Swimming pool cleaning robot, control method thereof, and storage medium

Abstract

This invention discloses a swimming pool cleaning robot, its control method, and a storage medium. The control method of the swimming pool cleaning robot includes obtaining the area to be cleaned of a sun deck; determining whether the area to be cleaned is greater than a first threshold to obtain a first determination result; when the first determination result is yes, calculating the cleaning direction based on the map boundary of the sun deck; and controlling the swimming pool cleaning robot to clean according to the calculated cleaning direction.

Description

Technical Field

[0001] This invention relates to the field of cleaning technology, and in particular to a pool cleaning robot, its control method, and storage medium. Background Technology

[0002] With the development of society and economy and the improvement of living standards, people have put forward higher requirements for cultural and entertainment facilities. As a form of fitness, swimming pools have received more and more attention. Swimming pools need to be cleaned regularly. With the development of automation technology, swimming pool robots have appeared on the market. Swimming pool robots can efficiently complete the cleaning work in the pool, which can effectively save labor costs.

[0003] A pool cleaning robot is a cleaning robot capable of performing underwater cleaning tasks, helping users clean pools, improving cleaning efficiency, and reducing cleaning costs. Developed specifically to meet the needs of pool cleaning, pool cleaning robots can repeatedly clean the pool bottom and walls, as well as filter the pool water. The pool cleaning tasks primarily involve cleaning the pool bottom and walls. However, the pool walls typically contain various obstacles such as drains (e.g., water inlets), ladders, steps, and corners. These obstacles hinder the cleaning robot's work, affecting the success rate and efficiency of the cleaning process.

[0004] In existing technologies, pool cleaning robots rely on random cleaning paths when cleaning sun decks, resulting in low coverage, high repetition rate, and low cleaning efficiency.

[0005] The above content is only used to help understand the technical solution of the present invention and does not represent an admission that the above content is prior art. Summary of the Invention

[0006] The main objective of this invention is to provide a swimming pool cleaning robot, its control method, and a storage medium, aiming to solve the technical problems of low coverage, high repetition rate, and low cleaning efficiency of existing swimming pool cleaning robots when cleaning sun decks, which rely on random cleaning paths.

[0007] To achieve the above objectives, the present invention provides a control method for a swimming pool cleaning robot, the control method comprising:

[0008] Obtain the area of ​​the drying platform to be cleaned;

[0009] Determine whether the area to be cleaned is greater than a first threshold, and obtain a first determination result;

[0010] If the first judgment result is yes, calculate the cleaning direction based on the map boundary of the drying platform to be cleaned;

[0011] Control the pool cleaning robot to clean according to the calculated cleaning direction.

[0012] Preferably, in the control method of the pool cleaning robot, in the step of calculating the cleaning direction based on the map boundary of the drying platform to be cleaned when the first judgment result is yes, the formula for calculating the cleaning direction is as follows:

[0013]

[0014] Where θ is the angle of the cleaning direction, and α is the value of α that minimizes the objective function;

[0015] L i Let be the length of the i-th edge;

[0016] n is the total number of edges;

[0017] α is the candidate angle to be optimized.

[0018] Preferably, in the control method of the pool cleaning robot, the pool cleaning robot moves in a bow-shaped pattern, and the control method further includes:

[0019] When the pool cleaning robot is cleaning, in response to detecting an obstacle that does not exist in the pre-built map, the number of bow-shaped bars is determined based on the side length of the circumscribed rectangle perpendicular to the cleaning direction θ or the bow-shaped spacing.

[0020] Controlling the pool cleaning robot to clean according to the calculated cleaning direction includes:

[0021] The pool cleaning robot is controlled to clean according to the calculated cleaning direction and the number of bow-shaped strips.

[0022] Preferably, in the control method of the pool cleaning robot, the control method further includes:

[0023] The pool cleaning robot is controlled to rotate in place at a preset angular velocity at a preset position;

[0024] Based on the preset angular velocity and rotation radius of the pool cleaning robot, the stability coefficient of the pool cleaning robot when moving on the drying platform to be cleaned is determined;

[0025] The bow-shaped width of the pool cleaning robot during cleaning is determined based on the stability coefficient.

[0026] Preferably, in the control method of the pool cleaning robot, the method for calculating the stability coefficient in the step of determining the stability coefficient of the pool cleaning robot when it moves on the cleaning platform based on the preset angular velocity and rotation radius of the pool cleaning robot is as follows:

[0027] Stability coefficient ≥ ω 2 r / (g*cosA);

[0028] Where ω is the preset angular velocity;

[0029] r is the radius of rotation;

[0030] g is the acceleration due to gravity;

[0031] A represents the tilt angle of the preset position.

[0032] Preferably, in the control method of the pool cleaning robot, the pool cleaning robot moves in a bow-shaped pattern;

[0033] After the step of controlling the pool cleaning robot to clean according to the calculated cleaning direction, the control method further includes:

[0034] When the pool cleaning robot touches the boundary, it is determined whether the distance the pool cleaning robot moves along the edge is greater than a preset value, and a second determination result is obtained;

[0035] If the second judgment result is negative, determine whether the pool cleaning robot has reached the preset turning point to obtain the third judgment result;

[0036] If the third judgment result is yes, the positioning information of the pool cleaning robot is corrected according to the coordinates of the turning point.

[0037] Preferably, in the control method of the pool cleaning robot, the step of determining whether the distance the pool cleaning robot moves along the edge is greater than a preset value when the pool cleaning robot touches the boundary, and obtaining a second determination result, includes:

[0038] When the pool cleaning robot touches the boundary, it is determined whether the difference between the distance the pool cleaning robot moves along the edge and the theoretical value along the edge is greater than a first preset value, and a second judgment result is obtained.

[0039] Preferably, in the control method of the pool cleaning robot, the drying platform to be cleaned is formed by enclosing it with the first to the fourth sides;

[0040] When the second judgment result is negative, the third judgment result is obtained by determining whether the pool cleaning robot has reached the preset turning point, including:

[0041] If the second judgment result is negative, determine whether the distance between the pool cleaning robot and the second and fourth sides is greater than the second preset value, and obtain the fourth judgment result;

[0042] If the fourth judgment result is yes, determine whether the pool cleaning robot has reached the preset turning point to obtain the third judgment result.

[0043] Preferably, in the control method of the pool cleaning robot, the control method further includes:

[0044] Control the pool cleaning robot to move to the nearest boundary of the sun deck to be cleaned;

[0045] Control the pool cleaning robot to be perpendicular to the boundary of the drying platform to be cleaned, so that the position of the roller brush of the pool cleaning robot is close to the junction of the side wall and the ground of the drying platform to be cleaned for a first preset time.

[0046] Control the pool cleaning robot to retreat for a second preset time, rotate 90°, then advance 2 / 3 times the length of the robot's body, then rotate 90° to be perpendicular to the side wall of the drying platform to be cleaned and to clean the side wall of the drying platform until the boundary of the drying platform is cleaned.

[0047] To achieve the above objectives, the present invention provides a swimming pool cleaning robot, the swimming pool cleaning robot comprising:

[0048] At least one processor; and,

[0049] A memory communicatively connected to the at least one processor; wherein,

[0050] The memory stores instructions that can be executed by the at least one processor, which enables the at least one processor to perform the control method for the pool cleaning robot described above.

[0051] To achieve the above objectives, the present invention provides a computer-readable storage medium storing a computer program, characterized in that the computer program, when executed by a processor, implements the above-described control method for a pool cleaning robot.

[0052] The present invention has at least the following beneficial effects:

[0053] This invention obtains the area to be cleaned of the sun deck; determines whether the area to be cleaned is greater than a first threshold to obtain a first determination result; when the first determination result is yes, calculates the cleaning direction based on the map boundary of the sun deck to be cleaned; and controls the pool cleaning robot to clean according to the calculated cleaning direction. This solves the technical problems of low coverage, high repetition rate, and low cleaning efficiency of pool cleaning robots when cleaning sun decks, which rely on random cleaning paths. Attached Figure Description

[0054] Figure 1 A schematic diagram illustrating the control method for the pool cleaning robot provided by the present invention;

[0055] Figure 2 The theoretical path diagram of the pool cleaning robot provided by the present invention when it moves in a bow-shaped pattern;

[0056] Figure 3 This is a schematic diagram of the pool cleaning robot provided by the present invention.

[0057] The objectives, features, and advantages of this invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0058] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. The present invention will be described in detail below with reference to the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0059] In this embodiment of the invention, the term "and / or" describes the relationship between associated objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. The character " / " generally indicates that the preceding and following associated objects have an "or" relationship.

[0060] It should be noted that the terms "first," "second," etc., in the specification, claims, and drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0061] In this embodiment of the invention, the term "multiple" refers to two or more, and other quantifiers are similar.

[0062] In this invention, unless otherwise stated, directional terms such as "upper," "lower," "top," and "bottom" are generally used in relation to the direction shown in the accompanying drawings, or in relation to the vertical, perpendicular, or gravitational direction of the component itself; similarly, for ease of understanding and description, "inner" and "outer" refer to the inner and outer contours of each component itself, but the above directional terms are not intended to limit this invention.

[0063] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the various embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, those skilled in the art will understand that many technical details are presented in the embodiments of the present invention to facilitate a better understanding of the invention. However, the technical solutions claimed in the present invention can be implemented even without these technical details and various variations and modifications based on the following embodiments. The division of the following embodiments is for ease of description and should not constitute any limitation on the specific implementation of the present invention. The various embodiments can be combined with and referenced by each other without contradiction.

[0064] To address the aforementioned issues, this embodiment relates to a control method for a pool cleaning robot, which can be applied to pool cleaning robots. The pool cleaning robot can be a vacuuming pool robot, a brushing pool cleaner, or other cleaning equipment with data processing capabilities. In other embodiments, it can also be other electronic devices with data processing capabilities, and no specific limitations are imposed here.

[0065] Figure 1 A schematic diagram illustrating the control method of the pool cleaning robot of the present invention is shown. The implementation details of the control method of the pool cleaning robot according to the first embodiment of the present invention are described below. The following implementation details are provided for ease of understanding only and are not essential for implementing this solution.

[0066] In step S110, the area of ​​the drying rack to be cleaned is obtained. The area of ​​the drying rack to be cleaned can be obtained in various ways, such as by calculation or by the user.

[0067] In some implementations, when the pool cleaning robot is activated to clean the drying platform, it can be controlled to move forward in one direction. Upon encountering an obstacle, it rotates 180 degrees, at which point the starting point d1 of the line segment is recorded. The robot continues to move forward until it encounters a cliff or obstacle, at which point the ending point d2 is recorded, and the length of the line segment s1 between the starting point d1 and the ending point d2 is calculated. Then, the robot rotates 180 degrees to the midpoint of the line segment connecting d1 and d2, rotates 90 degrees, and repeats the above process to obtain the line segment s2 and its length. The area to be cleaned (i.e., the drying platform area) is calculated based on the lengths of line segments s1 and s2, where the area to be cleaned = the length of s1 * the length of s2.

[0068] In some implementations, when the pool cleaning robot is started, an edge sensor can be used to record the initial pose p1 after the cleaning of the sun deck begins. The pose refers to the position information (x, y) and angle information (yaw, pitch, roll). Then, the edge-following motion begins. During the edge-following motion, the information from the edge sensor and the downward-looking sensor is monitored simultaneously. When the edge sensor detects an obstacle, the obstacle point is converted into an obstacle point f2 in the p1 coordinate system based on the pose p2 of the pool cleaning robot at this time. When the downward-looking sensor follows the edge, if the measured distance is greater than a certain threshold, it is marked as an obstacle point. Similarly, the obstacle point and the robot pose relationship are marked and converted into the obstacle point coordinates under the starting point p1. After circling the edge, N obstacle point coordinates are obtained. Based on the grid coordinates of the obstacle points, the number of grids contained in the enclosed space can be calculated, and the sun deck area, i.e., the area of ​​the sun deck to be cleaned, can be calculated.

[0069] In other implementations, the area of ​​the drying rack to be cleaned can be determined by estimating a method that approximates the actual surface by measuring the distance between multiple points.

[0070] Of course, in some implementations, the area to be cleaned on the drying platform can be set according to user needs. For example, the area to be cleaned can be the entire area of ​​the drying platform or a portion of the area of ​​the drying platform.

[0071] In step S120, it is determined whether the area to be cleaned is greater than a first threshold, and a first determination result is obtained. The first threshold can be set according to user needs, or it can be a factory setting; no specific restrictions are imposed here.

[0072] In some implementations, when the area to be cleaned is greater than or equal to a first threshold, cleaning is performed according to a preset cleaning strategy; when the area to be cleaned is less than the first threshold, a random cleaning strategy can be activated, such as randomly selecting a cleaning direction until an obstacle or cliff is encountered, and then randomly selecting a cleaning direction to continue cleaning. The cleaning duration of the random cleaning strategy can be further determined according to the size of the area to be cleaned.

[0073] In step S130, if the first judgment result is yes, the cleaning direction is calculated based on the map boundary of the drying platform to be cleaned. By calculating the optimal cleaning direction, the efficiency of the pool cleaning robot during cleaning can be improved.

[0074] In some implementations, the formula for calculating the cleaning direction is as follows:

[0075]

[0076] Where θ is the angle of the cleaning direction, and α is the value of α that minimizes the objective function;

[0077] L i Let be the length of the i-th edge;

[0078] n is the total number of edges;

[0079] α is the candidate angle to be optimized.

[0080] In step S140, the pool cleaning robot is controlled to clean according to the calculated cleaning direction. When cleaning according to the cleaning direction, the pool cleaning robot can move in a bow-shaped pattern, a spiral pattern, or along the edge. In this embodiment, the pool cleaning robot moves in a bow-shaped pattern.

[0081] When controlling the pool cleaning robot to move in a calculated cleaning direction, the robot can move in a straight line, maintaining its operational state and cleaning the areas it traverses. When the robot reaches the edge of the sun deck or encounters an obstacle, it stops moving in a straight line.

[0082] When the pool cleaning robot encounters a wall, it turns 180 degrees to prepare for the next straight cleaning segment. This turning is achieved by controlling the robot's drive wheels. When the robot encounters a cliff edge, it performs a boundary-changing maneuver, which can be a combination of straight-line backward movement, differential-speed backward movement, and rotation.

[0083] When the pool cleaning robot needs to turn, it moves in a direction parallel to the previous straight cleaning path, and the offset distance between the two straight cleaning paths is determined according to the cleaning width of the pool cleaning robot.

[0084] When the offset distance of the pool cleaning robot is required, it should be ensured that there is a certain overlap between two adjacent straight cleaning paths to ensure that no part of the cleaning is missed. The overlap width is generally set to 10%-20% of the cleaning width.

[0085] Repeat the steps of planning the straight-line cleaning segment, turning, and determining the offset distance until the pool cleaning robot has cleaned most of the sun deck area. During the cleaning process, continuously update the map model and record the cleaned and uncleaned areas.

[0086] When a pool cleaning robot encounters obstacles during cleaning, it adopts different handling strategies depending on the type and location of the obstacle. If the obstacle is small, the robot can avoid it by detouring and continue cleaning along a bow-shaped path. The detouring path can be planned according to the shape and size of the obstacle to ensure that the robot avoids the obstacle while minimizing the impact on the cleaning path. If the obstacle is large, the robot can mark the area around the obstacle as a special area and clean the special area separately after cleaning the other areas.

[0087] When a preset number of bow-shaped sections exists, the cleaning robot terminates upon fulfilling the preset bow-shaped condition or before reaching the preset number of bow-shaped sections, triggering the edge-to-end condition. At this point, bow-shaped cleaning ends. The edge-to-end condition occurs when the pool cleaning robot uses sensors to detect an obstacle N times consecutively in the direction perpendicular to the long side of the bow-shaped section. If N is greater than or equal to 1, the robot is considered to have reached the physical boundary, and the cleaning of the sun deck is complete. When no preset number of bow-shaped sections exists, after triggering the edge-to-end detection, bow-shaped cleaning continues in the opposite direction. When the edge-to-end condition is met again, bow-shaped cleaning ends, and the sun deck cleaning is complete.

[0088] In some implementations, the pool cleaning robot moves in a bow-shaped pattern and can dynamically adjust its path in real time. For example, when it detects an obstacle that does not exist in a pre-built map, it needs to recalculate the number of bow segments in the bow shape.

[0089] In some other implementations, the pool cleaning robot moves in an S-shape, and the specific strategy can be determined according to actual needs.

[0090] In step S151, when the pool cleaning robot is cleaning, in response to detecting an obstacle not present in the pre-built map, the number of bow-shaped paths is determined based on the side length of the circumscribed rectangle perpendicular to the cleaning direction θ or the bow-shaped spacing. When an obstacle not present in the pre-built map is detected, replanning or at least local replanning is required. A circumscribed rectangle of the cleaning area is constructed along the cleaning direction θ (e.g., the side length parallel to the cleaning direction θ is L, and the side length perpendicular to the cleaning direction θ is W). The cleaning direction θ is the main direction of the bow-shaped paths, the bow-shaped spacing d is the vertical distance between two adjacent parallel paths, and the number of bow-shaped paths is the number of paths required to cover the entire width W. The number of bow-shaped paths = (W / d) rounded to the nearest integer. When an obstacle not present in the pre-built map is detected, at least locally d will change, and the corresponding number of bow-shaped paths will also change.

[0091] In step S152, the pool cleaning robot is controlled to clean according to the calculated cleaning direction and the number of bow-shaped paths. When controlling the pool cleaning robot to clean according to the calculated cleaning direction and travel along the bow-shaped path, it can travel according to a preset bow width, or the bow width can be determined according to the user's cleaning requirements. For example, the higher the cleaning level required by the user, the smaller the bow width and the more thorough the cleaning.

[0092] In some implementations, the bow width can be determined based on the stability coefficient of the pool cleaning robot as it moves on the cleaning platform, as in steps S141 to S143.

[0093] In step S141, the pool cleaning robot is controlled to rotate in place at a preset angular velocity at a preset position. In some embodiments, the preset position can be an area with a slope or wall, which makes it easier to determine the stability coefficient of the drying platform to be cleaned. In some embodiments, the pool cleaning robot can also be controlled to rotate 360 ​​degrees in place at the preset position, and the angular velocity of the pool cleaning robot during the rotation is detected by sensors.

[0094] In step S142, the stability coefficient of the pool cleaning robot when it moves on the cleaning platform is determined based on the preset angular velocity and rotation radius of the pool cleaning robot.

[0095] The stability coefficient is calculated as follows:

[0096] Stability coefficient ≥ ω 2 r / (g*cosA);

[0097] Where ω is the preset angular velocity;

[0098] r is the radius of rotation;

[0099] g is the acceleration due to gravity;

[0100] A represents the tilt angle of the preset position.

[0101] In step S143, the bow-shaped width of the pool cleaning robot during cleaning is determined based on the stability coefficient. The larger the stability coefficient, the larger the bow-shaped width; the smaller the stability coefficient, the smaller the bow-shaped width.

[0102] Figure 1 Steps S160 to S180 illustrate the method for correcting the positioning information of the pool cleaning robot when it moves in a bow shape.

[0103] In step S160, in response to the pool cleaning robot touching the boundary, it is determined whether the distance the pool cleaning robot moves along the edge is greater than a preset value, and a second determination result is obtained. Since the pool cleaning robot will continue to move along the boundary when it touches it during its movement, it will then continue moving to the other side.

[0104] Taking a drying platform to be cleaned as an example, which is formed by enclosing the first to fourth sides, Figure 2 This is a theoretical path diagram of the pool cleaning robot provided by the present invention when it moves in a bow-shaped pattern. Figure 2 In this diagram, L1 is the first side, L2 is the second side, L3 is the third side, and L4 is the fourth side. When the pool cleaning robot touches the boundary of the third side, it will continue to move along the third side by L. At the turning point, it will turn around and move from the third side towards the first side. When the pool cleaning robot touches the boundary and moves to the turning point of the boundary, the positioning information of the pool cleaning robot is corrected to reduce positioning errors.

[0105] When a pool cleaning robot encounters a boundary, it might be the first or third boundary, or it might be the second or fourth boundary. Taking the robot encountering the second or fourth boundary as an example, since it travels in a bow-like shape between the first and third boundaries, the coordinates of the second and fourth boundaries are unknown (the coordinates of the second and fourth boundaries are unknown when traveling in a bow-like shape from the first to the third boundary), while the coordinates of the preset turning points on the first and third boundaries are known. If a correction is made immediately upon encountering the second or fourth boundary, the robot's coordinates will become even more skewed. Therefore, it is necessary to determine whether the robot has encountered the first or third boundary to avoid misinterpreting it as encountering the first or third boundary when it encounters the second or fourth boundary, leading to a larger coordinate deviation. When the pool cleaning robot travels in a bow shape between the first and third sides, it does not correct its coordinates when it encounters the second or fourth side. Therefore, it will not make further judgments on whether it has reached the preset turning point and make corrections when it encounters the boundary line of the second or fourth side.

[0106] Please see Figure 2 , Figure 2 This illustrates the theoretical scenario for the travel path within the target area. Figure 2It can also be seen that when the pool cleaning robot is moving from the first side to the third side (parallel to the second or fourth boundary), theoretically, the distance the robot travels along the edge should be less than or equal to the first threshold. Now, suppose the robot drifts while moving from the first side to the third side and hits the boundary of the second side. It will continue moving along the second side, at which point it believes it has traveled a distance L along the third side and begins to turn back towards the first side. The distance traveled along the edge is L1, but the robot has not actually reached the boundary of the third side before turning back towards the first side. Theoretically, if the robot moves in a bow shape, it will travel a distance L along the third side after hitting it and then turn back towards the first side at the turning point. However, because the robot drifted and hit the second side, the distance traveled along the edge L1 > L. Understandably, even if the pool cleaning robot travels L1 along the second side, it may not reach the component distance L on the third side. Therefore, when the pool cleaning robot detects that the distance L1 traveled along the side has exceeded the first threshold, and the component distance on the third side has not reached L, it can be determined that the machine has drifted. Thus, when it is determined that the distance traveled along the side by the pool cleaning robot is greater than a preset value, it is considered that the pool cleaning robot has encountered the boundary of the second or fourth side. At this point, further judgment and correction are not possible, as further judgment and correction at this point could easily lead to a larger deviation. The preset value can be determined based on the theoretical distance L that the pool cleaning robot would travel along the third side when it encounters the third side while traveling in a bow-shaped pattern.

[0107] In step S170, if the second judgment result is negative, it is determined whether the pool cleaning robot has reached the preset turning point, and a third judgment result is obtained. When the pool cleaning robot touches the boundary and moves to the turning point of the boundary, the positioning information of the pool cleaning robot is corrected, which will reduce the positioning error.

[0108] In step S180, if the third judgment result is yes, the positioning information of the pool cleaning robot is corrected based on the coordinates of the turning point. The correction can be performed by directly assigning the coordinates of the turning point to the pool cleaning robot.

[0109] In step S161, in response to the swimming pool cleaning robot touching the boundary, it is determined whether the difference between the distance the swimming pool cleaning robot moves along the edge and the theoretical value along the edge is greater than a first preset value, and a second judgment result is obtained.

[0110] The drying platform to be cleaned is formed by surrounding it with the first to fourth sides; in some embodiments, step S170 includes steps S171 and S172.

[0111] In step S171, if the second judgment result is negative, it is determined whether the distance between the pool cleaning robot and the second and fourth sides is greater than a second preset value, thus obtaining a fourth judgment result. Since even if the distance the pool cleaning robot travels along the edge is less than or equal to the preset value, it cannot be completely guaranteed that the pool cleaning robot will not collide with the second or fourth side, further judgment is needed to determine this.

[0112] When the pool cleaning robot gets too close to the second or fourth side, it will make corrections, which will cause the pool cleaning robot's coordinates to be more off-center.

[0113] If the fourth judgment result is yes at step S172, determine whether the pool cleaning robot has reached the preset turning point to obtain the third judgment result.

[0114] In addition, to prevent the pool cleaning robot from failing to clean the corners of the drying rack when cleaning only along the bow-shaped path, some implementations include corner cleaning. For example, the pool cleaning robot is controlled to move to the nearest edge of the drying rack; the pool cleaning robot is controlled to be perpendicular to the edge of the drying rack, so that the roller brush of the pool cleaning robot is close to the junction of the side wall of the drying rack and the ground for a first preset time; the pool cleaning robot is controlled to move backward for a second preset time, rotate 90°, then move forward 2 / 3 times the length of the body of the pool cleaning robot, then rotate 90° to be perpendicular to the side wall of the drying rack and move towards and abut against the side wall of the drying rack to clean until the edge of the drying rack is cleaned. This can make the corner cleaning more thorough.

[0115] The first and second preset durations can be set according to actual needs, such as a few seconds.

[0116] To achieve the above objectives, the present invention also provides a swimming pool cleaning robot, such as... Figure 3 As shown, the pool cleaning robot includes at least one processor 201; and a memory 202 communicatively connected to the at least one processor 201; wherein the memory 202 stores instructions that can be executed by the at least one processor 201, the instructions being executed by the at least one processor 201 to enable the at least one processor 201 to perform the control method of the pool cleaning robot described above.

[0117] The memory 202 and processor 201 are connected via a bus, which may include any number of interconnecting buses and bridges, connecting various circuits of one or more processors 201 and memory 202 together. The bus may also connect various other circuits, such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and therefore will not be described further herein. A bus interface provides an interface between the bus and the transceiver. The transceiver may be a single element or multiple elements, such as multiple receivers and transmitters, providing a unit for communicating with various other devices over a transmission medium. Data processed by processor 201 is transmitted over a wireless medium via an antenna, which further receives data and transmits it to processor 201.

[0118] Processor 201 is responsible for managing the bus and general processing, and can also provide various functions, including timing, peripheral interfaces, voltage regulation, power management, and other control functions. Memory 202 can be used to store data used by processor 201 during operation.

[0119] To achieve the above objectives, the present invention provides a computer-readable storage medium storing a computer program, which, when executed by a processor 201, implements the above-described control method for a pool cleaning robot.

[0120] That is, those skilled in the art will understand that all or part of the steps in the methods of the above embodiments can be implemented by a program instructing related hardware. This program is stored in a storage medium and includes several instructions to cause a device (which may be a microcontroller, chip, etc.) or processor 2014 to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0121] Obviously, the embodiments described above are merely some, not all, embodiments of the present invention. Based on the embodiments of the present invention, those skilled in the art can make other variations or modifications without creative effort, and all such variations or modifications should fall within the scope of protection of the present invention.

Claims

1. A control method for a swimming pool cleaning robot, characterized in that, include: Obtain the area of ​​the drying platform to be cleaned; Determine whether the area to be cleaned is greater than a first threshold, and obtain a first determination result; If the first judgment result is yes, calculate the cleaning direction based on the map boundary of the drying platform to be cleaned; Control the pool cleaning robot to clean according to the calculated cleaning direction.

2. The control method for the pool cleaning robot as described in claim 1, characterized in that, In the step of calculating the cleaning direction based on the map boundary of the drying platform to be cleaned when the first judgment result is yes, the calculation formula for the cleaning direction is as follows: Where θ is the angle of the cleaning direction, and α is the value of α that minimizes the objective function; L i Let be the length of the i-th edge; n is the total number of edges; α is the candidate angle to be optimized.

3. The control method for the pool cleaning robot as described in claim 2, characterized in that, The pool cleaning robot moves in a bow-shaped pattern, and the control method further includes: When the pool cleaning robot is cleaning, in response to detecting an obstacle that does not exist in the pre-built map, the number of bow-shaped bars is determined based on the side length of the circumscribed rectangle perpendicular to the cleaning direction θ or the bow-shaped spacing. Controlling the pool cleaning robot to clean according to the calculated cleaning direction includes: The pool cleaning robot is controlled to clean according to the calculated cleaning direction and the number of bow-shaped strips.

4. The control method for the pool cleaning robot as described in claim 2, characterized in that, The control method further includes: The pool cleaning robot is controlled to rotate in place at a preset angular velocity at a preset position; Based on the preset angular velocity and rotation radius of the pool cleaning robot, the stability coefficient of the pool cleaning robot when moving on the drying platform to be cleaned is determined; The bow-shaped width of the pool cleaning robot during cleaning is determined based on the stability coefficient.

5. The control method for the pool cleaning robot as described in claim 4, characterized in that, The method for calculating the stability coefficient in the step of determining the stability coefficient of the pool cleaning robot when it moves on the cleaning platform based on the preset angular velocity and rotation radius of the pool cleaning robot is as follows: Stability coefficient ≥ ω 2 r / (g*cosA); Where ω is the preset angular velocity; r is the radius of rotation; g is the acceleration due to gravity; A represents the tilt angle of the preset position.

6. The control method for the pool cleaning robot as described in claim 1, characterized in that, The pool cleaning robot moves in a bow-shaped pattern; After the step of controlling the pool cleaning robot to clean according to the calculated cleaning direction, the control method further includes: When the pool cleaning robot touches the boundary, it is determined whether the distance the pool cleaning robot moves along the edge is greater than a preset value, and a second determination result is obtained; If the second judgment result is negative, determine whether the pool cleaning robot has reached the preset turning point to obtain the third judgment result; If the third judgment result is yes, the positioning information of the pool cleaning robot is corrected according to the coordinates of the turning point.

7. The control method for the pool cleaning robot as described in claim 6, characterized in that, When the pool cleaning robot touches the boundary, it determines whether the distance the pool cleaning robot moves along the edge is greater than a preset value, and obtains a second determination result, including: When the pool cleaning robot touches the boundary, it is determined whether the difference between the distance the pool cleaning robot moves along the edge and the theoretical value along the edge is greater than a first preset value, and a second judgment result is obtained.

8. The control method for the pool cleaning robot as described in claim 6, characterized in that, The drying platform to be cleaned is formed by enclosing it with the first to fourth sides; When the second judgment result is negative, the third judgment result is obtained by determining whether the pool cleaning robot has reached the preset turning point, including: If the second judgment result is negative, determine whether the distance between the pool cleaning robot and the second and fourth sides is greater than the second preset value, and obtain the fourth judgment result; If the fourth judgment result is yes, determine whether the pool cleaning robot has reached the preset turning point to obtain the third judgment result.

9. The control method for the pool cleaning robot as described in claim 1, characterized in that, The control method further includes: Control the pool cleaning robot to move to the nearest boundary of the sun deck to be cleaned; Control the pool cleaning robot to be perpendicular to the boundary of the drying platform to be cleaned, so that the position of the roller brush of the pool cleaning robot is close to the junction of the side wall and the ground of the drying platform to be cleaned for a first preset time. Control the pool cleaning robot to retreat for a second preset time, rotate 90°, then advance 2 / 3 times the length of the robot's body, then rotate 90° to be perpendicular to the side wall of the drying platform to be cleaned and to clean the side wall of the drying platform until the boundary of the drying platform is cleaned.

10. A swimming pool cleaning robot, characterized in that, include: At least one processor; as well as, A memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the control method for the pool cleaning robot as described in any one of claims 1 to 9.

11. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the control method for the pool cleaning robot as described in any one of claims 1 to 9.

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