Swimming pool robot control method, swimming pool robot control device and control system

Abstract

The application discloses a pool robot control method, a pool robot control device and a control system. The method comprises the following steps: after receiving a first instruction, controlling a driving module in the pool robot to be in a first working state, and controlling a water pump in the pool robot to work at a first power, the water pump providing pressure on the pool wall for the pool robot to move to a first position on the drag mechanism on the pool wall, so that the drag mechanism drags the pool robot in the first position out of the water surface; acquiring first information for judging the position of the pool robot; in the case that the acquired first information meets a preset condition, determining that the pool robot reaches the first position, controlling the driving module to be in a second working state, and / or the water pump works at a second power, the rotation frequency of the driving module in the second working state is less than that in the first working state, and the first power is greater than the second power.

Description

Technical Field

[0001] This application relates to the field of mechanical control technology, and in particular to a swimming pool robot control method, swimming pool robot control device and control system. Background Technology

[0002] With the improvement of people's living standards, the use of private swimming pools is becoming increasingly popular. Pool robots, as a convenient automated device, are widely used in pool maintenance. After maintenance, the pool robot is submerged in water and needs to be manually removed, a process that carries certain risks. Therefore, automating the removal of pool robots from the water, reducing wear and tear during the process, and extending their lifespan is of great importance. Summary of the Invention

[0003] This application provides a swimming pool robot control method, a swimming pool robot control device and control system, and also includes electronic devices, computer-readable storage media and computer program products.

[0004] Firstly, a method for controlling a swimming pool robot is provided.

[0005] Upon receiving the first instruction, the drive module in the pool robot is controlled to be in a first working state, and the water pump in the pool robot is controlled to work at a first power. The water pump provides pressure on the pool wall to the pool robot, so that the pool robot moves on the pool wall to a first position on the towing mechanism, thereby causing the towing mechanism to tow the pool robot in the first position out of the water.

[0006] Obtain first information for determining the position of the pool robot;

[0007] If the first information obtained satisfies the preset conditions, it is determined that the pool robot has reached the first position, the drive module is controlled to be in the second working state, and / or the water pump operates at the second power. When the pool robot reaches the first position, the drive module contacts the first area on the towing mechanism. The rotation frequency of the drive module in the second working state is less than the rotation frequency of the drive module in the first working state, and the first power is greater than the second power.

[0008] In any embodiment of this application, the first information includes one or more of the following: stress information, the working state of the drive module and the speed of the pool robot, the rotation frequency of the rotating unit in the towing mechanism, the first environmental information of the environment in which the pool robot is located, and the infrared signal emitted by the towing mechanism.

[0009] The stress information is information about the stress generated between the pool robot and the towing mechanism when the pool robot is in the first position;

[0010] When the pool robot is in the first position, the rotating unit is driven to rotate by the rotation of the drive module.

[0011] In conjunction with any embodiment of this application, when the first information includes stress information, the preset condition includes the stress information being greater than a first threshold.

[0012] The step of obtaining first information for determining the position of the pool robot includes:

[0013] Obtain the stress information generated when the pool robot comes into contact with the towing mechanism.

[0014] In conjunction with any embodiment of this application, when the first information includes the working state of the drive module and the speed of the pool robot, the preset condition includes that the drive module is in the first working state and the speed of the pool robot is less than a second threshold.

[0015] The step of obtaining first information for determining the position of the pool robot includes:

[0016] The operating status of the drive module and the speed at which the pool robot moves are obtained.

[0017] In conjunction with any embodiment of this application, when the first information includes the rotation frequency of the rotating unit, the preset condition includes the rotation frequency of the rotating unit being greater than the third threshold.

[0018] The step of obtaining first information for determining the position of the pool robot includes:

[0019] Obtain the rotation frequency of the rotating unit.

[0020] In any embodiment of this application, the first information includes the first environmental information, and the preset condition includes that the similarity between the first environmental information and the second environmental information of the first location is greater than a fourth threshold.

[0021] The step of obtaining first information for determining the position of the pool robot includes:

[0022] Obtain the first environmental information of the environment in which the pool robot is located.

[0023] In any embodiment of this application, the pool robot includes an environmental sensor, which includes one or more of an ultrasonic sensor and a visual sensor;

[0024] The first environmental information of the environment in which the pool robot is located includes:

[0025] The first environmental information is determined by environmental sensors in the pool robot.

[0026] In conjunction with any embodiment of this application, when the first information includes the infrared signal, the preset condition includes receiving the infrared signal;

[0027] The step of obtaining first information for determining the position of the pool robot includes:

[0028] The infrared signal emitted by the towing mechanism is acquired.

[0029] In any embodiment of this application, the towing mechanism includes a first boundary, and the pool robot can reach the first position by passing through the first boundary;

[0030] The step of determining that the pool robot has reached the first position when the received first information meets preset conditions, controlling the drive module to be in a second working state, and / or the water pump operating at a second power includes:

[0031] When the received first information meets the preset conditions and the movement direction of the pool robot is perpendicular to the first boundary, the drive module is controlled to be in a second working state, and / or the water pump operates at a second power.

[0032] Secondly, a swimming pool robot control device is provided, the swimming pool robot control device comprising:

[0033] The control unit is configured to, upon receiving a first instruction, control the drive module in the pool robot to be in a first working state, and control the water pump in the pool robot to operate at a first power, wherein the water pump provides pressure on the pool wall to the pool robot so that the pool robot moves on the pool wall to a first position on the towing mechanism, thereby causing the towing mechanism to tow the pool robot in the first position out of the water.

[0034] The acquisition unit acquires first information for determining the position of the pool robot;

[0035] The control unit determines that the pool robot has reached the first position when the first information it has acquired meets the preset conditions, controls the drive module to be in a second working state, and / or the water pump operates at a second power. When the pool robot reaches the first position, the drive module contacts the first area on the towing mechanism. The rotation frequency of the drive module in the second working state is less than the rotation frequency of the drive module in the first working state, and the first power is greater than the second power.

[0036] In any embodiment of this application, the first information includes one or more of the following: stress information, the working state of the drive module and the speed of the pool robot, the rotation frequency of the rotating unit in the towing mechanism, the first environmental information of the environment in which the pool robot is located, and the infrared signal emitted by the towing mechanism.

[0037] The stress information is information about the stress generated between the pool robot and the towing mechanism when the pool robot is in the first position;

[0038] When the pool robot is in the first position, the rotating unit is driven to rotate by the rotation of the drive module.

[0039] In conjunction with any embodiment of this application, when the first information includes stress information, the preset condition includes the stress information being greater than a first threshold.

[0040] The aforementioned acquisition unit is specifically used for:

[0041] Obtain the stress information generated when the pool robot comes into contact with the towing mechanism.

[0042] In conjunction with any embodiment of this application, when the first information includes the working state of the drive module and the speed of the pool robot, the preset condition includes that the drive module is in the first working state and the speed of the pool robot is less than a second threshold.

[0043] The aforementioned acquisition unit is specifically used for:

[0044] The operating status of the drive module and the speed at which the pool robot moves are obtained.

[0045] In conjunction with any embodiment of this application, when the first information includes the rotation frequency of the rotating unit, the preset condition includes the rotation frequency of the rotating unit being greater than the third threshold.

[0046] The aforementioned acquisition unit is specifically used for:

[0047] Obtain the rotation frequency of the rotating unit.

[0048] In any embodiment of this application, the first information includes the first environmental information, and the preset condition includes that the similarity between the first environmental information and the second environmental information of the first location is greater than a fourth threshold.

[0049] The aforementioned acquisition unit is specifically used for:

[0050] Obtain the first environmental information of the environment in which the pool robot is located.

[0051] In any embodiment of this application, the pool robot includes an environmental sensor, which includes one or more of an ultrasonic sensor and a visual sensor;

[0052] The aforementioned acquisition unit is specifically used for:

[0053] The first environmental information is determined by environmental sensors in the pool robot.

[0054] In conjunction with any embodiment of this application, when the first information includes the infrared signal, the preset condition includes receiving the infrared signal;

[0055] The aforementioned acquisition unit is specifically used for:

[0056] The infrared signal emitted by the towing mechanism is acquired.

[0057] In any embodiment of this application, the towing mechanism includes a first boundary, and the pool robot can reach the first position by passing through the first boundary;

[0058] The aforementioned control unit is also used for:

[0059] When the received first information meets the preset conditions and the movement direction of the pool robot is perpendicular to the first boundary, the drive module is controlled to be in a second working state, and / or the water pump operates at a second power.

[0060] Thirdly, a control system is provided, which includes a pool robot control device, a pool robot, a towing mechanism, a towing base station, and a connection unit.

[0061] The towing base station is connected to the towing mechanism through the connecting unit. The connecting unit is used to move on the towing base station so that the towing mechanism is on the pool wall or on the towing base station.

[0062] The pool robot control device controls the pool robot to reach a first position on the towing mechanism according to the first aspect and any embodiment thereof;

[0063] When the pool robot reaches the first position, the towing base station controls the connection unit to move so that the towing mechanism moves to the towing base station, thereby causing the pool robot at the first position of the towing mechanism to leave the water.

[0064] In conjunction with any embodiment of this application, during the process of the towing mechanism towing the pool robot out of the water, the pool robot control device acquires second information and determines that the pool robot is in a stable state based on the second information;

[0065] When the pool robot is in a stable state, the control device controls the drive module in the pool robot to be in a third working state and controls the water pump in the pool robot to operate at a third power. The rotation frequency of the drive module in the third working state is less than or equal to the rotation frequency of the drive module in the second working state, and the third power is less than the second power.

[0066] In any embodiment of this application, the second information includes at least one of pressure information, angle information, and water-removal status information. The pressure information includes the pressure value between the pool robot and the towing mechanism. The angle information includes the angle between the pool robot and the first direction. The water-removal status information includes whether the pool robot has left the water surface. The first direction is a direction perpendicular to the water surface, and the included angle is an acute angle.

[0067] Fourthly, an electronic device is provided, comprising: a processor and a memory, the memory being used to store computer program code, the computer program code including computer instructions, wherein, when the processor executes the computer instructions, the electronic device performs as described in the first aspect and any of its embodiments.

[0068] Fifthly, another electronic device is provided, comprising: a processor, a transmitting device, an input device, an output device, and a memory, the memory being used to store computer program code, the computer program code including computer instructions, wherein, when the processor executes the computer instructions, the electronic device performs as described in the first aspect and any of its embodiments.

[0069] In a sixth aspect, a computer-readable storage medium is provided, wherein a computer program is stored therein, the computer program including program instructions that, when executed by a processor, cause the processor to perform the first aspect and any of its embodiments described above.

[0070] In a seventh aspect, a computer program product is provided, the computer program product comprising a computer program or instructions that, when the computer program or instructions are executed on a computer, cause the computer to perform the first aspect and any of its embodiments described above.

[0071] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this application.

[0072] In this embodiment, after receiving a first instruction, the pool robot control device controls the drive module in the pool robot to be in a first working state, so that the pool robot moves to a first position on the towing mechanism, and acquires first information to determine the position of the pool robot. If the first information meets preset conditions, it determines that the pool robot has reached the first position, and controls the drive module in the pool robot to be in a second working state, and / or, the water pump operates at a second power, wherein the second power is less than the first power. When the pool robot reaches the first position, the drive module contacts a first area on the towing mechanism. When the drive module is in the first working state, the rotation frequency of the drive module is relatively high, and the sliding friction between the drive module and the first area causes continuous wear on the drive module and the first area on the towing mechanism, reducing the service life of the drive module and the first area on the towing mechanism.

[0073] When the drive module is in its second operating state, its rotation frequency is lower than that in its first operating state. By reducing the rotation frequency, the frequency of wear between the drive module and the first area is reduced, thereby increasing the service life of both the drive module and the first area on the towing mechanism. Optionally, when the drive module is in its second operating state, its rotation frequency is 0, meaning it stops rotating. In this case, there is no sliding friction between the drive module and the first area on the towing mechanism, further reducing the frequency of wear between the drive module and the first area, and increasing the service life of both the drive module and the towing mechanism located in the first area.

[0074] When the water pump is controlled to operate at a second power, which is less than the first power, the pressure provided by the water pump to the pool robot in the first area is reduced, thereby reducing the friction between the pool robot and the towing mechanism. By reducing the friction between the pool robot and the towing mechanism, the severity of wear between the pool robot and the towing mechanism can be reduced, thus increasing the service life of the drive module and the towing mechanism in the first area. Attached Figure Description

[0075] To more clearly illustrate the technical solutions in the embodiments of this application or the background art, the accompanying drawings used in the embodiments of this application or the background art will be described below.

[0076] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the specification, serve to explain the technical solutions of this application.

[0077] Figure 1 A flowchart illustrating a swimming pool robot control method provided in an embodiment of this application;

[0078] Figure 2 This is a schematic diagram of the structure of a towing mechanism provided in an embodiment of this application;

[0079] Figure 3 This is a schematic diagram of another towing mechanism provided in an embodiment of this application;

[0080] Figure 4 A schematic diagram of a towing mechanism and a pool robot provided in this application embodiment;

[0081] Figure 5 A schematic diagram of a swimming pool robot in a desired posture, provided as an embodiment of this application;

[0082] Figure 6 A schematic diagram illustrating a swimming pool robot not in the expected posture, provided as an embodiment of this application;

[0083] Figure 7 A schematic diagram of the structure of a control system provided in an embodiment of this application;

[0084] Figure 8 A schematic diagram of another control system provided in an embodiment of this application;

[0085] Figure 9 A schematic diagram illustrating the towing of a pool robot out of the water, provided as an embodiment of this application;

[0086] Figure 10 This is a schematic diagram of the structure of a swimming pool robot control device provided in an embodiment of this application;

[0087] Figure 11 This is a schematic diagram of the hardware structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0088] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0089] The terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0090] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0091] The execution subject of this application embodiment is a swimming pool robot control device, wherein the swimming pool robot control device is any electronic device used to control the swimming pool robot and capable of executing the technical solutions disclosed in the method embodiments of this application. Optionally, the swimming pool robot control device can be one of the following: a computer, a server, or a processor.

[0092] It should be understood that the method embodiments of this application can also be implemented by a processor executing computer program code. The embodiments of this application are described below with reference to the accompanying drawings. Please refer to... Figure 1 , Figure 1 This is a flowchart illustrating a swimming pool robot control method provided in an embodiment of this application.

[0093] 101. Upon receiving the first instruction, control the drive module in the pool robot to be in the first working state, and control the water pump in the pool robot to work at the first power.

[0094] In this embodiment, the pool robot is a robot used for underwater operations in a pool. The pool robot can be used to clean trash in the pool, filter the water, etc. After receiving a first command to leave the water during underwater operations, the drive module in the pool robot is controlled to enter a first working state, and the water pump in the pool robot is controlled to operate at a first power. The water pump provides pressure to the pool wall, and this pressure is positively correlated with the power of the water pump. This causes the pool robot to move to a first position on the towing mechanism, and the towing mechanism then tows the pool robot out of the water.

[0095] In one implementation of receiving the first instruction, the pool robot obtains and generates the first instruction after completing the underwater operation, and transmits it to the pool robot control device.

[0096] In another implementation of receiving the first command, the pool robot generates the first command when its power is insufficient to complete the underwater operation, and transmits it to the pool robot control device.

[0097] In another implementation of receiving the first instruction, when the health level of the components in the pool robot used to perform underwater operations falls below a health level threshold, a first instruction is generated and transmitted to the pool robot control device. For example, when the pool robot is cleaning trash in the pool, if there is insufficient space for storing the trash, a first instruction is generated and transmitted to the pool robot control device.

[0098] In another implementation of receiving the first command, when it is necessary to interrupt the underwater operation of the pool robot, a first command is sent to the pool robot control device. Specifically, when the pool robot can communicate underwater, a sound wave carrying the first command is sent to the pool robot control device, and / or a sonar signal, and / or a laser signal, so that upon receiving the sound wave and / or sonar signal containing the first command, the pool robot control device controls the pool robot to move to a first position. When the pool robot cannot communicate underwater, a signal carrying the first command is periodically sent to the pool robot control device. When the pool robot surfaces, the pool robot control device can receive the signal carrying the first command and control the pool robot to move to the first position. Optionally, the device sending the first command can be a towing mechanism or an application for controlling the pool robot.

[0099] In this embodiment, the drive module is a drive module in a pool robot that propels the pool robot to move. In one possible implementation, the drive module includes wheels, tracks, or other drive modules that can move underwater. This drive module enables the pool robot to move along the pool wall and, upon receiving a first command, move along the pool wall to a first position.

[0100] In another possible implementation, the drive module includes a propeller or other drive module, which enables the pool robot to move on the water surface and / or in the water, and to move to a first position in the water after receiving a first command.

[0101] In this embodiment, the first position is located on the towing mechanism, as detailed in the reference. Figure 2 , Figure 2 This is a schematic diagram of a towing mechanism provided in an embodiment of this application. Specifically, the towing mechanism has a first boundary below it, and a movable barrier exists at the first boundary. When the movable barrier is opened, the pool robot can pass through the first boundary to reach a first position. After the pool robot reaches the first position, the movable barrier closes to prevent the pool robot from slipping during the process of being towed out of the water. The first position is located on the contact bottom surface of the towing mechanism. When the pool robot reaches the first position, it reaches the first position on the contact bottom surface. The drive module of the pool robot contacts the first area on the contact bottom surface. The towing mechanism includes a rotatable rotating unit. When the pool robot is in the first position, the rotation of the drive module drives the rotation of the rotating unit.

[0102] Please see Figure 3 , Figure 3 This is a schematic diagram of another towing mechanism provided in an embodiment of this application. Specifically, the right side of the towing mechanism is the first boundary. The pool robot can pass through the first boundary to reach the first position. After the pool robot reaches the first position, the towing mechanism tows the pool robot out of the water.

[0103] 102. Obtain the first information used to determine the position of the pool robot.

[0104] In this embodiment of the application, the first information is information used to determine the position of the pool robot.

[0105] In one possible implementation, the first information includes stress information, which includes the pressure generated when the pool robot, in its first position, moves due to the rotation of the drive module, causing it to contact the towing mechanism; and the pressure generated when the drive module of the pool robot contacts a first area on the towing mechanism. Optionally, the towing mechanism includes a rotatable rotating unit. When the pool robot is in the first position, the rotation of the drive module causes the rotating unit to rotate. The stress information is the pressure between the drive module and the rotating unit, wherein the rotating unit is used to prevent the pool robot from moving. Specifically, by deploying pressure sensors in the drive module and / or the rotating unit, the pressure sensors transmit the received pressure to the pool robot. Please refer to [link to relevant documentation]. Figure 4 , Figure 4 This application provides a structural schematic diagram of a towing mechanism and a pool robot. Specifically, the pool robot includes two drive modules, and the towing mechanism includes two rotating units. Each drive module corresponds to one of the rotating units. Pressure sensors are deployed in any drive module and / or rotating unit to detect the pressure when the drive module contacts the corresponding rotating unit and transmit the detected pressure to the pool robot. Optionally, if pressure sensors are deployed in the rotating units, the towing mechanism transmits the stress information received by the pressure sensors to the pool robot control device.

[0106] In another possible implementation, the first information includes the operating status of the drive module and the speed of the pool robot. Specifically, the pool robot includes a speed sensor that receives the speed of the pool robot's movement. The pool robot control device obtains the speed of the pool robot's movement and the operating status of the drive module from the speed sensor and the drive module, respectively. Optionally, the speed sensor includes an inertial measurement unit (IMU). The IMU is used to determine the acceleration of the pool robot from a stationary state to the current moment, thereby determining the speed of the pool robot at the current moment.

[0107] In another possible implementation, the first information includes the rotation frequency of the rotating unit in the towing mechanism. Specifically, the towing mechanism includes a rotation sensor. When the pool robot is in the first position, the rotation of the drive module drives the rotation of the rotating unit. The rotation sensor detects the rotation frequency of the rotating unit and transmits this frequency to the pool robot control device. Optionally, the rotation sensor includes a Hall sensor.

[0108] In another possible implementation, the first information includes first environmental information about the environment in which the pool robot is located. Specifically, the pool robot includes environmental sensors that determine the first environmental information of the environment in which the pool robot is located and transmit the first environmental information to the pool robot control device. Optionally, the environmental sensors include ultrasonic sensors that detect the shapes of obstacles around the pool robot and transmit the shapes of the obstacles as first environmental information to the pool robot control device. Optionally, the environmental sensors include vision sensors that receive image information about the pool robot's surroundings and transmit the image information as first environmental information to the pool robot control device.

[0109] In another possible implementation, the first information includes an infrared signal emitted by the towing mechanism. Specifically, the pool robot includes an infrared sensor that detects the infrared signal emitted by the towing mechanism and, upon receiving the infrared signal, transmits it to the pool robot control device.

[0110] 103. When the first information obtained meets the preset conditions, it is determined that the pool robot has reached the first position, the control drive module is in the second working state, and / or the water pump operates at the second power.

[0111] In this embodiment, after the pool robot control device obtains that the first information meets the preset conditions, it determines that the pool robot has reached the first position, controls the drive module to switch its working state from the first working state to the second working state, and / or controls the water pump to operate at the second power. The rotation frequency of the drive module in the first working state is greater than the rotation frequency of the drive module in the second working state. The second power is less than the first power; therefore, when the water pump is controlled to operate at the second power, the pressure of the pool robot on the first area of ​​the towing mechanism decreases.

[0112] If the first information includes stress information, a preset condition includes the stress information being greater than a first threshold. In the first operating state, the drive module drives the pool robot to move. After the pool robot reaches the first position, the stress information between it and the towing mechanism is greater than the first threshold. Therefore, if the stress information is greater than the first threshold, it indicates that the pool robot is in the first position.

[0113] Given that the first information includes the operating state of the drive module and the speed of the pool robot, the preset conditions include the drive module being in a first operating state and the speed of the pool robot being less than a second threshold. The drive module drives the pool robot in the first operating state, and after reaching a first position, the pool robot slips at that position (the drive module contacts a first area within the first position, and sliding friction occurs between the drive module and the first area during rotation). Therefore, when the drive module is in the first operating state and the speed of the pool robot is less than the second threshold, it indicates that the pool robot is in the first position.

[0114] When the first information includes the rotation frequency of the rotating unit in the towing mechanism, a preset condition includes that the rotation frequency of the rotating unit is greater than a third threshold. After the pool robot reaches the first position, the drive module contacts the rotating unit. During rotation, the drive module can drive the rotating unit to rotate together. When the drive module is in the first working state, the rotation frequency of the drive module is relatively high, and the rotation frequency of the rotating unit is also relatively high. Therefore, when the rotation frequency of the rotating unit is greater than the third threshold, it indicates that the pool robot is in the first position. Optionally, the towing mechanism includes two or more rotating units, and the pool robot includes two or more drive modules, with each drive module corresponding to a rotating unit. By obtaining the rotation frequencies of two or more rotating units, the pool robot can be positioned at the expected position on the towing mechanism when the rotation frequencies of two or more rotating units meet the preset condition, thereby ensuring the stability of the pool robot during towing.

[0115] Given that the first information includes the first environmental information of the pool robot's environment, a preset condition includes that the similarity between the first environmental information and the second environmental information of the first position is greater than a fourth threshold. After the pool robot reaches the first position, there are 3 or 4 baffles around the pool robot (see reference). Figure 2 or Figure 3 Therefore, the second environmental information includes information about three or four baffles. If the first environmental information includes information or images of three or four baffles, and the similarity between the first and second environmental information is greater than a fourth threshold, it indicates that the pool robot is in the first position. Optionally, the baffles around the pool robot have QR codes for identifying location information; when the first environmental information includes this QR code information, it can be determined that the pool robot is in the first position.

[0116] When the first signal includes an infrared signal, the preset condition includes receiving the infrared signal. Since the infrared signal is emitted by the towing mechanism, and the pool robot can only receive this infrared signal when in the first position, the receipt of the infrared signal by the pool robot indicates that the pool robot is in the first position.

[0117] In this embodiment, the frictional force experienced by the pool robot in the first position is positively correlated with the pressure exerted by the pool robot on the first area (the area where the drive module of the pool robot contacts the towing mechanism). The greater the pressure exerted by the pool robot on the first area, the greater the frictional force experienced by the pool robot in the first position. Furthermore, the pressure exerted by the pool robot on the first area is positively correlated with the power of the water pump; the higher the power of the water pump, the greater the pressure exerted by the pool robot on the first area. Therefore, when the pool robot reaches the first position, the water pump is controlled to operate at a second power, which is less than the first power. Thus, when the water pump operates at the second power, the pressure exerted by the pool robot on the first area is less than when the water pump operates at the first power. By reducing the pressure exerted by the pool robot on the first area through the above steps, the frictional force experienced by the pool robot is reduced. By reducing the frictional force experienced by the pool robot, the severity of wear between the pool robot and the towing mechanism can be reduced, thereby increasing the service life of the drive module and the towing mechanism located in the first area.

[0118] Optionally, the friction force includes static friction or sliding friction. When the drive module rotates, sliding friction occurs between the drive module and the first area of ​​the towing mechanism. The towing mechanism applies sliding friction to the pool robot, and this sliding friction is positively correlated with the pressure exerted by the pool robot on the first area. When the drive module stops rotating, static friction occurs between the drive module and the first area of ​​the towing mechanism. The towing mechanism applies static friction to the pool robot, and this static friction is positively correlated with the pressure exerted by the pool robot on the first area.

[0119] In this embodiment, after receiving a first instruction, the pool robot control device controls the drive module in the pool robot to be in a first working state, so that the pool robot moves to a first position on the towing mechanism, and acquires first information to determine the position of the pool robot. If the first information meets preset conditions, it determines that the pool robot has reached the first position, and controls the drive module in the pool robot to be in a second working state, and / or, the water pump operates at a second power, wherein the second power is less than the first power. When the pool robot reaches the first position, the drive module contacts a first area on the towing mechanism. When the drive module is in the first working state, the rotation frequency of the drive module is relatively high, and the sliding friction between the drive module and the first area causes continuous wear on the drive module and the first area on the towing mechanism, reducing the service life of the drive module and the first area on the towing mechanism.

[0120] When the drive module is in its second operating state, its rotation frequency is lower than that in its first operating state. By reducing the rotation frequency, the frequency of wear between the drive module and the first area is reduced, thereby increasing the service life of both the drive module and the first area on the towing mechanism. Optionally, when the drive module is in its second operating state, its rotation frequency is 0, meaning it stops rotating. In this case, there is no sliding friction between the drive module and the first area on the towing mechanism, further reducing the frequency of wear between the drive module and the first area, and increasing the service life of both the drive module and the towing mechanism located in the first area.

[0121] When the water pump is controlled to operate at a second power, which is less than the first power, the pressure provided by the water pump to the pool robot in the first area is reduced, thereby reducing the friction between the pool robot and the towing mechanism. By reducing the friction between the pool robot and the towing mechanism, the severity of wear between the pool robot and the towing mechanism can be reduced, thus increasing the service life of the drive module and the towing mechanism in the first area.

[0122] Optionally, after the control drive module is in the second working state, the pool robot control device continues to execute step 102 to obtain the first information. If the switching of the working state of the drive module causes the pool robot to move, and thus causes the pool robot to be no longer in the first position, steps 101 to 103 can be executed again to make the pool robot return to the first position.

[0123] As an optional implementation, the towing mechanism includes a first boundary, through which the pool robot can reach a first position. The first boundary can be referenced. Figure 2 or Figure 3 The relevant descriptions in the text will not be repeated here. The pool robot control device performs the following steps during step 103:

[0124] 201. When the received first information meets the preset conditions and the movement direction of the pool robot is perpendicular to the first boundary, the drive module in the pool robot is controlled to be in a second working state, and / or the water pump operates at a second power.

[0125] In this embodiment, when the swimming pool robot control device receives first information that meets preset conditions, it performs attitude detection on the swimming pool robot, that is, it determines whether the swimming pool robot's direction of movement is perpendicular to the first boundary. When the swimming pool robot's direction of movement is perpendicular to the first boundary, the swimming pool robot's attitude is in the expected attitude. When the swimming pool robot is in the expected attitude, the possibility of the swimming pool robot slipping during towing due to attitude deviation can be reduced. Please refer to [link to relevant documentation]. Figure 5 , Figure 5 This is a schematic diagram of a swimming pool robot in a desired posture, provided in an embodiment of this application. The swimming pool robot reaches a first position on the towing mechanism, and the direction of movement of the swimming pool robot is perpendicular to the first boundary. During the process of the towing mechanism towing the swimming pool robot out of the water, the lower baffle in the towing mechanism applies upward pressure to the swimming pool robot, thereby towing the swimming pool robot out of the water. The left baffle does not apply rightward pressure to the swimming pool robot. The stability of the swimming pool robot in the desired posture is relatively high.

[0126] Please see Figure 6 , Figure 6 This illustration shows a swimming pool robot not in the intended posture, as provided in an embodiment of this application. The robot reaches a first position on the towing mechanism, and its direction of movement is not perpendicular to the first boundary. During the process of the towing mechanism dragging the robot out of the water, the lower baffle in the towing mechanism applies upward pressure to the robot, while the left baffle applies rightward pressure. To maintain balance, the lower baffle applies leftward friction to counteract the rightward pressure, thus achieving balance. However, the robot's stability is low at this point. If the leftward or rightward pressure changes, the robot may experience an imbalance of forces, increasing the likelihood of it detaching from the towing mechanism. Optionally, if a movable baffle exists at the first boundary, and the robot is not in the intended posture, the movable baffle at the first boundary may not close, further increasing the likelihood of the robot detaching from the towing mechanism.

[0127] Please see Figure 7 , Figure 7 This is a schematic diagram of a control system provided in an embodiment of this application.

[0128] like Figure 7 As shown, the control system includes, but is not limited to: a pool robot control device, a pool robot, a towing mechanism, a towing base station, and a connection unit.

[0129] The towing base station is connected to the towing mechanism via a connecting unit. The connecting unit is used to move on the towing base station so that the towing mechanism is on the pool wall or on the towing base station.

[0130] The pool robot control device controls the pool robot to reach the first position on the towing mechanism according to steps 101 to 103 and any of their embodiments.

[0131] When the pool robot reaches the first position, the towing base station controls the connection unit to move so that the towing mechanism moves onto the towing base station, thereby causing the pool robot in the first position of the towing mechanism to leave the water.

[0132] Understandably, once the pool robot reaches the first position, the towing base station moves on the towing base station by controlling the connecting unit to move the towing mechanism connected to the connecting unit onto the towing base station. At this time, the pool robot, which is in the first position on the towing mechanism, is towed out of the water.

[0133] Optional, such as Figure 7 As shown, the pool robot's control unit is located on the pool robot. Please refer to [link / reference]. Figure 8 , Figure 8 This is a schematic diagram of another control system provided in an embodiment of this application. The control unit includes, but is not limited to: a pool robot control device, a pool robot, a towing mechanism, a towing base station, and a connection unit. The towing base station is connected to the towing mechanism via the connection unit. The pool robot control device is not located on the pool robot and controls the pool robot via remote communication.

[0134] In one possible embodiment, the pool robot control device acquires second information during the process of the towing mechanism towing the pool robot out of the water, and determines that the pool robot is in a stable state based on the second information.

[0135] When the pool robot is in a stable state, the control device controls the drive module in the pool robot to be in a third working state and controls the water pump in the pool robot to work at a third power. The rotation frequency of the drive module in the third working state is less than or equal to the rotation frequency of the drive module in the second working state, and the third power is less than the second power.

[0136] Understandably, when the pool robot is in a stable state, it can remain in the first position of the towing mechanism without relying on the drive module's actuation or the water pump's pressure. Therefore, when the pool robot control device determines that the pool robot is in a stable state based on the second information, it can control the pool robot's drive module to be in a third operating state and control the pool robot's water pump to operate at a third power. In this third operating state, the rotation frequency of the drive module is less than or equal to the rotation frequency of the drive module in the second operating state, and the third power is less than the second power.

[0137] Optionally, when the drive module is in the third operating state, the rotation frequency of the drive module is 0. When the pool robot is in a stable state, the drive module is controlled to stop rotating.

[0138] Optionally, the third power is 0. The water pump stops operating when the pool robot is in a stable state.

[0139] In one possible embodiment, the second information includes at least one of pressure information, angle information, and water-off status information. The pressure information includes the pressure value between the pool robot and the towing mechanism, the angle information includes the angle between the pool robot and the first direction, and the water-off status information includes whether the pool robot has left the water surface. The first direction is a direction perpendicular to the water surface, and the angle is an acute angle.

[0140] Understandably, the pressure information includes the pressure value between the robot and the towing mechanism. Specifically, a pressure sensor is deployed in the first area of ​​the pool robot. The pressure sensor determines the pressure value of the pool robot's drive module on the first area as pressure information. If the pressure information is greater than a fifth threshold, it indicates that the sum of the pool robot's gravity and the pressure provided by the water pump is relatively large. The pressure provided by the water pump is a constant value, so the pressure value of the pool robot's gravity on the first area is relatively large. At this time, the pool robot's posture is close to a horizontal posture, that is, parallel to the horizontal plane. The possibility of the pool robot slipping off the towing mechanism is low. Therefore, the drive module can be controlled to be in the third working state, and the water pump can be controlled to operate at the third power, reducing the workload of the drive module and the water pump and extending their service life.

[0141] The angle information refers to the angle between the pool robot and the first direction, where the first direction is perpendicular to the water surface, and the included angle is an acute angle. When the included angle is greater than the sixth threshold, the pool robot's posture approaches a horizontal posture, i.e., parallel to the horizontal plane. The possibility of the pool robot slipping off the towing mechanism is low. Therefore, the drive module can be controlled to be in the third working state, and the water pump can be controlled to operate at the third power, reducing the workload of the drive module and the water pump and extending their service life.

[0142] The water-off status information includes whether the pool robot has left the water surface. When the pool robot leaves the water, the towing mechanism has already towed the pool robot out of the water, and the pool robot's posture is close to a horizontal posture, that is, parallel to the horizontal plane. The possibility of the pool robot slipping off the towing mechanism is low. Therefore, the drive module can be controlled to be in the third working state, and the water pump can be controlled to operate at the third power, reducing the workload of the drive module and water pump and extending their service life.

[0143] In one possible implementation scenario, the towing mechanism is deployed on the pool wall. The towing mechanism is connected to a towing base via a connecting unit. The connecting unit can move on the towing base. By controlling the movement of the connecting unit on the towing base, the towing mechanism can be moved from the pool wall to the towing base. (See details...) Figure 9 , Figure 9This is a schematic diagram of a swimming pool robot being towed out of the water, provided in an embodiment of this application. The towing base is deployed on the edge of the pool, and the towing mechanism is deployed on the pool wall through a connecting unit. After the swimming pool robot reaches the first position of the towing mechanism, the towing mechanism can be moved onto the towing base by controlling the movement of the connecting unit. At this time, the swimming pool robot located at the first position of the towing mechanism is towed out of the water.

[0144] Those skilled in the art will understand that, in the above-described method of the specific implementation, the order in which each step is written does not imply a strict execution order and does not constitute any limitation on the implementation process. The specific execution order of each step should be determined by its function and possible internal logic.

[0145] The methods of the embodiments of this application have been described in detail above, and the apparatus of the embodiments of this application is provided below.

[0146] Please see Figure 10 , Figure 10 This is a schematic diagram of a swimming pool robot control device provided in an embodiment of this application. The swimming pool robot control device 1 includes: a control unit 11 and an acquisition unit 12. Wherein:

[0147] The control unit 11 is configured to, upon receiving a first instruction, control the drive module in the pool robot to be in a first working state, and control the water pump in the pool robot to operate at a first power, wherein the water pump provides pressure on the pool wall to the pool robot so that the pool robot moves on the pool wall to a first position on the towing mechanism, thereby causing the towing mechanism to tow the pool robot in the first position out of the water.

[0148] Acquisition unit 12 acquires first information for determining the position of the pool robot;

[0149] The control unit 11, when the first information obtained meets the preset conditions, determines that the pool robot has reached the first position, controls the drive module to be in a second working state, and / or the water pump operates at a second power. When the pool robot reaches the first position, the drive module contacts the first area on the towing mechanism. The rotation frequency of the drive module in the second working state is less than the rotation frequency of the drive module in the first working state, and the first power is greater than the second power.

[0150] In any embodiment of this application, the first information includes one or more of the following: stress information, the working state of the drive module and the speed of the pool robot, the rotation frequency of the rotating unit in the towing mechanism, the first environmental information of the environment in which the pool robot is located, and the infrared signal emitted by the towing mechanism.

[0151] The stress information is information about the stress generated between the pool robot and the towing mechanism when the pool robot is in the first position;

[0152] When the pool robot is in the first position, the rotating unit is driven to rotate by the rotation of the drive module.

[0153] In conjunction with any embodiment of this application, when the first information includes stress information, the preset condition includes the stress information being greater than a first threshold.

[0154] The aforementioned acquisition unit 12 is specifically used for:

[0155] Obtain the stress information generated when the pool robot comes into contact with the towing mechanism.

[0156] In conjunction with any embodiment of this application, when the first information includes the working state of the drive module and the speed of the pool robot, the preset condition includes that the drive module is in the first working state and the speed of the pool robot is less than a second threshold.

[0157] The aforementioned acquisition unit 12 is specifically used for:

[0158] The operating status of the drive module and the speed at which the pool robot moves are obtained.

[0159] In conjunction with any embodiment of this application, when the first information includes the rotation frequency of the rotating unit, the preset condition includes the rotation frequency of the rotating unit being greater than the third threshold.

[0160] The aforementioned acquisition unit 12 is specifically used for:

[0161] Obtain the rotation frequency of the rotating unit.

[0162] In any embodiment of this application, the first information includes the first environmental information, and the preset condition includes that the similarity between the first environmental information and the second environmental information of the first location is greater than a fourth threshold.

[0163] The aforementioned acquisition unit 12 is specifically used for:

[0164] Obtain the first environmental information of the environment in which the pool robot is located.

[0165] In any embodiment of this application, the pool robot includes an environmental sensor, which includes one or more of an ultrasonic sensor and a visual sensor;

[0166] The aforementioned acquisition unit 12 is specifically used for:

[0167] The first environmental information is determined by environmental sensors in the pool robot.

[0168] In conjunction with any embodiment of this application, when the first information includes the infrared signal, the preset condition includes receiving the infrared signal;

[0169] The aforementioned acquisition unit 12 is specifically used for:

[0170] The infrared signal emitted by the towing mechanism is acquired.

[0171] In any embodiment of this application, the towing mechanism includes a first boundary, and the pool robot can reach the first position by passing through the first boundary;

[0172] The aforementioned control unit 11 is also used for:

[0173] When the received first information meets the preset conditions and the movement direction of the pool robot is perpendicular to the first boundary, the drive module is controlled to be in a second working state, and / or the water pump operates at a second power.

[0174] In this embodiment, after receiving a first instruction, the pool robot control device controls the drive module in the pool robot to be in a first working state, so that the pool robot moves to a first position on the towing mechanism, and acquires first information to determine the position of the pool robot. If the first information meets preset conditions, it determines that the pool robot has reached the first position, and controls the drive module in the pool robot to be in a second working state, and / or, the water pump operates at a second power, wherein the second power is less than the first power. When the pool robot reaches the first position, the drive module contacts a first area on the towing mechanism. When the drive module is in the first working state, the rotation frequency of the drive module is relatively high, and the sliding friction between the drive module and the first area causes continuous wear on the drive module and the first area on the towing mechanism, reducing the service life of the drive module and the first area on the towing mechanism.

[0175] When the drive module is in its second operating state, its rotation frequency is lower than that in its first operating state. By reducing the rotation frequency, the frequency of wear between the drive module and the first area is reduced, thereby increasing the service life of both the drive module and the first area on the towing mechanism. Optionally, when the drive module is in its second operating state, its rotation frequency is 0, meaning it stops rotating. In this case, there is no sliding friction between the drive module and the first area on the towing mechanism, further reducing the frequency of wear between the drive module and the first area, and increasing the service life of both the drive module and the towing mechanism located in the first area.

[0176] When the water pump is controlled to operate at a second power, which is less than the first power, the pressure provided by the water pump to the pool robot in the first area is reduced, thereby reducing the friction between the pool robot and the towing mechanism. By reducing the friction between the pool robot and the towing mechanism, the severity of wear between the pool robot and the towing mechanism can be reduced, thus increasing the service life of the drive module and the towing mechanism in the first area.

[0177] In some embodiments, the functions or modules of the apparatus provided in this application can be used to perform the methods described in the above method embodiments. The specific implementation can be referred to the description of the above method embodiments, and for the sake of brevity, it will not be repeated here.

[0178] Figure 11 This is a schematic diagram of the hardware structure of an electronic device provided in an embodiment of this application. The electronic device 2 includes a processor 21 and a memory 22. Optionally, the electronic device 2 also includes an input device 23 and an output device 24. The processor 21, memory 22, input device 23, and output device 24 are coupled together via connectors, which include various interfaces, transmission lines, or buses, etc., and are not limited in this embodiment. It should be understood that in the various embodiments of this application, coupling refers to mutual connection in a specific way, including direct connection or indirect connection through other devices, such as through various interfaces, transmission lines, buses, etc.

[0179] Processor 21 may include one or more processors, such as one or more central processing units (CPUs). If the processor is a CPU, it may be a single-core CPU or a multi-core CPU. Optionally, processor 21 may be a processor group consisting of multiple CPUs, with the multiple processors coupled to each other via one or more buses. Optionally, the processor may also be other types of processors, etc., which are not limited in this embodiment.

[0180] The memory 22 can be used to store computer program instructions, as well as various types of computer program code, including program code for executing the scheme of this application. Optionally, the memory includes, but is not limited to, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), or compact disc read-only memory (CD-ROM), which is used for related instructions and data.

[0181] Input device 23 is used to input data and / or signals, and output device 24 is used to output data and / or signals. Input device 23 and output device 24 can be independent devices or an integrated device.

[0182] It is understood that in this embodiment of the application, the memory 22 can be used not only to store related instructions, but also to store related data. For example, the memory 22 can be used to store the first information obtained through the input device 23, or the memory 22 can also be used to store the position of the pool robot determined by the processor 21, etc. This embodiment of the application does not limit the specific data stored in the memory.

[0183] Understandable, Figure 11 This is merely a simplified design of an electronic device. In practical applications, the electronic device may also include other necessary components, including, but not limited to, any number of input / output devices, processors, memories, etc., and all electronic devices that can implement the embodiments of this application are within the protection scope of this application.

[0184] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0185] Those skilled in the art will readily understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. Those skilled in the art will also readily understand that the various embodiments of this application have different focuses, and for the sake of convenience and brevity, the same or similar parts may not be repeated in different embodiments. Therefore, parts not described or not described in detail in one embodiment can be referred to the descriptions in other embodiments.

[0186] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and 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 through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0187] 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.

[0188] In addition, the functional units in the various embodiments of this application 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.

[0189] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially as a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted through the computer-readable storage medium. The computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available media may be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., digital versatile discs (DVDs)), or semiconductor media (e.g., solid-state disks (SSDs)).

[0190] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. This program can be stored in a computer-readable storage medium, and when executed, it can include the processes described in the above method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

Claims

1. A control method for a swimming pool robot, characterized in that, The method includes: Upon receiving the first instruction, the drive module in the pool robot is controlled to be in a first working state, and the water pump in the pool robot is controlled to work at a first power. The water pump provides pressure on the pool wall to the pool robot, so that the pool robot moves on the pool wall to a first position on the towing mechanism, thereby causing the towing mechanism to tow the pool robot in the first position out of the water. Obtain first information for determining the position of the pool robot; If the first information obtained satisfies the preset conditions, it is determined that the pool robot has reached the first position, the drive module is controlled to be in the second working state, and / or the water pump operates at the second power. When the pool robot reaches the first position, the drive module contacts the first area on the towing mechanism. The rotation frequency of the drive module in the second working state is less than the rotation frequency of the drive module in the first working state, and the first power is greater than the second power.

2. The method according to claim 1, characterized in that, The first information includes one or more of the following: stress information, the working status of the drive module and the speed of the pool robot, the rotation frequency of the rotating unit in the towing mechanism, the first environmental information of the environment in which the pool robot is located, and the infrared signal emitted by the towing mechanism. The stress information is information about the stress generated between the pool robot and the towing mechanism when the pool robot is in the first position; When the pool robot is in the first position, the rotating unit is driven to rotate by the rotation of the drive module.

3. The method according to claim 2, characterized in that, When the first information includes stress information, the preset condition includes the stress information being greater than a first threshold. The step of obtaining first information for determining the position of the pool robot includes: Obtain the stress information generated when the pool robot comes into contact with the towing mechanism.

4. The method according to claim 2, characterized in that, When the first information includes the working state of the drive module and the speed of the pool robot, the preset condition includes that the drive module is in the first working state and the speed of the pool robot is less than a second threshold. The step of obtaining first information for determining the position of the pool robot includes: The operating status of the drive module and the speed at which the pool robot moves are obtained.

5. The method according to claim 2, characterized in that, When the first information includes the rotation frequency of the rotating unit, the preset condition includes that the rotation frequency of the rotating unit is greater than a third threshold. The step of obtaining first information for determining the position of the pool robot includes: Obtain the rotation frequency of the rotating unit.

6. The method according to claim 2, characterized in that, The first information includes the first environmental information, and the preset condition includes that the similarity between the first environmental information and the second environmental information of the first location is greater than a fourth threshold. The step of obtaining first information for determining the position of the pool robot includes: Obtain the first environmental information of the environment in which the pool robot is located.

7. The method according to claim 6, characterized in that, The pool robot includes environmental sensors, which include one or more of ultrasonic sensors and visual sensors. The first environmental information of the environment in which the pool robot is located includes: The first environmental information is determined by environmental sensors in the pool robot.

8. The method according to claim 2, characterized in that, If the first information includes the infrared signal, the preset condition includes receiving the infrared signal; The step of obtaining first information for determining the position of the pool robot includes: The infrared signal emitted by the towing mechanism is acquired.

9. The method according to any one of claims 1-6, characterized in that, The towing mechanism includes a first boundary, and the pool robot can reach the first position by passing through the first boundary; The step of determining that the pool robot has reached the first position when the received first information meets preset conditions, controlling the drive module to be in a second working state, and / or the water pump operating at a second power includes: When the received first information meets the preset conditions and the movement direction of the pool robot is perpendicular to the first boundary, the drive module is controlled to be in a second working state, and / or the water pump operates at a second power.

10. A swimming pool robot control device, characterized in that, The pool robot control device includes: The control unit is configured to, upon receiving a first instruction instructing the pool robot to leave the water surface, control the drive module in the pool robot to be in a first working state, so that the pool robot moves to a first position on the towing mechanism; The acquisition unit is used to acquire first information for determining the position of the pool robot; The control unit is further configured to determine that the pool robot has reached the first position when the first information obtained meets the preset conditions, and control the drive module in the pool robot to be in a second working state. When the pool robot reaches the first position, the drive module contacts the first area on the towing mechanism, and the rotation frequency of the drive module in the second working state is less than the rotation frequency of the drive module in the first working state.

11. A control system, characterized in that, The control system includes a pool robot control device, a pool robot, a towing mechanism, a towing base station, and a connection unit; The towing base station is connected to the towing mechanism through the connecting unit. The connecting unit is used to move on the towing base station so that the towing mechanism is on the pool wall or on the towing base station. The swimming pool robot control device controls the swimming pool robot to reach a first position on the towing mechanism according to any one of claims 1-9; When the pool robot reaches the first position, the towing base station controls the connection unit to move so that the towing mechanism moves onto the towing base station, thereby causing the pool robot at the first position of the towing mechanism to leave the water.

12. The control system according to claim 11, characterized in that, During the process of the towing mechanism towing the pool robot out of the water, the pool robot control device acquires second information and determines that the pool robot is in a stable state based on the second information. When the pool robot is in a stable state, the control device controls the drive module in the pool robot to be in a third working state and controls the water pump in the pool robot to operate at a third power. The rotation frequency of the drive module in the third working state is less than or equal to the rotation frequency of the drive module in the second working state, and the third power is less than the second power.

13. The control system according to claim 12, characterized in that, The second information includes at least one of pressure information, angle information, and water-removal status information. The pressure information includes the pressure value between the pool robot and the towing mechanism. The angle information includes the angle between the pool robot and a first direction. The water-removal status information includes whether the pool robot has left the water surface. The first direction is a direction perpendicular to the water surface, and the angle is an acute angle.

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