Remote control method and control method of swimming pool robot and swimming pool robot

Abstract

The embodiment of the invention provides a remote control method and a control method of a swimming pool robot and the swimming pool robot. The remote control method comprises the following steps: after receiving a triggering operation of entering a remote control mode, obtaining a working state of the swimming pool robot; when the working state indicates that the swimming pool robot is not in the floating process and not in the diving process, an instruction of entering a remote control mode is sent to the swimming pool robot, so that the swimming pool robot enters the remote control mode; wherein the floating process comprises a process of inputting gas into the floating cavity and / or discharging liquid from the floating cavity, and the diving process comprises a process of discharging gas from the floating cavity and / or inputting liquid into the floating cavity. The method is used for improving the intelligent control effect of the swimming pool robot.

Description

Technical Field

[0001] This application relates to the field of pool robots, and more particularly to a remote control method, a control method, and a pool robot. Background Technology

[0002] After use, swimming pools may accumulate various dirt and debris, polluting the water and necessitating cleaning. With the development of artificial intelligence technology, pool robots are increasingly being used in pool cleaning.

[0003] Most pool cleaning robots on the market have the ability to move and clean automatically. However, in complex environments or specific areas, pool robots are prone to getting stuck or failing to clean properly. This can make it difficult for the robot to clean or prevent it from cleaning automatically, affecting the cleaning effect of the pool and the user experience. Summary of the Invention

[0004] This application provides a remote control method, a control method, and a pool robot to ensure the cleaning effect of the pool and improve the user experience.

[0005] In a first aspect, embodiments of this application provide a remote control method for a swimming pool robot, applied to a remote control terminal, the method comprising:

[0006] Upon receiving a trigger operation to enter remote control mode, the working status of the pool robot is obtained;

[0007] When the working status indicates that the pool robot is neither in the surfacing process nor in the diving process, a command to enter the remote control mode is issued to the pool robot to enable the pool robot to enter the remote control mode; wherein, the surfacing process includes the process of introducing gas into the float cavity and / or discharging liquid from the float cavity, and the diving process includes the process of discharging gas from the float cavity and / or introducing liquid into the float cavity.

[0008] Secondly, embodiments of this application provide a control method for a swimming pool robot, wherein the swimming pool robot is communicatively connected to a remote control terminal; the swimming pool robot includes an buoyancy and submersion mechanism, the buoyancy and submersion mechanism includes a float cavity and a first adjusting member, the float cavity being used to contain gas and / or liquid; the first adjusting member being used to adjust the volume of gas and / or liquid in the float cavity;

[0009] The method is applied to the controller of the pool robot, and the method includes:

[0010] After receiving the instruction to enter remote control mode from the remote control terminal, the working status of the pool robot is obtained;

[0011] When the working status indicates that the pool robot is neither in the surfacing process nor in the diving process, the pool robot is controlled to enter the remote control mode; wherein, the surfacing process includes the process of inputting gas into the float cavity and / or discharging liquid from the float cavity, and the diving process includes the process of discharging gas from the float cavity and / or inputting liquid into the float cavity.

[0012] Thirdly, embodiments of this application provide a swimming pool robot, wherein the swimming pool robot is communicatively connected to a remote control terminal; the swimming pool robot includes:

[0013] A floating and diving mechanism, the floating and diving mechanism including a float cavity and a first adjusting member, the float cavity being used to contain gas and / or liquid, and the first adjusting member being used to adjust the volume of gas and / or liquid in the float cavity;

[0014] The controller is configured to acquire the working status of the pool robot after receiving an instruction from the remote control terminal to enter the remote control mode; when the working status indicates that the pool robot is neither in the surfacing process nor in the diving process, the controller controls the pool robot to enter the remote control mode; wherein the surfacing process includes the process of inputting gas into the float cavity and / or discharging liquid from the float cavity, and the diving process includes the process of discharging gas from the float cavity and / or inputting liquid into the float cavity.

[0015] The remote control method, control method, and pool robot provided in this application embodiment determine the working state of the pool robot first, and then switch to remote control mode when the working state meets the requirements. This can ensure the cleaning effect of the pool and improve the user experience while effectively avoiding damage to the components of the pool robot or loss of control of the pool robot's posture during the mode switching process. Attached Figure Description

[0016] 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.

[0017] Figure 1 This application provides a schematic diagram of the structure of a pool robot from a first-person perspective.

[0018] Figure 2 This application provides a structural schematic diagram of a pool robot from a second perspective;

[0019] Figure 3 This application provides a structural schematic diagram of a pool robot from a third-person perspective;

[0020] Figure 4 A schematic diagram of the internal structure of the main body of a pool robot provided in this application;

[0021] Figure 5 A schematic diagram of the propulsion mechanism of a pool robot provided in this application;

[0022] Figure 6 This application provides a schematic diagram of a swimming pool cleaning system.

[0023] Figure 7 A schematic diagram of the layout of a remote control interface for displaying a swimming pool map in a remote control terminal provided in this application;

[0024] Figure 8 A layout diagram of a remote control terminal including a travel button and a direction button provided in this application;

[0025] Figure 9 A schematic diagram of the layout of a remote control interface for a remote control terminal provided in this application, including a travel button, a direction button and an acceleration button;

[0026] Figure 10 A schematic diagram of the layout of a remote control interface for a remote control terminal provided in this application, which includes another type of travel button and directional button;

[0027] Figure 11 A schematic diagram of the layout of a remote control interface including a prompt box and a feedback button provided in this application;

[0028] Figure 12 A schematic diagram of the structure of the electronic device provided in this application.

[0029] 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

[0030] 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.

[0031] Pool robots are used to perform remote-controlled 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 an example.

[0032] For a swimming pool, it includes at least a pool bottom and pool walls. Platforms may be set up inside the pool. These platforms can be sun decks, steps, etc. Steps can be considered a special type of platform, with each step serving as a platform. In some scenarios, steps and sun decks can exist separately. In other scenarios, a sun deck can also be part of a set of steps, such as being a single step within a set of steps. For example, in a multi-tiered set of steps, the top step is usually a sun deck with a larger platform surface area.

[0033] The pool robot's bottom contacts the pool bottom, allowing it to adopt a bottom-mounted posture, moving or resting on the pool bottom. In this posture, it can perform cleaning tasks 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, moving or remaining stationary. The pool robot's bottom may also contact the pool wall, allowing it to adopt a wall-mounted posture, moving or resting on the pool wall. In this posture, the robot can maintain its contact with the pool wall using suction and / or propulsion, preventing slippage and performing cleaning tasks on the pool wall.

[0034] 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 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 a platform surface, and the pool robot can have a platform posture, moving or remaining on the platform surface.

[0035] 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.

[0036] 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.

[0037] 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).

[0038] 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.

[0039] 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.

[0040] like Figure 4 As 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.

[0041] 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.

[0042] The inlet section serves as the entrance for liquid from the pool to enter the main body 101. When the pool robot 100 moves below the water surface, 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 outlet section 1040 after passing through the suction assembly 1060. Any 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.

[0043] 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.

[0044] 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.

[0045] 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.

[0046] 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.

[0047] In some embodiments, the suction assembly 1060 includes at least a main water pump, which includes a first impeller and a main motor.

[0048] 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.

[0049] 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.

[0050] 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.

[0051] 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.

[0052] 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.

[0053] In some embodiments, the pool robot 100 further includes a 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 to rise from below the water surface to the water surface, enabling the pool robot 100 to float on the water surface; it can also be used to drive the pool robot 100 to dive from the water surface to below the water surface. That is, the surfacing and diving mechanism enables the pool robot 100 to switch between being below the water surface and being on the water surface.

[0054] 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.

[0055] 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.

[0056] 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.

[0057] 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.

[0058] 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 below the water surface 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.

[0059] 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.

[0060] 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.

[0061] 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.

[0062] 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.

[0063] 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.

[0064] 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.

[0065] 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.

[0066] 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.

[0067] 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.

[0068] 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 positioned at any location 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 provided 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.

[0069] 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.

[0070] 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 controller can control the movement of the pool robot 100 based on the detection results of the image acquisition unit 1010.

[0071] The control and remote control methods for the pool robot provided in this application can be applied to, for example... Figure 6 The swimming pool cleaning system 100 shown includes a swimming pool robot 110 and a remote control terminal 120. The controller in the swimming pool robot 110 communicates with the remote control terminal 120 via a network.

[0072] The remote control terminal 120 can be, but is not limited to, various personal computers, laptops, smartphones, tablets, IoT devices, and portable wearable devices. IoT devices can include smart speakers, smart TVs, smart air conditioners, smart in-vehicle devices, etc. Portable wearable devices can include smartwatches, smart bracelets, head-mounted devices, etc.

[0073] The swimming pool robot can be equipped with a first communication module to enable information interaction between the robot and a remote control terminal. For example, the first communication module may include a first communication component, which is a device that supports information interaction in the air, such as a communication device using Bluetooth, infrared, or Wi-Fi signals. And / or, the first communication module may include a second communication component, which is a device that supports information interaction in liquids, such as a communication device using underwater acoustic communication or underwater optical communication signals. When the first communication module is a second communication component, a communication base station can be set up in the swimming pool. The portion of the base station above the water surface houses the second communication module, and the portion below the water surface houses a third communication module. The second communication module supports information interaction in the air, such as using Bluetooth, infrared, or Wi-Fi signals, while the third communication module supports information interaction in liquids, such as using underwater acoustic communication or underwater optical communication signals.

[0074] If the pool robot and the remote control terminal are connected, they can exchange information. When the pool robot has a first communication component on its upper part, and if the first communication component is above the water surface, the pool robot and the remote control terminal can exchange information using the first communication component. If the first communication component is below the water surface and the pool robot does not have a second communication component, the communication connection between the pool robot and the remote control terminal is broken, meaning they cannot exchange information.

[0075] When only the first communication component is equipped on the pool robot, in the surface posture, part of the robot's body is above the water, and the first communication component is above the water surface. The pool robot communicates with the remote control terminal and can receive remote control commands in this posture. In the bottom or platform posture, if the pool robot is in shallow water and the first communication component is above the water surface, the pool robot communicates with the remote control terminal and can receive remote control commands. In other non-shallow water areas, the pool robot is usually completely submerged, the first communication component is below the water surface, and the communication connection between the pool robot and the remote control terminal is broken. In the pool wall posture, if part of the pool robot is above the water surface and the first communication component is above the water surface, the pool robot communicates with the remote control terminal and can receive remote control commands. If the pool robot is completely submerged, the first communication component is below the water surface, and the communication connection between the pool robot and the remote control terminal is broken.

[0076] The swimming pool robot is equipped with a first communication component and a second communication component. When a communication base station is installed in the pool, if the first communication component is above the water surface, the swimming pool robot and the remote control terminal can communicate with each other through the first communication component, and the swimming pool robot can receive remote control commands. If the first communication component is below the water surface, the swimming pool robot can interact with the third communication module of the communication base station through the second communication component. If the communication base station is above the water surface, the second communication module interacts with the remote control terminal, thereby enabling communication between the swimming pool robot and the remote control terminal and indirectly realizing information interaction between the swimming pool robot and the remote control terminal.

[0077] When there is a communication connection between the pool robot and the remote control terminal, the remote control terminal can receive triggers from the user and send commands to the pool robot.

[0078] For example, the remote control terminal can receive a first trigger operation to enter remote control mode, and send a command to the pool robot to enter remote control mode. Remote control mode refers to a working mode of the pool robot in which it abandons autonomous path planning and instead performs actions according to the remote control commands sent by the remote control terminal. For instance, the remote control terminal can receive a second trigger operation for a specific remote control command, and send that specific command to the pool robot. These commands may instruct the pool robot to move forward, backward, turn, surface, or submerge; and / or, the commands may also include remote-controlled point-to-point cleaning commands, remote-controlled return commands, etc.

[0079] The remote control terminal can first receive the first trigger operation, and after confirming that the pool robot can enter remote control mode, it can then receive the user's second trigger operation. Alternatively, the remote control terminal can also only support the second trigger operation. When the remote control terminal receives the second trigger operation, it can simultaneously send the command to enter remote control mode and the specific remote control command to the pool robot.

[0080] The remote control terminal can receive trigger operations from users via voice, gestures, button clicks, etc. For example, the remote control terminal has a display interface that can receive user triggers to send commands to the pool robot. For instance, the remote control terminal may include a remote control interface and a parent interface; for ease of description, this parent interface can be considered the main control interface. The main control interface displays a "Remote Control Mode" button, which the user can trigger to enter the remote control interface. The remote control terminal can send a command to the pool robot to enter remote control mode when the user triggers the "Remote Control Mode" button. The remote control interface may display remote control buttons, such as acceleration, movement, orientation, docking, and spot cleaning buttons. The remote control terminal can send the corresponding remote control command to the pool robot after the user triggers a remote control button. Of course, the remote control terminal may not have a main control interface, only a remote control interface.

[0081] After receiving a specific remote control command, the pool robot can execute the corresponding remote control task. For example, if the remote control command is a point-to-point cleaning command, the pool robot can perform a point-to-point cleaning task for a specific area. The area, path, and cleaning parameters for this task can be a pre-configured program stored in the storage medium or specified by the user through the remote control interface. If the remote control command is a return command, the pool robot can execute a remote return task to its docking position. The return path, movement mode, and docking position for this task can be a pre-configured program stored in the storage medium or specified by the user through the remote control interface.

[0082] If the communication connection between the pool robot and the remote control terminal is lost, the remote control terminal can send a command to the pool robot to enter remote control mode or a specific remote control command. The pool robot cannot receive the command due to the communication loss and therefore cannot execute the corresponding command; or, the remote control terminal may not send a command to the pool robot to enter remote control mode or a specific remote control command.

[0083] For example, the remote control terminal has a display interface. If the communication connection between the pool robot and the remote control terminal is lost, the "Remote Control Mode" button on the main control interface cannot be triggered, or triggering the "Remote Control Mode" button will prevent access to the remote control interface. Alternatively, when the user triggers the remote control mode through the display interface, they can trigger the "Remote Control Mode" button through the main control interface to access the remote control interface, but the remote control buttons within the interface cannot be triggered. Alternatively, both the "Remote Control Mode" button and the remote control buttons can be triggered, and the remote control terminal will issue a notification to the user indicating that the communication has been lost. The notification could be in the form of a voice prompt or a text prompt on the display interface. For example, the remote control terminal could provide the user with the message "The pool robot has lost communication with the remote control terminal and cannot be remotely controlled."

[0084] It should be noted that the prompts in the various embodiments of this specification can be provided by the remote control terminal or the pool robot through methods such as interface display, sound broadcast, and indicator lights, which will not be described in detail hereafter.

[0085] In the case where the pool robot is connected to a remote control terminal, some embodiments of this specification also provide a control method for the pool robot, with the application of this control method to the controller in the pool robot 110 as an example.

[0086] After receiving a command to enter remote control mode or a specific remote control command from the remote control terminal, the controller can obtain the working status of the pool robot. The working status refers to the current operating condition of the pool robot, such as the operating mode (autonomous mode, standby mode, remote control mode, etc.); the posture status (water surface posture, pool bottom posture, pool wall posture, etc.); and the action process (surfacing, diving, cleaning, stationary, etc.).

[0087] As an example, the remote control terminal may send a command to the pool robot to enter remote control mode. This command will be transmitted to the pool robot's communication module through a preset communication protocol. After receiving the command, the pool robot's communication module will first verify the command to confirm its integrity, validity, and the legitimacy of the remote control terminal that sent the command, so as to avoid misoperation due to command errors or illegal commands.

[0088] If the instruction passes verification, the communication module will forward the instruction to the pool robot's controller, triggering the controller to initiate a comprehensive acquisition of the pool robot's working status. For example, the acquisition methods may include: reading real-time data from the pool robot's built-in attitude sensors to determine the pool robot's current attitude; or retrieving the working log of the pool robot's power system to confirm whether the pool robot is in an attitude transition phase; or querying the control system's status register to obtain the pool robot's current preset working mode.

[0089] Alternatively, the controller can determine whether the pool robot is neither surfacing nor diving by checking the operating parameters of relevant components on the pool robot, such as the peristaltic pump. The controller can also detect the program code running on the pool robot. If the program code shows that the pool robot has started to surface or dive, it can be determined that the pool robot is surfacing and not diving.

[0090] In some embodiments, the working state of the pool robot can be determined first, and then the remote control mode can be switched. This ensures that the remote control permission is only granted when the working state of the pool robot meets the requirements of the remote control mode, thereby effectively avoiding motion conflicts and control disorders of the pool robot and reducing the probability of machine damage and loss of posture control.

[0091] When the operating conditions meet the requirements for remote control mode, the controller can control the pool robot to enter remote control mode; when the operating conditions do not meet the requirements for remote control mode, the controller will not control the pool robot to enter remote control mode. The controller can also prompt the user with the decision result of entering or not entering remote control mode, the operating status, etc.; alternatively, the controller can also provide feedback to the remote control terminal with the decision result of entering or not entering remote control mode, the operating status, etc.

[0092] Alternatively, after receiving the first or second trigger operation, the remote control terminal obtains the working status of the pool robot from the cloud server. If the working status meets the requirements of the remote control mode, the remote control terminal sends a command to the pool robot to enter the remote control mode; if the working status does not meet the requirements of the remote control mode, the remote control terminal does not send a command to the pool robot to enter the remote control mode.

[0093] Alternatively, the remote control terminal can acquire the working status of the pool robot in real time or at preset intervals. Upon receiving a first or second trigger operation, the remote control terminal can send a command to the pool robot to enter remote control mode if the working status meets the requirements of remote control mode; otherwise, it will not send the command. Alternatively, the remote control terminal can acquire the working status of the pool robot in real time or at preset intervals. If the working status meets the requirements of remote control mode, the remote control terminal receives the first or second trigger operation and sends a command to the pool robot to enter remote control mode; if the working status does not meet the requirements of remote control mode, the remote control terminal will not receive the first or second trigger operation, for example, the "Remote Control Mode" button on the main control interface cannot be triggered, or the remote control button on the remote control interface cannot be triggered.

[0094] In some embodiments, when the working status indicates that the pool robot is neither in the surfacing process nor in the diving process, the pool robot is controlled to enter the remote control mode; wherein, the surfacing process includes the process of introducing gas into the float cavity and / or discharging liquid from the float cavity, and the diving process includes the process of discharging gas from the float cavity and / or introducing liquid into the float cavity.

[0095] The buoyancy process can be determined by obtaining the operating parameters of the air pump that inflates the float chamber or the water pump that deflates it. If the air pump or water pump stops working, the buoyancy process is considered to have ended. Alternatively, the duration of inflating or deflating the float chamber can be set, and the buoyancy process is considered to have ended when the preset duration is reached. Alternatively, other parameters of the pool robot, such as its posture (e.g., surface posture or floating posture with a preset pitch angle), can be used to determine whether the buoyancy process has ended.

[0096] The submersion process can be determined by obtaining the operating parameters of the air pump for venting air from the float chamber or the water pump for filling the float chamber. If the air pump or water pump stops working, the submersion process is considered to have ended. Alternatively, the duration of air venting or water filling the float chamber can be set, and the submersion process is considered to have ended when the preset duration is reached. Alternatively, other parameters of the pool robot, such as its posture (e.g., whether the pool robot is in a pool-bottom posture or a platform posture), can also be used to determine whether the submersion process has ended.

[0097] When the pool robot is connected to the remote control terminal, the controller will not execute the command to enter remote control mode when the pool robot is in the process of surfacing or diving; or, the remote control terminal will not send the command to enter remote control mode to the pool robot; or, the remote control terminal will not receive the first trigger operation or the second trigger operation. By ensuring that the pool robot can only switch to remote control mode when it is not surfacing / diving, the process of air intake or exhaust in the float chamber can be prevented from being interrupted, which could lead to instability in the machine's attitude, drift in the machine's position, or damage to the machine.

[0098] In some embodiments, when the operational state does not meet the requirements of the remote control mode, the pool robot or the remote control terminal may issue a third prompt to indicate that the pool robot cannot enter the remote control mode. For example, when the operational state indicates that the pool robot is in the process of surfacing or diving, a third prompt is sent to the remote control terminal to indicate that the pool robot cannot enter the remote control mode, at least during the process of surfacing or diving.

[0099] The third prompt could refer to a notification message issued by the remote control terminal and / or the pool robot to the user during the surfacing or diving process. This notification could be displayed on the remote control terminal's screen, or it could be issued audibly by the remote control terminal. Alternatively, the pool robot could issue the notification audibly. For example, the pool robot could be equipped with a speaker, indicator lights, or other notification devices. The controller could use the speaker to broadcast the third prompt or the indicator lights to illuminate to display the third prompt to the user. The notification message could be, for example, "Surfacing / diving, unable to switch remote control mode."

[0100] The aforementioned control method for the pool robot allows the controller to remain in mode even when the robot is surfacing or submerging; and by indicating whether the robot is surfacing or submerging, the controller helps users understand why they cannot enter remote control mode, thus improving the interactive experience.

[0101] Similarly, when other operating states do not meet the requirements of the remote control mode, the controller may not execute the command to enter remote control mode; or, the remote control terminal may not send the command to enter remote control mode to the pool robot; or, the remote control terminal may not receive the first trigger operation or the second trigger operation. Other operating states may include the pool robot being in charging mode or filter box cleaning mode.

[0102] "Filter box not installed" can mean that the filter box is not correctly installed in the preset position on the pool robot body. For example, the filter box is not installed at all, or the filter box is not installed in place. If the filter box is not installed, the pool robot's controller will not execute the command to enter remote control mode; or, the remote control terminal will not send the command to enter remote control mode to the pool robot; or, the remote control terminal will not receive the first trigger operation or the second trigger operation.

[0103] In some embodiments, when the pool robot is not in the pool water, the controller does not execute the command to enter remote control mode; or, the remote control terminal does not send the command to enter remote control mode to the pool robot; or, the remote control terminal does not receive the first trigger operation or the second trigger operation. Furthermore, the remote control terminal and / or the pool robot may also issue a prompt message, the prompting method of which is the same as in the above embodiments and will not be repeated. The pool robot being in the pool water can mean that the pool robot is partially submerged and partially above the water surface; it can also mean that the pool robot is completely submerged.

[0104] In non-aquatic environments, components such as the buoyancy adjustment device and propellers of the pool robot are not ready to operate. Switching to remote control mode may cause these functional modules to spin idly and wear out. Forcing the machine to move in a non-aquatic environment by switching to remote control mode may also cause damage to the walking mechanism due to the greater friction.

[0105] Before determining the working status of the pool robot, the controller can first determine whether the robot is in the pool water. For example, the controller can obtain real-time environmental data through the pool robot's built-in level sensor. This sensor monitors parameters such as the conductivity and pressure of the medium the robot is in contact with to determine if it is in the pool water. Alternatively, the controller can retrieve data from the pool robot's positioning module to help confirm its physical location: if the positioning module data indicates that the robot is in a non-pool area such as the pool edge, storage rack, or cleaning platform, and the level sensor reports no water contact, the controller can determine that the robot is not in the pool water. Of course, this can also be combined with the operating parameters of the main water pump to determine if the robot is not in the pool water.

[0106] Similarly, when the pool robot is not in the pool water, the remote control terminal can send a command to the pool robot to enter remote control mode, but the pool robot does not execute it; or, the remote control terminal may not send a command to the pool robot to enter remote control mode. For example, the remote control button on the remote control interface cannot be triggered, or after the remote control button is triggered, the remote control terminal does not issue a command to enter remote control mode. The remote control terminal or the pool robot can also issue prompts to the user, such as voice prompts or prompts on the display interface. As an example, after receiving a user's trigger operation on the remote control button, the remote control terminal sends a remote control command to the pool robot. After receiving the command, if the controller is not in the water, it can provide feedback to the remote control terminal. After receiving the feedback, the remote control terminal can display a first prompt on the display interface, such as "The pool robot is not in the pool water and does not support switching to remote control mode."

[0107] For example, when the pool robot is in the water and its operating status indicates that it is neither surfacing nor submerging, the robot can be controlled to enter remote control mode. This involves first determining whether the robot is in the water, then determining its operating status, and only granting remote control access if the robot supports remote control mode switching.

[0108] When the working status indicates that the pool robot is in the process of surfacing or diving, the new working status of the pool robot is obtained. When the new working status indicates that the pool robot is neither in the process of surfacing nor diving, the pool robot is controlled to enter the remote control mode.

[0109] If the pool robot's operating status indicates that it is either surfacing or submerging, the remote control mode switching action will not be executed, and the pool robot's operating status monitoring process will be initiated simultaneously. During the monitoring process, the new operating status of the pool robot can be monitored in real time or at a preset frequency. If the new operating status indicates that the pool robot is not surfacing or submerging, the controller will switch the pool robot to remote control mode.

[0110] During the surfacing or diving process of the pool robot, no mode switching is performed, and the working status of the pool robot is continuously monitored until the end of the dynamic process. This fundamentally avoids the introduction of external control commands during the critical stage of attitude transition, which could lead to instability, component overload, or trajectory deviation of the pool robot. Continuous status polling provides the controller with real-time situation awareness, enabling the controller to switch modes as soon as the conditions for state switching are met, thereby avoiding control delay and ensuring the operational reliability of the pool robot.

[0111] In some embodiments, when the operating status indicates that the pool robot can enter remote control mode, the pool robot or the remote control terminal can issue a fourth prompt. For example, the pool robot's controller can generate the fourth prompt, and the pool robot can send the fourth prompt to the remote control terminal, so that the remote control terminal can enter remote control mode based on the fourth prompt, and / or display the fourth prompt, and / or send an instruction to enter remote control mode based on the fourth prompt. Alternatively, the remote control terminal can generate the fourth prompt itself, display the fourth prompt, and / or send an instruction to enter remote control mode based on the fourth prompt.

[0112] For example, when the working status indicates that the pool robot is neither surfacing nor submerging, the pool robot sends a fourth prompt to the remote control terminal, enabling the remote control terminal to enter remote control mode based on the fourth prompt, and / or display the fourth prompt, and / or send a command to enter remote control mode based on the fourth prompt. Alternatively, the remote control terminal generates the fourth prompt when it determines that the pool robot is neither surfacing nor submerging. Specifically, the fourth prompt could be, for example, "The pool robot can switch to remote control mode." The remote control terminal can display the fourth prompt through a display interface to inform the user that the pool robot meets the conditions for mode switching. By displaying the fourth prompt to the user, the interaction between the pool robot and the remote control terminal becomes clearer and more intuitive, allowing the user to understand the working status of the pool robot in a timely manner and to promptly trigger specific remote control commands for the pool robot.

[0113] For example, a user can click a specific button on the main control interface of the remote control terminal to send a command to the pool robot to enter remote control mode. After the user clicks the specific button, the remote control terminal will immediately jump to the specific remote control interface. However, before the remote control terminal receives the fourth prompt, all buttons on the remote control interface are grayed out. The user cannot issue remote control commands by clicking any button on the remote control interface. This forces the user to wait for the fourth prompt before clicking the button on the remote control interface. This avoids the user repeatedly clicking the button on the remote control interface before the pool robot has successfully switched to remote control mode, which would cause the remote control terminal to accumulate commands and cause the remote control terminal to respond erratically.

[0114] Alternatively, if the remote control terminal receives a third prompt, it can display the prompt in the remote control interface via a floating window, sidebar, prompt box, or jump page. If the remote control terminal receives a fourth prompt, all buttons in the remote control interface will no longer be grayed out, allowing the user to click on the buttons and issue remote control commands to the pool robot according to the specific button clicked. Alternatively, after the user clicks a specific button, the remote control terminal can redirect to the remote control interface, where all buttons are active. The user can issue remote control commands to the pool robot by clicking any button, and the pool robot can determine whether to execute the remote control task corresponding to the command based on whether it has switched to remote control mode.

[0115] Alternatively, the remote control terminal can avoid page redirection after the user clicks a specific button. If the remote control terminal receives a third prompt, it can display the third prompt in the main control interface through a floating window, sidebar, prompt box, or jump page. Only after the remote control terminal receives a fourth prompt will it jump from the main control interface to the remote control interface and issue remote control commands to the pool robot according to the specific button clicked by the user in the remote control interface.

[0116] When the controller determines that the pool robot can enter remote control mode, it sends a fourth prompt to the remote control terminal and simultaneously controls the pool robot to automatically enter remote control mode. Alternatively, when the controller determines that the pool robot's operating status meets the requirements for remote control mode, it first sends a fourth prompt to the remote control terminal. Upon receiving the remote control terminal's instruction to enter remote control mode in response to the fourth prompt, the controller controls the pool robot to enter remote control mode. Alternatively, the remote control terminal, upon obtaining the pool robot's operating status from the cloud server indicating that the robot's operating status meets the requirements for remote control mode, sends an instruction to the pool robot to enter remote control mode. Alternatively, the remote control terminal automatically switches to the remote control interface, receives the second trigger operation performed by the user on the remote control interface, sends a remote control instruction to the pool robot, and upon receiving the instruction, the pool robot automatically enters remote control mode and executes the instruction.

[0117] For example, the processor of the remote control terminal can automatically generate remote control commands based on the received fourth prompt and send them to the pool robot. Alternatively, when the remote control terminal displays the fourth prompt through a floating window, sidebar, prompt box, or jump page, it can simultaneously display a feedback button on the display interface. When the user clicks the feedback button, the processor of the remote control terminal is triggered to generate remote control commands and send them to the pool robot, so that the controller can control the pool robot to enter remote control mode.

[0118] In some embodiments, when the pool robot is below the water surface and cannot communicate with the remote control terminal, when the working status indicates that the pool robot is in the process of diving, the pool robot sends a fifth prompt to the remote control terminal or the remote control terminal generates a fifth prompt itself to indicate that the pool robot cannot enter the remote control mode once it is below the water surface.

[0119] When the pool robot is submerged, the wireless signal is blocked by the water. Bluetooth, WiFi and other signals are severely attenuated in the water, and the pool robot's controller cannot transmit information to the remote control terminal. At this time, communication between the pool robot and the remote control terminal may be interrupted.

[0120] When the pool robot is determined to be submerging, the controller can, for example, send a fifth notification to a transmission device located underwater. This device then forwards the notification to the remote control terminal. Upon receiving the notification, the remote control terminal can display it on a screen to inform the user that the pool robot is about to submerge and cannot be switched to remote control mode due to communication interruption. The fifth notification could be something like, "The pool robot is submerging and will soon descend below the surface; remote control mode cannot be entered at this time."

[0121] The aforementioned control method for the pool robot, through timely feedback of the fifth prompt, allows users to quickly understand the current working status of the pool robot and the reasons why it may not be able to enter remote control mode in the future, thus avoiding users waiting blindly.

[0122] If the remote control command is to control the surfacing or diving, the remote control terminal or pool robot can issue a prompt message, such as "The pool robot cannot be controlled during the surfacing / diving process. Please confirm whether to surface / dive," to avoid the user waiting blindly while the machine is surfacing / diving.

[0123] The pool robot and the remote control terminal are connected and support the switch of the pool robot to remote control mode. After receiving the instruction to enter remote control mode, the controller can send a confirmation message to the remote control terminal for feedback. The confirmation message can be, for example, "successfully entered remote control mode". The pool robot can then be controlled by the remote control terminal to perform operations such as forward, backward, turning, and start / stop cleaning.

[0124] The pool robot and the remote control terminal are connected and the pool robot can switch to remote control mode. If the pool robot is executing an autonomous work program, such as an autonomous cleaning program or an autonomous return program, the controller can pause the current autonomous work program. If the remote control terminal only sends a command to enter remote control mode without sending a specific remote control command, the pool robot can pause its current autonomous work program and remain in place, waiting for the remote control terminal to send a specific remote control command.

[0125] In some embodiments, after the pool robot enters remote control mode, the controller can also perform the following actions:

[0126] Based on the specified movement direction and speed sent by the remote control terminal, control the pool robot to adjust its movement direction and / or position;

[0127] Alternatively, based on remote-controlled fixed-point cleaning commands sent by the remote terminal, the pool robot can be controlled to enter a designated cleaning area to perform a remote-controlled fixed-point cleaning task.

[0128] Alternatively, based on the remote return command sent by the remote control terminal, the pool robot can be controlled to perform a remote return task to return to the docking position.

[0129] As an example, the user can trigger the corresponding button on the remote control interface displayed on the remote control terminal. Based on the user's trigger, the pool robot sends a remote control command containing the specified movement direction and speed to the pool robot. The specified movement direction can be forward, backward, turn left, turn right, translate left, translate right, etc., so that the pool robot can move according to the specified movement direction and speed.

[0130] Remote-controlled point-to-point cleaning commands refer to cleaning instructions sent by the user through a remote control terminal for specific areas of the swimming pool. Specific areas could include, for example, corners of the pool bottom, stained areas, areas with debris, areas drawn by the user on the display interface, or areas at a preset distance from the pool robot. Remote-controlled point-to-point cleaning commands can also include parameters such as the location information of the specified cleaning area, cleaning mode, and cleaning duration.

[0131] As an example, users can select a specific area by drawing a box on the pool map displayed on the remote control terminal, and manually choose cleaning modes such as strong suction and deep cleaning, as well as cleaning duration, to remotely control the pool robot to automatically move to the specific area for targeted cleaning. Alternatively, users can send a specified movement direction and speed to the pool robot via the remote control terminal to control it to move to any position, and then send a targeted cleaning command to the robot via the remote control terminal. This allows the pool robot to remotely clean the area within a preset radius centered on its current location, using a preset cleaning mode and cleaning duration.

[0132] A remote return command refers to a task executed by the pool robot in remote control mode to return to a preset docking position. The remote return command can include parameters such as the preset docking position's location information, the return path, and the return strategy to control the pool robot to return to its charging position, clean the filter box, or go into standby mode. The return strategy can include moving along the pool wall or following the shortest path.

[0133] As an example, a user can send a remote return command to the pool robot by selecting a return path or return strategy on the remote control interface. The remote return command includes the location information of the preset docking position, the return path, or the return strategy. Alternatively, after receiving the remote return command, the pool robot can plan a return path based on its current location information and the location information of the preset docking position, or combine the return strategy to plan a return path, and then move to the preset docking position based on the return path.

[0134] The aforementioned control method for the pool robot provides remote control options for various scenarios, including direction and speed adjustment, remote point cleaning, and remote return, by offering operations such as remote movement, remote cleaning, and remote return. This adapts to diverse user needs and significantly enhances the flexibility and practicality of remote control use of the pool robot.

[0135] In some embodiments, after the pool robot enters remote control mode, the controller can also perform the following actions:

[0136] If no remote control command is received after the first set of time, the pool robot will exit remote control mode.

[0137] Alternatively, if a command to exit remote control mode is received from the remote control terminal, and the working status of the pool robot indicates that the pool robot has not performed the remote-controlled fixed-point cleaning task and / or the remote-controlled return task, the pool robot can be controlled to exit remote control mode.

[0138] Alternatively, if the pool robot is detected leaving the pool water, the pool robot can be controlled to exit remote control mode.

[0139] Alternatively, after a communication interruption between the remote control terminal and the pool robot, the pool robot can be controlled to exit remote control mode after a second period of time.

[0140] For example, when remote control operation is no longer needed, the user can give a third trigger operation to exit remote control mode via voice, button, or other means on the remote control terminal. Upon receiving the third trigger operation, the remote control terminal can send an exit remote control mode command to the pool robot, which will then exit remote control mode. Alternatively, after receiving the command, if the pool robot determines that there is a remote control task that needs to be performed (such as remote-controlled point cleaning or remote-controlled return), it can continue performing the task and then exit remote control mode after completion. Alternatively, if the remote control terminal determines that the pool robot has a remote control task that needs to be performed after receiving the third trigger operation, it can delay sending the exit remote control mode command until the task is completed. Or, if the remote control terminal determines that the pool robot has a remote control task that needs to be performed, it may not accept the user's third trigger operation.

[0141] For example, after the pool robot enters remote control mode, the controller synchronously starts the timing module to keep track of the time the pool robot does not receive any instructions from the remote control terminal. Each time the pool robot receives a valid remote control instruction, the timing module immediately resets to zero and restarts the timing. If no remote control instruction is received, the timing module continues to accumulate time. The controller compares the accumulated time of the timing module with a preset first time in real time. If the accumulated time has not reached the first time, the controller maintains the pool robot in remote control mode. If the accumulated time reaches the first time, the pool robot is triggered to exit remote control mode.

[0142] If the accumulated time has not reached the first time limit, the controller continues to listen for commands from the remote control terminal in remote control mode. When the user sends a command to exit remote control mode to the pool robot through the remote control terminal, the controller can first check whether the pool robot is currently performing a remote-controlled fixed-point cleaning task or a remote-controlled return task. If not, the controller will trigger the pool robot to exit remote control mode. If the pool robot is performing a remote-controlled fixed-point cleaning task or a remote-controlled return task, the controller can send another prompt message to the remote control terminal, such as "Currently performing a remote-controlled fixed-point cleaning task, cannot exit at the moment" or "Currently performing a remote-controlled return task, cannot exit at the moment".

[0143] After issuing the aforementioned prompt, the controller can continuously monitor the working status of the pool robot. When the working status indicates that the pool robot has completed a remote-controlled fixed-point cleaning task or a remote-controlled return task, the controller automatically responds to the command to exit the remote control mode, triggering the pool robot to exit the remote control mode. Alternatively, when the working status indicates that the pool robot has completed a remote-controlled fixed-point cleaning task or a remote-controlled return task, the controller generates another prompt message to the remote control terminal. This prompt message could be, for example, "Remote-controlled fixed-point cleaning task has been completed" or "Remote-controlled return task has been completed." If the user sends another command to the pool robot to exit the remote control mode through the remote control terminal, the controller will then trigger the pool robot to exit the remote control mode according to the received command.

[0144] After entering remote control mode, the controller can continuously determine whether the pool robot is in the pool water. The specific determination method can be referred to the above embodiment and will not be repeated here. For example, the controller can automatically trigger the pool robot to exit remote control mode when the pool robot has not been in the pool water for a preset time.

[0145] After the pool robot enters remote control mode, the controller continuously monitors the connection status with the remote control terminal and can control the pool robot to exit remote control mode if communication is interrupted. For example, after a communication interruption, a timing module can be activated to time the duration of the communication interruption between the pool robot and the remote control terminal. If the pool robot and the remote control terminal reconnect, the timing module immediately resets to zero and restarts timing. If the communication between the pool robot and the remote control terminal remains interrupted, the timing module continues to accumulate time. The controller compares the accumulated time of the timing module with a preset second time in real time. If the accumulated time has not reached the second time, the controller maintains the pool robot in remote control mode. If the accumulated time reaches the second time, the pool robot is triggered to exit remote control mode.

[0146] The aforementioned control method for the pool robot provides several triggers to exit remote control mode, including operation timeout, active command, water separation, and communication interruption. This prevents the robot from remaining inactive in remote control mode for extended periods, thus avoiding a poor user experience, especially in scenarios like communication interruption or operation timeout. It also prevents wear and tear on components of underwater operating modules such as propellers and cleaning units from idling in water separation scenarios. Furthermore, it avoids the risk of scratches to users from the high-speed rotation of underwater operating modules, ensuring the stable operation of the pool robot while minimizing safety hazards for users.

[0147] In some embodiments, after the remote control command corresponding to the remote return task or remote fixed-point cleaning task is issued, the pool robot can autonomously execute the remote control task, and the user does not need to continuously operate it on the remote control interface during this process. However, during the execution of the remote control task, the user may accidentally trigger a non-remote control task or other remote control tasks. If other task triggers are received from the user during the execution of the above-mentioned remote control task, the system will first choose not to interrupt the execution of the above two remote control tasks and issue a prompt to the user so that the user can determine whether to interrupt the currently executing remote control task, further reducing the negative experience caused by accidental triggers. If the user continues to give other task trigger operations in response to the prompt, the remote control terminal can also send a command to the pool robot to interrupt the current task and execute a new task. After receiving the command, the pool robot will interrupt the current remote control task and execute the new task.

[0148] For example, in some embodiments, upon receiving an instruction to exit remote control mode, if the pool robot's operating status indicates that it is performing a remote-controlled point-to-point cleaning task or a remote-controlled return task, the pool robot is controlled to remain in remote control mode to continue performing the task. Upon receiving an instruction to exit remote control mode, if, before the remote-controlled point-to-point cleaning task or the remote-controlled return task ends, another instruction to re-enter remote control mode is received from the remote control terminal, the pool robot is controlled to remain in remote control mode after the task ends. Upon receiving an instruction to exit remote control mode, if no instruction to re-enter remote control mode is received from the remote control terminal until the remote-controlled point-to-point cleaning task or the remote-controlled return task ends, the pool robot is controlled to exit remote control mode upon the completion of the task.

[0149] For example, when a user sends a command to the pool robot to exit remote control mode via the remote control terminal, if the controller detects that the pool robot is currently performing a remote-controlled point cleaning task or a remote-controlled return task, the controller can send another prompt message to the remote control terminal. This prompt message could be, for example, "Currently performing a remote-controlled point cleaning task, cannot exit at the moment" or "Currently performing a remote-controlled return task, cannot exit at the moment," and keep the pool robot in remote control mode to continue performing the remote-controlled point cleaning task or the remote-controlled return task.

[0150] After issuing the aforementioned prompt, the controller continuously monitors the pool robot's operating status. When the operating status indicates that the pool robot has completed a remote-controlled point-to-point cleaning task or a remote-controlled return task, the controller automatically responds with an exit-from-remote-mode command, triggering the pool robot to exit remote-controlled mode. Alternatively, when the operating status indicates that the pool robot has completed a remote-controlled point-to-point cleaning task or a remote-controlled return task, the controller generates another prompt message to the remote control terminal. This prompt message could be, for example, "Remote-controlled point-to-point cleaning task completed" or "Remote-controlled return task completed." If the user sends another exit-from-remote-mode command to the pool robot via the remote control terminal, the controller will then trigger the pool robot to exit remote-controlled mode based on the received exit-from-remote-mode command.

[0151] Before the remote-controlled point cleaning task or remote-controlled return task is completed, if the user sends a command to the pool robot to enter remote-controlled mode again through the remote-controlled terminal, the controller can keep the pool robot in remote-controlled mode after the remote-controlled point cleaning task or remote-controlled return task is completed, based on the received command to enter remote-controlled mode.

[0152] By employing the above methods, it can be ensured that during remote-controlled point-to-point cleaning tasks, the pool robot continuously completes the cleaning process of the designated area, ensuring that local stains are thoroughly removed; during remote-controlled return tasks, it can be ensured that the pool robot can reach the preset docking position according to the planned path.

[0153] In some embodiments, if the pool robot has an unfinished first cleaning task before entering the remote control mode, it will not continue to perform the first cleaning task after entering the remote control mode; after receiving the remote control command sent by the remote control terminal, it will control the pool robot to perform the remote control task corresponding to the remote control command.

[0154] The unfinished first cleaning task refers to a task that the pool robot was originally performing but was forced to be interrupted because the user controlled the pool robot to enter remote control mode via the remote control terminal. After the pool robot entered remote control mode, the first cleaning task had not yet achieved the preset goal.

[0155] Once the pool robot enters remote control mode, the controller immediately abandons the first cleaning task and prioritizes the remote control commands issued by the remote control terminal to control the pool robot to execute the corresponding remote control task.

[0156] After the pool robot switches to remote control mode, it abandons the task of automatic cleaning and completely hands over the control of operation to the user. This allows for precise adaptation to the user's immediate cleaning needs, enabling the user to perform personalized operations such as precise cleaning and directional movement through manual control. This avoids the inability to quickly meet immediate needs due to the continuous execution of the original task. Through this setting, the robot can maximize its ability to meet the dynamic needs of the user and improve the targeting and flexibility of the pool robot's operation.

[0157] In some embodiments, after the pool robot exits the remote control mode, if there is an unfinished first cleaning task before entering the remote control mode, the pool robot is controlled to re-execute the first cleaning task before entering the remote control mode, or the pool robot is controlled to execute the remaining part of the first cleaning task before entering the remote control mode.

[0158] Alternatively, if there is an unfinished first cleaning task before entering remote control mode, upon receiving the second cleaning task, the pool robot can be controlled to complete the first cleaning task and then execute the second cleaning task; or, the pool robot can be controlled to execute the second cleaning task directly without needing to complete the first cleaning task.

[0159] Alternatively, you can control the pool robot to stay in place.

[0160] The second cleaning task refers to a new cleaning task issued by the user through a remote control terminal or other types of terminal after the pool robot exits the remote control mode. For example, it may include non-remote-triggered tasks such as full pool cleaning, segmented cleaning, and timed cleaning in autonomous cleaning mode. The second cleaning task is unrelated to the first cleaning task and has independent cleaning path, cleaning range, and cleaning mode parameters.

[0161] As an example, if a pool robot switches to remote control mode before completing its first cleaning task, the controller can cache the relevant parameters of the interrupted first cleaning task. After the pool robot exits remote control mode, the controller can first determine whether there is an unfinished first cleaning task. If so, the controller controls the pool robot to continue executing the remaining part of the first cleaning task. The controller restarts the first cleaning task from the interrupted process position by reading the cached parameters and continues executing the remaining part of the first cleaning task. After the remaining part of the first cleaning task is completed, the controller controls the pool robot to remain in place and enter standby mode. If there is no unfinished task, the controller controls the pool robot to remain in place and enter standby mode.

[0162] Specifically, the process of continuing the remaining part of the first cleaning task may include: driving the pool robot to the specific location where the first cleaning task was interrupted, adjusting the pool robot's posture and cleaning parameters to the posture and cleaning parameters before the interruption; then executing the remaining part of the first cleaning task according to the remaining cleaning path; after the remaining part of the first cleaning task is completed, the controller may shut down the cleaning components, switch the pool robot to standby mode, and, for example, send feedback information to the remote control terminal, the feedback information may specifically be "the remaining part of the first cleaning task has been completed".

[0163] After exiting remote control mode, the pool robot automatically continues to perform the remaining part of the first cleaning task, which not only ensures the continuity of the unfinished cleaning task, but also takes into account cleaning efficiency. This avoids the cleaning interruption of the first cleaning task caused by the pool robot switching to remote control mode, which would result in some areas being missed or repeated cleaning caused by restarting the first cleaning task, thereby improving cleaning efficiency.

[0164] Alternatively, after the pool robot exits remote control mode, the controller can first determine whether the pool robot has an unfinished first cleaning task. If so, the controller controls the pool robot to restart the first cleaning task, and after the first cleaning task is completed, the controller controls the pool robot to stay in place and enter standby mode; if not, the controller controls the pool robot to stay in place and enter standby mode.

[0165] For example, the process of controlling the pool robot to restart the first cleaning task may include: driving the pool robot to the starting position of the first cleaning task, adjusting the pool robot's posture and cleaning parameters to the posture and cleaning parameters before starting the first cleaning task; then restarting the first cleaning task according to the cleaning path of the first cleaning task; after the first cleaning task is completed, the controller can shut down the cleaning components and switch the pool robot to standby mode. Additionally, feedback information can be sent to the remote control terminal, specifically, "The remaining part of the first cleaning task has been completed."

[0166] After the pool robot exits remote control mode, the user can send a new control command to the pool robot through the remote control terminal to instruct the pool robot to perform a second cleaning task. The controller can first determine whether the pool robot has an unfinished first cleaning task. If it does, the controller will control the pool robot to continue to perform the remaining part of the first cleaning task. After the remaining part of the first cleaning task is completed, the second cleaning task will be performed. If it does not, the controller will control the pool robot to directly perform the second cleaning task.

[0167] Alternatively, after the pool robot exits remote control mode, the controller can directly ignore the first cleaning task that the pool robot was performing before entering remote control mode, and control the pool robot to stay in place, waiting for the user to issue new control commands through the remote control terminal to control the pool robot to perform other cleaning tasks or perform a return task.

[0168] In some embodiments, after entering the remote control mode but before receiving a remote control command, the pool robot is controlled to stop moving and the suction component of the pool robot is controlled to remain in working state, wherein the suction component includes a main water pump, an inlet, a filter box, and an outlet.

[0169] After entering remote control mode and before receiving remote control commands, control the pool robot to stop at the bottom of the pool, the pool wall, or the water surface, and wait for the remote control terminal to issue remote control commands.

[0170] The suction assembly refers to the collection of core components that enable the pool robot to perform the suction and cleaning function. The suction assembly is used to extract pool water, filter impurities, and discharge clean water. Referring to the above embodiment, it may include components such as a main water pump, inlet, filter box, and outlet. All components work together to complete the suction and cleaning process.

[0171] When the controller receives a command from the remote control terminal to enter remote control mode, and the pool robot is in a water surface posture, pool bottom posture, or pool wall posture, it can control the pool robot to enter remote control mode. After entering remote control mode, the controller can control the pool robot to maintain the posture before entering remote control mode.

[0172] Alternatively, if the remote control terminal is in a pool wall posture before entering remote control mode, the controller can control the pool robot to switch from the pool wall posture to the pool bottom posture, in order to wait for the remote control terminal to issue a remote control command.

[0173] The aforementioned control method for the swimming pool robot ensures that it immediately stops moving upon entering remote control mode, quickly reaching a stationary standby state. This prevents positional deviations caused by inertial displacement or autonomous movement, laying the foundation for precise user control. Furthermore, switching the robot from a pool wall posture to a pool bottom posture while awaiting remote control commands avoids the robot continuously generating negative pressure in its suction components to maintain its pool wall posture, thus preventing excessive power consumption. It also avoids the risk of the robot slipping, colliding with the pool bottom, or tipping over, significantly reducing the probability of equipment displacement or malfunction during standby and ensuring safe operation.

[0174] In some embodiments, upon receiving an instruction to enter remote control mode, the remote control mode is entered if the battery level of the pool robot is less than or equal to a first battery threshold; or, if the battery level of the pool robot is less than or equal to the first battery threshold, the remote control mode is not entered.

[0175] For example, if the pool robot's battery level reaches a first battery threshold and the operating status indicates that the pool robot is neither surfacing nor diving, then the pool robot can be controlled to enter remote control mode.

[0176] If the pool robot's battery level is less than or equal to a first battery threshold, it will not enter remote control mode. As described above, the remote control terminal may refuse to accept the first or second trigger operation, or accept the trigger operation but not send a command to enter remote control mode; or, the pool robot may receive a command to enter remote control mode but not enter remote control mode. The remote control terminal or the pool robot may also issue a prompt message when entering or not entering remote control mode.

[0177] After the remote control terminal or pool robot issues a prompt message, if the remote control terminal receives the first trigger operation to enter the remote control mode again, for example, when the controller receives the instruction to enter the remote control mode sent by the remote control terminal, it can first determine whether the battery level of the pool robot is less than or equal to the first battery threshold. If it is less than or equal to the first battery threshold and the working status meets other requirements of the remote control mode, the controller can control the pool robot to enter the remote control mode.

[0178] Alternatively, the remote control terminal or the pool robot can issue a prompt when the battery level is less than or equal to a first battery threshold, such as "The pool robot's battery is low." If the user triggers the operation to enter remote control mode based on the prompt, the remote control terminal then sends a command to the pool robot to enter remote control mode, and the pool robot enters remote control mode.

[0179] In remote control mode, if the battery level is lower than the first battery threshold, the remote control terminal or the pool robot can also issue a prompt message.

[0180] Considering that the pool robot needs to respond to real-time remote control commands from users, it places high demands on the continuous operation capability of its power system and suction components. If the battery level is below a first power threshold, the pool robot may suddenly stop due to battery depletion while responding to remote control commands after entering remote control mode. This not only affects the user experience but may also cause the equipment to become stuck in the middle of the pool or be unable to return to its original position. The aforementioned control method for the pool robot, by presetting a first power threshold, allows the controller to perform multiple checks on the pool robot's posture and battery level before controlling the pool robot to enter remote control mode. This ensures that the pool robot has sufficient power support when entering remote control mode, avoiding risks such as operation interruption and equipment failure due to insufficient power, and guaranteeing the stability and continuity of remote control operation.

[0181] In some embodiments, when the pool robot is in remote control mode and the battery level of the pool robot is lower than a second battery threshold, upon receiving a remote return command, the pool robot is controlled to initiate a remote return task to return to the docking position.

[0182] Alternatively, if the pool robot is in remote control mode and its battery level is below the third battery threshold but above the second battery threshold, and no instruction to exit remote control mode or remote return instruction is received, then the autonomous return task to the docking position will not be initiated.

[0183] Alternatively, when the pool robot is in remote control mode and its battery level is below the third battery threshold but above the second battery threshold, upon receiving a command to exit remote control mode and before the pool robot performs a remote return mission to return to its docking position, the system can control the pool robot to initiate an autonomous return mission to its docking position after exiting remote control mode.

[0184] Specifically, the second power threshold is lower than the third power threshold.

[0185] For example, if the pool robot is in remote control mode and the battery level is below the second battery threshold, and the controller receives a remote return command, the pool robot may shut down due to battery depletion during the return process. However, the controller always prioritizes the user's remote control command and will still execute the remote return task first.

[0186] When the pool robot is not in remote control mode and its battery level has dropped to the third battery threshold, the controller will control the pool robot to perform an autonomous return mission. However, if the pool robot is in remote control mode and its battery level has dropped to the third battery threshold, the controller will prioritize the user's remote control commands. If it does not receive a command to exit remote control mode or a remote return command, the controller will control the pool robot to continue executing other remote control commands issued by the remote control terminal.

[0187] As an example, when the pool robot is in remote control mode and its battery has been depleted to the third battery threshold, the controller can generate a prompt message and send it to the remote control terminal. This prompt message could be something like "The pool robot's battery is too low and needs to be charged." After receiving this prompt message, the remote control terminal can display it on the display interface and simultaneously display a button. If the user clicks the button, the remote control terminal can send a remote control command for the remote return task to the controller to control the pool robot to perform the remote return task.

[0188] The third power threshold refers to a preset minimum safe power threshold. If the power of the pool robot is lower than the third power threshold, the pool robot can start an autonomous return mission to avoid the pool robot running out of power midway and being stranded due to power failure.

[0189] When the swimming pool robot is in remote control mode, if the controller receives a command to exit remote control mode, after controlling the robot to exit, the controller first checks if the robot's battery level is below a third battery threshold. If so, it further checks if the robot's battery level is above a second battery threshold. If so, the controller controls the robot to perform an autonomous return mission. If the battery level is below the second threshold, the controller can generate a prompt message and send it to the remote control terminal. This prompt message could be something like "The swimming pool robot's battery is too low; please manually charge it." The remote control terminal displays this prompt message on its interface to remind the user to manually retrieve and recharge the robot.

[0190] The aforementioned control method for the swimming pool robot prioritizes user remote control commands as the ultimate decision-making basis, fully guaranteeing the user's control over the operation. In remote control mode, if the robot's battery level falls below a second battery threshold, and the user issues a remote return command, the robot will prioritize executing the command, even if there is a risk of running out of power mid-operation. If no command to exit remote control mode or return is received, the robot continues to respond to previous remote control commands, performing posture changes or cleaning tasks, avoiding interruptions to the user's workflow due to the robot's autonomous decision-making. After exiting remote control mode, the robot can determine whether to perform an autonomous return task based on its battery level to prevent power outages and subsequent stagnation.

[0191] In some embodiments, when the pool robot is in remote control mode and an operation abnormality command is triggered, the pool robot is controlled to remain in remote control mode. The operation abnormality command is triggered when at least one of the following occurs: a cleaning component malfunction, a travel mechanism malfunction, or a filter box blockage.

[0192] An abnormal operation command can be triggered by the controller when the pool robot's core components are detected to be malfunctioning or have a functional failure, through the built-in sensors of the pool robot. The abnormal operation command can be used to indicate that there is a risk in the operation of the pool robot.

[0193] Cleaning components may include roller brush components, suction components, and side brush components. Taking the roller brush component as an example, roller brush malfunction can refer to a failure state in which the roller brush used for cleaning pool robots cannot operate normally. For example, the roller brush may stop rotating due to being entangled in hair or foreign objects, or the motor may burn out and have no power output. The roller brush may also have abnormal rotation speed, such as the rotation speed being lower than the preset minimum rotation speed threshold or higher than the preset maximum rotation speed threshold.

[0194] The travel mechanism can include walking components, propulsion components, etc. Taking the propulsion component as an example, a propulsion malfunction can refer to a failure in the propulsion that drives the robot to move, such as the propulsion stopping, the propulsion speed being unbalanced, or the propulsion being unable to rotate normally due to foreign objects blocking it.

[0195] A clogged filter can refer to a blockage in the air intake or exhaust channels of the filter used by the pool robot to collect impurities. For example, the pressure difference between the inside and outside of the filter may exceed a preset threshold, or the air intake may be lower than the minimum flow rate.

[0196] For example, after triggering an abnormal operation command, the controller can prioritize maintaining the remote control mode of the pool robot, while implementing targeted protection based on the specific type of abnormality in the command. For instance, when the abnormal operation command is for a roller brush malfunction, the controller can immediately cut off the power to the roller brush motor to prevent motor overload and burnout or further entanglement by foreign objects; when the abnormal operation command is for a thruster malfunction, the controller can shut off the power to the faulty thruster while maintaining low-power operation of the normal thrusters; when the abnormal operation command is for all thrusters malfunction, the controller can cut off the power to all thrusters to maintain a stable robot posture; and when the abnormal operation command is for a clogged filter box, the controller can increase the motor power of the suction component.

[0197] The controller can generate a prompt message and send it to the remote control terminal when an abnormal operation command is triggered. The prompt message can include the type of abnormal operation command, and the remote control terminal displays the prompt message through the display interface; or the pool robot can send a prompt message to ensure that the user can clearly understand the abnormal status of the pool robot.

[0198] The above-mentioned control method for the pool robot allows the controller to maintain the remote control mode of the pool robot even after an operational anomaly is triggered, in order to maintain the user's control priority and prevent the device from switching modes or shutting down on its own, thus interrupting the user's operation process. When anomalies such as roller brush jamming or filter box blockage occur, if the user still has an emergency handling need, the controller can maintain the remote control mode to allow the user to issue remote control commands through the remote control terminal and make decisions on subsequent operations.

[0199] Based on the same inventive concept, this application also provides a remote control method for a swimming pool robot, applied to a remote control terminal.

[0200] As shown in the above embodiments, the remote control terminal may have a display interface, which is at least used to display the remote control interface. The display interface is also used to display the main control interface, which has a button for entering the remote control interface. For example, the user can trigger the operation to enter the remote control mode by clicking the button for entering the remote control interface on the main control interface of the display interface.

[0201] After receiving a trigger operation to enter the remote control interface on the display interface, enter the remote control interface and send a command to the pool robot to enter the remote control mode; and / or, after receiving a trigger operation to exit the remote control interface on the display interface, exit the remote control interface and send a command to the pool robot to exit the remote control mode.

[0202] For example, a user can click the "Enter Remote Control Interface" button on the remote control terminal's display screen. This triggers a page jump to the remote control interface, where the terminal can automatically send a command to the pool robot to enter remote control mode. Conversely, a user can click the "Exit" or "Back" button on the remote control terminal's interface. This triggers a return to the previous display page, exiting the current remote control interface. In this case, the terminal can automatically send a command to the pool robot to exit remote control mode.

[0203] After receiving a user's first or second trigger operation, the remote control terminal can first obtain the working status of the pool robot, ensuring that the command to enter remote control mode is only sent to the pool robot when the working status of the pool robot meets the requirements of remote control mode. Alternatively, the remote control terminal can obtain the working status of the pool robot in real time or at preset intervals, and only receive the user's first or second trigger operation when the working status meets the requirements of remote control mode.

[0204] In some embodiments, after receiving a trigger operation to enter remote control mode, the working status of the pool robot is obtained; when the working status indicates that the pool robot is not in the process of surfacing and not in the process of diving, a command to enter remote control mode is issued to the pool robot so that the pool robot enters remote control mode; wherein, the surfacing process includes the process of inputting gas into the float cavity and / or discharging liquid from the float cavity, and the diving process includes the process of discharging gas from the float cavity and / or inputting liquid into the float cavity.

[0205] After receiving a user's trigger operation, the remote control terminal can first determine the working status of the pool robot, and then send a command to control the pool robot to switch execution modes. The remote control mode switching is only performed when the pool robot is not in the process of surfacing or diving. This can avoid the process of air intake or exhaust in the float chamber being interrupted, which would cause the machine's posture to become unstable, and thus cause the machine to drift away or be damaged.

[0206] In some embodiments, when the pool robot is not in the pool water, a first prompt is issued to indicate that the pool robot cannot enter remote control mode because it is not in the pool water.

[0207] Before determining the working status of the pool robot, the remote control terminal first performs a preliminary judgment to determine whether the pool robot is in the pool water. If the remote control terminal determines that the pool robot is not in the pool water, it can generate an initial prompt and display it on the interface to inform the user that the pool robot is not in the pool water and cannot be switched to remote control mode. The initial prompt could be, for example, "The pool robot is not in the pool water and switching to remote control mode is not supported."

[0208] The remote control terminal first determines whether the pool robot is in the water, then determines the working status of the pool robot, and then sends a command to the pool robot to enter remote control mode. This ensures that the remote control mode is switched only when the pool robot is in the water, avoiding sending the command to enter remote control mode when the pool robot is out of the water. This would prevent the critical components of the pool robot's underwater functional modules from overheating or being damaged due to the lack of water load, thereby improving equipment safety.

[0209] In some embodiments, when the working status indicates that the pool robot is in the process of surfacing or diving, a new working status of the pool robot is obtained. When the new working status indicates that the pool robot is neither in the process of surfacing nor diving, a command to enter the remote control mode is issued to the pool robot so that the pool robot enters the remote control mode.

[0210] For example, if the remote control terminal determines that the pool robot is either surfacing or diving, the remote control terminal will not receive the first or second trigger operation. Even if it receives the trigger operation, it will not issue a command to the pool robot to enter remote control mode. Instead, it will simultaneously start the monitoring process of the pool robot's working status. During the monitoring process, the remote control terminal can monitor the new working status of the pool robot in real time or at a preset frequency. If the new working status indicates that the pool robot is not surfacing or diving, the remote control terminal will then issue a command to the pool robot to enter remote control mode.

[0211] The remote control terminal can refrain from issuing a command to enter remote control mode while the pool robot is surfacing or diving, and continuously monitor the pool robot's working status until the dynamic process ends. This fundamentally avoids issuing a command to enter remote control mode to the pool robot during critical attitude transition phases, preventing motion instability, component overload, or trajectory deviation caused by power command conflicts. Furthermore, the remote control terminal can issue a command to enter remote control mode as soon as the pool robot meets the conditions for state switching, thereby avoiding control delays and ensuring the operational reliability of the pool robot.

[0212] In some embodiments, when the working status indicates that the pool robot is in the process of surfacing or diving, a third prompt is displayed indicating that the pool robot is in the process of surfacing or diving, thus reminding the user that the pool robot cannot enter remote control mode at least during the surfacing or diving process. The third prompt could be something like "Currently undergoing posture transition, unable to switch remote control mode." When a user controls the pool robot to switch modes at an inappropriate time via the remote control terminal, the remote control terminal can provide immediate feedback by actively displaying the third prompt, thereby effectively eliminating user confusion or misjudgment caused by the opaque status of the pool robot during control, and improving the interactive experience.

[0213] In some embodiments, when the pool robot is below the water surface and cannot communicate with the remote control terminal, a fifth prompt is displayed when the working status indicates that the pool robot is in the process of diving, to indicate that the pool robot cannot enter remote control mode once it is below the water surface.

[0214] The remote control terminal can display a fifth notification on the screen to inform the user that the pool robot is about to submerge below the water surface and, due to a communication interruption, cannot send a command to the pool robot to enter remote control mode, thus preventing the robot from entering remote control mode. For example, the fifth notification could be: "The pool robot has submerged below the water surface and cannot enter remote control mode at this time." Timely feedback of this fifth notification allows users to quickly understand the current operating status of the pool robot and the reason why it cannot enter remote control mode, preventing users from waiting unnecessarily.

[0215] In some embodiments, a new operating state of the pool robot is acquired. When the new operating state indicates that the pool robot is neither surfacing nor submerging, a fourth prompt is used to enter remote control mode, and / or the fourth prompt is displayed, and / or a command to enter remote control mode is sent to the pool robot based on the fourth prompt. The fourth prompt may be, for example, "The pool robot can switch to remote control mode." The remote control terminal may display the fourth prompt through a display interface to indicate to the user that the pool robot meets the conditions for mode switching.

[0216] Users can send a command to the pool robot to enter remote control mode by clicking a specific button on the main control interface displayed on the remote control terminal. After the user clicks the specific button, the remote control terminal will redirect to a specific remote control interface. However, before the remote control terminal receives the fourth prompt, all buttons on the remote control interface will be grayed out. Users cannot issue remote control commands by clicking any button on the remote control interface. This forces users to wait until the remote control terminal confirms that the pool robot has successfully switched modes and entered remote control mode before displaying the fourth prompt and granting the user permission to click the buttons on the remote control interface. This avoids users repeatedly clicking the buttons on the remote control interface before the pool robot has successfully switched to remote control mode, which would cause command accumulation and chaotic response on the remote control terminal.

[0217] Alternatively, after the remote control terminal displays the fourth prompt in the remote control interface through a floating window, sidebar, prompt box, or jump page, it can control all buttons in the remote control interface to remain ungrabbed and issue remote control commands to the pool robot according to the specific button clicked by the user.

[0218] Alternatively, the remote control terminal can redirect the user to a specific remote control interface after the user clicks a specific button. All buttons in the remote control interface are not grayed out. The user can trigger the remote control terminal to generate remote control commands by clicking any button. The remote control terminal can determine whether to send remote control commands to the pool robot based on whether the pool robot has entered remote control mode.

[0219] Alternatively, the remote control terminal can, after the user clicks a specific button, not redirect the page, but after the remote control terminal determines that the pool robot meets the conditions for mode switching, first display the fourth prompt, then redirect the main control interface to a specific remote control interface, and generate and send remote control commands to the pool robot according to the specific button clicked by the user in the remote control interface.

[0220] Of course, other implementation methods can also be used, as described in the above embodiments, which will not be elaborated here.

[0221] In some embodiments, after displaying the fourth prompt, if a trigger operation to enter remote control mode is received, an instruction to enter remote control mode is sent to the pool robot; or, if no trigger operation to enter remote control mode is received, an instruction to enter remote control mode is sent to the pool robot.

[0222] After determining that the pool robot meets the conditions for mode switching, the remote control terminal can generate and display a fourth prompt, and at the same time generate and send a command to enter remote control mode to the pool robot. Alternatively, after determining that the pool robot meets the conditions for mode switching, the remote control terminal can first generate and display a fourth prompt, and then generate and send a command to enter remote control mode to the pool robot after receiving a user's trigger operation for entering remote control mode.

[0223] For example, the remote control terminal can display the fourth prompt through a floating window, sidebar, prompt box, or jump page, while simultaneously displaying a feedback button on the display interface. When the user clicks this feedback button, the remote control terminal is triggered to generate a command to enter remote control mode and send it to the pool robot, thus controlling the pool robot to enter remote control mode. The display of the fourth prompt by the remote control terminal can proactively provide feedback on whether the pool robot meets the conditions for mode switching, thereby making the interaction between the pool robot and the remote control terminal clearer and more intuitive.

[0224] In some embodiments, after the pool robot is controlled to enter the remote control mode, upon receiving a trigger operation for a specified movement direction and a specified movement rate, the specified movement direction and specified movement rate are sent to the pool robot so that the pool robot can adjust its movement direction and / or position.

[0225] Alternatively, after receiving a trigger operation for remote point cleaning, a remote point cleaning command is sent to the pool robot so that the pool robot enters the designated cleaning area to perform a remote point cleaning task.

[0226] Alternatively, after receiving a remote return trigger operation, a remote return command can be sent to the pool robot to enable the pool robot to perform a remote return task to return to the docking position.

[0227] As an example, users can send a specified movement direction and speed to the pool robot by clicking any button on the remote control interface displayed on the remote control terminal. The specified movement direction can be, for example, forward, backward, left turn, right turn, left translation, right translation, etc.

[0228] like Figure 8As shown, specifically, the remote control interface includes at least one travel button 510 and multiple directional buttons 520. The directional buttons 520 are associated with the movement direction of the pool robot, and the travel buttons 510 are associated with the movement speed. The movement direction corresponding to the selected directional button 520 is designated as the specified movement direction; the movement speed of the selected travel button 510 is designated as the specified movement speed.

[0229] Alternatively, the remote control interface may include only multiple directional buttons 520, each associated with a movement direction and speed. The movement direction corresponding to the selected directional button is designated as the specified movement direction, and the movement speed of the selected directional button is designated as the specified movement speed. When the user triggers a directional button 520, the pool robot moves according to the movement direction and speed associated with that triggered directional button 520.

[0230] Of course, you can also Figure 9 The four directional buttons shown can be supplemented with additional directional buttons in the middle. For example, a directional button could be placed between the left and top directional buttons. When this directional button is triggered, the pool robot can rotate 45 degrees to the left and forward. Alternatively, for... Figure 9 The circle corresponding to the orientation allows users to customize the trigger area and the direction of movement and / or rotation of the pool robot corresponding to the trigger area, in order to meet the user's actual remote control needs and improve the interactive experience.

[0231] The interaction methods for the movement buttons and / or direction buttons can also adopt other design approaches, without limitation. For example... Figure 10 As shown, in some embodiments, the remote control interface may include a travel button 510 and two directional buttons 520. By triggering the cursor (circle of directional button 5201) in directional button 520 to the left or right side of the elongated shape, the user can issue remote control commands to the pool robot to turn left or move left, turn right or move right. By triggering the cursor (circle of directional button 5202) in directional button 5202 to the top or bottom side of the elongated shape, the user can issue remote control commands to move up or down.

[0232] It should be noted that the movement button 510 can be set separately from the direction button 520, or the movement button 510 can be integrated into the direction button 520. When the user clicks the direction button 520, the movement function of the movement button 510 is triggered.

[0233] Or, as Figure 9As shown, in some embodiments, the remote control interface also includes at least one acceleration button 530. Using the movement speed associated with the travel button 510 when the acceleration button 530 is not selected as the base speed, the movement speed associated with the travel button 510 after the acceleration button 530 is selected is the product of the base speed and the multiple corresponding to the acceleration button. As an example, the travel button 510 can also be associated with the movement speed corresponding to the acceleration button 530 by switching between different sizes and colors.

[0234] If the pool robot is cleaning on the water surface, activating acceleration will create significant wave resistance, potentially causing the robot's actual speed to fall short of the set acceleration speed. To mitigate this, the robot can be controlled to submerge to a certain depth. However, submerging to a certain depth may result in most or all of the second water inlet being below the surface, affecting the cleaning effect. In some embodiments, after the remote control terminal receives a user's activation of the acceleration button, it can issue a prompt suggesting that acceleration be activated when the robot is escaping a stuck situation or returning to its starting position to avoid affecting the cleaning effect.

[0235] Alternatively, the remote control interface may also include an exit button 540. When the user clicks the exit button 540, the remote control terminal is triggered to send a command to the pool robot to exit the remote control mode.

[0236] The triggered buttons and untriggered buttons can be displayed differently on the remote control interface, for example, by using different colors or brightness levels, to improve the interactive experience.

[0237] In some embodiments, the remote control terminal receives a selection operation on the travel button and / or the orientation button. When the selected travel button and / or orientation button is triggered for a specified duration, the specified movement duration, specified movement direction, and specified movement speed corresponding to the specified trigger duration are sent to the pool robot, so that the pool robot moves for the specified duration based on the specified movement speed and specified movement direction. Alternatively, while continuously receiving triggers on the selected travel button and / or orientation button, the specified movement direction and specified movement speed are sent to the pool robot, so that the pool robot moves based on the specified movement speed and specified movement direction until the triggering of the selected travel button and / or orientation button stops.

[0238] As an example, if a user presses and quickly releases the selected travel button and / or direction button, the remote control terminal can record the press time. If the duration is within a preset valid range, the remote control terminal can match the corresponding specified movement duration. For example, in the preset mapping relationship, a trigger duration of 0.3-1 seconds for the travel button and / or direction button corresponds to a 5-second movement duration for the pool robot, a trigger duration of 1-2 seconds for the travel button and / or direction button corresponds to a 10-second movement duration for the pool robot, a trigger duration of 2-3 seconds for the travel button and / or direction button corresponds to a 15-second movement duration for the pool robot, and so on.

[0239] Alternatively, the remote control terminal can continuously send remote control commands to the pool robot in the specified movement direction corresponding to the selected movement button and / or direction button when the user presses the selected movement button and / or direction button, and send a stop movement command to the pool robot when the user releases the selected movement button and / or direction button, thereby realizing the continuous adjustment of the movement direction and position of the pool robot.

[0240] Alternatively, the remote control terminal can issue a remote control command to the pool robot in the specified movement direction corresponding to the selected movement button and / or direction button when the user presses and holds the selected movement button and / or direction button for a period of time exceeding a preset time, and issue a remote control command to stop movement to the pool robot when the user presses and holds the selected movement button and / or direction button again for a period of time exceeding the preset time, thereby realizing the adjustment of the movement direction and position of the pool robot.

[0241] The above-mentioned remote control method for the pool robot provides multiple control modes in addition to providing movement buttons and / or orientation buttons, which facilitates human-computer interaction operation on the remote control terminal.

[0242] like Figure 11 As shown, in some embodiments, a prompt box 810 is displayed on the remote control interface. The prompt box 810 includes a prompt message and a feedback button 820; after the feedback button 820 is triggered, the prompt box is closed. The prompt box can be a floating window, a sidebar, a prompt box, a jump page, etc., thereby providing users with various information display methods.

[0243] In some embodiments, when the pool robot does not meet the requirements of remote control mode, at least the remote control interface is displayed in a way that prevents it from being triggered. This preventability could be achieved by graying out or locking all buttons on the remote control interface.

[0244] It should be noted that this application does not limit the appearance and control method of various types of buttons in the remote control interface. As long as there are differences in appearance and presentation method, as long as they can achieve the corresponding control effect in this application, they should be included in the protection scope of this application.

[0245] As shown in the above embodiments, a remote-controlled point-of-use cleaning command can refer to a cleaning command sent by a user through a remote control terminal, targeting a specific area of ​​the swimming pool. Figure 7 As shown, the remote control interface 400 of the remote control terminal can display a pool map 410. Users can select a specific area on the pool map 410 displayed on the remote control terminal 400 using a selection box 420, and manually select a cleaning mode (strong suction, deep cleaning) and cleaning duration to remotely control the pool robot to automatically move to the specific area for remote-controlled point-to-point cleaning. Other details are as described in the above embodiments.

[0246] A remote return command refers to a task executed by the pool robot in remote control mode, returning to a preset docking position. As an example, the user sends a remote return command to the pool robot by selecting a return path or return strategy on the remote control interface of the remote control terminal. Other examples are similar to those described above.

[0247] The above-mentioned remote control method for the pool robot allows users to manually select options on the remote control terminal's display interface to adjust direction and speed, perform remote point cleaning, and remote return operations. This enables remote movement, cleaning, and return of the pool robot, adapting to diverse user needs and significantly improving the flexibility and practicality of remote control use.

[0248] In some embodiments, a second prompt is displayed indicating that the pool robot is exiting the remote control mode. The second prompt is issued by the pool robot when the triggering condition for exiting the remote control mode is met. The triggering condition includes at least one of the following: no remote control command is received after a first period of time, the pool robot is detected to have left the water in the pool, communication between the remote control terminal and the pool robot is interrupted for a second period of time, and a command to exit the remote control mode is received but no remote-controlled fixed-point cleaning task or remote-controlled return task is performed.

[0249] The second prompt could be something like, "The pool robot has exited remote control mode." The remote control terminal can display this second prompt on its interface to alert the user that the pool robot has exited remote control mode.

[0250] The second prompt can also be generated according to the actual triggering conditions met by the pool robot. For example, when the pool robot does not receive a remote control command after a first period of time, the second prompt could be "No remote control command received for a long time, the pool robot has exited the remote control mode". When the pool robot is detected leaving the pool water, the second prompt could be "The pool robot has left the water, the pool robot has exited the remote control mode". When the communication between the remote control terminal and the pool robot is interrupted for a second period of time, the second prompt could be "Communication with the pool robot is disconnected, the pool robot has exited the remote control mode". When a command to exit the remote control mode is received and the pool robot does not perform a remote control fixed-point cleaning task or a remote control return task, the second prompt could be "The pool robot has successfully exited the remote control mode".

[0251] In some embodiments, when the pool robot is in remote control mode and communication between the remote control terminal and the pool robot is interrupted, the remote control terminal attempts to re-establish a communication connection with the pool robot within a second time period before receiving a trigger operation to exit the remote control mode. If the remote control terminal fails to re-establish a communication connection with the pool robot after the second time period, the remote control mode is exited, or an eighth prompt indicating that the remote control mode needs to be exited due to the failure to establish a communication connection is displayed. After receiving a trigger operation for the eighth prompt, the remote control mode is exited.

[0252] If communication between the remote control terminal and the pool robot is interrupted, the remote control terminal will continue to attempt to establish a communication connection with the pool robot while it remains on the remote control interface; if the remote control terminal exits the remote control interface, it will no longer attempt to establish a communication connection with the pool robot.

[0253] Alternatively, if the remote control terminal determines that communication with the pool robot has been interrupted, it immediately initiates a reconnection process. Simultaneously with the reconnection, the remote control terminal starts a timer. When the timer reaches its second duration, the remote control terminal exits remote control mode. When the second duration is reached or the countdown reaches zero, an eighth notification may appear, for example, "Communication lost, pool robot has exited remote control mode," to inform the user that the pool robot has exited remote control mode due to a communication failure.

[0254] Communication interruption prevents the remote control terminal from issuing remote control commands to the pool robot, meaning the terminal loses control. During a brief communication interruption, remaining in remote control mode and attempting to restore communication can minimize the impact on the remote control task. If communication cannot be restored after a period of time, the remote control terminal automatically exits remote control mode, preventing users from issuing unresponsive commands during the interruption and improving the user experience. Alternatively, if communication cannot be restored, a notification can be sent to the user so they are aware of the communication status, and the user can choose to exit remote control mode. If the currently executed remote control task can be performed despite the communication interruption, the user can also choose to remain in remote control mode.

[0255] The remote control terminal automatically generates a second prompt and displays it when the following events occur: a first time period without receiving a corresponding remote control trigger operation; a second time period after detecting that the pool robot has left the pool water; a third time period after detecting a communication interruption with the pool robot; and a third time period after the user triggers the pool robot to exit remote control mode via the remote control terminal. This prompt occurs when the remote control terminal detects that the pool robot is not performing a remote-controlled fixed-point cleaning task or a remote-controlled return task. In some scenarios, the pool robot can be controlled to exit remote control mode by sending a command to the pool robot.

[0256] The aforementioned remote control method for the pool robot provides ways to trigger the pool robot to exit the remote control mode, such as no operation timeout, active command, separation from the water, and communication interruption timeout. The remote control terminal can proactively notify the user that the pool robot is about to or has already exited the remote control mode, allowing the user to understand the actual status of the pool robot more directly.

[0257] In some embodiments, a sixth prompt indicating that the pool robot remains in remote control mode is displayed. This sixth prompt is issued by the pool robot when it receives an instruction to exit remote control mode but is performing a remote-controlled spot cleaning task or a remote-controlled return task. The sixth prompt may be something like "The pool robot is currently performing a remote-controlled spot cleaning task and cannot exit at this time" or "The pool robot is currently performing a remote-controlled return task and cannot exit at this time."

[0258] For example, when a user triggers the third action to exit remote control mode for the pool robot via the remote control terminal, the terminal can generate and display a sixth prompt if it detects that the robot is currently performing a remote-controlled point-to-point cleaning task or a remote-controlled return task. At this time, the terminal does not issue a command to exit remote control mode to the robot. By displaying the sixth prompt, the user is informed that the robot is performing a high-priority remote-controlled point-to-point cleaning task or a remote-controlled return task, allowing the user to quickly understand the robot's status and understand the reason why it cannot exit remote control mode in a timely manner.

[0259] In some embodiments, when the pool robot is performing a remote-controlled point-to-point cleaning task or a remote-controlled return task, it refuses to receive trigger operations for tasks in non-remote-controlled mode; or, when the pool robot is performing a remote-controlled point-to-point cleaning task or a remote-controlled return task, if it receives a trigger operation for a task in non-remote-controlled mode, it issues a seventh prompt refusing to execute the task in non-remote-controlled mode.

[0260] For example, if the remote control terminal puts the pool robot into remote control mode and issues a remote control command to control the robot to perform a remote-controlled fixed-point cleaning task or a remote-controlled return task, the remote control terminal can gray out the button corresponding to the non-remote-controlled task on the display interface to directly restrict the user's permission to trigger tasks in non-remote-controlled mode. Alternatively, when the remote control terminal receives a user's trigger operation for a non-remote-controlled task, it can generate a seventh prompt and display it to inform the user that the corresponding task cannot be executed. This seventh prompt could be, for example, "Currently in remote control mode, automatic tasks cannot be executed." This approach can further reduce the negative user experience caused by accidental triggering.

[0261] In some embodiments, when the pool robot's battery level is less than or equal to a first battery threshold and a trigger operation to enter remote control mode is received, a command to enter remote control mode is sent to the pool robot. Alternatively, when the pool robot's battery level is less than or equal to the first battery threshold, the remote control terminal may issue a prompt, such as "The pool robot's battery is low"; if the user triggers the operation to enter remote control mode based on the prompt, the remote control terminal then sends a command to enter remote control mode to the pool robot, and the pool robot enters remote control mode.

[0262] In some embodiments, if the pool robot's battery level is below a fourth battery threshold, a prompt indicating that it will be forced to shut down after a third period of time is displayed; wherein the fourth battery threshold is less than a first battery threshold; or, in remote control mode, if the pool robot's battery level is below a second battery threshold, upon receiving a remote return command trigger operation, a prompt indicating that the pool robot may shut down while performing a remote return task is displayed.

[0263] For example, the remote control terminal can continuously monitor the pool robot's battery level. If the battery level falls below a fourth threshold, it generates a notification message, such as "The machine will shut down after the third hour," to alert the user. Alternatively, if the pool robot's battery level falls below a second threshold, and the remote control terminal receives a remote return command triggered by the user on the display interface, it generates and displays a notification message, such as "The pool robot's battery is low and it may shut down during the return trip," to warn the user that the pool robot may run out of power midway, causing a power outage and delay. Notifying the user when the battery is low allows them to promptly understand the machine's battery status and plan their remote control accordingly.

[0264] In some embodiments, when an operational malfunction is received from the pool robot in remote control mode, the malfunction is displayed; wherein the operational malfunction includes at least one of the following: malfunction of the cleaning component, malfunction of the propulsion mechanism, or blockage of the filter box. For example, prompts may be displayed such as "Roller brush malfunction, unable to exit remote control mode", "Thruster malfunction, unable to exit remote control mode", or "Filter box blockage, unable to exit remote control mode", so that the user can be aware of the operational malfunction in a timely manner and determine the specific remote control command based on the impact of the malfunction, and whether it is necessary to exit remote control mode.

[0265] It should be noted that the methods provided in the above-described embodiments on the remote control terminal side and the solutions provided in the above-described embodiments on the pool robot side can be used as references to each other.

[0266] It should be understood that although the steps in the flowcharts of the above embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0267] Figure 12 This is a schematic diagram of the controller provided in this application. Figure 12 As shown, the controller 1200 provided in this embodiment includes at least one processor 1201 and a memory 1202. Optionally, the controller 120 also includes a communication component 1203. The processor 1201, the memory 1202, and the communication component 1203 are connected via a bus 1204.

[0268] In the specific implementation process, at least one processor 1201 executes the computer execution instructions stored in the memory 1202, causing at least one processor 1201 to perform the above-described method. The specific implementation process of the processor 1201 can be found in the above-described method embodiments, and its implementation principle and technical effects are similar, so it will not be repeated here.

[0269] 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. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this invention can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules within the processor.

[0270] The memory may include random access memory (RAM) and may also include non-volatile memory (NVM), such as at least one disk storage device.

[0271] 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.

[0272] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described method.

[0273] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the above-described method.

[0274] 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.

[0275] 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.

[0276] 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.

[0277] 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.

[0278] 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.

[0279] 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.

[0280] 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.

[0281] 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 remote control method for a swimming pool robot, characterized in that, Applied to a remote control terminal, the method includes: Upon receiving a trigger operation to enter remote control mode, the working status of the pool robot is obtained; When the working status indicates that the pool robot is neither in the surfacing process nor in the diving process, a command to enter the remote control mode is issued to the pool robot to enable the pool robot to enter the remote control mode; wherein, the surfacing process includes the process of introducing gas into the float cavity and / or discharging liquid from the float cavity, and the diving process includes the process of discharging gas from the float cavity and / or introducing liquid into the float cavity.

2. The method according to claim 1, characterized in that, The method includes: When the pool robot is not in the pool water, a first prompt is issued to indicate that the pool robot cannot enter remote control mode because it is not in the pool water.

3. The method according to claim 1, characterized in that, After the pool robot enters remote control mode, it also includes: Upon receiving a trigger operation for a specified movement direction and a specified movement rate, the specified movement direction and the specified movement rate are sent to the pool robot so that the pool robot adjusts its movement direction and / or position. Alternatively, after receiving a trigger operation for remote-controlled fixed-point cleaning, a remote-controlled fixed-point cleaning command is sent to the pool robot so that the pool robot enters the designated cleaning area to perform a remote-controlled fixed-point cleaning task. Alternatively, upon receiving a remote return trigger operation, a remote return command can be sent to the pool robot to enable the pool robot to perform a remote return task to return to its docking position.

4. The method according to claim 1, characterized in that, The method further includes: The second prompt sent by the pool robot to exit remote control mode is displayed. The second prompt is sent by the pool robot when the trigger condition for exiting remote control mode is met. The triggering conditions include at least one of the following: no remote control command is received after a first period of time, the pool robot is detected leaving the water in the pool, communication between the remote control terminal and the pool robot is interrupted for a second period of time, or an instruction to exit the remote control mode is received but no remote control fixed-point cleaning task or remote control return task is executed.

5. The method according to claim 1, characterized in that, The method further includes: When the pool robot receives an operational malfunction notification in remote control mode, the operational malfunction is displayed; wherein the operational malfunction includes at least one of the following: malfunction of the cleaning component, malfunction of the travel mechanism, or blockage of the filter box.

6. The method according to any one of claims 1-5, characterized in that, The remote control terminal has a display interface, which is used to display at least the remote control interface and the main control interface. After receiving a trigger operation to enter the remote control interface on the main control interface, the remote control interface is entered, and a command to enter the remote control mode is sent to the pool robot. And / or, after receiving a trigger operation to exit the remote control interface, the remote control interface exits and sends an instruction to the pool robot to exit the remote control mode.

7. The method according to claim 6, characterized in that, The remote control interface includes at least one travel button and multiple directional buttons. The directional buttons are associated with the movement direction of the pool robot, and the travel buttons are associated with the movement speed. The movement direction corresponding to the selected directional button is used as the specified movement direction, and the movement speed of the selected travel button is used as the specified movement speed. Alternatively, the remote control interface may include multiple directional buttons, which are associated with the movement direction and speed of the pool robot; the movement direction corresponding to the selected directional button is used as the specified movement direction, and the movement speed of the selected directional button is used as the specified movement speed. The remote control interface also includes at least one acceleration button; the movement rate associated with the travel button when the acceleration button is not selected is the base rate, and when the acceleration button is selected, the movement rate associated with the travel button is the product of the base rate and the multiple corresponding to the acceleration button.

8. The method according to claim 6, characterized in that, The method further includes: When the pool robot does not meet the requirements of the remote control mode, the remote control interface is displayed in a way that it cannot be triggered.

9. A control method for a swimming pool robot, characterized in that, The pool robot and the remote control terminal are communicatively connected; the pool robot includes an buoyancy and diving mechanism, the buoyancy and diving mechanism includes a float cavity and a first adjusting member, the float cavity is used to contain gas and / or liquid; the first adjusting member is used to adjust the volume of gas and / or liquid in the float cavity; The method is applied to the controller of the pool robot, and the method includes: After receiving the instruction to enter remote control mode from the remote control terminal, the working status of the pool robot is obtained; When the working status indicates that the pool robot is neither in the surfacing process nor in the diving process, the pool robot is controlled to enter the remote control mode; wherein, the surfacing process includes the process of inputting gas into the float cavity and / or discharging liquid from the float cavity, and the diving process includes the process of discharging gas from the float cavity and / or inputting liquid into the float cavity.

10. A swimming pool robot, characterized in that, The pool robot and the remote control terminal are communicatively connected; the pool robot includes: A floating and diving mechanism, the floating and diving mechanism including a float cavity and a first adjusting member, the float cavity being used to contain gas and / or liquid, and the first adjusting member being used to adjust the volume of gas and / or liquid in the float cavity; The controller is configured to acquire the working status of the pool robot after receiving an instruction from the remote control terminal to enter the remote control mode; when the working status indicates that the pool robot is neither in the surfacing process nor in the diving process, the controller controls the pool robot to enter the remote control mode; wherein the surfacing process includes the process of inputting gas into the float cavity and / or discharging liquid from the float cavity, and the diving process includes the process of discharging gas from the float cavity and / or inputting liquid into the float cavity.

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