Swimming pool robot control method and swimming pool robot

Abstract

The embodiment of the invention provides a control method of a swimming pool robot and the swimming pool robot. The control method of the swimming pool robot comprises the steps that for a first platform in a swimming pool, the swimming pool robot is controlled to move towards the water surface of the swimming pool along the first platform wall of the first platform in a pool wall posture, under the pool wall posture, the bottom of the swimming pool robot makes contact with the pool wall, and the first platform surface of the first platform is located below the water surface; the distance between the first platform surface and the water surface is smaller than or equal to the first distance; and working parameters of the advancing mechanism are adjusted, so that at least part of the opening is located above the water surface, at least gas enters the main body through the opening, then the swimming pool robot is converted into the platform posture, and the bottom of the swimming pool robot makes contact with the platform face in the platform posture. The swimming pool robot can climb to the platform surface from the first platform wall.

Description

Technical Field

[0001] This application relates to the field of artificial intelligence, and in particular to a control method for a swimming pool robot and the swimming pool robot itself. Background Technology

[0002] Pool robots designed for swimming pool environments need to clean areas including the pool bottom, the first platform wall, and shallower platform areas within the pool. When cleaning the platforms, the robot needs to climb up the first platform wall to reach the platform surface and clean it.

[0003] The swimming pool robot has difficulty climbing from the first platform wall to the platform surface, and is prone to getting stuck on the first platform wall or falling off the first platform wall. Summary of the Invention

[0004] This application provides a control method for a swimming pool robot and a swimming pool robot, which enables the swimming pool robot to climb from the first platform wall to the platform surface.

[0005] In a first aspect, embodiments of this application provide a control method for a swimming pool robot, the swimming pool robot comprising: a main body; a traveling mechanism for at least driving the swimming pool robot to move in a swimming pool; and an opening, at least partially disposed at the front of the main body;

[0006] The control method includes:

[0007] For the first platform in the pool, the pool robot is controlled to move along the first platform wall of the first platform towards the water surface of the pool in a pool wall posture, wherein the bottom of the pool robot is in contact with the pool wall in the pool wall posture, the first platform surface of the first platform is below the water surface, and the distance between the first platform surface and the water surface is less than or equal to a first distance;

[0008] The operating parameters of the traveling mechanism are adjusted so that at least a portion of the opening is above the water surface, and at least gas enters the main body through the opening, thereby causing the pool robot to switch to a platform posture, wherein the bottom of the pool robot is in contact with the platform surface in the platform posture.

[0009] In some embodiments, the pool robot further includes:

[0010] A filtration unit, at least a portion of which is disposed inside the main body, for filtering liquids entering therein;

[0011] A suction assembly, at least a portion of which is disposed inside the main body, is used to draw liquid from the pool into the filtration unit and to discharge the liquid filtered by the filtration unit out of the main body.

[0012] The opening includes a second water inlet, which is connected to the filter unit. When the pool robot is cleaning the water surface, the second water inlet is used to allow liquid carrying debris to flow into the filter unit.

[0013] Adjusting the operating parameters of the traveling mechanism so that at least a portion of the opening is above the water surface, and at least gas enters the main body through the opening, includes: adjusting the operating parameters of the traveling mechanism so that at least a portion of the second water inlet is above the water surface, and under the action of the suction assembly, at least gas enters the main body through the second water inlet.

[0014] In some embodiments, the traveling mechanism includes a walking component and / or a propulsion component.

[0015] In some embodiments, adjusting the operating parameters of the swimming pool robot's traveling mechanism includes:

[0016] The pool robot is adjusted according to a first adjustment strategy and / or a second adjustment strategy, both of which include adjusting the working parameters of the pool robot's walking mechanism. At least one of the component types, working parameter types, and working parameter values ​​included in the first adjustment strategy and the second adjustment strategy differs; the component types are the walking component and / or the propulsion component.

[0017] In some implementations, the first adjustment strategy includes increasing the motor power of the propulsion component and / or decreasing the motor power of the walking component.

[0018] In some embodiments, the walking assembly includes a first walking sub-assembly and a second walking sub-assembly, wherein the first walking sub-assembly is disposed on the left side of the main body and the second walking sub-assembly is disposed on the right side of the main body;

[0019] The second adjustment strategy includes: adjusting the motor power of the first walking sub-component to a first power, and adjusting the motor power of the second walking sub-component to a second power, wherein the first power and the second power are different;

[0020] Alternatively, the traveling mechanism may also include a propulsion component;

[0021] The second adjustment strategy includes: adjusting the motor power of the first walking sub-component to a first power, adjusting the motor power of the second walking sub-component to a second power, wherein the first power and the second power are different; and increasing the motor power of the propulsion component.

[0022] In some embodiments, the pool robot further includes:

[0023] A filtration unit, at least a portion of which is disposed inside the main body, for filtering liquids entering therein;

[0024] A suction assembly, at least a portion of which is disposed inside the main body, is used to draw liquid from the pool into the filtration unit and to discharge the liquid filtered by the filtration unit out of the main body.

[0025] After the pool robot transitions to the pool wall posture, the method further includes increasing the motor power of the suction assembly.

[0026] In some embodiments, the suction assembly includes a first impeller;

[0027] The distance between the first platform surface and the water surface is greater than the second distance, such that when the motor power of the suction component is the seventh power, the first impeller remains below the water surface, and the second distance is less than the first distance; wherein, the seventh power is the third reference power of the suction component when the pool robot is cleaning the first platform surface.

[0028] In some embodiments, the method further includes:

[0029] In the event of triggering an event that causes the robot to leave the first platform surface, the pool robot is controlled to leave the first platform surface from the open boundary of the first platform.

[0030] When all the pool robots are located on the first platform surface and the distance between the foremost part of the pool robot and the open boundary is less than or equal to the fourth distance, the motor power of the suction component is adjusted to the ninth power or the suction component is turned off.

[0031] Alternatively, if part of the pool robot is located outside the first platform surface, adjust the motor power of the suction assembly to the ninth power or turn off the suction assembly;

[0032] Starting from the time when the motor power of the suction component is adjusted to the ninth power or the suction component is turned off, after a fourth time period, the motor power of the traveling mechanism is reduced.

[0033] Wherein, the ninth power is less than the seventh power, and the seventh power is the reference power of the motor of the suction component when the pool robot is cleaning the first platform surface.

[0034] Secondly, embodiments of this application provide a swimming pool robot, including:

[0035] main body;

[0036] A propulsion mechanism, at least for driving the pool robot to move in the pool;

[0037] An opening, at least partially provided in the front housing of the main body.

[0038] A circuit board, at least for performing the method described in the first aspect.

[0039] The control method and swimming pool robot provided in this application embodiment, for a first platform in a swimming pool, control the swimming pool robot to move along the first platform wall of the first platform towards the water surface of the pool in a pool wall posture. By adjusting the working parameters of the swimming pool robot's traveling mechanism, at least part of the opening of the swimming pool robot is located above the water surface, so that at least gas enters the main body of the swimming pool robot through the opening, thereby causing the swimming pool robot to switch to a platform posture, thereby realizing the swimming pool robot climbing from the first platform wall to the platform surface. Attached Figure Description

[0040] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0041] Figure 1 Structural diagram of the pool robot provided in this application Figure One ;

[0042] Figure 2 Structural diagram of the pool robot provided in this application Figure Two ;

[0043] Figure 3 Structural diagram of the pool robot provided in this application Figure Three ;

[0044] Figure 4 Structural diagram of the pool robot provided in this application Figure Four ;

[0045] Figure 5 Structural diagram of the pool robot provided in this application Figure Five ;

[0046] Figure 6 Platform illustration provided for this application Figure One ;

[0047] Figure 7 Platform illustration provided for this application Figure Two ;

[0048] Figure 8 Schematic diagram of the movement position of the pool robot provided in this application Figure One ;

[0049] Figure 9Schematic diagram of the movement position of the pool robot provided in this application Figure Two ;

[0050] Figure 10 Schematic diagram of the movement position of the pool robot provided in this application Figure Three .

[0051] Figure label:

[0052] 100. Pool robot; 101. Main body; 1001a. First end; 1001b. Second end; 1009. Distance detection device; 1010. Image acquisition device; 10011. Front; 10012. Rear; 1031. First water inlet; 1032. Second water inlet; 1040. Liquid outlet; 1050. Filter unit; 10511c. First baffle; 10511d. Second baffle Baffle; 1060, Suction assembly; 1071, Walking assembly; 1171, First walking wheel; 1172, Second walking wheel; 117, Track; 1072, Propulsion assembly; 10721, Thruster; 1101, Float cavity; 113, Air inlet; 119, Discharge outlet; 150, Pool bottom; 151, Non-platform wall; 152, Water surface; 153, Platform wall; 154, Platform surface.

[0053] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0054] 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 numbers 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 application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0055] Pool robots are used to perform tasks such as cleaning, disinfection, and rescue in a target area. The target area can be any water-containing area where the pool robot can move. For example, the target area can include, but is not limited to, swimming pools, oil wells, sewers, etc. The following description uses a swimming pool as the target area.

[0056] For a swimming pool, it includes at least a pool bottom and pool walls. Platforms can be set up inside the pool. These platforms can be sun decks, steps, etc. Steps can be considered special platforms, with each step serving as a platform. The platform area of ​​each step is relatively small, typically allowing only a portion of the pool robot to reside on its surface. Sun decks have a relatively large area, allowing the pool robot to reside entirely on their surface. The main uses of sun decks include providing a place for users to relax in the pool and serving as a safety buffer zone between shallow and deep water areas. In some scenarios, steps and sun decks can exist separately. In other scenarios, a sun deck can also be part of a step, such as a single step within a set of steps. For example, in a multi-step system, the top step is usually the sun deck with a larger platform area.

[0057] See Figure 6 The platform may include a platform surface 154 and a platform wall 153. The platform wall 153 is a type of pool wall in a swimming pool; for ease of description, the pool wall other than the platform wall can be considered a non-platform wall 151. The platform wall 153 may be approximately vertical, or it may have an angle of inclination or curvature; the platform surface 154 may be horizontal, or it may have a slope, or it may be uneven, or it may be a continuous or discontinuous surface; objects such as columns and chairs may also be placed on the platform surface 154. Figure 6 As shown, the platform surface 154 is higher than the pool bottom 150, and the platform surface 154 is below the water surface 152 of the pool.

[0058] The pool robot's bottom contacts the pool bottom, allowing it to adopt a pool-bottom posture, moving or resting on the pool bottom; alternatively, the pool robot may be below the water surface, but its bottom does not contact the pool bottom, allowing it to float in the water, exhibiting a hovering posture, moving or remaining stationary while suspended in the water. Alternatively, the pool robot's bottom may contact the pool wall, allowing it to adopt a pool-wall posture, moving or resting on the pool wall (e.g.,...). Figure 8 (As shown). The pool robot floats on the water surface, with at least a portion of the robot above and at least a portion below the water surface. The pool robot has a floating posture, moving or remaining still while floating on the water surface. The floating posture can include a surface posture, where the second water inlet is partially above and partially below the water surface; or the second water inlet is entirely below the water surface, and the distance between the upper edge of the second water inlet and the water surface is less than a preset distance. For example, the pool robot can perform water surface cleaning when in the surface posture. The bottom of the pool robot is in contact with the platform surface, and the pool robot can have a platform posture, moving or resting on the platform surface (e.g., ...). Figure 10 (As shown).

[0059] For example, the pool robot is Pool Robot 100. For ease of description, Pool Robot 100 will be used as an example in the following text. See [link / reference] Figures 1 to 5 The structure of the pool robot will be explained in detail.

[0060] For the pool robot 100, it can be a robot powered by a built-in rechargeable battery or a device powered by an external cable. If the pool robot 100 has bottom and wall movement capabilities, it can clean the pool bottom and walls; if it has bottom, wall, and surface movement capabilities, it can clean the pool bottom, walls, and surface. The fact that the pool robot 100 has movement capabilities means it is an autonomous walking robot, requiring no user to push or pull it.

[0061] The pool robot 100 includes a body 101. In some embodiments, such as Figures 1 to 3 As shown, the main body 101 includes a first end 1001a and a second end 1001b. One of the first end 1001a and the second end 1001b is a front part 10011 (the second water inlet 1032, the image acquisition component 1010, and the distance detection component 1009 are located at the front part 10011 of the main body 101), and the other is a rear part 10012. The main body 101 also includes a side part (the walking component 1071 is located at the side part of the main body 101), a top part (the first water outlet of the liquid outlet 1040 is located at the top of the main body 101), and a bottom part (the first water inlet 1031 is located at the bottom of the main body 101).

[0062] The main body 101 includes a shell. The shell has at least one opening to allow fluid to enter and exit the interior of the main body. The opening may include, for example, a first water outlet, a first water inlet 1031, a second water inlet 1032, and an air inlet corresponding to the buoyancy and submersion mechanism.

[0063] In some embodiments, the housing is further provided with at least one window or through hole, and some sensors (such as...) Figure 3 The image acquisition unit 1010 and the distance detection unit 1009 can be at least partially installed inside the main body for acquiring external environmental data.

[0064] like Figure 4As shown, the main body 101 is provided with at least one liquid inlet, at least one filter unit 1050, at least one liquid outlet 1040, and at least one suction assembly 1060. For example, the liquid outlet 1040 includes a first water outlet formed on the outer shell of the main body 101, and the first water outlet is at least partially located on the top of the main body 101. The filter unit 1050 is at least partially located inside the main body 101. For example, the main body includes a first receiving cavity and a second receiving cavity, which are spaced apart from each other but connected. The filter unit 1050 may include a filter box, at least partially located in the first receiving cavity, and the filter box is used to filter liquid entering therein.

[0065] The suction assembly 1060 is at least partially disposed inside the body 101. For example, the suction assembly 1060 is at least partially disposed in the second receiving cavity.

[0066] The liquid inlet serves as the entrance for liquid from the pool to enter the main body 101. When the pool robot 100 moves underwater, along the pool wall, or on the water surface, the liquid in the pool is drawn into the filtration unit 1050 by the suction assembly 1060. The filtration unit 1050 filters the liquid entering it. After being filtered by the filtration unit 1050, the liquid is discharged from the main body 101 through the liquid outlet 1040 after passing through the suction assembly 1060. Debris carried by the liquid is collected in the filtration unit 1050, thus cleaning the liquid in the pool. For example, the suction assembly 1060 includes a main water pump.

[0067] In some embodiments, the liquid inlet includes at least one opening formed on the housing, through which at least a portion of the fluid enters the body 101, the fluid being a gas and / or a liquid. Figure 4 As shown, the liquid inlet section includes at least a first water inlet 1031 opened on the outer shell of the main body 101, and the liquid outlet section 1040 includes at least a first water outlet opened on the outer shell of the main body 101; the first water inlet 1031, the filter unit 1050, the suction assembly 1060 and the first water outlet are sequentially fluidly connected to form a first water channel. When the pool robot 100 is cleaning the pool bottom, pool wall and platform surface, the first water inlet 1031 is used to supply liquid to flow into the filter unit 1050.

[0068] In other embodiments, such as Figure 4 As shown, the liquid inlet section includes at least a second water inlet 1032 opened on the outer shell of the main body 101, and the liquid outlet section 1040 includes at least a first water outlet opened on the outer shell of the main body 101; the second water inlet 1032, the filter unit 1050, the suction assembly 1060 and the first water outlet are connected in sequence to form a second water channel for cleaning the water surface and water line.

[0069] In some embodiments, there is one first inlet, one second inlet, and one first outlet. Alternatively, in other embodiments, there are multiple first inlets, and / or second inlets, and / or first outlets. For example, there are two, three, or more first inlets.

[0070] For example, the first water inlet 1031 is located at the bottom of the main body 101, and the first water outlet of the liquid outlet 1040 is located at the top of the main body 101. The second water inlet 1032 is located at the front of the main body 101, and the pool robot 100 cleans the water surface by walking forward when cleaning the water surface. In another embodiment, the second water inlet 1032 is located at the rear of the main body 101 (not shown in the figure), and the pool robot 100 cleans the water surface by walking backward when cleaning the water surface.

[0071] In some embodiments, the suction assembly 1060 includes at least a main water pump, which includes a first impeller and a main motor.

[0072] In some embodiments, a first baffle 10511c is provided at the first water inlet 1031, and a second baffle 10511d is provided at the second water inlet 1032. When the pool robot 100 is cleaning the water surface, the first baffle 10511c is in a closed state to prevent liquid in the pool from entering the filter unit 1050 through the first water inlet 1031, and the second baffle 10511d is in an open state to allow liquid to enter the filter unit 1050 through the second water inlet 1032. When the pool robot 100 is cleaning the pool bottom, pool wall, or platform surface, the second baffle 10511d is in a closed state to prevent liquid from entering the filter unit 1050 through the second water inlet 1032, and the first baffle 10511c is in an open state to allow liquid to enter the filter unit 1050 through the first water inlet 1031. That is, when cleaning the water surface, the first baffle 10511c is in the closed state and the second baffle 10511d is in the open state; when cleaning the pool wall, pool bottom or platform surface, the first baffle 10511c is in the open state and the second baffle 10511d is in the closed state.

[0073] For example, the second baffle 10511d rotates outward toward the first body 101 to open the second water inlet 1032; the second baffle 10511d rotates from outside the first body 101 toward the second water inlet 1032 to close the second water inlet 1032. Alternatively, in some embodiments, the first baffle 10511c may be disposed on the first water inlet 1031, rotating toward the inner cavity of the filter unit 1050 and away from the first water inlet 1031 to open the first water inlet 1031; and the first baffle 10511c rotates toward the first water inlet 1031 to close the first water inlet 1031.

[0074] In some embodiments, the pool robot 100 includes a traveling mechanism for driving the pool robot to move in a pool. The traveling mechanism may include a walking component 1071 and / or a propulsion component 1072. The walking component 1071 may be disposed at the bottom and / or side of the main body 101. The propulsion component 1072 may be disposed at the side and / or rear of the main body 101.

[0075] The walking component 1071 can contact supporting surfaces such as the pool bottom, and / or pool wall, and / or platform surface, and / or obstacle surface, and obtain reaction force through interaction with the supporting surface to drive the pool robot 100 to move. For example, in one embodiment, the walking component 1071 may include at least two walking wheels and at least one motor to drive the walking wheels. For example, there are two walking wheels, symmetrically arranged on the main body 101. Alternatively, there are four walking wheels, similar to the walking wheels of a car, symmetrically arranged on the main body 101. Or, as... Figure 1 or Figure 2 As shown, the walking assembly 1071 includes a first walking wheel 1171, a second walking wheel 1172, and a track 117 wrapped around the outer periphery of the first walking wheel 1171 and the second walking wheel 1172, and an annular area formed between the inner first platform wall of the track 117 and the two walking wheels. The walking assembly 1071 consists of two sets, with the two sets of walking sub-assemblies 1071 located on opposite sides of the main body 101.

[0076] The propulsion component 1072 can generate a reaction force through its interaction with the water, thereby driving the pool robot 100 to move. In one embodiment, such as Figure 5 As shown, the propulsion assembly 1072 includes at least one thruster 10721, which propels the liquid along a first preset direction. When the liquid moves along the first preset direction, the pool robot 100 is subjected to a first driving force in the horizontal direction, wherein the direction of the first driving force is opposite to the first preset direction. By setting the thruster 10721, the position switching of the pool robot 100 in the horizontal direction can be realized. For example, it can move straight or turn in the horizontal direction, enabling the pool robot 100 to walk on the water surface, which is convenient for cleaning the pool surface. For example, the propulsion assembly 1072 includes at least a second impeller and a propulsion motor.

[0077] In some embodiments, the pool robot 100 further includes an surfacing and diving mechanism. For example, the surfacing and diving mechanism is disposed within the main body 101 and is used to drive the pool robot 100 from underwater to the surface and enable the pool robot 100 to float on the water surface; it can also be used to drive the pool robot 100 from the surface to underwater. That is, the surfacing and diving mechanism enables the pool robot 100 to switch between underwater and surface conditions.

[0078] In some embodiments, such as Figure 1 or Figure 2 As shown, the surfacing and diving mechanism includes at least one float cavity 1101, at least one first adjusting member (not shown in the figure), and at least one air inlet 113. The float cavity 1101 is used to at least contain gas. One end of the air inlet 113 is connected to the outside (e.g., an air inlet is provided on the outer shell of the main body 101, through which the air inlet 113 can be connected to the outside at least), and the other end of the air inlet 113 is connected to the float cavity 1101 or the first adjusting member. The first adjusting member is used to adjust the volume of gas in the float cavity 1101. Under the action of the first adjusting member, outside gas enters the float cavity 1101 through the air inlet 113 to increase the volume of gas in the float cavity 1101; or, gas in the float cavity 1101 is discharged outside the float cavity 1101 through the air inlet 113 to decrease the volume of gas in the float cavity 1101.

[0079] In some embodiments, the float cavity 1101 is flexible. Driven by the first adjusting member, external gas enters the float cavity 1101 through the air inlet 113, or gas inside the float cavity 1101 is discharged outside the float cavity 1101 through the air inlet 113, thereby increasing or decreasing the volume of gas inside the float cavity 1101. In this embodiment, the first adjusting member can be an air pump. The float cavity 1101 has two states: when the pool robot 100 floats on the water surface, the float cavity 1101 is almost full of gas, and the volume of the float cavity 1101 increases, resulting in an inflated state; when the pool robot 100 is at the bottom of the pool or below the water surface, the float cavity 1101 is almost empty, resulting in a deflated state. Alternatively, when the pool robot 100 is on the shore, the first adjusting member is opened to discharge the gas inside the float cavity 1101, causing the float cavity 1101 to be in a deflated or empty state.

[0080] In other embodiments, the float cavity 1101 is rigid, and the buoyancy and submersion mechanism further includes a drainage section, which includes a discharge port 119. One end of the drainage section is connected to the outside, and the other end is connected to the float cavity 1101 or the first adjusting member. Under the action of the first adjusting member, external gas can be driven into the float cavity 1101 through the air inlet 113. The volume of the gas entering the float cavity 1101 increases, thereby squeezing the liquid in the float cavity 1101 out of the float cavity 1101 through the drainage section, thereby increasing the volume of gas in the float cavity 1101 and decreasing the volume of liquid. In this embodiment, the first adjusting member is an air pump.

[0081] Alternatively, in some embodiments, under the action of the first adjusting member, the liquid in the float cavity 1101 is driven to be discharged out of the float cavity 1101 through the drain section, creating a negative pressure inside the float cavity 1101. External gas is then drawn into the float cavity 1101 through the air inlet 113, increasing the volume of gas inside the float cavity 1101. Conversely, under the action of the first adjusting member, external liquid is driven into the float cavity 1101 through the drain section. The intake of liquid in the float cavity 1101 forces the gas inside the float cavity 1101 out of the float cavity through the air inlet 113, thereby reducing the volume of gas inside the float cavity 1101 and increasing the volume of liquid inside the float cavity 1101. In this embodiment, the first adjusting member can be a water pump.

[0082] During the transition from the pool bottom to the water surface, the pool robot 100 can first walk from the pool bottom to the pool wall, and then switch from the pool wall to the water surface. Specifically: the pool robot 100 walks from its current position to the pool wall, and then walks from the pool wall to the water surface, so that the end of the air intake 113 connected to the outside is above the water surface (in the air). Under the action of the first adjusting component, outside air enters the air intake 113 through the air inlet, and then enters the floatation cavity 1101 to increase the volume of air in the floatation cavity 1101 and reduce the weight of the pool robot. Alternatively, the center of gravity of the pool robot can be changed to allow the pool robot 100 to switch from the pool wall posture to the floating posture, thereby realizing the transition of the pool robot 100 from underwater to the water surface. Alternatively, during the process of switching from the bottom of the pool to the surface, the pool robot 100 can also switch without going through the pool wall posture. For example, it can first switch from the bottom posture to the floating posture. When the end of the air intake 113 connected to the outside is above the water surface, under the action of the first adjusting member, the outside gas enters the floating cavity 1101 through the air intake 113 to increase the volume of the gas in the floating cavity 1101 and reduce the gravity of the pool robot, so that the pool robot can switch from the pool wall posture to the floating posture.

[0083] Alternatively, if the pool robot 100 needs to descend from the water surface to the bottom of the pool, when the float cavity 1101 is rigid, under the first adjustment action, the gas in the float cavity 1101 is discharged, and the liquid in the pool enters the float cavity 1101 to increase the gravity of the float cavity 1101, so that the gravity of the pool robot 100 is greater than its buoyancy, and the pool robot 100 descends directly from the water surface to the bottom of the pool.

[0084] In some embodiments, if the float cavity 1101 is rigid, when the pool robot 100 floats on the water surface, the float cavity 1101 is almost entirely gas and contains very little liquid; when the pool robot 100 is below the water surface, the float cavity 1101 is almost entirely liquid and contains very little gas.

[0085] The pool robot 100 includes a distance detection element 1009. The distance detection element 1009 is positioned at any location on the main body 101, such as...Figure 3 As shown, a distance detection element 1009 is located at the front of the main body 101. The distance detection element may partially protrude from the outer shell, completely protrude from the outer shell, be flush with the outer shell, or be recessed relative to the outer shell. The distance detection element 1009 is used to identify the distance between objects within the target area and the pool robot 100, so that the circuit board can control the movement of the pool robot 100 based on the measured distance. The distance detection element 1009 may be an ultrasonic sensor, a laser distance sensor (LDS), an infrared sensor, etc.

[0086] In some implementations, the outer casing may be provided with a first window, and the distance detection device is located inside the main body. The device transmits signals to the outside of the main body through the first window to collect information about the external environment.

[0087] For example, one or more distance detection elements 1009 may be provided on the front part of the main body 101. If the front part of the main body 101 contains at least two distance detection elements 1009, the types of the different distance detection elements 1009 may be the same or different. For example, when the front part of the main body 101 contains two distance detection elements 1009, one may be an infrared sensor and the other an ultrasonic sensor, or both may be infrared sensors, or both may be ultrasonic sensors. Similar to the front part of the main body 101, the number and type of distance detection elements in the rear, sides, top, and bottom parts of the main body 101 can also be set as needed and are not limited.

[0088] Taking the distance detection element 1009 as an ultrasonic sensor as an example, the ultrasonic sensor includes a transmitter and a receiver. The transmitter can emit sound wave signals, which are reflected by an object and then received by the receiver. When the shell includes a first window, the transmitter can emit sound wave signals outside the shell through the first window. After being reflected by an object, the sound wave signals enter the shell through the first window and are received by the receiver. The distance between the object reflecting the sound wave signal and the distance detection element is determined based on the sound wave signal received by the receiver, thereby determining the distance between the pool robot and the object.

[0089] For example, the distance detection element 1009 is disposed at any position on the main body 101, such as at the bottom and / or front of the main body. The transmitter emits a signal below the pool robot to determine the distance between the object below the pool robot and the pool robot based on the signal received by the receiver. When the pool robot is on the platform surface or the bottom of the pool, if the distance between the object below the pool robot and the pool robot is greater than a preset first threshold, it can be considered that there is a cliff below the pool robot; if the pool robot is on the pool wall, if the distance between the object below the pool robot and the pool robot is greater than a preset second threshold, it can be considered that the pool robot is about to reach the platform surface. That is, the same distance detection element can be used to perform cliff detection and platform detection. Of course, the distance detection element used for cliff detection and the distance detection element used for platform detection can also be two independent components.

[0090] The distance detection element 1009 is located at the front of the main body 101. The transmitter sends a signal to the front of the pool robot to determine the distance between the object in front of the pool robot and the pool robot based on the signal received by the receiver. The distance detection element 1009 can be used to realize obstacle detection, water surface detection, etc.

[0091] The distance detection element 1009 is located on the side of the main body 101. The transmitter sends a signal to the left or right of the pool robot to determine the distance between the object to the left or right of the pool robot and the pool robot based on the signal received by the receiver. The distance detection element 1009 can be used to detect the distance between the pool robot and the pool wall to assist the pool robot in cleaning along the edge.

[0092] In one implementation, such as Figure 3 , Figure 4 As shown, the pool robot 100 also includes an image acquisition unit 1010, which can be disposed at any position on the main body 101. The image acquisition unit 1010 is used to acquire images of the target area. For example, at least one image acquisition unit 1010 is disposed at the front of the main body 101. The image acquisition unit may partially protrude from the shell, fully protrude from the shell, be flush with the shell, or be recessed relative to the shell.

[0093] In some embodiments, a second window is provided on the outer casing, through which light can enter the image acquisition unit 1010, so that the image acquisition unit 1010 can complete the acquisition of information about the external environment and form an image including the internal environment of the pool and / or the surrounding environment of the pool.

[0094] The images acquired by the image acquisition unit 1010 can be used to detect object type and object contour. For example, the images acquired by the image acquisition unit 1010 can be used to identify obstacles and / or litter, or to identify the type of obstacle or litter, and can also be used to identify a drying platform, etc. And / or, the images acquired by the image acquisition unit 1010 can be used to determine the distance between the pool robot and objects. The number of image acquisition units 1010 used for distance detection can be one or multiple, such as a binocular ranging sensor, that is, the image acquisition unit 1010 can also be used as a distance detection unit 1009. The circuit board can control the movement of the pool robot 100 based on the detection results of the image acquisition unit 1010.

[0095] Regarding the platform, the pool robot 100 can switch from the pool bottom to the platform surface, docking or cleaning the platform surface. The pool robot 100 can also move from the pool bottom to near the platform wall, climb the platform wall, and perform a posture transition, i.e., from a pool bottom posture to a pool wall posture, and then move along the pool wall in the pool wall posture. During its movement along the pool wall, the pool robot can also clean the pool wall. The pool robot 100 can also move along the platform wall towards the water surface in a pool wall posture, transitioning from a pool wall posture to a platform posture during its movement from the platform wall to the platform surface. For example, when at least a portion of the pool robot 100 is above the platform surface, it transitions from a pool wall posture to a platform posture, docking or cleaning the platform surface in the platform posture.

[0096] In some embodiments, the pool robot 100 includes at least one platform detection sensor for detecting platforms in the pool. The platform detection sensor can be at least one of an image acquisition device, a distance detection device, an attitude detection sensor, etc.

[0097] The platform detection sensor can be a distance sensor. When the pool robot moves along the pool wall, the distance sensor can send a signal to the pool wall and receive a signal returned by the pool wall. When the distance sensor is within the platform surface, its detection value is the distance from the sensor to the pool wall, which is less than a first distance threshold. When the distance sensor exceeds the platform surface, its detection value is greater than the first distance threshold or the detection value is lost (no returned signal is received). In this case, it can be considered that the platform has been detected, the pool wall against which the pool robot is located is the platform wall, and the pool robot moves on the platform wall.

[0098] And / or, the platform detection sensor is an image acquisition device installed at the bottom or front of the pool robot. When the image acquisition device does not extend beyond the platform surface, the image acquired by the image acquisition device includes the pool wall. When the image acquisition device extends beyond the platform, the image acquired by the image acquisition device no longer includes the pool wall, but includes the platform surface. Therefore, based on the object contour features in the image, it is determined that a platform has been detected, the pool wall that the pool robot is against is the platform wall, and the pool robot moves on the platform wall.

[0099] When the pool robot moves along the pool floor, it can use image acquisition devices located on its top or front as platform detection sensors. Specifically, it can use the images captured by these devices to detect the platform. In some scenarios, the front-mounted image acquisition device can also be used to detect and store the platform's position and / or height. The pool robot can then travel to the platform's location, climb it based on the pre-stored height information, and perform cleaning.

[0100] Therefore, based on the differences in the sensors and algorithms configured on the pool robot, the pool robot may have detected the platform before moving along the platform wall, or it may have detected the platform during the movement along the platform wall.

[0101] The platform detection sensor can reuse sensors that perform other information detection. As shown in the above embodiment, the distance detection device that transmits signals downwards to the pool robot can determine whether the pool robot has moved near a cliff based on the signal changes measured by the distance detection device when the pool robot has a platform posture and a pool bottom posture. If it has moved near a cliff, it will perform actions related to the cliff, such as retreating to avoid it, rotating to change direction, or moving from the platform to the pool bottom. When the pool robot has a pool wall posture, it can determine whether a platform has been detected or whether the pool robot is partially above the platform surface based on the signal changes measured by the distance detection device, and then perform actions related to the platform, such as controlling the pool robot to adjust its posture to a platform posture or controlling the pool robot to retreat towards the pool bottom. That is, platform detection can be performed by reusing sensors that perform other information detection by combining at least one of the pool robot's posture and the environment in which the pool robot is located.

[0102] In some embodiments, the pool robot may include one or more platform detection sensors. When the pool robot includes multiple platform detection sensors, each platform detection sensor may be disposed at a different location on the main body. For example, when the pool robot includes two platform detection sensors, the two platform detection sensors may be disposed on the left and right sides of the main body, or in the area near the left and right sides of the bottom of the main body; when the pool robot includes four platform detection sensors, the four platform detection sensors may be disposed on the front, back, left, and right sides of the main body, or in the area near the four corners of the bottom of the main body.

[0103] In some embodiments, the attitude data detected by the attitude detection sensor of the pool robot reflects that the pool robot has undergone at least one transition from a pool wall climbing posture to a horizontal movement posture, specifically a change from a roughly vertical posture to a roughly horizontal posture. This change can reflect the pool robot's movement from the platform wall to the platform surface. And / or, in other embodiments, the distance data detected by the platform detection sensor of the pool robot changes from being greater than a second distance threshold to being less than a third distance threshold. This change can reflect the pool robot's movement from the platform wall to the platform surface. The third distance threshold may be less than or equal to the second distance threshold.

[0104] In some embodiments, after the pool robot reaches the platform, its movement on the platform can be controlled, such as to perform cleaning operations or to return to its docking position. Alternatively, after reaching the platform, the pool robot can dock on the platform so that the user can remove it from the water.

[0105] The pool robot's cleaning operations on the platform surface may include at least one of the following: sucking debris from the platform surface and / or the area near the platform into a filter unit using a suction component; or cleaning the platform surface and / or the area near the platform using a cleaning unit while the pool robot is moving or stationary.

[0106] When the pool robot performs cleaning operations on the platform surface, it includes, but is not limited to, at least one of the following movement modes: moving along the boundary of the platform surface; moving randomly within the platform surface; moving back and forth within the platform surface; moving within the platform surface along a specific trajectory (such as a bow shape, a square shape, or a Z-shape); moving within the platform surface in any way (such as a cross shape), and recording the longest path within a preset number of times and / or time as the relative longest path, and then planning a cleaning path parallel to or at a preset angle (such as perpendicular) to it based on the relative longest path, etc.

[0107] The pool robot can leave the platform after triggering an event that causes it to leave the platform. Such events can include at least one of the following: completing platform cleaning, malfunction of the pool robot (e.g., the impeller of the pump in the suction unit protrudes above the water surface, the pool robot gets stuck), the pool robot triggers a return trip (e.g., insufficient power, a full filter box), or switching of the pool robot's operating mode.

[0108] After triggering the event to leave the platform surface, the pool robot can move from the platform surface to the platform wall, and then from the platform wall to the pool bottom or to another platform surface. Alternatively, after triggering the event to leave the platform surface, the pool robot can move directly from the platform surface to the pool bottom without passing the platform wall. Or, after triggering the event to leave the platform surface, the pool robot can also climb from the platform surface to a non-platform wall or another platform wall to perform pool wall cleaning, dock on the pool wall, or transition to a floating posture from the pool wall, or return to the pool bottom from a non-platform wall. If a return assist device is provided on the platform surface, after triggering the return assist device, the pool robot can also climb the return assist device from the platform surface to achieve return.

[0109] See Figure 8 As shown, when the pool robot moves along the platform wall toward the water surface, when it reaches a certain height, part of the pool robot extends beyond the platform surface. The part of the pool robot above the platform surface is called the first part, and the part of the pool robot below the platform surface is called the second part.

[0110] In some embodiments, when the center of gravity of the pool robot is above the platform surface, the pool robot can rotate towards the platform surface under the influence of gravity, causing the first part to move closer to the platform surface and the second part to move away from the platform wall. The pool robot's posture can gradually change from a pool wall posture to a platform posture. When the center of gravity of the pool robot is above the platform surface, if the pool robot is also subjected to a driving force that causes the first part to move closer to the platform surface (for example, when the point of application of the main water pump's thrust on the pool robot is located at the first part, this can serve as a driving force that causes the first part to move closer to the platform surface, i.e., generating a torque that causes the first part to move closer to the platform surface), the pool robot can rotate towards the platform surface under the combined action of gravity and the aforementioned driving force, causing the first part to move closer to the platform surface and the second part to move away from the platform wall, thereby allowing the pool robot to change from a pool wall posture to a platform posture.

[0111] In other embodiments, when the center of gravity of the pool robot is below the platform surface, but the torque generated by the driving force that causes the first part to move closer to the platform surface is large enough, the pool robot can also rotate towards the platform surface under the action of the driving force, so that the first part moves closer to the platform surface and the second part moves away from the platform wall, thereby enabling the pool robot to change from the pool wall posture to the platform posture.

[0112] Of course, the above-described method of converting the pool robot's posture from the pool wall to the platform is an example. Due to differences in the configuration of the pool robot's power components and the structural layout of the pool robot, other methods can also be used for the pool robot to convert to the platform posture. This specification does not limit the specific implementation of these methods.

[0113] During the process of the pool robot moving towards the water surface along the platform wall, before switching to the platform posture, at least part of the walking component is no longer in contact with the platform wall (for example, part of the walking component of the pool robot may be higher than the platform surface, or the posture adjustment of the pool robot may cause part of the walking component to detach from the platform wall). As a result, when the walking component is running at its original operating parameters, the power to drive the pool robot to continue moving towards the water surface along the platform wall is reduced, which may result in the pool robot being unable to continue moving towards the water surface. Consequently, the first part of the pool robot accounts for a relatively small proportion of the whole machine, and the pool robot cannot complete the transition to the platform posture.

[0114] And / or, for platforms where the distance between the platform surface and the water surface is relatively short, at least part of the pool robot is already above the water surface before the platform attitude change is completed, which reduces the buoyancy of the pool robot and thus reduces the upward force on the pool robot. It is also possible that the pool robot will be unable to continue moving towards the water surface, resulting in the first part of the pool robot accounting for a relatively small proportion of the whole machine, and the pool robot will be unable to complete the change to the platform attitude.

[0115] For example, as shown in the above embodiments, when the pool robot is unable to continue moving towards the water surface, the center of gravity of the pool robot fails to exceed the platform surface, and / or the point of application of the driving force that causes the first part to move closer to the platform surface fails to exceed the platform surface, making it impossible for the pool robot to complete the change of attitude towards the platform.

[0116] In some embodiments, the motor power of the traveling mechanism can be adjusted to increase the power of the pool robot to move towards the water surface. For example, by increasing the motor power of the walking component and the motor power of the propulsion component, the power to drive the pool robot towards the water surface can be increased, so that after the pool robot is partially above the platform surface, it can continue to move towards the water surface, thereby increasing the proportion of the first part of the pool robot relative to the whole machine, so that the pool robot can complete the transformation to the platform posture.

[0117] It should be noted that the power of the pool robot's movement can be increased by increasing the motor power of the propulsion component and increasing the interaction force between the propulsion component and the fluid. When the propulsion component includes an impeller, the power of the pool robot's movement can be increased by increasing the impeller speed and / or increasing the motor power of the propulsion component and increasing the interaction force between the propulsion component and the fluid.

[0118] Alternatively, in some embodiments, the traveling mechanism includes a first traveling sub-mechanism and a second traveling sub-mechanism, with the first traveling sub-mechanism located on the left side of the main body and the second traveling sub-mechanism located on the right side of the main body. Adjusting the operating parameters of the traveling mechanism includes adjusting the motor power of the first and second traveling sub-mechanisms to create a difference between the left-side and right-side forces propelling the pool robot towards the water surface. By controlling the difference between the left-side and right-side forces propelling the pool robot towards the water surface, the force state of the pool robot is altered, breaking the force balance caused by the reduced upward force, thereby increasing the probability of successfully transitioning to a platform posture.

[0119] In some embodiments, the motor power of the suction component can also be increased. If the thrust of the suction component has a component in the direction in which the pool robot moves along the platform wall toward the water surface, increasing the motor power of the suction component can further increase the driving force required for the pool robot to continue moving upward, thereby increasing the height the pool robot can move upward. Alternatively, during the transition of the pool robot from the pool wall posture to the platform posture, when the thrust of the suction component acts on the first part of the pool robot above the platform surface, it can serve as the driving force for the pool robot to transition to the platform posture. That is, by increasing the motor power of the suction component, the transition of the pool robot to the platform posture can be further assisted.

[0120] It should be noted that the ability of the suction component to drive fluid can be increased by increasing the motor power of the suction component; when the suction component includes an impeller, the ability of the suction component to drive fluid can be increased by increasing the impeller speed and / or increasing the motor power of the suction component.

[0121] When at least a portion of the opening is above the water surface of the pool, a suction component can be used to draw outside air into the main body, at least reducing the pool robot's gravity and allowing it to continue moving towards the water surface, increasing the probability of the pool robot transitioning to a platform posture. Alternatively, by changing the air content inside the pool robot, its pitch angle can be altered, facilitating the transition to a platform posture. See the following embodiments for details, which will not be elaborated upon here.

[0122] In some embodiments, after the end of the buoyancy and diving mechanism that communicates with the outside surface breaks the water, the motor power of the buoyancy and diving mechanism can be increased to allow gas to enter the main body, at least reducing the weight of the pool robot, so that the pool robot can continue to move towards the water surface and increase the probability of the pool robot transitioning to a platform posture; or by changing the air ratio inside the pool robot, the pitch angle of the pool robot can be changed, assisting in the transition of the pool robot to a platform posture. See the following embodiments for details, which will not be elaborated here.

[0123] It should be noted that, in the various embodiments of this specification, increasing the motor power can mean increasing the motor power from a non-zero value to a larger value while the motor is on; it can also mean controlling the motor to turn on while the motor is off, i.e., increasing the motor power from zero to a zero value. Decreasing the motor power can mean decreasing the motor power from a non-zero value to a smaller value while the motor is on; it can also mean controlling the motor to turn off while the motor is on, i.e., decreasing the motor power from a zero value to zero.

[0124] In some embodiments, the pool robot can also be adjusted according to a first adjustment strategy and / or a second adjustment strategy. Both the first and second adjustment strategies include adjusting the operating parameters of at least one of the pool robot's walking mechanism, suction component, and buoyancy and descent mechanism. At least one of the component types, operating parameter types, and operating parameter values ​​included in the first and second adjustment strategies are different. The component types may include one of the walking component, propulsion component, suction component, and buoyancy and descent mechanism.

[0125] The first adjustment strategy could be to adjust the motor power of the traveling mechanism to increase the power of the pool robot moving towards the water surface; the second adjustment strategy could be to adjust the motor power of the first traveling sub-mechanism and the second traveling sub-mechanism to make the left and right power of the pool robot moving towards the water surface different.

[0126] In some embodiments, the pool robot has an adjustment strategy, which can be a first adjustment strategy or a second adjustment strategy. In other embodiments, the pool robot has two adjustment strategies, namely a first adjustment strategy and a second adjustment strategy.

[0127] For example, the pool robot can adopt a first adjustment strategy or a second adjustment strategy as the target adjustment strategy, so that the pool robot moves based on the working parameters in the target adjustment strategy. If the pool robot moves according to the target adjustment strategy for a first duration but fails to successfully transition to the platform posture, the current movement to the platform posture can be terminated. Alternatively, if the pool robot successfully transitions to the platform posture, the movement to the platform posture ends.

[0128] In some implementations, if the pool robot triggers a platform-turning failure condition during its movement strategy adjustment based on the target, the platform-turning posture can be considered a failure, and the movement in the platform-turning posture can be terminated. Subsequently, the pool robot can move again from the platform wall to the platform surface; or from a location other than the platform wall (e.g., the water surface) to the platform surface. Platform-turning failure conditions include, but are not limited to: the pool robot falling to the bottom of the pool; or the presence of obstacles on the platform that prevent the pool robot from completing the platform-turning posture (e.g., non-platform walls, living organisms, decorations, pillars, chairs, toys, etc.).

[0129] In some implementations, during the movement of the pool robot based on the target adjustment strategy, the pool robot switches to a floating posture, and can be controlled to switch from a floating posture to a platform posture; of course, it can also switch from a floating posture to a pool wall posture, and from a pool wall posture to a platform posture; it can also switch from a floating posture to a pool bottom posture, and then from a pool bottom posture to a pool wall posture, and then from a pool wall posture to a platform posture.

[0130] In some implementations, the presence of obstacles hindering the pool robot from transitioning to the platform posture can be determined by data detected by any sensor on the pool robot (e.g., image acquisition unit, distance detection unit, etc.) during the transition. If the pool robot determines that there is an obstacle preventing it from transitioning to the platform posture, it can record the obstacle's position. Subsequently, before transitioning to the platform posture, the pool robot moves to the target position on the platform wall beforehand, and then transitions from the target position to the platform posture. The pool robot can avoid the obstacle when transitioning from the target position to the platform posture, thereby improving the success rate and efficiency of the transition. Optionally, the obstacle can be displayed on a control terminal that communicates with the pool robot. The control terminal can be a mobile phone, remote control, base station, watch, speaker, computer, tablet, etc. Of course, if the pool robot has a control interface or buttons, the pool robot itself can also serve as the control terminal.

[0131] In some implementations, obstacles on the platform that prevent the pool robot from transitioning to the platform posture can be pre-marked by the user, for example, marked on a pool map. Before transitioning to the platform posture, the pool robot moves to the target position on the platform wall beforehand, and then transitions from the target position to the platform posture. In this way, the pool robot can avoid obstacles when transitioning from the target position to the platform posture, thereby improving the success rate and efficiency of transitioning to the platform posture.

[0132] In some implementations, if the pool robot fails to successfully transition to the platform posture after a first duration based on the target adjustment strategy and the platform transition failure condition is not triggered, the pool robot may perform at least one of the following operations: the pool robot may stop at the platform wall and wait for the next instruction; or end the movement to the platform posture and move towards the bottom of the pool (retreat from the pool wall to the bottom of the pool or fall directly to the bottom of the pool).

[0133] After the pool robot returns to the bottom of the pool, it can choose to climb the platform again. It can choose to move towards the platform wall again to try to move back to the platform surface; or it can choose not to climb the platform again during this cleaning task.

[0134] If the pool robot fails to successfully transition to a platform posture after the first time period based on its target adjustment strategy, and the platform transition failure condition is not triggered, the pool robot can initiate a second round of platform posture transition actions. The pool robot can choose to continue moving using the same adjustment strategy; for example, if the target adjustment strategy in the first round was the first adjustment strategy, then the target adjustment strategy in the second round will also be the first adjustment strategy. Alternatively, the pool robot can choose a different adjustment strategy; for example, if the target adjustment strategy in the first round was the first adjustment strategy, then the target adjustment strategy in the second round will be the second adjustment strategy. In the second round of attempts, if it successfully transitions to a platform posture, the pool robot ends its platform posture transition movement; or if the platform transition failure condition is triggered, the pool robot ends its platform posture transition movement. If the second round of attempts fails to successfully transition to a platform posture after the first time period, and the platform transition failure condition is not triggered, a third round can be initiated, and so on, until the pool robot successfully transitions to a platform posture, or until the adjustment strategy rotation reaches the preset number of rotations, or until the preset adjustment time is reached, or the platform transition failure condition is triggered.

[0135] In the aforementioned multiple attempts, the pool robot can choose to consistently employ a single adjustment strategy, or arbitrarily select an adjustment strategy in each round. For example, the pool robot can alternate between using a first adjustment strategy and a second adjustment strategy, adjusting the pool robot according to either the first or second adjustment strategy. If the pool robot cannot transition to the platform posture, it switches to an adjustment strategy other than the current one, repeating the alternation of the first and second adjustment strategies until the pool robot transitions to the platform posture, or until the adjustment strategy rotation reaches a preset number of rotations, or until a preset adjustment duration is reached, or until the platform transition failure condition is triggered.

[0136] Until the preset number of rotations or the preset adjustment time is reached, the pool robot can perform any of the following operations: The pool robot can stop at the platform wall and wait for the next instruction; the pool robot can change direction and move towards the pool bottom (retreating from the pool wall to the pool bottom or falling directly to the pool bottom); the pool robot can move on the platform wall to attempt to move from other positions on the platform wall to the platform surface. Movement on the platform wall can include, but is not limited to, lateral movement, up-and-down movement, and diagonal movement. After returning to the pool bottom, the pool robot can choose to climb the platform again, such as moving back towards the platform wall to attempt to move to the platform surface again; or it can choose not to climb the platform again for this cleaning task.

[0137] In some embodiments, the pool robot is provided with a propulsion component and / or a walking component; the first adjustment strategy includes increasing the motor power of the propulsion component and / or the walking component.

[0138] Taking the propulsion component as an example, the pool robot can activate or deactivate the propulsion component when moving upwards along the platform wall. In one embodiment, if the propulsion component is not activated when the pool robot moves upwards along the platform wall, activating the propulsion component increases the thrust. If the propulsion component is already activated when the pool robot moves upwards along the platform wall, further increasing the motor power of the propulsion component increases the impeller speed and thus the thrust. Further increasing the thrust of the propulsion component ensures that the pool robot has the power to continue moving upwards when it is partially above the platform surface, ensuring that the portion of the pool robot exceeding the platform surface is sufficiently large, thereby increasing the probability of the pool robot transitioning to the platform posture.

[0139] Furthermore, due to the pressure between the walking components of the pool robot and the platform wall, as well as the coefficient of friction of the platform wall, the upward force provided by the walking components has an upper limit. When the force provided by the walking components reaches its upper limit, simply increasing the motor power of the walking components may not be enough to break the force balance of the pool robot. Increasing the motor power of the propulsion components can more effectively increase the force for the pool robot to continue moving towards the water surface, increasing the probability of the pool robot completing a floating posture.

[0140] In some embodiments, the first adjustment strategy includes: increasing the motor power of the propulsion component and decreasing the motor power of the walking component.

[0141] When using the thrust of the propulsion component to assist the pool robot in moving upwards, if the motor power of the walking component remains constant, the pool robot will move not only under the propulsion of the walking component but also under the propulsion of the propulsion component. This can lead to excessively high movement speed for the pool robot. Furthermore, there are many unstable factors during the transition from the platform wall to the platform surface. If the pool robot moves too fast, its posture is prone to instability, or it may not be able to adjust in time, potentially causing it to tilt backwards and fall from the pool wall to the bottom, failing to complete the transition to the platform posture. In this embodiment, by increasing the power of the propulsion component to increase thrust, while ensuring the pool robot has sufficient power to move towards the water surface, the motor power of the walking component is appropriately reduced, decreasing the rotational speed of the walking wheels or tracks. This ensures the stability of the walking component's movement along the platform surface boundary, increasing the probability of the pool robot transitioning to the platform posture.

[0142] In some embodiments, the walking component includes a first walking sub-component and a second walking sub-component, the first walking sub-component being disposed on the left side of the main body and the second walking sub-component being disposed on the right side of the main body; the second adjustment strategy includes: adjusting the motor power of the first walking sub-component to a first power and adjusting the motor power of the second walking sub-component to a second power, wherein the first power and the second power are different.

[0143] By adjusting the two sets of walking sub-components of the pool robot to two different motor power levels, the two sets of walking sub-components achieve different speeds. This differential speed movement alters the pool robot's posture on the pool wall, causing it to move diagonally upwards. This aims to disrupt the robot's force balance by changing its force state and posture, allowing it to continue moving towards the water surface and increasing the probability of successfully transitioning to a platform posture.

[0144] The motor power of the two walking sub-components can also be adjusted alternately according to a preset cycle. Initially, the motor power of the first walking component is adjusted to the first power, and the motor power of the second walking component is adjusted to the second power, which are different. After a preset cycle, the motor power of the first walking component is adjusted to the second power, and the motor power of the second walking component is adjusted to the first power. For example, this causes the pool robot to turn left and perform an upward diagonal movement. After a preset cycle, it turns right and performs an upward diagonal movement. By changing the force state and posture of the pool robot, this attempts to break the force balance of the pool robot, allowing it to continue moving towards the water surface, thereby increasing the probability of successfully transitioning to a platform posture.

[0145] In some embodiments, the first reference power is the motor power of the walking components when the pool robot moves along the platform wall towards the water surface before adjustment. The second power is less than the first reference power, and the first power is equal to the first reference power. That is, the motor power of one set of walking sub-components is adjusted to be less than the first reference power, while the motor power of the other set of walking sub-components is maintained at the first reference power. The motor power of the two sets of walking sub-components can be adjusted alternately according to a preset cycle. By keeping the motor power of one set of traveling mechanisms constant and reducing the motor power of the other set of walking sub-components, the posture of the pool robot can be adjusted. This ensures that the pool robot has sufficient driving force for upward oblique movement while reducing the backward tilting phenomenon that may be caused by the tracks or wheels of the walking components moving too fast along the boundary of the platform surface. In other words, it ensures that the pool robot transitions more smoothly from the pool wall posture to the platform posture, reducing the probability of abnormal situations. At the same time, keeping the motor power of one set of walking sub-components constant and reducing the motor power of the other set of walking sub-components can also reduce the adjustment complexity.

[0146] Of course, as needed, the motor power of one set of walking sub-assemblies can be adjusted to be greater than the first reference power, while the motor power of the other set of walking sub-assemblies can be adjusted to be less than the first reference power. Alternatively, the motor power of both sets of walking sub-assemblies can be adjusted to be less than the first reference power, or to be greater than the first reference power.

[0147] In some embodiments, the second adjustment strategy includes: the pool robot includes a first propulsion sub-assembly and a second propulsion sub-assembly, the first propulsion sub-assembly being disposed on the left side of the main body and the second propulsion sub-assembly being disposed on the right side of the main body; the second adjustment strategy includes: adjusting the motor power of the first propulsion sub-assembly to a third power and adjusting the motor power of the second propulsion sub-assembly to a fourth power, wherein the third power and the fourth power are different.

[0148] The motor power of the two propulsion sub-assemblies can also be adjusted alternately according to a preset cycle. Compared to the motor power of the propulsion assembly before adjustment, the adjustment can also be made by keeping the motor power of one propulsion sub-assembly unchanged and reducing the motor power of the other propulsion sub-assembly. Of course, the motor power of both propulsion sub-assemblies can also be reduced, or the motor power of both propulsion sub-assemblies can be increased, or the motor power of one propulsion sub-assembly can be reduced and the motor power of the other propulsion assembly can be increased.

[0149] Alternatively, the motor power of the walking component and the motor power of the propulsion component can be adjusted simultaneously, which will not be elaborated here.

[0150] In some embodiments, the second adjustment strategy includes: adjusting the motor power of the first walking sub-component to a first power, adjusting the motor power of the second walking sub-component to a second power, wherein the first power and the second power are different; and increasing the motor power of the propulsion component. Adjusting the motor power of the two sets of walking sub-components changes the posture of the pool robot, causing the pool robot to move diagonally upwards. Activating the propulsion component during this process, or increasing the motor power of the propulsion component while it is already activated, can further increase the power of the pool robot's diagonal upward movement. Combining these two approaches can further increase the probability of the pool robot transitioning to a platform posture.

[0151] In scenarios where a platform has been identified (e.g., using an image acquisition device located at the front of the pool robot to detect the platform during pool bottom cleaning) and the pool robot is controlled to move towards the platform, the operating parameters of at least one of the following components—such as the traveling mechanism and the suction component—can be adjusted immediately after the pool robot transitions from a pool bottom posture to a pool wall posture. This increases the probability of the pool robot transitioning to the platform posture. Alternatively, in the aforementioned scenario where a platform has been identified, if a platform detection sensor is also installed on the bottom of the pool robot, the operating parameters of at least one of the following components—such as the traveling mechanism, the suction component, and the ascent and descent mechanism—can be adjusted when the platform detection sensor extends beyond the platform surface. Alternatively, in the scenario described above where the platform has been identified, and given the platform's height before climbing the platform wall, the pool robot can determine the timing for adjusting at least one of the operating parameters of its propulsion mechanism, suction component, and buoyancy / diving mechanism based on the platform wall's height. For example, when the foremost part of the pool robot is level with or nearly level with the platform surface, the operating parameters of at least one of the operating parameters of its propulsion mechanism or suction component can be adjusted; or, when the foremost part of the pool robot is level with or nearly level with the water surface, the operating parameters of at least one of the operating parameters of its propulsion mechanism or suction component can be adjusted.

[0152] If a platform is not detected in advance, and the platform is detected by the platform detection sensor while the pool robot is moving along the pool wall, at least one of the working parameters of the traveling mechanism, the suction component, and the floating and diving mechanism can be adjusted immediately upon detection of the platform; or, if the pool robot travels for a preset time or distance after detecting the platform, at least one of the working parameters of the traveling mechanism, the suction component, and the floating and diving mechanism can be adjusted.

[0153] In some embodiments, when the pool robot is equipped with a walking component, at least one of the operating parameters of the propulsion mechanism, suction component, and buoyancy / diving component can be adjusted when at least a portion of the walking component extends beyond the platform surface. Whether the walking component extends at least partially beyond the platform surface can be determined by the height of the platform wall, sensors located on the bottom of the pool robot, sensors on the walking component, or an odometer. Adjusting the operating parameters of at least one of the propulsion mechanism, suction component, and buoyancy / diving component when the walking component extends beyond the platform surface can promptly compensate for the power required for the pool robot to move towards the water surface or reduce resistance, increasing the probability of the pool robot transitioning to a platform posture; and without affecting the stability of the pool robot's movement along the platform wall before the adjustment.

[0154] In some embodiments, the pool robot is equipped with a platform detection sensor on its bottom. When at least one platform detection sensor exceeds the platform surface, the operating parameters of at least one of the following components—the traveling mechanism, the suction component, and the buoyancy / diving component—can be adjusted to increase the probability of the pool robot transitioning to a platform posture. For example, the platform detection sensor on the bottom of the pool robot can immediately adjust the operating parameters of the traveling mechanism when the sensor exceeds the platform surface; or, after the platform detection sensor exceeds the platform surface, the pool robot can adjust the operating parameters of the traveling mechanism after traveling a preset time or distance.

[0155] As illustrated in the scenario example above, when the platform detection sensor transitions from the pool wall to above the platform surface, the reflected signal from the object received by the ultrasonic or infrared sensors, or the object features in the image acquired by the image acquisition device, may change abruptly. This allows the robot to determine that it is currently climbing a platform wall when it is unknown whether it is a platform, and timely adjustment of the travel mechanism's operating parameters can increase the probability of the pool robot transitioning to a platform posture. Alternatively, when it is known that it is a platform, the detection results from the platform detection sensor can be used to determine that the pool robot is about to reach the platform surface, and timely adjustment of the travel mechanism's operating parameters can further increase the probability of the pool robot transitioning to a platform posture.

[0156] The platform can be divided into a first platform and a second platform. For the first platform, before and / or during the transition from pool wall posture to platform posture, at least a portion of the pool robot is above the water surface. All platforms other than the first platform are designated as the second platform. The platform surface of the first platform is designated as the first platform surface, and the first platform wall as the first platform wall; similarly, the platform surface of the second platform is designated as the second platform surface, and the second platform wall as the second platform wall.

[0157] The boundary is defined by the intersection of the platform surface and the pool wall. The intersection of the first platform surface and the pool wall is the first boundary; the intersection of the second platform surface and the pool wall is the second boundary. And / or, the boundary is defined by the intersection of the platform surface and the platform wall. For example... Figure 6 and Figure 7 As shown, boundaries can be divided into open boundaries and closed boundaries. When a pool robot moves to a boundary, if the pool wall is an obstacle, then the boundary is a closed boundary (e.g., ...). Figure 6 As shown, the boundary between platform surface 154 and non-platform wall 151 is not an open boundary; when the pool robot moves to the boundary, if there is a cliff outside the platform surface, then the boundary is an open boundary (e.g., Figure 6 As shown, the boundary between platform surface 154 and platform wall 153 is an open boundary.

[0158] In some embodiments, the pool robot moves along the first platform wall to a first boundary, using the area within the first boundary covered by the pool robot as a comparison zone. If the distance between the comparison zone and the water surface is less than or equal to a first distance, then at least a portion of the pool robot will be above the water surface before or during the transition from the pool wall posture to the platform posture. That is, at least the uppermost part of the first platform wall covered by the pool robot is close to the water surface, and at least a portion of the pool robot is above the water surface before the platform posture switch is completed.

[0159] For example, if the distances between all points on the first platform and the water surface are equal or approximately equal, and the average distance between these points and the water surface is less than or equal to a first distance, then the distance between the first platform and the water surface can be considered less than or equal to the first distance. Before or during the transition from the pool wall posture to the platform posture, at least a portion of the pool robot is already above the water surface. In scenarios where the distances between the points on the first platform and the water surface differ, if the distance between the comparison area and the water surface is less than or equal to the first distance, then at least a portion of the pool robot is already above the water surface before or during the transition from the pool wall posture to the platform posture.

[0160] When at least part of the pool robot is above the water surface, its buoyancy decreases, resulting in a reduced upward force. Consequently, the robot cannot continue moving towards the surface, leading to a smaller portion of it above the platform and potentially preventing it from transitioning to a platform posture. To address this, adjusting the operating parameters of the propulsion mechanism, and / or the suction component, and / or the buoyancy and submersion mechanism on the first platform can increase the robot's upward momentum and / or decrease its resistance, and / or alter its force state or posture to increase the probability of transitioning to the platform posture.

[0161] Alternatively, the operating parameters of the traveling mechanism and / or the suction component can be adjusted for both the first and second platforms to increase the probability of the pool robot transitioning to a platform posture. The type and / or parameter values ​​of the adjusted operating parameters for the first and second platforms can be the same. However, given that the buoyancy of the pool robot decreases on the first platform, the type and / or parameter values ​​of the adjusted operating parameters for the first and second platforms can also differ.

[0162] As can be seen from the above embodiments, regarding the first platform, during the process of the pool robot moving towards the water surface along the platform wall, after a portion of the pool robot is above the platform surface, a portion of it quickly emerges from the water, reducing the buoyancy of the pool robot and consequently decreasing the overall upward force acting on it. If the upward and downward forces acting on the pool robot reach equilibrium, the robot will be unable to continue moving upward. Therefore, when the platform surface is close to the water surface, the portion of the pool robot above the platform surface may be small, preventing the pool robot from moving towards the platform surface under the influence of gravity and / or the driving force that causes the first part of the pool robot to move closer to the platform surface, thus preventing the transformation to a platform orientation.

[0163] In some embodiments, the operating parameters of the traveling mechanism can be adjusted such that the opening is at least partially above the water surface, and at least gas enters the main body through the opening, thereby causing the pool robot to switch to a platform posture.

[0164] For the first platform, by adjusting at least the operating parameters of the traveling mechanism, the opening at the front of the pool robot's main body is at least partially above the water surface, such as... Figure 9As shown, gas enters the main body through the opening, increasing the proportion of gas inside the body and reducing the weight of the pool robot. With buoyancy remaining constant and weight decreasing, the upward force on the pool robot is greater than the downward force, allowing the robot to continue moving upwards and increasing the probability of it transitioning to a platform posture. And / or, the net torque on the pool robot changes (the change in the proportion of gas inside the body alters gravity, thus changing the net torque; it may also cause a change in the robot's center of gravity, further altering the net torque), increasing the probability of the pool robot transitioning to a platform posture.

[0165] Therefore, by adjusting the working parameters of the traveling mechanism to allow external gas to enter the main body and increase the proportion of gas inside the main body, the above-mentioned equilibrium state of the pool robot can be broken, thereby increasing the probability of the pool robot switching to the platform posture.

[0166] In some embodiments, at least a portion of the main body is above the water surface before adjusting the operating parameters of at least one of the propulsion mechanism, suction assembly, and buoyancy / dive mechanism. Whether the main body is partially above water can be determined by a water pressure sensor installed within the main body, a floating component located at the front of the main body, an optical sensor, an ultrasonic sensor, and the operating parameters of the suction assembly motor. Adjusting the operating parameters of at least one of the propulsion mechanism, suction assembly, and buoyancy / dive mechanism after the main body is above water can increase the probability of the pool robot transitioning to a platform posture while reducing power consumption. Furthermore, it can prevent adjustments to the operating parameters from affecting the stability of the pool robot's movement on the platform wall before the main body is above water.

[0167] The opening located at the front of the pool robot's main body can be an air inlet or other openings on the front of the pool robot.

[0168] Before adjusting the working parameters of the traveling mechanism, the openings at the front of the pool robot body can all be located below the water surface. By adjusting the working parameters of the traveling mechanism, the openings can be at least partially located above the water surface so that gas can enter the body through the openings, increasing the probability of the pool robot switching to a platform posture.

[0169] Before adjusting the working parameters of the traveling mechanism, the opening at the front of the pool robot could be partially above the water surface. After adjusting the working parameters of the traveling mechanism, the area of ​​the opening above the water surface increased, resulting in more gas entering the main body through the opening per unit time, thus increasing the probability of the pool robot switching to a platform posture.

[0170] The timing of adjusting the working parameters of at least one of the traveling mechanism, suction assembly, and buoyancy and descent mechanism can also be achieved in other ways, as can be found in the above embodiments, which will not be elaborated here.

[0171] The opening can be fluidly connected to the suction assembly. When at least a portion of the opening is above the water surface, gas can enter the main body through the opening under the action of the suction assembly. When the suction assembly is open, the suction effect of the suction assembly allows gas to enter the main body quickly, increasing the probability of the pool robot transitioning to a platform posture and shortening the posture transition time. During the pool robot's movement along the pool wall, the suction assembly is usually kept open. The suction effect of the suction assembly allows gas to enter the main body quickly, which also reduces control complexity.

[0172] The motor power of the suction component can be increased to allow gas to enter the main body more quickly by means of the suction action of the suction component when at least part of the opening is above the water surface. For example, the motor power of the suction component can be increased to reduce power consumption when at least part of the opening is above the water surface; of course, the motor power of the suction component can also be increased at other times, such as when adjusting the operating parameters of the traveling mechanism, to reduce control complexity.

[0173] The opening is fluidly connected to the buoyancy and submersion mechanism. When at least a portion of the opening is above the water surface, the first adjustment component of the buoyancy and submersion mechanism is activated, allowing gas to enter the float cavity through the opening. When the first adjustment component is activated, the suction effect of the buoyancy and submersion mechanism allows gas to quickly enter the main body, increasing the probability of the pool robot transitioning to a platform posture and shortening the posture transition time. By activating the first adjustment component and drawing gas into the float cavity, the force of gravity is reduced, further assisting in changing the pitch angle of the pool robot and increasing the probability of the pool robot transitioning to a platform posture.

[0174] The air intake of the surfacing and diving mechanism, with one end connected to the outside, is typically located at the front of the main body, and the outer shell of the main body has a corresponding air inlet at the front. For example, a handle is located at the front of the main body, the air inlet is located on the handle, and the end of the air intake connected to the outside is fixed inside the handle. Based on this structure, when the pool robot is climbing the pool wall and transitioning to a floating posture, it can inhale air promptly after the pool robot surfaces, thereby controlling the pool robot to transition from a pool wall posture to a floating posture while maintaining the stability of the pool robot's posture as much as possible. In the embodiments of this specification, when climbing a platform, by inhaling air into the floating cavity, the weight and posture of the pool robot are changed. This allows the pool robot to complete the transition to a platform posture with less water surface exposure, thereby increasing the probability of the pool robot climbing to a platform surface closer to the water surface.

[0175] In some embodiments, the opening at the front of the pool robot body includes a second water inlet. By adjusting at least the operating parameters of the traveling mechanism, the second water inlet is at least partially above the water surface. Under the action of the suction component, at least gas enters the body through the second water inlet. The opening area of ​​the second water inlet is relatively large, and the fluid channel between it and the suction component is the main fluid channel for water surface cleaning. That is, when the suction component is turned on, the fluid velocity in this fluid channel is high. By using this fluid channel to allow gas to enter the body, the amount of gas flowing into the body per unit time can be further guaranteed. At the same time, the fluid channel passes through the filter box. The cavity of the filter box is large enough to accommodate fluid relative to the gaps between the internal structural components of the body, so that more air is retained in the filter box, which can effectively increase the gas content in the body.

[0176] In some embodiments, a second baffle may be provided at the second water inlet. When the second water inlet is at least partially above the water surface, the second baffle is in a closed state. Under the action of the suction component, at least gas enters the main body through the gap between the second baffle and the second water inlet.

[0177] During the upward movement of the pool robot along the first platform wall, the second baffle remains closed. This closure also remains closed during the transition from the pool wall posture to the platform posture. After the robot transitions to the platform posture, the second baffle is also closed. If the gap between the second baffle and the second water inlet is sufficient to meet the required gas content within the main body, there is no need to further open the second baffle, reducing control complexity. However, if the second baffle is opened, it may lead to an excessive amount of gas entering the main body per unit time, resulting in most or all of the fluid flowing through the impeller of the suction component being gas. This could cause abnormal motor triggering in the suction component, thus affecting the stability of the pool robot's operation.

[0178] In other embodiments, a second baffle may be provided at the second water inlet. When the second water inlet is at least partially above the water surface, the second baffle is in an open state, and under the action of the suction component, at least gas enters the main body through the second water inlet.

[0179] The second baffle is closed when the second inlet is completely below the water surface; it remains closed after the pool robot transitions to a platform position; and it is open when at least part of the second inlet is above the water surface. Alternatively, the second baffle is closed before adjusting the operating parameters of the travel mechanism and / or suction assembly; it is open during the adjustment process from the start of parameter adjustment to the transition of the pool robot to a platform position; and it closes after the pool robot transitions to a platform position.

[0180] If the gap between the second baffle and the second inlet cannot effectively guarantee the required gas ratio inside the main body, the second baffle can be opened for a short time (e.g., the opening time of the second baffle is less than the preset time threshold) and / or the second baffle can be opened to a small extent (e.g., the opening area of ​​the second inlet is greater than zero and less than the preset area threshold) to guarantee the required gas ratio inside the main body, increase the probability of the pool robot switching to the platform posture, and ensure the stability of the pool robot's operation.

[0181] In some embodiments, the motor power of the traveling mechanism is adjusted to increase the power of the pool robot to move towards the water surface, such that at least a portion of the opening is above the water surface, and at least gas enters the main body through the opening, thereby causing the pool robot to switch to a platform posture.

[0182] For example, the pool robot is equipped with a propulsion component and / or a walking component. Increasing the motor power of the propulsion component and / or the walking component allows at least a portion of the opening to be above the water surface, enabling at least some gas to enter the main body through the opening, thereby allowing the pool robot to transition to a platform posture.

[0183] Taking the propulsion component as an example, the propulsion component can provide thrust for the pool robot to move upward along the first platform wall. When the distance between the platform surface and the water surface is small, by further increasing the thrust of the propulsion component, even after the buoyancy of the pool robot is reduced due to part of it being exposed above the water surface, the pool robot can still have the power to continue moving upward. This allows the opening at the front of the main body to be exposed above the water surface or increases the area of ​​the opening exposed above the water surface, thereby increasing the air content inside the pool robot and reducing its weight. This further reduces the resistance to the upward movement of the pool robot, allowing it to move further upward and ensuring that the portion of the pool robot exceeding the platform surface is sufficient, thus ensuring that the pool robot transitions to the platform posture.

[0184] Furthermore, due to the pressure between the walking components of the pool robot and the platform wall, as well as the coefficient of friction of the platform wall, the upward force provided by the walking components has an upper limit. When the force provided by the walking components reaches its upper limit, simply increasing the motor power of the walking components may not be enough to break the force balance of the pool robot. Increasing the motor power of the propulsion components can more effectively increase the force for the pool robot to continue moving towards the water surface, increasing the probability of the pool robot completing a floating posture.

[0185] By increasing the thrust of the propulsion components and reducing the gravity of the pool robot, the pool robot can continue to move upwards without significantly increasing the power of the propulsion components. This allows the pool robot to fall onto a platform closer to the water surface, thus further reducing power consumption.

[0186] In some embodiments, a first power threshold can be preset so that the motor power of the increased propulsion component is less than or equal to the first power threshold. Because the platform surface is close to the water surface, if the power of the propulsion component is increased to a very large value, the upward thrust on the pool robot will increase significantly, causing the pool robot to quickly rush out of the water and / or the walking components of the pool robot to detach from the pool wall. This makes it difficult to ensure the pool robot lands on the platform surface, and even if it does land, its stability on the platform surface is difficult to guarantee. Therefore, the solution provided in this embodiment can further ensure the stability of the pool robot's transition to a platform posture.

[0187] The solution for increasing the motor power of the walking component is the same as described in the above embodiments, and will not be repeated here.

[0188] In some embodiments, the motor power of the propulsion component can be increased, while the motor power of the walking component can be decreased, so that at least a portion of the opening is above the water surface, allowing at least gas to enter the main body through the opening, thereby enabling the pool robot to transition to a platform posture. Referring to the above embodiments, this method can effectively reduce the probability of the pool robot tilting backward, further ensuring the stability of the pool robot's transition to a platform posture.

[0189] In some embodiments, the motor power of the first and second traveling submechanisms can be adjusted so that there is a difference between the left and right power for the pool robot to move toward the water surface, so that at least part of the opening is above the water surface, and at least gas enters the main body through the opening, thereby causing the pool robot to switch to a platform posture.

[0190] For example, the motor power of the first walking sub-component can be adjusted to a first power, and the motor power of the second walking sub-component can be adjusted to a second power, where the first power and the second power are different. And / or, the motor power of the first propulsion sub-component can be adjusted to a third power, and the motor power of the second propulsion sub-component can be adjusted to a fourth power, where the third power and the fourth power are different. The schemes for adjusting the differences in motor power between the walking sub-components and the propulsion sub-components are described in the above embodiments and will not be repeated here.

[0191] Taking the walking components as an example, the two walking sub-components of the pool robot are adjusted to have two different motor power levels, resulting in different speeds for the two sets of walking sub-components. Under the differential motion of the two sets of walking sub-components, the pool robot's posture on the pool wall changes, causing it to move diagonally upwards. This ensures that at least part of the opening is above the water surface, allowing air to enter the pool robot's interior. This increases the air content inside the robot, disrupts its force balance, and increases the probability of successfully transitioning to a platform posture.

[0192] In some embodiments, the motor power of the first walking sub-component is adjusted to a first power, and the motor power of the second walking sub-component is adjusted to a second power, wherein the first power and the second power are different; and the motor power of the propulsion component is increased. Further activating the propulsion component, or increasing the motor power of the propulsion component while it is activated, can further increase the power for the pool robot to move obliquely upward, ensuring that the opening is above the water surface and increasing the probability of the pool robot transitioning to a platform posture.

[0193] In some embodiments, after the pool robot transitions to the pool wall posture, the motor power of the suction component can be increased. As shown in the above embodiments, when at least a portion of the opening is above the water surface, the suction component allows gas to quickly enter the main body of the pool robot, thereby increasing the air content inside the robot in a short time, i.e., rapidly changing the robot's gravity. If the thrust of the suction component has a component in the direction the pool robot moves along the pool wall, increasing the motor power of the suction component can further increase the driving force required for the pool robot to continue moving towards the water surface. During the transition from the pool wall posture to the platform posture, if the thrust of the suction component acts on the first part of the pool robot above the platform surface, it can serve as the driving force for the pool robot to transition to the platform posture; that is, increasing the motor power of the suction component can further assist in achieving the transition of the pool robot to the platform posture.

[0194] In some embodiments, after the end of the buoyancy and diving mechanism that communicates with the outside surface breaks the water, the motor power of the buoyancy and diving mechanism can be increased to allow gas to enter the main body, at least reducing the weight of the pool robot, so that the pool robot can continue to move towards the water surface and increase the probability of the pool robot transitioning to a platform posture; or by changing the air ratio inside the pool robot, the pitch angle of the pool robot can be changed, assisting in the transition of the pool robot to a platform posture. See the following embodiments for details, which will not be elaborated here.

[0195] In some embodiments, after the pool robot transitions to a platform posture, the motor power of the propulsion component is reduced, and / or the motor power of the walking component is adjusted to a fifth power, which is less than a sixth power. The sixth power is a second reference power of the walking component when the pool robot is cleaning the bottom of the pool.

[0196] Reducing the motor power of the propulsion component can mean either turning it off completely, reducing the motor power to zero, or keeping the propulsion component on but reducing its motor power to a non-zero value. When a pool robot is cleaning on a platform, its movement speed doesn't need to be too high; it's usually achieved by the propulsion of the walking components. Therefore, the propulsion component can be turned off, or its power reduced to a very low value to reduce power consumption.

[0197] The second reference power can be the motor power of the walking component of the pool robot when cleaning the pool bottom. Since the pool bottom environment is relatively complex, the actual cleaning of the pool bottom can be adaptively adjusted based on this motor reference power.

[0198] When the pool robot cleans on the platform, the motor power of its walking components is lower than the reference motor power set for cleaning the pool bottom. This allows the robot to perform cleaning at a lower speed, increasing cleaning effectiveness. Furthermore, the platform area is typically small, so cleaning at a lower speed doesn't significantly impact efficiency. Additionally, due to the small platform area, the robot can easily reach the platform boundary. Using a higher speed could lead to delayed cliff detection, causing the robot to detach from the platform and affecting cleaning. Controlling the robot to move at a lower speed effectively reduces the probability of this happening.

[0199] In some embodiments, after the pool robot transitions to a platform posture, the motor power of the suction component is adjusted to a seventh power; this seventh power is equal to or approximately equal to the third reference power of the suction component when the pool robot is cleaning the first platform surface. The motor power of the suction component when the pool robot is cleaning the platform surface can be preset. Different motor powers of the suction component can be set depending on the height of the platform surface from the water surface; for example, the preset motor powers of the suction components for the first platform surface and the second platform surface can be different. When the platform surface is closer to the water surface, the motor power of the suction component can be relatively lower to avoid excessively fast flow rates of the suctioned fluid, which could cause the water level at the impeller to drop, resulting in no liquid at the first impeller and causing malfunctions in the suction component. Of course, the preset motor power of the suction component can also be the same for different heights of the platform surface from the water surface.

[0200] In some embodiments, the distance between the platform surface and the water surface is greater than a second distance, such that when the pool robot is on the platform surface, the first impeller of the suction assembly is below the water surface. The first impeller being below the water surface means that the first impeller is below the water surface when the suction assembly is not operating; and / or, the first impeller being below the water surface means including the first impeller being below the water surface when the suction assembly is operating. For example, the distance between the platform surface and the water surface is greater than the second distance, such that when the motor power of the suction assembly is at a seventh power, the first impeller remains below the water surface.

[0201] In some embodiments, when the motor power of the suction assembly is a seventh power, the distance between the first impeller of the suction assembly and the water surface is greater than a third preset distance, so that when the pool robot performs cleaning operations on the platform surface, the impeller of the suction assembly remains below the water surface. This avoids the impeller being exposed above the water surface, which would make it difficult for the main water pump to suck up the liquid and affect the cleaning effect, while also preventing damage to the main water pump motor that may be caused by overcurrent.

[0202] In some embodiments, if the distance between the platform surface and the water surface is detected to be less than or equal to a second distance before the pool robot transitions to the platform posture, the pool robot can be controlled to perform the following actions: stop the transition operation to the platform posture; or, after the pool robot transitions to the platform posture, control the pool robot to leave the platform surface from the current boundary; or, after the pool robot transitions to the platform posture, adjust the motor power of the suction component to an eighth power and control the pool robot to move on the platform surface, where the eighth power is less than the seventh power.

[0203] In some embodiments, if the pool robot detects that the distance between the platform surface and the water surface is less than or equal to a second distance before climbing the platform wall, the pool robot can be controlled not to climb the platform wall.

[0204] Water pressure sensors and ultrasonic sensors located at the front can be used to detect the distance between the pool robot and the water surface before the pool robot transitions to the platform posture. When the platform surface is detected or the height of the platform surface is known, the distance between the platform surface and the water surface can be calculated to determine whether the distance between the platform surface and the water surface is less than or equal to a second distance.

[0205] If the distance between the platform and the water surface is less than or equal to the second distance, the pool robot can be controlled to perform the following actions. If, before the pool robot transitions to the platform posture, it detects that the distance between the platform and the water surface is too close for the robot to clean the platform, it can return to the bottom of the pool from the platform wall before transitioning to the platform posture; or, during the transition, it can stop and return to the bottom of the pool. Alternatively, the pool robot can continue transitioning to the platform posture, and after transitioning, stop on the platform or leave the platform. For example, the suction component can be controlled to close, and the pool robot can return to the bottom from the boundary of the platform. Alternatively, the motor power of the suction component can be adjusted to the eighth power level, and the pool robot can be controlled to travel to a non-platform wall connected to the platform, completing the transition to a floating posture from the non-platform wall; or the pool robot can be controlled to travel to the return assist and leave the platform with the help of the return assist.

[0206] In some embodiments, after the pool robot transitions to a platform posture, if the distance between the first platform surface and the water surface is detected to be less than or equal to a second distance, the pool robot can be controlled to leave the first platform surface. Alternatively, the motor power of the suction component can be adjusted to an eighth power, and the pool robot can be controlled to leave the first platform surface; the eighth power is less than the seventh power. This embodiment avoids damage to the suction component.

[0207] In some embodiments, after the pool robot transitions to a platform posture and performs cleaning on the platform surface, if there are obstacles (such as non-platform walls, organisms, decorations, pillars, chairs, toys, etc.) that hinder the movement of the pool robot, the pool robot is controlled to perform obstacle avoidance operations.

[0208] In some embodiments, after the pool robot transitions to a platform posture, if a designated area is detected on the platform surface (the designated area refers to a region on the platform surface whose distance from the water surface is less than or equal to a second distance), the motor power of the suction component is adjusted to an eighth power, and the pool robot is controlled to move within the designated area to leave the designated area. The eighth power is less than the seventh power. This embodiment avoids damage to the suction component.

[0209] Water pressure sensors, optical sensors mounted on top of the pool robot, and floating components can be used to detect the distance between the pool robot and the water surface. This distance can then be used to calculate the distance between the platform surface and the water surface, determining whether this distance is less than or equal to a second distance. When a designated area on the platform is very close to the water surface, the pool robot cannot clean that area. The robot can either stop in the designated area or leave it. For example, the motor power of the suction component can be adjusted to an eighth power level, controlling the pool robot to move within the designated area or leave it.

[0210] Upon triggering an event indicating departure from the platform surface, the pool robot can be controlled to leave the platform surface. In some embodiments, upon triggering an event indicating departure from the platform surface, the pool robot can be controlled to leave the platform surface from the open boundary. When the pool robot is entirely on the platform surface and the distance between the foremost part of the pool robot and the open boundary is less than or equal to a fourth distance, the motor power of the suction component is adjusted to a ninth power or the suction component is turned off; or, when part of the pool robot is outside the platform surface, the motor power of the suction component is adjusted to a ninth power or the suction component is turned off. The ninth power is less than the reference motor power of the suction component when the pool robot is cleaning the platform surface; for example, for the first platform, the ninth power is less than the seventh power. When the pool robot approaches the open boundary or is partially outside the platform surface, reducing the motor power of the suction component to a smaller power value or turning off the motor power of the suction component can reduce power consumption.

[0211] When the cliff detection device of the pool robot detects a cliff, the motor power of the suction component can be adjusted to the ninth power or the suction component can be turned off. For example, when the cliff detection device of the pool robot is outside the platform surface, the motor power of the suction component can be adjusted to the ninth power or the suction component can be turned off.

[0212] Of course, you can also adjust the motor power of the suction component to the ninth power or turn off the suction component when all the pool robots have left the platform.

[0213] For situations where the platform is too close to the water surface, resulting in the pool robot partially protruding from the water, the above solution can be applied by adjusting the motor power of the suction component to the ninth power level or turning off the suction component.

[0214] In some embodiments, after the event of leaving the platform surface is triggered, when the pool robot is on the platform surface and part of the pool robot is above the water surface, the motor power of the suction component is adjusted to the ninth power or the suction component is turned off according to the above scheme.

[0215] When the platform is close to the water surface, and the swimming robot is partially above water, air may be drawn into its body. When the robot leaves the platform, the suction system operates at high power to maintain a relatively stable air volume within the body. If the amount of air inside the robot is large, its weight is low. After leaving the platform, the downward and upward forces acting on the robot may balance, causing it to float and preventing it from falling to the bottom. Alternatively, the downward force may be only slightly greater than the upward force, resulting in a slow descent, and the robot will typically be far from the platform upon reaching the bottom.

[0216] When the pool robot is about to leave the platform or has already partially left the platform from the open boundary, reducing the motor power of the suction component to a lower power value or turning off the suction component can reduce the amount of gas sucked in. By using the liquid entering from the opening below the water surface of the pool robot, the gas inside the main body is expelled, which increases the gravity of the pool robot, allowing it to quickly fall to the bottom of the pool.

[0217] In some embodiments, for the first platform, when the pool robot is entirely on the platform surface and the distance between the foremost part of the pool robot and the open boundary is less than or equal to the fourth distance, the motor power of the suction component is adjusted to the ninth power or the suction component is turned off; or, when at least a part of the pool robot is outside the platform surface, the motor power of the suction component is adjusted to the ninth power or the suction component is turned off; the ninth power is less than the seventh power. The distance between the platform surface and the water surface of the first platform is very close. When the pool robot is on the platform surface, the probability of the pool robot breaking the surface is relatively high. For the first platform, using the above-mentioned scheme to reduce the motor power of the suction component to a smaller power value or to turn off the suction component can ensure that the pool robot quickly falls to the bottom of the pool.

[0218] In some embodiments, the motor power of the traveling mechanism (such as the walking component and / or propulsion component) can be reduced to a smaller power value when or before the motor power of the suction component is adjusted to the ninth power or the suction component is turned off, so that the pool robot moves to the open boundary at a slower speed, increasing the amount of gas expelled from the body before the pool robot leaves the platform surface.

[0219] And / or, starting from the time when the motor power of the suction component is adjusted to the ninth power or the suction component is turned off, after the fourth duration, reduce the motor power of the traveling mechanism (such as the walking component and / or the propulsion component). The fourth duration can be a preset duration; the fourth duration can also be a duration calculated by setting a preset distance based on the traveling speed of the pool robot.

[0220] For example, when the pool robot has not left or has not completely left the platform, the suction component can be turned off or the motor power of the suction component can be reduced to a lower power value, while the traveling mechanism remains on, so that the pool robot can continue to move to leave the platform. After the pool robot leaves the platform, at least some of the gas inside the body has been expelled, so that the pool robot can quickly fall to the bottom of the pool after leaving the platform. Furthermore, turning off the traveling mechanism in time or reducing the motor power of the traveling mechanism to a lower power value can also prevent the driving force of the traveling mechanism from pulling the pool robot away from the platform after leaving the platform, thus preventing the pool robot from falling to the bottom of the pool at a greater distance from the platform.

[0221] In some embodiments, after the pool robot arrives at the platform, its status can be displayed on the control terminal that is connected to the pool robot, such as "platform cleaning in progress" or "heading to platform".

[0222] In some embodiments, the pool robot is controlled to move towards the water surface along a first platform wall based at least on a first operating parameter, such that at least a portion of the opening is above the water surface, and at least gas enters the main body through the opening, thereby causing the pool robot to transition from the first platform wall to the first platform surface. The pool robot is controlled to move towards the water surface along a second platform wall based at least on a second operating parameter, thereby causing the pool robot to transition from the second platform wall to the second platform surface. The pool robot is controlled to move towards the water surface along a non-platform wall based at least on a third operating parameter. The operating parameters include the motor power of each component, and the types of components involved in the operating parameters include traveling components and / or suction components. If the pool robot is equipped with an buoyancy and submersion component, the types of components involved in the operating parameters also include buoyancy and submersion mechanisms. The first and second operating parameters may be the same or different. The first and third operating parameters may also be different.

[0223] In scenarios where a pool robot is climbing a platform to reach the platform surface, as shown in the above embodiments, when the robot is partially above the platform surface, the driving force of its walking components may decrease. Alternatively, when climbing a platform where the distance between the platform surface and the water surface is relatively short, partial exposure to water may reduce buoyancy, thus decreasing the upward force required for the robot to move towards the water surface. By adjusting the operating parameters for platforms of different heights or between platform walls and non-platform walls, the probability of the pool robot transitioning from the platform wall to the platform surface can be increased.

[0224] For example, the motor power of the traveling mechanism in the first and / or second operating parameters differs from that in the third operating parameter to increase the power of the pool robot moving towards the water surface along the first and / or second platform walls. Alternatively, the motor power of the two sets of traveling sub-mechanisms in the first and / or second operating parameters differs, resulting in a difference in the power on the left and right sides when the pool robot moves towards the water surface along the first and / or second platform walls. Alternatively, the motor power of the suction component in the first and / or second operating parameters is greater than the motor power of the suction component in the third operating parameter. Alternatively, after the end of the air intake of the buoyancy and submersion mechanism that is connected to the outside surface emerges from the water, the motor power of the buoyancy and submersion mechanism in the first and / or second operating parameters is greater than zero; in the third operating parameter, when the pool robot performs a turning float posture, the motor power of the buoyancy and submersion mechanism is greater than zero; when not performing a turning float posture, the buoyancy and submersion mechanism remains closed, i.e., the motor power of the buoyancy and submersion mechanism is zero.

[0225] Alternatively, the motor power of the traveling mechanism differs between the first and second operating parameters, resulting in greater propulsion for the pool robot moving towards the water surface when moving along the first platform wall compared to when moving along the second platform wall. The difference in motor power between the two sets of traveling sub-mechanisms in the first operating parameter causes a difference in the left and right propulsion forces when the pool robot moves towards the water surface along the first platform wall; the second operating parameter does not involve a difference in motor power between the two sets of traveling sub-mechanisms. The motor power of the suction component in the first operating parameter is greater than that in the second operating parameter. After the end of the surfacing / diving mechanism connected to the outside surface breaks the surface, the motor power of the surfacing / diving mechanism in the first operating parameter is greater than zero; because the platform surface of the second platform is far from the water surface, the probability of the end of the surfacing / diving mechanism connected to the outside surface breaking the surface is small, and the surfacing / diving mechanism remains closed in the second operating parameter.

[0226] For specific operating parameters and adjustment timing, please refer to the above embodiments, which will not be repeated here.

[0227] The swimming pool robot provided in this embodiment includes a circuit board, the number and location of which are not limited. Each circuit board may include at least one of a memory, a processor, and a controller. The circuit board can be connected to various sensors to acquire various data information of the swimming pool robot 100, and analyze and process the acquired data information to control various components in the swimming pool robot 100. Optionally, the swimming pool robot also includes a communication component. The processor, memory, controller, and communication component are connected via a bus.

[0228] In the specific implementation process, at least one circuit board performs the above method.

[0229] The specific implementation process of the circuit board can be found in the above method embodiments, and its implementation principle and technical effect are similar. Therefore, it will not be repeated here.

[0230] In the above embodiments, it should be understood that the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. A general-purpose processor can be a microprocessor or any conventional processor.

[0231] The controller can be a Programmable Logic Controller (PLC), or other general-purpose controllers, Field Programmable Gate Arrays (FPGAs), Complex Programmable Logic Devices (CPLDs), etc. A general-purpose controller can be a control unit integrated with a Microcontroller Unit (MCU), or it can be any conventional control circuit with drive and feedback functions. The steps of the method disclosed in this invention can be directly manifested as the controller performing the execution, or performed by a combination of hardware and software modules within the controller.

[0232] The memory may include random access memory (RAM) and may also include non-volatile memory (NVM), such as at least one disk storage device.

[0233] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0234] This application also provides a computer program product, including a computer program that, when executed by a circuit board, implements the above-described method.

[0235] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the above-described method.

[0236] The aforementioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The readable storage medium can be any available medium accessible to a general-purpose or special-purpose computer.

[0237] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can reside in an application-specific integrated circuit (ASIC). Alternatively, the processor and the readable storage medium can exist as discrete components in the device.

[0238] The division of units is merely a logical functional division; in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices, or units, and may be electrical, mechanical, or other forms.

[0239] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0240] In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0241] If a function is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0242] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0243] Finally, it should be noted that other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein, and 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 the invention is limited only by the appended claims.

Claims

1. A control method for a swimming pool robot, characterized in that, The pool robot includes: a main body; a traveling mechanism for driving the pool robot to move in a pool; and an opening, at least partially located at the front of the main body. The control method includes: For the first platform in the pool, the pool robot is controlled to move along the first platform wall of the first platform toward the water surface of the pool in a pool wall posture, wherein the bottom of the pool robot is in contact with the pool wall in the pool wall posture, the first platform surface of the first platform is below the water surface, and the distance between the first platform surface and the water surface is less than or equal to a first distance. The operating parameters of the traveling mechanism are adjusted so that at least a portion of the opening is above the water surface, and at least gas enters the main body through the opening, thereby causing the pool robot to switch to a platform posture, wherein the bottom of the pool robot is in contact with the platform surface in the platform posture.

2. The method according to claim 1, characterized in that, The pool robot also includes: A filtration unit, at least a portion of which is disposed inside the main body, for filtering liquids entering therein; A suction assembly, at least a portion of which is disposed inside the main body, is used to draw liquid from the pool into the filtration unit and to discharge the liquid filtered by the filtration unit out of the main body. The opening includes a second water inlet, which is connected to the filter unit. When the pool robot is cleaning the water surface, the second water inlet is used to allow liquid carrying garbage to flow into the filter unit. Adjusting the operating parameters of the traveling mechanism so that at least a portion of the opening is above the water surface, and at least gas enters the main body through the opening, includes: adjusting the operating parameters of the traveling mechanism so that at least a portion of the second water inlet is above the water surface, and under the action of the suction assembly, at least gas enters the main body through the second water inlet.

3. The method according to claim 1, characterized in that, The traveling mechanism includes a walking component and / or a propulsion component.

4. The method according to claim 3, characterized in that, Adjusting the operating parameters of the swimming pool robot's traveling mechanism includes: The pool robot is adjusted according to a first adjustment strategy and / or a second adjustment strategy, both of which include adjusting the working parameters of the pool robot's walking mechanism. At least one of the component types, working parameter types, and working parameter values ​​included in the first adjustment strategy and the second adjustment strategy differs; the component types are the walking component and / or the propulsion component.

5. The method according to claim 4, characterized in that, The first adjustment strategy includes: increasing the motor power of the propulsion component and / or decreasing the motor power of the walking component.

6. The method according to claim 4, characterized in that, The walking assembly includes a first walking sub-assembly and a second walking sub-assembly, the first walking sub-assembly being disposed on the left side of the main body and the second walking sub-assembly being disposed on the right side of the main body; The second adjustment strategy includes: adjusting the motor power of the first walking sub-component to a first power, and adjusting the motor power of the second walking sub-component to a second power, wherein the first power and the second power are different; Alternatively, the traveling mechanism may also include a propulsion component; The second adjustment strategy includes: adjusting the motor power of the first walking sub-component to a first power, adjusting the motor power of the second walking sub-component to a second power, wherein the first power and the second power are different; and increasing the motor power of the propulsion component.

7. The method according to claim 1, characterized in that, The pool robot also includes: A filtration unit, at least a portion of which is disposed inside the main body, for filtering liquids entering therein; A suction assembly, at least a portion of which is disposed inside the main body, is used to draw liquid from the pool into the filtration unit and to discharge the liquid filtered by the filtration unit out of the main body. After the pool robot transitions to the pool wall posture, the method further includes increasing the motor power of the suction assembly.

8. The method according to claim 7, characterized in that, The suction assembly includes a first impeller; The distance between the first platform surface and the water surface is greater than the second distance, such that when the motor power of the suction component is the seventh power, the first impeller remains below the water surface, and the second distance is less than the first distance; wherein, the seventh power is the third reference power of the suction component when the pool robot is cleaning the first platform surface.

9. The method according to claim 7 or 8, characterized in that, The method further includes: In the event of triggering an event that causes the robot to leave the first platform surface, the pool robot is controlled to leave the first platform surface from the open boundary of the first platform. When all the pool robots are located on the first platform surface and the distance between the foremost part of the pool robot and the open boundary is less than or equal to the fourth distance, the motor power of the suction component is adjusted to the ninth power or the suction component is turned off. Alternatively, if part of the pool robot is located outside the first platform surface, adjust the motor power of the suction assembly to the ninth power or turn off the suction assembly; Starting from the time when the motor power of the suction component is adjusted to the ninth power or the suction component is turned off, after a fourth time period, the motor power of the traveling mechanism is reduced. Wherein, the ninth power is less than the seventh power, and the seventh power is the reference power of the motor of the suction component when the pool robot is cleaning the first platform surface.

10. A swimming pool robot, characterized in that, include: main body; A propulsion mechanism, at least for driving the pool robot to move in the pool; An opening, at least partially provided in the front housing of the main body. A circuit board, at least for performing the method as described in any one of claims 1-9.

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