Underwater wall cleaning method based on underwater robot and related device
By controlling the underwater robot to move along the parallel pool wall and switching the cleaning path using variable spacing and random distance, the problem of cyclic cleaning caused by different adhesion of the track wheels was solved, achieving complete coverage and efficient cleaning of the pool wall.
Patent Information
- Application Number
- CN202511164310.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-08-19
- Publication Date
- 2025-11-25
AI Technical Summary
When underwater robots clean pool walls, the path is not perpendicular due to the different adhesion of the track wheels, resulting in cyclical cleaning and inability to completely cover the pool walls.
The underwater robot is controlled to move along the parallel pool wall, and the cleaning path is switched by variable spacing and random distance to avoid cyclic cleaning.
Ensure the pool walls are completely covered to avoid repeated cleaning and improve cleaning efficiency and thoroughness.
Smart Images
Figure CN121006902A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of underwater robots, and in particular to an underwater wall cleaning method based on an underwater robot and a related device. BACKGROUND
[0002] An underwater robot can clean the pool wall by wall climbing. In the prior art, an arc-shaped path is often used to clean the pool wall. The underwater robot climbs the wall upward along a path perpendicular to the pool bottom to clean the pool wall, reaches the water level, and returns to the pool bottom along the same path. After translating a fixed distance on the pool bottom, the underwater robot continues to reciprocate along the path perpendicular to the pool bottom to clean the pool wall. The underwater robot performs multiple cycles of reciprocating operation until the entire pool wall is cleaned. However, due to external or internal factors of the underwater robot, the adhesion of the contact points of the left and right track wheels of the robot with the pool wall is different when the robot climbs the wall, so that the upward climbing path of the underwater robot is not necessarily strictly perpendicular to the pool bottom, but is inclined upward, so that the underwater robot continues to clean on the path of the last time after translating a fixed distance, causing the underwater robot to always work in the same position in a cycle. SUMMARY
[0003] The present application provides an underwater wall cleaning method based on an underwater robot and a related device. The underwater robot is controlled to move a random distance in a direction parallel to the pool wall, thereby avoiding the underwater robot from cleaning in the same position in a cycle.
[0004] In a first aspect, the present application provides an underwater wall cleaning method based on an underwater robot, comprising:
[0005] When the underwater robot cleans a target pool wall, the underwater robot is controlled to reciprocate along a first cleaning path and perform a wall-down action to reach the pool bottom after the reciprocation.
[0006] The underwater robot is controlled to move on the pool bottom at a variable interval.
[0007] After moving at the variable interval, the underwater robot is controlled to perform a wall-climbing action to return to the target pool wall.
[0008] After the underwater robot returns to the target pool wall, the underwater robot is controlled to reciprocate along a second cleaning path, wherein the first cleaning path and the second cleaning path are parallel.
[0009] In a second aspect, the present application provides an underwater robot, comprising:
[0010] A control module is configured to execute the step instructions in the method of the first aspect.
[0011] a cleaning module configured to drive the underwater robot to perform a cleaning action in response to a driving signal from the control module;
[0012] a moving module configured to drive the underwater robot to perform a moving action in response to a driving signal from the control module.
[0013] In a third aspect, an electronic device is provided, including a processor, a memory, a communication interface, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the processor to enable the electronic device to perform the method of the first aspect.
[0014] In a fourth aspect, a computer-readable storage medium is provided, which stores a computer program, and the computer program is executed by a processor to implement the method of the first aspect.
[0015] In a fifth aspect, a computer program product is provided, which includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is executed by a computer to implement the method of the first aspect.
[0016] By implementing the embodiments of the present application, the following beneficial effects can be achieved:
[0017] It can be seen that the underwater wall cleaning method based on an underwater robot described in the embodiments of the present application controls the underwater robot to move back and forth along a first cleaning path when the underwater robot cleans a target pool wall, and performs a wall-down action to reach the pool bottom after the back-and-forth movement, controls the underwater robot to move on the pool bottom according to a variable interval, controls the underwater robot to perform a wall-climbing action to return to the target pool wall after the movement according to the variable interval, and controls the underwater robot to move back and forth along a second cleaning path after the underwater robot returns to the target pool wall, wherein the first cleaning path and the second cleaning path are parallel. Through the above operations, the underwater robot is controlled to move a random distance in the direction of the parallel pool wall, thereby avoiding the underwater robot from performing cyclic cleaning at the same position. BRIEF DESCRIPTION OF DRAWINGS
[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the background art, the drawings required to be used in the embodiments of the present application or the background art will be described below.
[0019] Figure 1 is a structural schematic diagram of an underwater wall cleaning method based on an underwater robot provided by the embodiments of the present application;
[0020] Figure 2 is a flowchart of an underwater wall cleaning method based on an underwater robot provided by the embodiments of the present application;
[0021] Figure 3 This is a flowchart illustrating how to control an underwater robot to perform reciprocating movements, as provided in an embodiment of this application.
[0022] Figure 4 This is a schematic diagram of a structure for controlling an underwater robot to move at variable intervals, provided in an embodiment of this application.
[0023] Figure 5 This is a schematic diagram of a structure for cleaning underwater walls using an underwater robot controlled by the same spacing, provided in an embodiment of this application.
[0024] Figure 6 This is a schematic diagram of another structure for controlling an underwater robot to move at a variable interval, provided by an embodiment of this application;
[0025] Figure 7 This is a structural schematic diagram of an underwater robot provided in an embodiment of this application;
[0026] Figure 8 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation
[0027] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present application.
[0028] The terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.
[0029] In this document, the term "implementation" means that a specific feature, structure, or characteristic described in connection with an implementation may be included in at least one implementation of this application. The appearance of this phrase in various places in the specification does not necessarily refer to the same implementation, nor is it a separate or alternative implementation mutually exclusive with other implementations. It will be explicitly and implicitly understood by those skilled in the art that the implementations described herein can be combined with other implementations.
[0030] Please see Figure 1 , Figure 1 This is a schematic diagram of a structure for underwater wall cleaning based on an underwater robot, provided in an embodiment of this application.
[0031] When the underwater robot is cleaning the target pool wall, it is controlled to move back and forth along a first cleaning path. After the back and forth movement, it performs a wall-climbing action to reach the bottom of the pool. Then, it is controlled to move at a variable interval on the bottom of the pool. After moving at the variable interval, it is controlled to perform a wall-climbing action to return to the target pool wall. After the underwater robot returns to the target pool wall, it is controlled to move back and forth along a second cleaning path, wherein the first cleaning path and the second cleaning path are parallel.
[0032] It should be explained that the first cleaning path and the second cleaning path are any two cleaning paths when the underwater robot cleans the target pool wall. The initial cleaning path is the path when the underwater robot starts cleaning the target pool wall, and the final cleaning path is the last path when the underwater robot cleans the target pool wall.
[0033] It should be explained that, since the underwater robot moves at the variable intervals, a single cleaning may result in some areas of the target pool wall being missed, leading to incomplete cleaning. Therefore, the above method can be used to clean the target pool wall multiple times, with the cleaning direction being the opposite of the above method. Specifically, after the underwater robot completes the cleaning of the second cleaning path, it will continue to clean the uncleaned areas of the target pool wall until all uncleaned areas of the target pool wall are cleaned. Then, it can continue to clean the target pool wall multiple times in the same or opposite direction. Specifically, after the underwater robot has also completed the cleaning operation of the final cleaning path (the last cleaning path in the target pool wall), it can use the final cleaning path as the initial cleaning path and the original initial cleaning path as the last cleaning path, and move in the opposite direction to repeatedly clean the target pool wall, thereby ensuring that the target pool wall is thoroughly cleaned. Alternatively, it can move in the same direction to repeatedly clean the target pool wall. It should be noted that the number of times the underwater robot cleans the target pool wall using the above method can be determined based on the perimeter of the target pool wall. If the perimeter of the target pool wall is long, the number of cleaning operations can be appropriately increased. It should also be explained that the number of cleaning operations can be determined according to a preset functional relationship, which is not limited here. In this embodiment, the target pool wall is generally cleaned 3 or 4 times.
[0034] As can be seen, the underwater robot moves at variable intervals along the pool bottom, preventing it from repeatedly returning to the same position due to a fixed movement distance. This avoids the underwater robot cycling back and forth between adjacent cleaning paths, ensuring that the target pool wall is thoroughly cleaned. Furthermore, for pool walls with longer circumferences, the number of cleaning cycles is appropriately increased. Because the underwater robot moves at variable intervals along the pool bottom, its movement trajectory is more random, effectively avoiding potential omissions that might occur with a single cleaning path. This ensures that every area of the target pool wall is covered and cleaned by the underwater robot.
[0035] Please see Figure 2 , Figure 2 This is a flowchart of an underwater wall cleaning method based on an underwater robot, provided in an embodiment of this application, including but not limited to the following steps:
[0036] S201: When the underwater robot is cleaning the target pool wall, control the underwater robot to move back and forth along the first cleaning path, and after the back and forth movement, perform the wall-down action to reach the bottom of the pool.
[0037] In this embodiment, the target pool wall can be the inner wall of one side of a water feature such as a swimming pool, pool, or water tank, or the wall of a rectangular swimming pool.
[0038] The underwater robot's descent from the pool wall is the process of detaching from the pool wall and returning to the pool bottom. Specifically, after completing a reciprocating cleaning path along the current pool wall, the underwater robot first shuts off its water pump to detach from the pool wall. Then, its tracks are activated to propel the robot, allowing it to smoothly detach from the pool wall surface and reach the pool bottom. Once on the bottom, the underwater robot quickly switches to bottom-movement mode, ensuring stable docking and movement on the pool bottom, preparing for subsequent path changes or position adjustments.
[0039] In this embodiment, the underwater robot is controlled to move back and forth along the first cleaning path, that is, to move from the starting point to the ending point of the first cleaning path and then from the ending point to the starting point. After the underwater robot completes the back and forth movement on the first cleaning path, it will start the wall-down action, so that the underwater robot can smoothly reach the bottom of the pool.
[0040] S202: Control the underwater robot to move at variable intervals on the bottom of the pool.
[0041] In this embodiment, controlling the underwater robot to move at variable intervals on the pool bottom means that after the underwater robot completes cleaning the first cleaning path and reaches the pool bottom, it moves at random distances on the pool bottom to reach the starting point of the next cleaning path. In other words, when the underwater robot completes its back-and-forth movement along the current cleaning path, it moves to the starting point of the next cleaning path at random distances. The starting point of the next cleaning path is randomly determined. By determining the starting point of the next cleaning path by random distances, the underwater robot can avoid returning to the current cleaning path, thereby preventing it from looping in the same position.
[0042] In this embodiment, since the first cleaning path and the subsequent second cleaning path are parallel and the distance between the two paths is random, by controlling the underwater robot to move at variable intervals on the bottom of the pool, it is ensured that the underwater robot can randomly move from the end point of the first cleaning path, that is, the position where the underwater robot returns to the bottom of the pool from the target pool wall according to the first cleaning path, to the starting point of the second cleaning path, that is, the position where the underwater robot will next reach the target pool wall from the bottom of the pool, thus ensuring the randomness of the determination of the second cleaning path.
[0043] It can be seen that by controlling the underwater robot to move at variable intervals on the bottom of the pool, the underwater robot is prevented from returning to the first cleaning path, thereby preventing the underwater robot from circling on the first cleaning path.
[0044] It should be explained that the variable spacing is determined randomly. When the underwater robot moves on the bottom of the pool, the distance between two adjacent movements does not follow a fixed pattern but is generated randomly. This method of randomly determining the spacing avoids path repetition or omissions that may occur due to fixed spacing, increasing the randomness and comprehensiveness of cleaning coverage.
[0045] S203: After moving at the variable interval, control the underwater robot to perform a wall-climbing action to return to the target pool wall.
[0046] In this embodiment, the underwater robot's wall-climbing action is a process of moving from the bottom of the pool to the pool wall and achieving stable attachment. Specifically, after controlling the underwater robot to move at the variable intervals on the bottom of the pool, the underwater robot activates its tracks to propel the underwater robot toward the target pool wall, so that the body moves smoothly from the bottom of the pool to the target pool wall and finally comes to a stable stop on the target pool wall. At the same time, the water pump is turned on, so that the underwater robot switches to the movement mode on the pool wall and cleans the target pool wall.
[0047] It should be explained that once the underwater robot has completed its movement at variable intervals on the pool bottom, it means it has reached the position on the pool bottom corresponding to the next random cleaning path. At this point, it will initiate a wall-climbing action to return to the target pool wall. This action is a crucial link connecting the underwater robot's movement on the pool bottom with the cleaning of the new path, ensuring that the underwater robot can accurately transition from the pool bottom to the target pool wall. This lays the foundation for subsequent back-and-forth movement along the second cleaning path, ensuring the continuous and efficient cleaning process.
[0048] S204: After the underwater robot returns to the target pool wall, control the underwater robot to move back and forth along the second cleaning path.
[0049] In this embodiment, the first cleaning path and the second cleaning path are parallel.
[0050] Once the underwater robot returns to the target pool wall, its control module guides it to move back and forth along the second cleaning path, thus cleaning the area of the pool wall covered by that path. The first and second cleaning paths remain parallel, and the distance between them is randomly determined. This randomization of the second cleaning path ensures an orderly arrangement of the two paths, preventing path intersections and the underwater robot from looping in the same position. This allows for more complete coverage of different areas of the target pool wall, gradually achieving comprehensive cleaning of the entire target pool wall and improving the underwater robot's cleaning coverage rate.
[0051] As can be seen, by controlling the underwater robot to move back and forth along multiple parallel cleaning paths and randomly move at variable intervals on the pool bottom to determine the cleaning method for the next cleaning path, not only can path repetition be avoided, but also the underwater robot can be prevented from continuously looping in the same position, thus preventing the underwater robot from repeatedly cleaning the same location. Simultaneously, thanks to the underwater robot's smooth climbing and descending movements, it can efficiently and continuously complete the cleaning of the target pool wall, resulting in a more thorough and complete cleaning.
[0052] Please see Figure 3 , Figure 3 This is a flowchart illustrating how to control an underwater robot to perform reciprocating movements, as provided in this application, including but not limited to the following steps:
[0053] S301: Control the underwater robot to move along the first direction on the first cleaning path.
[0054] In this embodiment, the first direction is from the bottom of the pool towards the water surface. The underwater robot is controlled to move along the first cleaning path from the bottom of the pool towards the water surface. For example, if the height of the target pool wall is 2 meters, the underwater robot starts from the bottom of the pool (0 meters) and moves upward along the first cleaning path to near the water surface (1.6 meters). While the underwater robot is moving along the first cleaning path in the first direction, the cleaning components of the underwater robot will clean the pool wall area covered by the first cleaning path.
[0055] S302: Control the underwater robot to move along the second direction on the first cleaning path.
[0056] In this embodiment, the second direction is from the water surface to the pool bottom. The underwater robot is controlled to move along the first cleaning path from the water surface to the pool bottom. For example, when the underwater robot moves upward along the first cleaning path to the corresponding position on the water surface, it returns downward along the original path to 0 meters below the pool bottom.
[0057] It should be explained that, in this embodiment, when the underwater robot returns to the bottom of the pool along the first cleaning path, it may or may not clean the pool wall area covered by the first cleaning path. Specifically, if the underwater robot does not clean the pool wall area covered by the first cleaning path during its return, it ensures that the underwater robot returns to the bottom of the pool. If the underwater robot cleans the pool wall area covered by the first cleaning path during its return, it can more thoroughly remove stubborn stains from the pool wall by cleaning the same path twice, avoiding local residue problems caused by incomplete cleaning in a single cleaning. The method of cleaning the same path twice is suitable for scenarios with severe pool wall contamination and high cleaning standards, improving the cleaning quality of the covered area.
[0058] S303: After moving along the second direction, perform the wall-lowering action to reach the bottom of the pool.
[0059] In this embodiment, after the underwater robot completes its first cleaning path along the target pool wall, moving from the bottom of the pool to the surface (first direction) and then from the surface to the bottom of the pool (second direction), that is, after the underwater robot moves to the bottom of the pool along the second direction, it will perform a wall-dropping action. This means that the underwater robot will first control the water pump to turn off and release its attachment to the pool wall, and then start the tracks to propel the underwater robot to move, so that the body can smoothly detach from the surface of the pool wall, thereby enabling the underwater robot to smoothly reach the bottom of the pool.
[0060] As can be seen, by moving back and forth along the same path in the first direction (from the bottom of the pool to the surface of the water) and the second direction (from the surface of the water to the bottom of the pool), the underwater robot can complete the cleaning operation of the area corresponding to the first cleaning path, while also ensuring that the underwater robot returns smoothly to the bottom of the pool. This facilitates the underwater robot to move at variable intervals on the bottom of the pool and then clean other areas in the target pool wall.
[0061] Please see Figure 4 , Figure 4 This is a schematic diagram of a structure for controlling an underwater robot to move at variable intervals, provided by an embodiment of this application.
[0062] In this embodiment, when the underwater robot cleans the target pool wall, it is controlled to move back and forth along a first cleaning path. After the back and forth movement, it performs a wall-climbing action to reach the bottom of the pool. After the wall-climbing action, the underwater robot reaches a first position on the bottom of the pool. At a second position on the bottom of the pool, the underwater robot performs a wall-climbing action to return to the target pool wall. After returning to the target pool wall, the underwater robot is controlled to move back and forth along a second cleaning path. The distance between the first position and the second position in a direction parallel to the target pool wall is equal to the variable spacing. The first cleaning path and the second cleaning path are any two cleaning paths used by the underwater robot to clean the target pool wall. The initial cleaning path is the path the underwater robot takes when it begins cleaning the target pool wall, and the final cleaning path is the last path the underwater robot takes when cleaning the target pool wall.
[0063] Specifically, firstly, the underwater robot is controlled to move from the first position in a direction perpendicular to and away from the target pool wall. The distance the underwater robot moves from the first position in this direction can be preset and is not limited here. Then, the underwater robot is controlled to move a random distance in a direction parallel to the target pool wall. The length of this random distance is randomly determined. Finally, the underwater robot is controlled to move in a direction perpendicular to and close to the target pool wall to reach the second position. The distance the underwater robot moves in this direction is the same as the distance it moves from the first position in the direction perpendicular to and away from the target pool wall.
[0064] It needs to be explained that, firstly, a preset spacing *w* is determined. The preset spacing *w* is set in advance, and its length is not limited. Then, a random distance is determined based on the preset spacing *w*. Specifically, while determining the preset spacing *w*, a random coefficient also needs to be determined. In this embodiment, the random coefficient ranges from 1 to 1.5. The length of the random distance is the preset spacing *w* multiplied by the random coefficient, so the random distance ranges from *w* to 1.5*w*. For example, if the preset spacing *w* is 10 cm, when the underwater robot completes its reciprocating movement along the current cleaning path and returns to the bottom of the pool, if the first random coefficient is 1.3, then the random distance the underwater robot moves along the direction parallel to the target pool wall is 13 cm. If the second random coefficient is 1.1, then the next random distance the underwater robot moves along the direction parallel to the target pool wall is 11 cm. If the third random coefficient is 1.5, then the next random distance the underwater robot moves along the direction parallel to the target pool wall is 15 cm, and so on, until all areas of the target pool wall are cleaned. The underwater robot is controlled to move a random distance along the direction parallel to the target pool wall in sequence according to the above random method, thus avoiding the problem of the underwater robot looping in the same position.
[0065] Please see Figure 5 , Figure 5 This is a schematic diagram of a structure for cleaning underwater walls using an underwater robot controlled by the same spacing, provided in an embodiment of this application.
[0066] exist Figure 5 In this process, when the underwater robot is cleaning the target pool wall, due to external or internal factors, the adhesion between the two tracked wheels and the pool wall is different. This causes the underwater robot to move along an initial upward-sloping cleaning path and then move vertically downward from the water surface to the pool bottom. After moving, it performs a wall-descending action to reach the pool bottom. Then, it controls the underwater robot to move at a preset interval on the pool bottom. After moving at the preset interval, the underwater robot climbs the wall again from the same wall-climbing point 'a', causing it to return to the initial cleaning path and continue moving. This results in the underwater robot always working in the same position in a loop. Therefore, if it moves at the same preset interval, the underwater robot will always be working in the same position in a loop, making it difficult to clean the target pool wall completely.
[0067] It can be seen that by having the underwater robot complete the first cleaning path, descend to the first position on the bottom of the pool, then move vertically away from the target pool wall, then move a random distance along the parallel direction based on the cleaning difficulty value of the area to be cleaned, and finally move vertically towards the second position and climb the wall to perform the second cleaning path, the variable spacing can ensure that the underwater robot performs the wall-climbing action from different positions, avoiding the underwater robot repeatedly moving to positions that are prone to uncontrolled turning. By controlling the underwater robot to move at a variable spacing on the bottom of the pool using the above method, the robot can be accurately positioned when approaching the pool wall through equidistant vertical back-and-forth movements, avoiding the wall-climbing position deviation caused by distance deviation after translation. At the same time, the random spacing in the parallel direction breaks the fixed path pattern, so that the translation distance varies dynamically between w and 1.5w each time, fundamentally preventing the robot from returning to the same wall-mounting point due to path repetition, eliminating cyclic cleaning. At the same time, the random distance is based on the preset spacing, increasing the randomness of the path while ensuring the controllability of the coverage area.
[0068] Please see Figure 6 , Figure 6 This is a schematic diagram of another structure for controlling an underwater robot to move at variable intervals, provided by an embodiment of this application.
[0069] In this embodiment, when the underwater robot is cleaning the target pool wall, it is controlled to move back and forth along a first cleaning path. After the back and forth movement, it performs a wall-climbing action to reach the bottom of the pool. Then, it is controlled to move from the first position in a direction perpendicular to and away from the target pool wall. Next, it is controlled to move a random distance parallel to the target pool wall. After moving the random distance, it rotates a random angle. Then, it moves closer to the target pool wall to reach a second position. Finally, it performs a wall-climbing action to return to the target pool wall. After returning to the target pool wall, it is controlled to move back and forth along a second cleaning path. The first and second cleaning paths are any two cleaning paths used by the underwater robot to clean the target pool wall. The initial cleaning path is the path the underwater robot takes when it begins cleaning the target pool wall, and the final cleaning path is the last path the underwater robot takes when cleaning the target pool wall.
[0070] It should be explained that, in addition to controlling the underwater robot to move a random distance along the direction parallel to the target pool wall, it is also possible to control the underwater robot to rotate a random angle after moving a random distance along the direction parallel to the target pool wall and continue moving to the pool wall. In this embodiment, the direction of the underwater robot rotating a random angle is the direction from the direction of movement to the direction of the target pool wall. The random angle is the angle between the direction in which the underwater robot moves along the direction parallel to the target pool wall and the direction in which it moves a random distance and rotates towards the target pool wall. In this embodiment, the random angle is an acute angle, so the range of the random angle is 0 to 90 degrees.
[0071] For example, when the underwater robot returns to the bottom of the pool after completing its current cleaning path, the first random coefficient is selected as 1.3. At this point, the underwater robot moves a random distance of 13 cm along the direction parallel to the target pool wall. Then, it rotates 10 degrees, reaching the starting point for the next round of movement, performing the next round of movement, and returning to the bottom. The second time, the random coefficient is selected as 1.1. The next time, the underwater robot moves a random distance of 11 cm along the direction parallel to the target pool wall, then rotates 5 degrees, reaching the starting point for the next round of movement, performing the next round of movement, and returning to the bottom, until all areas of the target pool wall have been cleaned. By sequentially controlling the underwater robot to move random distances along the direction parallel to the target pool wall and rotating a random angle after moving the random distance, the problem of the underwater robot looping in the same position is avoided.
[0072] It should be noted that determining the random distance using a preset spacing of 1-1.5 times already breaks the fixed movement pattern of the translation path. The additional random angle further alters the robot's direction of approach to the pool wall, causing the initial angle for each wall climb to differ from the previous one. Even if the translation distance is accidentally close, the angular deviation ensures the cleaning path covers entirely new areas of the pool wall. Setting the angle between the movement direction and the pool wall to an acute angle ensures the robot can smoothly approach and climb the wall, further improving the cleaning coverage and thoroughness of the target pool wall while enhancing the randomness of the path.
[0073] As can be seen, by having the underwater robot complete the first cleaning path, then descend the wall, move vertically away from the pool wall, move a random distance in a parallel direction, rotate at a random angle, and then approach the pool wall again to reach the second position and climb the wall, flexible switching of cleaning paths is achieved. This ensures that multiple cleaning paths can cover different areas of the pool wall, and by setting random distances and angles, it avoids the underwater robot from looping in the same position. It ensures that each path switch covers a new area to be cleaned, making the underwater robot's movement trajectory random, thereby reducing the time spent on ineffective work and improving overall cleaning efficiency. At the same time, it ensures the orderly advancement of each cleaning path and the orderly execution of cleaning operations, further ensuring that the cleaning task of the underwater pool wall can be continuously carried out, resulting in effective cleaning of the underwater pool wall.
[0074] It should be explained that, in this embodiment, the underwater robot can also be controlled to move a preset distance (with a random coefficient always being 1) along a direction parallel to the target pool wall. After moving the preset distance, the underwater robot rotates at a random angle. Specifically, when the underwater robot is cleaning the target pool wall, it is controlled to move back and forth along a first cleaning path, and after the back and forth movement, it performs a wall-climbing action to reach the bottom of the pool. Then, it is controlled to move from the first position along a direction perpendicular to and away from the target pool wall. The underwater robot is then controlled to move a preset distance along a direction parallel to the target pool wall. After moving the random distance, the underwater robot rotates at a random angle. The underwater robot is then controlled to move along a direction closer to the target pool wall to reach the second position. Then, it performs a wall-climbing action to return to the target pool wall. After the underwater robot returns to the target pool wall, it is controlled to move back and forth along a second cleaning path. After controlling the underwater robot to move a preset distance along a direction parallel to the target pool wall, it continues to be controlled to rotate at a random angle and continue moving to reach the pool wall.
[0075] For example, when the underwater robot returns to the bottom of the pool after completing its reciprocating movement along the current cleaning path, the robot moves a random distance of 10 centimeters each time along the direction parallel to the target pool wall. However, after moving 10 centimeters along the target pool wall each time, the underwater robot rotates 10 degrees or 5 degrees before continuing to move to the pool wall. Because the random angle is different each time, the randomness of the path is improved, and the problem of the underwater robot looping in the same position is avoided.
[0076] In summary, implementing the embodiments of the present invention has the following beneficial effects:
[0077] As can be seen, the underwater wall cleaning method based on an underwater robot described in this embodiment of the invention involves controlling the underwater robot to move back and forth along a first cleaning path while cleaning the target pool wall. After the back and forth movement, the underwater robot performs a wall-climbing action to reach the bottom of the pool. The underwater robot then moves at variable intervals on the bottom of the pool. After moving at these variable intervals, the underwater robot performs a wall-climbing action to return to the target pool wall. After returning to the target pool wall, the underwater robot is controlled to move back and forth along a second cleaning path, wherein the first cleaning path and the second cleaning path are parallel. Through the above operations, the underwater robot is controlled to move a random distance along a direction parallel to the pool wall, avoiding the underwater robot from repeatedly cleaning the same location.
[0078] Please see Figure 7 , Figure 7 This is a schematic diagram of the structure of an underwater robot provided in an embodiment of this application. The underwater robot 700 includes a control module 701, a cleaning module 702, and a movement module 703.
[0079] Control module 701 is used to control underwater robot 700 to execute the step instructions in any of the underwater wall cleaning methods based on underwater robots described above;
[0080] The cleaning module 702 is used to respond to the drive signal of the control module 701 and drive the underwater robot to perform cleaning actions;
[0081] The mobile module 703 is used to respond to the drive signal of the control module 701 and drive the underwater robot to move.
[0082] In some possible implementations, the control module 701 is specifically used for controlling the underwater robot to reciprocate along the first cleaning path, in order to:
[0083] The underwater robot is controlled to move along a first direction on the first cleaning path, wherein the first direction is from the bottom of the pool to the surface of the water.
[0084] The underwater robot is controlled to move along a second direction on the first cleaning path, wherein the second direction is from the water surface to the bottom of the pool.
[0085] The step of descending the wall and reaching the bottom of the pool after the reciprocating movement includes:
[0086] After moving in the second direction, the wall-lowering action is performed to reach the bottom of the pool.
[0087] In some possible implementations, the control module 701 is specifically used for:
[0088] After performing the wall-climbing action, the underwater robot reaches a first position on the bottom of the pool, and then performs the wall-climbing action at a second position on the bottom of the pool. The distance between the first position and the second position is equal to the variable spacing in a direction parallel to the target pool wall.
[0089] In some possible implementations, the control module 701 is specifically configured to: control the underwater robot to move at variable intervals along the bottom of the pool.
[0090] Control the underwater robot to move from the first position along a direction perpendicular to and away from the target pool wall;
[0091] The underwater robot is controlled to move a random distance along a direction parallel to the target pool wall;
[0092] The underwater robot is controlled to move in a direction perpendicular to and close to the target pool wall to reach the second position.
[0093] In some possible implementations, the control module 701 is specifically configured to: control the underwater robot to move at variable intervals along the bottom of the pool.
[0094] Control the underwater robot to move from the first position along a direction perpendicular to and away from the target pool wall;
[0095] The underwater robot is controlled to move a random distance along a direction parallel to the target pool wall, and after moving the random distance, the underwater robot rotates a random angle.
[0096] The underwater robot is controlled to move along the direction close to the target pool wall to reach the second position.
[0097] In some possible implementations, the control module 701 is specifically configured to: control the underwater robot to move at variable intervals along the bottom of the pool.
[0098] Control the underwater robot to move from the first position along a direction perpendicular to and away from the target pool wall;
[0099] The underwater robot is controlled to move a preset distance along a direction parallel to the target pool wall, and after moving the preset distance, the underwater robot rotates at a random angle;
[0100] The underwater robot is controlled to move along the direction close to the target pool wall to reach the second position.
[0101] In some possible implementations, the control module 701 is specifically used for:
[0102] The variable spacing is determined randomly.
[0103] Please see Figure 8 , Figure 8 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. For example... Figure 8 As shown, the electronic device 800 includes a transceiver 801, a processor 802, and a memory 803. These are connected via a bus 804. The memory 803 stores computer programs and data, and the transceiver 801 can transmit data stored in the memory 803 to the processor 802. The program includes instructions for performing the following steps:
[0104] When the underwater robot is cleaning the target pool wall, the underwater robot is controlled to move back and forth along the first cleaning path, and after the back and forth movement, it performs a wall-down action to reach the bottom of the pool.
[0105] The underwater robot is controlled to move at variable intervals on the bottom of the pool;
[0106] After moving at the variable interval, the underwater robot is controlled to perform a wall-climbing action to return to the target pool wall;
[0107] After the underwater robot returns to the target pool wall, it is controlled to move back and forth along the second cleaning path, wherein the first cleaning path and the second cleaning path are parallel.
[0108] In some possible implementations, the above procedure includes instructions for performing the following steps in controlling the underwater robot to move back and forth along a first cleaning path:
[0109] The underwater robot is controlled to move along a first direction on the first cleaning path, wherein the first direction is from the bottom of the pool to the surface of the water.
[0110] The underwater robot is controlled to move along a second direction on the first cleaning path, wherein the second direction is from the water surface to the bottom of the pool.
[0111] The step of descending the wall and reaching the bottom of the pool after the reciprocating movement includes:
[0112] After moving in the second direction, the wall-lowering action is performed to reach the bottom of the pool.
[0113] In some possible implementations, the above procedure includes instructions for performing the following steps:
[0114] After performing the wall-climbing action, the underwater robot reaches a first position on the bottom of the pool, and then performs the wall-climbing action at a second position on the bottom of the pool. The distance between the first position and the second position is equal to the variable spacing in a direction parallel to the target pool wall.
[0115] In some possible implementations, the above procedure includes instructions for performing the following steps in order to control the underwater robot to move at variable intervals on the bottom of the pool:
[0116] Control the underwater robot to move from the first position along a direction perpendicular to and away from the target pool wall;
[0117] The underwater robot is controlled to move a random distance along a direction parallel to the target pool wall;
[0118] The underwater robot is controlled to move in a direction perpendicular to and close to the target pool wall to reach the second position.
[0119] In some possible implementations, the above procedure includes instructions for performing the following steps in order to control the underwater robot to move at variable intervals on the bottom of the pool:
[0120] Control the underwater robot to move from the first position along a direction perpendicular to and away from the target pool wall;
[0121] The underwater robot is controlled to move a random distance along a direction parallel to the target pool wall, and after moving the random distance, the underwater robot rotates a random angle.
[0122] The underwater robot is controlled to move along the direction close to the target pool wall to reach the second position.
[0123] In some possible implementations, the above procedure includes instructions for performing the following steps in order to control the underwater robot to move at variable intervals on the bottom of the pool:
[0124] Control the underwater robot to move from the first position along a direction perpendicular to and away from the target pool wall;
[0125] The underwater robot is controlled to move a preset distance along a direction parallel to the target pool wall, and after moving the preset distance, the underwater robot rotates at a random angle;
[0126] The underwater robot is controlled to move along the direction close to the target pool wall to reach the second position.
[0127] In some possible implementations, the above procedure includes instructions for performing the following steps:
[0128] The variable spacing is determined randomly.
[0129] It should be understood that the electronic devices mentioned in this application may include smartphones (such as Android phones, iOS phones, Windows Phones, etc.), tablets, PDAs, laptops, mobile internet devices (MIDs) or wearable devices, servers, edge computing nodes, etc. The above-mentioned electronic devices are merely examples and not exhaustive, and include, but are not limited to, the electronic devices described above.
[0130] This application also provides a computer-readable storage medium storing a computer program that is executed by a processor to implement some or all of the steps of any of the methods described in the above method embodiments.
[0131] This application also provides a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program operable to cause a computer to perform some or all of the steps of any of the methods described in the above method embodiments.
[0132] It should be noted that, for the sake of simplicity, the aforementioned methods are described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are optional, and the actions and modules involved are not necessarily essential to this application.
[0133] In the above embodiments, the descriptions of each embodiment have their own emphasis. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.
[0134] In the several embodiments provided in this application, it should be understood that the disclosed apparatus can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical or other forms.
[0135] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment, depending on actual needs.
[0136] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software program module.
[0137] If the integrated unit is implemented as a software program module and sold or used as an independent product, it can be stored in a computer-readable storage device (CMD). Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a memory and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned memory includes various media capable of storing program code, such as a USB flash drive, read-only memory (ROM), random access memory (RAM), portable hard drive, magnetic disk, or optical disk.
[0138] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage device, which may include: flash drive, read-only memory (ROM), random access memory (RAM), disk or optical disk, etc.
[0139] The embodiments of this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The above description of the embodiments is only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.
Claims
1. A method for cleaning underwater walls based on an underwater robot, characterized in that, include: When the underwater robot is cleaning the target pool wall, the underwater robot is controlled to move back and forth along the first cleaning path, and after the back and forth movement, it performs a wall-down action to reach the bottom of the pool. The underwater robot is controlled to move at variable intervals on the bottom of the pool; After moving at the variable interval, the underwater robot is controlled to perform a wall-climbing action to return to the target pool wall; After the underwater robot returns to the target pool wall, it is controlled to move back and forth along the second cleaning path, wherein the first cleaning path and the second cleaning path are parallel.
2. The method as described in claim 1, characterized in that, Controlling the underwater robot to move back and forth along the first cleaning path includes: The underwater robot is controlled to move along a first direction on the first cleaning path, wherein the first direction is from the bottom of the pool to the surface of the water. The underwater robot is controlled to move along a second direction on the first cleaning path, wherein the second direction is from the water surface to the bottom of the pool. The step of descending the wall and reaching the bottom of the pool after the reciprocating movement includes: After moving in the second direction, the wall-lowering action is performed to reach the bottom of the pool.
3. The method as described in claim 2, characterized in that, After performing the wall-climbing action, the underwater robot reaches a first position on the bottom of the pool, and then performs the wall-climbing action at a second position on the bottom of the pool. The distance between the first position and the second position is equal to the variable spacing in a direction parallel to the target pool wall.
4. The method as described in claim 3, characterized in that, The control of the underwater robot to move at variable intervals on the bottom of the pool includes: Control the underwater robot to move from the first position along a direction perpendicular to and away from the target pool wall; The underwater robot is controlled to move a random distance along a direction parallel to the target pool wall; The underwater robot is controlled to move in a direction perpendicular to and close to the target pool wall to reach the second position.
5. The method as described in claim 3, characterized in that, The control of the underwater robot to move at variable intervals on the bottom of the pool includes: Control the underwater robot to move from the first position along a direction perpendicular to and away from the target pool wall; The underwater robot is controlled to move a random distance along a direction parallel to the target pool wall, and after moving the random distance, the underwater robot rotates a random angle. The underwater robot is controlled to move along the direction close to the target pool wall to reach the second position.
6. The method as described in claim 3, characterized in that, The control of the underwater robot to move at variable intervals on the bottom of the pool includes: Control the underwater robot to move from the first position along a direction perpendicular to and away from the target pool wall; The underwater robot is controlled to move a preset distance along a direction parallel to the target pool wall, and after moving the preset distance, the underwater robot rotates at a random angle; The underwater robot is controlled to move along the direction close to the target pool wall to reach the second position.
7. The method according to any one of claims 1 to 6, characterized in that, The variable spacing is determined randomly.
8. An underwater robot, characterized in that, include: The control module is configured to execute the step instructions in the method as described in any one of claims 1-7; A cleaning module is used to respond to the drive signal from the control module and drive the underwater robot to perform cleaning actions. The mobility module is used to respond to the drive signals from the control module and drive the underwater robot to move.
9. An electronic device, characterized in that, The method includes a processor, a memory, a communication interface, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the processor, and the one or more programs include instructions for performing the steps of the method according to any one of claims 1-7.
10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that is executed by a processor to implement the method as described in any one of claims 1-7.