Swimming pool cleaning system, swimming pool robot and facing control method of swimming pool robot

Abstract

The invention provides a swimming pool cleaning system, a swimming pool robot and a welt control method of the swimming pool robot, and relates to the technical field of swimming pool robots. The welting control method comprises the steps that after the swimming pool robot is driven to reach the edge of a swimming pool for the first time, the welting action is executed at least once again, and the swimming pool robot can periodically recover the approaching relation with the edge of the swimming pool in the floating state. According to the technical scheme, low-energy-consumption dynamic welt maintaining is achieved through intermittent triggering welt control instead of depending on continuous operation of a propelling module, the swimming pool robot can actively rectify deviation and return to an edge area again after being disturbed by water flow, waves or the outside, and the dynamic welt maintaining effect is achieved. Therefore, the hemming state is kept at a large probability under the condition of no human intervention for a long time, the energy consumption can be effectively reduced, the floating risk is reduced, the posture convenient to recycle is kept at any moment, and the reliability and convenience of the swimming pool robot recycling operation are improved.

Description

Technical Field

[0001] This disclosure relates to the field of pool robot technology, and more specifically, to a pool cleaning system, a pool robot, and a method for controlling the edge of the pool. Background Technology

[0002] With the rapid development of home robot technology, pool robots are increasingly being used for routine underwater cleaning and maintenance. Pool robots generally have autonomous operation capabilities and can complete tasks such as surface cleaning, dirt adsorption, and impurity filtration along a preset path on the pool bottom or surface, thereby reducing the burden of manual cleaning.

[0003] However, in relevant pool robot recovery solutions, pool robots are easily affected by waves, water flow and external disturbances, gradually drifting away from the edge area, making recovery difficult.

[0004] It should be noted that the information disclosed in the background section above is only used to enhance the understanding of the background of this disclosure, and therefore may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0005] The purpose of this disclosure is to provide a pool cleaning system, a pool robot, and a method for controlling the robot's movement along the edge of the pool, thereby increasing the probability that the pool robot will be located in the edge area of ​​the pool and improving the success rate of the user in retrieving the pool robot at any time.

[0006] Other features and advantages of this disclosure will become apparent from the following detailed description, or may be learned in part from practice of this disclosure.

[0007] According to a first aspect of the present disclosure, a method for controlling the edge of a swimming pool robot is provided, comprising:

[0008] The pool robot is driven to perform an edge-fitting action, which is to move the pool robot toward the edge of the pool.

[0009] After the pool robot first reaches the edge of the pool, the pool robot is driven to perform the edge-hugging action at least once more, so that the pool robot is back in or maintains a state of proximity to the edge of the pool.

[0010] By driving the pool robot to perform at least one more edge-hugging action after initially reaching the pool edge, the robot can maintain or reappear near the pool edge area after the initial edge-hugging, forming a more stable edge-hugging state. Compared to the driving method of continuously running the propulsion module, this can extend the time of maintaining the edge-hugging state, keeping the pool robot in a position that is easy to retrieve for a longer period of time. This increases the probability of the pool robot being in the pool edge area, thereby improving the success rate of retrieval of the pool robot at any time and enhancing the convenience of retrieval operations.

[0011] In some exemplary embodiments of this disclosure, based on the foregoing scheme, the pool robot includes a propulsion module, and the step of driving the pool robot to perform the edge-hugging action at least once more after the pool robot first reaches the edge of the pool includes:

[0012] After the pool robot first reaches the edge of the pool, the propulsion module is controlled to perform at least one start-stop action to drive the pool robot to perform the edge-hugging action at least once more.

[0013] The start-stop action refers to starting the propulsion module and then stopping it after the preset conditions are met.

[0014] By controlling the propulsion module to start and stop after the pool robot first reaches the pool edge, sufficient propulsion force can be generated during a short start-up to reapproach the edge, and then immediately shut off upon reaching the target position. This forms a controllable edge-following compensation cycle, which reduces the continuous power consumption of the propulsion module while maintaining the pool robot's proximity to the pool edge. This makes the propulsion behavior discrete and rhythmic in time, effectively solving the problem of rapid power consumption caused by continuous operation, and maintaining a longer edge-following and stopping time even with limited power. Furthermore, by using a preset start-up duration, the propulsion module's actions are controllable and disturbances are predictable, preventing rebound or edge detachment caused by excessive propulsion, thus making the edge-following process smoother and more controllable.

[0015] In some exemplary embodiments of this disclosure, based on the foregoing scheme, after the pool robot first reaches the edge of the pool, controlling the propulsion module to perform at least one start-stop action to drive the pool robot to perform the edge-hugging action at least one more time includes:

[0016] After the pool robot reaches the edge of the pool for the first time, the propulsion module is controlled to perform the start-stop action at a preset fixed frequency, so as to drive the pool robot to perform the edge-hugging action at least twice more.

[0017] By introducing fixed-frequency control into the start-stop action of the propulsion module, the pool robot can perform edge-fitting compensation in a periodic rhythm, thus forming a timed correction edge-fitting mode. This fixed-frequency start-stop control not only simplifies the control system in structure and makes it easier to implement in logic, but also forms a stable self-correction mechanism in wave or periodic water flow environments. This allows the pool robot to reapproach the pool edge at each fixed time interval, reducing the drift accumulation effect and effectively improving the time stability of the docking position. This enables the pool robot to maintain a high probability of being in the recoverable edge area even during long idle periods.

[0018] In some exemplary embodiments of this disclosure, based on the foregoing scheme, after the pool robot first reaches the edge of the pool, controlling the propulsion module to perform at least one start-stop action to drive the pool robot to perform the edge-hugging action at least one more time includes:

[0019] After the pool robot first reaches the edge of the pool, the propulsion module is controlled to perform the start-stop action according to the target dynamic frequency, and the target dynamic frequency decreases as the remaining battery power of the pool robot decreases for at least part of the time, so as to drive the pool robot to perform the edge-hugging action at least twice more.

[0020] By controlling the propulsion module to perform start-stop actions according to the target dynamic frequency and dynamically adjusting the target dynamic frequency based on the remaining battery power, the edge-keeping behavior is linked with the energy state of the pool robot. This allows the robot to maintain a high edge-keeping frequency when the battery is full to quickly offset environmental disturbances, and automatically reduce the edge-keeping frequency when the battery is low to extend the remaining runtime. This not only effectively solves the balance problem between edge-keeping maintenance and power consumption, but also enables the pool robot to maintain the optimal edge-keeping strategy under different energy states, improving the persistence of edge-keeping and allowing the pool robot to maintain a high probability of being in a retrievable edge area even during long idle periods.

[0021] In some example embodiments of this disclosure, based on the foregoing scheme, the pool robot includes a propulsion module, and the method further includes:

[0022] When driving the pool robot to perform the edge-hugging action, the propulsion module drives the pool robot to approach the edge of the pool at a first rotational speed, and after the pool robot touches the edge, it runs at a second rotational speed, and the first rotational speed is greater than the second rotational speed.

[0023] By setting different propulsion speeds during the edge-approaching process, the propulsion module operates at a higher speed when approaching the pool edge and at a lower speed after approaching. The higher initial speed generates sufficient propulsion force in a short time, enabling rapid and stable approach and approximation. After approaching, the speed is reduced to a lower second speed, which significantly reduces water flow disturbance and energy loss. This allows the pool robot to maintain a stable posture while remaining in the edge-approaching position, preventing it from deviating from the edge due to hydrodynamic disturbances. At the same time, the low-speed thrust generated by the lower second speed can also serve as a continuous propulsion force for attitude correction, counteracting slight drift caused by external microcurrents, water waves, or backflows. This allows the pool robot to maintain a near-edge-approaching position for a longer period after approaching. The coordinated driving of the first and second speeds improves the smoothness and stability of the edge-approaching action and maintains sufficient adhesion and directional stability during the maintenance phase. This increases the probability of the pool robot remaining in the pool edge area during user retrieval or automatic recovery operations, thereby improving the overall recovery success rate.

[0024] In some example embodiments of this disclosure, based on the foregoing scheme, the method further includes:

[0025] After the pool robot first reaches the edge of the pool, the timing for performing the edge-hugging action again is determined.

[0026] By incorporating a sensing module after the initial edge contact to determine the timing for the next edge contact, the pool robot can autonomously judge based on its real-time status relative to the pool edge, avoiding ineffective or excessive edge contact actions. This allows the edge contact action to be state-driven, making the system's response to environmental disturbances more accurate and timely. Consequently, the intelligence and execution efficiency of the edge contact behavior are improved. The introduction of the sensing module also enables the pool robot to adaptively adjust its propulsion strategy based on information such as posture changes and water flow direction, enhancing the reliability and flexibility of docking.

[0027] In some exemplary embodiments of this disclosure, based on the foregoing scheme, driving the pool robot to perform the edge-hugging action at least once more includes:

[0028] When the distance between the pool robot and the edge of the pool is greater than or equal to a preset distance threshold, the pool robot is driven to perform the edge-fitting action at least once more.

[0029] The distance between the pool robot and the pool edge is collected in real time. When the distance exceeds the preset distance threshold, the edge-hugging action is automatically triggered. This allows the edge-hugging behavior to have quantitative triggering conditions, which can effectively avoid frequent invalid edge-hugging operations due to small-scale disturbances. At the same time, it ensures that edge-hugging compensation is performed immediately when the actual deviation reaches a significant level. Thus, the pool robot can achieve highly effective edge-hugging actions at a low frequency, which saves energy and ensures the stability of edge-hugging and docking in various disturbance environments.

[0030] In some exemplary embodiments of this disclosure, based on the foregoing scheme, the timing of re-performing the edge-fitting action includes at least one or more combinations of the following timings:

[0031] When the attitude angle of the pool robot exceeds a preset attitude angle threshold;

[0032] When the acceleration fluctuation of the pool robot exceeds a preset acceleration threshold;

[0033] When the light intensity or ambient sound characteristics collected by the pool robot are abnormal data;

[0034] When the pool robot loses physical contact with the edge of the pool;

[0035] When the remaining battery power of the pool robot is lower than a preset power threshold.

[0036] By integrating multi-dimensional perception conditions such as attitude angle, acceleration, illumination, ambient sound, physical contact, and battery status, the edge-fitting trigger logic is extended into a multi-scenario fusion judgment mode. It can actively trigger edge-fitting behavior under any abnormal conditions such as external interference, environmental changes, or insufficient energy, thereby forming a comprehensive state detection system. This multi-signal fusion control strategy can not only effectively improve the trigger reliability of edge-fitting actions, but also maintain consistency under different environmental noise, illumination, and hydrodynamic conditions, giving the system higher robustness and adaptability.

[0037] In some example embodiments of this disclosure, based on the foregoing scheme, the method further includes:

[0038] The pool robot is driven to perform an edge-hugging action towards the nearest edge of the pool.

[0039] By identifying distance data in multiple directions and driving the pool robot to move towards the nearest pool edge, the pool robot can quickly determine the optimal direction to approach the edge from any initial position or in a drifting state. This can shorten the edge-approaching path length, reduce energy consumption, and improve the edge-approaching convergence speed. At the same time, the directional ranging function of the distance sensor can achieve precise positioning in the water environment, making the edge-approaching behavior more spatially targeted and path-optimized.

[0040] In some exemplary embodiments of this disclosure, based on the foregoing scheme, driving the pool robot to perform the edge-hugging action includes:

[0041] The pool robot is controlled to perform an edge-fitting action towards the nearest pool edge by an external control device that automatically generates edge-fitting control commands according to a preset program.

[0042] Sending automatically generated edge-fitting control commands through external control devices to drive the pool robot to perform edge-fitting actions enables communication and linkage between the control terminal and the pool robot. This allows for automated remote control of the pool robot's edge-fitting behavior based on environmental conditions, task progress, or recovery requirements. This method effectively achieves autonomous intelligent control, enabling the pool robot to have real-time response capabilities in complex usage scenarios, thereby improving the overall system's intelligence and operational flexibility.

[0043] In some exemplary embodiments of this disclosure, based on the foregoing scheme, after the pool robot first reaches the edge of the pool, driving the pool robot to perform the edge-hugging action at least once more includes:

[0044] After the pool robot first reaches the edge of the pool, the pool robot is driven to perform the edge-fitting action at least again based on the edge-fitting control command, the edge-fitting control command including at least the frequency and / or timing of performing the edge-fitting action.

[0045] By driving the robot to follow the edge again based on edge-following control commands after the initial edge-following, and including edge-following frequency and timing in the edge-following control commands, or edge-following frequency and timing, the edge-following behavior can be automatically managed by external control equipment. This reduces the computational load and energy consumption of the pool robot. Furthermore, this control strategy can flexibly adjust the edge-following rhythm according to specific water flow conditions or the urgency of the task, enabling the system to form a hierarchical coordination between real-time control and autonomous control, effectively improving the predictability and response efficiency of edge-following behavior.

[0046] In some example embodiments of this disclosure, based on the foregoing scheme, the external control device is a control base station and / or a floating beacon, and the edge-attaching control command is sent to the pool robot via sound waves, light signals or radio signals.

[0047] By configuring external control devices as control base stations and / or floating beacons, and transmitting edge-following control commands via acoustic waves, optical signals, or radio signals, edge-following control becomes applicable to various communication media. Acoustic communication maintains stable transmission underwater, optical signals are suitable for surface-level environments, and radio signals offer high real-time performance for long-distance control. Support for multiple signal methods effectively improves the system's communication reliability and command response speed in different scenarios, giving edge-following control greater versatility and anti-interference capabilities.

[0048] In some exemplary embodiments of this disclosure, based on the foregoing scheme, after the pool robot first reaches the edge of the pool, driving the pool robot to perform the edge-hugging action at least once more includes:

[0049] Before the termination condition is met, the pool robot is driven intermittently to perform the edge-fitting action at least once more;

[0050] The termination conditions include at least one or more combinations of the following: the pool robot is retrieved, the pool robot's power is depleted, or the pool robot receives a stop edge command.

[0051] By intermittently driving the pool robot to perform at least one more edge-hugging action after it first reaches the pool edge, the robot can periodically perform edge-hugging actions without detecting a termination condition. This allows it to maintain a close proximity to the pool edge for a longer period, effectively extending the edge-hugging state when battery life is limited, and increasing the probability of being detected and retrieved by the user. Secondly, by limiting the termination condition, the system has an adaptive exit capability, thus avoiding the execution of invalid edge-hugging loops when retrieval is complete or energy is critical, ensuring the safety and rationality of the control logic.

[0052] In some example embodiments of this disclosure, based on the foregoing solution, the pool robot includes a diving module, and the method further includes: when the pool robot needs to be close to the edge of the pool, controlling the pool robot to be in a floating state through the diving module; wherein, the floating state is a state in which at least a part of the pool robot is submerged underwater and another part is above the water surface.

[0053] By controlling the pool robot to float using a submersible module, with at least part of the robot submerged underwater and the rest above the surface, the robot can maintain a portion of its structure above water after approaching the pool edge. This allows users to easily spot and manually retrieve the robot from within their field of vision. Furthermore, this floating state ensures the robot has buoyancy while reducing fluid resistance during edge-approaching, significantly lowering energy consumption. Additionally, the floating posture keeps the communication module, positioning module, and external indicator lights visible and communicable, ensuring real-time control signal interaction and status feedback are unaffected by water obstruction. This achieves a balance between energy saving, controllability, and ease of operation while maintaining recyclability, effectively improving the pool robot's usability and energy efficiency stability during edge-approaching control.

[0054] In some example embodiments of this disclosure, based on the foregoing solution, the pool robot includes a diving module, and the method further includes: when the pool robot needs to be close to the edge of the pool, controlling the pool robot to be in a submerged state through the diving module; wherein, the submerged state is the state in which the pool robot is completely submerged underwater or submerged to the bottom of the pool.

[0055] By controlling the pool robot to a submerged state via a diving module, which means the robot is fully submerged or sinks to the bottom of the pool, a low-energy and highly stable docking method can be provided when the robot needs to approach the pool edge. In this state, the pool robot achieves static balance using its own weight and the diving module's descent control, no longer relying on the propulsion module to maintain its position, thus significantly reducing energy consumption and the risk of drift. Since the robot is completely in a stable water area in the submerged state, it can effectively avoid displacement caused by waves, wind, or external disturbances, allowing it to maintain a fixed position even in scenarios where it is not monitored for a long time. At the same time, this state also facilitates fixed-point storage or delayed retrieval during task breaks, allowing the pool robot to automatically enter a dormant docking mode after completing the edge-approaching action, effectively improving stability and safety after approaching the edge.

[0056] In some example embodiments of this disclosure, based on the foregoing scheme, the pool robot includes a differential positioning module. The step of determining the timing for re-performing the edge-hugging action through the sensing module includes: obtaining the distance between the pool robot and the edge of the pool in real time through the differential positioning module, and driving the pool robot to perform the edge-hugging action at least again when the distance at the current moment is greater than or equal to a preset distance threshold.

[0057] The differential positioning module acquires the distance between the pool robot and the edge of the pool in real time. When the distance is detected to be greater than or equal to a preset distance threshold, the robot is driven to perform an edge-fitting action. This enables active edge-fitting control based on high-precision spatial positioning. By setting the relative positional relationship between a fixed reference point and the mobile terminal, the differential positioning module can continuously monitor the robot's drift in the water with centimeter-level accuracy. When the pool robot gradually moves away from the edge area due to water flow disturbance or posture deviation, the module can promptly identify the deviation trend and actively trigger correction behavior. Compared with traditional edge-fitting solutions based on vision, infrared or simple collision detection, this system can maintain stable positioning even under changes in lighting, water reflection or turbidity, making the system highly reliable under various water quality and lighting conditions.

[0058] According to a second aspect of the present disclosure, a pool robot is provided, comprising:

[0059] The robot itself;

[0060] A propulsion module is fixedly connected to the robot body, and the propulsion module is used to drive the robot body to move forward in the target direction when started;

[0061] The control module is fixedly installed inside the robot body and is communicatively connected to the propulsion module. The control module is used to execute the method as described in the first aspect.

[0062] According to a third aspect of the present disclosure, a swimming pool cleaning system is provided, comprising:

[0063] An external control device, which is used to automatically generate edge-fitting control commands according to a preset program;

[0064] At least one pool robot, as described in the second aspect, is communicatively connected to the external control device, the pool robot being used to receive and execute the edge-following control commands.

[0065] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0066] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure. It is obvious that the drawings described below are merely some embodiments of this disclosure, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0067] Figure 1The illustration shows a schematic flowchart of a method for controlling the edge of a swimming pool robot according to some embodiments of the present disclosure.

[0068] Figure 2 The illustration schematically shows a principle diagram of controlling a pool robot to stop close to the edge of a pool according to some embodiments of the present disclosure.

[0069] Figure 3 A schematic diagram illustrating a pool robot in a floating state according to some embodiments of the present disclosure is shown.

[0070] Figure 4 A schematic diagram illustrating a pool robot in a submerged state according to some embodiments of the present disclosure is shown.

[0071] Figure 5 A schematic diagram of the structure of a pool robot according to some embodiments of the present disclosure is shown.

[0072] Figure 6 A schematic diagram illustrating the composition of a pool cleaning system according to some embodiments of the present disclosure is shown.

[0073] Figure 7 The schematic diagram illustrates the structural schematic of a computer system of an electronic device according to some embodiments of the present disclosure.

[0074] Figure 8 A schematic diagram of a computer-readable storage medium according to some embodiments of the present disclosure is shown.

[0075] In the accompanying drawings, the same or corresponding reference numerals indicate the same or corresponding parts. Detailed Implementation

[0076] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this specification. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this specification as detailed in the appended claims.

[0077] The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to be limiting of this specification. The singular forms “a,” “the,” and “the” as used in this specification and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any and all possible combinations of one or more of the associated listed items.

[0078] It should be understood that although the terms first, second, third, etc., may be used in this specification to describe various information, this information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of this specification, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to determination."

[0079] Furthermore, the accompanying drawings are for illustrative purposes only and are not necessarily drawn to scale. The block diagrams shown in the drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices.

[0080] Currently, one technical solution for pool robot retrieval involves continuously operating a propulsion device to resist water flow disturbances or wind effects, keeping the robot close to the pool edge. While this method can maintain a relatively stable edge-hugging state for a short period, facilitating direct retrieval, the propulsion device needs to remain running for an extended period at a high speed, resulting in significant energy consumption. If the user fails to complete retrieval within a considerable timeframe, the pool robot may gradually drift away from the edge due to battery depletion, potentially increasing the difficulty of retrieval.

[0081] Another technical solution involves maintaining contact with the pool edge through base station attachment or structural fixation. For example, suction cups, hooks, or magnetic devices can be installed on the pool robot itself, allowing it to be directly fixed to the pool wall after reaching the edge. While this solution is more reliable in maintaining position, its applicability is limited because it requires specific mechanical structural conditions at the pool edge to function. Furthermore, the pool robot may experience additional mechanical wear or jamming risks during attachment or detachment, affecting the equipment's lifespan and user experience.

[0082] Based on one or more problems existing in the related technologies, this example embodiment first provides a method for controlling the edge of a swimming pool robot. This method can be applied to a swimming pool robot, an external control device that is connected to the swimming pool robot, or a server that communicates with the swimming pool robot via a cellular network. This embodiment does not make any special limitations on this. The following description will use the swimming pool robot executing this method as an example.

[0083] In practical applications, the edge-keeping control method in this embodiment can be deployed in small pool robots in home settings. When the user is not near the pool, the pool robot can autonomously maintain a position close to the edge of the pool after completing cleaning work, pausing its task, or stopping due to insufficient power. This avoids the robot floating in the center of the pool for extended periods, which increases the difficulty of retrieval and improves the convenience for home users in daily maintenance. In public or large pool environments, this method can also be used in conjunction with external control devices installed at the poolside. By sending edge-keeping control commands to the robot through the external control devices, it can ensure that the pool robot can stably dock at the poolside when multiple people are using the pool or when the water level is fluctuating significantly. This prevents floating devices from interfering with swimmers and improves the safety and management efficiency of public environments. Furthermore, in scenarios requiring remote management, this method can also communicate with a server via a cellular network. For example, in a group of pools under centralized property management, when a pool robot needs to be retrieved, the remote server can automatically generate and issue edge-keeping control commands according to a preset program, allowing multiple pool robots to remain docked at the edge of different pools for centralized monitoring and unified scheduling.

[0084] Figure 1 A schematic diagram illustrating the flow of a pool robot's edge-following control method according to some embodiments of the present disclosure is provided. (Reference) Figure 1 As shown, the edge-following control method of this pool robot may include the following steps:

[0085] In step S110, the pool robot is driven to perform an edge-fitting action, which is the pool robot moving towards the edge of the pool.

[0086] In one exemplary embodiment of this disclosure, the edge-approaching action refers to the process by which a pool robot, floating on the water surface or submerged at the bottom, actively moves horizontally towards the edge of the pool. For example, the shortest distance between the current position of the pool robot and the edge of the pool can be calculated in the control unit, and a propulsion command can be generated based on this distance direction, causing the propulsion module to generate thrust along the approach vector. This embodiment does not impose any special limitations on the triggering method of the edge-approaching action; it can be initiated through timed scheduling, sensor triggering, or external control commands.

[0087] For example, in some alternative implementations, the edge-hugging action can be based on the distance measurement results obtained by a distance sensor to determine the propulsion direction; alternatively, a visual sensor can be used to identify the boundary contour of the pool edge, thereby generating a target edge-hugging path; in other cases, the direction of the pool edge can be determined by receiving acoustic or optical signals emitted by an external base station or buoy device, thereby triggering the edge-hugging action. During execution, the thrust magnitude and direction of the propulsion module can be adjusted in real time according to the proximity. For example, a higher thrust can be maintained at a greater distance to shorten the approach time, while the thrust can be gradually reduced when entering the near-edge area to avoid collision.

[0088] To ensure the stability of the edge-hugging action, the position and orientation can be smoothed over multiple consecutive sampling periods to compensate for the instantaneous offset caused by water surface disturbances and fluctuations. This embodiment does not limit the specific form of the propulsion module; for example, the propulsion module can be any mechanism capable of generating water surface propulsion, such as a propeller, jet pump, or water jet, as long as it can achieve the edge-hugging action while floating.

[0089] In an optional implementation, the execution time of the edge-adhering action can be personalized according to the user's usage habits or preset execution strategies. For example, the trigger time of the edge-adhering action can be set through an external control device or a companion application of the control terminal. This can be set to a preset delay time (e.g., 30 minutes, 1 hour, or 3 hours) after the pool robot's cleaning task is completed, or a preset time point to automatically execute the edge-adhering action. This allows the pool robot to autonomously approach the pool edge and enter a docking posture that facilitates retrieval after cleaning without human intervention. For instance, after detecting a cleaning task completion signal or receiving a task end signal, timing logic can be started. When the timing reaches the user-preset delay time, such as 3 hours, an edge-adhering control command is automatically generated, driving the propulsion module to execute the edge-adhering action. Alternatively, a preset time point can be set. For example, if the pool robot completes cleaning at 15:00, and the user-set edge-adhering retrieval time point is 18:00, then the pool robot automatically generates an edge-adhering control command and drives the propulsion module to execute the edge-adhering action when the system time reaches 18:00. This embodiment does not impose any special limitations on this. With customizable edge-attaching time settings, the edge-attaching strategy can be flexibly adjusted according to different usage scenarios. For example, when the user is present and immediate retrieval is required, the delay time can be set to 0 to achieve immediate edge-attaching after cleaning. In scenarios where the user is not present and delayed retrieval is required, a reasonable delay time or preset time point can be set to perform the edge-attaching task within a time period convenient for the user to retrieve, effectively increasing the probability that the pool robot will be retrieved after edge-attaching.

[0090] In step S120, after the pool robot first reaches the edge of the pool, the pool robot is driven to perform the edge-hugging action at least once more, so that the pool robot is back in or maintains a state of proximity to the edge of the pool.

[0091] In one example embodiment of this disclosure, "first arrival at the pool edge" means that the actual distance between the pool robot and the pool edge is less than a preset threshold, and the robot remains within this threshold for a duration exceeding the minimum judgment period. To address deviations caused by water surface fluctuations or external disturbances, when the distance between the pool robot and the pool edge is detected to exceed the allowable range, the control unit will issue a new edge-fitting command, causing the pool robot to re-execute the edge-fitting action at least once.

[0092] For example, in some alternative implementations, the robot's attitude can be monitored using an Inertial Measurement Unit (IMU). When an angular deviation caused by a disturbance exceeds a set threshold, a second edge-grabbing action is triggered. Alternatively, the deviation can be calculated using real-time position data, and the propulsion module can be activated to correct it when it exceeds a preset deviation range. In other scenarios, a time-scheduling strategy can be used to periodically re-grab the edge, such as triggering an edge-grabbing action at regular intervals, to counteract the cumulative deviation over a long period. During execution, the control parameters of the propulsion module can be appropriately reduced compared to the initial edge-grabbing action to reduce energy consumption while maintaining the edge-grabbing effect. By performing at least one more edge-grabbing action after the initial arrival, the pool robot can maintain a position close to the pool edge even under external interference or unattended conditions, thereby improving mooring stability and retrieval convenience.

[0093] By driving the pool robot to perform at least one more edge-hugging action after initially reaching the pool edge, the robot can periodically and proactively return to a state of proximity to the pool edge. This intermittently triggered edge-hugging control, compared to solutions relying on continuous propeller operation, significantly reduces the overall energy consumption of the pool robot while waiting for retrieval, avoiding the risk of drifting away from the edge due to premature energy depletion. Simultaneously, intermittent edge-hugging control can proactively counteract drift caused by waves, currents, or external disturbances. Even if the pool robot temporarily deviates due to interference, it can return to the vicinity of the pool edge through subsequent edge-hugging actions, thus maintaining a stable edge-hugging state for a longer period, ensuring a position conducive to retrieval. This not only effectively solves the problem of pool robots drifting away from the pool boundary and being difficult to retrieve, but also significantly increases the probability that the pool robot is in the pool edge area at any given moment during retrieval operations, thereby improving the convenience and reliability of retrieval operations.

[0094] The edge-fitting control method in steps S110 to S120 will be described in detail below.

[0095] In one example embodiment of this disclosure, the pool robot can be driven intermittently to perform the edge-hugging action at least one more time before a termination condition is met; wherein the termination condition may include at least one or a combination of the following: the pool robot is retrieved, the pool robot's power is depleted, or the pool robot receives a stop edge-hugging command.

[0096] The intermittent mode refers to alternating between edge-hugging and stationary actions over time. Specifically, the propulsion module activates propulsion within a specific start-stop cycle to move the pool robot towards the edge, and automatically shuts off after reaching or approaching the edge, entering a lower-energy floating or mooring state. This intermittent, cyclical control allows the pool robot to repeatedly return to the edge-hugging state over extended periods, maintaining an easy-to-retrieve posture without continuously consuming power to maintain thrust output, thus increasing the probability of the pool robot being detected and retrieved by the user.

[0097] In the process of intermittently driving the pool robot to perform at least one more edge-hugging action, the operating status of the pool robot and external environmental information can be detected in real time, and the edge-hugging action can be continuously driven intermittently until the termination condition is met. The termination condition refers to the trigger state that ends the intermittent edge-hugging control logic, which can be determined by the self-detection module or an external control device. For example, the intermittent edge-hugging control can be automatically terminated when the pool robot is detected to be retrieved (e.g., the pool robot is retrieved after reaching the edge of the pool, or it can be intercepted and retrieved midway) to avoid invalid driving; the intermittent start-stop action of the propulsion module can be stopped when the battery level is detected to reach the discharge threshold to prevent the battery from being over-discharged and causing lifespan degradation; the edge-hugging control can also be actively interrupted and the intermittent edge-hugging control can be ended when a stop edge-hugging command is received from an external control device. It is understood that these termination conditions can be triggered by one of them, or by a combination of two or three of them, and this embodiment does not make any special limitations on this.

[0098] By intermittently driving the pool robot to perform at least one more edge-hugging action after it first reaches the pool edge, the robot can periodically perform edge-hugging actions without detecting a termination condition. This allows it to maintain a close proximity to the pool edge for a longer period, effectively extending the edge-hugging state when battery life is limited, and increasing the probability of being detected and retrieved by the user. Secondly, by limiting the termination condition, the system has an adaptive exit capability, thus avoiding the execution of invalid edge-hugging loops when retrieval is complete or energy is critical, ensuring the safety and rationality of the control logic.

[0099] In one example embodiment of this disclosure, the pool robot includes a propulsion module that can be controlled to perform at least one start-stop action after the pool robot first reaches the edge of the pool, so as to drive the pool robot to perform at least one more edge-hugging action; wherein the start-stop action is to start the propulsion module and then shut it down after the preset conditions are met.

[0100] The propulsion module is the power unit that enables the pool robot to generate thrust and adjust direction on the water surface. Its structure can take the form of a propeller, water pump, or water jet propulsion. The propulsion module can be electrically connected to the pool robot's control module, receiving start and stop commands from the control module, thus switching between working and stopped states at different times. The start and stop actions of the propulsion module are not continuous, but intermittent. That is, it starts periodically under specific timing and shuts down after completing a small displacement correction to avoid continuous high energy consumption.

[0101] When the propulsion module is activated, it calculates the required thrust and direction based on the current position's relative distance and direction to the pool edge, thus propelling the pool robot towards the edge. When deactivated, the robot floats, relying solely on buoyancy and its own weight to remain stationary. In this state, slight positional shifts may occur due to surface disturbances or minor water currents. Alternating activation and deactivation allows for short-term thrust correction when positional shifts occur, while the robot remains stationary most of the time to conserve energy. This control method ensures the robot remains near the pool edge and extends its stationary position even with limited energy.

[0102] Preset conditions refer to dynamic control data used to determine when the propulsion module will shut down after startup, which can constrain the start-up and shutdown logic of the pool robot's propulsion module. For example, the preset condition can be a start-up duration condition, where the control module of the pool robot automatically issues a shutdown command after the propulsion module starts and runs continuously for a set duration (e.g., 3 or 5 seconds). The start-up duration condition can be used in scenarios where the water surface is stable or the pool robot's posture is stable, ensuring that the propulsion module generates sufficient thrust to complete position correction while avoiding unnecessary energy consumption caused by prolonged operation. The preset condition can also be a distance judgment condition, where the pool robot can detect the distance between itself and the edge of the pool in real time during the propulsion module's operation. When the distance is less than or equal to a target threshold (e.g., within the range of 0.2 to 0.3 meters), it can be determined that the edge contact is complete and execute the shutdown command. The distance judgment condition can achieve closed-loop control through position feedback, enabling the pool robot to automatically adjust its propulsion behavior according to the actual edge contact situation, improving positioning accuracy and control adaptability. The preset condition can also be a continuous detection condition, where the propulsion module is only triggered to shut down when the distance or posture change signal continuously meets a specific condition (e.g., the distance between the pool robot and the edge of the pool is less than a threshold for more than 2 seconds). This continuous detection condition can filter out instantaneous fluctuations caused by water flow disturbances or noise, avoiding energy waste caused by frequent start-up and shutdown of the propulsion module. Of course, the preset conditions can also be other types of constraints used to control the pool robot to stay close to the edge. The specific settings can be customized according to the actual application scenario. This embodiment does not impose any special limitations on this.

[0103] In some alternative implementations, the start-stop cycle can be set through fixed-time scheduling, such as starting the propulsion module every certain number of seconds or minutes, making minor corrections, and then shutting it down again, forming a regular cycle. Adaptive start-stop can also be achieved based on state detection; when the distance sensor, accelerometer, or inertial measurement unit detects that the robot's relative position or attitude deviation exceeds a preset threshold, the propulsion module is immediately triggered to start and stops operating after returning to the allowable range. Alternatively, a multi-source fusion approach can be used to simultaneously consider time and position deviation factors, thereby achieving more efficient control logic. This embodiment does not impose any special limitations on the method of setting the start-stop cycle.

[0104] In some alternative implementations, start-stop control can be further coupled with the battery management system. When the battery is fully charged, the start-stop frequency can be relatively high to ensure the stability of position maintenance; while when the battery gradually decreases, the start-stop frequency can be gradually reduced to extend the overall running time. This dynamic adjustment method can ensure edge-hugging stability while taking into account energy efficiency, and avoid the robot drifting away from the edge of the pool due to excessive energy consumption when unattended for a long time.

[0105] In some alternative implementations, the propulsion module of the pool robot can be shut down after the pool robot first reaches the edge of the pool; alternatively, the propulsion module can be kept running for a preset time after the pool robot first reaches the edge of the pool before being shut down. This embodiment does not impose any special limitations on this.

[0106] By controlling the propulsion module to start and stop after the pool robot first reaches the pool edge, sufficient propulsion force can be generated during a short start-up to reapproach the edge, and then immediately shut off upon reaching the target position. This forms a controllable edge-following compensation cycle, which reduces the continuous power consumption of the propulsion module while maintaining the pool robot's proximity to the pool edge. This makes the propulsion behavior discrete and rhythmic in time, effectively solving the problem of rapid power consumption caused by continuous operation, and maintaining a longer edge-following and stopping time even with limited power. Furthermore, by using a preset start-up duration, the propulsion module's actions are controllable and disturbances are predictable, preventing rebound or edge detachment caused by excessive propulsion, thus making the edge-following process smoother and more controllable.

[0107] In one example embodiment of this disclosure, after the pool robot first arrives at the edge of the pool, the propulsion module can be controlled to perform start-stop actions at a preset fixed frequency to drive the pool robot to perform the edge-hugging action at least twice more.

[0108] Upon detecting the robot's approach, control commands can be generated at a preset fixed frequency. These commands control the propulsion module to alternately switch between working and stopped states. In working state, the propulsion module generates forward thrust, causing the pool robot to move close to the pool edge and correct deviations caused by water flow or disturbances. In stopped state, the propulsion module is turned off, and the pool robot briefly stays within the pool edge area due to buoyancy and inertia, thus avoiding increased energy consumption caused by continuous operation of the propulsion module for extended periods.

[0109] The preset fixed frequency can be the duration of the start-stop cycle. For example, a start-stop cycle can be triggered every 15 minutes, and the robot can continue to move forward for 3-5 minutes after detecting that it is touching the edge of the pool. The selection of the preset fixed frequency needs to strike a balance between maintaining the edge-hugging effect and reducing energy consumption. It should ensure that the pool robot can correct its course in a timely manner in a disturbed environment, while avoiding unnecessary power consumption due to excessively frequent start-stop actions. Understandably, the parameters of the preset fixed frequency can be selected through experimental data or customized by the user in different scenarios. For example, a higher start-stop frequency can be selected in outdoor pools with large waves, while a lower start-stop frequency can be used in indoor pools with a calmer environment to adapt to different operating conditions. This embodiment does not impose any special limitations on the specific value of the preset fixed frequency.

[0110] During at least two more edge-adhering actions, the propulsion module generates a certain thrust after each activation, propelling the pool robot closer to the pool edge. When the robot gradually deviates from the edge due to water flow, the edge-adhering action can be triggered again to pull it back to a near-edge position. As time continues, based on the previous edge-adhering action, it can be triggered again to further ensure that the pool robot can return to the vicinity of the pool edge even after accumulated external disturbances. This repeated edge-adhering mechanism creates redundancy on the timeline; even if a single correction fails to fully correct the position due to disturbances, subsequent edge-adhering actions can continue to function, making the overall edge-adhering maintenance more reliable.

[0111] In some alternative implementations, the start and stop actions of the propulsion module can be achieved using different actuators. For example, when the propulsion module is a propeller-type structure, the motor can be controlled to run intermittently using a pulse width modulation (PWM) signal; when the propulsion module is a water pump jet-type structure, the pump body can be intermittently powered using a solenoid valve or electronic switch; when the propulsion module is a jet-flow-type structure, the start and stop actions can be achieved by adjusting the opening and closing frequency of the jet valve. This embodiment does not impose any special limitations on these aspects.

[0112] By introducing fixed-frequency control into the start-stop action of the propulsion module, the pool robot can perform edge-fitting compensation in a periodic rhythm, thus forming a timed correction edge-fitting mode. This fixed-frequency start-stop control not only simplifies the control system in structure and makes it easier to implement in logic, but also forms a stable self-correction mechanism in wave or periodic water flow environments. This allows the pool robot to reapproach the pool edge at each fixed time interval, reducing the drift accumulation effect and effectively improving the time stability of the docking position. This enables the pool robot to maintain a high probability of being in the recoverable edge area even during long idle periods.

[0113] In one example embodiment of this disclosure, after the pool robot first arrives at the edge of the pool, the propulsion module can be controlled to perform start-stop actions according to a target dynamic frequency, and the target dynamic frequency decreases as the remaining battery power of the pool robot decreases for at least a portion of the time, so as to drive the pool robot to perform at least two more edge-hugging actions.

[0114] The target dynamic frequency refers to the scheduling parameter used to guide the propulsion module in performing start-stop actions on the time axis, representing the number of cycles the propulsion module completes from start to stop per unit time. The value of the target dynamic frequency can be adjusted in real time according to the remaining battery power. When the battery power is high, the target dynamic frequency is maintained at a high level to perform edge-hugging actions more frequently, thereby enhancing the stability of the pool robot's edge maintenance. As the battery power gradually decreases, the target dynamic frequency gradually decreases to reduce the number of start-stop operations, thereby extending the overall running time and improving energy utilization efficiency.

[0115] Of course, in some alternative implementations, the target dynamic frequency can also increase for at least a portion of the duration as the pool robot's remaining battery power decreases. For example, when the pool robot is detected to be entering a low-battery phase, the target dynamic frequency can be increased, causing the propulsion module to perform start-stop actions more frequently per unit time. This enhances the response speed and magnitude of edge-keeping correction, ensuring that the robot can actively approach the pool edge before its energy is depleted, thereby increasing the probability of being detected and retrieved by the user. Through this reverse adjustment of the target dynamic frequency, the pool robot can prioritize energy utilization efficiency during high-battery phases and prioritize edge-keeping and retrieval success rates during low-battery phases. This allows for increased detection and retrieval probability in low-battery states while maintaining edge-keeping endurance, further improving the retrieval success rate. For ease of understanding and explanation, the following description will assume that the target dynamic frequency decreases as the pool robot's remaining battery power decreases.

[0116] Understandably, the target dynamic frequency can gradually decrease throughout the entire operating cycle as the remaining battery power decreases. That is, when the battery power is higher, the execution frequency of the propulsion module's start-stop action is higher, thereby ensuring that the pool robot can frequently perform edge correction during the fully charged phase, maintaining high-precision edge-keeping control. As the battery power gradually decreases, the start-stop frequency is automatically reduced, keeping the propulsion module in a closed state for longer time intervals, thereby reducing power consumption and extending the runtime. Of course, the target dynamic frequency can decrease with the decrease in battery power for some periods to achieve high-precision control, while remaining fixed for other periods to prevent control oscillations or response delays caused by frequent dynamic adjustments. For example, during the period when the pool robot's battery power is greater than a preset battery power threshold, the target dynamic frequency remains fixed, maintaining the initial set frequency, and during the period when the pool robot's battery power is less than or equal to the preset battery power threshold, the target dynamic frequency decreases as the pool robot's remaining battery power decreases.

[0117] After the pool robot first reaches the edge of the pool, the target dynamic frequency of the start-stop action can be determined based on the remaining battery power. The target dynamic frequency characterizes the number of times the propulsion module repeatedly starts and stops per unit time. Its value has a monotonically decreasing functional relationship with the remaining battery power; that is, the frequency of start-stop triggering decreases accordingly as the remaining battery power decreases, thereby reducing the duty cycle of energy output. To obtain reliable remaining battery power information, the State of Charge (SOC) and parameters such as terminal voltage and temperature can be read from the Battery Management System (BMS), and the current SOC is estimated through a fusion of coulomb measurement and open-circuit voltage correction. The target dynamic frequency can be calculated using linear mapping, piecewise linear mapping, or exponential mapping, combined with saturation constraints of upper and lower frequency limits, to ensure that the start-stop rhythm meets the correction requirements of the edge-hugging action without causing over-triggering during low-battery phases. To suppress frequency fluctuations near the SOC critical point, hysteresis intervals with different uplink and downlink thresholds and a minimum hold time can be introduced to keep the target dynamic frequency stable within a short time window. For battery packs with different capacities and discharge characteristics, the mapping curve parameters can be configured according to the model during factory calibration or user maintenance to adapt to diverse power platforms. This embodiment does not impose any special limitations on this.

[0118] Once the target dynamic frequency is determined, the propulsion module can be driven to execute a start-stop sequence according to the target dynamic frequency, ensuring that the pool robot performs at least two more edge-following actions. The start-stop actions are represented on the timeline as alternating start and stop periods. The start period generates corrective thrust towards the pool edge, while the stop period utilizes buoyancy and inertia to achieve low-power attitude and position drift buffering. To achieve smooth mechanical response and low noise performance, the propulsion module can use pulse width modulation to soft-start and soft-stop the motor or pump, avoiding voltage drops and additional surges caused by instantaneous high current. Within each start period, the propulsion direction is updated based on the proximity vector recorded from the most recent edge-following action or the real-time measured edge orientation. The thrust amplitude can be limited as a function of distance error and yaw error, ensuring the correction trajectory remains monotonically approximate. To avoid high-frequency reciprocating motion in the edge neighborhood, a decreasing law related to the distance error can be applied to the duty cycle during the start-up period, and subsequent start-up periods can be automatically shortened or skipped when the near-state is stabilized. This reduces energy consumption and water surface disturbance while meeting the correction requirements.

[0119] In some alternative implementations, the target dynamic frequency can be determined linearly; for example, the target dynamic frequency can be expressed by the following relationship:

[0120] f(SOC)=f max -k·(SOCref -SOC)

[0121] Where f(SOC) can represent the target dynamic frequency; f max The upper limit of the preset target dynamic frequency can be represented by k; k can represent the linear adjustment coefficient, used to characterize the degree of influence of changes in battery state of charge on the rate of decrease in the target dynamic frequency. The larger k is, the faster the target dynamic frequency decreases when the remaining battery power decreases. It can generally be determined through experimental calibration or by user customization; SOC can represent the current remaining battery power of the pool robot, with a value range of 0% to 100%. ref It can represent the reference remaining battery level of the pool robot, usually taken as a value close to full charge, such as 100%, and is used to set the starting point for linear descent.

[0122] The target dynamic frequency can also be determined exponentially. For example, the target dynamic frequency can be expressed by the following formula:

[0123]

[0124] Among them, f min It can represent the lower limit of the preset target dynamic frequency; SOC norm It can represent the normalized state of charge (SOC), which is a dimensionless variable mapped from the current remaining battery charge (SOC) to the interval [0,1] through a linear transformation. It can be expressed through the SOC. norm =(SOC-SOC) min ) / (SOC max -SOC min The calculated SOC max and SOC min These represent the maximum and minimum remaining battery capacity of the pool robot, respectively. α can represent the exponential decay coefficient. When α is large, the target dynamic frequency decays rapidly as the battery capacity decreases; when α is small, the decrease in target dynamic frequency is more gradual. This can generally be determined through experimental calibration or by custom calculation. Of course, the target dynamic frequency can also be calculated in other ways, as long as it decreases as the remaining battery capacity of the pool robot decreases. This embodiment does not impose any special limitations on this.

[0125] By controlling the propulsion module to perform start-stop actions according to the target dynamic frequency and dynamically adjusting the target dynamic frequency based on the remaining battery power, the edge-keeping behavior is linked with the energy state of the pool robot. This allows the robot to maintain a high edge-keeping frequency when the battery is full to quickly offset environmental disturbances, and automatically reduce the edge-keeping frequency when the battery is low to extend the remaining runtime. This not only effectively solves the balance problem between edge-keeping maintenance and power consumption, but also enables the pool robot to maintain the optimal edge-keeping strategy under different energy states, improving the persistence of edge-keeping and allowing the pool robot to maintain a high probability of being in a retrievable edge area even during long idle periods.

[0126] In one example embodiment of this disclosure, the pool robot includes a propulsion module. When driving the pool robot to perform the edge-hugging action, the propulsion module drives the pool robot to approach the edge of the pool at a first rotation speed, and after the pool robot touches the edge, it runs at a second rotation speed for a preset time, and the first rotation speed is greater than the second rotation speed.

[0127] When driving the pool robot to perform the edge-hugging action, the robot's propulsion module operates at a first rotational speed, which refers to the operating state of the propulsion module at a higher power level. At this first rotational speed, the propulsion module can provide sufficient propulsion for the pool robot, enabling it to quickly approach the pool edge from the center. Simultaneously, the propulsion module at this first rotational speed can generate a larger fluid flow, effectively overcoming the effects of water resistance, fluctuations, and external disturbances, allowing the pool robot to monotonously approach the pool edge along a close-fitting path in various environmental scenarios.

[0128] The initial rotational speed can be achieved by adjusting the motor voltage or current in the propulsion module. For example, the initial rotational speed can be 1200 to 1600 rpm or 1400 to 1800 rpm. The specific value can be customized based on the recommended module's rotational speed limit or the pool robot's battery voltage, etc. This embodiment does not impose any special limitations on the range of the initial rotational speed. During the operation of the propulsion module at the initial rotational speed, the pool robot can dynamically correct its propulsion direction based on feedback from the distance sensor or visual recognition module, ensuring that it can maintain trajectory accuracy close to the target pool edge even at high speeds. In some optional implementations, the propulsion module can be controlled using pulse width modulation (PWM) signals to achieve flexible acceleration and deceleration, avoiding instability caused by sudden increases in rotational speed. This embodiment is not limited to this. In this way, the pool robot can efficiently transition from the pool center to the pool edge area, shortening the approach time and improving the pool robot's edge-hugging efficiency.

[0129] After the pool robot has successfully approached the pool edge, the propulsion module switches from a first rotational speed to a second rotational speed. The second rotational speed refers to the operating state of the propulsion module at a lower power level, aimed at reducing power consumption while maintaining edge stability. The second rotational speed is lower than the first. When operating at the second rotational speed, the thrust generated by the propulsion module is significantly less than at the first rotational speed. For example, the second rotational speed can be set in the range of 600 to 700 rpm, or 700 to 800 rpm; this embodiment does not impose any specific limitations on this. At this point, since the pool robot is near or close to the pool edge, its main task is to counteract water surface fluctuations and random disturbances with small-amplitude thrust, preventing it from slowly drifting away from the pool edge area. During this operating phase, changes in displacement and attitude can be detected more sensitively. If a slight deviation is detected, the propulsion module is briefly started and stopped in conjunction with the second rotational speed output for correction. To ensure a smooth transition, the propulsion module's rotational speed can be soft-switched when transitioning from the first speed to the second speed. For example, the speed can be gradually reduced by progressively decreasing the duty cycle of the PWM signal, preventing instantaneous imbalance in the robot due to sudden changes. In some implementations, the second speed can also be dynamically adjusted based on the actual battery level. When the battery is high, the recommended range is maintained; when the battery is low, the recommended range of the second speed is reduced to extend the pool robot's edge-keeping time.

[0130] The preset duration refers to the time period during which the propulsion module continues to operate at a second rotational speed after the pool robot completes its edge-hugging maneuver. This ensures the pool robot can further stabilize its edge-hugging posture upon reaching the pool edge. The preset duration can be determined comprehensively based on the pool robot's inertial characteristics, water resistance, propulsion module response delay, and edge-hugging stability requirements. The preset duration can also depend on the kinetic energy decay process of the propulsion module after switching from high to low rotational speed. By maintaining the second rotational speed for a certain period, the pool robot retains adequate thrust compensation before the inertial displacement dissipates, thus preventing instantaneous rebound or drift caused by water flow or external disturbances. For example, the preset duration can be a fixed duration or a dynamically variable duration. When the preset duration is fixed, it can be determined through experimental calibration, such as values ​​of 1 second, 3 seconds, or 5 seconds, to meet the edge-fitting requirements under different power levels and water resistance conditions. When the preset duration is dynamically variable, it can be adjusted in real time based on the rate of change of the pool robot's posture angle, the magnitude of the edge-fitting contact force, or the current feedback characteristics of the propulsion module. For example, when a large edge-fitting contact impact or significant posture fluctuation is detected, the maintenance time can be automatically extended to ensure balance recovery. Conversely, when the posture is stable or the contact is smooth, the preset duration can be shortened to reduce energy consumption.

[0131] refer to Figure 2As shown, in this embodiment, when the pool robot 201 needs to stay close to the edge of the pool after completing a cleaning task or recharging, it first floats on the water surface in a state as follows: Figure 2 The initial position A is shown. The pool robot 201 can start the propulsion action through the internal propulsion module and move along the first edge-touching path 203 towards the nearest pool edge 202. When it detects that the distance to the pool edge 202 is less than or equal to a certain distance or physically touches the pool edge 202, it is determined that it has reached the pool edge 202 for the first time and is in the edge-touching state of the first edge-touching position B. At this time, the propulsion module can be turned off or the propulsion module can be kept running for a short period of time before being turned off.

[0132] When the pool robot 201 is at the first edge-hugging position B and its propulsion module is turned off, it will be subject to external disturbances, such as drift caused by waves, water flow impact, or attitude angle deviation. Its sensing module will detect in real time that the distance between it and the pool edge 202 is gradually increasing. Once the distance exceeds the preset distance threshold 206, it will determine that the current position is far away from the pool edge 202. At this time, the pool robot 201 may gradually drift along the drift path 204 to the drift position C as shown in the figure, in a drifting state with an increasing distance from the pool edge 202.

[0133] To restore the edge-fitting state, based on the real-time distance information collected by the distance sensor or differential positioning module, after determining that the distance between the robot and the pool edge 202 is greater than or equal to the preset distance threshold 206, the propulsion module is triggered to perform the edge-fitting action again. For example, it can be started at the target dynamic frequency according to the preset start-stop strategy, and provide thrust within a preset time to make the pool robot 201 move towards the pool edge 202 along the edge-fitting path 205 again, and re-establish the edge-fitting state with the pool edge.

[0134] During this process, the propulsion module can automatically adjust its start / stop frequency and thrust output based on the battery level to achieve a balance between energy saving and stable edge contact. When the pool robot 201 reaches the second edge-contact position D as shown in the figure again, it re-establishes the edge-contact state. At this time, the propulsion module can be turned off or maintained at a low speed for a period of time before being turned off to ensure that the pool robot continues to maintain close proximity to the pool edge 202 in the water flow environment.

[0135] Furthermore, to enhance the robustness of edge-following control, the pool robot 201 can simultaneously combine signals from the sensing module and external control devices for motion correction. For example, when the sensing module detects that the attitude angle or acceleration fluctuation exceeds a threshold, or when an external base station sends an edge-following command, the control module can immediately execute a compensatory edge-following action.

[0136] By setting different propulsion speeds during the edge-approaching process, the propulsion module operates at a higher speed when approaching the pool edge and at a lower speed after approaching the edge. This allows for sufficient kinetic energy to quickly complete the approach action during the edge-approaching and stopping phase, while reducing fluid disturbance and energy consumption during the holding phase. This graded speed control can effectively avoid impacts or rebounds caused by excessive propulsion force. At the same time, it can reduce the amplitude of the pool robot's attitude sway when floating on the water surface, improving the smoothness and stability of the edge-approaching action. This control method can also allow the propulsion module to act as an attitude correction force source when running at low speed, enhancing the attitude maintenance capability after approaching the edge, thereby achieving a dynamic balance between stability and energy efficiency.

[0137] In one example embodiment of this disclosure, the pool robot includes a sensing module that determines when to perform the edge-hugging action again after the pool robot first reaches the edge of the pool.

[0138] The sensing module refers to a sensor assembly used to acquire real-time information about the spatial state, attitude, and external environment between the pool robot and the pool edge. For example, the sensing module can measure the relative distance between the robot and the pool wall using an ultrasonic ranging sensor, identify the characteristic contours of the pool wall using a visual sensor, or collect acceleration and angular velocity parameters using an inertial measurement unit (IMU) to calculate the robot's positional offset and attitude changes while floating on the water surface. Alternatively, the sensing module can incorporate a water flow sensor to detect changes in the water flow velocity on the pool surface, using this as a reference signal to trigger another edge-hugging action. This embodiment does not limit the specific configuration of the sensing module.

[0139] For example, in some optional implementations, the distance sensor of the perception module can output a stable distance value when the pool robot is close to the edge of the pool at a distance of 0.2 to 0.5 meters. When the distance value exceeds this threshold range, it can be determined that the pool robot is gradually moving away from the edge, thereby triggering the propulsion module to execute a new edge-adhering action. In another scenario, if the IMU detects a continuous shift in attitude angle exceeding 5° to 10° in a short period of time, accompanied by a sudden change in horizontal acceleration, it can be inferred that the pool robot is being disturbed by external forces such as water flow or waves, which can also serve as a trigger condition or opportunity for another edge-adhering action. The vision sensor can be used in pool environments with clear water and good lighting conditions. The perception module can detect the relative displacement between the pool robot and the pool wall by matching edge feature points extracted by the vision sensor. When the edge feature points decrease to a preset lower limit in consecutive frames, it can be considered that the pool robot is moving away from the pool edge and needs to re-execute the edge-adhering action. Of course, the above are only illustrative examples and should not be construed as limiting the specific implementation of this example.

[0140] In practical applications, multi-sensor fusion can also be used. For example, a Kalman filter can be used to jointly estimate the outputs of the distance sensor, IMU, and vision sensor, thus ensuring the stability of the judgment even if a single sensor fails or data fluctuates. In an optional embodiment, the sampling period of the sensing module can be adaptively adjusted. When the pool robot is floating in a stable environment, the sampling frequency of the sensing module can be reduced to save computing resources and reduce energy consumption. When external environmental disturbances increase, the sampling frequency of the sensing module can be increased to achieve a rapid response.

[0141] In some optional implementations, the sensing module can introduce a hysteresis interval when determining when to re-execute the edge-hugging action. That is, after the pool robot deviates from the pool edge, the edge-hugging action is only triggered if the deviation exceeds a set secondary hysteresis threshold and persists for a certain period. This effectively avoids frequent edge-hugging actions due to oversensitivity, thereby reducing energy consumption and extending overall operating time. For example, the edge-hugging action is only triggered again when the deviation of the pool robot from the pool edge exceeds 0.5 meters and lasts for more than 5 seconds, while it remains in standby mode when the deviation is less than 0.3 meters. Hysteresis control achieves a balance between responding to external disturbances and energy saving, further extending the edge-hugging time of the pool robot while maintaining effective power consumption.

[0142] By incorporating a sensing module after the initial edge contact to determine the timing for the next edge contact, the pool robot can autonomously judge based on its real-time status relative to the pool edge, avoiding ineffective or excessive edge contact actions. This allows the edge contact action to be state-driven, making the system's response to environmental disturbances more accurate and timely. Consequently, the intelligence and execution efficiency of the edge contact behavior are improved. The introduction of the sensing module also enables the pool robot to adaptively adjust its propulsion strategy based on information such as posture changes and water flow direction, enhancing the reliability and flexibility of docking.

[0143] In one example embodiment of this disclosure, the pool robot can be driven to perform at least one more edge-fitting action when the distance between the pool robot and the edge of the pool is greater than or equal to a preset distance threshold.

[0144] The distance between the pool robot and the pool edge refers to the shortest straight-line distance from a reference point of the pool robot (e.g., the geometric center of the pool robot or the mounting reference point of the propulsion module) to the inner wall of the pool edge. The sensing module may include ultrasonic sensors, infrared ranging sensors, optical time-of-flight (ToF) sensors, light detection and ranging (LiDAR) devices, or binocular stereo vision cameras.

[0145] In one optional implementation, if the sensing module is an ultrasonic sensor, it can calculate the distance by emitting ultrasonic pulses and receiving echoes, using the speed of sound and the time difference of propagation; if the sensing module is an optical ToF sensor, it can obtain high-precision distance data by modulating light pulses and detecting their return time delay or phase difference; if the sensing module is a LiDAR device, it can determine the pool wall contour by performing point cloud scanning of the pool environment and combining it with a geometric fitting algorithm, and calculate the real-time distance from the pool robot to the pool wall.

[0146] In another optional implementation, if the perception module is a binocular stereo vision camera, the perception module can recover depth information by calculating image parallax, thereby obtaining the spatial distance between the pool robot and the pool edge. To ensure the reliability of the ranging data, median filtering, Kalman filtering, or unscented Kalman filtering algorithms can be introduced during the signal processing stage to suppress abnormal fluctuations caused by water surface ripples, light reflection, or sensor noise, and to perform weighted fusion of multiple sampling results to form a stable distance estimate.

[0147] The preset distance threshold is a reference parameter set by the system or configured by the user to determine whether the pool robot has deviated from its proximity to the pool edge. For example, the preset distance threshold can be set to 0.3 meters or 0.5 meters, and so on. Figure 2 As shown, when the real-time distance collected by the sensing module is greater than or equal to the preset distance threshold of 206, it can be determined that the pool robot is gradually moving away from the edge of the pool, thereby triggering the edge-hugging action.

[0148] Optionally, the preset distance threshold can be obtained through experimental calibration and stored in the non-volatile memory of the control unit, and can also be updated in real time through remote control commands during operation. Of course, the preset distance threshold can also adopt a multi-level threshold judgment strategy. For example, the preset distance threshold can include a first threshold and a second threshold, where the first threshold is used to judge slight deviations and trigger small-amplitude corrections, and the second threshold is used to judge significant deviations and trigger a complete edge-hugging action. To avoid misjudgments caused by instantaneous noise or local disturbances, a time-holding mechanism can also be introduced. The propulsion module is only triggered to perform the edge-hugging action when the sampled data meets the condition of being greater than or equal to the threshold in multiple consecutive periods. Furthermore, a rate-of-change constraint can be introduced into the triggering condition. When the distance increases at a rate exceeding the preset rate-of-change threshold in a short period, the edge-hugging action can be triggered even if the secondary threshold is not reached. This avoids scenarios where the pool robot quickly moves away from the pool edge due to large waves, thus quickly returning the pool robot to the pool edge area, reducing the energy required to return to the pool edge when the distance is far, and further extending the time the pool robot stays close to the pool edge.

[0149] By using a sensing module to collect the distance between the pool robot and the edge of the pool in real time, the robot automatically triggers an edge-hugging action when the distance exceeds a preset distance threshold. This allows the edge-hugging behavior to have quantitative triggering conditions, effectively avoiding frequent invalid edge-hugging operations due to small-scale disturbances. At the same time, it ensures that edge-hugging compensation is executed immediately when the actual deviation reaches a significant level. As a result, the pool robot can achieve highly effective edge-hugging actions at a low frequency, which saves energy and ensures the stability of edge-hugging and docking in various disturbance environments.

[0150] In one optional embodiment of this disclosure, the timing for re-performing the edge-fitting action includes at least one or a combination of the following timings:

[0151] When the swimming pool robot's posture angle exceeds a preset posture angle threshold;

[0152] When the acceleration fluctuation of the pool robot exceeds the preset acceleration threshold;

[0153] When the light intensity or ambient sound characteristics collected by the pool robot are abnormal data;

[0154] When the pool robot loses physical contact with the edge of the pool;

[0155] When the remaining battery power of the pool robot is lower than the preset power threshold.

[0156] The attitude angles refer to the pitch, roll, and yaw angles of the pool robot while it is floating on the water surface. These are measured in real-time by the gyroscope and accelerometer in the inertial measurement unit. When the attitude angle deviation exceeds a preset attitude angle threshold—for example, a pitch angle exceeding 10° or a roll angle exceeding 15°—it can be determined that the pool robot has been disturbed by water flow or waves and has become unstable. In this case, the propulsion module performs an edge-hugging action to readjust its position and attitude. The preset attitude angle thresholds can be set experimentally or by the user, or they can be adapted to different robot sizes and float designs. This example embodiment does not impose any special limitations on this. In some optional implementations, a Kalman filter algorithm can be used to smooth the attitude angle data to avoid misjudgments caused by instantaneous jitter.

[0157] Acceleration fluctuation refers to the change in the acceleration of the pool robot within a preset time window, measured by a triaxial accelerometer in the IMU. When the detected acceleration fluctuation in the horizontal or vertical direction exceeds a preset acceleration threshold, such as 0.5g or 1.0g, it can be assumed that the pool robot is affected by external disturbances and may gradually deviate from the pool edge. In this case, the propulsion module needs to be triggered immediately to correct the deviation and restore the approach state. In specific implementations, the preset acceleration threshold can adopt a dynamic adjustment strategy, setting a higher threshold when the pool environment is calm and lowering the preset acceleration threshold when the pool environment is wavy. This embodiment is not limited to this.

[0158] Light intensity data can be provided by a light sensor, while ambient sound data can be collected by an underwater microphone or acoustic sensor. Abnormal data refers to sudden changes in light intensity data, such as a drop of more than 50% in light intensity data across multiple consecutive frames, which may indicate that the pool robot has drifted away from the pool edge area where light intensity is high. Abnormal ambient sound data may manifest as increased noise caused by water flow, which can serve as supplementary criteria for determining whether the pool robot has deviated from the pool edge. In an optional implementation, multimodal features of light intensity and ambient sound characteristics can be combined for fusion judgment; when both types of anomalies occur simultaneously, the priority of triggering the edge-hugging action is increased.

[0159] The physical contact between the pool robot and the pool edge can be determined using touch sensors, piezoelectric elements, or microswitches mounted on the robot's shell. When the robot is near the edge, it maintains a light touch with the pool wall. If the contact signal is lost, it can be assumed that the robot has drifted away from the edge, and the propulsion module must be immediately activated to re-execute the edge-touching action. To avoid false triggering due to momentary loss of contact caused by slight vibrations, a time-holding mechanism can be implemented, for example, setting a time limit for re-execution of the edge-touching action only after a continuous loss of physical contact of more than 2 seconds.

[0160] The remaining battery power can be determined using the state of charge (SOC) parameters provided by the battery management system. When the remaining battery power falls below a preset threshold (e.g., 20% or 30%), it can be determined that the pool robot needs to approach the pool edge as quickly as possible for user retrieval, and thus the propulsion module will perform an edge-hugging action. The preset threshold can be configured based on battery capacity and runtime. For example, in large pools, a higher preset threshold is set to ensure the robot has sufficient time to maintain its edge position before the battery runs out; in smaller pools, the preset threshold can be appropriately lowered to extend the robot's operating time.

[0161] By integrating multi-dimensional perception conditions such as attitude angle, acceleration, illumination, ambient sound, physical contact, and battery status, the edge-fitting trigger logic is extended into a multi-scenario fusion judgment mode. It can actively trigger edge-fitting behavior under any abnormal conditions such as external interference, environmental changes, or insufficient energy, thereby forming a comprehensive state detection system. This multi-signal fusion control strategy can not only effectively improve the trigger reliability of edge-fitting actions, but also maintain consistency under different environmental noise, illumination, and hydrodynamic conditions, giving the system higher robustness and adaptability.

[0162] In one optional embodiment of this disclosure, the pool robot can be driven to perform an edge-hugging action towards the nearest pool edge. For example, the relative positional relationship between the pool robot and each pool edge can be detected by a distance sensor installed on the pool robot, thereby determining the nearest pool edge; alternatively, the relative positional relationship between the pool robot and each pool edge can be detected by an external control device communicatively connected to the pool robot, thereby determining the nearest pool edge and sending the relevant information to the pool robot; of course, other methods can also be used to detect the nearest pool edge, and this embodiment does not specifically limit this. For ease of explanation, the following description will focus on determining the nearest pool edge using a distance sensor installed on the pool robot.

[0163] In this context, a distance sensor refers to a sensing element used to detect the relative positional relationship between the pool robot and the edge of the pool. For example, a distance sensor can be an ultrasonic ranging sensor, an infrared ranging sensor, a ToF sensor, or a LiDAR device. This embodiment does not impose any special limitations on the type of distance sensor.

[0164] Multiple distance sensors can be installed at various locations on the pool robot's shell to achieve omnidirectional distance detection. The pool robot can select the direction with the smallest distance measurement from the multiple sensor outputs and determine that direction as the nearest pool edge. Alternatively, a single distance sensor can be used, where the pool robot rotates in place to collect distances to the surrounding pool edges and selects the direction with the smallest distance value as the nearest pool edge. For example, if ultrasonic sensors are installed around the pool robot, the distance values ​​collected in a single acquisition cycle in four directions would be 0.45 meters, 0.35 meters, 0.60 meters, and 0.50 meters, respectively. The control unit would select the direction corresponding to 0.35 meters as the nearest pool edge and perform an edge-hugging action towards that edge.

[0165] By setting up distance sensors to identify distance data in multiple directions and driving the pool robot to move towards the nearest pool edge, the pool robot can quickly determine the optimal direction to approach the edge from any initial position or in a drifting state. This can shorten the edge-approaching path length, reduce energy consumption, and improve the edge-approaching convergence speed. At the same time, the directional ranging function of the distance sensors can achieve precise positioning in the water environment, making the edge-approaching behavior more spatially targeted and path-optimized.

[0166] In one example embodiment of this disclosure, the pool robot can be controlled to perform an edge-fitting action towards the nearest pool edge via edge-fitting control commands from an external control device.

[0167] External control devices refer to those that are not directly installed inside the pool robot but establish a data link with it via communication. These external control devices can be intelligent terminal devices with automatic control functions, such as smartphones, tablets, or remote controls, or they can be fixed control base stations or network control modules connected to a cloud server. External control devices can establish a connection with the pool robot via wireless communication methods, such as Bluetooth, Wireless Local Area Network (WLAN), 4G, or 5G. In large-area pool scenarios, cellular communication networks can also be used as the basic link for remote control.

[0168] An external control device can automatically generate edge-grabbing control commands according to a preset program when the pool robot needs to move close to the edge. These commands are transmitted to the pool robot via a communication module, where they are parsed and converted into execution commands for the propulsion module, driving the robot to move towards the nearest pool edge. For example, the external control device can automatically generate edge-grabbing control commands according to a preset program and send them to the pool robot via Bluetooth. In another embodiment, the external control device can be a remote server or a fixed control base station. The remote server or fixed control base station automatically generates edge-grabbing control commands based on the location information uploaded by the pool robot and sends them to the pool robot for execution via a communication network.

[0169] In some alternative implementations, the external control device can also send edge-following control commands to the pool robot via acoustic, underwater optical, or electromagnetic signals. For example, in a low-noise indoor pool environment, edge-following control commands can be encoded using ultrasonic signals, and the pool robot receives and decodes these commands via an underwater microphone. In optically feasible scenarios, edge-following control commands can be sent via underwater LED flashing sequences, and the pool robot identifies these commands through optical sensors. In complex electromagnetic environments, narrowband power line communication can be used to send edge-following control commands, utilizing the conductive structures in the current pool environment to transmit signals. This example embodiment does not impose any special limitations on the method by which the external control device sends edge-following control commands.

[0170] Sending edge-hugging control commands through an external control device to drive the pool robot to perform edge-hugging actions enables communication and linkage between the control unit and the pool robot. The external control device can automatically generate edge-hugging control commands according to a preset program based on environmental conditions, task progress, or recovery requirements, and remotely control the pool robot's edge-hugging behavior through the automatically generated edge-hugging control commands. This method can effectively achieve the synergy between manual intervention and autonomous control, enabling the pool robot to have real-time response capabilities and human-machine collaboration characteristics in complex usage scenarios, thereby improving the overall system's operational flexibility and controllability.

[0171] In one example embodiment of this disclosure, after the pool robot first reaches the edge of the pool, the pool robot is driven to perform the edge-fitting action at least again based on the edge-fitting control command, which includes at least the frequency and / or timing of performing the edge-fitting action.

[0172] The determination of whether the pool robot has reached the edge of the pool can be achieved by a distance sensor detecting that the shortest distance between the robot and the pool wall is lower than a preset proximity threshold, or by a contact sensor in the sensing module detecting that the pool robot has made slight contact with the pool wall. After the initial arrival, the pool robot does not immediately end the edge-hugging process. Instead, in conjunction with edge-hugging control commands issued by external control equipment, the propulsion module is driven to perform the edge-hugging action at least once more during subsequent operation, so that the pool robot remains near the edge even in the event of external interference or drift.

[0173] The edge-fitting control command can include at least the frequency and / or timing of the edge-fitting action. Frequency refers to the number of repetitions of the edge-fitting action per unit time, and can be carried in integer or floating-point form via a communication protocol. For example, a frequency of 0.1Hz indicates an edge-fitting action every 10 seconds; a frequency of 0.2Hz indicates an edge-fitting action every 5 seconds. The frequency directly affects the balance between the stability of the edge-fitting action and energy consumption. In specific implementations, the frequency parameter can be automatically generated by an external control device based on actual environmental conditions. For example, a higher frequency is recommended in outdoor swimming pools with waves, while a lower frequency is recommended in calm indoor water. Alternatively, it can be a pre-defined setting, with the edge-fitting control command containing the set edge-fitting frequency automatically generated by a preset program. This embodiment does not impose any special limitations on the frequency setting method.

[0174] Timing refers to the triggering condition for the edge-hugging action, which can be achieved through time-driven, event-driven, or a combination of both. Timing can be time-based periodic triggering; for example, an external control device can control the pool robot to perform an edge-hugging action every 30 seconds via edge-hugging control commands. Of course, timing can also be event-based triggering; for example, when the sensing module detects that the distance between the pool robot and the pool wall exceeds a preset distance threshold, an edge-hugging action is immediately performed. In some optional implementations, time and event triggering can be combined; for example, the edge-hugging action can be performed at fixed time intervals, while an additional edge-hugging action is triggered when significant drift occurs, thereby achieving more robust control.

[0175] In some alternative implementations, the edge-following control commands can be expanded to include parameters such as action duration, propulsion intensity, or action priority, in addition to frequency and / or timing. For example, in a high-priority scenario, the pool robot can interrupt other low-priority tasks to immediately execute the edge-following action; in a low-priority scenario, the pool robot can handle other high-priority tasks and continue executing the edge-following action after the high-priority tasks are completed. When the action duration parameter is included, the propulsion module will maintain operation for a specified duration instead of relying solely on a distance threshold to end, thereby ensuring the effectiveness of the action in highly disturbed scenarios.

[0176] By driving the robot to follow the edge again based on edge-following control commands after the initial edge-following, and including edge-following frequency and timing in the edge-following control commands, or edge-following frequency and timing, the edge-following behavior can be automatically managed by external control equipment. This reduces the computational load and energy consumption of the pool robot. Furthermore, this control strategy can flexibly adjust the edge-following rhythm according to specific water flow conditions or the urgency of the task, enabling the system to form a hierarchical coordination between real-time control and autonomous control, effectively improving the predictability and response efficiency of edge-following behavior.

[0177] In one example embodiment of this disclosure, the external control device is a control base station and / or a floating beacon, and the edge-adhering control command is sent to the pool robot via sound waves, light signals or radio signals.

[0178] The control base station refers to an external control device fixedly installed at or around the edge of the pool. It communicates with the pool robot and is typically powered by a wired power supply or a high-capacity battery. It possesses strong signal transmission and processing capabilities. Internally, the control base station may include hardware structures such as a microprocessor unit, a communication module, and a signal amplification module. It can automatically generate edge-following control commands based on preset control strategies and send these commands to the pool robot through various signal transmission methods.

[0179] A floating beacon is a lightweight, external control device deployed on the water surface. It communicates with a pool robot, its outer shell made of waterproof buoyant material, and integrates a low-power communication unit and positioning module. The floating beacon can maintain its position on the water surface through its built-in anchoring system or by free floating. It can provide localized control commands to the pool robot based on its relative position, making it particularly suitable for irregularly shaped pools or scenarios requiring multi-area coverage. While control base stations are suitable for applications requiring centralized control and high-bandwidth communication, floating beacons are suitable for distributed deployment and flexible control, thus forming a complementary solution for different scenarios.

[0180] Acoustic wave transmission is based on the excellent propagation characteristics of acoustic signals in water. For example, control base stations or floating beacons can use underwater speakers or ultrasonic underwater communication modules to transmit modulated ultrasonic signals. The underwater acoustic sensors on the pool robot receive the signals and decode them into edge-following control commands. Acoustic wave transmission has the advantages of strong penetration and good resistance to water blockage, making it suitable for scenarios with high underwater environment stability requirements. The acoustic wave method can employ Frequency Shift Keying (FSK) modulation technology to map the frequency and timing parameters in the edge-following control commands to different acoustic wave frequencies, ensuring no conflicts occur when multiple commands are transmitted simultaneously.

[0181] Optical signal transmission sends control commands via modulated light flashing or pulse sequences through LEDs or laser emitting units on a control base station or floating beacon. An optical receiver on the pool robot receives the optical signals through a photodetector array and converts them into electrical signals to obtain the edge-following control commands. Optical signal transmission is characterized by strong directionality and high speed, making it suitable for use in clean water and short-distance conditions. Optionally, infrared optical communication can also be used to improve stability under low-light conditions. The optical signal transmission method can employ pulse width modulation (PWM) coding to convert the frequency and timing parameters of the edge-following action into different light flashing periods.

[0182] Radio signal transmission is achieved through short-range wireless communication modules, such as Bluetooth, Wi-Fi, or cellular communication modules. The control base station or floating beacon packages the edge-following control commands into wireless data frames at the signal transmitting end. The pool robot uses its built-in antenna and receiving module to parse these data frames and receive the control commands. The advantages of radio signal transmission are stable speed, strong anti-interference capability, and reliable communication over a relatively large range. Frequency hopping spread spectrum (FHSS) technology can be used to improve electromagnetic interference resistance in the pool environment.

[0183] By configuring external control devices as control base stations and / or floating beacons, and transmitting edge-following control commands via acoustic waves, optical signals, or radio signals, edge-following control becomes applicable to various communication media. Acoustic communication maintains stable transmission underwater, optical signals are suitable for surface-level environments, and radio signals offer high real-time performance for long-distance control. Support for multiple signal methods effectively improves the system's communication reliability and command response speed in different scenarios, giving edge-following control greater versatility and anti-interference capabilities.

[0184] In one example embodiment of this disclosure, the pool robot includes a diving module. When the pool robot needs to be close to the edge of the pool, the diving module controls the pool robot to be in a floating state. The floating state is a state in which at least part of the pool robot is submerged underwater and the other part is above the water surface.

[0185] The diving module is a functional unit used by the pool robot to adjust its buoyancy balance and attitude stability in the water. It allows the pool robot to switch between three basic states: sinking, hovering, and floating, by changing the difference between its own weight and its buoyancy in the water. For example, the diving module can use a ballast tank structure. The ballast tank regulates the water volume through an inlet and a drain pump. When the water is drained, the buoyancy exceeds the weight, and the pool robot switches from a sinking state to a floating state. Alternatively, the diving module can use a controllable airbag. The controllable airbag is inflated and compressed using a miniature air pump combined with an air storage device to adjust the buoyancy. When the pool robot needs to approach the edge of the pool, the control unit sends a command to the diving module, and the air storage device inflates the controllable airbag to expel excess water from the pool robot, making the overall buoyancy greater than the weight, thus allowing the pool robot to gradually rise and enter a floating state. (Reference) Figure 3As shown, the pool robot 301 is in a floating state. It can be understood that the floating state of the pool robot 301 means that at least part of it is submerged in water and the other part is above the water surface, regardless of its position. For example, the pool robot 301 can float at a certain distance from the edge 302 of the pool, such as in the center of the pool. The pool robot 301 can also float at a position close to the edge 302 of the pool. This embodiment does not make any special limitations on this.

[0186] Scenarios where the pool robot needs to stay close to the edge of the pool include, but are not limited to, when the pool robot has completed a preset cleaning task, when the cleaning task is not yet completed but the battery power is low and needs to be replenished, when the pool robot detects a fault during operation and needs to be repaired, when a sudden change in the pool environment is detected (such as the water flow speed exceeding the safety threshold, the appearance of a large area of ​​obstacles on the water surface, drastic changes in ambient light, or the detection of hazardous substances by the water chemical sensor) leading to operational risks, when the pool robot reaches the set maintenance cycle (such as the cumulative running time, cumulative number of tasks, or the degree of filter clogging exceeding the preset maintenance threshold), and when the cleaning task is forced to be interrupted due to unmet external conditions (such as the water level sensor detecting that the water level is below the minimum safety limit, or the turbidity sensor determining that the pool water is too turbid to continue operation), etc. All these scenarios that require the pool robot to stay close to the edge of the pool are within the protection scope of this embodiment.

[0187] By controlling the pool robot to float using a submersible module, with at least part of the robot submerged underwater and the rest above the surface, the robot can maintain a portion of its structure above water after approaching the pool edge. This allows users to easily spot and manually retrieve the robot from within their field of vision. Furthermore, this floating state ensures the robot has buoyancy while reducing fluid resistance during edge-approaching, significantly lowering energy consumption. Additionally, the floating posture keeps the communication module, positioning module, and external indicator lights visible and communicable, ensuring real-time control signal interaction and status feedback are unaffected by water obstruction. This achieves a balance between energy saving, controllability, and ease of operation while maintaining recyclability, effectively improving the pool robot's usability and energy efficiency stability during edge-approaching control.

[0188] In one example embodiment of this disclosure, the pool robot includes a diving module. When the pool robot needs to be close to the edge of the pool, the diving module controls the pool robot to be in a submerged state. The submerged state refers to the state in which the pool robot is completely submerged in water or sinks to the bottom of the pool.

[0189] The diving module is a functional unit used by the pool robot to adjust its buoyancy balance and attitude stability in the water. By changing the difference between the robot's own weight and its buoyancy in the water, the pool robot can switch between three basic states: sinking, suspending, and floating. For example, the diving module can adopt a ballast tank structure. The ballast tank regulates the water volume through an inlet and a drain pump. When water is added to the ballast tank through the inlet, the buoyancy decreases, and the pool robot switches from a floating state to a sinking state. The diving module can also use a controllable airbag. The controllable airbag is inflated and compressed through a micro-air pump and an air storage device to adjust the buoyancy. When the pool robot needs to approach the edge of the pool, the control unit sends a command to the diving module. The micro-air pump compresses the gas in the controllable airbag into the air storage device, and external water rushes into the space inside the pool robot, making the overall buoyancy less than the weight, thus causing the pool robot to gradually sink and enter the sinking state. Fully submerged means the pool robot is completely submerged in the water, with no part of its surface exposed. This typically occurs in low to medium depths of still water. Sinking to the bottom means the pool robot is completely in contact with the pool bottom, remaining stable due to its own weight or additional ballast. (Reference) Figure 4 As shown, the pool robot 301 is in a submerged state. It can be understood that the submerged state of the pool robot 301 means that the robot body is completely submerged in water or submerged in the pool bottom. For example, the submerged state of the pool robot 301 can be that the bottom drive module is in contact with the bottom of the pool, or it can be that it is suspended in the water by underwater rotor or buoyancy control. This embodiment does not make any special limitation on this.

[0190] The scenario where the pool robot needs to stay close to the edge of the pool has been described in detail in other embodiments, and will not be repeated here.

[0191] The pool robot is controlled to a submerged state by a diving module. The submerged state means that the pool robot is completely submerged in water or sinks to the bottom of the pool. This provides a low-energy docking method when the pool robot needs to be close to the edge of the pool, and avoids the pool robot drifting away from the predetermined area due to waves, wind or external disturbances. The submerged state can also maintain a stable position when unattended for a long time, so that the pool robot is in a stable state after moving to the edge of the pool, which is convenient for fixed-point storage or delayed retrieval.

[0192] Understandably, although the bottom state can reduce the impact of waves and wind on the water surface compared to the floating state, it is still possible to move away from the edge of the pool due to the slight slope of the pool bottom or the turbulence of the pool wall. The edge control method of the pool robot in this embodiment is also used for the pool robot in the bottom state, and there is no conflict.

[0193] By controlling the pool robot to a submerged state via a diving module, which means the robot is fully submerged or sinks to the bottom of the pool, a low-energy and highly stable docking method can be provided when the robot needs to approach the pool edge. In this state, the pool robot achieves static balance using its own weight and the diving module's descent control, no longer relying on the propulsion module to maintain its position, thus significantly reducing energy consumption and the risk of drift. Since the robot is completely in a stable water area in the submerged state, it can effectively avoid displacement caused by waves, wind, or external disturbances, allowing it to maintain a fixed position even in scenarios where it is not monitored for a long time. At the same time, this state also facilitates fixed-point storage or delayed retrieval during task breaks, allowing the pool robot to automatically enter a dormant docking mode after completing the edge-approaching action, effectively improving stability and safety after approaching the edge.

[0194] In one example embodiment of this disclosure, the pool robot includes a differential positioning module, which can obtain the distance between the pool robot and the edge of the pool in real time, and drive the pool robot to perform at least one more edge-hugging action when the distance at the current moment is greater than or equal to a preset distance threshold.

[0195] The differential positioning module refers to a positioning system that provides high-precision relative position information. It typically consists of a fixed reference point and a mobile terminal. The reference point is positioned at a stable location on or around the edge of the pool to provide a stable position signal reference. For example, the reference point can be an external control device, such as a control base station or a floating beacon. The mobile terminal can be mounted on the pool robot to receive correction signals from the reference point and calculate the current position. The differential positioning module can be based on Global Navigation Satellite System (GNSS) differential signals or on Ultra-Wideband (UWB) communication signals for short-range, high-precision ranging. In some optional implementations, optical or acoustic positioning schemes can also be used, such as positioning through the deployment of optical markers, infrared positioning beacons, or underwater acoustic arrays. The differential positioning module can eliminate drift errors through differential correction methods, enabling the calculation of the relative distance between the pool robot and the pool edge to achieve centimeter-level accuracy.

[0196] The distance between the pool robot's reference point and the pool edge boundary model can be calculated using real-time positioning data from the differential positioning module and compared with a preset distance threshold. When the current distance is detected to be greater than or equal to the preset distance threshold, an edge-approaching trigger command can be generated, driving the propulsion module to start and perform the edge-approaching action. The preset distance threshold can be dynamically customized according to the pool size, robot size, and water surface disturbance level, for example, within the range of 0.3 meters to 0.5 meters. When the distance is less than the preset distance threshold, the propulsion module is in standby mode, only maintaining attitude balance; when the distance exceeds the preset distance threshold, the propulsion module outputs directional thrust, causing the pool robot to move along the shortest direction to the pool edge until it re-enters the approach state.

[0197] The differential positioning module acquires the distance between the pool robot and the edge of the pool in real time. When the distance is detected to be greater than or equal to a preset distance threshold, the robot is driven to perform an edge-fitting action. This enables active edge-fitting control based on high-precision spatial positioning. By setting the relative positional relationship between a fixed reference point and the mobile terminal, the differential positioning module can continuously monitor the robot's drift in the water with centimeter-level accuracy. When the pool robot gradually moves away from the edge area due to water flow disturbance or posture deviation, the module can promptly identify the deviation trend and actively trigger correction behavior. Compared with traditional edge-fitting solutions based on vision, infrared or simple collision detection, this system can maintain stable positioning even under changes in lighting, water reflection or turbidity, making the system highly reliable under various water quality and lighting conditions.

[0198] It should be noted that although the steps of the method in this disclosure are described in a specific order in the accompanying drawings, this does not require or imply that the steps must be performed in that specific order, or that all the steps shown must be performed to achieve the desired result. Additional or alternative steps may be omitted, multiple steps may be combined into one step, and / or a step may be broken down into multiple steps.

[0199] Furthermore, this disclosure also provides a pool robot, with reference to... Figure 5 As shown, the pool robot 500 may include at least a robot body 510, a propulsion module 520, and a control module 530. Wherein:

[0200] The propulsion module 520 can be fixedly connected to the robot body 510, and the propulsion module 520 can be used to drive the robot body 510 to move forward in the target direction when it starts.

[0201] The control module 530 can be fixedly installed inside the robot body 510 and is communicatively connected to the propulsion module 520. The control module 530 can be used to execute... Figure 1The method for controlling the edge of a swimming pool robot includes, for example, the control module 530 can execute step S110 during operation, driving the swimming pool robot to perform an edge-adhering action, which is the swimming pool robot moving towards the edge of the pool; step S120, after the swimming pool robot first reaches the edge of the pool, driving the swimming pool robot to perform the edge-adhering action at least once more, so that the swimming pool robot is back in or maintains a state of proximity to the edge of the pool.

[0202] Furthermore, this disclosure also provides a swimming pool cleaning system, with reference to... Figure 6 As shown, the pool cleaning system 600 may include an external control device 610 and a pool robot 500, wherein:

[0203] The external control device 610 can be used to automatically generate edge-following control commands according to a preset program. For example, the external control device 610 can be an intelligent terminal device with automatic control function, or an intelligent automatic control control base station or a floating beacon. This embodiment does not make any special limitation on the type of external control device 610.

[0204] Pool robots can be like Figure 5 The swimming pool robot 500 shown can also be other types of swimming pool robots, and this embodiment is not limited to them. The swimming pool robot 500 can communicate with the external control device 610 through a communication network 620. The communication network 620 can include, but is not limited to, an optical communication network, an acoustic communication network, a radio communication network, a Bluetooth communication network, or a cellular communication network. The swimming pool robot can be used to receive and execute edge-following control commands to achieve edge-following control.

[0205] Furthermore, in the exemplary embodiments of this disclosure, an electronic device capable of implementing the above-described edge-following control method for a pool robot is also provided. This electronic device may be a pool robot or an external control device, and this embodiment does not impose any special limitations on it.

[0206] Those skilled in the art will understand that various aspects of this disclosure can be implemented as a system, method, or program product. Therefore, various aspects of this disclosure can be embodied in the following forms: a completely hardware embodiment, a completely software embodiment (including firmware, microcode, etc.), or an embodiment combining hardware and software aspects, collectively referred to herein as a "circuit," "module," or "system."

[0207] The following reference Figure 7 To describe an electronic device 700 according to such an embodiment of the present disclosure. Figure 7 The electronic device 700 shown is merely an example and should not be construed as limiting the functionality and scope of use of the embodiments disclosed herein.

[0208] like Figure 7 As shown, the electronic device 700 is manifested in the form of a general-purpose computing device. The components of the electronic device 700 may include, but are not limited to: at least one processing unit 710, at least one storage unit 720, a bus 730 connecting different system components (including storage unit 720 and processing unit 710), and a display unit 740.

[0209] The storage unit stores program code that can be executed by the processing unit 710, causing the processing unit 710 to perform the steps described in the "Exemplary Methods" section of this specification according to various exemplary embodiments of this disclosure. For example, the processing unit 710 can perform actions such as... Figure 1 In step S110, the pool robot is driven to perform an edge-adhering action, which is the pool robot moving towards the edge of the pool; in step S120, after the pool robot first reaches the edge of the pool, the pool robot is driven to perform the edge-adhering action at least once more, so that the pool robot is back in or maintains a state of proximity to the edge of the pool.

[0210] Storage unit 720 may include a readable medium in the form of a volatile storage unit, such as random access memory (RAM) 721 and / or cache memory 722, and may further include a read-only memory (ROM) 723.

[0211] The storage unit 720 may also include a program / utility 724 having a set (at least one) of program modules 725, including but not limited to: an operating system, one or more application programs, other program modules, and program data, each or some combination of these examples may include an implementation of a network environment.

[0212] Bus 730 can represent one or more of several types of bus structures, including a memory cell bus or memory cell controller, a peripheral bus, a graphics acceleration port, a processing unit, or a local bus using any of the various bus structures.

[0213] Electronic device 700 can also communicate with one or more external devices 770 (e.g., keyboard, pointing device, Bluetooth device, etc.), and with one or more devices that enable a user to interact with electronic device 700, and / or with any device that enables electronic device 700 to communicate with one or more other computing devices (e.g., router, modem, etc.). This communication can be performed via input / output (I / O) interface 750. Furthermore, electronic device 700 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via network adapter 760. As shown, network adapter 760 communicates with other modules of electronic device 700 via bus 730. It should be understood that, although not shown in the figures, other hardware and / or software modules can be used in conjunction with electronic device 700, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0214] From the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solutions according to the embodiments of this disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, external hard drive, etc.) or on a network, including several instructions to cause a computing device (such as a personal computer, server, terminal device, or network device, etc.) to execute the methods according to the embodiments of this disclosure.

[0215] In exemplary embodiments of this disclosure, a computer-readable storage medium is also provided, on which a program product capable of implementing the methods described above is stored. In some possible embodiments, various aspects of this disclosure may also be implemented as a program product including program code that, when the program product is run on a terminal device, causes the terminal device to perform the steps described in the "Exemplary Methods" section of this specification according to various exemplary embodiments of this disclosure.

[0216] refer to Figure 8 As shown, a program product 800 for implementing the above-described edge-following control method for a pool robot according to an embodiment of the present disclosure is described. This product may employ a portable compact disc read-only memory (CD-ROM) and include program code, and may run on a terminal device, such as a personal computer. However, the program product of the present disclosure is not limited thereto. In this document, the readable storage medium may be any tangible medium containing or storing a program that may be used by or in conjunction with an instruction execution system, apparatus, or device.

[0217] The program product may employ any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0218] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A readable signal medium may also be any readable medium other than a readable storage medium, capable of sending, propagating, or transmitting programs for use by or in conjunction with an instruction execution system, apparatus, or device.

[0219] The program code contained on the readable medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical fiber, RF, etc., or any suitable combination thereof.

[0220] Program code for performing the operations of this disclosure can be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java and C++, and conventional procedural programming languages ​​such as C or similar languages. The program code can execute entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0221] Furthermore, the above figures are merely illustrative of the processes included in the method according to exemplary embodiments of this disclosure and are not intended to be limiting. It is readily understood that the processes shown in the above figures do not indicate or limit the temporal order of these processes. Additionally, it is readily understood that these processes may be executed synchronously or asynchronously, for example, in multiple modules.

[0222] From the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solutions according to the embodiments of this disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, external hard drive, etc.) or on a network, including several instructions to cause a computing device (such as a personal computer, server, touch terminal, or network device, etc.) to execute the methods according to the embodiments of this disclosure.

[0223] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and embodiments are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the claims.

[0224] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is limited only by the appended claims.

Claims

1. A method for controlling the edge of a swimming pool robot, characterized in that, include: The pool robot is driven to perform an edge-fitting action, which is to move the pool robot toward the edge of the pool. After the pool robot first reaches the edge of the pool, the pool robot is driven to perform the edge-hugging action at least once more, so that the pool robot is back in or maintains a state of proximity to the edge of the pool.

2. The method according to claim 1, characterized in that, The pool robot includes a propulsion module; The step of driving the pool robot to perform the edge-hugging action at least once more after the pool robot first reaches the edge of the pool includes: After the pool robot first reaches the edge of the pool, the propulsion module is controlled to perform at least one start-stop action to drive the pool robot to perform the edge-hugging action at least once more. The start-stop action refers to starting the propulsion module and then stopping it after the preset conditions are met.

3. The method according to claim 2, characterized in that, After the pool robot first reaches the edge of the pool, controlling the propulsion module to perform at least one start-stop action to drive the pool robot to perform the edge-hugging action at least once more includes: After the pool robot reaches the edge of the pool for the first time, the propulsion module is controlled to perform the start-stop action at a preset fixed frequency, so as to drive the pool robot to perform the edge-hugging action at least twice more.

4. The method according to claim 2, characterized in that, After the pool robot first reaches the edge of the pool, controlling the propulsion module to perform at least one start-stop action to drive the pool robot to perform the edge-hugging action at least once more includes: After the pool robot first reaches the edge of the pool, the propulsion module is controlled to perform the start-stop action according to the target dynamic frequency, and the target dynamic frequency decreases as the remaining battery power of the pool robot decreases for at least part of the time, so as to drive the pool robot to perform the edge-hugging action at least twice more.

5. The method according to claim 1, characterized in that, The pool robot includes a propulsion module, and the method further includes: When driving the pool robot to perform the edge-hugging action, the propulsion module drives the pool robot to approach the edge of the pool at a first rotation speed, and after the pool robot touches the edge, it runs at a second rotation speed for a preset time, and the first rotation speed is greater than the second rotation speed.

6. The method according to claim 1, characterized in that, The process of driving the pool robot to perform the edge-hugging action at least once more includes: When the distance between the pool robot and the edge of the pool is greater than or equal to a preset distance threshold, the pool robot is driven to perform the edge-fitting action at least once more.

7. The method according to claim 1, characterized in that, The timing for re-performing the edge-fitting action includes at least one or a combination of the following: When the attitude angle of the pool robot exceeds a preset attitude angle threshold; When the acceleration fluctuation of the pool robot exceeds a preset acceleration threshold; When the light intensity or ambient sound characteristics collected by the pool robot are abnormal data; When the pool robot loses physical contact with the edge of the pool; When the remaining battery power of the pool robot is lower than a preset power threshold.

8. The method according to claim 1, characterized in that, The method further includes: The pool robot is driven to perform an edge-hugging action towards the nearest edge of the pool.

9. The method according to claim 1, characterized in that, The process of driving the pool robot to perform the edge-hugging action includes: The pool robot is controlled to perform an edge-fitting action towards the nearest pool edge by an external control device that automatically generates edge-fitting control commands according to a preset program.

10. The method according to claim 9, characterized in that, After the pool robot first reaches the edge of the pool, drive the pool robot to perform the edge-hugging action at least once more, including: After the pool robot first reaches the edge of the pool, the pool robot is driven to perform the edge-fitting action at least again based on the edge-fitting control command, the edge-fitting control command including at least the frequency and / or timing of performing the edge-fitting action.

11. The method according to claim 9, characterized in that, The external control device is a control base station and / or a floating beacon, and the edge-attaching control command is sent to the pool robot via sound waves, light signals or radio signals.

12. The method according to claim 1, characterized in that, After the pool robot first reaches the edge of the pool, drive the pool robot to perform the edge-hugging action at least once more, including: Before the termination condition is met, the pool robot is driven intermittently to perform the edge-fitting action at least once more; The termination conditions include at least one or more combinations of the following: the pool robot is retrieved, the pool robot's power is depleted, or the pool robot receives a stop edge command.

13. A swimming pool robot, characterized in that, include: The robot itself; A propulsion module is fixedly connected to the robot body, and the propulsion module is used to drive the robot body to move forward in the target direction when started; A control module is fixedly installed inside the robot body and is communicatively connected to the propulsion module. The control module is used to execute the method as described in any one of claims 1-12.

14. A swimming pool cleaning system, characterized in that, include: An external control device, which is used to automatically generate edge-fitting control commands according to a preset program; At least one pool robot as described in claim 13 is communicatively connected to the external control device, the pool robot being used to receive and execute the edge-following control command.

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