Robot and method for controlling robot

Abstract

The invention discloses a robot and a control method of the robot. The robot comprises a robot body, and the robot body at least comprises a control unit, a distance measuring unit and a walking mechanism which are arranged on the robot body; the distance measuring unit is connected with the control unit and used for detecting the distance of the robot relative to an obstacle. The walking mechanism is connected with the control unit to drive the robot to advance; wherein the walking mechanism at least comprises a first walking mechanism, and the first walking mechanism is used for driving the robot to walk in a first working environment; the distance measuring unit at least comprises a first distance measuring sensor and a second distance measuring sensor which are arranged on different surfaces of the robot, the first distance measuring sensor is used for detecting obstacle information in a first direction, and the second distance measuring sensor is used for detecting obstacle information in a second direction; the control unit controls the walking mechanism to advance in the first working environment according to the obstacle information in the first direction and the obstacle information in the second direction. In this way, the working efficiency of the robot can be improved.

Description

Robot and robot control method

[0001] The present disclosure claims priority to Chinese patent application No. 202310473863X filed with the Patent Office of China on April 27, 2023, entitled “Robot control method and device”, Chinese patent application No. 202310490745X filed with the Patent Office of China on May 4, 2023, entitled “Information interaction method, system, device, storage medium and electronic device”, Chinese patent application No. 2023106717695 filed with the Patent Office of China on June 7, 2023, entitled “Method for controlling target substance release and target substance release component”, and Chinese patent application No. 2023108620675 filed with the Patent Office of China on July 13, 2023, entitled “A target map establishment method, storage medium and pool robot”, the entire contents of which are incorporated into the present disclosure by reference.

Technical field

[0002] The present disclosure relates to the field of robotics, and in particular to a robot and a method for controlling the robot. [Background Technology]

[0003] With the development of technology, robots have become increasingly popular. However, existing robots are simple in structure and often move in random trajectories, which makes them inefficient. For example, a pool robot, when cleaning a pool, moves in random trajectories, resulting in poor full coverage and a high rate of missed areas. This results in suboptimal cleaning performance.

[0004] [Summary of the invention]

[0005] The main technical problem solved by the present disclosure is to provide a robot and a control method for the robot, which can improve the working efficiency of the robot.

[0006] To solve the above technical problems, the first aspect of the present disclosure provides a robot, which includes a robot body, and the robot body includes at least a control unit, a ranging unit, and a walking mechanism arranged thereon; the ranging unit is connected to the control unit and is used to detect the distance between the robot and an obstacle; the walking mechanism is connected to the control unit to drive the robot to move; wherein the walking mechanism includes at least a first walking mechanism, and the first walking mechanism is used to drive the robot to walk in a first working environment; the ranging unit includes at least a first ranging sensor and a second ranging sensor arranged on different surfaces of the robot, the first ranging sensor is used to detect obstacle information in a first direction, and the second ranging sensor is used to detect obstacle information in a second direction; the control unit controls the walking mechanism to move in the first working environment according to the obstacle information in the first direction and the obstacle information in the second direction.

[0007] In order to solve the above technical problems, the second aspect of the present disclosure provides a robot system, which at least includes a robot body, a base station, and a terminal; wherein the robot body is the robot body in the robot provided in the first aspect above.

[0008] To solve the above technical problems, the third aspect of the present disclosure provides a robot control method, the method comprising: obtaining first sensor information collected by a first sensor in a first direction of the robot; obtaining second sensor information collected by a second sensor in a second direction of the robot, wherein the first direction is the robot's moving direction, and the angle between the second direction and the first direction and the right angle is less than a preset angle; according to the first sensor information and the second sensor information, controlling the robot to move in a target swimming pool, wherein the robot is used to clean the target swimming pool; wherein controlling the robot to move in the target swimming pool includes at least one of the following: in response to the first sensor information indicating that the distance between the robot and the first obstacle in the first direction is less than a first preset value, controlling the robot to move in a third direction away from the second direction; in response to the second sensor information indicating that the distance between the robot and the second obstacle in the second direction is greater than a second preset value, controlling the robot to deviate toward the second direction to reduce the distance between the robot and the second obstacle in the second direction.

Brief Description of the Drawings

[0009] FIG1 is a schematic diagram of the framework structure of a first embodiment of a robot provided by the present disclosure;

[0010] FIG2 is a schematic structural diagram of a second embodiment of a robot provided by the present disclosure;

[0011] FIG3 is a schematic structural diagram of a third embodiment of a robot provided by the present disclosure;

[0012] FIG4 is a schematic diagram of a framework of an embodiment of a robot system provided by the present disclosure;

[0013] FIG5 is a schematic flow chart of a first embodiment of a robot control method provided by the present disclosure;

[0014] FIG6 is a flow chart of a second embodiment of a robot control method provided by the present disclosure;

[0015] FIG7 is a flow chart of an embodiment of a method for constructing a target map in the present disclosure;

[0016] FIG8 is a schematic diagram of an embodiment of Euler angles provided by the present disclosure;

[0017] FIG9 is a schematic diagram of a flow chart of an embodiment of controlling a pool robot to release a target substance in a target water area provided by the present disclosure;

[0018] FIG10 is a schematic flow chart of a third embodiment of a robot control method provided by the present disclosure;

[0019] FIG11 is a schematic diagram of a frame structure of an embodiment of a robot provided by the present disclosure;

[0020] FIG12 is a schematic diagram of a framework of an embodiment of a computer-readable storage medium provided by the present disclosure. [Specific implementation method]

[0021] The following is a clear and complete description of the technical solutions in the embodiments of the present disclosure, in conjunction with the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, not all of them. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present disclosure without creative work are within the scope of protection of the present disclosure.

[0022] It should be noted that the terms "first," "second," and so on, used in the embodiments of this disclosure are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, the term "first" or "second" may explicitly or implicitly include at least one of these features.

[0023] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present disclosure. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0024] Please refer to Figure 1, which is a schematic diagram of the framework structure of a first embodiment of a robot provided by the present disclosure. The robot includes a robot body 10, which is equipped with at least a control unit 101, a ranging unit 102, and a walking mechanism 103. In one embodiment, the walking mechanism 103 includes a first walking mechanism, which is used to drive the robot to walk in a first working environment. That is, when the robot is in the first working environment, the first walking mechanism is used to control the robot's movement. The ranging unit 102 includes a first ranging sensor 1021 and a second ranging sensor 1022. The first ranging sensor 1021 is used to detect obstacle information in a first direction, and the second ranging sensor 1022 is used to detect obstacle information in a second direction. The first ranging sensor 1021 and the second ranging sensor 1022 can be ultrasonic sensors, infrared sensors, TOF (Time of Flight) sensors, etc. It is understood that the first ranging sensor 1021 and the second ranging sensor 1022 can be the same or different. The control unit 101 is capable of controlling the walking mechanism 103 to move in the first working environment based on the obstacle information in the first direction and the obstacle information in the second direction. The first direction may be the robot's direction of travel, and the second direction may be a direction substantially perpendicular to the first direction, i.e., the difference between the angle between the second direction and the first direction and a right angle is less than a preset angle, which is set by the user, for example, 0-10°. The first working environment may be an underwater environment or a non-underwater environment, wherein the non-underwater environment includes the water surface. When the robot is on the water surface, it may be entirely above the waterline or partially below the waterline.

[0025] The above scheme, by setting the first ranging sensor and the second ranging sensor on the robot body, can detect obstacle information in different directions of the robot, and then plan a reasonable driving trajectory for the robot. Compared with the random driving of the robot, it can significantly improve the working efficiency of the robot.

[0026] In another embodiment, the robot further includes a second walking mechanism, which is used to control the robot to walk in a second working environment; the second working environment is different from the first working environment, for example, the first working environment is an underwater environment, and the second working environment is a non-underwater environment. The control unit can determine the current environment in which the robot is located, and can select the first walking mechanism and / or the second walking mechanism based on the current environment in which the robot is located. In a specific embodiment, the first walking mechanism can be a track wheel (such as 103 in Figure 1), and the second walking mechanism can be a surface propeller (not shown in the figure). When the robot is in an underwater environment, the track wheel can be used to drive the robot to move forward, or the track wheel and the propeller can be used to drive the robot to move forward; when the robot is in a non-underwater environment, at this time, the robot is at least partially exposed to the water surface or the robot is immersed in water and close to the water surface, the surface propeller can be used to drive the robot to move forward, or the surface propeller and the track wheel can be used to drive the robot to move forward. The above-mentioned robot can be a pool robot, a swimming pool robot, an underwater robot, etc.

[0027] In one embodiment, the obstacle information in the first direction represents a first distance between the robot and a first obstacle in the first direction. The control unit 101 controls the walking mechanism to move in the first working environment based on the obstacle information in the first direction and the obstacle information in the second direction. This includes: in response to the first distance reaching a first maximum threshold, the control unit 101 controls the robot to move in a third direction. Specifically, the robot's movement speed may be first reduced, and then the robot may be controlled to rotate in the third direction; the third direction is opposite to the second direction.

[0028] In one specific embodiment, the control unit 101, in response to the first distance reaching the first maximum threshold, first reduces the movement speed of the robot and then controls the robot to rotate to the third direction. This can be achieved by any of the following methods: Method 1: In response to the first distance reaching the first maximum threshold, the control unit 101 reduces the movement speed of the robot, and reduces the movement speed of the robot to zero when the first distance reaches the first minimum threshold; when the first distance reaches the first minimum threshold, the robot is controlled to rotate to the third direction. Method 2: In response to the first distance reaching the first maximum threshold, the control unit 101 reduces the movement speed of the robot, and reduces the movement speed of the robot to zero when the first distance reaches the first minimum threshold; when the first distance reaches the first minimum threshold, the robot is controlled to move a preset distance in a fourth direction, which is opposite to the first direction; when the robot moves a preset distance in the fourth direction, the robot is controlled to rotate to the third direction; wherein the first minimum threshold is less than the first maximum threshold. Method three: In response to the first distance reaching the first maximum threshold, the control unit 101 reduces the movement speed of the robot and controls the robot to rotate in the third direction at a preset rotation speed. Since the value detected by the first ranging sensor gradually increases during the process of the robot rotating in the third direction at the preset rotation speed, or the first ranging sensor cannot detect any data, the second ranging sensor can be used to determine whether the robot has rotated to the third direction. When the second ranging sensor 1022 detects a value, it indicates that the machine has completed the turn, that is, the robot has rotated to the third direction.

[0029] In one embodiment, the obstacle information in the second direction represents a second distance between the robot and a second obstacle in the second direction, and the control unit 101 controls the walking mechanism to move in the first working environment according to the obstacle information in the first direction and the obstacle information in the second direction, including: in response to the second distance being within a preset range, the control unit 101 controls the robot to move in a direction parallel to the second obstacle; or, in response to the second distance being within the preset range, the control unit 101 controls the robot to rotate in the second direction at a preset rotation speed, and when the second distance reaches a second minimum threshold, the control unit 101 controls the robot to move in a direction parallel to the second obstacle, wherein the second minimum threshold is less than the minimum value of the preset range; in response to the second distance not being within the preset range, the control unit 101 controls the robot to approach the second obstacle until the second distance reaches the second minimum threshold, and then controls the robot to move in a direction parallel to the second obstacle.

[0030] Please refer to Figure 2, which is a schematic diagram of the structure of a second embodiment of the robot provided by the present disclosure. In one embodiment, in addition to the control unit 101, the ranging unit 102, and the walking mechanism 103, the robot body 10 is also equipped with an obstacle detection unit 104, a first position detection unit 105, and a target sensor 106. The obstacle detection unit 104 includes, but is not limited to, sensors, image acquisition devices, radar, etc. Depending on the type of obstacle detection unit 104, it can be installed anywhere on the robot body. In one embodiment, it can be installed on any side of the robot. The obstacle detection unit 104 can be located inside or outside the robot body 10. Of course, the obstacle detection unit 104 can be a first ranging sensor 1021 and / or a second ranging sensor 1022. As shown in Figure 2, in one specific embodiment, the obstacle detection unit 104 is located outside the robot body 10. The obstacle detection unit 104 is used to detect target obstacles within the target water area during the robot's operation. The robot can operate in any area within the target water area, for example, along the boundary of the target water area. The first position detection unit 105 may include a positioning sensor for obtaining the robot's first position at the target moment of detecting a target obstacle. Similarly, the first position detection unit 105 may be located anywhere within the robot body 10. As shown in Figure 2, it may be located within the robot body 10. In one embodiment, the first position detection unit 105 includes a code disk and an inertial measurement unit. The code disk is used to obtain the robot's displacement per unit time. The inertial measurement unit is used to determine the robot's Euler angles before the displacement occurs, thereby determining the sub-displacements of the displacement per unit time in multiple directions using the Euler angles. The target sensor 106 includes, but is not limited to, a line laser sensor, a radar sensor, a lidar, etc., and is used to determine the position information of the target obstacle relative to the robot. The position information includes, but is not limited to, distance and angle. The obstacle detection unit 104 may be connected to the first position detection unit 105. When the obstacle detection unit 104 detects the target obstacle, it sends a signal to the first position detection unit 105, which then detects the robot's first position. Similarly, the obstacle detection unit 104 may also be connected to the target sensor 106. When the obstacle detection unit 104 detects a target obstacle, it sends a signal to the target sensor 106, and the target sensor 106 determines the position information of the target obstacle relative to the robot.

[0031] The obstacle detection unit 104, the first position detection unit 105, and the target sensor 106 can all be connected to the control unit 101. The control unit 101 can accumulate the sub-displacements in multiple directions within N unit times to the initial position of the robot, and determine the first position of the pool robot at the target time based on the accumulated result, where N is a natural number greater than or equal to 1, N is determined based on the difference between the target time and the initial time, the initial position is the position at the initial time, and the first position and the initial position are the positions of the robot in the global coordinate system. The control unit 101 can also determine the relative position of the target obstacle and the robot based on the position information of the target obstacle relative to the robot, determine the second position of the target obstacle based on the relative position and the first position of the robot at the target time; and construct or update the target map of the target water area based on the second position of the target obstacle.

[0032] In one embodiment, a depth sensor (not shown in the figure) is also provided on the robot body 10. The depth sensor can be set at any position in the robot. The depth sensor is used to determine the depth of the target water area to obtain the depth position of the pool robot at the target time.

[0033] In one embodiment, the control unit 101 constructs or updates a target map of the target water area based on the second position of the target obstacle, including: the control unit 101 marks the voxel corresponding to the second position of the target obstacle in the three-dimensional map, and controls the robot to run one circle along the boundary of the target water area. When it is determined that the pool robot has completed at least one circle along the boundary of the target water area, the composition is completed to obtain the target map.

[0034] As shown in FIG3 , FIG3 is a schematic structural diagram of the third embodiment of the robot provided by the present disclosure. In one embodiment, in addition to the control unit 101, the ranging unit 102, and the walking mechanism 103, the robot body 10 is also provided with a second position detection unit 107 and an information acquisition unit 108. The second position detection unit 107 is used to obtain the coordinate position of the robot in real time while the robot is operating in a preset water area. The second position detection unit 107 may include a positioning sensor. The second position detection unit 107 can also be set at any position in the robot body 10. As shown in FIG3 , it can be set outside the robot body 10. The information acquisition unit 108 is used to obtain target release information of the target substance corresponding to the target water area when the robot reaches the target water area in the preset water area based on the coordinate position. The information acquisition unit 108 is located inside the robot body 10. Based on the target release information, the control unit 101 controls the robot to release the target substance in the target water area.

[0035] In one embodiment, a target device 109 can also be provided on the robot body 10. The target device 109 can be provided on one side of the robot. In one embodiment, as shown in FIG3 , the target device can be provided at the tail of the robot. The target device 109 is used to store the target substance. The target device 109 includes but is not limited to a box, a bag, etc. for storing the target substance. The target substance can be a cleaning substance for cleaning waters, including but not limited to a disinfectant, a clarifier, an algaecide, etc. The cleaning substance can be a liquid reagent or a solid particle. Specifically, for example, it can be sodium hypochlorite, liquid chlorine, etc., or it can be a nutrient solution that needs to be added to the waters (for example, a nutrient solution in a fish pond, etc.). A water quality testing device can also be provided on the robot body 10. The water quality testing device can detect the water quality of the target waters and can send the water quality of the target waters to the control unit 101. The control unit 101 can determine the target release information based on the water quality of the target waters.

[0036] In one embodiment, a control circuit is also provided on the robot body 10; the control unit 101 controls the robot to release the target substance in the target water area based on the target release information, including: when the pool robot is determined to have reached the target water area based on the coordinate position, the control unit 101 sends a first control instruction to the control circuit, and the control circuit responds to the first control instruction, controls the start-up of the target device, and releases the target substance to the target water area according to the target release information; wherein the first control instruction includes the target release information.

[0037] Please continue to refer to FIG3 . In one embodiment, a cleaning unit 130 is further provided on the robot body 10 . The cleaning unit 130 can clean a preset area during the movement of the robot. The preset area is an area within a preset range of the robot's movement path.

[0038] When the robot is a pool robot, the control unit 101 in the above embodiment may be a processor in the pool robot. The specific execution process of the control unit 101 may refer to the method embodiment provided below and will not be described in detail here.

[0039] Please refer to FIG4 , which is a schematic diagram of a framework of an embodiment of a robot system provided by the present disclosure.

[0040] The robot system 40 includes at least a robot body 10, a base station 20, and a terminal 30. The robot body 10 is the robot body 10 of the robot provided in this application. The robot body 10 is provided with a first communication module, the base station 20 is provided with a second communication module, and the terminal 30 is provided with a third communication module. The robot body 10, the base station 20, and the terminal 30 can communicate with each other. In one embodiment, the robot body 10 can communicate directly with the terminal 30, and the terminal 30 communicates with the first communication module of the robot body 10 through the third communication module. For example, when the robot body 10 and the terminal 30 are both located on the water surface, communication can be achieved through any communication method that can transmit signals in the air, such as WiFi, 5G signals, etc. The robot body 10 can also communicate with the terminal 30 through the base station 20 or a relay device. In one embodiment, the robot body 10 communicates with the terminal 30 through the base station 20, that is, the robot body 10 first communicates with the base station 20, and the base station 20 then communicates with the terminal 30. The robot body 10 communicates with the base station 20 via a preset communication mode through the first communication module and the second communication module of the base station 20. The preset communication mode includes a first communication mode and a second communication mode. The robot body 10 can select the first communication mode or the second communication mode according to its current target working environment type. The first communication mode is to communicate via a radio frequency module, and the second communication mode is to communicate via a network module. Specifically, in one embodiment, the first communication module includes a first radio frequency module and a first network module, and the second communication module includes a second radio frequency module and a second network module. The robot body 10 can determine the communication mode between the robot body 10 and the base station 20 according to the target environment type of the current work. In this case, the robot body 10 communicates with the base station 20 via the first radio frequency module and the second radio frequency module in response to the target environment type being an underwater environment. In this case, the robot body 10 communicates with the base station 20 via the first network module and the second network module in response to the target environment type being a non-underwater environment. In this case, the terminal 30 can issue control instructions to control the robot.

[0041] In another embodiment, the robot system further includes a relay device, which can be at least partially located above water, that is, the relay device can be partially located above water and partially located underwater, or the relay device can be entirely located above water, and the relay device extends underwater via an extension component that can conduct signals, and the extension component can be a transmission line. The robot body 10 can communicate with the terminal 30 via the relay device. Specifically, the relay device includes a fourth communication module, and the fourth communication module and the first communication module communicate via a third communication method to achieve communication between the relay device and the robot body 10; the fourth communication module and the third communication module communicate via a fourth communication method to achieve communication between the relay device and the terminal 30. The third communication method is a communication method that supports signal transmission in water, such as an ultrasonic transmission method; the fourth communication method is a communication method that supports signal transmission in air, such as a radio transmission method, a green light transmission method, an ultrasonic transmission method, Wi-Fi, or Bluetooth. It is understandable that the robot body 10 can also communicate directly with the terminal 30. For example, the terminal 30 is a wireless touch device, a remote control, etc. Taking the remote control as an example, the remote control can communicate directly with the terminal 30 through radio transmission or green light transmission.

[0042] Please refer to FIG5 , which is a flow chart of a first embodiment of a robot control method provided by the present disclosure. The method includes:

[0043] S51: Determine the current motion factor of the robot, where the current motion factor includes a current motion device that matches the target environment type to which the current working environment of the robot belongs, and / or a moving direction determined based on sensor information collected by at least two sensors of the robot in different collection directions.

[0044] In one embodiment, if the robot is not equipped with sensors, it can first determine the target environment type to which the robot's current operating environment belongs, and then obtain a current motion device that matches the target environment type as the current motion factor. Specifically, the robot can determine the target environment type based on its location. For example, if the robot is a pool robot, the target environment type can include underwater environments and non-underwater environments. For another example, if the robot is a cleaning robot, the target environment type can include indoor environments and outdoor environments. It should be understood that the above examples are merely illustrative, and the present disclosure is not limited to such situations. After determining the target environment type, the robot obtains a current motion device that matches the target environment type. In one specific embodiment, if the robot is equipped with a surface propeller and / or tracked wheels, and the robot is a pool robot, when the target environment type is underwater, the tracked wheels are used as the current motion device, or the tracked wheels and propellers are used as the current motion device. When the target environment type is non-underwater, and the robot is at least partially above the water surface or submerged and close to the water surface, the surface propeller, or the surface propeller and tracked wheels are used as the current motion device.

[0045] In another embodiment, when the robot is equipped with a sensor, such as a rangefinder, the robot can determine the movement direction based on the sensor information collected by the sensor, and use the movement direction as the robot's current motion factor. The specific process for determining the movement direction is not described here and is referred to below.

[0046] In other embodiments, the robot is provided with a sensor and a current motion device. Alternatively, either the current motion device or a movement direction determined based on sensor information collected by at least two sensors of the robot in different collection directions may be selected as the current motion factor, or both may be selected as the current motion factor. For example, when both the current motion device and the movement direction are selected as the current motion factors, the current motion device may be controlled to move in the movement direction to achieve control of the robot's motion.

[0047] S52: Use the current motion factor to control the robot movement.

[0048] In one embodiment, the current motion factor is a current motion device that matches the target environment type to which the robot's current working environment belongs. In response to a motion control signal issued by a control device, the current motion device is used to drive the robot to move within the current working environment. That is, the current motion factor is used to control the robot's motion, triggered by the motion control signal. The motion control signal can indicate the robot's direction of travel, for example, indicating that the robot should move in the direction directly ahead. Specifically, after the control device issues the motion control signal, the robot can generate a drive instruction for the current motion device. The drive instruction can be generated based on the current working environment, sensor data, or user manipulation of the control device's operating components. For example, the control device is a remote control, which includes four control buttons (front, back, left, and right). When the forward control button is pressed, the control device issues a motion control signal to the robot. The robot's processor processes the motion control signal and generates a drive instruction. The drive instruction is sent to the current motion device to drive the robot to move within the current working environment. In another embodiment, the current motion factor can be used to control the robot's motion without being triggered by a motion control signal. After determining the current motion factor, the robot moves according to the current motion factor.

[0049] In the above embodiment, when the current motion device is a surface propeller or a track wheel, a control device can be used to control it. For example, when the robot is in a non-underwater environment, it is controlled by a remote controller, such as the operation buttons on the remote controller, to control the surface propeller to achieve corresponding motion through forward rotation, differential speed, reverse rotation, etc.; when the robot is in an underwater environment, the operation buttons on the remote controller are used to control the track wheel to achieve corresponding motion through forward rotation, differential speed, reverse rotation, etc. Corresponding operation buttons can be set on the above remote controller, such as buttons for indicating the direction of motion in front, back, left, and right directions, buttons for indicating the selection of the motion device, buttons for indicating function switching, etc.; further, for example, the button indicating the direction of motion can be used to control the parameter changes of the motion device, thereby achieving motion in that direction. It can be understood that in other embodiments, the surface propeller or track wheel can also be controlled by different control devices.

[0050] In another embodiment, the current motion factor includes a current motion device that matches the target environment type to which the current working environment of the robot belongs, and a moving direction determined based on the sensor information collected by at least two sensors of the robot in different collection directions. The surface propeller or track wheel can be controlled to move in the moving direction to realize the movement of the robot.

[0051] In other embodiments, the current motion factor is a moving direction determined based on the sensor information collected by at least two sensors of the robot in different collection directions, and the robot can be controlled to move in the moving direction. In this process, the robot can be driven to move by a driving device installed thereon. The driving device is not specifically limited here and can be any device that can drive the robot to move.

[0052] Please refer to FIG6 , which is a flow chart of a second embodiment of a robot control method provided by the present disclosure. The method can be executed by a control unit in the robot body, and the method includes:

[0053] S61: Acquire first sensing information collected by a first ranging sensor in a first direction of the robot; and acquire second sensing information collected by a second ranging sensor in a second direction of the robot.

[0054] In one embodiment, the first direction and the second direction are perpendicular. The first direction can be the front of the robot, i.e., the direction from the tail of the robot to the head, or the direction of travel of the robot. The first ranging sensor can be installed in the front of the robot. The difference between the angle between the second direction and the first direction and the right angle is less than a preset angle. In one embodiment, the second direction is perpendicular to the first direction and can be the left or right direction of the robot. The second ranging sensor is correspondingly located in the second direction. In a specific embodiment, the second direction is the right direction of the robot. The second ranging sensor can be located on the right side of the robot. The first ranging sensor and the second ranging sensor can be sensors capable of measuring distance, such as ultrasonic sensors, infrared sensors, or TOF (Time of Flight) sensors. The first ranging sensor and the second ranging sensor can each be a combination of one or more sensors.

[0055] In another embodiment, the robot is further provided with a cleaning device, which can be provided at any position on the robot. For example, the cleaning device is provided in the second direction of the robot. Taking the second direction as the right side of the robot as an example, the cleaning device and the second ranging sensor are both provided on the right side of the robot. The robot can control the cleaning device to clean the target pool during movement. For example, the target robot cleans the inner wall of the target swimming pool through the cleaning device in the second direction during movement. In a specific embodiment, the cleaning device can clean the water in the pool by filtering the water. The robot's cleaning method can be that a pumping device sucks the liquid from the water inlet, and then the impurities and garbage in the liquid are filtered through a filter, and the filtered water is discharged from the water outlet, thereby achieving the cleaning of the liquid in the pool.

[0056] S62: Determine the moving direction of the robot in the target pool according to the first sensing information and the second sensing information.

[0057] In one embodiment, the first sensor information may represent obstacle information in a first direction of the robot, and the obstacle information in the first direction may represent a first distance between the robot and the first obstacle in the first direction. The second sensor information may represent obstacle information in a second direction of the robot, and the obstacle information in the second direction may represent a second distance between the robot and a second obstacle in the second direction. The position of the robot relative to the obstacle can be determined based on the first sensor information and the second sensor information, and the robot's movement direction can be planned to move the robot closer to or away from the obstacle. In this embodiment, the robot is used in a pool, which may include a swimming pool. In other embodiments, the robot is not limited to pools. For example, the robot can also be used in environments such as channels, reservoirs, and ponds.

[0058] Specifically, when the first sensor information indicates that a first distance between the robot and a first obstacle in the first direction reaches a first maximum threshold, the robot is controlled to move in a third direction. The third direction is opposite to the second direction, or is a direction away from the second direction. If the second direction is the right side of the robot, the third direction is the left side of the robot, or forms an angle greater than 90° but less than or equal to 180° with the second direction.

[0059] In one embodiment, a cleaning device is positioned to the right of the robot, which cleans the walls of the target pool during movement. The first maximum threshold can be set based on actual conditions or determined based on the ultrasonic sensor's detection range (blind spot). For example, it can be 1 meter. When the first ranging sensor detects that the distance between the obstacle in front (the first obstacle) and the robot reaches the first maximum threshold, it indicates that the robot's front is too close to the wall of the target pool, and the robot needs to be controlled to steer to avoid a collision with the wall.

[0060] When the first distance reaches the first maximum threshold, the control unit (which may be a processor in the robot) may first reduce the movement speed of the robot and then control the robot to rotate to the third direction. This may be achieved by any of the following methods:

[0061] Method 1: When the first distance reaches the first maximum threshold, the robot's moving speed is reduced, and when the distance between the robot and the first obstacle reaches the first minimum threshold, the robot's moving speed is zero, and the first minimum threshold is less than the first maximum threshold; when the first distance reaches the first minimum threshold, the robot is controlled to rotate to the third direction. In this embodiment, the robot decelerates to zero when the distance between the robot and the first obstacle in front is the first minimum threshold, and then rotates left on the spot and turns to the third direction. The above-mentioned first minimum threshold is less than the first maximum threshold, and the specific value can be set according to actual conditions, for example, it can be 0.4 meters. The angle of the robot's rotation to the left can be until the second ranging sensor can detect the second obstacle in the right direction, that is, it rotates until the right side of the robot is parallel to the second obstacle. The second obstacle is the pool wall on the right side of the robot, and the first obstacle is the pool wall in front of the robot.

[0062] Method 2: When the first distance reaches a first maximum threshold, the robot's movement speed is reduced. When the first distance reaches a first minimum threshold, the robot's movement speed is zero, and the first minimum threshold is less than the first maximum threshold. When the first distance reaches the first minimum threshold, the robot is controlled to move a preset distance in a fourth direction, which is opposite to the first direction. When the robot moves a preset distance in the fourth direction, the robot is controlled to rotate to a third direction. In this embodiment, when the distance between the robot and the first obstacle in front of it reaches the first minimum threshold, the robot decelerates to zero, then reverses a preset distance, moves a preset distance in the fourth direction (the fourth direction is behind the robot), and then rotates left in place. The preset distance can be set according to actual conditions. The first minimum threshold can be set relatively low, for example, 0.3 meters or 0.2 meters, so that the robot can more thoroughly clean the corners of the pool. The robot can rotate leftward until the second ranging sensor can detect a second obstacle to the right, that is, until the right side of the robot is parallel to the second obstacle. The second obstacle is the pool wall to the right of the robot, and the first obstacle is the pool wall in front of the robot.

[0063] Method 3: When the first distance reaches the first maximum threshold, the robot's movement speed is reduced and the robot is controlled to rotate in the third direction at a preset rotation speed. When the first distance reaches the first minimum threshold, the robot rotates to the third direction. In this embodiment, if the second direction is the right side of the robot, the third direction is the left side of the robot. The robot decelerates and turns left until the distance to the first obstacle in front reaches the first minimum threshold. The robot turns left when the first minimum threshold is reached.

[0064] If the second distance is within a preset range, the robot is controlled to move parallel to the second obstacle. Alternatively, if the second sensor information indicates that the distance between the robot and the second obstacle is within the preset range, the robot is controlled to rotate in the second direction at a preset rotation speed. When the distance between the robot and the second obstacle reaches a second minimum threshold, the robot is controlled to move parallel to the second obstacle, where the second minimum threshold is less than the minimum value of the preset range. Specifically, the second obstacle is located in the second direction of the robot, such as the pool wall to the right of the robot. The preset range can be determined based on actual circumstances. For example, a range of 0.1 to 0.2 meters from the second obstacle is a normal range. In this case, the robot is controlled to move forward parallel to the second obstacle on the right. Alternatively, the robot can also be rotated to the right by a preset angle. The preset angle can be set according to actual conditions, such as 15 degrees, 20 degrees, etc. The robot is controlled to move slowly to the right front so that the robot is closer to the obstacle on the right, making the cleaning along the edge more thorough. When it moves to the right front until the distance between the robot and the second obstacle on the right is the second minimum threshold, the robot is adjusted to move forward in a direction parallel to the second obstacle on the right. The above-mentioned second minimum threshold is less than the minimum value in the preset range. For example, assuming the preset range is 0.1 meters to 0.2 meters, the second minimum threshold is less than 0.1 meters, for example, it can be 0.08 meters, etc., which can be set according to actual conditions.

[0065] If the second distance is not within the preset range, the robot's movement direction is controlled based on the distance between the robot and the second obstacle. Specifically, the robot may be controlled to approach the second obstacle until the second distance reaches a second minimum threshold, at which point the robot is controlled to move in a direction parallel to the second obstacle. For example, this may include: Case 1: If the second distance is less than the second minimum threshold and greater than or equal to a third minimum threshold, the robot's movement speed is reduced, and the robot is controlled to rotate in a third direction at a preset rotation speed. When the second distance reaches the second minimum threshold, the robot is controlled to move in a direction parallel to the second obstacle, wherein the third minimum threshold is less than the second minimum threshold, and the third direction is opposite to the second direction or away from the second direction; or, if the distance between the robot and the second obstacle is less than the third minimum threshold, the robot is controlled to rotate to the third direction.

[0066] The third minimum threshold is the minimum distance threshold between the robot and the second obstacle on the right. The third minimum threshold is less than the second minimum threshold. Assuming the second minimum threshold is 0.08 meters, the third minimum threshold is less than 0.08 meters, for example, 0.05 meters. If the distance between the robot and the second obstacle on the right is less than the third minimum threshold, the robot is controlled to turn left. If the distance between the robot and the second obstacle on the right is less than the second minimum threshold and greater than or equal to the third minimum threshold (for example, any distance value between 0.05 meters and 0.08 meters), the robot is controlled to move forward to the left until the distance between the robot and the second obstacle on the right reaches the second minimum threshold (assuming 0.08 meters), at which point the robot is controlled to move in a direction parallel to the second obstacle on the right.

[0067] Case 2: When the second distance is greater than or equal to the second maximum threshold and less than or equal to the third maximum threshold, the robot is controlled to rotate in the second direction at a preset rotation speed, and when the second distance reaches the second minimum threshold, the robot is controlled to move in a direction parallel to the second obstacle; or, when the second distance is greater than or equal to the second maximum threshold and less than or equal to the third maximum threshold, the robot is controlled to rotate in the second direction at a preset rotation speed, and when the second distance reaches the minimum value within the preset range, the robot is controlled to move in a direction parallel to the second obstacle; or, when the distance between the robot and the second obstacle is greater than or equal to the third maximum threshold, the robot is controlled to rotate to the second direction.

[0068] The third maximum threshold is the maximum distance between the robot and the second obstacle on the right. The second maximum threshold is less than the third maximum threshold, and the second maximum threshold is greater than the maximum value within a preset range. Assuming the preset range is 0.1 to 0.2 meters, the second maximum threshold is greater than 0.2 meters, for example, 0.3 meters, and the third maximum threshold is greater than the second maximum threshold, for example, 0.4 meters. When the distance between the robot and the second obstacle on the right is greater than or equal to the third maximum threshold, the robot is controlled to turn right.

[0069] When the distance between the robot and the second obstacle on the right is greater than or equal to the second maximum threshold and less than or equal to the third maximum threshold, the robot is controlled to rotate to the right at a preset rotation speed. The preset angle can be determined according to actual conditions, such as 10 degrees, 15 degrees, etc. The robot is controlled to move right front until the distance between the robot and the second obstacle on the right reaches the second minimum threshold, the robot is controlled to move in a direction parallel to the second obstacle, or until the distance between the robot and the second obstacle reaches the minimum value within the above-mentioned preset range, the robot is controlled to move in a direction parallel to the second obstacle.

[0070] Taking the above-mentioned first direction as the front of the robot and the second direction as the right direction of the robot as an example, the first ranging sensor and the second ranging sensor can be ultrasonic sensors with high waterproof performance, and are arranged one in front and one on the right. The first ranging sensor in the front is used to detect obstacles in the direction of the robot's forward movement to avoid collision with obstacles in the front; the second ranging sensor on the right detects obstacles on the right side of the robot, and the robot maintains a reasonable distance from the right wall when moving along the edge of the pool.

[0071] The execution subject of the above steps may be a pool robot, etc., but is not limited thereto. The pool robot can walk on one or more of the bottom wall, side wall or water surface of the pool and perform related tasks, such as cleaning, disinfection, etc.

[0072] S63: Determine a current motion factor of the robot, where the current motion factor is a moving direction determined based on sensing information collected by at least two sensors of the robot in different collection directions.

[0073] Step S63 may also be performed before step S61, i.e., first determining the current motion factor as the movement direction, and then determining the specific movement direction. In this embodiment, the movement direction is determined by using first sensor information collected by a first ranging sensor on the robot in a first direction and second sensor information collected by a second ranging sensor on the robot in a second direction.

[0074] S64: Control the robot to move in the target pool according to the moving direction.

[0075] For the specific implementation of steps S63 and S64, please refer to steps S51 and S52 of the first implementation of the robot control method provided in the present disclosure, which will not be repeated here.

[0076] In this embodiment, a first ranging sensor is set in the first direction of the robot, and first sensor information in the first direction is collected by the first ranging sensor; a second ranging sensor is set in the second direction of the robot, and second sensor information in the second direction is collected by the second ranging sensor. The movement direction of the robot is controlled according to the first sensor information and the second sensor information. The target pool can be cleaned by the robot, and the situation that the pool is not cleaned thoroughly due to the unreasonable distance between the robot and the pool wall can be avoided, and the cleaning intensity and efficiency of the pool can be improved.

[0077] In one embodiment, the above embodiment may also not include step S63, and step S64 is directly executed after obtaining the moving direction of the robot. In one embodiment, the first sensor information and the second sensor information collected by the first ranging sensor and the second ranging sensor can also be used to create a probability grid map, and the robot can be positioned in real time by integrating data such as the inertial measurement unit imu, the code disk, and the water depth sensor. The robot cleans along the edge of the pool wall underwater, and at the same time completes the map creation of the entire pool, and also provides a boundary reference for coverage path planning. The present disclosure subversively improves the cleaning efficiency and intelligence level of the pool robot by using an ultrasonic sensor with a higher waterproof grade and an intelligent full coverage solution. Increasing the waterproof grade of the ultrasonic sensor allows the sensor to meet the needs of long-term underwater work. Compared with existing pool robots, it can obtain rich underwater obstacle information and effectively process it. The intelligent full coverage solution of the pool bottom can improve the cleaning efficiency of the machine and improve the utilization efficiency of the battery capacity.

[0078] Please refer to Figures 7 and 8 in conjunction. Figure 7 is a flow chart of an embodiment of a target map construction method in the present disclosure, and Figure 8 is a schematic diagram of an embodiment of the Euler angle provided by the present disclosure. In one embodiment, in addition to the control unit and the walking mechanism, the robot body is also provided with an obstacle detection unit, a first position detection unit, and a target sensor. The control unit in the robot combines the data from the obstacle detection unit, the first position detection unit, and the target sensor to construct a target map of the water area where the robot is located. Specifically, the construction of the target map may include the following steps:

[0079] S741: Determine the distance and angle of the target obstacle relative to the robot through the data detected by the target sensor, and determine the relative position of the target obstacle and the robot based on the distance and angle of the target obstacle relative to the robot; and determine the first position of the robot at the target moment of detecting the target obstacle through the data detected by the depth sensor.

[0080] The execution subject of the above steps may be a control unit in the robot, or a processor with data processing and signal interaction capabilities, or other processing devices or processing units with similar processing capabilities, but not limited thereto.

[0081] A target obstacle is any obstacle detected by the robot during its operation. Specifically, a target obstacle can be any obstacle detected by the robot while it is moving along the boundary of the water area. Movement along the boundary of the water area can be along the bottom or the edge of the water area, or along the surface of the water area. The water area in which the robot is located includes, but is not limited to, swimming pools, ornamental reservoirs, and outdoor pools. The robot can be located on the surface of the water area, on the bottom of the water area, or suspended within the water area. If the target water area is a swimming pool, it can also be located on the pool wall.

[0082] Target sensors may include acoustic radars, line laser transmitters, laser radars, and the like. Angles mainly include Euler angles or changes in Euler angles. The first position of the robot at the target moment may be obtained by accumulating the robot's displacement and Euler angle changes over multiple unit times to the robot's initial position, or by accumulating the robot's displacement over multiple unit times and projecting the changes on each Euler angle to the robot's initial position. Of course, a method of installing positioning sensors in the water area may also be included to determine the robot's three-dimensional coordinates. The first position, second position, and initial position include the horizontal coordinate, vertical coordinate, and depth coordinate in the global coordinate system. The three-dimensional coordinates determined above may be corrected by various sensors (such as depth sensors, distance sensors, etc.) in the water area where the robot is located or installed on the robot itself. The first position may be a depth position.

[0083] In one embodiment, determining the first position of the robot at the target moment when the target obstacle is detected includes: obtaining the robot's displacement per unit time using a built-in encoder of the robot; determining the sub-displacements of the displacement per unit time in multiple directions using the Euler angles of the robot before the displacement occurs, wherein the Euler angles are determined by the robot's built-in inertial measurement unit; accumulating the sub-displacements in multiple directions per unit time to the robot's initial position for N units of time, and determining the robot's first position at the target moment based on the accumulated result, wherein N is a natural number greater than or equal to 1, N is determined based on the difference between the target moment and the initial moment, the initial position is the position at the initial moment, and the first position and the initial position are the positions of the robot in the global coordinate system. In the above embodiment, the target sensor includes but is not limited to a line laser sensor, a radar sensor, and a lidar, and the target sensor is installed inside the robot.

[0084] In one embodiment, determining the first position of the robot at the target time based on the accumulated results includes: determining the depth of the water in which the robot is located using a depth sensor built into the robot; and calibrating the accumulated target depth included in the accumulated results using the depth of the water in which the robot is located to obtain the first position of the robot at the target time. In the above embodiment, calibrating the first position includes calibrating the depth coordinates of the first position. The calibration method may be to determine the depth of the robot's water as the depth coordinate of the first position when the difference between the depth of the robot's water and the accumulated target depth exceeds a preset threshold. Alternatively, the calibration method may be to take the average of the depth of the robot's water and the accumulated target depth as the depth coordinate of the first position when the difference between the depth of the robot's water and the accumulated target depth exceeds a preset threshold. If the difference between the depth of the robot's water and the accumulated target depth is less than the preset threshold, the processing method includes but is not limited to determining the accumulated target depth as the depth coordinate of the first position and determining the depth of the robot's water as the depth coordinate of the first position. The preset threshold may be 2, 3, or 5 depth units. Of course, the above is merely an illustrative example, and the preset threshold may be based on a variety of factors such as the type of water and the size of the robot. When the robot is mapping on the water surface, the above-mentioned cumulative target depth can be 0. The above-mentioned cumulative result is determined by the first position at the beginning of the previous unit time and the displacement of the robot in the previous unit time. The first position can be the current coordinates obtained by accumulating the coordinates of the robot after calibration in the previous unit time. Optionally, determining the first position of the robot at the target moment based on the cumulative result also includes: when the robot is running on the surface of the water area where the robot is located, the depth of the robot in the target water area obtained by the built-in depth sensor of the robot is used to correct the cumulative target depth. Calibrating the first position with the depth of the water area where the robot is located determined by the depth sensor can systematically reduce positioning errors and improve positioning accuracy.

[0085] In one embodiment, obtaining the relative position of the target obstacle and the robot includes: determining the distance and angle of the target obstacle relative to the robot using data detected by the robot's built-in target sensor; and determining the target position of the target obstacle in the robot's coordinate system based on the distance and angle of the target obstacle relative to the robot, wherein the relative position includes the target position of the target obstacle in the robot's coordinate system. In this embodiment, by using sensors to locate and detect the target obstacle while the robot is operating in water, a comprehensive map can be constructed, thereby improving the robot's operating efficiency.

[0086] S742: Determine a second position of the target obstacle based on the relative position and the first position.

[0087] In one embodiment, determining the second position of the target obstacle based on the relative position and the first position of the robot at the target moment includes: determining a translational transformation relationship between the target position and the second position of the target obstacle using the relative displacement between the first position of the robot at the target moment and the origin of the global coordinate system, wherein the relative position includes the target position of the target obstacle in the robot coordinate system, the target position being the position of the target obstacle in the robot coordinate system, and the second position being the position of the target obstacle in the global coordinate system; determining a rotational transformation relationship between the target position and the second position of the target obstacle using the Euler angles of the robot at the target moment, wherein the Euler angles are determined by an inertial measurement unit built into the robot; and converting the target position into the second position of the target obstacle based on the rotational transformation relationship and the translational transformation relationship. In the above embodiment, the translational transformation relationship includes a translation matrix, and the rotational transformation relationship includes a rotation matrix. The first position can be obtained by cross-multiplying the target position by the translation matrix and the rotation matrix. Through the above embodiment, the transformation relationship between the global coordinate system and the robot coordinate system is determined by the posture information of the robot in the global coordinate system, and then the coordinates of the target obstacle in the robot coordinate system are converted into coordinates in the global coordinate system, effectively determining the three-dimensional voxels corresponding to the target obstacle in the map.

[0088] S743: Construct a target map of the water area where the robot is located based on the second position of the target obstacle.

[0089] In one embodiment, constructing a target map of the target water area based on the second position of the target obstacle includes marking the voxel corresponding to the second position of the target obstacle in a three-dimensional map, and completing the composition to obtain the target map after determining that the robot has completed a full rotation along the boundary of the target water area. In the above embodiment, the marking method includes determining the three-dimensional voxel of the three-dimensional map corresponding to the target obstacle by comparing the first position of the target obstacle to a preset resolution, and then marking the three-dimensional voxel. If a voxel is marked as a target obstacle, it will be displayed in the three-dimensional map; if it is not marked as a target obstacle, it will not be displayed. The above three-dimensional map includes a global map composed of voxels. Through the above embodiment, the three-dimensional coordinates of the target obstacle are mapped to the three-dimensional map and marked. The robot can quickly determine the working route through the marked three-dimensional map, effectively improving work efficiency.

[0090] In the above embodiment, the robot detects the relative position of the target obstacle and itself, and then locates the position of the pool robot through sensors, thereby determining the position of the target obstacle. Finally, the target map is constructed by the obtained multiple target obstacle positions. This can solve the problem of the robot's lack of mapping and positioning function, and achieve the effect of improving the robot's mapping efficiency.

[0091] In one exemplary embodiment, after constructing a target map of the target water area based on the three-dimensional coordinates of the target obstacle, the method further includes controlling the robot to clean the target water area according to the target map. In this embodiment, planning the robot's cleaning route using the constructed map can effectively improve the robot's cleaning efficiency.

[0092] In an exemplary embodiment, before obtaining the relative position of the target obstacle and the robot, the method further includes: when the robot enters the water, obtaining the distance between the robot and multiple boundaries of the water area in which the robot is located; determining the target boundary based on the distance, wherein the target boundary is the boundary closest to the robot among the multiple boundaries; controlling the robot to move to the target boundary, and starting from the target boundary to execute the operation along the boundary of the water area in which the robot is located. In the above embodiment, the above method for determining the distance between the robot and the boundary includes but is not limited to direct measurement by sensors (for example, determining the distance between the robot and the boundary by laser sensors, radars, etc.), determining the distance by robot photography equipment, posture sensors, etc. By determining the distance between multiple boundaries and the robot, and then determining the target boundary and controlling the robot to move to it, the time it takes for the robot to start mapping can be shortened, effectively improving the overall mapping efficiency.

[0093] The following further explains robot mapping with reference to a specific embodiment. Taking a pool robot as an example, in which the robot uses ultrasonic sensors and depth sensors to build maps, this specific embodiment is described. The target map building process of this embodiment includes:

[0094] Step 1: The pool robot starts the mapping task;

[0095] Step 2: The pool robot enters the water area and starts moving along the water boundary;

[0096] Step 3: The pool robot determines whether the pool robot has completed a circle of movement along the water area boundary. If the pool robot has completed a circle of movement along the water area boundary, step 9 is executed; otherwise, step 4 is executed.

[0097] Step 4: The pool robot obtains the angle change during the movement process through the inertial measurement unit, obtains the displacement change of the pool robot through the encoder data, and then calculates the current three-dimensional coordinates of the pool robot in combination with the initial three-dimensional coordinates of the pool robot;

[0098] Step 5: The pool robot obtains the depth of the water area where the pool robot is located through the depth sensor, and corrects the accumulated target depth in the current three-dimensional coordinates according to the depth of the water area where the pool robot is located;

[0099] Step 6: The pool robot obtains the obstacle target coordinates through the ultrasonic sensor, where the obstacle target coordinates are the coordinates of the obstacle in the pool robot coordinate system;

[0100] Step 7: The pool robot determines the transformation relationship between the target obstacle's target coordinates and the target obstacle's three-dimensional coordinates using the pool robot's current Euler angles and current three-dimensional coordinates, and obtains the target obstacle's three-dimensional coordinates based on the transformation relationship, where the target obstacle's three-dimensional coordinates are the coordinates of the target obstacle in the global coordinate system.

[0101] Step 8: The pool robot marks the 3D voxel corresponding to the 3D coordinates of the target obstacle in the 3D map and repeats step 2.

[0102] Step 9: The pool robot completes the mapping task and generates the target map;

[0103] Step 10: Mapping is completed.

[0104] Through the description of the above implementation methods, those skilled in the art can clearly understand that the method according to the above embodiment can be implemented by means of software plus the necessary general hardware platform, and of course it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present disclosure, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a number of instructions for enabling a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the above methods of each embodiment of the present disclosure.

[0105] Please refer to Figure 9, which is a flow chart of an embodiment of the present disclosure of controlling a pool robot to release a target substance in a target water area. In one embodiment, in addition to the control unit and the walking mechanism, the robot body is also provided with a second position detection unit and an information acquisition unit. The control unit in the robot can determine the target release information of the target substance corresponding to the target water area in combination with the data of the second position detection unit and the information acquisition unit, and control the robot to release the target substance in the target water area to clean and disinfect the target pool. It is understandable that the step of the control unit controlling the robot to release the target substance in the target water area can be executed after the step of constructing the target map, or the target substance can be released separately according to the control instruction. Specifically, controlling the pool robot to release the target substance in the target water area can include the following steps:

[0106] S941: Based on the target map of the water area where the robot is located, the water area where the robot is located is divided into N release water areas, and a release water area is selected as the target water area.

[0107] In one embodiment, the water area where the robot is located can be any water area, for example, a swimming pool, a pool, etc.

[0108] In one embodiment, the number N of released water areas can be obtained based on the number of releases N. The number of released water areas can be the same as the number of releases, and the number of releases is obtained based on release information. Specifically, water area information of the water area where the robot is located is determined, wherein the water area information includes the water quality of the water area where the robot is located and / or the water volume of the water area where the robot is located; release information of the target substance to be released into the water area where the robot is located is determined according to the water area information, wherein the release information includes at least one of the following: the total amount of the target substance released into the water area where the robot is located, the type of the target substance, the rate of releasing the target substance into the water area where the robot is located, the duration of releasing the target substance into the water area where the robot is located, and the number of times the target substance is released into the water area where the robot is located; and the number of releases N is calculated based on the release information, wherein N is a natural number greater than or equal to 1, and the number of releases is used to determine the number of released water areas.

[0109] In this embodiment, the amount of water in the water area where the robot is located can be calculated as follows: the bottom area of ​​the water area where the robot is located is multiplied by the depth of the water area where the robot is located. The value of N can be flexibly set based on the actual application scenario or water area division requirements. The water quality of the water area where the robot is located can be tested using water quality testing equipment. In this embodiment, by dividing the water area into multiple small release water areas and releasing the target substance in each small water area separately, the target substance can be released into the water area evenly and quickly.

[0110] In one embodiment, dividing the robot's water area into N release water areas includes: determining a water area map of the robot's water area, wherein the water area map includes a ground map of the robot's water area and the depth of the robot's water area; and evenly dividing the robot's water area into the N release water areas according to the ground map and the depth; or determining a three-dimensional map of the robot's water area; and evenly dividing the robot's water area into the N three-dimensional water areas according to the three-dimensional map. In this embodiment, the map of the robot's water area can be pre-drawn or drawn by the pool robot during cleaning operations. For example, the map of the robot's water area can be a target map constructed using the aforementioned enhanced map construction method.

[0111] S942: While the robot is moving in the water, the current coordinate position of the robot is obtained.

[0112] In one embodiment, the position of the robot can be obtained by a second position detection unit installed on the robot; it can also be obtained based on the initial position and movement distance of the robot; or it can be obtained using any existing position acquisition method.

[0113] S943: When it is determined based on the current coordinate position that the robot has reached a target water area in the water area, target release information of the target substance corresponding to the target water area is obtained.

[0114] Among them, the target release information of the target substance corresponding to the target water area can be obtained by the information acquisition unit on the robot body, and the target release information includes at least one of the following: the total amount of the target substance released into the target water area, the type of the target substance, the rate of releasing the target substance into the target water area, the duration of releasing the target substance into the target water area, and the number of times the target substance is released into the target water area.

[0115] S944: Based on the target release information, control the robot to release the target substance in the target water area.

[0116] In one embodiment, controlling a robot to release a target substance in a target water area based on target release information includes: upon determining that the robot has reached the target water area based on its coordinate position, sending a first control instruction to a control circuit, wherein the control circuit is signal-connected to the robot and mounted on a robot body, the robot body being provided with a target device for storing the target substance, and the first control instruction including the target release information; and, in response to the first control instruction, controlling the activation of the target device and releasing the target substance into the target water area in accordance with the target release information. In this embodiment, controlling the release of the target substance via the control instruction allows for precise control of the release timing of the target substance.

[0117] In one embodiment, when the robot determines based on its coordinate position that it has reached a target water area, sending a first control instruction to a control circuit includes: sending the first control instruction to the control circuit if at least one of the following conditions is met: the robot's coordinates indicate that the robot is at a preset location in the target water area, the robot has reached the target water area for the first time within a preset time period, or the robot has reached the target water area for the first time during the current mission being performed in the target water area. In this embodiment, the preset location can be any location within the target water area, such as the center of the target water area, a boundary, etc. Since some water areas do not require the target substance to be released at all times, a time period for releasing the target substance can be set. For example, if detergent is applied once a day in a swimming pool, the robot will activate the target device and begin releasing the target substance upon its first arrival at the target water area, or upon reaching the center of the target water area, and deactivate the target device upon completion of the release. This embodiment achieves the goal of accurately releasing the target substance by setting the time period for releasing the target substance and the location for releasing the target substance.

[0118] In one embodiment, a control circuit responds to a first control instruction to control the opening of a target device and releases a target substance into a target water area according to target release information, including: controlling a target switch to open in response to the first control instruction by the control circuit to open the target device and release the target substance into the target water area according to the target release information, wherein the target switch is provided at the outlet of the target device and is used to control the opening and closing of the outlet of the target device; when the duration of the target switch opening meets the target release information or the water quality in the target water area meets the preset water quality, sending a second control instruction to the control circuit; and controlling the target switch to close in response to the second control instruction by the control circuit to close the outlet of the target device. In this embodiment, the target switch is connected to the control circuit and is opened and closed under the control of the control circuit, thereby accurately controlling the release of the target substance.

[0119] In a specific embodiment, the robot is a pool robot, and the water area in which the robot is located is a swimming pool. The pool robot collects the coordinate points of the pool robot in real time during the process of cleaning the swimming pool. When the pool robot cleans the target water area, it sends a first control instruction to the control circuit, and the control circuit controls the target device to turn on. During the movement of the pool robot, the target substance is continuously released until the target substance of the dose corresponding to the target release information is released, and the control circuit controls the target device to turn off. Then the release is carried out in the next water area for a certain period of time. The total amount of the target substance, the type of the target substance, the rate of releasing the target substance to the target water area, and the time for releasing the target substance to the target water area can all be pre-set, or calculated according to the total amount of water in the preset water area. Among them, the target substance release amount corresponding to the opening time of the target device can also be pre-set. The target device can be a test kit or a bagged device.

[0120] The target substance can be a cleaning substance used to clean water areas, including but not limited to disinfectants, clarifiers, algaecides, etc. The cleaning substance can be a liquid reagent or solid particles. Specifically, for example, it can be sodium hypochlorite, liquid chlorine, etc., or it can be a nutrient solution that needs to be added to the water area (for example, nutrient solution in a fish pond, etc.).

[0121] This embodiment can be executed by a control unit within the robot or by another processor with processing capabilities. With this approach, the pool robot can release the target substance according to the target release information after reaching the target water area, enabling rapid and precise release of the target substance within the target water area. This solves the problem of low accuracy in distributing the target substance within the water area, achieving the goal of rapidly and accurately releasing the target substance within the water area.

[0122] In one embodiment, the step of controlling the pool robot to release the target substance in the target water area may further include controlling the robot to release the target substance at any of the following locations within the target water area: the bottom of the target water area, a wall within the target water area, or the surface of the target water area. In this embodiment, the robot can dive to the bottom of the target water area, move along the wall within the target water area, or float on the water surface. Furthermore, the robot can have multiple functions, such as cleaning and disinfection. For example, the robot can simultaneously release the target substance and disinfect the water area, ensuring uniform and efficient release of the target substance into the water area, saving time in water treatment.

[0123] In the present disclosure, the robot can interact with the terminal and the base station during movement, and the base station includes a charging base station. Therefore, the present disclosure also provides a robot control method to control the robot to interact with the charging base station and the terminal. Please refer to Figure 10, which is a flow chart of the third embodiment of the robot control method provided by the present disclosure. The method includes:

[0124] S101: Obtain the target environment type in which the robot is currently working.

[0125] S102: Determine a target communication mode according to the target environment type, wherein the target communication mode is used to indicate a communication mode between the robot and the charging base station.

[0126] In one embodiment, the robot can also communicate with a charging base station, thereby exchanging information with a target terminal through the charging base station. Target environment types include underwater environments and non-underwater environments. For example, a pool robot can operate in both underwater and non-underwater environments. A non-underwater environment can include a pool, the robot operating on the bank of a pool, or the pool robot operating on the surface of a pool. For example, the pool robot can float on the surface of the water, or the pool robot can be completely or partially above the water surface.

[0127] After obtaining the target environment type in which the robot is currently working, the target communication mode is determined according to the target environment type, wherein the target communication mode refers to the communication mode between the robot and the charging base station. For example, when the target environment type in which the robot (such as a pool robot) is currently working is a non-underwater environment, the target communication mode can be determined as the second communication mode, i.e., a WIFI network, or mobile data, such as a 4G or 5G communication mode; when the target environment type in which the robot is currently working is an underwater environment, the target communication mode can be determined as the first communication mode, i.e., a radio frequency network or acoustic wave communication, such as a 433 radio frequency module or a 915 radio frequency module. Since the radio frequency module has a stronger ability to penetrate water than the WIFI network, it has wireless signal connection capability underwater; then, the robot is controlled to establish a communication connection with the charging base station according to the target communication mode, and the robot is controlled to charge through The base station exchanges information with the target terminal. For example, when the robot is working in a non-underwater environment, it can establish a communication connection with the charging base station through a WIFI network, and then exchange information between the charging base station and the target terminal, or the charging base station and the robot can directly interact with the target terminal respectively and the charging base station and the robot can directly interact with each other; when the robot is working in an underwater environment, it can establish a communication connection with the charging base station through a radio frequency network (such as using a 433 radio frequency module or a 915 radio frequency module), and then exchange information between the charging base station and the target terminal, thereby ensuring that the robot can establish a stable communication connection with the charging base station during work, thereby enabling the robot to maintain information exchange with the target terminal. The above-mentioned target terminal can be a mobile terminal, such as a mobile phone, or a notebook, or a PC, or other terminals, such as a controller, a remote control, etc. Through this embodiment, the purpose of using a flexible communication method to establish a stable communication connection between the robot and the charging base station is achieved, thereby achieving the purpose of maintaining real-time communication with the target terminal. It avoids the problem in the related art that the robot's communication method is relatively single and easily leads to communication connection interruption or failure. Therefore, the technical problem in the related art that the communication method of the robot is relatively single, resulting in low efficiency of information interaction, is solved, and the effect of improving the efficiency of information interaction is achieved.

[0128] In a specific embodiment, the target communication mode is determined according to the target environment type, including one of the following: when the target environment type is an underwater environment, the target communication mode is determined to be a first communication mode, wherein the first communication mode indicates that the robot and the charging base station communicate through a target radio frequency module; when the target environment type is a non-underwater environment, the target communication mode is determined to be a second communication mode, wherein the second communication mode indicates that the robot and the charging base station communicate through a target network module.

[0129] S103: Control the robot to establish a communication connection with the charging base station according to the target communication mode, and control the robot to exchange information with the target terminal through the charging base station.

[0130] In one embodiment, when the target communication mode is the first communication mode, the robot is controlled to interact with the target terminal through the charging base station, including: determining the current communication bit error rate between the robot and the charging base station; notifying the charging base station to adjust the communication rate gear according to the current communication bit error rate, and controlling the robot to interact with the target terminal through the charging base station, wherein the robot and the charging base station communicate at the communication rate corresponding to the adjusted communication rate gear.

[0131] In the above embodiment, when the robot is operating in an underwater environment, it controls the robot to establish a communication connection with the charging base station according to the first communication mode. At this time, the current communication bit error rate between the robot and the charging base station can be determined, that is, the probability of data transmission errors within a specified time period can be determined. For example, bit error rate = bit errors in transmission / total number of bits transmitted * 100%. Based on the current communication bit error rate, the charging base station is then notified to adjust the communication rate level, that is, adjust the air baud rate in real time. For example, when the bit error rate is high, the charging base station can be notified to reduce the communication rate level, while when the bit error rate is very low, the charging base station can be notified to increase the communication rate level appropriately. In other words, the communication rate between the robot and the charging base station is adjusted so that the robot and the charging base station communicate at the communication rate corresponding to the adjusted communication rate level, thereby controlling the robot to exchange information with the target terminal through the charging base station. Through this embodiment, the air baud rate is adjusted in a timely manner according to the robot's operating environment and the current communication quality, thereby maximizing broadband utilization.

[0132] In one embodiment, the charging base station is notified to adjust the communication rate according to the current communication bit error rate, including: when the current communication bit error rate is greater than a first preset threshold, the charging base station is notified to reduce the communication rate; when the current communication bit error rate is less than a second preset threshold, the charging base station is notified to increase the communication rate, wherein the second preset threshold is less than the first preset threshold.

[0133] In the above embodiment, when the current communication bit error rate is greater than a first preset threshold (e.g., 10%, 20%, or other value), the charging base station may be notified to reduce the communication rate. When the current communication bit error rate is less than a second preset threshold (e.g., 5%, 3%, or other value), the charging base station may be notified to increase the communication rate. For example, when the current communication bit error rate is greater than 10%, the robot may notify the charging base station to reduce the communication rate by one level, i.e., reduce the current communication rate by one level. When the current communication bit error rate is greater than 30% (or other value), the robot may notify the charging base station to reduce the communication rate by two levels, i.e., reduce the current communication rate by two levels. In actual applications, several fixed communication rates may be pre-set. For example, when the current communication bit error rate is less than 3%, the robot may notify the charging base station to increase the communication rate by one level, i.e., increase the current communication rate by one level. Through this embodiment, the purpose of timely adjusting the communication rate based on the current communication bit error rate is achieved.

[0134] In one embodiment, when the current communication bit error rate is greater than a first preset threshold, the charging base station is notified to reduce the communication rate, including: when the current communication bit error rate is greater than the first bit error rate threshold, the charging base station is notified to reduce the communication rate by 1 level; when the current communication bit error rate is greater than the second bit error rate threshold, the charging base station is notified to reduce the communication rate by 2 levels, wherein the first preset threshold includes a first bit error rate threshold and a second bit error rate threshold, and the second bit error rate threshold is greater than the first bit error rate threshold.

[0135] In the above embodiment, the first bit error rate threshold can be 10% (or other values). When the current communication bit error rate is greater than 10%, the robot can notify the charging base station to reduce the communication rate by one level, that is, reduce the current communication rate by one level. The second bit error rate threshold can be 30% (or other values). When the current communication bit error rate is greater than 30%, the robot can notify the charging base station to reduce the communication rate by two levels, that is, reduce the current communication rate by two levels. The first bit error rate threshold and the second bit error rate threshold in this embodiment can be set or adjusted according to actual needs. Through this embodiment, the purpose of adjusting the air baud rate according to the current communication bit error rate is achieved, thereby maximizing the utilization rate of broadband.

[0136] In one embodiment, the robot is controlled to exchange information with the target terminal through the charging base station, including: after notifying the charging base station to adjust the communication rate gear according to the current communication bit error rate, and when the adjusted communication rate gear is less than or equal to the predetermined gear, the robot is controlled to exchange commands with the target terminal through the charging base station; after notifying the charging base station to adjust the communication rate gear according to the current communication bit error rate, and when the adjusted communication rate gear is greater than the predetermined gear, the robot is controlled to exchange commands and / or data with the target terminal through the charging base station.

[0137] In the above embodiment, after adjusting the communication rate gear, and when the adjusted communication rate gear is less than or equal to the predetermined gear, the robot exchanges commands with the target terminal through the charging base station, wherein the robot and the charging base station communicate at the communication rate corresponding to the adjusted communication rate gear, that is, when the communication rate is less than the predetermined gear, it is not suitable for the robot and the charging base station to transmit data, for example, the communication rate corresponding to the predetermined gear is 100kb / s (or 90kb / s, or other values); optionally, at this time, a prompt may be given on the robot and the charging base station that the communication rate is too low to transmit data (such as map information); and after adjusting the communication rate gear, and when the adjusted communication rate gear is greater than the predetermined gear, the robot may exchange commands with the target terminal through the charging base station, or Data interaction is carried out, wherein the robot and the charging base station communicate at the communication rate corresponding to the adjusted communication rate gear, that is, when the communication rate is greater than the predetermined gear, instructions and / or data can be transmitted between the robot and the charging base station. Optionally, at this time, a prompt that the communication is normal can be given on the robot and the charging base station. Taking the robot as a pool robot as an example, the pool robot can forward the map data of the pool to the target terminal through the charging base station. In actual application, the pool robot can obtain the geographic data information of the working pool and the positioning information of the pool robot through its own sensors (such as ultrasonic sensors, or radar sensors) and water pressure sensors or automatic identification modules to construct the map data of the pool, and then forward the map data of the pool and the position information of the pool robot to the target terminal through the charging base station.

[0138] In another embodiment, the robot, the charging base station and the target terminal may also interact in the following manner: upon receiving a connection request from the robot, controlling the charging base station to establish a communication connection with the robot, wherein the connection request is used to request to establish a communication connection between the robot and the charging base station according to a target communication mode, the target communication mode is a communication mode determined by the robot according to the target environment type in which the robot is currently working, and the target environment types include underwater environments and non-underwater environments; receiving the first target information transmitted by the robot according to the target communication mode, and forwarding the first target information to the target terminal, and receiving the second target information transmitted by the target terminal, and forwarding the second target information to the robot according to the target communication mode.

[0139] Through the above steps, when a connection request is received from the robot requesting to establish a communication connection between the robot and the charging base station according to the target communication mode, the charging base station is controlled to establish a communication connection with the robot, wherein the target communication mode is a communication mode determined by the robot according to the target environment type currently being operated, wherein the target environment type includes an underwater environment and a non-underwater environment, and then the first target information transmitted by the robot is received according to the target communication mode and forwarded to the target terminal, and the second target information transmitted by the target terminal is received and forwarded to the robot according to the target communication mode. That is, the robot determines the target communication mode according to the target environment type currently being operated, and establishes a communication connection between the robot and the charging base station based on the target communication mode, and then receives the first target information transmitted by the robot according to the target communication mode and forwards it to the target terminal, and forwards the second target information received from the target terminal to the robot, thereby achieving the purpose of ensuring information exchange between the robot and the target terminal in different target environment types. This avoids the problem in the related art that the robot's communication mode is relatively simple and easily leads to communication connection interruption or failure. Therefore, this solves the technical problem in the related art that the robot's communication mode is relatively simple, resulting in low efficiency of information exchange, and achieves the effect of improving the efficiency of information exchange.

[0140] Among them, the execution entity of the above steps can be a controller, or a communication device, or a terminal, such as the above-mentioned charging base station, or a controller in the charging base station, or a processor with human-computer interaction capabilities configured on a storage device, or a processing device or processing unit with similar processing capabilities, etc., but not limited to this.

[0141] In the above embodiment, the charging base station receives a connection request from the robot, wherein the connection request is used to request to establish a communication connection between the robot and the charging base station according to a target communication mode. The target communication mode is a communication mode determined by the robot according to the target environment type of the current work. Taking the robot as a pool robot as an example, the possible working environments of the pool robot include underwater environments and non-underwater environments. For example, when the target environment type of the current work of the robot (such as a pool robot) is a non-underwater environment, the target communication mode can be determined to be a WIFI network, or mobile data, such as a 4G or 5G communication mode; when the target environment type of the current work of the robot is an underwater environment, the target communication mode can be determined to be a radio frequency network, for example, a 433 radio frequency module or a 915 radio frequency module. Since the radio frequency module has a stronger ability to penetrate water than the WIFI network, it has wireless signal connection capability underwater; when the charging base station receives the above connection request, it controls the charging base station to establish a communication connection with the robot, and then receives the first target signal transmitted by the robot according to the target communication mode. The information is transmitted to the target terminal, and the second target information transmitted by the target terminal is forwarded to the robot. For example, when the robot is working in a non-underwater environment, the first target information transmitted by the robot can be received through the WIFI network and forwarded to the target terminal. When the charging base station receives the second target information transmitted by the target terminal, the second target information received can also be forwarded to the robot through the WIFI network, thereby achieving the purpose of information interaction between the robot and the target terminal; when the robot is working in an underwater environment, the first target information transmitted by the robot can be received through the radio frequency network (such as using a 433 radio frequency module or a 915 radio frequency module) and forwarded to the target terminal. When the charging base station receives the second target information transmitted by the target terminal, the second target information received can also be forwarded to the robot through the radio frequency network (such as using a 433 radio frequency module or a 915 radio frequency module), thereby achieving the purpose of ensuring information interaction between the robot and the target terminal in different target environment types. Through this embodiment, the purpose of using a flexible communication method to establish a stable communication connection between the robot and the charging base station is achieved, thereby achieving the purpose of maintaining real-time communication with the target terminal. This solves the problem in related art where the robot's relatively simple communication method easily leads to communication connection interruption or failure. Therefore, it solves the technical problem in related art where the robot's relatively simple communication method leads to low efficiency of information exchange, achieving the effect of improving the efficiency of information exchange.

[0142] In an optional embodiment, first target information transmitted by the robot is received according to a target communication mode, and the first target information is forwarded to a target terminal, including: receiving a target notification sent by the robot, wherein the target notification is issued by the robot after determining the current communication bit error rate between the robot and the charging base station; adjusting the communication rate gear according to the target notification, and receiving the first target information at a communication rate corresponding to the adjusted communication rate gear, and forwarding the first target information to the target terminal.

[0143] In the above embodiment, the robot can send a target notification to the charging base station based on the current communication bit error rate between the robot and the charging base station. For example, the probability of data transmission error within the specified time can be determined, for example, bit error rate = bit error in transmission / total number of transmitted codes * 100%, and then the charging base station is notified to adjust the communication rate gear according to the current communication bit error rate, that is, the air baud rate is adjusted in real time. For example, when the bit error rate is high, the charging base station can be notified to lower the communication rate gear, and when the bit error rate is very low, the charging base station can be notified to appropriately increase the communication rate gear. In this way, the charging base station can adjust the communication rate gear according to the target notification, and receive the first target information according to the communication rate corresponding to the adjusted communication rate gear, and forward the first target information to the target terminal, thereby achieving the purpose of information interaction between the robot and the target terminal through the charging base station.

[0144] In an optional embodiment, adjusting the communication rate gear according to the target notification includes: lowering the communication rate gear when the target notification indicates that the current communication bit error rate is greater than a first preset threshold; increasing the communication rate gear when the target notification indicates that the current communication bit error rate is less than a second preset threshold, wherein the second preset threshold is less than the first preset threshold.

[0145] In the above embodiment, when the target notification indicates that the current communication bit error rate is greater than a first preset threshold value (such as 10%, 20%, or other values), the charging base station can reduce the communication rate; and when the target notification indicates that the current communication bit error rate is less than a second preset threshold value (such as 5%, 3%, or other values), the charging base station can increase the communication rate. For example, when the current communication bit error rate is greater than 10%, the charging base station can reduce the communication rate by 1 level, that is, reduce it by 1 level based on the current communication rate. When the current communication bit error rate is greater than 30% (or other values), the charging base station can reduce the communication rate by 2 levels, that is, reduce it by 2 levels based on the current communication rate. In actual applications, several fixed communication rates can be pre-set. For example, when the current communication bit error rate is less than 3%, the charging base station can increase the communication rate by 1 level, that is, increase it by 1 level based on the current communication rate. Through this embodiment, the purpose of timely adjusting the communication rate based on the current communication bit error rate is achieved.

[0146] In an optional embodiment, when the target notification indicates that the current communication bit error rate is greater than a first preset threshold, the communication rate is reduced, including: when the target notification indicates that the current communication bit error rate is greater than the first bit error rate threshold, the communication rate is reduced by 1 level; when the target notification indicates that the current communication bit error rate is greater than the second bit error rate threshold, the communication rate is reduced by 2 levels, wherein the first preset threshold includes a first bit error rate threshold and a second bit error rate threshold, and the second bit error rate threshold is greater than the first bit error rate threshold.

[0147] In the above embodiment, the first bit error rate threshold can be 10% (or other values). When the target notification indicates that the current communication bit error rate is greater than 10%, the charging base station can reduce the communication rate by one gear, that is, reduce it by one gear based on the current communication rate; the second bit error rate threshold can be 30% (or other values). When the target notification indicates that the current communication bit error rate is greater than 30%, the charging base station can reduce the communication rate by two gears, that is, reduce it by two gears based on the current communication rate. The first bit error rate threshold and the second bit error rate threshold in this embodiment can be set or adjusted according to actual needs. Through this embodiment, the purpose of adjusting the air baud rate according to the current communication bit error rate is achieved, so as to maximize the utilization rate of broadband.

[0148] Please refer to FIG11 , which is a schematic diagram of the framework structure of an embodiment of the robot provided by the present disclosure.

[0149] The robot 110 includes a memory 111 and a processor 112. The memory 111 stores program instructions, and the processor 112 is configured to execute the program instructions stored in the memory 111 to implement the steps of any of the above-described method implementations. In a specific implementation scenario, the robot 110 may include a microcomputer and a server, which are not limited here.

[0150] Specifically, the processor 112 is used to control itself and the memory 111 to implement the steps of any of the above-mentioned method implementation methods. The processor 112 can also be called a CPU (Central Processing Unit). The processor 112 may be an integrated circuit chip with signal processing capabilities. The processor 112 can also be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. In addition, the processor 112 can be implemented by an integrated circuit chip.

[0151] Please refer to FIG12 , which is a schematic diagram of a framework of an embodiment of a computer-readable storage medium provided by the present disclosure.

[0152] The computer-readable storage medium 120 stores program instructions 121 . When the program instructions 121 are executed by a processor, they are used to implement the steps of any of the above method implementations.

[0153] The computer-readable storage medium 120 can specifically be a medium that can store computer programs, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, or it can also be a server that stores the computer program. The server can send the stored computer program to other devices for execution, or it can also run the stored computer program itself.

[0154] If the technical solution disclosed herein involves personal information, the product using the technical solution disclosed herein has clearly informed the individual of the personal information processing rules and obtained the individual's voluntary consent before processing the personal information. If the technical solution disclosed herein involves sensitive personal information, the product using the technical solution disclosed herein has obtained the individual's separate consent before processing the sensitive personal information and at the same time meets the "explicit consent" requirement. For example, on personal information collection devices such as cameras, a clear and prominent sign is set to inform that the individual has entered the personal information collection scope and that personal information will be collected. If the individual voluntarily enters the collection scope, it is deemed that they agree to the collection of their personal information; or on the personal information processing device, when the personal information processing rules are notified by obvious signs / information, the individual's authorization is obtained through pop-up information or by asking the individual to upload their personal information. The personal information processing rules may include information such as the personal information processor, the purpose of personal information processing, the processing method, and the type of personal information processed.

[0155] The above description is merely an embodiment of the present disclosure and does not limit the patent scope of the present disclosure. Any equivalent structure or equivalent process transformation made using the contents of the present disclosure specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present disclosure.

Claims

1. A robot, wherein: Including the robot body, The robot body at least includes a control unit, a distance measuring unit, and a walking mechanism arranged thereon; The distance measuring unit is connected to the control unit and is used to detect the distance between the robot and the obstacle; The walking mechanism is connected to the control unit to drive the robot to move; Wherein, the walking mechanism at least includes a first walking mechanism, and the first walking mechanism is used to drive the robot to walk in a first working environment; The ranging unit at least includes a first ranging sensor and a second ranging sensor disposed on different surfaces of the robot, the first ranging sensor being used to detect obstacle information in a first direction, and the second ranging sensor being used to detect obstacle information in a second direction; The control unit controls the walking mechanism to move in a first working environment according to the obstacle information in the first direction and the obstacle information in the second direction.

2. The robot according to claim 1, wherein: The first working environment is underwater or on the water surface.

3. The robot according to claim 1, wherein: The walking mechanism also includes a second walking mechanism, which is used to control the robot to walk in a second working environment; the control unit can select the first walking mechanism and / or the second walking mechanism based on the current environment of the robot.

4. The robot according to claim 3, wherein: The first working environment is an underwater environment, the second working environment is a non-underwater environment, the first walking mechanism is a track wheel, and the second walking mechanism is a surface propeller.

5. The robot according to claim 1, wherein: The first direction is the direction in which the robot moves, and the angle between the second direction and the first direction and the right angle is less than a preset angle.

6. The robot according to claim 1, wherein: The obstacle information in the first direction represents a first distance between the robot and a first obstacle in the first direction; The control unit controls the walking mechanism to move in a first working environment according to the obstacle information in the first direction and the obstacle information in the second direction, including: In response to the first distance reaching a first maximum threshold, the control unit first reduces the moving speed of the robot and then controls the robot to rotate to a third direction; wherein the third direction is the opposite direction of the second direction.

7. The robot according to claim 6, wherein: In response to the first distance reaching a first maximum threshold, the control unit first reduces the moving speed of the robot and then controls the robot to rotate to a third direction, including: In response to the first distance reaching a first maximum threshold, reducing the moving speed of the robot, and when the first distance reaches a first minimum threshold, the moving speed of the robot is zero; when the first distance reaches the first minimum threshold, controlling the robot to rotate to the third direction; Or, in response to the first distance reaching a first maximum threshold, the moving speed of the robot is reduced, and when the first distance reaches a first minimum threshold, the moving speed of the robot is zero; when the first distance reaches the first minimum threshold, the robot is controlled to move a preset distance in a fourth direction, and the fourth direction is the opposite direction of the first direction; when the robot moves the preset distance in the fourth direction, the robot is controlled to rotate to the third direction; wherein the first minimum threshold is less than the first maximum threshold; Or, in response to the first distance reaching a first maximum threshold, the moving speed of the robot is reduced, and the robot is controlled to rotate in the third direction at a preset rotation speed.

8. The robot according to claim 1, wherein: The obstacle information in the second direction represents a second distance between the robot and a second obstacle in the second direction; The control unit controls the walking mechanism to move in a first working environment according to the obstacle information in the first direction and the obstacle information in the second direction, including: In response to the second distance being within a preset range, the control unit controls the robot to move in a direction parallel to the second obstacle; or, in response to the second distance being within a preset range, the control unit controls the robot to rotate in the second direction at a preset rotation speed, and when the distance between the robot and the second obstacle reaches a second minimum threshold, the control unit controls the robot to move in a direction parallel to the second obstacle, wherein the second minimum threshold is less than a minimum value of the preset range; In response to the second distance not being within the preset range, the control unit controls the robot to approach the second obstacle until the second distance reaches a second minimum threshold, and then controls the robot to move in a direction parallel to the second obstacle.

9. The robot according to claim 1, wherein: The robot body is also provided with an obstacle detection unit, a first position detection unit and a target sensor; The obstacle detection unit is connected to the position detection unit and the target sensor respectively, and the obstacle detection unit is used to detect target obstacles in the target water area when the robot runs along the boundary of the target water area; The first position detection unit acquires the first position of the robot at the target moment when the target obstacle is detected; the target sensor is used to determine the position information of the target obstacle relative to the robot; The target sensor and the first position detection unit are respectively connected to the control unit, and the control unit determines the relative position of the target obstacle and the robot based on the position information of the target obstacle relative to the robot, determines the second position of the target obstacle based on the relative position and the first position of the robot at the target moment, and constructs or updates the target map of the target water area based on the second position of the target obstacle.

10. The robot according to claim 9, wherein: The first position detection unit includes a code disc and an inertial measurement unit.

11. The robot according to claim 10, wherein: The robot body is also provided with a depth sensor, which is used to determine the depth of the target water area to obtain the depth information of the pool robot at the target time.

12. The robot according to claim 9, wherein: The control unit constructs or updates a target map of the target water area based on the second position of the target obstacle, including: The control unit marks the voxel corresponding to the second position of the target obstacle in the three-dimensional map, and controls the robot to run one circle along the boundary of the target water area. When it is determined that the pool robot has completed at least one circle of running along the boundary of the target water area, the target map is obtained.

13. The robot according to claim 1, wherein: The robot body is also provided with a second position detection unit and an information acquisition unit; The second position detection unit is used to obtain the coordinate position of the robot in real time during the operation of the robot in the preset water area; the information acquisition unit is used to obtain the target release information of the target substance corresponding to the target water area when it is determined based on the coordinate position that the robot has arrived at the target water area in the preset water area; The control unit controls the robot to release the target substance in the target water area based on the target release information.

14. The robot according to claim 13, wherein: The robot body is also provided with a target device, and the target device is used to store the target substance; And / or, the robot body is also provided with a water quality testing device, which can detect the water quality of the target water area, and the water quality of the target water area is used to determine the target release information.

15. The robot according to claim 13, wherein: The robot body is also provided with a control circuit; The control unit controls the robot to release the target substance in the target water area based on the target release information, including: When it is determined that the pool robot has arrived at the target water area based on the coordinate position, the control unit sends a first control instruction to the control circuit, and the control circuit responds to the first control instruction to control the opening of the target device and release the target substance to the target water area according to the target release information; wherein the first control instruction includes the target release information.

16. The robot according to claim 1, wherein: The robot body is also provided with a cleaning unit, which can clean a preset area during the movement of the robot; wherein the preset area is an area within a preset range of the robot's movement path.

17. A robot system, wherein: The robot system comprises at least a robot body, a base station, and a terminal; wherein the robot body is the robot body in the robot according to any one of claims 1 to 16; A first communication module is provided on the robot body, a second communication module is provided on the base station, and a third communication module is provided on the terminal. The robot body establishes a communication connection with the second communication module on the base station through the first communication module through a preset communication method, and the second communication module communicates with the third communication module on the terminal. The terminal can issue control instructions to control the robot.

18. The system of claim 17, wherein: The preset communication mode includes a first communication mode and a second communication mode, the first communication module includes a first radio frequency module and a first network module, and the second communication module includes a second radio frequency module and a second network module; the first communication mode is that the robot body communicates with the second radio frequency module of the base station through the first radio frequency module, and the second communication mode is that the robot body communicates with the second network module of the base station through the first network module; wherein, the robot body can select the first communication mode or the second communication mode according to the type of the target environment currently working.

19. The robot system according to claim 17, wherein: The robot system also includes a relay device; The relay device includes a fourth communication module, and the fourth communication module and the first communication module communicate through a third communication method to realize communication between the relay device and the robot body; the fourth communication module and the third communication module communicate through a fourth communication method to realize communication between the relay device and the terminal; wherein the third communication method is a communication method that supports signal transmission in water, and the fourth communication method is a communication method that supports signal transmission in the air.

20. A method for controlling a robot, wherein: include: Acquire first sensing information collected by the first sensor in a first direction of the robot; Acquire second sensing information collected by a second sensor in a second direction of the robot, wherein the first direction is the moving direction of the robot, and the angle difference between the included angle between the second direction and the first direction and the right angle is less than a preset angle; According to the first sensor information and the second sensor information, controlling the robot to move in a target swimming pool, wherein the robot is used to clean the target swimming pool; Wherein, controlling the robot to move in the target swimming pool includes at least one of the following: In response to the first sensing information indicating that the distance between the robot and a first obstacle in a first direction is less than a first preset value, controlling the robot to move in a third direction away from the second direction; In response to the second sensing information indicating that the distance between the robot and the second obstacle in the second direction is greater than a second preset value, the robot is controlled to deviate toward the second direction to reduce the distance between the robot and the second obstacle in the second direction.

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