embodiments of the present disclosure can analyze the pool wall contour features in combination with the differences of specific features in the pool wall contour, and compare them with the preset terrain contour conditions, so as to accurately identify the specific type to which the pool wall contour detected by the cleaning robot belongs. Accurate identification of the pool wall contour is an important basis for subsequent control of the cleaning robot to adaptively move on the corresponding type of pool wall contour, and can provide a more accurate basis for subsequent control of the cleaning robot to determine which driving mode to move.

[0110] In some optional embodiments of the present disclosure, as shown in Figure 7 The process of controlling the cleaning robot to move in the first driving mode or the second driving mode according to the pool wall contour information of different types to map the swimming pool mainly includes:

[0111] Step 701: Controlling the cleaning robot to move in the first driving mode or the second driving mode according to the pool wall contour information of different types to determine the boundary of the pool wall contour.

[0112] In this embodiment, when the cleaning robot moves according to the corresponding driving mode according to the pool wall contour information of different types, the boundary of the pool wall contour is first determined according to the pool wall contour information of different types. In actual application, the boundary of some pool wall contours may have different effects on the movement trajectory of the cleaning robot due to the difference in the type of the pool wall contour, which will be described in detail below.

[0113] In some optional embodiments of the present disclosure, the process of controlling the cleaning robot to move in the first driving mode or the second driving mode according to the pool wall contour information of different types to determine the boundary of the pool wall contour mainly includes:

[0114] In the case of controlling the cleaning robot to climb along the pool wall in the first driving mode, the position where the pitch angle of the cleaning robot changes is determined as the first starting position, the position where the pitch angle of the cleaning robot returns to parallel to the bottom surface of the swimming pool is determined as the first ending position, and the boundary of the pool wall contour is determined according to the first starting position and the first ending position. In this embodiment, for the various types of pool wall contours described above, whether it is a chamfer region, a slope region, a bowl region, or a step region, the subject can control the cleaning robot to climb along the pool wall in the first driving mode, as Figures 6A-6DAs shown, the pitch angle of the cleaning robot will change when it moves from position x to position y or from position y to position z due to the change of the pool wall contour. Therefore, in this embodiment, the position where the pitch angle of the cleaning robot changes is determined as the first starting position, the position where the pitch angle of the cleaning robot returns to parallel to the bottom surface of the pool is determined as the first ending position, and the boundary of the pool wall contour is determined according to the first starting position and the first ending position.

[0115] In the case of controlling the cleaning robot to float up in the second driving mode, the position where the horizontal distance value and the tilt distance value produce a distance difference is determined as the second starting position, the position where the pool wall returns to the same horizontal distance value and tilt distance value is determined as the second ending position, and the boundary of the pool wall contour is determined according to the second starting position and the second ending position. In this embodiment, for the various types of pool wall contours mentioned above, whether it is a chamfer region, a slope region, a bowl region, or a step region, the subject performs the following operations when it can control the cleaning robot to float up in the second driving mode: Figures 8A-8D As shown, the pitch angle of the cleaning robot may not change when it floats up from position x to position y, and in this case, the boundary of the pool wall contour can be identified by the change between the horizontal distance value and the tilt distance value. The position where the horizontal distance value and the tilt distance value produce a distance difference in the horizontal direction indicates that there is a terrain feature such as a chamfer, a slope, a step, or a bowl-shaped terrain in the pool wall contour, so this position is determined as the second starting position. The position where the pool wall returns to the same difference between the horizontal distance value and the tilt distance value in the horizontal direction indicates that the chamfer, the slope, the step, or the bowl-shaped terrain ends, so this position is determined as the second ending position, and the boundary of the pool wall contour is determined according to the second starting position and the second ending position.

[0116] Step 702: Map the pool according to the boundaries of different types of pool wall contours.

[0117] In this embodiment, after the boundary information of the pool wall contour is identified when the cleaning robot moves around or in the pool wall contour in the corresponding driving mode, the pool can be mapped in combination with the boundary information. The obtained map data can more accurately and comprehensively reflect the specific type or feature of the pool wall contour in the pool. The cleaning robot can move in different driving modes for different pool wall contours, can adapt to different pool wall contours, and can reach a more in-depth position or even a boundary position on the pool wall contour to collect data of the pool wall contour. This makes the data collected by the cleaning robot more comprehensive, accurate, and reliable, and the map data obtained by the cleaning robot according to the data collected in this way is more consistent with the actual environment of the pool.

[0118] In some optional implementations of the embodiments of the present disclosure, in the process of mapping the swimming pool according to the boundaries of different types of pool wall contours, the swimming pool map can be divided differently according to the types of the pool wall contours, so as to construct maps of different levels. Specifically, the process mainly includes:

[0119] For the terrain of the pool wall contour being a bowl-shaped region, the pool wall contour can be identified as a layered region, where the layered region includes the boundary of the bowl-shaped region and two swimming pool regions adjacent to the bowl-shaped region. For example, as shown in Figure 9 the layered region corresponding to the bowl-shaped region can include two layers, where the first layer is a deep water area S1 formed by the boundary W1 of the bowl-shaped region and one swimming pool region adjacent to the bowl-shaped region. The second layer is a shallow water area Q1 formed by another swimming pool region. The main difference between the deep water area and the shallow water area is that the distance from the lowest position in the deep water area to the water surface of the swimming pool is greater than the distance from the lowest position in the shallow water area to the water surface of the swimming pool. In actual applications, since the bowl-shaped region is divided into a layered region, the boundary W1 of the layered region is marked as a cliff, reminding the cleaning robot to stop advancing and change the direction of travel when reaching the boundary position.

[0120] For the terrain of the pool wall contour being a slope region, the slope region can be further divided into a slope single-layer region or a slope layered region according to the inclination angle of the slope in the slope region. The slope layered region includes the boundary of the slope region and two swimming pool regions adjacent to the slope region. The main reason for such division is that for slopes with different inclination angles, the execution body can control the cleaning robot to move along the pool wall contour in different driving modes. For example, if the inclination angle of the slope is small (e.g., less than or equal to 30 degrees), the cleaning robot can move upward along the slope by increasing the friction with the bottom surface of the swimming pool. If the inclination angle of the slope is large (e.g., greater than 30 degrees), the cleaning robot may slip or fall back due to insufficient friction when moving along the slope by increasing the friction with the bottom surface of the swimming pool. Therefore, for slopes with large slopes, the execution body can control the cleaning robot to move upward in a second driving mode. Correspondingly, for regions where the cleaning robot can climb along the slope, they can be identified as continuous slope single-layer regions, and for regions where the cleaning robot needs to move upward to reach, they can be identified as slope layered regions. For example, as shown in Figure 10As shown, the sloping area can be divided into two layers. The first layer consists of the sloping area boundary W2 and a deep-water area S2 formed by an adjacent pool area. The second layer consists of a shallow-water area Q2 formed by another pool area. The main difference between the deep and shallow areas is that the distance from the lowest point in the deep area to the pool surface is greater than the distance from the lowest point in the shallow area. In practical applications, because the slope is steep and the sloping area is divided into layers, the boundary W2 of this layer is marked as a cliff, reminding the cleaning robot to stop and change direction when it reaches this boundary.

[0121] For terrain where the pool wall profile is chamfered, the horizontal pool area can be identified based on the characteristics of this profile. For example, such as... Figure 11 As shown, the chamfered area may exist at the edge of the pool wall. That is, the chamfered area is formed at the connection between the pool bottom and the pool wall. For this area, the boundary of the horizontal pool area on the pool bottom can be determined based on the boundary W3 of the chamfered area. Specifically, the first starting position of the chamfered area (i.e., the starting position of the chamfer determined during the movement of the cleaning robot controlled by the first drive mode) or the second starting position (i.e., the starting position of the chamfer determined during the movement of the cleaning robot controlled by the second drive mode) and the pool area adjacent to the chamfered area can be identified as the horizontal pool area, so that the chamfered area can be defined by the boundary position of the horizontal pool area.

[0122] For terrain where the pool wall outline is a stepped area, the stepped area can be identified as such based on whether its boundary is defined by multiple steps. For example, such as... Figure 12A As shown, for a stepped area, when the cleaning robot is controlled to climb along the stepped area in the first driving mode, the height information of a single step is marked according to the distance d1 of the cleaning robot's single climb, and the width information of a single step is marked according to the distance d2 the cleaning robot moves before the next climb. For multi-step steps, if the cleaning robot is controlled to climb along the edge of the step in the first driving mode, then the distance d1 of its single climb along the step indicates the height of that single step, and then the distance d2 the cleaning robot moves before the next climb indicates the width of that single step. Figure 12BIn the case of controlling the cleaning robot to float upwards in the second driving mode, the height information of the single step is marked according to the distance d1 at which the cleaning robot floats upwards from the second starting position to the second ending position, and the width information of the single step is marked according to the difference between the horizontal distance value a1 and the inclined distance value a2 of the pool wall in the horizontal direction. Exemplarily, for the step region, the second starting position indicates the starting position of the single step, and the second ending position indicates the ending position of the single step, so that the height of the single step can be determined according to the distance at which the cleaning robot floats upwards from the second starting position to the second ending position, and the width of the single step can be determined according to the difference between the horizontal distance value and the inclined distance value of the pool wall in the horizontal direction. In this embodiment, the water depth information of the cleaning robot in the process of floating upwards in the water can be collected by the water depth sensor arranged in the cleaning robot, and the distance of floating upwards can be obtained according to the change of the water depth information, but the present embodiment is not limited thereto. After the corresponding single step information of the pool wall profile of different types is obtained, the height and width of multiple single steps can be integrated to generate the information of multiple steps in the step region.

[0123] Through the above process, the control method of the cleaning robot in the embodiment of the present disclosure can control the cleaning robot to move on the pool wall profile according to different types, shapes and other characteristics of the pool wall profile, by correspondingly adopting the first driving mode or the second driving mode. In addition, different driving modes can be adaptively adopted according to different pool wall profiles, so that the cleaning robot can move at a closer distance to the pool wall profile, or even along the pool wall profile, thereby obtaining the specific topographic characteristics (such as shape, boundary, etc.) of the pool wall profile. After the boundary information of the pool wall profile is identified, the swimming pool can be mapped in combination with the boundary information, and different types of pool wall profiles can be mapped in layers or in a single layer, so that the obtained map data can more accurately and comprehensively reflect the specific types or characteristics of the pool wall profile in the swimming pool. On this basis, the map information constructed according to the obtained specific topographic characteristics can more comprehensively and accurately depict the specific characteristics in the swimming pool, and is more consistent with the actual environment of the swimming pool.

[0124] Reference is made to Figure 13 , Figure 13 The flowchart of another control method of a cleaning robot provided by the embodiment of the present disclosure is shown in FIG. 12, wherein the flow 1200 includes the following steps:

[0125] Step 1301: In the process of controlling the cleaning robot to move in the swimming pool, the detection assembly of the cleaning robot identifies the horizontal distance value and the inclined distance value.

[0126] Step 1302: generating the terrain feature data based on the change of the horizontal distance measurement value and the tilt distance measurement value, controlling the cleaning robot to move in the first driving mode or the second driving mode, and identifying the pool wall contour of the swimming pool if the terrain feature meets the preset terrain profile condition.

[0127] Step 1303: controlling the cleaning robot to move in the first driving mode or the second driving mode according to the different types of pool wall contour information, and mapping the swimming pool.

[0128] The above steps 1301-1303 are consistent with the steps 301-303 as shown in Figure 3 The same part of the content can be referred to the corresponding part of the previous embodiment, and will not be described here.

[0129] Step 1304: detecting whether the cleaning robot is at least partially out of the water.

[0130] In the embodiment, the above-mentioned subject of execution controls the cleaning robot to move in the swimming pool, mainly controls the cleaning robot to move on the bottom surface of the swimming pool, in the water, and realizes the collection of the map information and the subsequent cleaning process. That is to say, the target area in the swimming pool mainly includes the bottom surface of the swimming pool, the pool wall, and the water area, and if the cleaning robot moves out of the water or floats out of the water along with the change of the bottom surface of the swimming pool during the movement, it indicates that the cleaning robot is about to leave the target area. Therefore, in order to ensure that the cleaning robot can move in the target area, in the embodiment, it is detected whether the cleaning robot is at least partially out of the water. In actual application, the water pressure sensor or the water level sensor can be arranged on the cleaning robot to detect whether the cleaning robot is out of the water.

[0131] Step 1305: if the cleaning robot is completely submerged below the water surface, returning to execute the steps 1301-1303 until at least part of the cleaning robot is out of the water, and completing the mapping or issuing a prompt information.

[0132] If the cleaning robot is completely submerged below the water surface and is not out of the water, the subject of execution can continue to control the cleaning robot to move on the bottom surface of the swimming pool, the pool wall, or the water, and collect the map data inside the swimming pool, until at least part of the cleaning robot is out of the water, which indicates that the cleaning robot has completed the collection of the map data inside the swimming pool and completed the mapping of the swimming pool. Or, the cleaning robot may be moved to the edge area of the swimming pool so as to be out of the water, and a prompt information can be issued to inform the relevant staff to control the cleaning robot to move back into the swimming pool through the terminal device such as the mobile phone or the computer, and continue the previous task.

[0133] Through the above process, the control method of the cleaning robot provided by the embodiments of the present disclosure can identify the different trends of the pool wall profile according to the changes between the horizontal ranging value and the tilt ranging value, and adaptively adopt the first driving mode or the second driving mode to control the movement of the cleaning robot. In this way, the cleaning robot can move in different driving modes according to different pool wall profiles, can adapt to different pool wall profiles, and can reach more in-depth positions on the pool wall profile to collect data of the pool wall profile, so that the data collected by the cleaning robot is more comprehensive, accurate and reliable, and the map data obtained by the cleaning robot according to the collected data is more consistent with the actual environment of the swimming pool.

[0134] In some optional embodiments of the embodiments of the present disclosure, in the process described in any of the above embodiments, the subject controls the movement of the cleaning robot in the swimming pool. Since the cleaning robot can travel on different pool wall profiles (such as a region without a transition surface, a chamfer region, a slope region, a bowl region or a step region), the attitude of the cleaning robot can be affected during the process of climbing along the pool wall profile in the first driving mode or floating up in the second driving mode, so that the cleaning robot cannot be kept in contact with or parallel to the bottom surface of the swimming pool, and a certain pitch angle or inclination angle can be generated. Therefore, in order to ensure the stability of the cleaning robot, the subject can obtain the change of the pitch angle of the cleaning robot, and adjust the attitude of the cleaning robot according to the change of the pitch angle, so as to further improve the stability of the movement process of the cleaning robot in the case of adapting to different types of pool wall profiles, so as to ensure that the map data obtained according to the movement track of the cleaning robot in the swimming pool is more stable and accurate, and improve the accuracy of mapping for the swimming pool.

[0135] The embodiments of the present disclosure also give a specific implementation scheme in combination with a specific application scenario, please refer to Figure 14 as shown.

[0136] Step 1401: In the process of controlling the cleaning robot to move in the swimming pool, the horizontal ranging value and the tilt ranging value are obtained. Specifically, the horizontal ranging value and the tilt ranging value can be obtained by a detection assembly (such as a horizontally arranged laser radar and a tilt arranged laser radar).

[0137] Step 1402: generating the terrain data according to the change of the horizontal distance measurement value and the tilt distance measurement value, controlling the cleaning robot to move in the first driving mode or the second driving mode, and identifying the pool wall profile of the swimming pool if the terrain feature meets the preset terrain profile condition. In the embodiment, the preset terrain profile condition mainly includes the condition of the chamfer region, the condition of the slope region, the condition of the bowl region, and the condition of the step region. Wherein, the condition of the chamfer region includes:

[0138] Step 1402a: if the terrain feature meets the condition that the local of the terrain profile is identified to have a trend of arc change in the vertical direction, the pool wall profile is identified as the chamfer region; and then step 1403a-step 1405a are executed.

[0139] Step 1402b: if the terrain feature meets the condition that the terrain profile is identified to include at least three regions in the vertical direction, one of which is a deep water region, one of which is a shallow water region, and a transition region between the deep water region and the shallow water region is a tilted plane, the pool wall profile is identified as the slope region; and then step 1403b-step 1405b are executed.

[0140] Step 1402c: if the terrain feature meets the condition that the terrain profile is identified to have a trend of step change in the vertical direction, the pool wall profile is identified as the step region; and then step 1403c-step 1405c are executed.

[0141] Step 1402d: if the terrain feature meets the condition that the terrain profile is identified to include at least two regions in the vertical direction, one of which is a deep water region having a trend of arc change around the terrain profile, and the other of which is a shallow water region adjacent to the deep water region, the pool wall profile is identified as the bowl region; and then step 1403d-step 1405d are executed.

[0142] For the chamfer region:

[0143] Step 1403a: controlling the cleaning robot to climb along the chamfer region in the first driving mode (for example, increasing the output power of the water pump of the cleaning robot to increase the friction between the cleaning robot and the surface of the chamfer region, thereby achieving the effect of anti-skid), and obtaining the change of the pitch angle of the cleaning robot during the climbing; or if the arc amplitude of the chamfer region is large, the cleaning robot may not be able to climb the chamfer region, and the cleaning robot can be controlled to float up in the second driving mode (for example, adjusting the buoyancy of the cleaning robot).

[0144] Step 1404a: determining the corresponding boundary position according to the different driving modes.

[0145] In the process of controlling the cleaning robot to climb along the chamfer region in the first driving mode, a position where the pitch angle of the cleaning robot changes is determined as a chamfer start position, a position where the pitch angle of the cleaning robot returns to parallel to the bottom surface of the pool is determined as a chamfer end position, and the boundary of the pool wall contour is determined according to the chamfer start position and the chamfer end position; in this process, the pose of the cleaning robot can also be adjusted according to the change of the pitch angle of the cleaning robot to maintain the stability of the cleaning robot;

[0146] In the process of controlling the cleaning robot to float up in the second driving mode, a position where the horizontal distance value and the tilt distance value produce a distance difference is determined as a chamfer start position, a position where the pool wall returns to the same horizontal distance value and tilt distance value is determined as a chamfer end position, and the boundary position of the chamfer region is determined according to the chamfer start position and the chamfer end position;

[0147] Step 1405a: according to the determined boundary position of the chamfer region, the horizontal pool region of the bottom surface of the pool is determined; and a map of the horizontal pool region and the chamfer region is constructed.

[0148] For the slope region:

[0149] Step 1403b: according to the inclination angle of the slope of the slope region, a corresponding driving mode is adopted to control the movement of the cleaning robot.

[0150] Specifically, the inclination angle of the slope of the slope region is judged, if the inclination angle is less than or equal to a preset angle (such as 30 degrees), the first driving mode (for example, increasing the output power of the water pump of the cleaning robot to increase the friction between the cleaning robot and the surface of the slope region, which has the effect of anti-skid) is adopted to control the cleaning robot to climb along the slope region, and in the process of climbing, the change of the pitch angle of the cleaning robot is obtained; if the inclination angle is greater than the preset angle, the second driving mode (for example, adjusting the buoyancy of the cleaning robot) is adopted to control the cleaning robot to float up;

[0151] Step 1404b: according to different driving modes, corresponding boundary positions are determined.

[0152] In the process of controlling the cleaning robot to climb along the chamfer region in the first driving mode, a position where the pitch angle of the cleaning robot changes is determined as a chamfer start position, a position where the pitch angle of the cleaning robot returns to parallel to the bottom surface of the pool is determined as a chamfer end position, and the boundary of the pool wall contour is determined according to the chamfer start position and the chamfer end position; in this process, the pose of the cleaning robot can also be adjusted according to the change of the pitch angle of the cleaning robot to maintain the stability of the cleaning robot;

[0153] In the process of controlling the cleaning robot to float in the second driving mode, the position where the horizontal ranging value and the tilt ranging value produce a distance difference is determined as the slope start position, the position where the pool wall restores to the same in the horizontal ranging value and the tilt ranging value is determined as the slope end position, and the boundary of the pool wall contour is determined according to the slope start position and the slope end position; in this process, the pose of the cleaning robot can also be adjusted according to the change of the pitch angle of the cleaning robot to maintain the stability of the cleaning robot.

[0154] Step 1405b: according to the different inclination angles of the slope, the corresponding slope map is constructed.

[0155] If the inclination angle of the slope is less than or equal to the preset angle, the slope region and the two pool regions adjacent to the slope region are identified as a slope single-layer map according to the determined boundary; if the inclination angle is greater than the preset angle, the slope region is identified as a slope layered map, wherein the boundary of the slope region and the deep water area composed of one pool region adjacent to the slope region are identified as a first slope layered map; and the shallow water area composed of the other pool region is identified as a second slope layered map.

[0156] For the bowl-shaped region:

[0157] Step 1403c: the cleaning robot is controlled to climb along the bowl-shaped region in a first driving mode (for example, increasing the output power of the water pump of the cleaning robot to increase the friction between the cleaning robot and the surface of the bowl-shaped region, which has the effect of preventing slipping); in the process of climbing, the change of the pitch angle of the cleaning robot is obtained; or if it is identified that the amplitude of the arc-shaped part of the bowl-shaped region is large and the cleaning robot can not climb the bowl-shaped region, the cleaning robot is controlled to float in a second driving mode (for example, adjusting the buoyancy of the cleaning robot);

[0158] Step 1404c: according to different driving modes, the corresponding boundary position is determined.

[0159] In the process of controlling the cleaning robot to climb along the bowl-shaped region in the first driving mode, the position where the pitch angle of the cleaning robot changes is determined as the bowl-shaped start position, the position where the pitch angle of the cleaning robot restores to parallel to the bottom surface of the pool is determined as the bowl-shaped end position, and the boundary of the pool wall contour is determined according to the bowl-shaped start position and the bowl-shaped end position; in this process, the pose of the cleaning robot can also be adjusted according to the change of the pitch angle of the cleaning robot to maintain the stability of the cleaning robot.

[0160] In the process of controlling the cleaning robot to float up in the second driving mode, the position where the horizontal distance value and the tilt distance value produce a distance difference is determined as the bowl starting position, the position where the pool wall restores to the same in the horizontal distance value and the tilt distance value is determined as the bowl ending position, and the boundary of the pool wall contour is determined according to the bowl starting position and the bowl ending position; in this process, the pose of the cleaning robot can also be adjusted according to the change of the pitch angle of the cleaning robot to maintain the stability of the cleaning robot.

[0161] Step 1405c: according to the determined boundary, the bowl-shaped region is identified as a bowl-shaped layered map, and the bowl-shaped layered map includes the boundary of the bowl-shaped region and two pool regions adjacent to the bowl-shaped region, wherein the first layer of the bowl-shaped map is a deep water area constituted by the boundary of the bowl-shaped region and one pool region adjacent to the bowl-shaped region, and the second layer of the bowl-shaped map is a shallow water area constituted by the other pool region.

[0162] For the step region:

[0163] Step 1403d: control the cleaning robot to climb along the step region in the first driving mode (for example, increase the output power of the water pump of the cleaning robot to increase the friction between the cleaning robot and the surface of the step region, which has the effect of anti-skid), and in the process of climbing, the change of the pitch angle of the cleaning robot is obtained; or the cleaning robot can also be controlled to float up in the second driving mode (for example, adjust the buoyancy of the cleaning robot).

[0164] Step 1404d: according to different driving modes, determine the corresponding boundary position.

[0165] In the process of controlling the cleaning robot to climb along the step region in the first driving mode, the position where the pitch angle of the cleaning robot changes is determined as the step starting position according to the change of the pitch angle of the cleaning robot, the position where the pitch angle of the cleaning robot restores to parallel to the bottom surface of the pool is determined as the step ending position, and the boundary of the pool wall contour is determined according to the step starting position and the step ending position; in this process, the pose of the cleaning robot can also be adjusted according to the change of the pitch angle of the cleaning robot to maintain the stability of the cleaning robot.

[0166] In the process of controlling the cleaning robot to float up in the second driving mode, the position where the horizontal distance value and the tilt distance value produce a distance difference is determined as the bowl starting position, the position where the pool wall restores to the same in the horizontal distance value and the tilt distance value is determined as the bowl ending position, and the boundary of the pool wall contour is determined according to the bowl starting position and the bowl ending position; in this process, the pose of the cleaning robot can also be adjusted according to the change of the pitch angle of the cleaning robot to maintain the stability of the cleaning robot.

[0167] Step 1405d: according to the determined boundary, identifying multi-stage step information, and constructing a pool step area map according to the multi-stage step information. Specifically, in the case of controlling the cleaning robot to climb along the step area in the first driving mode, the height information of the single-stage step is marked according to the distance of a single climb of the cleaning robot, and the width information of the single-stage step is marked according to the distance moved by the cleaning robot before the next climb; in the case of controlling the cleaning robot to float up in the second driving mode, the height information of the single-stage step is marked according to the distance of the cleaning robot floating up at the second starting position and the second ending position, and the width information of the single-stage step is marked according to the difference between the horizontal distance value and the inclined distance value of the pool wall; the multi-stage step information is generated according to the height information and the width information of the plurality of single-stage steps, so that the 3D point cloud map of the step area can be generated according to the width, height and boundary information of the multi-stage step.

[0168] In some optional embodiments of the present disclosure, when the cleaning robot identifies that the pool wall contour is a non-transition area (i.e., when the included angle between the pool wall and the pool bottom is less than or equal to 90°), if the included angle between the pool wall and the pool bottom is too small, the cleaning robot cannot collect the pool wall contour by the first driving mode, and the cleaning robot can select the second driving mode to collect the pool wall contour information, or directly collect such pool wall contour information by the second driving mode, so as to further improve the efficiency and reliability of the data collected by the robot when collecting the pool wall contour.

[0169] In some optional embodiments of the present disclosure, during the movement of the cleaning robot in the pool, the cleaning robot mainly controls the movement of the cleaning robot on the bottom surface of the pool and in the water to realize the collection of map information and subsequent cleaning processes. That is, the target area in the pool mainly includes the bottom surface of the pool, the pool wall and the water area, and if the cleaning robot moves out of the water surface or floats out of the water surface during the movement process, it indicates that the cleaning robot is about to leave the target area. Therefore, in order to ensure that the cleaning robot can move in the target area, in the present embodiment, it is detected whether at least part of the body of the cleaning robot floats out of the water surface. In actual application, whether the cleaning robot floats out of the water surface can be detected by setting a water pressure sensor or a water level sensor on the cleaning robot.

[0170] If the cleaning robot is completely submerged below the water surface, the above process continues until at least part of the cleaning robot floats out of the water, the mapping is completed or a prompt message is sent. If the cleaning robot is completely submerged below the water surface and does not float out of the water, the main body can continue to control the cleaning robot to move on the bottom surface, the pool wall or in the water of the pool, collect the map data inside the pool, and the like, until the cleaning robot at least partially floats out of the water, which indicates that the cleaning robot has completed the collection of the map data inside the pool and completed the mapping of the pool. Alternatively, the cleaning robot can move to the edge area of the pool so as to float out of the water, and a prompt message can be sent to inform the relevant staff to control the cleaning robot to move back into the pool through a terminal device such as a mobile phone or a computer, and continue the previous task.

[0171] Step 1406: In combination with the constructed map corresponding to the various types of regions described above, a pool map is generated, or the map data is sent to a navigation system used in cooperation with the cleaning robot, and the pool map data in the navigation system is updated.

[0172] In some optional embodiments of the embodiments of the present disclosure, in steps 1402a-1402d described above, the process of identifying the corresponding pool wall contour according to different terrain features can be identified and distinguished by a quantitative index in addition to the identification by the above-described embodiments. Specifically, the geometric deviation of the horizontal ranging value L1 and the inclined ranging value L2 relative to the proportion coefficient k = |L1-L2| / min(L1,L2) of the horizontal ranging value can be calculated to quantitatively distinguish the terrain features, and the terrain is dynamically identified according to the k value to trigger the subsequent corresponding control process: when 0.12<k<0.18, it is determined that the cleaning robot is located in the chamfer region; when 0.35<k<0.5, it is determined that the cleaning robot is located in the slope region; when 0.75<k<0.85, it is determined that the cleaning robot is located in the bowl-shaped region; and when k>2.0, it is determined that the cleaning robot is located in the step region. Moreover, for the step region, the cleaning robot can determine the height of the single-step according to the water depth change information of the cleaning robot when the k value jumps during the floating process of the cleaning robot on the step region, and calculate the width information of the single-step according to the horizontal ranging value L1' and the inclined ranging value L2' when the k value jumps, as shown in the following formula: Figure 15 The width b of the single-step = (L1 / L2)*L2'-L1'.

[0173] The embodiment of the present disclosure further provides a cleaning method of the cleaning robot, mainly comprising: obtaining a pool cleaning instruction. The pool cleaning instruction can be sent by a user in real time through a terminal device such as a mobile phone or a computer, can be a pre-set appointment task of the user through the terminal device, and when the appointment time arrives, the cleaning instruction is triggered, or can be directly triggered by the user through a function button arranged on the cleaning robot, and the embodiment of the present disclosure is not limited thereto. After receiving the pool cleaning instruction, the cleaning robot responds to the pool cleaning instruction, and controls the cleaning robot to perform a cleaning task according to a map of the pool, wherein the map of the pool is constructed by using the control method of the cleaning robot described in any of the above embodiments.

[0174] Those skilled in the art will appreciate that embodiments of the application can be supplied as a method, a system, or a computer program product. Thus, the application can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the application can take the form of a computer program product on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROMs, optical storage devices, etc.) embodying computer-readable program code.

[0175] The present application is described in reference to flowcharts and / or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, as well as combinations of flows and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing apparatus to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing apparatus produce an apparatus that implements the functions specified in the flowcharts and / or block diagrams. Figure 1 one or more flows and / or blocks Figure 1 an apparatus that implements the functions specified in the flowcharts and / or block diagrams.

[0176] These computer program instructions can also be stored in a computer-readable memory that can direct the computer or other programmable data processing apparatus to work in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including instruction apparatus, which implements the functions specified in the flowcharts and / or block diagrams. Figure 1 one or more flows and / or blocks Figure 1 an apparatus that implements the functions specified in the flowcharts and / or block diagrams.

[0177] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus, so that a series of operation steps are performed on the computer or other programmable data processing apparatus to produce a computer-implemented process, so that the instructions executed on the computer or other programmable data processing apparatus provide a process for implementing the functions specified in the flowcharts and / or block diagrams.Figure 1 steps of a function specified in one or more flows and / or blocks. Figure 1 steps of a function specified in one or more flows and / or blocks.

[0178] It is apparent that the above-described embodiments are merely example and are not limiting on the present application. For the skilled in the art, on the basis of the above description, other variations or changes in the form and details can also be made. It is not necessary or possible to enumerate all the embodiments. The obvious variations or changes derived therefrom are still within the scope of protection of the present application.

Claims

1. A control method of a cleaning robot, characterized by, The method comprises the following steps: When the cleaning robot moves close to the pool wall of the swimming pool, the cleaning robot is controlled to move in a first driving mode or a second driving mode, and the topographic feature information of the swimming pool is collected; wherein the first driving mode is to control the cleaning robot to climb along the pool wall; the second driving mode is to control the cleaning robot to float up; If the topographic feature information meets a preset topographic profile condition, the pool wall profile of the swimming pool is identified; wherein the pool wall profile comprises at least one of a no-transition surface area, a chamfer area, an inclined area, a step area, and a bowl-shaped area; According to different types of pool wall profile information, the first driving mode or the second driving mode is adaptively adopted to control the movement of the cleaning robot, and the swimming pool is mapped. 2.The control method of the cleaning robot according to claim 1, characterized in that, Further comprising: Detecting whether the cleaning robot is at least partially out of the water; If the cleaning robot is completely submerged below the water surface, return to execute the steps of controlling the cleaning robot to move in the first driving mode or the second driving mode when the cleaning robot moves close to the pool wall of the swimming pool, and collecting the topographic feature information of the swimming pool, until at least part of the cleaning robot is out of the water.

3. A control method of a cleaning robot, characterized by, The method comprises the following steps: During the movement of the cleaning robot in the swimming pool, the horizontal distance value and the inclined distance value are identified by the detection assembly of the cleaning robot, the horizontal distance value is the distance value of the cleaning robot to the pool wall profile first position in the first detection direction, and the inclined distance value is the distance value of the cleaning robot to the pool wall profile second position in the second detection direction, the first detection direction is the horizontal direction, and the second detection direction has a non-zero included angle with the first detection direction in the vertical direction; Generate topographic feature data based on the change of the horizontal distance value and the inclined distance value, and control the cleaning robot to move in a first driving mode or a second driving mode; Wherein; The first driving mode is to control the cleaning robot to climb along the pool wall, and the second driving mode is to control the cleaning robot to float up; If the topographic feature meets a preset topographic profile condition, the pool wall profile of the swimming pool is identified; wherein the pool wall profile comprises at least one of a no-transition surface area, a chamfer area, an inclined area, a step area, and a bowl-shaped area; According to different types of pool wall profile information, the first driving mode or the second driving mode is adaptively adopted to control the movement of the cleaning robot, and the swimming pool is mapped. 4.The control method of the cleaning robot according to claim 1 or 3, wherein, If the topographic feature meets a preset topographic profile condition, the pool wall profile of the swimming pool is identified, comprising: If the topographic feature meets, in the vertical direction, a trend that the local topographic profile is arc-shaped, the pool wall profile is identified as a chamfer area; if the terrain feature satisfies that, in the vertical direction, the terrain profile is identified to include at least three regions, one of which is a deep water region, one of which is a shallow water region, and a transition region between the deep water region and the shallow water region in the form of an inclined plane, the pool wall profile is identified as a slope region; if the terrain feature satisfies that, in the vertical direction, the terrain profile is identified to have a stepped change trend, the pool wall profile is identified as a step region; if the terrain feature satisfies that, in the vertical direction, the terrain profile is identified to include at least two regions, one of which is a deep water region with an arc-shaped change trend around the terrain profile, and the other of which is a shallow water region adjacent to the deep water region, the pool wall profile is identified as a bowl-shaped region. 5.The control method of the cleaning robot according to claim 1 or 3, wherein, controlling the cleaning robot to move in a first driving mode, including: starting a slip-resistant mode in which the friction between the bottom of the cleaning robot and the pool wall is increased, and controlling the cleaning robot to climb along the pool wall profile. 6.The control method of the cleaning robot according to claim 1 or 3, wherein, controlling the cleaning robot to move in a second driving mode, including: starting a buoyancy adjustment mode to control the cleaning robot to float upwards towards the water surface. 7.The control method of the cleaning robot according to claim 6, characterized in that, The starting of the buoyancy adjustment mode includes adjusting the buoyancy tank of the cleaning robot, the buoyancy tank including a gas-liquid exchange chamber that can exchange the volume of gas and liquid with the outside to control the weight of the cleaning robot. 8.The control method of the cleaning robot according to claim 3, characterized in that, The controlling of the cleaning robot to move in the first driving mode or the second driving mode according to different types of pool wall profile information includes: controlling the cleaning robot to move in the first driving mode or the second driving mode according to different types of pool wall profile information to determine the boundary of the pool wall profile; wherein the controlling of the cleaning robot to move in the first driving mode or the second driving mode according to different types of pool wall profile information to determine the boundary of the pool wall profile includes: in the case of controlling the cleaning robot to climb along the pool wall in the first driving mode, determining the position where the pitch angle of the cleaning robot changes as a first starting position, determining the position where the pitch angle of the cleaning robot returns to parallel to the bottom surface of the pool as a first ending position, and determining the boundary of the pool wall profile according to the first starting position and the first ending position; in the case of controlling the cleaning robot to float upwards in the second driving mode, determining the position where the horizontal distance difference between the horizontal distance value and the inclined distance value occurs as a second starting position, determining the position where the horizontal distance of the pool wall returns to the same as the horizontal distance value and the inclined distance value in the horizontal direction as a second ending position, and determining the boundary of the pool wall profile according to the second starting position and the second ending position; mapping the pool according to the boundary of the pool wall profile of different types. 9.The control method of the cleaning robot according to claim 8, characterized in that, The mapping of the pool according to the boundary of the pool wall profile of different types includes: if the pool wall contour information is a bowl-shaped region, identifying the pool wall contour information as a layered region, the layered region including a boundary of the bowl-shaped region and two pool regions adjacent to the bowl-shaped region; if the pool wall contour information is a slope region, identifying the slope region as a slope single-layer region or a slope layered region according to an inclination angle of a slope in the slope region, the slope layered region including a boundary of the slope region and two pool regions adjacent to the slope region; if the pool wall contour information is a chamfer region, identifying a first starting position or a second starting position of the chamfer region and a pool region adjacent to the chamfer region as a horizontal pool region; if the pool wall contour information is a step region, identifying multi-level step information according to a boundary of the step region, and identifying the step region as a pool step region according to the multi-level step information. 10.The control method of the cleaning robot according to claim 9, characterized in that, The identifying the slope region as a slope single-layer region or a slope layered region according to an inclination angle of a slope in the slope region comprises: if the inclination angle is less than or equal to a preset angle, identifying the slope region and two pool regions adjacent to the slope region as the single-layer region; if the inclination angle is greater than the preset angle, identifying a deep water area formed by a boundary of the slope region and one pool region adjacent to the slope region as a first slope layered region, and identifying a shallow water area formed by the other pool region as a second slope layered region, a distance from a lowest position in the deep water area to a water surface of the pool being greater than a distance from a lowest position in the shallow water area to the water surface of the pool. 11.The control method of the cleaning robot according to claim 9, wherein, A first layer region in the layered region is a deep water area formed by a boundary of the bowl-shaped region and one pool region adjacent to the bowl-shaped region; A second layer region in the layered region is a shallow water area formed by the other pool region; The distance from the lowest position in the deep water area to the water surface of the pool is greater than the distance from the lowest position in the shallow water area to the water surface of the pool. 12.The control method of the cleaning robot according to claim 9, wherein, The identifying multi-level step information according to a boundary of the step region comprises: in a case of controlling the cleaning robot to climb along the step region in a first driving mode, marking height information of a single-level step according to a distance of a single climb of the cleaning robot, and marking width information of the single-level step according to a distance moved by the cleaning robot before next climb; in a case of controlling the cleaning robot to float up in a second driving mode, marking height information of a single-level step according to a distance of floating up of the cleaning robot at the second starting position and the second ending position, and marking width information of the single-level step according to a difference between the horizontal distance value and the inclination distance value of the pool wall in a horizontal direction; generating the multi-level step information according to height information and width information of multiple single-level steps. 13.The control method of the cleaning robot according to claim 3, characterized in that, Further comprising: detecting whether the cleaning robot is at least partially out of the water; If the cleaning robot is completely submerged below the water surface, return to perform the steps of identifying, by a detection component of the cleaning robot, a horizontal distance value and an inclination distance value during control of movement of the cleaning robot in the pool, to the step of controlling the cleaning robot to move in the first driving mode or the second driving mode according to different types of pool wall contour information, mapping the pool, until at least part of the cleaning robot floats out of the water surface.

14. A cleaning method of a cleaning robot, characterized by, Comprising: obtaining a pool cleaning instruction; in response to the pool cleaning instruction, controlling the cleaning robot to perform a cleaning task according to a map of the pool; the map of the pool is constructed by the control method of the cleaning robot according to any one of claims 1-13.

15. A cleaning robot, characterized in that, Comprising: a controller for executing the method of any one of claims 1-14, further comprising a detection component, which is a laser radar, the laser radar is arranged on the top of the robot, the laser radar comprises a first laser detection piece and a second laser detection piece, the first laser detection piece is used to collect a horizontal distance value along a first detection direction with a first position of the pool wall contour, and the second laser detection piece is used to collect an inclination distance value along a second detection direction with a second position of the pool wall contour.

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