Control method of pool robot, pool robot and readable storage medium

Abstract

This application provides a control method for a swimming pool robot, the swimming pool robot itself, and a readable storage medium. When the swimming pool robot meets the wall-climbing conditions, it climbs the wall to move towards the waterline. During the wall-climbing process, when the swimming pool robot is partially or entirely located in a first area on the pool wall and cannot continue moving towards the waterline, the swimming pool robot moves in the opposite direction along the wall-climbing path to move away from the first wall area. The surface of the first wall area forms an open cavity on the pool wall, which can at least accommodate a predetermined proportion of the swimming pool robot body. Using this solution, when the pool wall has a first wall area that can form an open cavity to accommodate part of the swimming pool robot body, and the swimming pool robot cannot continue moving towards the waterline in the first wall area, it descends the wall to leave the first wall area. This reduces energy consumption while cleaning at least part of the pool wall to complete the cleaning task as much as possible, achieving the goals of improving cleaning efficiency and reducing energy consumption.

Description

Technical Field

[0001] This application relates to the field of robotics, and in particular to a control method for a swimming pool robot, the swimming pool robot, and a readable storage medium. Background Technology

[0002] With the development of artificial intelligence technology, various robots are increasingly entering people's lives. Pool robots are a type of cleaning robot developed to meet the needs of pool cleaning, used to clean the bottom and walls of the pool, as well as filter the water in the pool.

[0003] Pool robots are often capable of climbing walls, allowing them to scale vertical pool walls and perform cleaning tasks, thus achieving the goal of cleaning the pool walls.

[0004] However, when the pool wall is curved, it is easy for the robot to fail to climb the wall, which prevents it from completing the cleaning task. It may even repeatedly perform the climbing action in one position, resulting in increased energy consumption. Summary of the Invention

[0005] This application provides a control method for a swimming pool robot, a swimming pool robot, and a readable storage medium. When the swimming pool robot cannot continue to move towards the waterline in a first wall area with a large curvature, it descends from the wall to leave the first wall area, thereby cleaning at least part of the pool wall to complete the cleaning task as much as possible, achieving the purpose of improving cleaning efficiency and reducing energy consumption.

[0006] In a first aspect, embodiments of this application provide a control method for a swimming pool robot, the method comprising:

[0007] When the pool robot meets the wall-climbing conditions, it climbs the wall to move towards the waterline;

[0008] When the pool robot is partially or entirely located on the first wall area of ​​the pool wall and cannot continue to move toward the waterline, it moves in the opposite direction along the wall-climbing path to move away from the first wall area.

[0009] The surface of the first wall region forms an open cavity on the pool wall, and the open cavity can accommodate at least a portion of the body of the pool robot, wherein the proportion of the portion of the body to the body of the pool robot is greater than a preset proportion.

[0010] Secondly, embodiments of this application provide a control device, including:

[0011] The wall-climbing module is used to control the pool robot to climb the wall and move towards the waterline when the wall-climbing conditions are met.

[0012] The processing module is used to control the pool robot to move away from the first wall area along the path of climbing the wall when the pool robot is partially or entirely located on the first wall area of ​​the pool wall and cannot continue to move towards the waterline.

[0013] The surface of the first wall region forms an open cavity on the pool wall, and the open cavity can accommodate at least a portion of the body of the pool robot, wherein the proportion of the portion of the body to the body of the pool robot is greater than a preset proportion.

[0014] Thirdly, embodiments of this application provide a swimming pool robot, including:

[0015] The body, which has a forward direction;

[0016] The first set of sensors is located at the corner of the front end of the main body and is used to detect environmental information around the pool robot. The height of the first set of sensors relative to the bottom of the main body in the vertical direction is the first height.

[0017] The second set of sensors is located at the corner of the rear end of the main body and is used to detect environmental information around the pool robot. The height of the second set of sensors relative to the bottom of the main body in the vertical direction is the second height, and the first height is less than the second height.

[0018] A front roller brush, rotatably mounted at the front end of the bottom of the main body, is used for cleaning the swimming pool;

[0019] Memory, used to store computer programs;

[0020] A processor for executing a computer program stored in the memory to implement the method described in the first aspect or various possible implementations of the first aspect.

[0021] Fourthly, embodiments of this application provide a computer-readable storage medium storing computer instructions, which, when executed by a processor, are used to implement the method described in the first aspect or various possible implementations of the first aspect.

[0022] Fifthly, embodiments of this application provide a computer program product comprising a computing program, wherein when the computer program is executed by a processor, it implements the method described in the first aspect or various possible implementations of the first aspect.

[0023] The swimming pool robot control method, the swimming pool robot, and the readable storage medium provided in this application embodiment allow the swimming pool robot to climb the wall and move towards the waterline when the wall-climbing conditions are met. During the wall-climbing process, when the swimming pool robot is partially or entirely located in a first area on the pool wall and cannot continue moving towards the waterline, the swimming pool robot moves in the opposite direction along the wall-climbing path to move away from the first wall area. The surface of the first wall area forms an open cavity on the pool wall, and the open cavity can at least accommodate a portion of the swimming pool robot's body, with the portion of the body occupying a proportion greater than a preset ratio. Using this scheme, when the pool wall has a first wall area that can form an open cavity to accommodate a portion of the swimming pool robot's body, and the swimming pool robot cannot continue moving towards the waterline in the first wall area, it descends the wall to leave the first wall area, thereby cleaning at least a portion of the pool wall to complete the cleaning task as much as possible, achieving the goal of improving cleaning efficiency and reducing energy consumption. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1A This is a side view of the swimming pool robot provided in the embodiments of this application;

[0026] Figure 1B This is a top view of the pool robot provided in the embodiments of this application;

[0027] Figure 2A This is a schematic diagram of a scenario for the control method of the swimming pool robot provided in an embodiment of this application;

[0028] Figure 2B This is another scenario illustration of the control method for the pool robot provided in the embodiments of this application;

[0029] Figure 2C This is another scenario diagram illustrating the control method for the pool robot provided in the embodiments of this application;

[0030] Figure 2D This is a schematic diagram showing an open cavity that is too small;

[0031] Figure 2E This is a schematic diagram showing that the pool wall does not form an open cavity;

[0032] Figure 3 This is a flowchart of the control method for the swimming pool robot provided in the embodiments of this application;

[0033] Figure 4This is a schematic diagram of a process of the control method for a swimming pool robot provided in an embodiment of this application;

[0034] Figure 5 This is another schematic diagram of the control method for the pool robot provided in the embodiments of this application;

[0035] Figure 6 This is another schematic diagram of the control method for the pool robot provided in the embodiments of this application;

[0036] Figure 7 This is another flowchart of the control method for the swimming pool robot provided in the embodiments of this application;

[0037] Figure 8A This is another scenario diagram illustrating the control method for the pool robot provided in the embodiments of this application;

[0038] Figure 8B This is another scenario diagram illustrating the control method for the pool robot provided in the embodiments of this application;

[0039] Figure 9 This is another scenario diagram illustrating the control method for the pool robot provided in the embodiments of this application;

[0040] Figure 10 This is a schematic diagram of the control device provided in the embodiments of this application;

[0041] Explanation of reference numerals in the attached figures:

[0042] 100: Pool robot;

[0043] 10: Ontology;

[0044] 11: Walking components;

[0045] 12: First sensor

[0046] 13: Second sensor;

[0047] 14: Front roller brush;

[0048] 15: Rear roller brush;

[0049] 16: Water inlet;

[0050] 17: First filter chamber;

[0051] 18: Second filtration chamber:

[0052] 19: Drainage outlet;

[0053] 20: Water suction motor;

[0054] 200: Pool bottom;

[0055] 300: Waterline. Detailed Implementation

[0056] Swimming pools are venues for people to swim. During use, dirt inevitably accumulates on the pool bottom and walls, and the water contains pollutants such as trash, bacteria, and debris, necessitating regular cleaning. Pool robots are cleaning robots developed to address these needs, capable of repeatedly cleaning the pool bottom and walls. Furthermore, pool robots can also filter the pool water.

[0057] When the pool walls need cleaning, the pool robot climbs from the bottom of the pool onto the walls and cleans them by traversing the surface in a bow-like pattern. This ability of the pool robot to climb and perform tasks on walls is called its wall-climbing function.

[0058] Typically, swimming pool walls are perpendicular to the pool bottom and are smooth planes; these are called flat pool walls. Besides flat walls, there are also non-flat pool walls, such as curved walls and uneven, pebble-like walls. Curved walls include concave and convex walls. When the pool wall is curved, climbing failures are common. For example, a pool robot may fail to climb the wall, repeatedly attempting to climb from the same spot, resulting in ineffective cleaning, poor cleaning efficiency, and high energy consumption.

[0059] For example, the pool robot may partially or completely climb up the pool wall, but it cannot continue to climb upwards during the process, causing it to repeatedly climb along the same path and get stuck, resulting in poor cleaning efficiency and high energy consumption.

[0060] Based on this, embodiments of this application provide a control method for a swimming pool robot, a swimming pool robot, and a readable storage medium. When the pool wall has a first wall area that can form an open cavity to accommodate part of the body of the swimming pool robot, and the swimming pool robot cannot continue to move towards the waterline on the first wall area, it can descend from the wall to leave the first wall area, thereby cleaning at least part of the pool wall to complete the cleaning task as much as possible, achieving the purpose of improving cleaning efficiency and reducing energy consumption.

[0061] Figure 1A This is a side view of the pool robot provided in the embodiments of this application. Figure 1B This is a top view of the pool robot provided in an embodiment of this application. Please refer to... Figure 1A and Figure 1B The swimming pool robot 100 provided in this application example has a body 10, with walking components 11 arranged on both sides of the body 10. The body 10 has a forward direction driven by the walking components 11. For example, the walking component 11 is a tracked mechanism. When the walking component 11 rotates counterclockwise, the forward direction of the swimming pool robot is as follows: Figure 1A As shown by the dashed arrow in the middle. Figure 1AThe thick black solid line represents the bottom of the swimming pool.

[0062] The pool robot 100 has a first set of sensors and a second set of sensors on its main body 10. The first set of sensors is located at the front corner of the main body 10 and includes at least one first sensor 12. The second set of sensors is located at the rear corner of the main body 10 and includes at least one second sensor 13. In the vertical direction, that is, perpendicular to the bottom of the pool, the height of the first sensor 12 relative to the bottom of the main body 10 is a first height h1, and the height of the second sensor 13 relative to the bottom of the main body 10 is a second height h2. The first height h1 is less than the second height h2, that is, h2 - h1 > 0. Please refer to... Figure 1A A first sensor 12 is located at the two front corners of the pool robot 10, and a second sensor 13 is located at the two rear corners of the pool robot 10. The first sensor 12 is closer to the bottom of the pool robot 100. Compared to the second sensor 13, the first sensor 12 can detect low obstacles, while the second sensor 13, located at the rear corners of the body 10, can detect higher obstacles. Therefore, this arrangement improves the detection range of the sensors to a certain extent, ensuring the safety of the pool robot. This application does not limit the number of sensors 12 and 13; for example, the number of first sensors 12 and second sensors 13 may be greater than one.

[0063] Optionally, the first set of sensors includes at least one of an acoustic sensor, a time-of-flight (TOF) sensor, a laser sensor, an ultrasonic phased array sensor, and a vision sensor; the second set of sensors includes at least one of an acoustic sensor, a TOF sensor, a laser sensor, an ultrasonic phased array sensor, and a vision sensor. In addition to the first and second sets of sensors, sensors can also be placed at other locations on the pool robot, and this embodiment is not limited thereto. For example, a downward-facing sensor can be placed on the bottom of the pool robot.

[0064] For example, the first sensor 12 and the second sensor 13 may be, for example, an acoustic sensor, a TOF sensor, a laser sensor, or a vision sensor, etc., and the embodiments of this application are not limited to these. Vision sensors include, but are not limited to, a camera + line laser sensor, a line laser 3D camera, etc.

[0065] When the number of first sensors 12 included in the first group of sensors is ≥2, each first sensor 12 can be a sensor of the same type or different types, such as all being TOF sensors, or one first sensor 12 being a TOF sensor and the other first sensor 12 being a vision sensor.

[0066] Similarly, when the number of second sensors 13 in the second group of sensors is ≥2, each second sensor 12 can be a sensor of the same type or a different type.

[0067] This approach allows for the selection of sensor types from the first and second groups of sensors based on specific needs, offering a high degree of flexibility.

[0068] Please refer to Figure 1A and Figure 1B The pool robot 100 has a front roller brush 14 at its front end and a rear roller brush 15 at its rear end. During forward movement, the front and rear roller brushes 14 and 15 rotate counter-clockwise, in the same direction as the walking assembly 11. By continuously rotating these two brushes, they constantly contact and wipe the pool bottom or walls, thus achieving cleaning. Furthermore, because the rotation direction of the front and rear roller brushes is the same as that of the walking assembly 11, the forward resistance of the pool robot 100 is reduced to some extent, thereby improving cleaning efficiency.

[0069] When the pool robot 100 moves backward, the walking component 11 rotates clockwise, while the front roller brush 14 and rear roller brush 15 rotate counterclockwise; alternatively, the front roller brush 14 and rear roller brush 15 switch to clockwise rotation. When the front roller brush 14 and rear roller brush 15 rotate counterclockwise, the rotation direction is opposite to that of the walking component 11, resulting in greater cleaning force and more cleaning cycles at the same location, thus improving cleaning quality to some extent. When the front roller brush 14 and rear roller brush 15 rotate clockwise, the rotation direction is the same as that of the walking component 11, reducing the resistance of the pool robot 100 moving backward and improving cleaning efficiency to some extent.

[0070] The size and number of the front roller brush 14 and the rear roller brush 15 are not limited in the embodiments of this application. For example, one front roller brush 14 and one rear roller brush 15 are provided, and the length of the front roller brush 14, the length of the rear roller brush 15 and the width of the pool robot 100 are close.

[0071] For example, set up two front roller brushes 14 and two rear roller brushes 15. Please refer to [reference needed]. Figure 1B The dotted line represents the central axis of the pool robot. Two front roller brushes 14 and two rear roller brushes 15 are symmetrically arranged along this vertical central axis. Because there is a gap between the two front roller brushes 14, water can flow in the opposite direction to the direction of travel, thus reducing travel resistance.

[0072] In this embodiment of the application, the pool robot 100 is also provided with a memory, a storage device, etc., which are not shown in the figure.

[0073] Optionally, the pool robot 100, in addition to its cleaning capabilities, also features a filtration system. Based on this filtration capability, the pool robot can collect debris from the swimming pool. Please refer to [link / reference needed]. Figure 1A The bottom of the main body 10 is provided with a water inlet 16. Inside the main body 10 are a first filter chamber 17 and / or a second filter chamber 18. The filter screen of the first filter chamber 17 has larger mesh openings for filtering larger debris in the water, such as leaves; the filter screen of the second filter chamber has smaller, denser mesh openings for filtering smaller debris in the water, such as hair. During forward movement, if... Figure 1A As shown by the continuous arrows: Pool water enters the first filter chamber 17 through the inlet 16 for coarse filtration. Larger debris is retained in the first filter chamber, while smaller debris flows into the second filter chamber for fine filtration. The filtered pool water is then discharged from the outlet 19 in a diagonally backward direction. Figure 1B The direction indicated by the middle arrow.

[0074] In this embodiment, the pool wall is a curved surface, such as a concave pool wall or a convex pool wall. Taking a concave pool wall as an example, the pool wall includes a first wall surface region. The surface of the first wall surface region is concave, and the difference between the curvature of the first wall surface region and a preset curvature is greater than a preset value. For example, a cuboid swimming pool has four pool walls, one of which is entirely concave; that is, the first wall surface region is the entire pool wall. Alternatively, a portion of a pool wall may be concave, meaning the first wall surface region is a part of the pool wall. The curvature of the first wall surface region is the average of the curvatures of all points on the first wall surface. The preset curvature is, for example, the curvature of a vertical wall surface, where the curvature of the vertical wall surface is the average of the curvatures of each point on the vertical wall surface.

[0075] The following describes in detail the scenario to which the embodiments of this application are applicable, taking a portion of the pool wall as an example. For example, please refer to Figure 2.

[0076] Figure 2A This is a schematic diagram of a scenario illustrating the control method for a swimming pool robot provided in an embodiment of this application. Please refer to... Figure 2A The height of the pool robot 100 is H, and its length is L1. Part of the pool wall is concave, that is, the pool wall includes a first wall area 21, which is a concave area. The surface of the first wall area 21 forms an open cavity 22, and there is no other area between the open cavity 22 and the bottom of the pool. Figure 2AIn the figure, the opening of the open cavity 22 is shown by the double-dotted line, with one end of the double-dotted line located at the bottom of the pool and the other end at the pool wall. The vertical diameter of the open cavity 22 is shown by the dashed line. The length of the horizontal diameter of the open cavity 22 is L2, and the length of the vertical diameter is h4. The height of the deepest part of the open cavity 22 is h3. The ratio of the length of the horizontal diameter L2 to the length L1 of the pool robot 100 is greater than or equal to a preset ratio, i.e., L2 / L1 ≥ preset ratio. The ratio of the height of the deepest part of the open cavity 22 h3 to the height of the vertical diameter h4 is greater than or equal to a preset ratio, i.e., h3 / h4 ≥ preset ratio. Moreover, the height of the deepest part of the open cavity 22 h3 is greater than the height of the pool robot 100 by H, i.e., h3 > H. The preset ratio is, for example, one-third, one-quarter, etc., and is not limited in this embodiment. The swimming pool robot 100 is equipped with a first set of sensors, a second set of sensors, a gyroscope, and other sensors. Based on these sensors, the robot can measure the height h3 of the deepest part of the open cavity 22 and the length h4 of the vertical diameter of the open cavity 22. For example, the first and second sets of sensors include at least an ultrasonic phased array sensor. The swimming pool robot 100 uses the data collected by the ultrasonic phased array sensor to model the open cavity, thereby obtaining parameters such as the height h3 of the deepest part of the open cavity 22 and the length h4 of the vertical diameter. Then, the swimming pool robot 100 combines the data calibrated by the first and second sets of sensors to determine whether the open cavity 22 can at least accommodate a portion of the swimming pool robot's body, and the proportion of the portion of the body to the total body of the swimming pool robot is greater than a preset proportion.

[0077] In this embodiment, the pool wall has at least one first wall surface area, or the entire pool wall is a first wall surface area. Since the surface of the first wall surface area forms an open cavity, it is equivalent to having a recessed area on the pool wall. The open cavity can accommodate at least part of the pool robot's body, for example, at least one-third of the pool robot's body. Therefore, in this embodiment, the pool wall has a recessed area; for example, the pool wall has a concave hemispherical area; or, for example, the pool wall has irregular recessed areas.

[0078] It should be noted that, although Figure 2A This illustration assumes that there are no other areas between the open cavity 22 and the pool bottom; however, the embodiments in this application are not limited to this. For example, please refer to... Figure 2B .

[0079] Figure 2B This is another scenario illustration of the control method for the pool robot provided in the embodiments of this application. Please refer to... Figure 2BThere is a vertical section between the first wall area and the pool bottom. The pool robot starts climbing from the pool bottom, first reaching the pool wall. Then, it continues climbing from the vertical section towards the first wall area. In this scenario, the pool robot moves in the opposite direction of its climbing path until it leaves the first wall area. After leaving the first wall area, the pool robot is located in the vertical section. Afterward, the pool robot continues to descend the wall to leave the vertical section and starts climbing again from a different location. Alternatively, the pool robot leaves the vertical section of the first wall area and then attempts to climb the first wall area again.

[0080] It should be noted that, although Figure 2B The example described uses a vertical region between the first wall area and the pool bottom. However, this embodiment is not limited to this; in other feasible implementations, a region with small curvature can also exist between the first wall area and the pool bottom. The vertical region has the smallest curvature and can be considered a special type of region with small curvature.

[0081] With this approach, there is a small curvature area between the first wall area and the pool bottom, or there is no other area between the first wall area and the pool bottom. In both cases, the pool robot will not repeatedly climb the wall in the same position, but will return along the climbing path. It has strong adaptability and achieves the goal of improving cleaning effect.

[0082] Figure 2C This is another scenario illustration of the control method for the pool robot provided in the embodiments of this application. (and) Figure 2A The difference is: Figure 2C The curvature of the first wall region increases as it approaches the waterline, while... Figure 2B In the middle, the curvature of the first wall region is constant.

[0083] Figures 2A-2C In the diagram, the opening of the open cavity 22 is shown by the double-dotted line. The open cavity 22 can accommodate at least one-third of the pool robot's body. If the open cavity is too small or does not form an open cavity, the pool robot will not fail to climb the wall. For example, please refer to... Figure 2D and Figure 2E .

[0084] Figure 2D This is a schematic diagram showing an open cavity that is too small. Please refer to it. Figure 2D The pool wall was slightly concave, but the open cavity formed by the concave part was very small and could not accommodate at least one-third of the pool robot's body. Therefore, the pool robot successfully climbed the wall and was able to move to the waterline.

[0085] Figure 2E This is a schematic diagram showing that the pool wall does not form an open cavity. Please refer to it. Figure 2EAlthough the pool wall is curved, the curved surface does not form an open cavity. Therefore, the pool robot can successfully climb the wall and move to the waterline.

[0086] In combination with the above Figures 2A-2E It can be known that: Figure 2D and Figure 2E In this scenario, the pool robot can successfully climb the wall without needing to consider the solution described in the embodiments of this application.

[0087] Understandably, if the pool wall is uneven and pebble-like, the open cavities formed by the recessed areas cannot accommodate part of the pool robot's body; that is, the recessed areas are very small, making the pool wall surface rough. In this case, the pool robot's body will not be partially or entirely located within the open cavities on the pool wall, preventing it from continuing to move towards the waterline.

[0088] Optionally, in the above embodiment, the outer diameter D of the front roller brush 14 of the pool robot 100 is less than or equal to the length L2 of the horizontal diameter of the open cavity 22, i.e., D≤L2. In this way, the front roller brush 14 can be completely accommodated within the open cavity 22, thereby enabling cleaning of dead zones on the pool walls and bottom. Dead zones refer to areas that are difficult to reach or clean.

[0089] This design allows for a smaller outer diameter of the roller brush on the pool robot, making it easier to clean dead zones in the pool and thus improving cleaning quality.

[0090] When the pool robot attempts to climb the first wall area to move towards the waterline 300, it is prone to failure. For example, part of the pool robot 100's body 10 may climb to the first wall area, while the rest remains at the bottom of the pool, but it cannot climb further and cannot continue towards the waterline 300. Another example is that the pool robot 100 climbs to the first wall area, meaning its entire body 10 is located there, but it cannot climb further. Reasons for this inability to climb include, but are not limited to: the first wall area pressing against the pool robot 100, or insufficient friction between the first wall area and the traveling components.

[0091] When the pool robot 100 can no longer move towards the waterline 300, it moves in the opposite direction along the wall-climbing path to leave the first wall area, thereby avoiding the phenomenon that the pool robot 100 gets trapped by repeatedly climbing the wall along the same path.

[0092] The control method for the pool robot described in this application embodiment will be described in detail below, based on the above description of the pool robot and related scenarios. For example, please refer to... Figure 3 .

[0093] Figure 3This is a flowchart of a control method for a swimming pool robot provided in an embodiment of this application. This embodiment applies to a swimming pool robot and includes:

[0094] 301. When the pool robot meets the wall-climbing conditions, it climbs the wall to move towards the waterline.

[0095] For example, the wall-climbing condition is that the distance between the pool robot located at the bottom of the pool and the pool wall is less than or equal to a preset distance, and the pool robot is perpendicular to the pool wall. Please refer to... Figure 1B "The pool robot is perpendicular to the pool wall" means that the vertical centerline AA' of the pool robot is perpendicular to the pool wall. When the pool robot is at the bottom of the pool, the vertical centerline AA' is parallel to the bottom of the pool. Preset distances include, for example, 30 cm, 40 cm, 15 cm, etc., but are not limited in this embodiment. "Wall climbing" means that the pool robot climbs onto the pool wall and continues to move along the wall until it reaches the waterline.

[0096] When a pool robot meets the wall-climbing requirements, the pool wall to be climbed could be either a flat surface or a curved surface. When the pool wall is flat, the surface containing the pool wall is perpendicular to the pool bottom, and the angle between them is 90 degrees. When the pool robot is facing the first surface area of ​​the pool wall, the pool wall to be climbed is curved.

[0097] 302. When the pool robot is partially or entirely located on the first wall area of ​​the pool wall and cannot continue to move towards the waterline, it moves in the opposite direction of the wall-climbing path to move away from the first wall area. The surface of the first wall area forms an open cavity on the pool wall, and the open cavity can at least accommodate a portion of the pool robot's body, with the portion of the body occupying a proportion greater than a preset ratio to the total body of the pool robot.

[0098] Please refer to the following at the same time Figure 2A As the pool robot climbs the wall to reach the waterline 300, it gradually ascends. With each climb, the robot may be partially or entirely located on the first wall surface area. In other words, before climbing, the entire robot body is at the bottom of the pool. After climbing, part of the robot body is located within an open cavity formed by the surface of the first wall surface area. If the robot continues to move towards the waterline, its entire body will be within this open cavity.

[0099] When part of the pool robot is located on the first wall area and it can no longer climb the wall to reach the waterline, the pool robot moves in the opposite direction of the climbing path to move away from the first wall area. Similarly, when the entire pool robot is located on the first wall area and it can no longer climb the wall to reach the waterline, the pool robot moves in the opposite direction of the climbing path to move away from the first wall area.

[0100] In this embodiment, when the pool robot moves in the opposite direction of the wall-climbing path, in one mode, after the pool robot can no longer proceed towards the waterline, it reverses along the opposite direction of the wall-climbing path; in another mode, after the pool robot can no longer proceed towards the waterline, it first turns around and then moves forward in the opposite direction of the wall-climbing path. Whether moving backward or forward, it is always in the opposite direction of the wall-climbing path, that is, it descends the wall along the wall-climbing path.

[0101] In this embodiment, the pool robot cleans a portion of the pool wall as it begins climbing until it can no longer continue and moves towards the waterline. Subsequently, as the pool robot moves in the opposite direction along the wall-climbing path, the front roller brush moves vertically downwards along the first wall area. Gradually, the front roller brush completely detaches from the first wall area, meaning it no longer contacts the first wall. Clearly, during the reverse movement, the pool robot cleans at least a portion of the first wall area, and also cleans the boundary between the first wall area and the pool bottom.

[0102] The control method for a swimming pool robot provided in this application involves the robot climbing a wall to move towards the waterline when the wall-climbing conditions are met. During the wall-climbing process, if the robot is partially or entirely located in a first area on the pool wall and cannot continue moving towards the waterline, the robot moves in the opposite direction along the wall-climbing path to move away from the first wall area. The surface of the first wall area forms an open cavity on the pool wall, which can at least accommodate a portion of the robot's body, with the proportion of the robot's body to the pool wall being greater than a preset proportion. Using this method, when the pool wall has a first wall area that can form an open cavity to accommodate a portion of the robot's body, and the robot cannot continue moving towards the waterline in the first wall area, it descends the wall to leave the first wall area, thereby cleaning at least a portion of the pool wall to complete the cleaning task as much as possible, achieving the goal of improving cleaning efficiency and reducing energy consumption.

[0103] The following sections will provide detailed explanations of the scenarios where the entire pool robot is located in the first wall area and cannot continue moving towards the waterline, and the scenarios where only part of the pool robot is located in the first wall area and cannot continue moving towards the waterline.

[0104] First, the pool robots are all located in the first wall area and cannot continue to move towards the waterline.

[0105] Figure 4 This is a schematic diagram of a control method for a swimming pool robot provided in an embodiment of this application. Please refer to... Figure 4In sub-figure ①, initially, the pool robot meets the wall-climbing conditions and begins to climb, with the front roller rotating counterclockwise, as shown by the arc arrow in the figure. After a period of time, most of the pool robot's body is located in the first wall area, as shown in sub-figure ②. Afterward, the pool robot continues to climb, until the entire robot is located within the containment cavity, as shown in sub-figure ②. Figure 4 The swimming pool robot is shown by the solid line in sub-figure ③. Next, the swimming pool robot cannot continue moving towards the waterline. For example, if a displacement sensor is installed on the swimming pool robot, and the sensor detects that the cumulative displacement has not changed within a preset time period, the swimming pool robot determines that it cannot continue moving towards the waterline.

[0106] When the pool robot finds itself unable to continue toward the waterline, it moves in the opposite direction along the wall-climbing path, thus moving away from the first wall area. Figure 4 In sub-figure ③, the dashed line represents the wall-climbing path. The pool robot moves backward in the opposite direction of the wall-climbing path. The rotation directions of the front and rear rollers are shown by the arc arrows in the figure. After a period of time, part of the pool robot's body leaves the containment cavity, as shown... Figure 4 The swimming pool robot is shown by the dashed line in sub-diagram ③. The swimming pool robot continues to retreat until its entire body leaves the open cavity.

[0107] As the pool robot climbs the wall and descends in the opposite direction, its front and rear rollers continuously rotate to clean the pool bottom and walls. Clearly, as... Figure 4 The last image in the series shows that the pool robot cleaned each location on the wall-climbing path indicated by the dotted lines at least twice.

[0108] Secondly, there is the situation where the pool robot is partially located in the first wall area and cannot continue to move towards the waterline.

[0109] Figure 5 This is another schematic diagram of the control method for the pool robot provided in this application embodiment. Please refer to... Figure 5 The pool wall surface is S-shaped. The first wall area is like the concave part of the S-shaped pool wall. The open cavity formed by this concave part can accommodate at least part of the pool robot's body, such as 1 / 3 of the pool robot's body. Initially, the pool robot is relatively far from the pool wall, as shown in sub-figure ①. The pool robot moves towards the pool wall until the wall-climbing condition is met, as shown in sub-figure ②. Afterward, the pool robot climbs the wall to move towards the waterline. After a period of time, part of the pool robot's body is located in the open cavity, as shown in sub-figure ③. The pool robot continues to climb the wall, but a phenomenon occurs where it can no longer move towards the waterline, as shown in sub-figure ④.

[0110] When the pool robot finds itself unable to continue towards the waterline, it moves in the opposite direction along the wall-climbing path, as shown in sub-Figure 5. Afterward, the pool robot continues to retreat in the opposite direction along the wall-climbing path until it leaves the open cavity.

[0111] In this embodiment, the pool robot is further equipped with a water suction motor 20, which draws pool water through the inlet into the first filter chamber for coarse filtration, and then through a second filter chamber for fine filtration. When the water suction motor 20 is turned on, the filtered pool water is discharged from the outlet 19 in a rearward direction. Figure 5 As shown by the slanted arrow in the diagram. Clearly, due to the need for water suction for filtration, a negative pressure is created between the bottom of the pool robot and the pool wall or bottom, allowing the robot to move along the pool wall or bottom under this negative pressure. When the pool robot moves towards the waterline, the negative pressure prevents it from falling off the pool wall. However, when the pool robot is partially or completely located on the first wall area and cannot move further towards the waterline, if the suction motor 20 remains on, it will prevent the pool robot from moving in the opposite direction along the wall-climbing path, i.e., it will prevent the pool robot from moving away from the first wall area. Therefore, before the pool robot moves in the opposite direction along the wall-climbing path to move away from the first wall area, at least one suction motor 20 is turned off. This reduces the negative pressure between the bottom of the pool robot and the first wall area, thus preventing the pool robot from moving away from the first wall area. Figure 5 Subgraph ⑤ is shown in the diagram.

[0112] By adopting this solution, at least one water suction motor is turned off, thus avoiding the negative pressure generated by the filtration drainage from hindering the pool robot from moving away from the first wall area. This reduces the resistance during the process of the pool robot moving away from the first wall area, thereby improving cleaning efficiency.

[0113] Optionally, in the above embodiments, after the pool robot leaves the first wall area, it moves from a first position to a second position and climbs the wall from the second position to proceed towards the waterline. The first position is the location of the pool robot after leaving the first wall area, and the distance between the first position and the second position is greater than a preset distance.

[0114] Figure 6 This is another schematic diagram of the control method for the pool robot provided in the embodiments of this application. Please refer to... Figure 6The pool wall has a recessed first wall area. Other pool walls are not shown in the diagram; only the first wall area is illustrated. Position A is the first position, and position B is the second position. The pool robot starts climbing the wall from the first position. When the pool robot is partially or completely located within the first wall area and cannot continue towards the waterline, it moves in the opposite direction of the climbing path to move away from the first wall area. After leaving the first wall area, the pool robot returns to the first position, moves from the first position to the second position, and starts climbing the wall from the second position. The distance between the first and second positions is greater than a preset distance, such as 10 cm, 5 cm, or 20 cm, etc., which is not limited in this embodiment.

[0115] Please refer to Figure 6 Position A is the first position, and position B is the second position. The first and second positions are offset. That is to say, when the entire or part of the pool robot is located in the first wall area and cannot continue to climb upwards, it moves in the opposite direction of the climbing path to leave the first wall area, and then changes positions to climb the wall again, that is, it starts climbing the wall from the second position.

[0116] It should be noted that, Figure 6 Climbing the wall from either the first or second position involves climbing the first wall area. However, the embodiments of this application are not limited to this; for example, climbing from the second position involves climbing a vertical pool wall, i.e., a pool wall with a small curvature.

[0117] Additionally, it should be noted that, Figure 6 In the diagram, to make it clear, the movement trajectories of climbing and descending the wall are separated. In reality, the two trajectories overlap, meaning that descending the wall involves moving in the opposite direction of climbing the wall.

[0118] Using this method, the pool robot can no longer move towards the waterline during the wall-climbing process. After moving in the opposite direction of the climbing path to get away from the first wall area, it changes position and continues climbing, thereby covering as much of the pool wall and the junction of the pool wall and the bottom as possible, thus improving the cleaning effect.

[0119] Figure 7 This is another flowchart of the control method for the swimming pool robot provided in this application embodiment. This embodiment includes the following steps:

[0120] 701. When the pool robot meets the wall-climbing conditions, it will climb the wall to move towards the waterline.

[0121] 702. When the pool robot is partially or entirely located in the first wall area of ​​the pool wall and cannot continue to move towards the waterline, shut down at least one of the pool robot's suction motors.

[0122] 703. The pool robot moves in the opposite direction of the wall-climbing path to move away from the first wall area.

[0123] After leaving the first wall area, the pool robot reaches the first position.

[0124] 704. The pool robot starts at least one water-absorbing motor.

[0125] 705. The pool robot climbs the wall from position one to move toward the waterline.

[0126] The first position is the location where the pool robot is after leaving the first wall area.

[0127] 706. When the pool robot is partially or entirely located in the first wall area and can no longer move towards the waterline, it moves in the opposite direction of the wall-climbing path to leave the first wall area.

[0128] Optionally, the water suction motor should be turned off before the pool robot moves in the opposite direction.

[0129] 707. Move from the first position to the second position, where the distance between the first and second positions is greater than a preset distance.

[0130] 708. Climb the wall from the second position to proceed towards the waterline.

[0131] Figure 7 In the illustrated embodiment, the pool robot is unable to move towards the waterline the first time, so it moves back to the first position in the opposite direction and starts climbing the wall again from there. If it is still unable to move towards the waterline, it moves back to the first position in the opposite direction. Then, the pool robot changes position and continues climbing the wall from the second position.

[0132] Figure 7 The example given is a pool robot climbing the wall twice at the same location. However, this embodiment is not limited to this. In other feasible implementations, if the pool robot cannot move to the waterline after climbing the wall a preset number of times at the same location, it will change to a different location and continue climbing. The preset number of times is, for example, 2 times, 3 times, etc., and this embodiment is not limited to this.

[0133] Using this method, if the pool robot fails to reach the waterline after climbing the wall twice in the same location, it will change to a different location to continue climbing, thus increasing the probability of successfully climbing the wall in the same location and improving the cleaning effect.

[0134] Optionally, in the above embodiments, the curvature of the first wall region is constant; or, the curvature of the first wall region is greater the closer it is to the waterline.

[0135] In this embodiment, the curvature of the first wall region is the average curvature of each point on the first wall region. The reciprocal of the curvature K of a point on the first wall region is the radius of curvature R, i.e., R = 1 / K. The greater the curvature, the more curved the first wall region.

[0136] The constant curvature of the first wall region means that the first wall region is similar to the surface of a sphere, the climbing path is an arc, and the distance between each point on the arc and the center of the circle is the same, that is, the distance is the radius.

[0137] The greater the curvature of the first wall region as it approaches the waterline, the more pronounced the curvature. This means that the first wall region is an irregular surface. Assuming successful wall climbing, points along the climbing path closer to the waterline have smaller radii, and smaller radii indicate greater curvature, making the first wall more curved. Please refer to [reference needed]. Figure 2A The radius of the black-filled circle is larger, and the radius of the white-filled circle is smaller, meaning the curvature is greater closer to the waterline.

[0138] In this approach, the first wall area is either a surface with constant curvature or a surface with continuously changing and increasing curvature. When faced with these two types of surfaces with large curvature, the pool robot will not repeatedly climb the wall in the same position, but will return along the climbing path. It can cope with various surfaces with large curvature, has strong adaptability, and can clean various surfaces with large curvature, thereby improving the cleaning effect.

[0139] Optionally, in the above embodiments, if the pool robot is located at the bottom of the pool before being partially or entirely located on the first wall area of ​​the pool wall, then the pool robot is located at the bottom of the pool after leaving the first wall area.

[0140] Please refer to Figure 2A , Figure 4 and Figure 5 The pool wall includes a first wall area, and the purpose of the pool robot climbing the wall is to climb up the first wall area to move towards the waterline. In this scenario, the pool robot starts climbing from the bottom of the pool towards the first wall area, meaning there is no slightly curved wall or vertical wall between the first wall area and the bottom of the pool.

[0141] If the pool robot is located in the vertical region of the pool wall before being partially or entirely located in the first wall area, then the pool robot will be located in the vertical region after leaving the first wall area.

[0142] Optionally, when the pool robot is partially or entirely located in the second wall area on the pool wall, at least one water-absorbing motor of the pool robot is kept on and moves toward the waterline. The second wall area is a vertical area, or the proportion of the pool robot body that is accommodated by the accommodating cavity formed by the surface of the second wall area is less than or equal to a preset proportion.

[0143] For example, in addition to a first wall region with a large curvature, the pool wall may also include a second wall region. The second wall region is a vertical area on the pool wall; or, the second wall region is a region with a small curvature on the pool wall. When the pool wall is not vertical and has a small curvature, it has recessed or raised areas. The open cavity formed by the recessed area is relatively small, accommodating a proportion of the pool robot's body that is less than or equal to a preset proportion, for example, accommodating one-sixth of the pool robot's body.

[0144] When the pool robot cleans the second wall area, it activates its suction motors and moves towards the waterline. Upon reaching the waterline, it retreats back to the pool bottom, maintaining a certain distance from the pool wall. Then, the robot rotates at a preset angle and continues forward, adjusting its posture to face the pool wall directly. Next, the robot continues climbing the wall from its new position, traversing the pool wall and the area where the wall meets the bottom, thus cleaning the pool wall and the area where the wall meets the bottom.

[0145] The cleaning process of the pool robot will be explained below when the second wall area is a vertical area and a small curvature area.

[0146] Figure 8A This is another scenario illustration of the control method for the pool robot provided in the embodiments of this application. Please refer to... Figure 8A The second wall area is a vertical area. When the pool robot's suction motor is turned on, a negative pressure is created between the bottom of the pool robot and the pool bottom or wall. Under the action of negative pressure, the robot moves parallel to the pool bottom or wall, avoiding falling off the pool wall. After reaching the waterline, the pool robot turns off the suction motor and retreats back to the pool bottom.

[0147] Figure 8B Figure 8 is another schematic diagram of a scenario for the control method of the swimming pool robot provided in this application embodiment. Figure 8 contains seven sub-figures. The dashed lines represent the assumed vertical region, and the solid lines next to the dashed lines represent the actual small curvature region. In sub-figure ①, the swimming pool robot is far from the second wall region and moves forward to approach it. In sub-figure ②, the swimming pool robot reaches the front of the second wall region, thus satisfying the wall-climbing condition. In sub-figures ③ and ④, the swimming pool robot is climbing the wall but has not yet climbed to the second wall region. In sub-figure ⑤, the swimming pool robot climbs to the second wall region, and the entire swimming pool robot leaves the pool bottom. In sub-figure ⑥, the swimming pool robot reaches the waterline position. In sub-figure ⑦, the swimming pool robot descends the wall to retreat from the waterline. In sub-figures ① to ⑥, the water suction motor is turned on; in sub-figure ⑦, the water suction motor of the swimming pool robot is turned off.

[0148] Using this method, the swimming robot keeps the water-absorbing motor on when climbing vertical walls and walls with small curvatures, and keeps the water-absorbing motor off when descending, thus achieving the goal of quickly cleaning vertical walls and walls with small curvatures.

[0149] In the following embodiments, the first wall region is a concave region with a large curvature, and the second wall region is a vertical region or a concave region with a small curvature. The cleaning process of the pool cleaning robot will now be described in detail when the pool wall includes a third wall region, and the third wall region is a convex region with a large curvature.

[0150] Figure 9 This is another scenario diagram of the control method for the pool robot provided in the embodiments of this application. Figure 9 In the pool, there is a third wall area on the pool wall. The surface of this third wall area forms a protrusion, and the height of the protrusion is greater than the length L1 of the pool robot.

[0151] Please refer to Figure 9 In sub-figure ①, the pool robot moves towards the third wall area. When the distance between the pool robot and the third wall area is less than or equal to a preset distance, and the pool robot is perpendicular to the third wall area, the pool robot meets the wall-climbing condition and begins to climb. In sub-figure ②, the pool robot's front roller reaches the third wall area, but the rear roller is still at the bottom of the pool. In sub-figure ③, the pool robot continues to climb, with both the front and rear rollers facing the third wall area. Afterward, the pool robot cannot continue towards the waterline, so it moves in the opposite direction of the climbing path to move away from the third wall area, as shown in sub-figure ④.

[0152] With this approach, for the convex third wall area, after the pool robot climbs the wall, when part or all of the pool robot's body is located in the third wall area and it cannot continue to move towards the waterline, it moves in the opposite direction along the climbing path to move away from the third wall area, thereby cleaning at least part of the pool wall to complete the cleaning task as much as possible, achieving the goal of improving cleaning efficiency and reducing energy consumption.

[0153] The following are embodiments of the apparatus described in this application, which can be used to execute the embodiments of the method described in this application. For details not disclosed in the apparatus embodiments of this application, please refer to the embodiments of the method described in this application.

[0154] Figure 10 This is a schematic diagram of a control device provided in an embodiment of this application. The control device 1000 includes: a wall-climbing module 101 and a processing module 102.

[0155] The wall-climbing module 101 is used to control the pool robot to climb the wall and move towards the waterline when the wall-climbing conditions are met.

[0156] The processing module 102 is used to control the pool robot to move away from the first wall area along the path of climbing the wall when the pool robot is partially or entirely located on the first wall area of ​​the pool wall and cannot continue to move towards the waterline.

[0157] The surface of the first wall region forms an open cavity on the pool wall, and the open cavity can accommodate at least a portion of the body of the pool robot, wherein the proportion of the portion of the body to the body of the pool robot is greater than a preset proportion.

[0158] In one possible implementation, the curvature of the first wall region is constant; or, the curvature of the first wall region increases as it approaches the waterline.

[0159] In one feasible implementation, after the pool robot leaves the first wall area, the processing module 102 is further configured to control the pool robot to move from a first position to a second position, and from the second position climb the wall to proceed towards the waterline. The first position is the location of the pool robot after leaving the first wall area, and the distance between the first position and the second position is greater than a preset distance.

[0160] In one feasible implementation, when the pool robot is partially or entirely located in the first wall area of ​​the pool wall and cannot continue to move toward the waterline, the processing module 102 controls the pool robot to move in the opposite direction along the wall-climbing path to move away from the first wall area before shutting down at least one water-suction motor of the pool robot.

[0161] In one feasible implementation, when the pool robot is partially or entirely located on the first wall area of ​​the pool wall and cannot continue to move towards the waterline, the processing module 102 controls the pool robot to move in the opposite direction along the wall-climbing path to move away from the first wall area, and then activates at least one water-suction motor of the pool robot; controls the pool robot to climb the wall from a first position to move towards the waterline, the first position being the position where the pool robot is after leaving the first wall area; when the pool robot is partially or entirely located on the first wall area and cannot continue to move towards the waterline again, controls the pool robot to move in the opposite direction along the wall-climbing path to leave the first wall area, moves from the first position to a second position, and climbs the wall from the second position to move towards the waterline, the distance between the first position and the second position being greater than a preset distance;

[0162] In one feasible implementation, when the pool robot meets the wall-climbing conditions, the wall-climbing module 101 controls the pool robot to climb the wall and move towards the waterline. When the pool robot is partially or entirely located in the second wall area on the pool wall, the processing module 102 is further configured to keep at least one water-absorbing motor of the pool robot on and control the pool robot to move towards the waterline. The second wall area is a vertical area, or the proportion of the pool robot body that is accommodated by the accommodating cavity formed by the surface of the second wall area is less than or equal to a preset proportion.

[0163] In one feasible implementation, if the pool robot is located in the vertical region of the pool wall before being partially or entirely located in the first wall area, then the pool robot is located in the vertical region after leaving the first wall area.

[0164] If the pool robot is located at the bottom of the pool before being partially or entirely located on the first wall area of ​​the pool wall, then the pool robot will be located at the bottom of the pool after leaving the first wall area.

[0165] This application also provides a computer-readable storage medium storing computer instructions, which, when executed by a processor, are used to implement the control method for the pool robot described above.

[0166] This application also provides a computer program product, which includes a computer program that, when executed by a processor, implements the control method for the pool robot described above.

[0167] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this application are indicated by the following claims.

Claims

1. A control method for a swimming pool robot, characterized in that, include: When the pool robot meets the wall-climbing conditions, it climbs the wall to move towards the waterline; When the pool robot is partially or entirely located on the first wall area of ​​the pool wall and cannot continue to move toward the waterline, it moves in the opposite direction along the wall-climbing path to move away from the first wall area. The surface of the first wall region forms an open cavity on the pool wall, and the open cavity can accommodate at least a portion of the body of the pool robot, wherein the proportion of the portion of the body to the body of the pool robot is greater than a preset proportion.

2. The method according to claim 1, characterized in that, The curvature of the first wall region is constant; or, the curvature of the first wall region increases as it approaches the waterline.

3. The method according to claim 1, characterized in that, After the pool robot leaves the first wall area, it moves from a first position to a second position. The first position is the position where the pool robot is after leaving the first wall area, and the distance between the first position and the second position is greater than a preset distance. Climb the wall from the second position to proceed toward the waterline.

4. The method according to claim 1, characterized in that, Before the swimming pool robot moves in the opposite direction of the climbing path to move away from the first wall area when it is partially or entirely located on the first wall surface area of ​​the pool wall and can no longer move towards the waterline, the method further includes: Turn off at least one of the water-absorbing motors of the pool robot.

5. The method according to claim 4, characterized in that, When the pool robot is partially or entirely located on the first wall area of ​​the pool wall and cannot continue moving towards the waterline, after moving in the opposite direction of the wall-climbing path to move away from the first wall area, the method further includes: Start at least one water-suction motor of the pool robot; The robot climbs the wall from a first position to proceed toward the waterline, the first position being the location of the pool robot after leaving the first wall area; When the pool robot is partially or entirely located in the first wall area and is no longer able to move toward the waterline, it moves in the opposite direction along the wall-climbing path to leave the first wall area. Move from the first position to the second position, wherein the distance between the first position and the second position is greater than a preset distance; Climb the wall from the second position to proceed toward the waterline.

6. The method according to any one of claims 1 to 5, characterized in that, When the pool robot meets the wall-climbing conditions, after climbing the wall to move towards the waterline, the process further includes: When the pool robot is partially or entirely located in the second wall area on the pool wall, at least one water-absorbing motor of the pool robot is kept on and it moves toward the water line. The second wall area is a vertical area, or the proportion of the pool robot body that is contained in the accommodating cavity formed by the surface of the second wall area is less than or equal to a preset proportion.

7. The method according to any one of claims 1 to 5, characterized in that, If the pool robot is located in the vertical region of the pool wall before being partially or entirely located in the first wall area, then the pool robot is located in the vertical region after leaving the first wall area. If the pool robot is located at the bottom of the pool before being partially or entirely located on the first wall area of ​​the pool wall, then the pool robot will be located at the bottom of the pool after leaving the first wall area.

8. A swimming pool robot, characterized in that, include: The body, which has a forward direction; The first set of sensors is located at the corner of the front end of the main body and is used to detect environmental information around the pool robot. The height of the first set of sensors relative to the bottom of the main body in the vertical direction is the first height. The second set of sensors is located at the corner of the rear end of the main body and is used to detect environmental information around the pool robot. The height of the second set of sensors relative to the bottom of the main body in the vertical direction is the second height, and the first height is less than the second height. A front roller brush, rotatably mounted at the front end of the bottom of the main body, is used for cleaning the swimming pool; Memory, used to store computer programs; A processor for executing a computer program stored in the memory to implement the method as described in any one of claims 1 to 7.

9. The pool robot according to claim 8, characterized in that, The first group of sensors includes at least one of an acoustic sensor, a time-of-flight (TOF) sensor, a laser sensor, and a vision sensor; The second group of sensors includes at least one of an acoustic sensor, a time-of-flight (TOF) sensor, a laser sensor, and a vision sensor; The environmental information includes the distance between the pool robot and the pool wall.

10. The pool robot according to claim 8, characterized in that, The outer diameter of the front roller brush is less than or equal to the horizontal diameter of the open cavity, which is a cavity formed on the surface of the first wall region, which is the area on the pool wall that the pool robot is climbing.

Images