Swimming pool robot parking method and storage medium

Abstract

The invention relates to the technical field of swimming pool robots, and provides a stopping method of a swimming pool robot and a storage medium. The swimming pool robot moves on a cleaning surface to clean the swimming pool, and the cleaning surface comprises one or more of the pool wall surface, the pool bottom surface and the water surface of the swimming pool; the swimming pool robot is provided with at least one image acquisition device, and the image acquisition device is at least used for acquiring an image inside or outside the swimming pool so as to identify a parking identifier inside or outside the swimming pool through the image. The method comprises the following steps: controlling the swimming pool robot to identify a parking identifier in a movement process under the condition that a parking instruction is received; the swimming pool robot is controlled to move towards the target parking position so as to execute parking operation; wherein the target parking position is the position where the parking identifier is located or the position associated with the parking identifier.

Description

Technical Field

[0001] This application relates to the field of pool robot technology, and in particular to a docking method and storage medium for a pool robot. Background Technology

[0002] With the rapid advancement of robotics technology, the application of pool robots is becoming increasingly widespread. A pool robot is a device that can clean swimming pools in water, enabling intelligent and efficient pool cleaning.

[0003] Pool robots need to dock when they complete their tasks or run out of power. Traditional operating methods require users to remove the pool robot from the pool, which is cumbersome and inconvenient. Summary of the Invention

[0004] In view of this, embodiments of this application provide a docking method and storage medium for a pool robot to solve the problem of low docking convenience of pool robots in the prior art.

[0005] A first aspect of this application provides a method for docking a swimming pool robot. The swimming pool robot moves on a cleaning surface to perform cleaning operations on the swimming pool. The cleaning surface includes one or more of the pool wall, pool bottom, and water surface. The swimming pool robot is equipped with at least one image acquisition device, which is used to acquire images inside or outside the swimming pool to identify docking markers inside or outside the swimming pool through the images. The methods include: Upon receiving a docking command, the control system identifies docking markers during the swimming pool robot's movement. Control the pool robot to move towards the target docking position to perform a docking operation; wherein the target docking position is the location of the docking marker, or the location associated with the docking marker.

[0006] In some embodiments, the docking sign includes a person; controlling the pool robot to move toward the target docking location includes: If a person is in the pool, control the pool robot to move towards the person's location in the pool; If the person is outside the pool, control the pool robot to move towards the poolside closest to the person's location.

[0007] In some embodiments, the method further includes: recognizing the gestures of the target person when the target person is identified; and receiving a docking instruction based on a pre-set correspondence between the person's gestures and machine instructions.

[0008] In some embodiments, before recognizing the target person's gesture, the method further includes: identifying a person as the target person if a person is detected on the poolside. If multiple people are detected at the poolside, the target person can be identified using the following method: If a person who has been pre-associated with the pool robot is detected among multiple people, then that person is identified as the target person; or, the person closest to the pool robot is identified as the target person.

[0009] In some embodiments, if the pool robot is located at the bottom of the pool and the target docking position is located on the surface of the pool, controlling the pool robot to move towards the target docking position includes at least one of the following: Control the pool robot to move from the bottom of the pool to the pool wall, and then move from the pool wall to the target stopping position; Control the pool robot to move from the bottom of the pool to the surface of the water, and then move from the water surface to the target stopping position.

[0010] In some embodiments, controlling a pool robot to move from the pool bottom to the pool wall and from the pool wall to a target docking position includes: Control the pool robot to move from the bottom of the pool to the target pool wall where the target docking position is located, and then move from the target pool wall to the target docking position.

[0011] In some embodiments, if the target docking position is located on the surface of the pool, controlling the pool robot to move towards the target docking position includes at least one of the following: Control the pool robot to move roughly in a straight line towards the target stopping position on the water surface; Control the pool robot to move along the pool wall towards the target stopping position on the water surface.

[0012] In some embodiments, the target docking location is a base station; the docking identifier includes at least one of a base station shape and a base station identifier, which is disposed on the base station or outside the base station.

[0013] In some embodiments, it also includes: When the pool robot is in cleaning mode, if the base station is located in the cleaning path of the pool robot, obstacle avoidance operation will be performed on the base station.

[0014] A second aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the above-described method.

[0015] The beneficial effects of this application embodiment compared with the prior art are as follows: The pool robot is equipped with at least one image acquisition device, which is used to acquire images inside or outside the pool to identify docking markers inside or outside the pool through the images. Upon receiving a docking command, the pool robot is controlled to identify the docking markers during its movement and move towards the target docking position to perform the docking operation. The target docking position is the location of the docking marker or a position associated with the docking marker. This enables the pool robot to perform docking operations based on the received docking command, so that the docking of the pool robot meets the user's docking needs and improves the convenience of docking the pool robot. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of a swimming pool scene according to an embodiment of this application; Figure 2 This is one of the schematic diagrams of the motion path of the pool robot provided in the embodiments of this application; Figure 3 This is the second schematic diagram of the motion path of the pool robot provided in the embodiments of this application; Figure 4 This is the third schematic diagram of the motion path of the pool robot provided in the embodiments of this application; Figure 5 This is the fourth schematic diagram of the motion path of the pool robot provided in the embodiments of this application; Figure 6 This is the fifth schematic diagram of the motion path of a pool robot provided in the embodiments of this application; Figure 7 This is one of the structural schematic diagrams of the pool robot provided in the embodiments of this application; Figure 8 This is the second structural schematic diagram of the pool robot provided in the embodiments of this application.

[0018] Icon labels: 101. Housing; 1010. Image acquisition device; 1011. Front part of housing; 1071. Walking mechanism; 1131. Roller brush; 1132. Side brush; 1171. First walking wheel; 1172. Second walking wheel; 117. Track; 1072. Propulsion mechanism; 10721. Thruster. Detailed Implementation

[0019] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0020] The following will describe in detail, with reference to the accompanying drawings, a docking method for a pool robot according to an embodiment of this application.

[0021] Figure 1 This is a diagram of the swimming pool, such as... Figure 1 As shown, the cleaning surface of the swimming pool includes one or more of the pool wall surface 11, pool bottom surface 12, and water surface 13. The pool robot 2 moves on the cleaning surface to perform cleaning operations on the pool. The pool robot is equipped with at least one image acquisition device, which is used to acquire images inside or outside the pool to identify the docking markers 3 inside or outside the pool through the images.

[0022] In some examples, the pool may be rectangular or irregular in shape; this is not a limitation.

[0023] The pool robot can move on the pool wall 11, pool bottom 12, and water surface 13 according to instructions.

[0024] In some embodiments, see Figure 7 The pool robot includes a housing 101, on which at least one liquid inlet, at least one filtration unit, at least one liquid outlet, and at least one suction assembly are disposed. For example, the liquid outlet includes a first water outlet, at least a portion of which is located on the top of the housing. The filtration unit is at least partially located inside the housing. The filtration unit may include a filter cartridge.

[0025] The inlet section serves as the entrance for liquid from the water supply tank to enter the housing. When the pool robot moves underwater, along the pool wall, or on the water surface, the liquid in the pool is drawn into the filtration unit by the suction assembly. The filtration unit filters the liquid entering it, and the filtered liquid is then discharged from the housing through the outlet section after passing through the suction assembly. Any debris carried by the liquid is collected in the filtration unit, thus cleaning the liquid in the pool. For example, in some embodiments, the suction assembly includes a main water pump.

[0026] In some embodiments, the filtration unit includes at least a filter cartridge, at least a portion of which is disposed within the housing, the filter cartridge being used to filter liquids entering therein.

[0027] In some embodiments, see Figure 7 and Figure 8 The pool robot includes at least one locomotion mechanism and / or at least one propulsion mechanism 1072. The locomotion mechanism 1071 may be located at the bottom or side of the housing 101. The propulsion mechanism may be located at the side or rear of the housing. The locomotion mechanism 1071 is at least adapted to enable the pool robot to move on the surface of an object (e.g., the pool bottom surface, pool wall surface, obstacle surface, etc.). The propulsion mechanism 1072 is at least adapted to enable the pool robot to move in or on the surface of water.

[0028] For example, in one embodiment, the walking mechanism 1071 may include at least two walking wheels and at least one motor for driving the walking wheels. For example, there are two walking wheels symmetrically arranged on the housing. Alternatively, there are four walking wheels, similar to the walking wheels of a car, symmetrically arranged on the housing. Or, as... Figure 8 As shown, the walking mechanism 1071 includes a first walking wheel 1171, a second walking wheel 1172, and a track 117 wrapped around the outer periphery of the first and second walking wheels, and an annular area formed between the inner sidewall of the track and the two walking wheels. There are two walking mechanisms, which are located on opposite sides of the housing.

[0029] The propulsion mechanism 1072 is at least adapted to drive the pool robot to move in or on the surface of water. In one embodiment, such as Figure 8 As shown, the propulsion mechanism 1072 includes at least one thruster 10721, which propels the liquid along a first preset direction. When the liquid moves along the first preset direction, the pool robot is subjected to a first driving force in the horizontal direction, wherein the direction of the first driving force is opposite to the first preset direction. By setting the thruster 10721, the position switching of the pool robot in the horizontal direction can be realized. For example, it can move straight or turn in the horizontal direction, enabling the pool robot to walk on the water surface, which is convenient for cleaning the pool surface.

[0030] In some embodiments, the pool robot also includes cleaning components, such as... Figure 7 As shown, the cleaning assembly includes, for example, a roller brush 1131. In some embodiments, there may be two roller brushes, respectively located at the front and rear of the housing 101 and at the bottom of the pool robot, for scrubbing the pool bottom, walls, or waterline. Alternatively, there may be one roller brush located at the front or second end of the housing. In other embodiments, the cleaning assembly also includes a side brush 1132 for scrubbing the pool walls or waterline. For example, the side brush may be located at the front or side of the housing 101, or at the junction of the front and side, and protrude from the housing 101.

[0031] In addition, the pool robot is equipped with at least one image acquisition device 1010, which can be a camera.

[0032] In some implementations, the image acquisition device 1010 may be located at any position on the housing.

[0033] In some specific implementations, when the pool robot is running on the bottom of the pool, the field of view of the image acquisition device covers the scene on the bottom of the pool. When the pool robot is running on the water surface, the field of view of the image acquisition device covers the water surface and the scene above the water surface. In this case, the image acquisition device may be partially or completely located above the water surface, or the image acquisition device may be partially or completely located below the water surface, but it can still acquire images of objects on the water surface or above the water surface.

[0034] In some embodiments, at least two image acquisition devices are used. A first image acquisition device is located at the upper part of the front of the housing and is used to acquire images of objects on the surface of the pool and objects on the shore. A second image acquisition device is located at the middle or lower part of the front of the housing and is used to acquire images of objects below the water surface of the pool. In some embodiments, when the pool robot is cleaning the water surface, at least part of the first image acquisition device located at the upper part of the front of the housing is above the water surface, or the entire image acquisition device is above the water surface. This allows the first image acquisition device to more accurately acquire images of objects on the pool surface and objects on the shore, even when it is in the air. When the pool robot is cleaning the pool bottom, the second image acquisition device located at the lower or middle part of the front of the housing is below the water surface. This ensures that the second image acquisition device is entirely in an aquatic environment, enabling more accurate image acquisition of objects within the pool. This avoids the situation where the camera of the second image acquisition device is partially in the air and partially in the water, resulting in unclear images acquired in two different media. The images of objects within the pool can be at least one of the following: pool walls, pool bottom, water surface, and images of trash, obstacles, pets, people, etc., within the pool. The photograph of an object on shore can be at least one of the following: a base station, a building, a pet, a person, etc.

[0035] In some implementations, the corresponding image acquisition device can be activated based on the current location of the pool robot. For example, when the pool robot is cleaning the water surface, a first image acquisition device is activated; when the pool robot is cleaning the pool bottom, a second image acquisition device is used. Of course, both the first and second image acquisition devices can also be used simultaneously to obtain a more complete image.

[0036] In some implementations, there are at least two image acquisition devices, which are spaced apart and simultaneously acquire two images of the same scene from different perspectives.

[0037] In some implementations, the image acquisition device 1010 can acquire images of the inside and outside of the pool, thereby identifying docking signs inside and outside the pool.

[0038] The docking sign 3 can be pre-specified, and can be of various types, such as personnel, facilities, patterns, lights, or signs made of special materials. Personnel can be designated personnel or any personnel; facilities can be located inside or outside the pool, such as base stations, ladders, sun terraces, steps, seats, or pillars; patterns can include specific shapes, designs, or symbols, such as QR codes; lights can have specific colors or effects; and special materials can be reflective or fluorescent. The location of the docking sign can be fixed or variable, such as floating within the pool.

[0039] A base station includes at least a base station body, which can be located inside or outside the swimming pool. The base station can possess at least one of the following functions: cleaning, communication, docking, and charging. It can be a dedicated base station performing only a single function, or it can integrate two or more functions. For example, a base station can simultaneously perform cleaning and charging functions, or communication and docking functions, or integrate all four functions: cleaning, communication, docking, and charging.

[0040] A base station with cleaning capabilities is used to clean the shell of the pool robot and / or the filter box of the pool robot.

[0041] Base stations with communication capabilities are primarily used to establish communication between the pool robot and the user. Whether the pool robot is underwater or on the surface, the user can interact with it via a control terminal or voice control. For example, when the pool robot is operating at the bottom of the pool, the user can control the robot to stop its current operation and return it to the surface or waterline. The user can then retrieve the robot from the pool with a single click for a return trip. Alternatively, the user can control the robot to switch from the current cleaning mode to another. For instance, the current cleaning mode might be bottom cleaning, while other cleaning modes include pool wall cleaning, waterline cleaning, or surface cleaning. Or, when the pool robot is cleaning the bottom, walls, or surface, it can transmit its current cleaning path or location map to the control terminal's app interface for display, allowing the user to easily access the robot's current location, cleaning path, or cleaning status online. Control terminals include, but are not limited to, remote controls, mobile phones, tablets, laptops, desktop computers, smartwatches, and smart speakers.

[0042] A base station with docking function is used for pool robots to perform docking operations. The pool robot can complete the docking operation by being locked by the locking mechanism on the base station, being attracted by the adsorption structure on the base station, or moving to the base station.

[0043] A base station with charging capabilities is used to charge the pool robot, and the charging method can be wired charging and / or wireless charging.

[0044] Upon receiving a docking command, the pool robot identifies docking markers during its movement and moves towards the target docking location to perform the docking operation.

[0045] The target parking location is the location where the parking sign is located, or the location associated with the parking sign.

[0046] Specifically, the docking command can be triggered by the user. For example, the user can send a docking command to the pool robot through their own gestures, physical or virtual buttons on the pool robot, physical or virtual buttons on the base station, voice input to the pool robot or base station, or operation of the control terminal.

[0047] In addition, docking commands can also be automatically triggered when preset return conditions are met. These preset return conditions include one or more of the following: The pool robot's battery level is lower than the preset level; the pool robot's filter box is full of trash; the pool robot has completed the current cleaning task; there is an abnormality in one or more of the pool robot's components (such as one or more of the walking mechanism 1071, propulsion mechanism 1072, roller brush 1131, and side brush 1132, which are difficult to operate due to foreign objects getting tangled or damage to themselves); the pool robot's internal temperature is higher than the preset maximum temperature value or lower than the preset minimum temperature value.

[0048] Optionally, when any of the above-mentioned preset return conditions are triggered, a prompt can be issued to the user through one or more methods such as voice, text, visuals, and lighting effects, so that the user can know the specific reason why the pool robot triggered the return.

[0049] After receiving a docking command, the pool robot can identify docking markers during its movement and move towards the target docking location.

[0050] Specifically, the target docking location can be the location where the docking marker is located, or a location associated with the docking marker. For example, assuming the docking marker is a base station, the location associated with the docking marker can be a location within a preset range of the base station.

[0051] Target docking locations can include base stations, escalators, sun terraces, steps, seats, pillars, shallow water areas, areas where people are located, fixed locations on the shore, etc. Target docking locations can be selected by the user or automatically by the pool robot's processor. For example, the processor can dynamically select the target docking location based on factors such as the preset priority of the target docking location or the distance between the pool robot and each candidate target docking location.

[0052] The docking operation can be performed at the target docking location itself or in the vicinity of it. For example, if the target docking location is a base station, the dock can be performed directly on the base station or within a preset distance range of the base station (e.g., on either side of the base station).

[0053] The docking operation can be carried out in any one or more of the following ways: the pool robot can dock through external devices such as locking mechanism and / or adsorption mechanism; or it can dock without the aid of external devices, for example, at least one end of the pool robot (such as the end where the handle is located) faces the pool wall at the waterline, abutting against the pool wall or at a preset distance from the pool wall, so that it is easy for the user to pick it up.

[0054] In one specific embodiment, the pool robot can dock at the waterline for a preset time (e.g., any value within the range of 15-30 minutes). During the docking period, the propulsion mechanism can be in the active state to maintain the pool robot's contact with the pool wall. The suction component and / or the walking mechanism can be activated or deactivated during this time. For example, during the first part of the docking period (e.g., any value within the range of 1-10 minutes), both the suction component and the propulsion mechanism are activated; during the second part of the period (e.g., any value within the range of 1-30 minutes), only the propulsion mechanism is activated. The operating speed of the propulsion mechanism can remain constant during this period or can be adjusted (e.g., the operating speed during the first part of the period is greater than the operating speed during the second part). When the suction component and / or the walking mechanism stops operating, energy consumption during the pool robot's docking period can be saved.

[0055] In one specific implementation, after the pool robot stops at the waterline for a preset time, it can enter a standby state. At this time, the propulsion mechanism, suction component and walking mechanism of the pool robot can all stop operating or reduce their operating power to save energy.

[0056] In some implementations, when the pool robot moves toward the target docking position and / or performs a docking operation, some components (such as one or more of the roller brush 1131, side brush 1132, suction assembly, walking mechanism, and propulsion mechanism) can be turned off, or the operating power of some components can be reduced, thereby reducing the power consumption of the pool robot, avoiding the situation of running out of power, and improving the success rate of the pool robot moving to the target docking position and / or performing a docking operation.

[0057] By receiving a docking command, the pool robot identifies docking markers during its movement and moves to the location of the marker or a location associated with it. This enables the pool robot to perform docking operations based on received commands and markers, ensuring that docking meets user needs and improving convenience. Furthermore, when users need to retrieve the pool robot from the pool, it avoids the problem of inconsistent docking locations, guaranteeing a better user experience.

[0058] In some embodiments, the docking sign includes personnel; Controlling the pool robot to move towards the target docking position includes: If a person is in the pool, control the pool robot to move towards the person's location in the pool; If the person is outside the pool, the pool robot is controlled to move towards the poolside adjacent to the person's location.

[0059] Specifically, when the parking sign indicates personnel, such as Figure 2 As shown, if a person is inside the pool, the pool robot 2 will move towards the person's location within the pool. Figure 3 As shown, if a person is outside the pool, the pool robot is controlled to move within the pool towards the poolside closest to the person's location.

[0060] In this embodiment, if the docking marker is a person and the person is in the pool, the target docking location is the location of the person. This enables the pool robot to automatically approach the person in the pool, avoiding the situation where the person needs to follow the pool robot.

[0061] If the docking marker indicates a person and the person is outside the pool, the target docking location is the poolside near the person's location. This allows the pool robot to automatically move to the poolside where the person is, so that the person can retrieve the pool robot without having to walk too much, avoiding the situation where the person still needs to use tools such as hooks to retrieve the pool robot.

[0062] In one specific implementation, as the pool robot moves towards the location of the person or the poolside near the person's location, it can detect in real time whether the person's position changes. If the person's position changes, the pool robot can adjust its direction of movement in real time, always moving towards the person's location or the poolside near the person's location, thereby improving the accuracy of the pool robot's docking.

[0063] In some embodiments, when a target person is identified, the target person's gestures are identified; and a docking instruction is received based on a pre-set correspondence between the person's gestures and machine instructions.

[0064] Specifically, a mapping between human gestures and machine commands can be established in advance. Machine commands include docking commands. Optionally, machine commands can also include robot operating parameters, such as acceleration / deceleration, switching cleaning modes, starting, and stopping.

[0065] The pool robot can recognize the gestures of the target person and, based on the correspondence between the person's gestures and the machine's commands, determine whether the gesture corresponds to a docking command. If so, it will trigger the docking command.

[0066] In this way, by sending docking commands through human gestures, users can send docking commands to the pool robot anytime, anywhere, whether they are by the pool, in the pool, or without the control terminal at hand, thus improving the convenience of triggering docking commands.

[0067] In some embodiments, before recognizing the target person's gestures, if the target person is identified, the method further includes: If a person is detected at the edge of the pool, that person is identified as the target person. If multiple people are detected at the poolside, the target person can be identified using the following method: If a person who has previously established an association with the pool robot is detected among multiple people, then that person who established the association is identified as the target person; or, The person closest to the pool robot is identified as the target person; or... When the control terminal of the pool robot receives a personnel confirmation command, the personnel corresponding to the personnel confirmation command are identified as the target personnel.

[0068] Specifically, if the pool robot detects that there is only one person on the pool shore, it can identify that person as the target person, that is, it can identify whether the person's gestures correspond to the stop command.

[0069] If the pool robot detects multiple people on the poolside, the target person can be someone who has pre-established an association with the pool robot, or the person closest to the pool robot. Methods for establishing an association with the pool robot include, but are not limited to: the user sending a person confirmation command via a control terminal (such as clicking the screen to select a person, specifying a person via voice command, or specifying a person by entering a photo), thus establishing an association between the person indicated by the confirmation command and the pool robot; or the user making a specific gesture or speaking a specific voice command to establish an association with the pool robot.

[0070] Optionally, this embodiment can also establish a priority for the target personnel confirmation method. For example, personnel who have pre-established an association with the pool robot can be considered as target personnel, followed by the personnel closest to the pool robot, with the priority decreasing from high to low. That is, it can first check whether there is a person who has pre-established an association with the pool robot. If so, that person is directly identified as the target personnel. If not, it can check whether there is a person closest to the pool robot. If so, that person is directly identified as the target personnel. This can increase the accuracy of target personnel confirmation.

[0071] This embodiment uses multiple selectable methods to determine the target personnel, increasing the diversity of target personnel determination methods and enabling users to choose a satisfactory way to operate the pool robot according to their needs, thereby improving the convenience of users operating the pool robot to dock.

[0072] In some embodiments, if the pool robot is located at the bottom of the pool and the target docking position is located on the surface of the pool, controlling the pool robot to move towards the target docking position includes at least one of the following: Control the pool robot to move from the bottom of the pool to the pool wall, and then move from the pool wall to the target stopping position; Control the pool robot to move from the bottom of the pool to the surface of the water, and then move from the water surface to the target stopping position.

[0073] Specifically, if the pool robot 2 is located at the bottom of the pool and the target docking position 4 is located on the water surface, it can move towards the target docking position in at least one of the following ways: When the target docking position 4 is located at the edge of the water surface, such as the junction of the water surface and the pool wall (i.e., the waterline position), according to Figure 4 As shown by the middle arrow, the pool robot first moves from the bottom of the pool to the pool wall, and then moves from the pool wall to the target docking position 4. Optionally, it is not limited to which pool wall the pool robot moves to; for example, it can be the pool wall closest to the pool robot, or it can be the pool wall where the target docking position is located.

[0074] Alternatively, when the target docking position 4 is located on a non-edge position on the water surface, the pool robot first moves from the bottom of the pool to the pool wall, climbs along the pool wall to the waterline position, switches to water surface operation mode, and then moves from the waterline position to the target docking position 4.

[0075] Or, such as Figure 5 As shown, according to Figure 5 As shown by the middle arrow, the pool robot first moves from the bottom of the pool to the surface of the water, and then moves from the water to the target stopping position 4.

[0076] In this way, the pool robot can move from the pool bottom to its target docking position in selectable ways, allowing it to choose the most advantageous path. For example, if there is trash on the surface and the robot's filter is full, it can move from the bottom to the pool wall first, and then from the wall to the target docking position. This avoids the robot approaching the trash without being able to clean it properly, preventing malfunctions caused by uncollected trash. Similarly, if there is a lot of silt on the bottom, it can move from the bottom to the surface first, and then from the surface to the target docking position. This avoids the problem of silt obstructing the robot's movement if it moves from the bottom to the wall first. This selectable path movement ensures the normal operation of the pool robot.

[0077] In some embodiments, controlling a pool robot to move from the pool bottom to the pool wall and from the pool wall to a target docking position includes: Control the pool robot to move from the bottom of the pool to the target pool wall where the target docking position is located, and then move from the target pool wall to the target docking position.

[0078] Specifically, such as Figure 4 As shown, it can be done according to Figure 4 As shown by the middle arrow, the pool robot first moves directly from its current position at the bottom of the pool to the target pool wall where the target docking position is located, and then moves from the target pool wall to the target docking position.

[0079] Alternatively, the pool robot can move from its current position at the bottom of the pool to the edge of the pool, then move along the edge of the pool to the target pool wall where the target docking position is located, and finally move from the target pool wall to the target docking position.

[0080] In this way, since it is difficult for the pool robot to adjust its posture when moving on the pool wall, by controlling the pool robot to move from the target pool wall to the target docking position, its movement path on the pool wall is shortened, the possibility of path deviation is reduced, and the accuracy of reaching the target docking position can be improved.

[0081] In some embodiments, if the target docking position is located on the surface of the pool, controlling the pool robot to move towards the target docking position includes at least one of the following: Control the pool robot to move roughly in a straight line towards the target stopping position on the water surface; Control the pool robot to move along the pool wall towards the target stopping position on the water surface.

[0082] Specifically, in one manner, such as Figure 5As shown, the controllable pool robot 2 moves approximately in a straight line towards the target docking position on the water surface. The pool robot 2 can identify docking markers on the water surface and then uses the distance between its current position on the water surface and the docking marker as its movement path, moving towards the target docking position 4 along this path. This reduces the robot's movement distance and ensures docking efficiency. During its approximately straight-line movement towards the target docking position, if the pool robot encounters an obstacle, it can bypass the obstacle and continue moving approximately in a straight line towards the target docking position after bypassing it.

[0083] In addition, in another way, such as Figure 6 As shown, the controllable pool robot 2 can move along the pool wall on the water surface towards the target docking position.

[0084] If the pool robot is located at the bottom of the pool and the target docking position is at the waterline, the pool robot 2 can be controlled to rise from the bottom to the surface and then move from the water to the target docking position 4. This can be done according to... Figure 6 As shown by the arrow, the robot first moves on the water surface to one side of the pool wall, and then moves along the pool wall towards the target stopping position. Alternatively, it can move from the bottom of the pool to the pool wall, then from the pool wall to the water surface, and then move along the pool wall towards the target stopping position. By moving along the pool wall towards the target stopping position, the pool robot can use the pool wall as a reference point, stably planning its movement path without the need for complex positioning algorithms. This effectively reduces the difficulty of path control and the risk of deviation, increasing the success rate of the pool robot reaching the target stopping position.

[0085] In some implementations, when the docking sign is located on the water surface, the pool robot can be controlled to move to the water surface and then identify the docking sign on the water surface. This avoids the misjudgment problems that are prone to occur when the pool robot identifies the sign at the bottom of the pool due to factors such as light, water turbidity, and water flow disturbance, and effectively improves the recognition accuracy of the docking sign.

[0086] In some embodiments, the target docking location is a base station; the docking identifier includes at least one of a base station shape and a base station identifier, which is disposed on the base station or outside the base station.

[0087] Specifically, when the target docking location is a base station, the pool robot can pre-store the shape or identifier of the base station, and when it recognizes the corresponding base station shape or identifier, it considers that it has recognized the docking identifier.

[0088] Of course, base station identification can be placed on the base station itself, such as a QR code or reflective strip affixed to the base station. Base station identification can also be placed outside the base station, for example, by setting up a vertical pole next to the base station with reflective strips on it; both the pole and the reflective strips can serve as base station identification.

[0089] Because the reflective strips are also recognizable when the supplementary lighting is turned on at night, the base station identifier can be accurately identified even in dark environments. Similarly, QR codes can also be configured to be reflective, enabling accurate identification of the base station identifier in dark environments.

[0090] Optionally, there can be two or more reflective strips, and the colors of the reflective strips can be the same or different. The pool robot captures images of the reflective strips through an image acquisition device. As the distance between the pool robot and the reflective strips changes, the spacing between the reflective strips in the image will change, and the distance between the pool robot and the base station marker can be calculated based on this spacing change.

[0091] In some embodiments, the docking identifier is a QR code. The QR code can be a single image and can be placed in a fixed location, such as fixed to the pool wall, or it can be floated in the pool.

[0092] In some implementations, multiple identical QR codes can be set, with different QR codes located on different surfaces of the same object. For example, QR codes can be placed on at least two faces of a polyhedron to solve the problem of difficulty in recognizing QR codes when the pool robot is at an angle relative to the code. This ensures that the pool robot can recognize the complete QR code from all directions when performing a docking operation, thereby improving the success rate of the docking operation. Simultaneously, the clustered positions of multiple QR codes prevent the target docking location corresponding to the docking marker from being too dispersed. The polyhedron can be fixed (e.g., fixed to the pool wall) or floated within the pool, ensuring that the QR code remains approximately above the water surface regardless of changes in pool water level. This avoids the QR code being partially or completely submerged in water due to water level fluctuations, which would increase the difficulty of recognition and thus improve the accuracy of the pool robot's QR code recognition.

[0093] In some embodiments, when the pool robot is in cleaning mode, if the base station is located on the cleaning path of the pool robot, an obstacle avoidance operation is performed on the base station.

[0094] Specifically, if the base station is the target docking location, and the pool robot is in cleaning mode, if the base station is located on the pool robot's cleaning path, the base station can be treated as an obstacle and obstacle avoidance can be performed. After receiving a docking command, the robot can then approach the base station to perform the docking operation. For example, if the base station is placed at the edge of the water surface, the base station is located on the pool robot's cleaning path when the pool robot is cleaning the water surface along the edge; if the base station is placed on the pool wall, the base station is located on the pool robot's cleaning path when the pool robot is cleaning the pool wall.

[0095] The pool robot can perform obstacle avoidance operations according to conventional obstacle avoidance logic. For example, it can use obstacle detection sensors, such as distance sensors, to detect obstacles that are close by in the direction of travel and avoid the area containing the obstacle. Alternatively, the pool robot can identify the location of a base station in advance by using docking markers and avoid its area, thus solving the problem that base stations are thin and conventional obstacle detection sensors cannot accurately detect them.

[0096] By performing obstacle avoidance maneuvers on base stations located along the cleaning path of the pool robot during cleaning mode, the cleaning path is prevented from being interrupted or missed due to base station obstruction, thus improving the cleaning effectiveness of the pool robot. It also reduces the possibility of collisions or scrapes with base stations, preventing wear and tear or malfunction of the pool robot or base stations, and preventing base stations from shifting after collisions, which could affect the accuracy of subsequent docking.

[0097] This embodiment controls the pool robot to identify the docking marker during its movement when it receives a docking command, and then controls the pool robot to move towards the target docking position to perform the docking operation. The target docking position is the location of the docking marker or a position associated with the docking marker. This enables the pool robot to perform docking operations based on the received docking command, so that the docking of the pool robot meets the user's docking needs and improves the convenience of docking the pool robot.

[0098] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0099] This application implements all or part of the processes in the methods of the above embodiments, which can also be accomplished by a computer program instructing related hardware. The computer program can be stored in a readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program may include computer program code, which may be in the form of source code, object code, executable file, or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying computer program code, recording media, USB flash drive, portable hard drive, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc.

[0100] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A method for docking a swimming pool robot, characterized in that, The pool robot moves on a cleaning surface to perform cleaning operations on the pool. The cleaning surface includes one or more of the pool wall, pool bottom, and water surface. The pool robot is equipped with at least one image acquisition device, which is used to acquire images of the pool or outside the pool to identify docking markers inside or outside the pool through the images. The method includes: Upon receiving a docking command, the pool robot is controlled to identify the docking marker during its movement; The pool robot is controlled to move toward a target docking position to perform a docking operation; wherein the target docking position is the location of the docking marker, or a location associated with the docking marker.

2. The method according to claim 1, characterized in that, The parking sign includes personnel; Controlling the pool robot to move towards the target docking position includes: If the person is in the pool, control the pool robot to move towards the person's location in the pool; If the person is outside the pool, the pool robot is controlled to move within the pool towards the poolside adjacent to the person's location.

3. The method according to claim 1, characterized in that, The method further includes: If a target person is identified, their gestures are also identified. Based on the pre-set correspondence between human gestures and machine commands, it receives docking commands.

4. The method according to claim 3, characterized in that, Before recognizing the gestures of the target person when the target person is identified, the method further includes: If a person is detected at the edge of the pool, that person is identified as the target person. If multiple people are detected at the poolside, the target person is identified using the following method: If it is detected that among the multiple personnel there is one who has previously established an association with the pool robot, then that person who has established the association is identified as the target personnel; or, The person closest to the pool robot is identified as the target person.

5. The method according to claim 1, characterized in that, If the pool robot is located at the bottom of the pool and the target docking position is located on the surface of the pool, controlling the pool robot to move towards the target docking position includes at least one of the following: Control the pool robot to move from the bottom of the pool to the pool wall, and then move from the pool wall to the target docking position; Control the pool robot to move from the bottom of the pool to the surface of the pool, and then move from the surface to the target docking position.

6. The method according to claim 5, characterized in that, Controlling the pool robot to move from the pool bottom to the pool wall, and from the pool wall to the target docking position includes: The swimming pool robot is controlled to move from the bottom of the pool to the target pool wall where the target docking position is located, and then moves from the target pool wall to the target docking position.

7. The method according to claim 1, characterized in that, If the target docking position is located on the surface of the pool, controlling the pool robot to move towards the target docking position includes at least one of the following: The pool robot is controlled to move approximately in a straight line along the water surface toward the target docking position. The pool robot is controlled to move along the pool wall on the water surface toward the target docking position.

8. The method according to claim 1, characterized in that, The target docking location is a base station; the docking identifier includes at least one of a base station shape and a base station identifier, wherein the base station identifier is disposed on the base station or disposed outside the base station.

9. The method according to claim 8, characterized in that, Also includes: When the pool robot is in cleaning mode, if the base station is located on the cleaning path of the pool robot, an obstacle avoidance operation is performed on the base station.

10. A computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the method as claimed in any one of claims 1 to 9.

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