Swimming pool robot return stroke method

Abstract

The embodiment of the invention provides a swimming pool robot return method, which comprises the following steps: if a return condition is triggered, controlling a swimming pool robot to move in a swimming pool according to a moving mode except for a mode of moving along the edge of the water surface of the swimming pool, and trying to obtain a target position of a return target; under the condition that the target position is not obtained, the swimming pool robot is controlled to move in the swimming pool in the mode of moving along the water surface to obtain the target position, the obtaining success rate of the target position is increased, and therefore the return stroke reliability of the swimming pool robot is improved; under the condition that the target position is obtained, the swimming pool robot is controlled to move to a target area corresponding to the return stroke target based on the target position; the accurate return positioning capability of the swimming pool robot is realized, so that the swimming pool robot can return accurately.

Description

Technical Field

[0001] This application relates to artificial intelligence technology, and more particularly to a method for the return journey of a swimming pool robot. Background Technology

[0002] Pool robots are widely used in pool cleaning scenarios in homes and commercial venues. Their main function is to complete the cleaning tasks of pool water through automated movement, including collecting floating objects on the water surface, cleaning dirt on the pool bottom and pool walls, and filtering impurities.

[0003] In practical applications, users typically need to remove the pool robot from the pool after it has completed its cleaning task for charging, maintenance, or long-term storage. However, with traditional pool robots, users must manually search for and retrieve them after the task is completed, which is inefficient and increases operational complexity. Summary of the Invention

[0004] This application provides a method for the return journey of a swimming pool robot, which improves the success rate of the swimming pool robot in locating its return position, so as to enable the swimming pool robot to return accurately.

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

[0006] If the return condition is triggered, the pool robot is controlled to move in the pool according to a first movement mode in an attempt to obtain the target position of the return target; wherein, the first movement mode is a movement mode other than moving along the edge of the pool surface; the movement along the edge is moving along the pool wall;

[0007] If the target location is not obtained, the pool robot is controlled to move in the pool according to a second movement method to obtain the target location; wherein, the second movement method is to move along the edge of the water surface;

[0008] Upon obtaining the target location, the pool robot is controlled to move to the target area corresponding to the return target based on the target location; wherein the distance between the pool wall or the target area and the pool wall is less than or equal to a first preset distance, and the target area is at least partially located on or above the water surface of the pool.

[0009] In one possible implementation, upon obtaining the target location, controlling the pool robot to move to the target area corresponding to the return target based on the target location includes:

[0010] Based on the target location, determine the deviation between the direction of travel of the pool robot and the direction of travel of the target area;

[0011] Based on the directional deviation, determine whether to adjust the swimming pool robot's direction of travel so that the swimming pool robot moves from its current position toward the target area.

[0012] In one possible implementation, determining the directional deviation between the swimming pool robot's travel direction and the target area based on the target location includes:

[0013] In the presence of a pool map, a first path is planned for the pool robot to return to the first target point based on the pool map; wherein the distance between the first target point and the target location is a second preset distance;

[0014] The pool robot is controlled to move along the first path to the first target point, and the deviation between the direction of travel of the pool robot and the direction of the target area is determined based on the target position obtained at the first target point.

[0015] In one possible implementation, if the target location is not obtained, controlling the pool robot to move in the pool according to a second movement mode to obtain the target location includes:

[0016] If the target location is not obtained, and the pool robot is on the water surface, then the pool robot is controlled to move from the water surface to the pool wall and along the edge.

[0017] If the pool robot is at the bottom or on the wall of the pool, then control the pool robot to float to the surface of the water and move along the edge of the pool after approaching the pool wall from the surface of the water.

[0018] In one possible implementation, the pool robot includes a magnetometer, and controlling the pool robot to move in the pool according to a first movement mode includes at least one of the following:

[0019] The swimming pool robot is controlled to move along the edge of the pool bottom.

[0020] In one possible implementation, the method further includes:

[0021] When the pool robot reaches the second target point, it reduces its running speed; wherein the distance between the second target point and the target position is a third preset distance;

[0022] If the distance between the pool robot and the first obstacle on the side is less than or equal to a fourth preset distance, and the distance between the pool robot and the second obstacle in front is greater than a fifth preset distance, then control the pool robot to move to the first obstacle;

[0023] If the distance between the pool robot and the second obstacle is less than or equal to the fifth preset distance, then control the pool robot to move to the second obstacle;

[0024] If the distance between the pool robot and the first obstacle is greater than the fourth preset distance, and the distance between the pool robot and the second obstacle is greater than the fifth preset distance, then the pool robot is controlled to rotate at least one revolution to find the third obstacle and move to the third obstacle.

[0025] In one possible implementation, the method further includes:

[0026] The system receives a target signal sent by a communication module corresponding to the return target and obtains the target location based on the target signal; wherein the distance between the communication module and the water surface is less than or equal to a sixth preset distance; and / or identifies a first identifier corresponding to the return target and obtains the target location based on the first identifier; wherein the distance between the first identifier and the water surface is less than or equal to a seventh preset distance.

[0027] In one possible implementation, the method further includes:

[0028] When the pool robot detects an abnormality in the target signal or fails to recognize the first identifier, it controls the pool cleaner to move forward a predetermined distance in a random direction to perform an exploration action.

[0029] The exploration action is repeated until the target location is obtained or the number of times the exploration action is executed reaches a preset threshold.

[0030] If the number of times the exploration action is performed exceeds the preset threshold, it is determined that the target location has not been obtained.

[0031] In one possible implementation, the method further includes:

[0032] If the pool robot is performing a cleaning task after the return condition is triggered, the cleaning task is interrupted, and the return operation is performed after recording the current cleaning progress and cleaning position.

[0033] If the pool robot is performing an surfacing or diving task, then wait for the pool robot to complete the surfacing or diving task before performing the return operation.

[0034] In one possible implementation, the pool robot includes: a walking mechanism for at least driving the pool robot to move in a pool; the walking mechanism includes a walking component and / or a propulsion component;

[0035] After controlling the pool robot to move to the target area corresponding to the return target based on the target position, the method further includes:

[0036] After the pool robot stops at the target area for a first duration, the motor power of the traveling mechanism is reduced. Then, every second duration thereafter, the motor power of the traveling mechanism is increased to control the pool robot to move to the target area and stop.

[0037] Repeat the above actions. After the docking time in the target area reaches the third duration, or after the third duration begins from the first docking time of the pool robot in the target area, shut down the traveling mechanism.

[0038] The swimming pool robot return method provided in this application improves the success rate of target location acquisition and thus enhances the reliability of the swimming pool robot's return journey. Specifically, when a return condition is triggered, the robot is controlled to move within the pool using a first movement method that moves along the water's edge, attempting to acquire the target location. If the target location is not acquired, the robot is controlled to move along the water's edge, acquiring the target location, thereby increasing the reliability of the return journey. Furthermore, when the target location is acquired, the robot is controlled to move to the target area corresponding to the return target, ensuring accurate return. Attached Figure Description

[0039] 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.

[0040] Figure 1-5 This is a schematic diagram of the structure of the swimming pool robot provided in the embodiments of this application;

[0041] Figure 6 A flowchart of a swimming pool robot return method provided in an embodiment of this application;

[0042] Figure 7 This is a schematic diagram of the structure of a communication base station provided in an embodiment of this application;

[0043] Figure 8 This is a schematic diagram of a target area corresponding to a communication base station provided in an embodiment of this application;

[0044] Figure 9 A schematic diagram of a target area corresponding to a return point provided in an embodiment of this application;

[0045] Figure 10 A general flowchart of the water surface return process of a swimming pool robot provided in an embodiment of this application;

[0046] Figure 11 This is a schematic diagram of the structure of an electronic control board provided for an exemplary embodiment of this application.

[0047] 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

[0048] 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.

[0049] Pool robots are used to perform tasks such as cleaning, disinfection, and rescue in a target area. The target area can be any water-containing area where the robot can move. For example, the target area can include, but is not limited to, swimming pools, water tanks, oil wells, and sewers. The following description uses a swimming pool (or water tank) as an example. For a swimming pool, it includes at least a pool bottom and pool walls.

[0050] The pool robot can move or stay on the pool bottom. Alternatively, it can be below the water surface but its bottom does not contact the pool bottom, meaning it can float or move in the water. The pool robot can also be on the pool wall, meaning it can climb or stay against the wall. Finally, it can float on the water surface. For example, at least part of the pool robot may be above the water surface and at least part below, allowing it to move or remain still on the surface.

[0051] For example, Figure 1-5 This is a schematic diagram of the structure of a swimming pool robot provided in an embodiment of this application. (In conjunction with...) Figure 1-5The pool robot 100 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 the ability to move along the pool bottom and walls, it can clean the pool bottom and walls. If the pool robot 100 has the ability to move along the pool bottom, walls, and surface, it can clean the pool bottom, walls, and surface. The fact that the pool robot 100 has movement capabilities means that it is an automatically walking robot, requiring no push or pull from the user.

[0052] For example, the pool robot 100 can be a robot that powers its power-consuming unit via a built-in rechargeable battery, or it can be a device that powers its power-consuming unit via an external cable. If the pool robot 100 has the ability to move along the pool bottom and pool walls, it can clean the pool bottom and pool walls; if the pool robot 100 has underwater movement, pool wall movement, and water surface movement, it can clean the pool bottom, pool walls, and water surface.

[0053] Referring to Figures 1-5, the pool robot 100 includes a main body 101. The main body 101 includes a shell. (As shown in Figures 1-5) 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, at least a portion of which is located on the top of the main body 101. The filter unit 1050 is at least partially located inside the main body 101. The filter unit 1050 may include a filter cartridge.

[0054] The liquid inlet serves as the entrance for liquid from the water supply pool to enter the main body 101. When the pool robot 100 moves underwater, along the pool wall, or on the water surface, the liquid in the pool is drawn into the filtration unit 1050 by the suction assembly 1060. The filtration unit 1050 filters the liquid entering it. After being filtered by the filtration unit 1050, the liquid is discharged from the main body 101 through the liquid outlet 1040 after passing through the suction assembly 1060. The debris carried by the liquid is collected in the filtration unit 1050, thereby cleaning the liquid in the pool. For example, in some embodiments, the suction assembly 1060 includes a main water pump.

[0055] In some embodiments, the filtration unit 1050 includes at least a filter cartridge, at least a portion of which is disposed within the body 101, the filter cartridge being used to filter liquids entering therein.

[0056] In some embodiments, such as Figure 4As shown, the liquid inlet section includes at least a first inlet 1031, and the liquid outlet section 1040 includes at least one first outlet. The first inlet 1031, the filter unit 1050, the suction assembly 1060, and the first outlet are sequentially fluidly connected to form a first water path. When the pool robot 100 is cleaning the pool bottom or pool wall, the first inlet 1031 is used to supply liquid to flow into the filter unit 1050. For example, in some embodiments, there is one first outlet. Alternatively, in other embodiments, there are multiple first outlets. For example, there are two, three, or more first outlets.

[0057] In other embodiments, such as Figure 4 As shown, the liquid inlet section includes at least a second water inlet 1032, and the liquid outlet section 1040 includes at least a first water outlet; 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.

[0058] In some embodiments, such as Figure 3 As shown, the main body 101 includes a first end 1001a and a second end 1001b, one of which is a front portion 10011 and the other is a rear portion 10012. For example, a second water inlet 1032 is provided on either the first end 1001a or the second end 1001b of the main body 101. For example, one of the first end 1001a and the second end 1001b is a front end and the other is a rear end. The front end includes at least the front sidewall of the main body 101, and the rear end includes at least the rear sidewall of the main body 101.

[0059] In some embodiments, the second water inlet 1032 is located on the front side wall 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 on the rear side wall 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.

[0060] In some embodiments, the suction assembly 1060 includes at least a main water pump, which includes a main impeller and a main motor.

[0061] 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 or pool wall, 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 or bottom, the first baffle 10511c is in the open state and the second baffle 10511d is in the closed state.

[0062] For example, the second baffle 10511d can open the second inlet 1032 by rotating outward toward the first body 101; the second baffle 10511d can also rotate from outside the first body 101 toward the second inlet 1032 to close the second inlet 1032. Alternatively, in some embodiments, the first baffle 10511c can be disposed on the first inlet 1031, rotating toward the inner cavity of the filter unit 1050 and away from the inner end of the first inlet 1031 to open the first inlet 1031 or the first entrance; and the first baffle 10511c can rotate toward the inner end of the first inlet 1031 to close the first inlet 1031.

[0063] In some embodiments, the pool robot 100 includes at least one walking component 1071 and / or at least one propulsion component 1072. The walking component 1071 may be disposed on the bottom or side of the main body 101. The propulsion component 1072 may be disposed on the side or rear of the main body 101. The walking component 1071 is at least adapted to enable the pool robot 100 to move on a surface of an object (e.g., the pool bottom surface, pool wall surface, obstacle surface, etc.). The propulsion component 1072 is at least adapted to enable the pool robot 100 to travel in or on the surface of water.

[0064] For example, in one embodiment, the walking assembly 1071 may include at least two walking wheels and at least one motor for driving the walking wheels. For instance, there are two walking wheels symmetrically arranged on the main body 101. Alternatively, there are four walking wheels, similar to those on a car, symmetrically arranged on the main body 101. Or, as... Figure 1 or Figure 2As 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 sidewall of the track 117 and the two walking wheels. There are two walking assemblies 1071, located on opposite sides of the main body 101.

[0065] The propulsion component 1072 is at least adapted to drive the pool robot 100 to move in or on the surface of water. In one embodiment, such as Figure 5 As shown, the propulsion assembly 1072 includes at least one first 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 first 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.

[0066] In some embodiments, the pool robot 100 includes a control component that can acquire various data information of the pool robot 100 and analyze and process the acquired data information to control the various components in the pool robot 100.

[0067] like Figure 3 As shown, the pool robot 100 includes a distance detection element 1009, with at least one distance detection element 1009 disposed on either side of the main body 101. The distance detection element 1009 is used to identify the distance between objects within the target area and the pool robot 100. The distance detection element 1009 can be a TOF (Time of Flight) based ranging sensor, an ultrasonic sensor, a line laser, LDS, etc. One or more distance detection elements 1009 can be disposed on one side of the main body 101. If one side of the main body 101 contains at least two distance detection elements 1009, the types of the different distance detection elements 1009 can be the same or different. For example, when one side of the main body 101 contains two distance detection elements 1009, one is an infrared sensor and the other is an ultrasonic sensor, or both are infrared sensors, or both are ultrasonic sensors.

[0068] In one implementation, such as Figure 3 , Figure 4 As shown, the pool robot 100 also includes one or more image acquisition units 1010, which are used to acquire images of the target area and process the acquired images through a control component to control the movement behavior of the pool robot 100.

[0069] In some embodiments, the pool robot 100 further includes a floating and diving mechanism. For example, the floating and diving mechanism is disposed within the main body 101. The floating and diving mechanism can be used for the pool robot 100 to float on the liquid surface and / or for the pool robot 100 to dive from the floating liquid surface to the bottom of the pool. The floating and diving mechanism includes at least one float cavity disposed within the main body; a first adjusting member in fluid communication with the float cavity; and at least one gas circulation section communicating with the float cavity and the external environment.

[0070] 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 gas circulation section 113. The float cavity 1101 is used to at least contain gas; one end of the gas circulation section 113 is connected to the outside (e.g., if an air inlet is provided on the outer shell, the gas circulation section 113 can be connected to the outside at least through the air inlet), and the other end of the gas circulation section 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 gas circulation section 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 gas circulation section 113 to decrease the volume of gas in the float cavity 1101.

[0071] In some embodiments, the float cavity 1101 is made of a flexible material. Driven by the first adjusting member, external gas enters the float cavity 1101 through the gas flow section 113, or gas inside the float cavity 1101 is discharged outside the float cavity 1101 through the gas flow section 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 liquid 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 liquid 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.

[0072] When the float cavity is made of flexible material and the gas circulation section is located above the liquid surface, under the action of the first adjusting component, outside air enters the float cavity through the gas circulation section to increase the volume of gas inside the float cavity. As the volume of the float cavity increases, the liquid inside the main body is discharged, the weight of the pool robot decreases, and the pool robot floats on the liquid surface. Alternatively, under the action of the first adjusting component, the gas inside the float cavity is discharged outside the float cavity through the gas circulation section, reducing the volume of gas inside the float cavity. As the volume of the float cavity decreases, liquid enters the space between the main body and the float cavity, the weight of the pool robot increases, and the pool robot sinks from the liquid surface to the bottom of the pool.

[0073] In other embodiments, the float cavity 1101 is made of a rigid material, and the buoyancy and submersion mechanism further includes a liquid flow section, which includes an outlet 119. One end of the liquid flow 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 gas flow section 113. The volume of the gas entering the float cavity 1101 increases, thereby squeezing the liquid in the float cavity 1101 out through the liquid flow section, thus increasing the volume of gas in the float cavity 1101 and decreasing the volume of liquid. Alternatively, under the action of the first adjusting member, external gas can be driven out of the float cavity 1101 through the gas flow section 113. The volume of gas in the float cavity 1101 decreases, and liquid enters the float cavity 1101, thereby increasing the volume of liquid in the float cavity 1101 and decreasing the volume of gas. In this embodiment, the first adjusting member is an air pump.

[0074] Alternatively, in some embodiments, the float cavity 1101 is made of a rigid material. Under the action of the first adjusting member, the liquid inside the float cavity 1101 is driven to be discharged from the float cavity 1101 through the liquid flow section, creating a negative pressure inside the float cavity 1101. External gas is then drawn into the float cavity 1101 through the gas flow section 113, thereby increasing the volume of gas inside the float cavity 1101. Conversely, under the action of the first adjusting member, external liquid is driven to be drawn into the float cavity 1101 through the liquid flow section. The liquid drawn into the float cavity 1101 forces the gas inside the float cavity 1101 out through the gas flow section 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.

[0075] When the float cavity is made of a rigid material, under the action of the first adjusting component, liquid enters the float cavity through the liquid flow section, and gas inside the float cavity is discharged through the gas flow section. This reduces the gas volume inside the float cavity and increases the volume of liquid inside, increasing the pool robot's weight and causing it to sink from the liquid surface. Conversely, when the first adjusting component is activated, the liquid inside the float cavity is discharged through the liquid flow section, and outside air enters the float cavity through the gas flow section. This reduces the pool robot's weight, causing it to float on the liquid surface.

[0076] During the transition from the pool bottom to the 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 surface. Specifically, the pool robot 100 walks from its current position to the pool wall, and then walks from the pool wall to the surface, so that the end of the gas circulation section 113 connected to the outside is above the surface (in the air). Under the action of the first adjusting component, outside gas enters the gas circulation section 113 through the air inlet, and then enters the float cavity 1101 to increase the volume of gas in the float 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 a pool wall posture to a floating posture, thereby realizing the transition of the pool robot 100 from underwater to the surface.

[0077] Alternatively, during the transition from the pool bottom to the surface, the pool robot 100 can switch directly from the pool bottom posture to the floating posture without passing through the pool wall posture. For example, the pool robot may also include a second thruster, which drives the robot to float directly from the pool bottom to the surface, placing the gas circulation section above the surface. When the end of the gas circulation section 113 connected to the outside is above the surface, under the action of the first adjusting member, outside gas enters the float cavity 1101 through the gas circulation section 113, increasing the volume of gas within the float cavity 1101 and reducing the weight of the pool robot, thus allowing the pool robot to switch from the pool wall posture to the floating posture.

[0078] The following section, based on the structure of the swimming pool robot described above, will explain in detail the return process of the swimming pool robot.

[0079] Figure 6 A flowchart illustrating a return method for a swimming pool robot provided in an embodiment of this application. This method is applied to a swimming pool robot. Figure 6 As shown, the specific steps of this method are as follows:

[0080] S601. If the return condition is triggered, control the pool robot to move in the pool according to the first movement mode to attempt to obtain the target position of the return target. The first movement mode is a movement mode other than moving along the edge of the pool surface; moving along the edge means moving along the pool wall.

[0081] When the pool robot moves along the edge, it can either come into contact with the pool wall or remain at a certain distance from it.

[0082] In this embodiment, the pool robot can move to the target area corresponding to the return target after triggering the return condition. The return target can be a preset fixed point, which can be selected by the user on the pool map, or it can be a destination configured by default by the system. For example, the return target can be a base station, including but not limited to a base station with communication functions (hereinafter referred to as a communication base station), a base station with charging functions (hereinafter referred to as a charging base station), and a base station with a filtering unit function for cleaning the pool robot (hereinafter referred to as a cleaning base station). The return target can also be a point specified by the user on the pool map through the pool robot's corresponding application (APP), a shallow water area, the location where the pool robot enters the pool, or a marked area, etc.

[0083] The target location of the return target can be the coordinates of the return target on the map, or the relative position of the return target with respect to the pool robot.

[0084] The conditions for triggering the return trip of the pool robot include, but are not limited to, the following: completion of the cleaning task, user request for return trip (such as receiving a return trip task sent through a communication base station, cleaning base station, charging base station, or application), and occurrence of abnormal conditions (such as low battery or full filter unit). Other conditions may also be included in the conditions for triggering the return trip of the pool robot, which can be set according to actual application needs; no specific limitations are made here.

[0085] Taking the return target as the communication base station as an example, the ways in which the pool robot attempts to obtain the target position of the return target include, but are not limited to: the pool robot actively identifying the communication base station (e.g., visual recognition), the communication base station identifying the pool robot and feeding back the relative position to the pool robot, and the communication base station and the pool robot communicating with each other.

[0086] For example, Figure 7 This is a schematic diagram of the structure of the communication base station provided in this embodiment. Figure 7 As shown, the communication base station 8000 may include only the onshore component 8100 or only the offshore component 8200.

[0087] In some embodiments, as shown in the figures, the communication base station 8000 may include an onshore component 8100 and an underwater component 8200. The onshore component 8100 is fixed on the shore, and the underwater component 8200 is substantially located underwater and at least partially submerged in water. The underwater component 8200 is connected to the onshore component 8100. In some embodiments, the onshore component 8100 includes a solar panel 8101 for converting solar energy into electrical energy to power the communication base station 8000.

[0088] The onshore module 8200 may include a battery electrically connected to the output of the solar panel 8101 to store the electrical energy converted by the solar panel 8101. Of course, in addition to the solar panel 8101, the communication base station 8000 can also be powered by an external power source.

[0089] In some embodiments, the battery may also be located on the onshore component 8100. In some embodiments, batteries may also be located on both the onshore component 8100 and the offshore component 8200, with one battery responsible for the basic load of the communication base station 8000 and the other battery serving as a backup power source. By adopting a dual-battery design, the power supply stability and reliability of the communication base station 8000 are ensured.

[0090] The onshore component 8200 may also integrate an underwater communication module 8206, which is at least partially located underwater and used to communicate with the pool robot when it is underwater. The communication methods of the underwater communication module 8206 include, but are not limited to, sound waves, light waves, and electromagnetic waves. In some embodiments, the underwater communication module 8206 communicates unidirectionally with the pool robot located underwater. Specifically, the underwater communication module 8206 includes at least one sound wave transmitter, and the pool robot is correspondingly equipped with a sound wave receiver to receive the sound wave signal emitted by the sound wave transmitter. Alternatively, a sound wave transmitter can be provided on the pool robot, and a sound wave receiver can be provided on the underwater communication module 8206, so that the underwater communication module 8206 can receive signals emitted by the pool robot. In some embodiments, the underwater communication module 8206 communicates bidirectionally with the pool robot. Specifically, both the underwater communication module 8206 and the pool robot are equipped with both a sound wave transmitter and a receiver, thus simultaneously possessing sound wave transmission and reception functions.

[0091] The communication base station 8000 may also include a waterborne communication module (not shown in the figure), which is at least partially located above the water surface and is used to realize waterborne communication, including but not limited to communication with user terminals and cloud servers. In some embodiments, the waterborne communication module may be disposed on the underwater component 8200, for example, on the portion of the underwater component 8200 that protrudes above the water surface. Of course, the waterborne communication module may also be disposed on the onshore component 8100. The communication methods of the waterborne communication module include, but are not limited to, Wi-Fi, Bluetooth, 4G, and 5G. User terminals include, but are not limited to, remote controls, mobile phones, tablets, laptops, desktop computers, smartwatches, smart speakers, etc. Applications related to the pool robot and / or base station may be installed on the user terminal.

[0092] The underwater communication module 8206 and the surface communication module can be connected via a line to enable communication between them, thus achieving communication between the surface and underwater. The following example illustrates the communication process implemented through the communication base station 8000. For instance, a user sends an operation command via a terminal device or button 8103. The surface communication module receives the command, generates a corresponding signal, and sends it to the underwater communication module 8206. Upon receiving the signal, the underwater communication module 8206 generates a corresponding acoustic signal and sends it to the underwater pool robot. The pool robot receives the acoustic signal and performs the corresponding operation. As another example, the pool robot collects an image containing a suspicious object underwater and sends it to the underwater communication module 8206 via an acoustic transmitter. The underwater communication module 8206 receives the image and sends it to the surface communication module, which then uploads it to a cloud server. The server analyzes and confirms the type of suspicious object (e.g., an obstacle or dirt), and based on the analysis results, controls the pool robot to perform corresponding operations (e.g., obstacle avoidance or cleaning). As yet another example, the pool robot collects mapping data underwater and uploads it to the surface, where the underwater map is displayed on the user's terminal.

[0093] In some implementations, both the underwater communication module 8206 and the surface communication module are positioned at a distance from the water surface that is less than a preset threshold, thereby reducing the overall space occupied by the communication base station and minimizing the impact of the communication base station on the operation of the pool robot while reducing costs.

[0094] To facilitate user retrieval of the swimming pool robot, in some embodiments, the robot can be controlled to move to the communication base station 8000, allowing the user to retrieve it from the shore adjacent to the base station 8000. In some embodiments, a locking structure can be provided on the underwater component 8200 to lock the swimming pool robot upon reaching the communication base station 8000, preventing it from drifting away from the shore and causing further retrieval difficulties. Optionally, the locking structure uses magnetic attraction. For example, a magnet is provided on the underwater component 8200, and magnetic metal is provided on the swimming pool robot. When the swimming pool robot moves to the underwater component 8200, the magnet attracts the metal, causing the underwater component 8200 to magnetically fix the swimming pool robot in place. Optionally, since the front end of the swimming pool robot approaches the communication base station 8000 first during its movement, metal can be provided at the front end of the swimming pool robot, so that it is attracted as soon as it approaches the base station 8000.

[0095] In some embodiments, the communication base station 8000 has a arrival reminder function, sending a reminder to the user when the pool robot arrives at the communication base station 8000, so that the user can retrieve the pool robot in time. The reminder can be implemented by setting up sound and / or light emission devices on the communication base station 8000, or by sending the reminder to the user terminal through the underwater communication module. Optionally, the distance from the pool robot to the communication base station 8000 can be determined by the underwater communication module 8206. When the distance is less than a preset value, it is determined that the pool robot has arrived at the communication base station 8000, and a reminder is issued. Optionally, the communication base station 8000 is equipped with an additional arrival detection unit. The arrival detection unit can use a contact sensor, such as a pressure sensor or a mechanical microswitch. When the pool robot comes into contact with the communication base station 8000, the contact sensor generates an electrical signal, so that the communication base station 8000 can determine that the pool robot has arrived. The arrival detection unit can also use a non-contact sensor, such as an infrared sensor, an ultrasonic sensor, or a lidar sensor, to determine whether the pool robot has arrived by detecting its position relative to the communication base station 8000.

[0096] In some embodiments, the communication base station 8000 has wireless charging capabilities to charge the pool robot. In some embodiments, the communication base station 8000 may be integrated with any one or more of a cleaning base station and a charging base station.

[0097] As shown in the figure, one or more buttons 8103 can be provided on the communication base station 8000 for user operation. In some embodiments, the buttons 8103 can be located on the shore component 8100 for convenient user operation. Different functions can be achieved through different buttons 8103, or through short or long presses of the same button 8103, or through combinations of different buttons 8103. Optionally, the cleaning mode can be switched using the button 8103, or the pool robot can be controlled to start / pause the cleaning task using the button 8103. Optionally, the pool robot can be triggered to return by pressing the button 8103. Other functions can also be achieved using the button 8103, including but not limited to controlling the communication base station 8000 to enter pairing mode, triggering a hotspot, and restoring factory settings.

[0098] In addition to communicating with the underwater swimming pool robot, the communication base station 8000 can also communicate with the swimming pool robot when it is on the water surface in some embodiments. Optionally, in the water surface communication state, the communication base station only uses the surface communication module and does not need to call the underwater communication module 8206. For example, the user operates the button 8103 or the user terminal generates a command, which is then sent to the swimming pool robot on the water surface by the surface communication module. As another example, the swimming pool robot can send the collected water surface mapping data to the surface communication module, which then uploads it to the cloud server and / or the user terminal.

[0099] In this embodiment, in order to control the pool robot to return accurately, the pool robot can be controlled to accurately locate the target position of the return target by moving in a way other than moving along the edge of the water surface (i.e., the first movement mode).

[0100] For example, controlling a pool robot to move in a pool according to a first movement mode includes at least one of the following:

[0101] Control the pool robot to move along the edge of the pool;

[0102] Control the pool robot to move off the edge of the pool;

[0103] Control the pool robot to move from the bottom of the pool towards the pool wall until it reaches the pool wall and then climbs up the pool wall;

[0104] Control the pool robot to move off the edge of the water.

[0105] The first movement method includes at least one of the above movement methods, or a combination of at least two movement methods. When the pool robot is at the bottom of the pool, it can move in any of the following ways: moving along the edge of the pool bottom; moving on the bottom of the pool but not along the edge; moving towards the pool wall from the bottom of the pool until it reaches the pool wall and then climbs the pool wall. When the pool is on the water surface, the pool robot can move on the water surface but not along the edge. This non-edge movement can be random movement or planned movement.

[0106] When the pool robot is on the pool wall, it can continue to climb directly on the pool wall, or move to the bottom of the pool and move according to the first movement mode of the bottom of the pool, or move to the surface of the water and move according to the first movement mode of the surface of the water.

[0107] The pool robot can be positioned anywhere in the pool and flexibly choose a suitable mode of movement to attempt to obtain the target location for the return journey, thereby increasing the success rate of obtaining the target location.

[0108] In one example, the pool robot includes a magnetometer. Controlling the pool robot to move in the pool according to a first mode of movement includes: controlling the pool robot to move along the edge of the pool bottom.

[0109] The pool robot can pre-create a map of the pool bottom, such as an overall map or a contour map. Using a magnetometer, the robot can match the target area on the pool bottom map as it moves along the edge. For example, if the return target is on the surface, the corresponding bottom position can be the projection of the target position onto the pool bottom in an approximately vertical direction; if the return target is on the bottom, the target position is the bottom position, and the target area can be the projection of the bottom position onto the water surface in an approximately vertical direction.

[0110] When the target area is located at or near the waterline (the junction between the pool wall and the water surface), the pool robot can be controlled to climb the pool wall from the bottom of the pool to move to the target area.

[0111] Based on a magnetometer, the pool robot can move along the edge of the pool to obtain the target position, avoiding power consumption caused by irregular movement and shortening return time, thus improving return efficiency. Furthermore, it can move from the pool bottom to the target area on or above the water surface without the need for an additional communication base station, reducing costs.

[0112] S602. If the target position is not obtained, control the pool robot to move in the pool according to the second movement method to obtain the target position. The second movement method is to move along the edge of the water surface.

[0113] If the target location cannot be obtained through step S601, the pool robot can be controlled to move along the edge of the pool surface (i.e., the second movement method) to locate the target location for the return journey. Since the target area is close to the pool wall, the pool robot has at least a possibility of approaching the target area by moving along the edge of the water surface, thereby increasing the success rate of moving to the target area. This avoids the power consumption and efficiency problems caused by the pool robot using only the first movement method and continuously failing to obtain the target location, thereby reducing energy consumption, shortening the overall return journey time, and improving the return efficiency of the pool robot.

[0114] In one optional implementation, a communication module is provided on or within a preset range of the return target. For example, this communication module can send a target signal to the pool robot. The pool robot receives the target signal sent by the communication module corresponding to the return target and obtains the target position of the return target based on the target signal. The communication module can be located above or below the water surface, and the distance between the communication module and the water surface is less than or equal to a sixth preset distance, thus balancing ease of installation and maintenance. Furthermore, since the target area is at least partially located on or above the water surface of the pool, if the communication module is too far from the water surface, the distance between the communication module and the target area will also be correspondingly greater. In this case, after the pool robot obtains the target position based on the communication module, it is prone to path deviation and inaccurate arrival at the target area due to interference from complex environmental factors in the pool (such as water surface fluctuations and light reflections) during its movement based on the target position. By limiting the distance between the communication module and the water surface, the communication module is brought closer to the target area, allowing the pool robot to reach the target area with a shorter movement distance, thereby improving the stability and accuracy of the pool robot's return journey.

[0115] The sixth preset distance can be set according to the specific application scenario and the configuration of the communication module used; no specific limitation is made here.

[0116] The communication methods of the communication module include, but are not limited to, acoustic communication, optical communication, radio frequency communication, and electromagnetic communication.

[0117] For example, the communication module uses acoustic communication. The communication module includes at least an acoustic transmitter. The pool robot is equipped with at least an acoustic receiver. The acoustic transmitter of the communication module continuously or intermittently emits acoustic signals. The pool robot detects these signals through the acoustic receiver and determines the direction of the acoustic transmitter, i.e., the direction of the return target. The pool robot adjusts its course according to the direction of the acoustic transmitter determined by the acoustic detection to align with the direction of the acoustic transmitter. Alternatively, the communication module may also include at least an acoustic receiver, and the pool robot may be equipped with at least an acoustic transmitter that continuously or intermittently emits acoustic signals. The return target is detected by the acoustic receiver, the direction of the acoustic transmitter is determined, and this information is communicated to the pool robot, allowing the pool robot to adjust its course.

[0118] In one example scenario, a swimming pool robot is equipped with two first distance sensors, and a communication module includes a second distance sensor. Obtaining the target position based on a target signal includes: controlling the two first distance sensors on the swimming pool robot to receive the target signal sent by the second distance sensor; and obtaining the target position based on the time difference between the time the two first distance sensors receive the target signal.

[0119] For example, both the first distance sensor and the second distance sensor can be acoustic sensors. The two first distance sensors on the pool robot can receive acoustic signals sent by the second distance sensor; based on the time difference between the acoustic signals received by the two first distance sensors, the deviation between the swimming robot's traveling direction and the return target direction is determined.

[0120] Taking the return target as a communication base station as an example, the communication module can be the aforementioned underwater communication module and / or surface communication module.

[0121] In an alternative implementation, for example, an image acquisition device can be used to assist the pool robot in its return journey. For instance, an image of the return target itself or an image of a first identifier corresponding to the return target can be acquired via a camera to obtain the target's location.

[0122] For example, the pool robot can identify a first identifier corresponding to the return target captured by the image acquisition device, and obtain the target position based on the first identifier. The first identifier can be set on or near the return target; the first identifier may include at least one of special patterns, colors, and brightness, such as a QR code, a reflective object, etc. For example, the first identifier is a QR code. The target position of the return target is obtained by recognizing the QR code; or, a reflective object (e.g., a reflective strip) is set on or near the return target, and the high-brightness area is extracted by threshold segmentation of the image acquired by the camera, and the target position of the return target is identified by shape or arrangement pattern.

[0123] In some implementations, the QR code can be a single image, which can be placed in a fixed location, such as fixed to the pool wall, or can be floated in the pool.

[0124] In some implementations, the first identifier consists of multiple QR codes with identical content, each located on a different surface of the same object. Alternatively, the first identifier consists of multiple QR codes with different content, each located on a different surface of the same object. In some implementations, when the first identifier consists of multiple QR codes with different content, the content of the QR codes can be adaptively adjusted according to their orientation, ensuring that the pool robot can obtain the same target location regardless of the angle from which it recognizes the QR codes.

[0125] For example, placing QR codes on at least two faces of a polyhedron solves the problem of difficulty in recognizing QR codes when the pool robot is at an angle relative to them. This allows the pool robot to recognize the complete QR code from all directions when attempting to obtain the target location for its return journey, thereby improving the success rate of target location acquisition. Furthermore, the clustering of multiple QR codes ensures that even if the pool robot recognizes different QR codes from different angles, it can still obtain the same or adjacent target locations, improving the accuracy of the pool robot's return journey. Moreover, if the QR codes or target locations need to be changed, only the QR codes on the polyhedron need to be replaced, or only the position of the polyhedron needs to be moved, eliminating the need to adjust QR codes scattered in various locations individually, thus improving the convenience of the first identifier setup.

[0126] This polyhedron can be fixed in place (e.g., to the pool wall) or float within the pool. This ensures that regardless of water level changes, the relative position of the QR code to the water surface remains relatively stable due to the polyhedron's fixed weight. For example, the QR code may be roughly above or below the water surface, partially above or partially below. This adapts to the QR code recognition capabilities of pool robots. For instance, if the robot moves on the water surface and the image acquisition unit is below the surface, the unit is suitable for recognizing QR codes below the surface; conversely, if the robot moves on the surface and the image acquisition unit is above the surface, the unit is suitable for recognizing QR codes above the surface, thus improving the accuracy and stability of the pool robot's QR code recognition.

[0127] In some implementations, when the first marker is floating in the pool, at least one end of the first marker can be connected to a connector such as a rope, with at least one end of the connector fixed to the pool wall or shore. This confines the first marker to a designated area while maintaining its floating state, preventing it from drifting away from the target area due to water currents. Furthermore, when the pool robot does not need to return, the first marker can be stored on the shore or pool wall. When the pool robot needs to return, the first marker can be placed back into the pool, thus avoiding interference with the pool robot's movement.

[0128] The distance between the first marker and the water surface is less than or equal to a seventh preset distance to ensure ease of installation and maintenance. Furthermore, since the target area is at least partially located on or above the water surface of the pool, if the first marker is too far from the water surface, the distance between the first marker and the target area will also be correspondingly greater. In this case, after the pool robot obtains the target location based on the first marker, it is prone to path deviation and inaccurate arrival at the target area due to interference from complex environmental factors in the pool (such as water surface fluctuations and light reflections). By limiting the distance between the first marker and the water surface, the first marker is brought closer to the target area, allowing the pool robot to reach the target area with a shorter movement distance, thereby improving the stability and accuracy of the pool robot's return journey.

[0129] The seventh preset distance can be set according to the specific application scenario and the configuration of the first identifier used; no specific limitations are made here.

[0130] In some implementations, the pool robot can first perform a long-distance return trip by sending a target signal through the communication module. When it moves closer to the target area, it can then identify the first identifier to perform a short-distance return trip, thereby accurately moving to the target area.

[0131] In one example scenario, when the pool robot detects an abnormal target signal or fails to recognize the first marker, it controls the pool cleaner to move forward an eighth preset distance in a random direction to perform an exploration action. If the target location is still not obtained, the exploration action is performed again until the target location is obtained or the number of exploration actions reaches a preset threshold. If the number of exploration actions exceeds the preset threshold, it is determined that the target location has not been obtained.

[0132] After performing the exploration action, the system can re-attempt to obtain the target location of the return target, such as re-attempting to receive the target signal or re-attempting to identify the first marker. The eighth preset distance and preset number of attempts thresholds can be set according to the specific application scenario; no specific limitations are made here.

[0133] By performing exploratory actions, the pool robot can avoid abandoning the acquisition of the target location directly when the target signal is abnormal or the first marker is not recognized, thereby increasing the probability of acquiring the target location and thus improving the return success rate of the pool robot.

[0134] S603. Upon obtaining the target location, control the pool robot to move to the target area corresponding to the return target based on the target location. The target area includes the pool wall or the distance between the target area and the pool wall is less than or equal to a first preset distance, and the target area is at least partially located on or above the water surface of the pool.

[0135] The target area can be the area where the backhaul target is located, or it can be a nearby area. For example, when the backhaul target is a base station, the target area can be the area where the base station is located, or it can be a nearby area.

[0136] The target area includes the pool wall or a distance between the target area and the pool wall that is less than or equal to a first preset distance. That is, the target area can be part of the pool wall, such as the section where the pool wall intersects the water surface. Alternatively, the target area can be relatively close to the pool wall, such as the shore area near the pool wall (for example, when a pool robot can automatically go ashore, its final return location might be on the shore), non-pool wall water areas within the pool, or areas of objects installed on the pool wall surface. The first preset distance can be set according to actual application requirements and is not specifically limited here.

[0137] The target area is at least partially located on or above the water surface of the pool, for example, partially located below the water surface and partially located on or above the water surface, or entirely located on or above the water surface. The target area can be set according to actual application requirements.

[0138] Once the pool robot moves to the target area, it can perform one or more of the following operations: docking, charging, and cleaning.

[0139] For example, the docking methods of the pool robot after moving to the target area corresponding to the return target include, but are not limited to: 1) docking after part of the pool robot comes into contact with the return target (e.g., part of the structure of the pool robot abuts against the return target); 2) docking after the pool robot moves to the return target (e.g., the return target provides support for the pool robot); 3) docking the pool robot in any area on either side of the return target.

[0140] In practical applications, when the return target is a base station, if the base station is fixed to the pool wall, the connection between the base station and the pool wall may not be very secure. Therefore, when the pool robot docks, it can choose to stop on the walls within a specified distance on either side of the base station, and the pool robot should try to avoid contact with the base station to prevent collisions. Optionally, when docking, the side of the pool robot with the handle should face the shore for easy picking by the user.

[0141] For example, when the backhaul target is a base station, the target area corresponding to the base station can include the base station and a specified distance on both sides thereof. For example, such as Figure 8 As shown, the target area corresponding to the base station can include the base station and the area within a length d1 on both sides, where d1 can be any specified distance. Optionally, the specified distance can be determined based on the width of the pool robot, for example, the specified distance can be the width of the pool robot, or less than the width of the pool robot, or greater than the width of the pool robot, etc. The width d2 of the dockable area of ​​the pool robot is: d1×2 + base station width. Figure 8 The shaded area represents the pool area, and the communication base station is located at the edge of the pool.

[0142] For example, when the return target is a specified return point, the target area corresponding to the return point can include a specified distance on both sides of the return point, where the specified distance can be determined based on the width of the pool robot. For example, as Figure 9 As shown, the target area corresponding to the return point can include a length d1 on both sides of the return point, where the length d1 can be any specified distance. Optionally, the specified distance can be determined based on the width of the pool robot, for example, the specified distance can be the width of the pool robot, or less than the width of the pool robot, or greater than the width of the pool robot, etc. The width d2 of the pool robot's docking area is: d1×2. Figure 9 The shaded area represents the pool area, and the communication base station is located at the edge of the pool.

[0143] Once the target location of the return trip is obtained, the pool robot is controlled to move from its current location to the target area corresponding to the return trip, so that the pool robot can accurately return to the target area, which facilitates subsequent operations such as docking, charging, and cleaning, or makes it easier for the user to retrieve the robot, improving the efficiency of the user's retrieval and reducing the complexity of the operation.

[0144] In one optional implementation, the deviation between the swimming pool robot's direction of travel and the target area is determined based on the target location; based on the deviation, it is determined whether to adjust the swimming pool robot's direction of travel to move the robot from its current location toward the target area. During the return journey, the swimming pool robot's direction of travel is continuously adjusted based on the target location, allowing for precise control of the robot's movement from its current location toward the target area, ensuring accurate return to the target area.

[0145] For example, if the deviation between the swimming pool robot's direction of travel and the target area is small (e.g., less than the deviation angle threshold), the swimming pool robot's direction of travel can remain unchanged, and the robot will continue traveling in its current direction. Only when the deviation between the swimming pool robot's direction of travel and the target area becomes large (greater than or equal to the deviation angle threshold) will the swimming pool robot's direction of travel be adjusted so that it moves from its current position toward the target area. The deviation angle threshold can be set according to actual application needs and empirical values, and is not specifically limited here.

[0146] In one example, given a pool map, a first path is planned for the pool robot to return to a first target point near the target location, based on the pool map. The pool robot is then controlled to move along the first path to the first target point, and the deviation between the robot's direction of travel and the target area is determined based on the target position obtained at the first target point. The distance between the first target point and the target location is a second preset distance. This second preset distance can be set according to actual application requirements and is not specifically limited here.

[0147] The pool map may include a map of the pool surface, or a map of the pool bottom and walls. The return route planned based on the pool map may include a combination of at least one of the water surface, pool bottom, and pool walls; no specific limitation is made here. The target location can be pre-marked on the pool map.

[0148] In this example, when the target location is far away, accurately planning the path for the pool robot to move to the first target point near the target location based on the pool map can improve the return efficiency of both the pool and the robot. After moving to the first target point, the target location of the return target is continuously located and updated through communication with the return target and camera recognition. This determines the deviation between the direction of the pool robot's movement and the direction of the target area, and then adjusts the direction of the pool robot to move towards the target area, ensuring the pool robot accurately returns to the target area and avoiding potential errors that may occur when relying solely on map positioning. In one example, if the return target is an entity such as a base station, the pool robot can choose a position on the pool wall that is horizontally offset from the return target to climb upwards during its movement along the pool wall, thus avoiding collisions between the pool robot and the return target while moving along the pool wall.

[0149] In one example scenario, if the pool robot obtains a target position at the bottom of the pool while moving in the pool according to a first movement method, then the pool robot is controlled to move to the target area corresponding to the return target based on the target position, including at least one of the following:

[0150] Control the pool robot to move from the bottom of the pool towards the pool wall until it reaches the pool wall, then climb the pool wall to the target area (after climbing to the target area, it can stay on the pool wall or turn to the water surface).

[0151] Control the pool robot to rise from the bottom of the pool to the surface and move from the surface to the target area;

[0152] In one example scenario, if the pool robot acquires a target position on the water surface while moving in the pool according to a first movement method, then the pool robot is controlled to move to the target area corresponding to the return target based on the target position, including at least one of the following:

[0153] Control the pool robot to move along a straight path on the water surface to the target area. During the movement along the straight path, obstacle avoidance can be performed. The actual movement route is not necessarily strictly a straight line, but it is roughly a straight line.

[0154] Control the pool robot to move along the edge of the water to the target area.

[0155] In one example scenario, if the pool robot acquires a target position on the pool wall while moving in the pool according to a first movement method, then the pool robot is controlled to move to the target area corresponding to the return target based on the target position, including at least one of the following:

[0156] Control the pool robot to climb from the pool wall to the target area;

[0157] Control the pool robot to float from the pool wall to the water surface and move from the water surface to the target area;

[0158] Control the pool robot to move from the pool wall to the bottom of the pool, then rise from the bottom to the surface, and move from the surface to the target area.

[0159] The process of the pool robot rising from the bottom of the pool to the surface can be either the pool robot floating to the surface in place, or the pool robot moving from the bottom of the pool to the pool wall and then climbing up the pool wall to the surface.

[0160] In this embodiment, if the pool robot fails to acquire a target position while moving in the pool according to the first movement method, and if the pool robot is on the water surface, it is controlled to move along the edge of the pool after approaching the pool wall from the water surface. If the pool robot is on the bottom or wall of the pool, it is controlled to float to the water surface and move along the edge of the pool after approaching the pool wall from the water surface.

[0161] For example, controlling the pool robot to approach the pool wall from the water surface can be achieved in any of the following ways: controlling the pool robot to move close to the edge from the water surface, or controlling the pool robot to move close to a specified edge, such as continuing to move in the current direction until it reaches the edge.

[0162] In one optional embodiment, during the return journey of the pool robot, the pool robot can be controlled to decelerate within a certain distance from the return target to avoid collisions with communication base stations, pool walls, etc. At the same time, the pool robot can be controlled to move to the target area more precisely, avoiding the docking position from deviating from the target area due to excessive speed.

[0163] For example, when the pool robot reaches the second target point, it reduces its operating speed. The distance between the second target point and the target location is a third preset distance. This third preset distance can be set according to the needs of the actual application scenario; for example, it can be 0.5 meters, and is not specifically limited here.

[0164] In one example scenario, the pool robot has the ability to identify obstacles, for example, by detecting the distance to objects using a distance detector. After reaching the second target point, if the distance between the pool robot and the first obstacle to the side (which could be the side pool wall or any other object besides the pool wall) is less than or equal to a fourth preset distance, and the distance between the pool robot and the second obstacle in front (which could be the front pool wall or any other object besides the pool wall) is greater than a fifth preset distance, then the pool robot is controlled to move to the first obstacle. That is, if the pool robot is closer to the side pool wall but farther from the front pool wall, it moves to the nearest side pool wall.

[0165] If the distance between the pool robot and the second obstacle is less than or equal to a fifth preset distance, the pool robot is controlled to move to the second obstacle. That is, when the pool robot is close to the pool wall in front, it is preferable to move to the pool wall in front.

[0166] If the distance between the pool robot and the first obstacle is greater than a fourth preset distance, and the distance between the pool robot and the second obstacle is greater than a fifth preset distance, then the pool robot will rotate at least one full turn to find the third obstacle and move to it. That is, when the pool robot is far from both the side and front walls of the pool, any obstacle other than the aforementioned distant first and second obstacles will be considered the third obstacle (which could be the pool wall or any other object), and the robot will move to it. The distance between the third obstacle and the pool robot can be less than a preset threshold. Since the pool robot is already close to the target area after reaching the second target point, it will not deviate too far from the target area after moving to the third obstacle. For applications where the accuracy of target area positioning is not critical (e.g., moving to the position where the pool robot entered the pool), the pool robot can ultimately move to an area closer to the target area (i.e., the area where the third obstacle is located), avoiding power consumption caused by prolonged searching for a precise target area and improving the efficiency of the pool robot's return journey.

[0167] The fourth and fifth preset distances can be set and adjusted according to the actual application scenario, and no specific limitations are made here.

[0168] For example, if the distance between the pool robot and the right side of the pool wall is less than or equal to a fourth preset distance (e.g., 30 cm), and the distance between the robot and the front pool wall is greater than a fifth preset distance (e.g., 40 cm), the pool robot is controlled to turn right and then move straight to the right side of the pool wall. If the distance between the pool robot and the front pool wall is less than or equal to a fifth preset distance (e.g., 40 cm), the pool robot is controlled to move straight forward to the front pool wall.

[0169] If the distance between the pool robot and the right side of the pool is greater than the fourth preset distance (e.g., 30 cm), and the distance between the robot and the front side of the pool is greater than the fifth preset distance (e.g., 40 cm), control the pool robot to rotate at least one revolution to find the third obstacle and move to the third obstacle, that is, to find the pool wall or other objects in other directions (e.g., fixed facilities in the pool such as ladders, or non-fixed objects such as toys and life rings) and move to the corresponding position.

[0170] In some implementations, the pool robot has the ability to identify the type of objects. For example, it can identify the object type through images captured by an image acquisition device. When the pool robot reaches the second target point, it can identify the object type and designate the area where the object of the type matching the return target is located or the area near it as the target area. For example, if the return target is a base station, when the pool robot reaches the second target point, it can identify the object type and designate the area where the object of the type base station is located or the area near it as the target area.

[0171] Optionally, during the return trip of the pool robot, components related to the cleaning operation (such as side brushes, roller brushes, etc.) can be turned off or their power reduced to ensure the shortest possible return time.

[0172] In one optional embodiment, after the return condition is triggered, if the pool robot is performing a cleaning task, the cleaning task is interrupted, and the return operation is performed after recording the current cleaning progress and cleaning position; if the pool robot is performing an surfacing or diving task, the return operation is performed after the pool robot completes the surfacing or diving task.

[0173] If the pool robot is performing a cleaning task, the cleaning task will be interrupted, and a return operation will be performed after recording the current cleaning progress and position. This allows the pool robot to continue the cleaning task based on the recorded progress and position when it resumes cleaning. The return operation is the same as the operation described above that controls the pool robot to move to the target area.

[0174] If the pool robot is performing an surfacing or diving task, wait for the pool robot to complete the surfacing or diving task before performing the return operation to avoid the pool robot's unstable posture affecting the success rate of the return operation.

[0175] Taking the return target as the base station as an example, the overall process of the pool robot's return journey is as follows:

[0176] After the return-to-base condition is triggered, the pool robot's state and the base station's state are checked. The pool robot's state detection process includes at least one of the following:

[0177] The system determines whether an external device (e.g., at least one of a user terminal or a base station) can currently communicate with the pool robot. If communication is not possible, the return trip is paused, and the pool robot and / or the base station can enter standby mode. In this case, an app notification and / or voice prompt can be issued to inform the user that the external device cannot communicate with the pool robot, thus preventing control over its return trip; and / or, the cleaning log can record that the pool robot's return trip has terminated and the connection with the external device has timed out. For example, a prompt message such as "Connection to base station timed out, please check power or network" can be issued. And / or records messages such as "Return trip stopped, connection to base station timed out" can be recorded.

[0178] The system checks for any abnormalities in the pool robot's status. If an abnormality is detected, the return mission is paused, and the robot enters standby mode. In this case, an app notification and / or voice prompt is issued based on the abnormal status of the pool robot, and / or the abnormal status is recorded in the cleaning log. Abnormal statuses include conditions that may affect the pool robot's movement, such as clogged filters, jammed suction components, and / or stuck walking components.

[0179] Determine if the return trip was interrupted by the user. If the return trip was interrupted, it is paused, and the pool robot enters standby mode. In this case, an app notification and / or voice prompt can be sent to inform the user that the return trip has been paused; and / or, the paused return trip can be recorded in the cleaning log. If the return trip was interrupted by the user, it resumes execution.

[0180] The base station status detection process includes: detecting the base station status and determining whether the current external device (e.g., at least one of the user terminal or the pool robot) can communicate with the base station. If communication is not possible, the return trip task is paused, and the pool robot and / or the base station can enter standby mode. In this case, an app notification and / or voice prompt can be issued to inform the user that the current external device cannot communicate with the base station. For example, a prompt message such as "Connection to base station timed out, please check power or network" can be issued, or no app notification or voice prompt can be issued. If the external device can communicate with the base station, it is determined whether there is any abnormality in the base station status. If there is an abnormality in the base station status, the return trip task is paused, and the pool robot enters standby mode. In this case, an app notification and / or voice prompt can be issued based on the abnormal status of the base station, and the abnormal status of the base station can be recorded in the cleaning log; alternatively, no app notification or voice prompt can be issued. If the base station status is normal, the pool robot continues to perform the return trip task.

[0181] Furthermore, the process of executing the return task is as follows: Determine whether the pool robot is in the water. If the pool robot is not in the water, there is no need to execute the return task, and the return task ends. Optionally, after the return condition is triggered, an APP notification can be sent and / or the pool robot can be controlled to output a voice prompt to inform the user that the return has been triggered. The reason for triggering the return can also be given, such as "Start return", "Low battery, start return", "Cleaning completed, start return", etc.

[0182] During the return trip, different return strategies are employed depending on whether the pool robot has acquired the target location. If the target location is acquired, the pool robot moves to the corresponding target area based on that location. If the pool robot can switch to a floating posture within a preset time, it moves along the edge of the water and towards the target location. If the pool robot cannot switch to a floating posture within the preset time, it indicates an abnormality (e.g., the robot is trapped or damaged), the return trip ends, an app notification is sent, and / or the pool robot outputs a voice prompt to inform the user that the pool robot is abnormal and requires user assistance to retrieve it.

[0183] If the target location is not found, the first step is to control the pool robot to return to the surface. If the robot is on the surface, it will move along the edge of the pool (e.g., the pool wall). If the robot is on the bottom or wall, it will rise to the surface and move along the edge. If the robot returns to the surface quickly, it will move along the edge to find the target location and then move towards it. If the robot fails to return to the surface for an extended period (e.g., reaching a preset time threshold), it is considered stuck. The return mission ends, and an app notification is sent, or the robot outputs a voice prompt to inform the user that the robot is stuck and requires assistance to retrieve it. The first time threshold can be set and adjusted according to the specific application scenario; no specific limit is set here.

[0184] During the return journey along the water's edge, if the pool robot has not reached the target area after the second time threshold has been reached, it will stop at the pool edge. Optionally, after stopping at the pool edge, the robot may send an app notification and / or output a voice prompt to inform the user that the robot has returned; and / or, record the robot's return in the cleaning log. The second time threshold can be set and adjusted according to the needs of the actual application scenario; for example, it could be set to 5 minutes. No specific limitation is made here.

[0185] Before the time spent moving along the edge of the water reaches the second time threshold, after the pool robot reaches the target area, send an APP notification and / or control the pool robot to output a voice prompt to inform the user that the pool robot has reached the target area corresponding to the return target and ask the user to retrieve it as soon as possible; and / or, record in the cleaning record that the pool robot has reached the target area corresponding to the return target.

[0186] In one optional embodiment, after the pool robot reaches the target area corresponding to the return target, it can perform a side-holding operation to facilitate the user in retrieving the pool robot. Exemplarily, the pool robot includes: a traveling mechanism for at least driving the pool robot to move in the pool; the traveling mechanism includes a walking component and / or a propulsion component.

[0187] After controlling the pool robot to move from its target location to the target area corresponding to its return target, the robot stops in the target area for a first duration, then reduces the motor power of its traveling mechanism. Subsequently, every second duration, the motor power is increased, controlling the robot to move to the target area and stop. This process is repeated until the robot stops in the target area for a third duration, or starting from the robot's first stop in the target area, after which the traveling mechanism is shut down. The first, second, and third durations can be set and adjusted according to the needs of the actual application scenario, for example, 20 minutes, 30 minutes, and 4 hours respectively; no specific limitation is made here.

[0188] For example, after controlling the pool robot to move to the target area, the pool and robot are kept docked for 20 minutes; then, the robot returns to the target area every 30 minutes to facilitate the user's retrieval; 4 hours after the pool robot first docks in the target area, the pool robot's movement mechanism is turned off to reduce the robot's power consumption.

[0189] In some implementations, the pool robot can dock at the target area for a preset time (e.g., any value within the range of 15-30 minutes). During the docking period, the propulsion component can be in the active state to maintain the pool robot's docking position (e.g., when the return target is a base station, the pool robot can dock against the base station; when the return target is the pool wall, the pool robot can dock against the pool wall). During this time, the suction component and / or propulsion component can be activated or deactivated. For example, during the first part of the docking period (e.g., any value within the range of 1-10 minutes), both the suction component and the propulsion component are activated, while during the second part of the period (e.g., any value within the range of 1-30 minutes), only the propulsion component is activated. The operating speed of the propulsion component can remain constant or be adjusted during this period (e.g., the operating speed during the first part of the period is greater than the operating speed during the second part of the period). When the suction component and / or the walking component stops operating, energy consumption during the docking period of the pool robot can be saved.

[0190] In one specific implementation, after the pool robot stops at the waterline for a preset time, it can enter a standby state. At this time, the propulsion component, suction component and walking component of the pool robot can stop operating or reduce their operating power to save energy.

[0191] In one specific implementation, when the pool robot is in standby mode, it can be woken up by any of the following methods: an app, a physical or virtual button on the pool robot, or a physical or virtual button on a base station connected to the pool robot. Once woken up, the pool robot can actively return to its starting position or return in response to a user-issued return command, thus solving the problem of the pool robot drifting away from the target area while in standby mode.

[0192] In one specific implementation, the pool robot can be automatically woken up after a preset time in standby mode (e.g., any value within the range of 15min-60min) and automatically move to the target area, thus solving the problem of the pool robot drifting away from the target area while in standby mode.

[0193] In one example, taking the return target as the base station, the overall process of the pool robot's return based on acoustic communication is as follows:

[0194] After the return trip condition is triggered and the return trip task begins, if the pool robot is not on the water surface (e.g., on the pool bottom or pool wall), control the pool robot to return to the water surface first. For example, control the pool robot to move along the edge of the pool bottom and perform acoustic ranging until the measured acoustic distance is less than the acoustic distance threshold or when it has moved along the edge of the pool bottom for a preset number of circles (e.g., 1.5 circles), then float to the water surface. The acoustic distance threshold and the preset number of circles can be set according to actual application requirements and are not specifically limited here. Further, control the pool robot to return from the water surface.

[0195] Without a pool map, the location of the base station is determined based on acoustic communication, the direction of the acoustic waves (i.e., the direction in which the base station is located) is calculated, and the pool robot is controlled to move in that direction. The pool robot receives acoustic signals within a fourth time period. If no acoustic signal is received within the fourth time period (i.e., the acoustic signal reception timeout occurs), the pool robot moves along the edge of the water surface until a cutoff condition is met (e.g., reaching the area where the base station is located or the area near the base station), at which point the return mission ends. The fourth time period can be set and adjusted according to actual application requirements; no specific limitation is made here.

[0196] Upon receiving a sound wave signal, the pool robot is controlled to rotate at least one revolution to locate the direction of the sound wave from the base station (i.e., the direction of the sound wave signal sent by the base station). When the pool robot moves towards the sound wave direction to a second preset distance from the base station (e.g., 0.5 meters or 0.7 meters), it slows down and moves towards the sound wave direction for a fifth time interval. The return trip is then successful, and the return mission ends. The fifth time interval can be set and adjusted according to actual application requirements and is not specifically limited here.

[0197] During the return journey, the acoustic signal is checked for abnormalities. An abnormal acoustic signal can be determined if at least one of the following conditions is met: abnormal acoustic distance for multiple consecutive frames (exceeding the preset frame count); no acoustic signal received for an excessively long period (greater than the sixth duration); or the deviation between the newly calculated acoustic direction and the previously calculated acoustic direction exceeds a deviation threshold. The preset frame count, the sixth duration, and the deviation threshold can be set and adjusted according to actual application requirements and are not specifically limited here.

[0198] If the return sound wave status is abnormal, control the pool robot to rotate in place at least one revolution to find the sound wave direction. If the sound wave direction is found, control the pool robot to move in that direction. If the sound wave localization is abnormal, i.e., the sound wave direction cannot be found, control the pool robot to move eight preset distances in a random direction to perform an exploration action to find the sound wave direction in an attempt to locate the base station's position; if the sound wave direction is still not found, perform the exploration action again; until the sound wave direction is found or the number of exploration actions reaches a preset threshold. If the number of exploration actions exceeds the preset threshold, and it is determined that the sound wave direction has not been found, control the pool robot to move along the edge of the water surface until the cutoff condition is met (such as reaching the area where the base station is located or the area near the base station), at which point the return mission ends.

[0199] When the sound wave signal is normal, the base station continuously updates the sound wave direction based on the received sound wave signal, and adjusts the forward direction of the pool robot based on the sound wave direction so that the pool robot moves towards the new sound wave direction.

[0200] During the movement towards the sound wave direction, upon encountering a temporary obstacle, the pool robot's propulsion components are deactivated. A local obstacle avoidance algorithm is used to plan the pool robot's passable direction and the sound wave direction from the base station (i.e., the pool robot's expected direction of travel). If the sound wave direction is passable, the pool robot continues to move in that direction. If the sound wave direction is not passable, the pool robot moves towards the closest passable direction to the sound wave direction. Without encountering an obstacle, after moving a third distance, the local obstacle avoidance algorithm is used again to plan the pool robot's passable direction and the base station's sound wave direction, and a new direction of travel is selected. When an obstacle is encountered again, the local obstacle avoidance algorithm is used again to plan the pool robot's passable direction and the base station's sound wave direction, and a new direction of travel is selected. This process continues until the number of planning attempts based on the local obstacle avoidance algorithm (i.e., the number of local obstacle avoidance planning attempts) reaches the second planning attempt threshold. At this point, the pool robot moves along the edge of the water surface until a cutoff condition is met (e.g., reaching the area where the base station is located or near the base station), at which point the return journey ends. The local obstacle avoidance algorithm used can be the Vector Field Histogram (VFH) algorithm or other similar algorithms, and no specific limitation is made here.

[0201] With a pool map available, the pool robot is controlled to return to its original position based on the map. The process is as follows: According to the pool map, a first path is planned for the robot to return to a first target point at a second preset distance (e.g., 0.5 meters or 0.7 meters) from the target location. The robot moves along this first path towards the first target point. Upon reaching the target point, the robot uses acoustic communication to locate the direction of the acoustic waves and moves in that direction, successfully completing the return journey. If the direction of the acoustic waves cannot be obtained, the robot can move towards the return target based on its location information, also successfully completing the return journey.

[0202] During the process of the pool robot moving towards the first target point along the first path, when it encounters a temporary obstacle (an obstacle not recorded in the pool map), it selects a point on the first path (a point other than the first target point) as the third target point, performs local path planning based on the pool map, and determines the second path for the pool robot to move to the third target point; it controls the pool robot to first move along the second path to the third target point, and then move along the first path from the third target point to the first target point.

[0203] When the pool robot encounters a temporary obstacle again while moving along the second path to the third target point, if the number of local path planning attempts is less than the threshold of the first planning attempts, a fourth target point (a point other than the third target point) can be selected on the second path. Local path planning is performed according to the pool map to determine the third path for the pool robot to move to the fourth target point. The pool robot is then controlled to first move along the third path to the fourth target point, then move along the second path from the fourth target point to the third target point, and then move along the first path from the third target point to the first target point.

[0204] This process continues until the number of local path planning attempts reaches (greater than or equal to) the first planning attempt threshold. At this point, local planning is stopped, and a new path is planned for the pool robot to return from its current location to the first target point. The pool robot is then controlled to move along the new path to the first target point. The subsequent processing flow is similar to the previous one and will not be described in detail here.

[0205] In one example, Figure 10 This is a flowchart illustrating the overall process of a swimming pool robot's surface return journey, as provided in an embodiment of this application. Figure 10 As shown, taking a base station set at the edge of the pool as the return target, the process of the pool robot returning along the edge of the water is as follows:

[0206] The pool robot is controlled to rotate at least one full circle to locate the pool edge. If the edge is not found, the robot moves straight in a random direction until it encounters an obstacle, indicating it has reached the edge. If the edge is successfully located, the robot moves to it. Once at the edge, the robot moves along it and uses acoustic signals to detect its distance to the base station. The return journey ends when a cutoff condition is met. For example, if at least one of the following return success conditions is met: the distance to the base station remains stable within a preset range, or the distance to the base station is less than a ninth preset distance for a duration of seven hours (e.g., 10 seconds), the robot is considered to have reached the target area corresponding to the base station, the cutoff condition is met, and the return journey ends. If the time spent moving along the edge of the water surface reaches an eighth duration (e.g., 15 minutes), the cutoff condition is met, and the return journey ends.

[0207] In one example scenario, when at least part of a base station is positioned at the edge of a pool, the pool robot is prone to colliding with the base station during movement (e.g., moving along the pool wall or other nearby base stations). Therefore, the pool robot needs to avoid obstacles to the base station. For example, obstacle avoidance can be achieved through at least one of the following methods:

[0208] Method 1: Obstacle avoidance based on acoustic sensor base station. The pool robot can use an acoustic sensor to locate the base station and avoid it. This method requires the acoustic sensor to be continuously operational.

[0209] Method 2: Detect and avoid base stations using cameras. Because base stations are generally very thin, they may be difficult to detect accurately using cameras in some scenarios. For example, when a swimming pool robot moves along the pool wall, the camera's field of view is limited, making it difficult to detect the base station.

[0210] Method 3: Using Bluetooth devices, when the pool robot moves along the edge of the water, the distance between the pool robot and the base station can be detected through Bluetooth devices. The communication range of Bluetooth devices is relatively short (usually around 1 meter). If the base station is detected based on the Bluetooth device, it means that the pool robot is very close to the base station. The pool robot can then be controlled to avoid obstacles around the base station. Alternatively, the acoustic sensor can be turned on to detect the distance and direction more accurately, thereby achieving obstacle avoidance. This can solve the problem of high power consumption when the acoustic sensor is always on.

[0211] The way the pool robot avoids obstacles at the base station can be as follows: when it is 10 preset distances away from the base station, the pool robot is controlled to deflect away from the base station to bypass it, and travels around it along an arc-shaped or straight trajectory. The distance traveled around the base station is greater than or equal to the length of the base station, and then it returns to the path before obstacle avoidance (e.g., the path along the pool wall).

[0212] Figure 11 A schematic diagram of the structure of the electronic control board provided in an exemplary embodiment of this application is shown below. Figure 11 The control board 50 shown can be used to execute the pool robot return method provided in any embodiment of this application. For example... Figure 11 The illustrated control board 50 includes a printed circuit board and components disposed on the printed circuit board. The control board may include a control unit, a power supply unit, etc., composed of components. The control unit includes one or more processors 501 and a memory 502. The memory 502 stores computer-executable instructions, and the processor 501 can execute the computer-executable instructions stored in the memory 502. When the computer-executable instructions are executed by the processor 501, the processor 501 implements the pool robot return method provided in any of the foregoing embodiments of this application.

[0213] In an alternative embodiment, such as Figure 11 The control board 50 shown also includes a communication interface 503, through which the processor 501 can communicate with other devices, such as sending and receiving data through the communication interface 503.

[0214] 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.

[0215] The memory may include random access memory (RAM) and may also include non-volatile memory (NVM), such as at least one disk storage device.

[0216] 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.

[0217] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described method.

[0218] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the above-described method.

[0219] 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.

[0220] 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.

[0221] 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.

[0222] 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.

[0223] 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.

[0224] 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.

[0225] 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.

[0226] 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 method for the return journey of a swimming pool robot, characterized in that, Applied to pool robots, the method includes: If the return condition is triggered, the pool robot is controlled to move in the pool according to a first movement mode in an attempt to obtain the target position of the return target; wherein, the first movement mode is a movement mode other than moving along the edge of the pool surface; the movement along the edge is moving along the pool wall; If the target location is not obtained, the pool robot is controlled to move in the pool according to a second movement method to obtain the target location; wherein, the second movement method is to move along the edge of the water surface; Upon obtaining the target location, the pool robot is controlled to move to the target area corresponding to the return target based on the target location; wherein, the target area includes the pool wall or the distance between the target area and the pool wall is less than or equal to a first preset distance, and the target area is at least partially located on or above the water surface of the pool.

2. The method according to claim 1, characterized in that, Upon obtaining the target location, controlling the pool robot to move to the target area corresponding to the return target based on the target location includes: Based on the target location, determine the deviation between the direction of travel of the pool robot and the direction of travel of the target area; Based on the directional deviation, determine whether to adjust the swimming pool robot's direction of travel so that the swimming pool robot moves from its current position toward the target area.

3. The method according to claim 2, characterized in that, Based on the target location, determining the directional deviation between the swimming pool robot's travel direction and the target area includes: In the presence of a pool map, a first path is planned for the pool robot to return to the first target point based on the pool map; wherein the distance between the first target point and the target location is a second preset distance; The pool robot is controlled to move along the first path to the first target point, and the deviation between the direction of travel of the pool robot and the direction of the target area is determined based on the target position obtained at the first target point.

4. The method according to claim 1, characterized in that, If the target location is not obtained, the pool robot is controlled to move in the pool according to a second movement method to obtain the target location, including: If the target location is not obtained, and the pool robot is on the water surface, then the pool robot is controlled to move from the water surface to the pool wall and along the edge. If the pool robot is at the bottom or on the wall of the pool, then control the pool robot to float to the surface of the water and move along the edge of the pool after approaching the pool wall from the surface of the water.

5. The method according to claim 1, characterized in that, The pool robot includes a magnetometer, and controlling the pool robot to move in the pool according to a first movement mode includes: The pool robot is controlled to move along the edge of the pool.

6. The method according to claim 1, characterized in that, The method further includes: When the pool robot reaches the second target point, it reduces its running speed; wherein the distance between the second target point and the target position is a third preset distance; If the distance between the pool robot and the first obstacle on the side is less than or equal to a fourth preset distance, and the distance between the pool robot and the second obstacle in front is greater than a fifth preset distance, then control the pool robot to move to the first obstacle; If the distance between the pool robot and the second obstacle is less than or equal to the fifth preset distance, then control the pool robot to move to the second obstacle; If the distance between the pool robot and the first obstacle is greater than the fourth preset distance, and the distance between the pool robot and the second obstacle is greater than the fifth preset distance, then the pool robot is controlled to rotate at least one revolution to find the third obstacle and move to the third obstacle.

7. The method according to claim 1, characterized in that, The method further includes: Receive the target signal sent by the communication module corresponding to the return target, and obtain the target position based on the target signal; wherein the distance between the communication module and the water surface is less than or equal to a sixth preset distance; and / or, Identify the first identifier corresponding to the return target, and obtain the target location based on the first identifier; wherein the distance between the first identifier and the water surface is less than or equal to a seventh preset distance.

8. The method according to claim 7, characterized in that, The method further includes: When the pool robot detects an abnormality in the target signal or fails to recognize the first identifier, it controls the pool cleaner to move forward a predetermined distance in a random direction to perform an exploration action. The exploration action is repeated until the target location is obtained or the number of times the exploration action is executed reaches a preset threshold. If the number of times the exploration action is performed exceeds the preset threshold, it is determined that the target location has not been obtained.

9. The method according to claim 1, characterized in that, The method further includes: If the pool robot is performing a cleaning task after the return condition is triggered, the cleaning task is interrupted, and the return operation is performed after recording the current cleaning progress and cleaning position. If the pool robot is performing an surfacing or diving task, then wait for the pool robot to complete the surfacing or diving task before performing the return operation.

10. The method according to claim 1, characterized in that, The pool robot includes: a walking mechanism for at least driving the pool robot to move in a pool; the walking mechanism includes a walking component and / or a propulsion component; After controlling the pool robot to move to the target area corresponding to the return target based on the target position, the method further includes: After the pool robot stops at the target area for a first duration, the motor power of the traveling mechanism is reduced. Then, every second duration thereafter, the motor power of the traveling mechanism is increased to control the pool robot to move to the target area and stop. Repeat the above actions. After the docking time in the target area reaches the third duration, or after the third duration begins from the first docking time of the pool robot in the target area, shut down the traveling mechanism.

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