Dynamic visualization method and terminal device for pool robot

Abstract

The present disclosure provides a dynamic visualization method and terminal equipment of a pool robot, and relates to the technical field of pool robots. The method comprises the following steps: displaying a pool map interface and displaying an identifier of a pool robot in the pool map interface; acquiring a cleaning mode currently executed by the pool robot, wherein the cleaning mode comprises one of a pool bottom cleaning mode, a pool wall cleaning mode, a step cleaning mode, a tanning deck cleaning mode, an inclined slope cleaning mode, a water line cleaning mode, a water surface floating mode and a recharging mode; presenting the identifier of the pool robot with a visual effect corresponding to the cleaning mode currently executed; and when the cleaning mode currently executed by the pool robot is switched, synchronously changing the identifier of the pool robot into a visual effect corresponding to the cleaning mode after the switching. The present disclosure can present a visual effect corresponding to the current cleaning mode in the pool map interface, and through the visual effect, the running state of the pool robot and the change of the cleaning state can be accurately judged.

Description

Technical Field

[0001] This disclosure relates to the field of pool robot technology, and more specifically, to a dynamic visualization method and terminal device for a pool robot. Background Technology

[0002] With the development of pool robot technology, pool cleaning robots have been gradually applied to scenarios such as home pools and commercial pools. During operation, pool cleaning robots typically need to move between different areas such as the pool bottom, pool walls, steps, sunbathing platforms, ramps, and waterlines, performing corresponding tasks based on the cleaning assignment or operating status. The cleaning modes also differ for different areas. To facilitate monitoring of robot operation, existing products usually display a pool map interface on a mobile application or control terminal, showing information such as the robot's identifier, current location, historical trajectory, cleaning progress, and remaining battery power.

[0003] In the existing display method, the pool map interface usually only marks the location of the pool robot. However, when the pool robot is in different areas of the pool (such as the bottom or the wall), it is impossible to accurately perceive the current cleaning mode of the pool robot from the pool map interface.

[0004] It should be noted that the information disclosed in the background section above is only used to enhance the understanding of the background of this disclosure, and therefore may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0005] To address the lack of accurate judgment when the operating and cleaning status of a pool robot changes, and the inability to display these changes on a map, the present disclosure aims to provide a dynamic visualization method and terminal device for pool robots. This method allows the display status of the pool robot's identifier to be updated according to changes in the cleaning mode, reducing the fragmented presentation of cleaning mode information and map display information, thereby enabling accurate judgment of changes in the operating and cleaning status of the pool robot.

[0006] Other features and advantages of this disclosure will become apparent from the following detailed description, or may be learned in part from practice of this disclosure.

[0007] According to a first aspect of the present disclosure, a method for dynamic visualization of a swimming pool robot is provided, comprising: Display the pool map interface and show the pool robot's icon in the pool map interface; Obtain the cleaning mode currently being executed by the pool robot; the currently executed cleaning mode includes one of the following: pool bottom cleaning mode, pool wall cleaning mode, step cleaning mode, tanning platform cleaning mode, slope cleaning mode, waterline cleaning mode, water surface suspension mode, and recharge mode; Display the pool robot's logo with a visual effect corresponding to the currently executed cleaning mode; When the cleaning mode currently being performed by the pool robot changes, the pool robot's logo will change synchronously to the visual effect corresponding to the new cleaning mode.

[0008] This disclosure displays a pool robot icon on a pool map interface and obtains the current cleaning mode being performed by the pool robot. The current cleaning mode includes one of the following: pool bottom cleaning mode, pool wall cleaning mode, step cleaning mode, tanning platform cleaning mode, ramp cleaning mode, waterline cleaning mode, water surface suspension mode, and recharging mode. The pool robot icon is presented in a visual effect corresponding to the currently performed cleaning mode. Thus, the robot icon on the pool map interface not only indicates the robot's location but also displays the visual effect corresponding to the currently performed cleaning mode. From this technical effect, the current cleaning mode of the pool robot can be accurately perceived. Furthermore, when the pool robot switches its current cleaning mode, the pool robot icon is synchronously changed to the visual effect corresponding to the switched cleaning mode. That is, when the pool robot moves from its current area to another area (such as from the steps to the tanning platform for cleaning), the pool robot icon will also synchronously change to the visual effect corresponding to the switched cleaning mode. This allows the display status of the pool robot icon to update with the change of cleaning mode, reducing the dispersion of cleaning mode information and map display information, and thus enabling accurate judgment of changes in the operating status and cleaning status of the pool robot.

[0009] In one exemplary embodiment of this disclosure, the visual effect includes at least one of the identifier color and dynamic display effect, wherein the identifier colors are different between different cleaning modes, and the dynamic display effects are also different between different cleaning modes.

[0010] When a cleaning mode is represented by a single-dimensional visual effect, if the visual effect is not easily distinguishable under the current display conditions (e.g., colors are difficult to distinguish under monochrome or grayscale display conditions, or motion effects are not easily noticeable when viewed statically), the label's expression of the cleaning mode is prone to failure; and when the pool robot stays in the same position or moves between areas with similar structures and the position of the label plane does not change significantly, it is difficult to distinguish the current cleaning mode based solely on position information.

[0011] In this embodiment, when assigning visual effects to the markers, cleaning mode information can be represented solely by the marker color, or solely by the dynamic display effect, or both dimensions can be combined. Since the marker colors and dynamic display effects differ between different cleaning modes, the markers exhibit a distinguishable form in both color and dynamic display effect when the pool robot switches between different cleaning modes. This design ensures that the markers' representation of the cleaning mode is independent of location information. Even if the pool robot remains in the same position or moves between structurally similar areas, users can distinguish the current cleaning mode solely by the marker's color or dynamic display effect. This avoids the situation where cleaning modes cannot be distinguished due to similar location information in structurally similar areas, thus ensuring stable communication of cleaning mode information even when the pool robot's position does not change significantly.

[0012] In one exemplary embodiment of this disclosure, the visual effects include dynamic display effects; presenting the pool robot's logo with a visual effect corresponding to the currently executed cleaning mode includes one or more of the following: when the pool robot is currently executing a pool bottom cleaning mode, displaying the pool robot's logo as pulse dots with periodically scaling radius; when the pool robot is currently executing a pool wall cleaning mode, displaying the pool robot's logo as a flowing arrow with flowing dashed lines inside the arrow; when the pool robot is currently executing a step cleaning mode, periodically changing the brightness or transparency of the pool robot's logo; when the pool robot is currently executing a cleaning mode... When the cleaning mode is the tanning platform cleaning mode, the pool robot's logo is displayed as a ripple icon with multiple concentric circles spreading outwards; when the pool robot is currently executing the slope cleaning mode, the pool robot's logo is displayed as a gradient arrow; when the pool robot is currently executing the waterline cleaning mode, the border of the pool robot's logo is periodically shown and hidden; when the pool robot is currently executing the water surface suspension mode, a water ripple effect is displayed around the pool robot's logo; when the pool robot is currently executing the recharging mode, a pulsating halo is displayed around the pool robot's logo, and a dynamic path pointing to the base station is also displayed.

[0013] When cleaning modes are distinguished only by dynamic display effects that are not inherently related to each other, there is a lack of morphological connection between each dynamic display effect and the corresponding cleaning mode. Users need to memorize the correspondence between each dynamic display effect and the cleaning mode. This memory burden is particularly prominent in scenarios where multiple cleaning modes are switched intensively, such as pool bottom, pool wall, steps, tanning platform, slope, waterline, water surface suspension, and recharging. This can easily lead to mode misidentification.

[0014] In this embodiment, the above-mentioned dynamic display effects correspond in form to the actual operating characteristics of the pool robot in the corresponding cleaning mode: the periodic scaling of the pulse dots corresponds to the reciprocating movement on the plane when cleaning the bottom of the pool; the flowing dotted lines inside the flowing arrows correspond to the directional crawling along the wall when cleaning the pool wall; the periodic changes in brightness or transparency correspond to the gradual transition between steps when cleaning the steps; the outward diffusion of multiple concentric circles corresponds to the ring-shaped coverage on the platform when cleaning the tanning platform; the gradient arrows correspond to the directional movement along the slope when cleaning the slope; the periodic appearance and disappearance of the borders correspond to the reciprocating wiping at the water-air interface when cleaning the water lines; the water ripple effect corresponds to the contact relationship with the water surface when suspended on the water surface; and the pulsating halo and the dynamic path pointing to the base station correspond to the repositioning process towards the base station when recharging. Therefore, each cleaning mode is given a dynamic display effect that is directional in form, so that users can not only distinguish the differences between cleaning modes, but also associate the form of the dynamic display effect with the actual operation of the pool robot in that cleaning mode. This reduces the burden of memorizing the correspondence between colors and modes when switching between multiple cleaning modes in quick succession, and further improves the efficiency of the label in conveying cleaning mode information.

[0015] In one exemplary embodiment of this disclosure, the display mode of the pool map interface includes a 3D stereoscopic view mode. In the 3D stereoscopic view mode, the identifier of the pool robot is displayed in the form of a three-dimensional model. The visual effect also includes the posture of the three-dimensional model, and the posture of the three-dimensional model is different between different cleaning modes.

[0016] In 3D stereoscopic view mode, if the sign still only uses color and dynamic display effects to indicate the cleaning mode without utilizing the spatial orientation dimension unique to the three-dimensional scene, then the advantage of three-dimensional display over planar display in expressing the status is not utilized; and when the sign is displayed in the three-dimensional scene in a form that lacks spatial orientation, it is difficult for users to judge from the sign itself whether the robot is currently attached to the bottom of the pool, the pool wall, or a slope or other structural surface.

[0017] In this embodiment, in the 3D stereoscopic view mode, the pool robot's identifier is no longer a flat icon, but a three-dimensional model capable of displaying spatial orientations such as pitch and roll. The three-dimensional model presents different postures depending on the cleaning mode. This setting allows the identifier to convey the cleaning mode not only through color and dynamic display effects, but also through the spatial posture of the three-dimensional model itself in the 3D stereoscopic view mode. This adds a posture dimension of state information to the identifier in the 3D scene. Furthermore, since the posture of the three-dimensional model corresponds to the orientation of the actual structural surfaces of the pool, users can intuitively determine whether the pool robot is currently in contact with the pool bottom, pool wall, or slope, thus obtaining state feedback in the three-dimensional scene that is closer to the actual working situation than a flat icon.

[0018] In one exemplary embodiment of this disclosure, the method further includes: when the current cleaning mode performed by the pool robot is the pool bottom cleaning mode, the pool robot's posture is horizontally attached to the pool bottom; when the current cleaning mode performed by the pool robot is the pool wall cleaning mode, the pool robot's posture is vertical and tilted against the pool wall; when the current cleaning mode performed by the pool robot is the step cleaning mode, the pool robot's posture tilts with the step angle; when the current cleaning mode performed by the pool robot is the tanning platform cleaning mode, the pool robot's posture is horizontal and located on the tanning platform; when the current cleaning mode performed by the pool robot is the ramp cleaning mode, the pool robot's posture is attached to the ramp and tilted; when the current cleaning mode performed by the pool robot is the waterline cleaning mode, the pool robot's posture is vertical and floats along the waterline height; when the current cleaning mode performed by the pool robot is the water surface suspension mode, the pool robot's posture is horizontal and suspended on the water surface; when the current cleaning mode performed by the pool robot is the recharging mode, the pool robot's posture is horizontally attached to the pool bottom, tilted against the pool wall, or attached to the base station rail.

[0019] When setting the 3D model posture for each cleaning mode, if the posture is inconsistent with the actual spatial relationship between the pool robot and the surface it is attached to in that mode, the posture can be distinguished from each other but cannot reflect the actual working situation. Users cannot use the posture to determine which surface the robot is attached to, nor can they detect positioning abnormalities based on whether the posture matches the structure of the area.

[0020] In this embodiment, the above postures are respectively taken from the actual spatial relationship between the pool robot and the attached structural surface in the corresponding cleaning mode: when cleaning the pool bottom, the robot is laid flat on the horizontal pool bottom, so it is horizontally attached to the pool bottom; when cleaning the pool wall, the robot crawls along the vertical wall, so it is vertical and tilted against the pool wall; when cleaning the steps, the robot adjusts its orientation according to the tilt angle of each step, so its posture tilts with the step angle; when cleaning the tanning platform, the robot is on the water platform surface, so it is horizontal and located on the tanning platform surface; when cleaning the slope, the robot is attached along the slope surface, so it is attached to the slope; when cleaning the waterline, the robot stands upright at the water-air interface height and undulates with the waterline, so it is vertical and floats along the waterline height; when suspending on the water surface, the robot floats on the water surface, so it is horizontal and suspended on the water surface; when recharging, the robot adopts the corresponding attachment posture according to the structural position of the base station. By mapping the pose of the 3D model to the actual fit of each cleaning mode, users can determine which type of structural surface the pool robot is currently working on based solely on the spatial orientation of the 3D model. Furthermore, users can quickly detect potential positioning anomalies or jamming when the pose does not match the structure of the area it is in (e.g., it appears to be in a vertical wall-fitting pose but is actually located in the pool bottom plane area). This provides an intuitive, pose-based basis for remote observation and anomaly judgment.

[0021] In one exemplary embodiment of this disclosure, the pool map interface includes a vertical cross-sectional view, which presents a vertical cross-sectional view of the pool; the method further includes: obtaining the cleaning surface where the pool robot's identifier is currently located in the vertical cross-sectional view; the currently located cleaning surface includes one of the pool's surface cleaning surface, underwater cleaning surface, and pool bottom cleaning surface; displaying the pool robot's identifier with a visual effect corresponding to the currently located cleaning surface; the visual effects of the identifiers between different cleaning surfaces are different from each other, and the visual effects of the identifiers between different cleaning surfaces are distinguished by one or more of the identifier color, text, or dynamic display effects.

[0022] When a pool robot operates at different depths, such as the surface, the water, and the bottom of the pool, its planar position in the top-down direction may be close to each other. The top-down view alone cannot distinguish the current depth level of the robot, resulting in a lack of information on the robot's working position in the depth direction from the top-down perspective.

[0023] In this embodiment, the vertical cross-sectional view uses a vertical section of the pool as the image, presenting the clean surfaces—the water surface, the water in the water, and the pool bottom—arranged along the depth direction in layers. The markings on different clean surfaces also exhibit distinct visual effects. This design makes the clean surface where the pool robot is located in the depth direction a directly observable display dimension. When it's difficult to distinguish between these surfaces from a top-down view, the user can use the vertical cross-sectional view to determine whether the robot is currently operating on the water surface, in the water, or at the bottom, thus compensating for the lack of depth information in a top-down perspective.

[0024] In one exemplary embodiment of this disclosure, obtaining the cleaning surface where the pool robot's identifier is currently located in a vertical cross-sectional view includes: when the pool robot is currently performing a waterline cleaning mode or a water surface suspension mode, obtaining the cleaning surface where the pool robot's identifier is currently located in the vertical cross-sectional view as a water surface cleaning surface; when the pool robot is currently performing a pool wall cleaning mode, a step cleaning mode, or a slope cleaning mode, obtaining the cleaning surface where the pool robot's identifier is currently located in the vertical cross-sectional view as an underwater cleaning surface; when the pool robot is currently performing a cleaning mode... When the tanning platform is in cleaning mode, the robot's identifier in the vertical cross-sectional view is determined to be either the surface cleaning surface or the underwater cleaning surface, based on the relative position of the tanning platform surface and the water surface line. When the robot is currently in pool bottom cleaning mode, the robot's identifier in the vertical cross-sectional view is determined to be the pool bottom cleaning surface. When the robot is currently in recharging mode, the robot's identifier in the vertical cross-sectional view is determined to be one of the following: surface cleaning surface, underwater cleaning surface, or pool bottom cleaning surface.

[0025] If the location of the clean surface marked in the vertical cross-sectional view is determined by additional depth measurement results, additional depth sensing and calculation are required. Furthermore, in situations where the height of the tanning platform may be higher or lower than the waterline, or the refilling process may involve returning to its position via the water surface, in the water, or at the bottom of the pool, it is difficult to determine the clean surface based solely on depth measurement values ​​in a way that matches the actual pool structure.

[0026] In this embodiment, a specific correspondence between the cleaning mode and the cleaning surface is given, so that the cleaning surface marked in the vertical cross-sectional view does not need to rely on additional depth measurement results, but is directly derived from the current cleaning mode. Furthermore, for the special case of the tanning platform cleaning mode, where the platform height may be higher or lower than the water surface line, the cleaning surface is further determined by combining the relative position of the tanning platform surface and the water surface line, so that the judgment of the cleaning surface in this mode is consistent with the actual pool structure. For the recharge mode, which may return to its position through the water surface, water, and pool bottom, three values ​​are retained: water surface cleaning surface, water surface cleaning surface, and pool bottom cleaning surface, so that the cleaning surface marked during the recharge process can be correctly presented as the return path changes.

[0027] In one exemplary embodiment of this disclosure, the method further includes: when the cleaning mode currently being performed by the pool robot is a water surface suspension mode, displaying a water surface line with water surface features in a vertical cross-sectional view, and presenting a portion of the pool robot's identifier above the water surface line and at least partially below the water surface line in the water; when the cleaning mode currently being performed by the pool robot is a tanning platform cleaning mode, displaying the water surface line and the tanning platform surface in a vertical cross-sectional view, with at least a portion of the tanning platform surface located above the water surface line, and displaying the pool robot's identifier on the tanning platform surface; when the cleaning mode currently being performed by the pool robot is a pool wall cleaning mode or a waterline cleaning mode, displaying the pool wall, the end position of the pool wall cleaning, and the waterline cleaning position, wherein... In waterline cleaning mode, the marker is located at the waterline cleaning position, and at least part of the front end of the marker is exposed above the water surface. When the current cleaning mode executed by the pool robot is pool bottom cleaning mode, step cleaning mode, or slope cleaning mode, the marker of the pool robot is displayed on the surface of the pool bottom, step, or slope respectively, and moves according to the extension direction of the corresponding cleaning surface. When the current cleaning mode executed by the pool robot is recharging mode, the base station marker and the dynamic path from the marker of the pool robot to the base station marker are displayed in the vertical cross-sectional view, and the marker of the pool robot moves towards the base station marker along the dynamic path, and the marker is displayed in a horizontal position on the ground, tilted against the pool wall, or attached to the base station guide rail.

[0028] If the vertical cross-sectional view only distinguishes the clean surface where the marker is located, without further depicting the relative position and movement of the marker with the water surface line, tanning platform surface, pool wall, pool bottom, step surface, slope surface, and base station in the vertical direction, it is impossible to restore the fit and crossing relationship between the robot and each structural surface; especially in modes involving water and air interface such as water surface suspension, tanning platform cleaning, and water line cleaning, it is difficult to express whether the robot is at the correct working height based solely on the clean surface.

[0029] In this embodiment, the vertical cross-sectional view further provides the specific relative positional relationship and movement display method between the markers and the water surface line, tanning platform surface, pool wall, pool bottom, step surface, slope surface, and base station under each cleaning mode. This allows the vertical cross-sectional view to not only distinguish the cleaning surfaces but also to restore the vertical contact and crossing relationship between the robot and each structural surface. Especially in modes involving water and air interface, such as water surface suspension, tanning platform cleaning, and waterline cleaning, the exposure and immersion relationship of the markers relative to the water surface line intuitively shows whether the robot is at the correct working height, allowing users to obtain depth direction feedback that matches the actual working situation in the vertical cross-sectional view.

[0030] In one exemplary embodiment of this disclosure, the method further includes: in the pool map interface, determining the cleaning area corresponding to the currently executed cleaning mode according to the cleaning mode currently being executed by the pool robot; highlighting the cleaning area, and keeping the remaining areas in the pool map interface in normal display or displaying a non-highlighting effect; wherein, the cleaning area includes at least one of the water surface area, the water area, and the pool bottom area, and the water surface area, the water area, and the pool bottom area each have different display effects, and the display effects include one or more of color, text, or dynamic display effects; normal display means retaining the display effects corresponding to the remaining areas, and non-highlighting effect means weakening the display effects corresponding to the remaining areas.

[0031] While users can determine the cleaning mode information after the robot identifies itself, it is still difficult to intuitively see which area on the map the robot is currently working in. Furthermore, when the map zoom or view changes cause the area outline to become blurred, it is difficult to confirm the depth level where the robot is working, which can easily lead to misjudgment of the area.

[0032] In this embodiment, based on the information of the cleaning mode indicated by the robot's own identifier, the cleaning area corresponding to the current cleaning mode is further highlighted on the map, while the remaining areas are displayed normally or with a weakened display. This creates a dual feedback at the map level: "the robot identifier shows how it is cleaning, and the cleaning area shows where it is cleaning." Furthermore, by assigning different display effects to the water surface area, the water area, and the pool bottom area, the highlighted cleaning area also carries information about its depth level. This allows users to confirm the robot's current working level by using the differences in the display effects when the map zooms or the viewpoint changes, causing the area outline to become blurred. This reduces misjudgments caused by unclear area boundaries.

[0033] In one exemplary embodiment of this disclosure, highlighting the cleaned area includes: if the pool map interface is in 2D view mode, displaying the cleaned area as a semi-transparent highlight block or a colored border; if the pool map interface is in 3D stereoscopic view mode, displaying the cleaned area as volumetric light or outline highlight.

[0034] If the same highlighting method is used for both 2D view mode and 3D stereoscopic view mode, what works in one mode may not work in the other. For example, flat color blocks may cause texture misalignment or perspective distortion in a 3D view, resulting in inconsistent recognition of clean areas before and after view switching.

[0035] In this embodiment, appropriate highlighting methods are provided for both 2D and 3D stereoscopic view modes, each tailored to its respective display characteristics: In 2D view mode, the cleaned area is displayed as a semi-transparent highlighted color block or a colored border, highlighting the area's extent without obscuring the tracks and markings within it; in 3D stereoscopic view mode, the cleaned area is displayed with volumetric lighting or outline highlighting, ensuring the highlighting effect harmonizes with the depth of the 3D scene and avoiding texture misalignment or perspective distortion caused by planar color blocks in a 3D perspective. By selecting appropriate highlighting methods for each view mode, the cleaned area can be clearly identified in both display modes, guaranteeing consistent readability of the highlighting effect before and after view switching.

[0036] In one exemplary embodiment of this disclosure, the method further includes: displaying the historical movement trajectory of the pool robot in a pool map interface, the historical movement trajectory being displayed by lines; displaying the lines in the historical movement trajectory located in the current cleaning area with a first display effect, and displaying the trajectory lines in the historical movement trajectory located in the completed cleaning area outside the current cleaning area with a second display effect; wherein the first display effect is different from the second display effect, the first display effect including white lines and the second display effect including gray lines.

[0037] If the historical movement trajectory is drawn with a single display effect, it can only record the path the robot has taken but cannot distinguish the cleaning stage of each segment of the trajectory. Users cannot see from the trajectory itself which areas have been cleaned or which segment the robot is currently covering. They need to view the progress information separately outside the trajectory.

[0038] In this embodiment, by using different display effects for the historical movement trajectory according to its location, the trajectory located in the current cleaning area is highlighted with a first display effect such as white, while the trajectory in the completed cleaning area is weakened with a second display effect such as gray. This allows the trajectory lines to not only record the path traversed by the robot, but also to distinguish between the currently cleaning section and the section that has been cleaned through the difference in display effects. As a result, users can directly read the progress of cleaning on a continuous trajectory, determine which areas have been covered, and which section the robot is currently covering, thereby reducing the need to check the progress information separately outside the trajectory.

[0039] Furthermore, when the pool robot is operating underwater, it can establish real-time communication with a mobile app via a base station acting as an intermediate communication point. The base station is equipped with a communication terminal; the pool robot uploads its current cleaning mode and location information to the base station, which then forwards it to the mobile app. Alternatively, when the pool robot is at least partially above the water, it uploads its current status data and triggers an update to the pool map interface. Therefore, even when the pool robot is underwater, the pool map interface can still obtain its cleaning mode and location and display the corresponding information.

[0040] In one exemplary embodiment of this disclosure, the method further includes: displaying a base station identifier in the pool map interface, with a connecting line or distance value mark displayed between the identifier of the pool robot and the base station identifier; when the pool robot is in recharging mode, the connecting line is dynamically shortened as the pool robot moves closer to the base station, and the distance value mark decreases synchronously.

[0041] During the recharging phase, users cannot intuitively determine whether the robot is approaching the base station or how far away it is from the base station based solely on the location of the robot icon and the base station icon on the map. They need to find the recharging progress information in other locations on the interface.

[0042] In this embodiment, a base station icon is introduced into the pool map interface, and a connecting line or distance value is displayed between the robot icon and the base station icon. In recharging mode, the connecting line dynamically shortens as the robot approaches the base station, and the distance value decreases synchronously, making the relative distance between the robot and the base station and its changing trend a directly observable quantity. Users can thus intuitively determine whether the robot is approaching the base station and how far away it is during the recharging process, without needing to search for the recharging progress elsewhere on the interface. This provides distance feedback based on the geometric relationship between the icons during the recharging phase.

[0043] In one exemplary embodiment of this disclosure, the method further includes: when the pool robot is in recharging mode, the pool map interface also displays a dynamic path pointing from the pool robot's identifier to the base station identifier, or the dynamic path moves in a flowing manner from the pool robot's identifier to the base station identifier.

[0044] During the recharging process, the connection line or distance label can only reflect the distance between the robot and the base station and its shortening trend, but cannot indicate the robot's expected recharging direction. Users cannot confirm which direction the robot will return to its original position.

[0045] In this embodiment, based on the connecting line or distance marking, a dynamic path pointing from the robot identifier to the base station identifier is further displayed in the recharge mode. This dynamic path can be a static path pointing to the base station identifier, or it can move in a flowing manner from the robot identifier to the base station identifier. Thus, during the recharge process, the direction of the path or the direction of the flow intuitively indicates the robot's return direction. Users can not only judge that the robot is approaching the base station by the shortening distance, but also confirm the robot's expected recharge direction by the direction of the path or the direction of the flow, making the directional feedback of the recharge process clearer.

[0046] In one exemplary embodiment of this disclosure, the display mode of the pool map interface includes a 2D view mode and a 3D stereoscopic view mode, and the two modes can be switched. The method further includes: when the display mode of the pool map interface is switched, the visual effect of the marker remains consistent between the 2D view mode and the 3D stereoscopic view mode; in the 3D stereoscopic view mode, the height position of the marker in the pool space corresponds to the actual depth of the pool robot; when the pool robot is at the bottom of the pool, the marker is located in the bottom area of ​​the pool space; when the pool robot is at the waterline position, the marker is located in the top area of ​​the pool space.

[0047] When switching between 2D view mode and 3D stereoscopic view mode, if the visual effect of the marker is inconsistent in the two modes, the user needs to re-establish the correspondence between color, animation and cleaning mode after switching; and if the height position of the marker is not corresponding to the actual depth of the robot in 3D stereoscopic view mode, the three-dimensional scene still cannot intuitively reflect the position of the robot in the depth direction.

[0048] In this embodiment, the pool map interface can switch between 2D view mode and 3D stereoscopic view mode, and the visual effect of the markers remains consistent during the switch. This eliminates the need for users to re-establish the correspondence between colors, animations, and cleaning modes after switching views. At the same time, in the 3D stereoscopic view mode, the height position of the markers in the pool space is correlated with the actual depth of the robot. This makes the robot's position in the depth direction a quantity that can be directly observed in the 3D scene. Users can use the height position of the markers in the pool space to determine whether the robot is close to the bottom of the pool or close to the waterline, thereby supplementing the depth information missing from the top-down view in a three-dimensional perspective.

[0049] According to a second aspect of the present disclosure, a terminal device is provided, including a display screen, a memory, and a processor. The memory stores a computer program, and when the processor executes the computer program, it implements a dynamic visualization method for a swimming pool robot as described in any of the first aspects. The display screen is used to present a swimming pool map interface.

[0050] 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 disclosure. Attached Figure Description

[0051] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure. It is obvious that the drawings described below are merely some embodiments of this disclosure, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0052] Figure 1 A schematic diagram illustrating the process of a dynamic visualization method for a pool robot is shown. Figure 2 This diagram illustrates the dynamic display effect of the logo on the pool robot in cleaning mode 1. Figure 3 This illustration shows the dynamic display effect of the logo of the pool robot in cleaning mode 2; Figure 4 This illustration shows the dynamic display effect of the logo of the pool robot in cleaning mode 3; Figure 5This illustration shows the dynamic display effect of the logo of the pool robot in cleaning mode 4; Figure 6 This illustration shows the dynamic display effect of the logo of the pool robot in cleaning mode 5; Figure 7 This illustration shows the dynamic display effect of the logo of the pool robot in cleaning mode 6; Figure 8 This illustration shows the dynamic display effect of the logo of the pool robot in cleaning mode 7; Figure 9 This illustration shows a dynamic display of the logo of the pool robot in cleaning mode 8.

[0053] In the accompanying drawings, the same or corresponding reference numerals indicate the same or corresponding parts. Detailed Implementation

[0054] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be more thorough and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art.

[0055] Furthermore, the described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. Numerous specific details are provided in the following description to give a thorough understanding of embodiments of this disclosure. However, those skilled in the art will recognize that the technical solutions of this disclosure can be practiced without one or more of the specific details, or other methods, components, apparatuses, steps, etc., can be employed. In other instances, well-known methods, apparatuses, implementations, or operations are not shown or described in detail to avoid obscuring various aspects of this disclosure.

[0056] Furthermore, the accompanying drawings are for illustrative purposes only and are not necessarily drawn to scale. The block diagrams shown in the drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices.

[0057] To facilitate understanding, some terms used in this disclosure will be explained first.

[0058] A pool robot is a robot capable of moving autonomously or semi-autonomously in a swimming pool and performing cleaning or maintenance tasks on the pool bottom, walls, steps, sunbathing platforms, ramps, waterlines, and surface. In some embodiments, it may also be called a pool cleaning robot or an underwater robot. During operation, a pool robot typically needs to move between these different areas and perform corresponding cleaning actions based on its location.

[0059] A pool robot may include a walking drive mechanism (such as tracks or drive wheels), cleaning components (such as brushes, suction ports, and filtration structures), buoyancy and counterweight structures, sensors for sensing its own posture and position in the pool, and a charging interface. The walking drive mechanism allows it to move or crawl on surfaces such as the pool bottom, pool walls, and slopes. The cleaning components perform pool cleaning. The buoyancy and counterweight structures adjust the pool robot's posture and buoyancy in the water. The charging interface is used for returning to a base station for charging or docking.

[0060] A cleaning mode refers to the operating mode performed by a pool robot at a given moment, corresponding to its working part or behavior. In this disclosure, cleaning modes include, but are not limited to, pool bottom cleaning mode, pool wall cleaning mode, step cleaning mode, tanning platform cleaning mode, slope cleaning mode, waterline cleaning mode, water surface suspension mode, and recharging mode. Specifically, pool bottom cleaning mode refers to the mode in which the pool robot cleans the bottom of the pool; pool wall cleaning mode refers to the mode in which the pool robot crawls along the side walls of the pool and cleans the walls; step cleaning mode refers to the mode in which the pool robot cleans the step structures within the pool; tanning platform cleaning mode refers to the mode in which the pool robot cleans the tanning platform (i.e., a shallow water platform in the pool for people to stay on, the platform surface of which may be above or below the waterline); slope cleaning mode refers to the mode in which the pool robot moves along the slope of the pool and cleans the slope; waterline cleaning mode refers to the mode in which the pool robot cleans at the waterline where the water surface meets the pool wall; water surface suspension mode refers to the mode in which the pool robot operates while suspended above or close to the water surface; and recharging mode refers to the mode in which the pool robot returns to the base station for charging or docking. It is understood that the above-described cleaning modes are merely examples. In other embodiments, other cleaning modes may be added according to the pool structure or operational requirements. This disclosure does not limit the specific number or naming of cleaning modes.

[0061] Icons are graphic elements used to represent pool robots in the pool map interface. In 2D view mode, icons can be represented as flat icons (such as dots, arrows, graphic symbols, etc.); in 3D stereoscopic view mode, icons can be represented as three-dimensional models. Icons indicate the pool robot's position in the pool and also indicate the cleaning mode the pool robot is currently performing.

[0062] Visual effects refer to the display form of the markers presented in the pool map interface that can be observed by the user. In this disclosure, visual effects include one or more of the following: marker color, dynamic display effects, and the pose of the 3D model. Specifically, marker color refers to the fill color of the marker or the material color of the 3D model; dynamic display effects refer to the animation form of the markers that changes over time, such as periodic scaling of the radius, flowing dashed lines inside arrows, periodic changes in brightness or transparency, outward diffusion of multiple concentric circles, periodic appearance and disappearance of borders, water ripple effects, and pulsating halos; the pose of the 3D model refers to the orientation of the 3D model in 3D space, such as the spatial orientation determined by the pitch angle and roll angle.

[0063] A swimming pool map interface is a graphical interface used to display the operation of a swimming pool and its robots. The pool map interface can be presented in mobile applications or control terminals. Display modes of the pool map interface can include 2D view mode, 3D stereoscopic view mode, and vertical cross-sectional view. Specifically, 2D view mode presents the pool's planar layout from a top-down perspective; 3D stereoscopic view mode presents the pool's three-dimensional shape; and vertical cross-sectional view mode presents the pool's internal structure along its depth.

[0064] The waterline is a line or boundary in a vertical cross-sectional view that represents the height of the pool's water surface. Above it is air, and below it is water. It may have water surface features such as ripples or water textures. The underwater clean surface, the water surface clean surface, and the pool bottom clean surface refer to three layers along the pool's depth: the water surface clean surface is the layer near the waterline; the underwater clean surface is the layer below the waterline and above the pool bottom; and the pool bottom clean surface is the layer containing the pool bottom.

[0065] A tanning platform is a shallow water platform in a swimming pool for people to sit on, also known as a sunbathing platform or rest platform. Its surface may be above or below the waterline; the platform surface refers to the upper surface of the shallow water platform. A slope is an sloping surface in a swimming pool that connects different depth areas, such as the gentle inlet slope of an infinity pool. Steps are stepped structures in a swimming pool used for ascending and descending. The waterline is the area where the pool surface intersects with the pool wall; the waterline cleaning point is the area in this area that needs cleaning. The pool wall cleaning end point is the point where the pool wall cleaning work ends upwards along the wall.

[0066] The cleaning area refers to the working area corresponding to the cleaning mode currently being executed by the pool robot. It may include at least one of the following areas: pool bottom area, pool wall area, step area, tanning platform area, ramp area, waterline area, water surface area, and recharge-related area. In a vertical cross-sectional view, the cleaning area can also be divided into layers according to the water surface area, the water area, and the pool bottom area.

[0067] Highlighting effects refer to rendering clean areas more prominently than other areas, such as semi-transparent highlight blocks, colored borders, volumetric lighting, or outline highlighting. Non-highlighting effects refer to rendering areas other than the clean areas that are less prominent, such as reducing brightness or saturation, or applying a semi-transparent mask. Volumetric lighting refers to the rendering effect of illuminating an area with beams or pillars of light that create a sense of spatial volume in a 3D scene; outline highlighting refers to the rendering effect of brightening the edges of an area within a 3D scene.

[0068] Historical movement trajectory refers to the path traversed by the pool robot during operation, represented by lines on the map interface. Base station refers to the device used for charging or docking the pool robot, indicated by a base station icon on the map interface; base station rail refers to the guiding structure installed on the base station for docking and positioning of the pool robot. Connecting line refers to the line segment connecting the robot icon and the base station icon; distance value label refers to the textual label indicating the distance between the robot and the base station; dynamic path refers to the path from the robot icon to the base station icon, which can be static or mobile.

[0069] The dynamic visualization method for a swimming pool robot provided in this disclosure can be applied to a system including a swimming pool robot, a terminal device, and an optional base station. The system architecture will be described in general below, followed by a detailed explanation of the working process of each part.

[0070] The swimming pool robot is equipped with components for sensing its own position and operational status. In some embodiments, the swimming pool robot is equipped with one or more of the following: an odometer, a depth sensor, an acoustic communication positioning unit, and a lidar. The odometer records the distance traveled and the direction of the swimming pool robot; the depth sensor measures the current water depth; the acoustic communication positioning unit determines the position of the swimming pool robot relative to a reference point (e.g., a base station or a preset acoustic beacon) in the underwater environment; and the lidar scans the contours of the pool wall to assist in mapping and positioning. It is understood that the above components are merely examples, and in other embodiments, inertial measurement units, vision sensors, pressure sensors, or combinations thereof may be used. This disclosure does not limit the specific form of the sensing components. The swimming pool robot reports the position and operational status information collected by the above components via wired or wireless communication links as the data source for subsequent visualization.

[0071] A terminal device is used to present a pool map interface and execute the dynamic visualization method of this disclosure embodiment. The terminal device may be a smartphone, tablet, dedicated controller, or other electronic device with a display screen. The terminal device includes a display screen, a memory, and a processor. The display screen is used to present the pool map interface; the memory is used to store computer programs and data such as the pool map, the correspondence between cleaning modes and visual effects; the processor is used to execute the computer program, determine the corresponding visual effect based on the cleaning mode reported by the pool robot, and control the display screen to present the identifier as the corresponding visual effect. It is understood that all steps of this disclosure can be executed on the terminal device side, or the pool robot or cloud server can first complete some processing such as cleaning mode recognition, and then the terminal device completes the determination and presentation of the visual effect; this disclosure does not limit the allocation of each step between the pool robot side, the terminal device side, or the server side.

[0072] A base station is a device used for charging or docking swimming pool robots. In some embodiments, the base station is located on the bottom, wall, or edge of the pool and may be equipped with a base station rail for docking the swimming pool robot. The base station is represented by a base station icon in the pool map interface.

[0073] Before performing dynamic visualization, a pre-built map of the swimming pool can be constructed to obtain the two-dimensional and three-dimensional maps upon which the pool map interface is based. In some embodiments, map pre-construction includes: pre-scanning and mapping the pool using one or more of the following: an odometer, a depth sensor, an acoustic communication positioning unit, and a lidar mounted on a pool robot. The two-dimensional map is used to generate a view of the pool, and can use gradient colors to represent areas where the water depth changes slowly, for example, as the water depth increases, the color of the corresponding area gradually changes from light to dark; and different colored blocks are used to distinguish structures such as steps, tanning platforms, slopes, pool walls, and waterlines. The three-dimensional map is used to generate the three-dimensional shape of the pool, and can reproduce the structural shapes of the pool, such as slopes, rounded corners, steps, tanning platforms, pool walls, and waterlines. If a base station is installed in the pool, the base station can be marked in both the two-dimensional and three-dimensional maps. It is understood that the map pre-construction method is only an example; the two-dimensional and three-dimensional maps can also be manually configured by the user on the terminal device or imported from the pool's design drawings. This disclosure does not limit the method of map acquisition.

[0074] The following section, with reference to the accompanying diagrams, explains the specific process of the dynamic visualization method for pool robots. Figure 1 The schematic diagram illustrates a flow chart of a dynamic visualization method for a swimming pool robot according to an embodiment of the present disclosure. This method can be executed by the aforementioned terminal device. It should be noted that the labels for the following steps are for reference only and are not intended to limit the execution order of the steps. Where logically permissible, the execution order of some steps can be adjusted, or some steps can be executed in parallel.

[0075] In some embodiments, such as Figure 1 As shown in the embodiments of this disclosure, the dynamic visualization method for a swimming pool robot may include the following steps.

[0076] Step S110: Display the pool map interface and show the pool robot's logo on the pool map interface.

[0077] In this step, the terminal device displays a pool map interface on the screen. The pool map interface shows a pre-constructed pool layout based on the aforementioned map, and displays the pool robot's icon within this layout. The position of the icon on the pool map interface corresponds to the actual position of the pool robot in the pool. The initial form of the icon can be an icon, such as a dot or graphic symbol. This step allows the user to observe the current position of the pool robot in the pool through the pool map interface.

[0078] There are several ways to display a swimming pool map interface. In one implementation, the terminal device pre-stores 2D and 3D map data of the swimming pool locally. The terminal device reads this map data, renders it locally, and then displays it on the screen. The position of the swimming pool robot is mapped from its reported coordinates to pixel positions on the map interface through coordinate transformation, and the identifier is drawn at that pixel position. In another implementation, the rendering of the swimming pool map is completed by a cloud server. The cloud server sends the rendered map image or map layer to the terminal device, and the terminal device is only responsible for displaying and overlaying robot identifiers. This method is suitable for scenarios with a large amount of map data or limited terminal rendering capabilities. It is understood that this disclosure does not limit the rendering subject or data source of the swimming pool map interface.

[0079] In some embodiments, the pool map interface also displays a direction indicator to indicate the current orientation of the pool robot. The direction indicator can be an arrow, the head orientation of the 3D model, or a direction line located at the front of the indicator. The terminal device updates the orientation of the direction indicator according to the heading angle or direction of movement reported by the robot.

[0080] Step S120: Obtain the cleaning mode currently being executed by the pool robot; the currently executed cleaning mode includes one of the following: pool bottom cleaning mode, pool wall cleaning mode, step cleaning mode, tanning platform cleaning mode, slope cleaning mode, waterline cleaning mode, water surface suspension mode, and recharging mode.

[0081] In this step, the terminal device determines the cleaning mode currently being executed by the pool robot. The cleaning mode can be identified locally by the pool robot and reported to the terminal device, or it can be inferred by the terminal device based on the location information, water depth information, and operational action information reported by the pool robot, or it can be identified by the cloud server and sent to the terminal device. In some embodiments, the pool robot determines the current cleaning mode based on its location and the currently executed operational action. For example, based on the water depth measured by the water depth sensor, the location measured by the acoustic communication positioning unit, and the travel status recorded by the odometer, it determines whether the robot is currently at the bottom of the pool, the pool wall, the steps, the tanning platform, the slope, the waterline, or the water surface, and combines this with whether it is in the process of returning to the base station to determine that the current cleaning mode is one of the eight cleaning modes mentioned above. Therefore, even if the pool robot is in different areas of the pool (such as the bottom and the pool wall), it can still determine the current cleaning mode based on its location and operational action. It is understood that the cleaning mode identification method is only an example, and this disclosure does not limit the identification subject or algorithm of the cleaning mode.

[0082] Step S130: Display the pool robot's logo with a visual effect corresponding to the currently executed cleaning mode.

[0083] In this step, the terminal device determines the current cleaning mode according to step S120, queries the pre-stored correspondence between cleaning modes and visual effects, determines the visual effect corresponding to the cleaning mode, and controls the display screen to present the pool robot's logo as that visual effect. The visual effect allows the logo to indicate both its location and the current cleaning mode. In some embodiments, the correspondence between cleaning modes and visual effects is stored in memory in the form of a lookup table. Each record in the lookup table maps a cleaning mode to a set of visual effect parameters; the terminal device uses the current cleaning mode as an index to look up the table to obtain the corresponding visual effect parameters, and then renders the logo accordingly.

[0084] There are several ways to determine the visual effects corresponding to a cleaning mode. One approach uses a lookup table, with the current cleaning mode as the key, to directly read a set of visual effect parameters, such as color values, animation type identifiers, and animation parameters. This method offers fast query speeds, intuitive configuration, and allows for adjusting the visual effects of a specific mode by editing the lookup table without modifying the program logic. Another approach implements the correspondence between cleaning modes and visual effects using a mapping function or configuration file. For example, a mapping function calculates and returns the corresponding visual effect parameters based on the enumerated values ​​of the cleaning modes, or the correspondence is recorded in an externally loadable configuration file and loaded when the terminal device starts or the interface refreshes. This method facilitates switching between different pool models or different user preferences. It is understood that this disclosure does not limit the storage and query format of the correspondence between cleaning modes and visual effects.

[0085] Step S140: When the cleaning mode currently being executed by the pool robot is switched, the pool robot's logo is synchronously changed to the visual effect corresponding to the switched cleaning mode.

[0086] In this step, the terminal device continuously determines the cleaning mode currently being executed by the pool robot. When it detects a change in cleaning mode from the previous mode to the new mode, the terminal device re-queries the corresponding relationship, determines the visual effect corresponding to the new cleaning mode, and synchronously changes the visual effect of the label from the previous visual effect to the new visual effect. For example, when the pool robot switches from bottom cleaning mode to wall cleaning mode, the visual effect of the label synchronously changes from the visual effect corresponding to the bottom cleaning mode to the visual effect corresponding to the wall cleaning mode. Thus, the display status of the label can be updated in real time as the cleaning mode changes. In some embodiments, the terminal device polls the current cleaning mode at a preset period, or is triggered to update when the pool robot reports an event indicating a change in cleaning mode; this disclosure does not limit the specific mechanism for triggering the label update.

[0087] Through the above steps, the robot icon on the pool map interface not only indicates its location but also displays the visual effect corresponding to the currently executed cleaning mode. From this technical effect, the current cleaning mode of the underwater pool robot can be accurately perceived. Furthermore, when the cleaning mode currently executed by the pool robot changes, the pool robot icon will synchronously change to the visual effect corresponding to the changed cleaning mode. That is, when the pool robot moves from its current area to another area (such as moving from the steps to the tanning platform for cleaning), the pool robot icon will also synchronously change to the visual effect corresponding to the changed cleaning mode. This allows the display status of the pool robot icon to be updated with the change of cleaning mode, reducing the dispersion of cleaning mode information and map display information, and thus enabling accurate judgment of the changes in the operating status and cleaning status of the pool robot.

[0088] In some embodiments, visual effects may include at least one of the identifier color and dynamic display effects. In some embodiments, visual effects include only the identifier color, i.e., the identifier is displayed in different colors in different cleaning modes. In other embodiments, visual effects include only dynamic display effects, i.e., the identifier is displayed with different animation patterns in different cleaning modes; in still other embodiments, visual effects include both identifier color and dynamic display effects, i.e., the identifier is different in both color and animation pattern in different cleaning modes. Wherein, the identifier colors are different between different cleaning modes, and the dynamic display effects are also different between different cleaning modes.

[0089] Understandably, the reason for different label colors and dynamic displays across different cleaning modes is that the label's position on the pool map is primarily determined by the robot's position within the pool. When the robot moves between areas with similar structures or stays in the same spot, the label's position doesn't change significantly. If cleaning modes were solely represented by location information, users would struggle to distinguish them in these situations. By mapping cleaning modes to the label's own color and dynamic display, the label's representation of the cleaning mode no longer depends on location changes. Even if the robot's position doesn't change significantly, users can still distinguish the current cleaning mode based solely on the label's color or animation.

[0090] In some embodiments, the correspondence between the identification color and the cleaning mode can be as follows: blue for bottom cleaning mode, green for wall cleaning mode, purple for step cleaning mode, orange for tanning platform cleaning mode, cyan for waterline cleaning mode, yellow for recharge mode, white or semi-transparent white for surface suspension mode, and brown for slope cleaning mode. It is understood that the above color correspondence is only one example, and other color combinations can be used in other embodiments, as long as the identification colors for different cleaning modes are different. This disclosure does not limit the specific color values. In implementation, the identification color can be achieved by setting the fill color of the identification icon or the material color of the 3D model; the terminal device uses the current cleaning mode as an index, reads the color value corresponding to that mode from the correspondence (e.g., represented by RGB (Red, Green, Blue) or hexadecimal color values), and assigns it to the fill color or material color of the identification.

[0091] In some embodiments, to improve the distinguishability of colors under different display brightness and user visual conditions, the colors used in adjacent cleaning modes are spaced apart in hue. For example, the pool bottom cleaning mode and the pool wall cleaning mode, which are frequently switched between each other, use blue and green with a large hue difference, respectively, to avoid the difficulty in noticing similar hues when switching quickly. In other embodiments, a certain difference in brightness or saturation can also be used for the same color so that users with different color vision can also distinguish the cleaning modes by brightness.

[0092] By setting distinct values ​​for the identifier color and dynamic display effect, and allowing the two dimensions to be used individually or in combination, the identifier can represent cleaning mode information using one or both dimensions. Using only the color dimension is simple to implement and has low computational overhead, making it suitable for terminals with limited display resources. Using only the dynamic display effect dimension allows for differentiation of cleaning modes even under monochrome or grayscale display conditions. When both dimensions are used in combination, color and animation are redundant, preserving the distinguishability of the other dimension even when color is difficult to distinguish or animation is not easily perceptible, thereby improving the reliability of cleaning mode representation.

[0093] In embodiments where visual effects include dynamic display effects, presenting the pool robot's logo with visual effects corresponding to the currently executed cleaning mode may include one or more of the following dynamic display effects.

[0094] When the pool robot is currently performing the pool bottom cleaning mode, the pool robot's identifier will be displayed as a pulse dot with its radius periodically scaling.

[0095] It should be noted that in the following figures, the logo of the pool robot is drawn with reference to the shape of the pool robot. That is, the logo is a graphic symbol corresponding to the shape of the pool robot. The above-mentioned display effects corresponding to each cleaning mode are superimposed on the logo or displayed around the logo. The specific form of the logo is not limited to this. For example, it can also be represented as a dot, arrow or other flat icon, or as a three-dimensional model in three-dimensional view mode.

[0096] like Figure 2 As shown, in one implementation, cleaning mode 1 can be a pool bottom cleaning mode, which is identified by a dot. The radius of the dot changes periodically between a preset minimum radius and a maximum radius. For example, the radius scales back and forth with time according to a sine law within the range of approximately the minimum to the maximum radius, and the scaling period can be approximately 0.8 seconds to 2 seconds. Figure 2 The logo, drawn with reference to the shape of a swimming pool robot, and the dashed outline circle outside the logo indicating its scaling trajectory, illustrate the two extreme states of the logo scaling back and forth between its minimum and maximum size. This back-and-forth pattern of pulsed scaling corresponds to the operational characteristics of a robot reciprocating along a horizontal pool bottom during cleaning.

[0097] When the pool robot is currently performing pool wall cleaning, its logo will be displayed as a flowing arrow with a dotted line inside. For example... Figure 3 As shown, in one implementation, cleaning mode 2 can be a pool wall cleaning mode, indicated by an arrow pointing in the same direction as the robot crawling along the wall. The arrow is filled with several dashed lines, which move in a loop at a preset speed along the direction of the arrow, forming a visual pattern of internal flow. Figure 3 The image depicts a marker, drawn with reference to the shape of a swimming pool robot and positioned within a flowing arrow, along with several dashed flowing lines arranged along the direction of the arrow. This illustrates the flow pattern of the marker as it crawls along the wall. This flow direction corresponds to the operational characteristics of a robot directionally crawling along the wall during pool cleaning.

[0098] When the pool robot is currently performing the step cleaning mode, the brightness or transparency of the pool robot's logo will change periodically. For example... Figure 4 As shown, in one implementation, cleaning mode 3 can be a step cleaning mode, where the brightness or transparency of the marker changes periodically within a preset range, for example, the transparency changes periodically between approximately 30% and 100%, forming a breathing-like alternation of light and dark. Figure 4 The design features several markers, each with decreasing brightness or transparency and drawn in reference to the shape of a swimming pool robot, illustrating different phases of alternating light and dark. This alternation of light and dark corresponds to the robot's gradual transition between different levels of steps during stair cleaning.

[0099] When the pool robot is currently in tanning platform cleaning mode, its logo will be displayed as a ripple icon with multiple concentric circles expanding outwards. For example... Figure 5 As shown, in one implementation, cleaning mode 4 can be a tanning platform cleaning mode, which periodically generates multiple concentric circles with the marked location as the center. The radius of each concentric circle increases over time and fades out when it reaches the preset outer edge, forming a ripple pattern that spreads from the inside out. Figure 5 The logo, drawn with reference to the shape of a swimming pool robot, and the multiple concentric circles surrounding it, illustrate the ripple-like pattern that spreads outwards. This circular diffusion echoes the circular covering action of a robot on a tanning platform during cleaning.

[0100] When the pool robot is currently executing the ramp cleaning mode, its icon will be displayed as a gradient arrow. For example... Figure 6 As shown, in one implementation, cleaning mode 5 can be a slope cleaning mode, indicated by an arrow that extends downhill or uphill along the slope. The arrow has a gradient of color or transparency from its tail to its head, with the gradient direction indicating the direction of the robot's movement along the slope. Figure 6 The logo, drawn with reference to the shape of a swimming pool robot and tilted along the slope, along with a gradient arrow extending along the slope and gradually darkening from the tail to the head, indicates the directional gradient of the logo as it moves along the slope. This directional gradient corresponds to the operational characteristics of the robot moving directionally along the slope during slope cleaning.

[0101] When the pool robot is currently performing waterline cleaning, the border of the pool robot's logo will periodically appear and disappear. For example... Figure 7 As shown, in one implementation, cleaning mode 6 can be a waterline cleaning mode, with the identifier having a border that alternates between being shown and hidden according to a preset cycle. For example, the border transparency switches periodically between 0% and 100%, forming a flashing pattern. Figure 7 The logo, drawn with reference to the shape of a swimming pool robot, shows its appearance with and without a border, illustrating the periodic appearance and disappearance of the border. This periodic appearance and disappearance corresponds to the robot's operational characteristics during waterline cleaning, where it repeatedly scrubs at the interface between water and air.

[0102] When the pool robot is currently operating in the water surface hovering cleaning mode, a water ripple effect will be displayed around the pool robot's logo. For example... Figure 8 As shown, in one implementation, cleaning mode 7 can be a water surface suspension mode, in which several water ripple lines are drawn around the logo, and the water ripple lines fluctuate over time to form the visual shape of the robot floating on the water surface. Figure 8The logo, drawn with reference to the shape of a swimming pool robot, and several undulating water ripples surrounding the logo, illustrate the water ripple effect. The water ripple shape corresponds to the robot's operational characteristics of contacting the water surface when it is suspended in the water.

[0103] When the pool robot is currently in recharging mode, a pulsating halo will appear around the robot's logo, along with a dynamic path pointing to the base station. For example... Figure 9 As shown, in one implementation, cleaning mode 8 can be a recharge mode, in which a halo is drawn around the marker, and the brightness or radius of the halo pulsates periodically; at the same time, a dynamic path is drawn between the marker and the base station marker, and the path flows from the marker to the base station marker. Figure 9 The image shows a robot logo with a pulsating halo, a base station logo, and a flowing dashed path pointing from the robot logo to the base station logo, illustrating the dynamic display effect in this recharging mode. The pulsating halo and the dynamic path pointing to the base station correspond to the process of the robot returning to its position towards the base station during recharging.

[0104] In 2D view mode, the various actual states of the pool robot are first detected to determine its current cleaning mode. Then, the determined cleaning mode drives the display of the corresponding icon color and dynamic display effect on the planar icon. The detected states include: the robot's pitch angle, roll angle, and other attitudes measured by the inertial measurement unit; whether the robot is above the water surface; whether it is in contact with the structural surface; and whether it is facing the base station.

[0105] The terminal device determines the current cleaning mode based on these states and the following conditions: When the pool robot is detected to be horizontal, not out of water, and in contact with the bottom surface, it is determined to be in pool bottom cleaning mode; when the pool robot is detected to be vertical, not out of water, and in contact with the vertical wall, it is determined to be in pool wall cleaning mode; when the pool robot is detected to be tilted step by step and in shallow water, it is determined to be in step cleaning mode; when the pool robot is detected to be horizontal, partially out of water, and supported by a platform, it is determined to be in tanning platform cleaning mode; when the pool robot is detected to be tilted at a single slope along a slope, it is determined to be in slope cleaning mode; when the pool robot is detected to be vertical, with the front part out of water and undulating along the waterline, it is determined to be in waterline cleaning mode; when the pool robot is detected to be horizontal, partially out of water, and not in contact with any structural surface, it is determined to be in water surface suspension mode; when the pool robot is detected to be facing the base station, the distance is continuously decreasing, and docking is performed, it is determined to be in recharging mode.

[0106] For modes with similar postures, further differentiation is achieved by whether water is emitted and whether there is a platform support: tanning platform cleaning and water surface suspension are both horizontal and partially emitting water, the former has platform support, while the latter is not; pool wall cleaning and waterline cleaning are both vertical, the former does not emit water, while the latter emits water at the front. After determining the cleaning mode, the cleaning mode drives the planar icon to display the corresponding identification color and dynamic display effect: in pool bottom cleaning mode, it is displayed as a pulse dot with a periodically scaling radius; in pool wall cleaning mode, it is displayed as a flowing arrow with a flowing dotted line inside the arrow; in step cleaning mode, the icon brightness or transparency changes periodically; in tanning platform cleaning mode, it is displayed as a ripple icon with multiple concentric circles spreading outward; in slope cleaning mode, it is displayed as a gradient arrow; in waterline cleaning mode, the icon border appears and disappears periodically; in water surface suspension mode, a water ripple effect is displayed around the icon; and in recharging mode, a pulsating halo is displayed around the icon, while simultaneously displaying a dynamic path pointing to the base station. Therefore, the identification color and dynamic display effect in 2D view mode are also obtained through "detecting status - determining mode - display effect". Even if the robots are in similar planar positions in the view, users can distinguish the cleaning mode currently being performed by the color of the identification and the dynamic display effect.

[0107] It should be noted that the status detected by the pool robot can include information such as posture, but the posture of the pool robot is not displayed in the pool map interface in 2D view mode.

[0108] At the underlying implementation level, the aforementioned dynamic display effect can be rendered frame-by-frame by the terminal device's processor: the processor maintains a phase variable that progresses over time and maps this phase variable to parameters such as the radius, transparency, brightness, dashed line offset, concentric circle radius, border visibility, water ripple phase, or halo radius of the identifier in the current frame. For example, for periodic scaling of the radius, the current radius can be taken as the product of the reference radius and the amplitude and phase sine value; for periodic changes in brightness or transparency, the current transparency can be interpolated between the minimum and maximum values ​​according to the phase; for flowing dashed lines and dynamic paths, the initial offset of the dashed line can be taken as linearly increasing with the phase and modulo the dashed line spacing. It is understood that the above parameter mapping method is only an example, and this disclosure does not limit the specific rendering implementation of the dynamic display effect. Any implementation method that enables the identifier to present the above periodic or flowing form can be adopted.

[0109] Therefore, each cleaning mode is given a dynamic display effect that corresponds in form to the actual operating characteristics of that mode. Users can not only distinguish between cleaning modes, but also associate the form of the dynamic display effect with the robot's actual operating method under the corresponding cleaning mode. This reduces the burden of memorizing the correspondence between colors and modes when switching between multiple cleaning modes intensively, and improves the efficiency of the label in conveying cleaning mode information. It should be noted that each of the above dynamic display effects can be used individually, or multiple effects can be applied simultaneously to different cleaning modes. This disclosure does not limit the number or combination of dynamic display effects.

[0110] In some embodiments, the pool map interface displays a 3D stereoscopic view mode. In this mode, the pool robot's identifier is displayed as a three-dimensional model. In addition to the aforementioned identifier color and dynamic display effects, the visual effects may also include the pose of the three-dimensional model, and the poses of the three-dimensional model differ between different cleaning modes.

[0111] In 3D stereoscopic view mode, the three-dimensional model can also be superimposed with the model surface dynamic effects corresponding to the cleaning mode. For example, in the pool bottom cleaning mode, a pulsed halo is displayed on the model surface; in the pool wall cleaning mode, light strips flowing along the model surface are displayed; in the step cleaning mode, a breathing light effect is displayed; in the tanning platform cleaning mode, ring-shaped ripple particles are displayed; in the water surface suspension mode, water wave particles are displayed; and in the recharging mode, a guide beam pointing towards the base station is displayed.

[0112] The attitude of a 3D model can be determined by its orientation in 3D space. In one implementation, a Cartesian coordinate system is established with the horizontal bottom surface of the pool as the reference plane, where the horizontal direction is the plane containing the X and Y axes, and the vertical direction is the Z axis. The attitude of the 3D model is determined by its pitch angle around the X-axis and roll angle around the Y-axis, etc. The terminal device uses the current cleaning mode as an index to query the correspondence between the cleaning mode and the attitude parameters, obtains the pitch and roll angles corresponding to that mode, and sets the orientation of the 3D model accordingly. It is understood that the attitude can also be represented by quaternions, rotation matrices, or other methods; this disclosure does not limit the representation of the attitude.

[0113] Specifically, in some embodiments, the posture of the 3D model in each cleaning mode can be set as follows: When the pool robot is currently performing the pool bottom cleaning mode, the pool robot's posture is horizontal and flush against the pool bottom, meaning the 3D model is laid flat on the plane of the horizontal pool bottom. When the pool robot is currently performing the pool wall cleaning mode, the pool robot's posture is vertical and tilted against the pool wall, meaning the 3D model rotates around the horizontal axis to face the vertical pool wall. When the pool robot is currently performing the step cleaning mode, the pool robot's posture tilts with the step angle, meaning the orientation of the 3D model adjusts according to the tilt angle of the currently cleaned step surface. When the pool robot is currently performing the tanning platform cleaning mode, the pool robot's posture is horizontal and located on the tanning platform surface. When the pool robot is currently performing the slope cleaning mode, the pool robot's posture is tilted against the slope, meaning the orientation of the 3D model is consistent with the slope of the slope surface. When the pool robot is currently in waterline cleaning mode, its posture is vertical and it floats along the waterline height; that is, the 3D model is vertically oriented at the waterline height and floats up and down with the waterline. When the pool robot is currently in water surface suspension mode, its posture is horizontal and it floats on the water surface; that is, the 3D model floats at the height of the water surface. When the pool robot is currently in recharging mode, its posture is horizontally attached to the pool bottom, tilted against the pool wall, or attached to the base station rail; that is, the 3D model adopts the corresponding attachment posture depending on the structural position of the base station.

[0114] The aforementioned postures are not pre-specified. Instead, various actual states of the pool robot are first detected to determine its current cleaning mode, and then the determined cleaning mode drives the 3D model to display the corresponding posture. The detected states include: the body's pitch angle, roll angle, and other postures measured by the inertial measurement unit; whether the body is above the water surface; whether it is in contact with the structural surface; and whether it is facing the base station.

[0115] The terminal device determines the current cleaning mode based on these states and the following conditions: When the pool robot is horizontal, not out of water, and in contact with the bottom surface, it is determined to be in pool bottom cleaning mode; when the pool robot is vertical, not out of water, and in contact with the vertical wall, it is determined to be in pool wall cleaning mode; when the pool robot is tilted step by step and is in shallow water, it is determined to be in step cleaning mode; when the pool robot is horizontal, partially out of water, and supported by a platform, it is determined to be in tanning platform cleaning mode; when the pool robot is tilted at a single slope along a slope, it is determined to be in slope cleaning mode; when the pool robot is vertical, with the front part out of water and undulating along the waterline, it is determined to be in waterline cleaning mode; when the pool robot is horizontal, partially out of water, and not in contact with any structural surface, it is determined to be in water surface suspension mode; when the pool robot is facing the base station, the distance is continuously decreasing, and docking is performed, it is determined to be in recharging mode.

[0116] For cleaning modes with similar postures, they can be further distinguished by whether water is dispensed and whether there is a platform support. For example, the tanning platform cleaning mode and the water surface suspension cleaning mode are both horizontal and partially dispense water, but the former has a platform support while the latter does not; the pool wall cleaning mode and the water line cleaning mode are both vertical, but the former does not dispense water while the latter dispenses water from the front.

[0117] After the cleaning mode is determined, the 3D model is driven to present the corresponding posture by the cleaning mode. For example, in the pool bottom cleaning mode, it is horizontally attached to the bottom of the pool; in the pool wall cleaning mode, it is vertically attached to the inclined pool wall; in the step cleaning mode, it is inclined with the angle of the step; in the tanning platform cleaning mode, it is horizontally placed on the tanning platform surface; in the slope cleaning mode, it is attached to the inclined slope; in the waterline cleaning mode, it is vertical and floats along the waterline; in the water surface suspension mode, it is horizontally suspended on the water surface; and in the recharge mode, it is attached to the bottom of the pool, the pool wall, or the base station guide rail according to the location of the base station.

[0118] Thus, the posture of the 3D model is obtained through "detecting state - determining mode - displaying posture", which corresponds to the actual operation of the robot. This allows users to judge the structural surface that the robot is currently attached to based on the posture, and also to detect positioning abnormalities or jamming in time when the posture does not match the structure (for example, displaying a vertical wall-attached posture but located in the bottom plane area of ​​the pool).

[0119] In 3D stereoscopic view mode, the pose of the 3D model can be overlaid with the aforementioned color markings and dynamic display effects. For example, in pool wall cleaning mode, the 3D model can simultaneously display green material, flowing light stripes on the surface, and a vertically tilted pose conforming to the pool wall; in step cleaning mode, the 3D model can simultaneously display purple material, periodic brightness changes, and a pose tilted with the step angle. It is understood that pose, color, and dynamic display effects can be used individually or in any combination, and this disclosure does not limit this.

[0120] By adding a pose dimension to the markers in the 3D stereoscopic view mode, the spatial orientation of the 3D model itself can also represent cleaning mode information. Since the pose of the 3D model corresponds to the orientation of the actual structural surface of the pool, users can intuitively determine whether the robot is currently attached to the pool bottom, pool wall, steps, or slope, etc., based on the pose. Furthermore, when the pose does not match the structure of the area, for example, the 3D model shows a vertical wall-hugging pose but is located in the pool bottom plane area, users can quickly detect that the robot may have a positioning abnormality or be stuck, thus providing an intuitive pose-based basis for remote observation and anomaly judgment.

[0121] In some embodiments, the pool map interface may include a vertical cross-sectional view in addition to the aforementioned 2D view mode and 3D stereoscopic view mode. The vertical cross-sectional view uses the vertical section of the pool as the screen and presents the internal structure of the pool along the depth direction. For example, the screen shows the water surface, the water in the water, and the pool bottom arranged along the depth direction from top to bottom.

[0122] In a vertical cross-sectional view, the method of this embodiment may further include: obtaining the current cleaning surface of the pool robot's identifier in the vertical cross-sectional view; the current cleaning surface includes one of the pool's surface cleaning surface, underwater cleaning surface, and pool bottom cleaning surface; presenting the pool robot's identifier with a visual effect corresponding to the current cleaning surface; the visual effects of the identifiers on different cleaning surfaces are different from each other, and the visual effects of the identifiers on different cleaning surfaces are distinguished by one or more of the identifier color, text, or dynamic display effects. Here, the surface cleaning surface refers to the layer near the waterline in the pool, the underwater cleaning surface refers to the layer below the waterline and above the pool bottom, and the pool bottom cleaning surface refers to the layer where the pool bottom is located.

[0123] Understandably, the reason for introducing the vertical cross-sectional view is that, from a top-down perspective, when a robot is operating at different depths—such as the water surface, underwater, and bottom—its planar position may be close to each other, making it difficult to distinguish the depth level the robot is at using only a planar view. The vertical cross-sectional view presents the cleaning surfaces arranged along the depth direction in layers on the screen, and makes the markings on different cleaning surfaces appear visually distinct, thus turning the cleaning surface where the robot is located in the depth direction into a directly observable display dimension. For example, the markings for the water surface cleaning surface can use one color or one type of text, the markings for the underwater cleaning surface can use another color or text, and the markings for the bottom cleaning surface can use yet another color or text, making them distinguishable. Users can thus determine whether the robot is currently operating on the water surface, underwater, or at the bottom when it is difficult to distinguish from a top-down planar position, compensating for the lack of depth information in a top-down view.

[0124] In some embodiments, the identification of the pool robot in the cleaning surface it is currently on in the vertical cross-sectional view can be determined based on the currently executed cleaning mode, specifically including the following correspondence.

[0125] When the pool robot is currently performing either waterline cleaning or surface suspension, the robot's identifier in the vertical cross-sectional view indicates that the current cleaning surface is the water surface. This is because both waterline cleaning and surface suspension occur near the waterline.

[0126] When the pool robot is currently performing cleaning in pool wall cleaning, step cleaning, or ramp cleaning mode, the robot's identifier in the vertical cross-sectional view indicates that the current cleaning surface is the underwater cleaning surface. This is because the cleaning of pool walls, steps, and ramps primarily occurs in the water layer below the waterline and above the pool bottom.

[0127] When the pool robot is currently executing the tanning platform cleaning mode, the robot's current cleaning surface in the vertical cross-sectional view is determined as either the surface cleaning surface or the underwater cleaning surface, based on the relative position of the tanning platform surface and the water surface line. Since the tanning platform is a shallow water platform, its surface may be above or below the water surface line: when the surface is near or above the water surface line, it is determined to be the surface cleaning surface; when the surface is below the water surface line, it is determined to be the underwater cleaning surface.

[0128] When the pool robot is currently performing the pool bottom cleaning mode, the identifier of the pool robot in the vertical cross-sectional view is the current cleaning surface of the pool bottom cleaning surface.

[0129] When the pool robot is currently performing the recharge mode, the robot's identifier in the vertical cross-sectional view is determined to be one of the following cleaning surfaces: the water surface, the underwater surface, or the pool bottom surface. This is because the robot may return to its position via the water surface, the underwater surface, or the pool bottom during the recharge process. Therefore, three values ​​are retained to ensure that the cleaning surface where the identifier is located can be correctly displayed as the return path changes during the recharge process.

[0130] By providing a direct mapping from the cleaning mode to the cleaning surface, the cleaning surface identified in the vertical section view can be directly derived from the current cleaning mode without relying on additional depth measurements, thus simplifying the process of determining the cleaning surface. Furthermore, for the special case where the height of the tanning platform may be higher or lower than the waterline, the cleaning surface is further determined by combining the relative position of the platform and the waterline, ensuring that the determination of the cleaning surface under this mode is consistent with the actual pool structure.

[0131] In some embodiments, the relative positional relationship and movement display mode of the markers to each structural surface in the vertical section view can be set as follows for different cleaning modes.

[0132] When the pool robot is currently performing a water surface suspension cleaning mode, a water surface line with water surface features is displayed in the vertical cross-sectional view, and a portion of the pool robot's logo is presented above the water surface line, or at least partially below it. The water surface features can be ripples or textures representing the water surface. By making the logo appear across the water surface line, the robot's operational state—suspended on the water surface and partially submerged—is visually represented.

[0133] When the pool robot is currently performing the tanning platform cleaning mode, the water level and the tanning platform surface are displayed in the vertical cross-sectional view. The tanning platform surface is at least partially above the water level, and the pool robot's logo is displayed on the tanning platform surface. This visually represents the robot's operation on the shallow water platform.

[0134] In some embodiments, when the pool robot moves up the pool wall or slope to the tanning platform, its bottom contacts the platform, and a portion of the marking facing the water surface is above the water line while the other portion is on the tanning platform, the pool robot is determined to have entered the tanning platform cleaning mode. At this time, in the vertical cross-sectional view, a portion of the marking facing the water surface is presented above the water line, and the other portion is presented on the tanning platform near the water line, so as to intuitively express the working state of the pool robot on the shallow water platform, partially exposed above the water surface.

[0135] When the pool robot is currently performing either pool wall cleaning or waterline cleaning, it displays the pool wall, the end position of the pool wall cleaning, and the waterline cleaning position. In waterline cleaning mode, the marker is located at the waterline cleaning position, and at least part of the front end of the marker protrudes above the water surface. This distinguishes between the robot's operation along the pool wall and its operation at the waterline, and the marker's protruding front end visually indicates that the waterline cleaning operation occurs at the water-air interface.

[0136] When the pool robot is currently performing a cleaning mode—pool bottom cleaning, step cleaning, or ramp cleaning—the robot's logo is displayed on the surface of the pool bottom, step, or ramp, respectively, and moves along the direction of the corresponding cleaning surface. For example, during pool bottom cleaning, the logo moves along the horizontal direction of the pool bottom; during step cleaning, the logo moves along the direction of the step surface; and during ramp cleaning, the logo moves along the direction of the ramp surface, thus representing the robot's movement along the corresponding structural surface in the vertical cross-sectional view.

[0137] When the pool robot is currently in recharging mode, the vertical cross-sectional view displays a base station identifier and a dynamic path from the pool robot's identifier to the base station identifier. The pool robot's identifier moves along the dynamic path toward the base station identifier, and the identifier is displayed in a horizontal position close to the ground, tilted against the pool wall, or in contact with the base station guide rail. This expresses the process of the robot returning to its base station and its contact posture during return in the vertical cross-sectional view.

[0138] With the above settings, the vertical cross-sectional view can not only distinguish the cleaning surface, but also restore the vertical alignment and crossing relationship between the robot and the water surface line, tanning platform surface, pool wall, pool bottom, step surface, slope surface, and base station. Especially in modes involving water and air interface such as water surface suspension, tanning platform cleaning, and water line cleaning, by marking the exposure and immersion relationship relative to the water surface line, it can intuitively show whether the robot is at the correct working height, so that users can obtain depth direction feedback that matches the actual working situation in the vertical cross-sectional view.

[0139] In some embodiments, the method of this disclosure may further include: in the pool map interface, determining the cleaning area corresponding to the cleaning mode currently being executed by the pool robot; highlighting the cleaning area, and keeping the remaining areas in the pool map interface, excluding the cleaning area, displayed normally or without highlighting.

[0140] The cleaning area refers to the work area corresponding to the current cleaning mode. For example, the step cleaning mode corresponds to the step area, the tanning platform cleaning mode corresponds to the tanning platform area, and the pool bottom cleaning mode corresponds to the pool bottom area. The terminal device locates the corresponding cleaning area in a pre-built map based on the current cleaning mode and highlights it.

[0141] Furthermore, the cleaned area includes at least one of a water surface area, a submerged area, and a pool bottom area. Each of these areas has a different display effect, which may include one or more of color, text, or dynamic display effects. For example, the water surface area may use one color or one type of text, the submerged area may use another color or text, and the pool bottom area may use yet another color or text, making the three areas distinguishable from each other. The standard display retains the display effects corresponding to the remaining areas, while the non-prominent display effect weakens the display effects corresponding to the remaining areas, for example, by reducing the brightness or saturation of the remaining areas or by applying a semi-transparent mask.

[0142] By highlighting the cleaning area corresponding to the current cleaning mode on the map, based on the robot's own identification of the cleaning mode information, the map layer forms a dual feedback of "how the robot is cleaning" and "where it is cleaning"; and by giving different display effects to the water surface area, the water area and the pool bottom area, the highlighted cleaning area also carries information about its depth level. This makes it easier for users to identify the robot's current working level by the difference in the area display effect when the area outline is blurred due to map zooming or view changes, reducing misjudgments caused by unclear area boundaries.

[0143] In some embodiments, highlighting the cleaned area can be achieved depending on the display mode of the pool map interface: if the pool map interface is in 2D view mode, the cleaned area is displayed as a semi-transparent highlight block or a colored border; if the pool map interface is in 3D stereoscopic view mode, the cleaned area is displayed as volumetric light or outline highlight.

[0144] In 2D view mode, semi-transparent highlight blocks are applied over the clean area, emphasizing its boundaries without completely obscuring tracks and markings within. Colored borders are drawn along the contours of the clean area, with the border color indicating the area's extent. In 3D stereoscopic view mode, volumetric lighting illuminates the clean area as beams or pillars, while contour highlights are applied along the clean area's outline in the 3D scene. This ensures the highlighting effect harmonizes with the depth of the 3D scene, preventing texture misalignment or perspective distortion caused by planar color blocks in a 3D perspective.

[0145] By selecting appropriate highlighting methods for the two view modes, the cleaned area can be clearly identified in both display modes, ensuring consistent readability of the highlighting effect before and after view switching. It is understood that the above highlighting methods are merely examples, and this disclosure does not limit the specific form of highlighting.

[0146] In some embodiments, the method of this disclosure may further include: displaying the historical movement trajectory of a pool robot in a pool map interface, the historical movement trajectory being displayed by lines; displaying the lines in the historical movement trajectory located in the current cleaning area with a first display effect, and displaying the trajectory lines in the historical movement trajectory located in the completed cleaning area outside the current cleaning area with a second display effect; wherein the first display effect and the second display effect are different, the first display effect including white lines and the second display effect including gray lines.

[0147] The historical movement trajectory is formed by connecting the paths traversed by the robot during its operation. The terminal device draws continuous trajectory lines based on the robot's reported position sequence and determines whether each segment of the trajectory line is located within the current cleaning area or within an area that has already been cleaned. Lines located within the current cleaning area are displayed in white (first display effect), while lines located within an area that has already been cleaned are displayed in gray (second display effect). It is understood that the first and second display effects, besides differing in color, can also differ in line width, sharpness / difference, brightness, etc., and this disclosure does not limit this aspect.

[0148] By using different display effects for historical movement trajectories based on their location, the trajectory lines not only record the path the robot has traversed but also differentiate between sections currently being cleaned and those that have been completed through the differences in display effects. Users can thus directly read the cleaning progress on a continuous trajectory, determining which areas have been covered and which section the robot is currently covering, thereby reducing the need to view progress information separately outside the trajectory.

[0149] In some embodiments, the method of this disclosure may further include: displaying a base station identifier in a pool map interface, with a connecting line or distance value mark between the identifier of the pool robot and the base station identifier; when the pool robot is in recharging mode, the connecting line is dynamically shortened as the pool robot moves closer to the base station, and the distance value mark decreases synchronously.

[0150] In this design, the base station identifier indicates the base station's location within the pool. The connecting line is the line segment connecting the robot identifier and the base station identifier, and the distance value label represents the numerical distance between the robot and the base station. The terminal device updates the length of the connecting line and the distance value label based on the real-time relative position between the robot and the base station. In recharging mode, as the robot moves closer to the base station, the distance between the robot identifier and the base station identifier decreases, the connecting line shortens dynamically accordingly, and the distance value label decreases synchronously. It is understood that the connecting line and the distance value label can be displayed simultaneously, or only one of them can be displayed; this disclosure does not impose any limitation on this.

[0151] In recharging mode, the pool map interface also displays a dynamic path of the pool robot towards the base station. The pool robot's marker moves along this dynamic path towards the base station marker. As the pool robot approaches the base station along the dynamic path, the connecting line dynamically shortens, and the distance value marker decreases synchronously, as shown in Figure 9. This provides real-time recharging progress feedback based on the geometric relationship between the dynamic path and the marker during the recharging process.

[0152] By displaying a connecting line or distance marker between the robot and the base station identifier, and dynamically changing this marker as the robot approaches the base station in recharging mode, the relative distance between the robot and the base station, and its changing trend, becomes a directly observable quantity. Users can thus intuitively determine whether the robot is approaching the base station and how far away it is during the recharging process, without needing to search for the recharging progress elsewhere on the interface.

[0153] In some embodiments, the method of this disclosure may further include: when the pool robot is in recharging mode, the pool map interface also displays a dynamic path from the pool robot's identifier to the base station identifier, the dynamic path moving in a flowing manner from the pool robot's identifier to the base station identifier.

[0154] The dynamic path connects the robot identifier and the base station identifier. Several flowing elements (such as flowing dashed lines or flowing light spots) can be distributed along the path. These flowing elements move cyclically from the robot identifier towards the base station identifier, forming the visual appearance of a flowing path. At the underlying implementation level, the processor maintains the offset of the flowing elements on the path, increasing the offset over time along the path direction and taking the modulus of the spacing between the flowing elements, thus creating a continuous flow from the robot identifier to the base station identifier.

[0155] By displaying a dynamic path from the robot identifier to the base station identifier in recharge mode, based on the connection line or distance marking, and making it move in a flowing manner from the robot identifier to the base station identifier, the directional feedback of the recharge process is made clearer: users can not only judge that the robot is approaching the base station by the shortening distance, but also confirm the robot's expected recharge direction by the flow direction of the path.

[0156] In some embodiments, the display modes of the pool map interface include a 2D view mode and a 3D stereoscopic view mode, and the two modes can be switched. The method of this disclosure embodiment may further include: when the display mode of the pool map interface is switched, the visual effect of the marker remains consistent between the 2D view mode and the 3D stereoscopic view mode; in the 3D stereoscopic view mode, the height position of the marker in the pool space corresponds to the actual depth of the pool robot; when the pool robot is at the bottom of the pool, the marker is located in the bottom area of ​​the pool space; when the pool robot is at the pool waterline, the marker is located in the top area of ​​the pool space.

[0157] The consistent visual effects across the two view modes mean that the same cleaning mode uses corresponding marker colors and dynamic display effects in both 2D and 3D stereoscopic view modes. This eliminates the need for users to re-establish the correspondence between colors, animations, and cleaning modes after switching views. For example, the bottom cleaning mode is marked as a blue pulse dot in the 2D view mode, and the 3D model remains predominantly blue with the corresponding pulse effect in the 3D stereoscopic view mode. In the 3D stereoscopic view mode, the height of the marker in the pool space corresponds to the robot's actual depth, making the robot's position in the depth direction a directly observable quantity in the 3D scene: the closer the robot is to the bottom, the closer the marker is to the bottom of the pool space; the closer the robot is to the waterline, the closer the marker is to the top of the pool space.

[0158] By maintaining visual consistency when switching views and ensuring that the height of the markers corresponds to the actual depth in 3D stereoscopic view mode, users can continue to understand the cleaning mode after switching views. Furthermore, by using the height of the markers in the pool space from a three-dimensional perspective, users can determine whether the robot is close to the bottom of the pool or near the waterline, thus supplementing the depth information missing from the overhead view.

[0159] When the display mode of the pool map interface switches between 2D view mode and 3D stereoscopic view mode, the highlighting status of the cleaning area corresponding to the current cleaning mode is maintained synchronously, and the corresponding highlighting method is adopted in the switched display mode.

[0160] This disclosure also provides a terminal device. The terminal device includes a display screen, a memory, and a processor. The memory stores a computer program, and the processor executes the computer program to implement the dynamic visualization method for the pool robot as described in any of the foregoing embodiments. The display screen is used to present the pool map interface.

[0161] In some embodiments, the processor may be a central processing unit (CPU), or a graphics processing unit (GPU), digital signal processor (DSP), application-specific integrated circuit (ASIC), field-programmable gate array (FPGA), or other programmable logic device, etc., that has data processing capabilities. The memory may be a volatile or non-volatile storage medium such as random access memory, read-only memory, or flash memory, used to store computer programs and data such as pool maps, the correspondence between cleaning modes and visual effects. The display screen may be a display component with graphics display capabilities such as a liquid crystal display (LCD) or an organic light-emitting diode (OLED) display. It is understood that the above components are merely examples, and this disclosure does not limit the specific types of processors, memory, and displays.

[0162] In this terminal device, the processor reads and executes a computer program from memory, obtains the cleaning mode reported by the pool robot, queries the correspondence between the cleaning mode and the visual effect to determine the corresponding visual effect, and controls the display screen to present the identifier as that visual effect and its synchronous change as the cleaning mode switches. Thus, the effect of "robot identifiers indicating both location and cleaning mode information" achieved by the aforementioned method can be implemented on terminal devices with displays, providing users with a viewing terminal that integrates a pool map and a visualization of the cleaning mode.

[0163] This disclosure also provides a computer-readable storage medium storing a computer program thereon. When executed by a processor, the computer program implements the dynamic visualization method for a swimming pool robot as described in any of the foregoing embodiments. The computer-readable storage medium can be a non-volatile storage medium capable of storing a computer program, such as a read-only memory, random access memory, magnetic disk, optical disk, USB flash drive, or portable hard drive. It is understood that the method of this disclosure can be embodied in a terminal device or a computer-readable storage medium storing a corresponding computer program, and this disclosure does not limit it in this regard.

[0164] The above embodiments are illustrated using a home swimming pool as a typical scenario. It is understood that the method of this disclosure is not limited to home swimming pools. In some embodiments of this disclosure, the method is applied to commercial swimming pools. Commercial swimming pools have larger areas and more complex structures, and the robot frequently switches between different areas, making the advantage of indicating cleaning mode information more obvious. In other embodiments of this disclosure, the method is applied to recreational swimming pools with multi-level steps and large tanning platforms. In this case, there are more switches between step cleaning modes and tanning platform cleaning modes, and the difference in indicator colors and dynamic display effects helps distinguish between two similar shallow water operations. In still other embodiments of this disclosure, the method is applied to infinity pools or heated swimming pools with sloping entry areas. The gradient arrows and the robot's posture conforming to the slope in the sloping cleaning mode help users determine the robot's direction of movement along the slope. In yet another embodiment of this disclosure, the method can also be applied to other water features such as water features and landscape pools that require underwater cleaning operations and monitoring of the operation status. This expansion of scenarios prevents the method from being limited to any particular swimming pool type.

[0165] In 2D view mode, the markers can be represented as dots, arrows, graphic symbols, robot icons, and other planar graphics. In 3D stereoscopic view mode, the markers can be represented as realistic 3D robot models, simplified geometric models, or graphic objects with orientation indicators. In addition to the pool robot itself, some embodiments may include other objects that need to be represented on the map, such as base stations and acoustic beacons, with corresponding markers and visual effects set for them. It is understood that the above marker forms and displayed objects are merely examples, and this disclosure does not limit their scope.

[0166] There are several ways to acquire the current cleaning mode and detect cleaning mode switching. In some embodiments, the pool robot performs cleaning mode recognition locally and actively reports a switching event when the recognition result changes, and the terminal device updates the visual effect accordingly. In other embodiments, the pool robot only reports the original data such as position, water depth, and operation actions, and the terminal device judges this data at a preset period to determine the current cleaning mode and detect the switch. In still other embodiments, a cloud server recognizes the data reported by the robot and then sends the recognized cleaning mode to the terminal device. The above recognition can adopt rule-based judgment (e.g., mapping water depth ranges and position areas to cleaning modes) or a classification model trained based on historical operation data. It is understood that the above implementation methods can be used alone or in combination, and this disclosure does not limit the specific implementation of cleaning mode recognition and switching detection.

[0167] In some embodiments, when the cleaning mode currently being performed by the pool robot changes, the visual effect of the pool robot's logo changes from the visual effect corresponding to the previous cleaning mode to the visual effect corresponding to the new cleaning mode in the form of a gradual transition animation. For example, when switching from the bottom cleaning mode to the wall cleaning mode, the logo's color gradually changes from blue through a transition color to green, and the dynamic display effect gradually changes from pulse dots to flowing arrows. This gradual transition makes the visual change of the logo more consistent during mode switching, avoiding abrupt changes in visual effect that could cause misinterpretation by the user, and indicating to the user that a cleaning mode switch is taking place. In other embodiments, a direct switching method can also be used, that is, the visual effect is immediately switched to the new visual effect when the mode changes. This disclosure does not limit the transition method during switching.

[0168] In some embodiments, the method of this disclosure may further include display processing for abnormal states to cover boundary situations beyond normal operation. When the pool robot enters a stationary state from a moving state during cleaning and the stationary duration exceeds a preset threshold, the indicator can switch from the visual effect corresponding to the currently executed cleaning mode to an abnormal alarm visual effect. In one implementation, the abnormal alarm visual effect is that the indicator flashes at high frequency in a warning color, and a prompt bubble containing text containing the abnormal type pops up near the indicator. The preset threshold can be, for example, approximately 10 to 60 seconds, to distinguish between normal short pauses of the robot and abnormal long-term stationary states; a smaller value is used in scenarios with high real-time requirements, and a larger value is used in scenarios where longer normal pauses of the robot are permissible. When the cleaning mode data reported by the robot is missing or communication is interrupted, the indicator can also retain the last valid visual effect and overlay a mark indicating that the data is outdated, and update it after the data is recovered. By providing separate display processing for abnormal situations such as stationary states and missing data, the visualization can still convey meaningful information to the user in abnormal operating states.

[0169] The scaling period, transparency range, and blink frequency parameters involved in the aforementioned dynamic display effects can be set in tiers according to application preferences. Taking the scaling period of the pulse dot as an example, based on a wide range (e.g., approximately 0.8 to 2 seconds), it can be further divided into several sub-tiers: a shorter period (e.g., approximately 0.8 to 1.2 seconds) is used in scenarios where the animation is to be emphasized and the alert is to be enhanced, making the pulse more conspicuous; a longer period (e.g., approximately 1.5 to 2 seconds) is used in scenarios where the animation is to be weakened and visual interference is to be reduced, making the pulse softer. Taking the blink frequency of an abnormal alarm as another example, a higher frequency is used when a strong alert is needed, and a lower frequency is used when only a mild alert is needed. Through tiered settings, the same dynamic display effect can adapt to different alert intensity requirements. It is understood that the above values ​​are only examples, and this disclosure does not limit the specific parameter values.

[0170] To facilitate understanding of how the entire solution operates in a specific scenario, the following example uses a pool robot deployed in a commercial swimming pool. Several typical features are superimposed, and the visualization of a single operation is described in chronological order. This commercial swimming pool features a pool bottom, vertical pool walls, multiple steps, a tanning platform, a sloping entry area, and a waterline. A base station with a guide rail is also located on one side of the pool wall.

[0171] Before the operation begins, the terminal device displays a pool map interface on the screen based on pre-built 2D and 3D maps. The interface shows the pool layout, robot icons, and base station icons. The user sets the display mode to 2D view mode.

[0172] The robot first works at the bottom of the pool. The terminal device detects that the current cleaning mode is pool bottom cleaning mode, and displays the robot icon as a blue pulse dot with a periodically expanding radius. At the same time, the pool bottom area is highlighted with a semi-transparent, high-brightness block, while the remaining areas are displayed in a less prominent manner. The robot's current trajectory within the pool bottom area is drawn with white lines. Subsequently, the robot moves to the pool wall and crawls along the wall. The cleaning mode switches to pool wall cleaning mode, and the visual effect of the icon changes from a blue pulse dot to a green flowing arrow with a dotted line inside the arrow flowing along the crawling direction. The completed trajectory in the pool bottom area is displayed as a gray line.

[0173] Users can switch the display mode to 3D stereoscopic view mode. The visual effect of the sign remains consistent; the robot sign is presented as a green 3D model, vertically aligned with the pool wall and tilted. The sign's height within the pool space increases as the robot ascends along the wall. When the robot passes over steps, it switches to step cleaning mode; the 3D model turns purple and tilts with the step angle, with its brightness changing periodically. Upon reaching the tanning platform, it switches to tanning platform cleaning mode; the 3D model turns orange and sits on the platform surface, surrounded by a ripple effect.

[0174] The user then switches to the vertical section view to see the robot's position in the depth direction. At this time, the robot is working at the waterline position, and the cleaning mode is waterline cleaning mode. Based on this, the terminal device determines that the cleaning surface where the marker is located is the water surface cleaning surface, and displays the pool wall, the end position of the pool wall cleaning, and the waterline cleaning position in the vertical section view. The marker is placed at the waterline cleaning position, with its front end protruding above the water surface, and the marker's border appears and disappears periodically.

[0175] As the operation nears completion, the robot enters recharging mode. On the pool map interface, a pulsating halo appears around the robot's marker. A connecting line and distance values ​​are displayed between the robot and the base station marker, along with a dynamic path moving in a flowing manner towards the base station. As the robot approaches the base station along the pool wall, the connecting line dynamically shortens, the distance values ​​decrease synchronously, and the robot's 3D model adopts a tilted posture that conforms to the pool wall, ultimately docking with the base station guide rail.

[0176] It should be noted that the feature combinations used in the above end-to-end embodiments are only typical combinations, and the specific values ​​of colors, parameters, structural layouts, etc. involved are only for illustrative purposes and do not constitute a limitation on the scope of protection of this disclosure. The features in the various embodiments of this disclosure can be used individually or combined with each other as needed, and this disclosure does not limit the combination method of features.

[0177] It should be noted that although several modules or units have been mentioned in the detailed description above, this division is not mandatory. In fact, according to embodiments of this disclosure, the features and functions of two or more modules or units described above can be embodied in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided and embodied by multiple modules or units.

[0178] Furthermore, the above figures are merely illustrative of the processes included in the method according to exemplary embodiments of this disclosure and are not intended to be limiting. It is readily understood that the processes shown in the above figures do not indicate or limit the temporal order of these processes. Additionally, it is readily understood that these processes may be executed synchronously or asynchronously, for example, in multiple modules.

[0179] From the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solutions according to the embodiments of this disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, external hard drive, etc.) or on a network, including several instructions to cause a computing device (such as a personal computer, server, touch terminal, or network device, etc.) to execute the methods according to the embodiments of this disclosure.

[0180] Other embodiments of this disclosure 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 disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and embodiments are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the claims.

[0181] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is limited only by the appended claims.

Claims

1. A dynamic visualization method for a swimming pool robot, characterized in that, include: Display the pool map interface and show the pool robot's logo in the pool map interface; Obtain the cleaning mode currently being executed by the pool robot; the currently executed cleaning mode includes one of the following: pool bottom cleaning mode, pool wall cleaning mode, step cleaning mode, tanning platform cleaning mode, slope cleaning mode, waterline cleaning mode, water surface suspension mode, and recharge mode; The logo of the pool robot is displayed in a visual effect corresponding to the currently executed cleaning mode; When the cleaning mode currently being performed by the pool robot is switched, the pool robot's logo will be changed synchronously to the visual effect corresponding to the switched cleaning mode.

2. The dynamic visualization method for a swimming pool robot according to claim 1, characterized in that, The visual effects include at least one of the logo color and dynamic display effects presented by the logo. The logo colors are different between different cleaning modes, and the dynamic display effects are also different between different cleaning modes.

3. The dynamic visualization method for a swimming pool robot according to claim 2, characterized in that, The visual effects include the dynamic display effects; the visual effects that present the pool robot's logo in accordance with the currently executed cleaning mode include one or more of the following: When the cleaning mode currently being executed by the pool robot is the pool bottom cleaning mode, the identifier of the pool robot is displayed as a pulse dot with its radius periodically scaling. When the cleaning mode currently being performed by the pool robot is the pool wall cleaning mode, the identifier of the pool robot is displayed as a flowing arrow with a flowing dotted line inside the arrow. When the pool robot is currently performing the step cleaning mode, the brightness or transparency of the pool robot's logo will be changed periodically. When the cleaning mode currently being executed by the pool robot is the tanning platform cleaning mode, the identifier of the pool robot is displayed as a ripple icon with multiple concentric circles spreading outwards. When the pool robot is currently executing the slope cleaning mode, the pool robot's identifier will be displayed as a gradient arrow. When the cleaning mode currently being performed by the pool robot is the waterline cleaning mode, the border of the pool robot's logo will be periodically shown and hidden. When the cleaning mode currently being performed by the pool robot is the water surface suspension mode, a water ripple effect will be displayed around the logo of the pool robot; When the cleaning mode currently being performed by the pool robot is the recharging mode, a pulsating halo will be displayed around the identifier of the pool robot, and a dynamic path pointing to the base station will also be displayed.

4. The dynamic visualization method for a swimming pool robot according to claim 2, characterized in that, The display modes of the pool map interface include a 3D stereoscopic view mode. In the 3D stereoscopic view mode, the identifier of the pool robot is displayed in the form of a three-dimensional model. The visual effect also includes the posture of the three-dimensional model, and the posture of the three-dimensional model is different between different cleaning modes.

5. The dynamic visualization method for a swimming pool robot according to claim 1 or 4, characterized in that, The method further includes: When the cleaning mode currently being performed by the pool robot is the pool bottom cleaning mode, the pool robot is in a horizontal position that fits against the pool bottom. When the cleaning mode currently being performed by the pool robot is the pool wall cleaning mode, the pool robot is in a vertical posture and tilted against the pool wall. When the cleaning mode currently being performed by the pool robot is the step cleaning mode, the pool robot's posture tilts with the step angle; When the cleaning mode currently being executed by the pool robot is the tanning platform cleaning mode, the pool robot is in a horizontal position and is located on the tanning platform surface. When the pool robot is currently executing the slope cleaning mode, the pool robot's posture is tilted to fit the slope. When the cleaning mode currently being performed by the pool robot is the waterline cleaning mode, the pool robot is in a vertical posture and floats along the height of the waterline. When the cleaning mode currently being performed by the pool robot is the water surface suspension mode, the pool robot is in a horizontal posture and is suspended on the water surface; When the cleaning mode currently being performed by the pool robot is the recharging mode, the pool robot's posture is either horizontally attached to the pool bottom, tilted against the pool wall, or attached to the base station guide rail.

6. The dynamic visualization method for a swimming pool robot according to claim 1, characterized in that, The pool map interface includes a vertical cross-sectional view, which presents a vertical sectional view of the pool; the method further includes: The identifier of the pool robot is obtained in the vertical cross-sectional view of the current cleaning surface; the current cleaning surface includes one of the pool surface cleaning surface, the underwater cleaning surface, and the pool bottom cleaning surface; The logo of the pool robot is presented in a visual effect corresponding to the current cleaning surface; the visual effects of the logos on different cleaning surfaces are different from each other, and the visual effects of the logos on different cleaning surfaces are distinguished by one or more of the following: logo color, text, or dynamic display effects.

7. The dynamic visualization method for a swimming pool robot according to claim 6, characterized in that, The step of obtaining the identifier of the pool robot in the vertical cross-sectional view of the current clean surface includes: When the cleaning mode currently being performed by the pool robot is the waterline cleaning mode or the water surface suspension mode, the identifier of the pool robot in the vertical cross-sectional view is obtained as the water surface cleaning surface. When the cleaning mode currently being executed by the pool robot is the pool wall cleaning mode, the step cleaning mode, or the slope cleaning mode, the identifier of the pool robot in the vertical cross-sectional view is obtained as the cleaning surface in the water. When the cleaning mode currently being executed by the pool robot is the tanning platform cleaning mode, the cleaning surface where the pool robot is currently located in the vertical cross-sectional view is determined to be either the water surface cleaning surface or the underwater cleaning surface, based on the relative position of the tanning platform surface and the water surface line. When the cleaning mode currently being performed by the pool robot is the pool bottom cleaning mode, the identifier of the pool robot in the vertical cross-sectional view is obtained as the cleaning surface currently in which it is located, which is the pool bottom cleaning surface; When the cleaning mode currently being performed by the pool robot is the recharge mode, the identifier of the pool robot in the vertical cross-sectional view is determined to be one of the water surface cleaning surface, the underwater cleaning surface, and the pool bottom cleaning surface.

8. The dynamic visualization method for a swimming pool robot according to claim 7, characterized in that, The method further includes: When the cleaning mode currently being performed by the pool robot is the water surface suspension mode, a water surface line with water surface features is displayed in the vertical cross-sectional view, and a portion of the pool robot's logo is presented above the water surface line and at least partially presented in the water below the water surface line; When the cleaning mode currently being performed by the pool robot is the tanning platform cleaning mode, the water surface line and the tanning platform surface are displayed in the vertical cross-sectional view, with the tanning platform surface at least partially located above the water surface line, and the logo of the pool robot is displayed on the tanning platform surface. When the cleaning mode currently being performed by the pool robot is either the pool wall cleaning mode or the waterline cleaning mode, the pool wall, the end position of the pool wall cleaning, and the waterline cleaning position are displayed. In the waterline cleaning mode, the marker is located at the waterline cleaning position, and the front end of the marker is at least partially exposed above the water surface. When the cleaning mode currently being executed by the pool robot is the pool bottom cleaning mode, the step cleaning mode, or the slope cleaning mode, the logo of the pool robot will be displayed on the surface that is in contact with the pool bottom, the step surface, or the slope surface, respectively, and will move and display according to the extension direction of the corresponding cleaning surface. When the cleaning mode currently being performed by the pool robot is the recharging mode, a base station identifier and a dynamic path from the identifier of the pool robot to the base station identifier are displayed in the vertical cross-sectional view. The identifier of the pool robot is moved toward the base station identifier along the dynamic path, and the identifier is in a posture that is horizontally attached to the ground, tilted against the pool wall, or attached to the base station guide rail.

9. The dynamic visualization method for a swimming pool robot according to claim 1, characterized in that, The method further includes: In the pool map interface, the cleaning area corresponding to the current cleaning mode is determined based on the cleaning mode currently being executed by the pool robot; The cleaned area is highlighted, while the rest of the pool map interface, excluding the cleaned area, is displayed normally or not highlighted. The cleaning area includes at least one of a water surface area, a submerged area, and a pool bottom area. The water surface area, the submerged area, and the pool bottom area each have different display effects, which include one or more of color, text, or dynamic display effects. The normal display retains the display effects corresponding to the remaining areas, while the non-prominent display effect weakens the display effects corresponding to the remaining areas.

10. The dynamic visualization method for a swimming pool robot according to claim 9, characterized in that, The step of highlighting the cleaned area includes: If the pool map interface is in 2D view mode, the cleaning area will be displayed as a semi-transparent highlighted block or a colored border; If the pool map interface is in 3D stereoscopic view mode, the cleaned area will be displayed with volumetric lighting or outline highlighting.

11. The dynamic visualization method for a swimming pool robot according to claim 1, characterized in that, The method further includes: The historical movement trajectory of the pool robot is displayed in the pool map interface, and the historical movement trajectory is displayed by lines. The lines in the historical motion trajectory that are located in the current cleaning area are displayed with a first display effect, and the trajectory lines of the historical motion trajectory that are located in the completed cleaning area outside the current cleaning area are displayed with a second display effect; wherein, the first display effect is different from the second display effect, the first display effect includes white lines, and the second display effect includes gray lines.

12. The dynamic visualization method for a swimming pool robot according to claim 1, characterized in that, The method further includes: The base station identifier is displayed on the pool map interface, and a connecting line or distance value is displayed between the pool robot identifier and the base station identifier; When the pool robot is in the recharging mode, the connecting cable shortens dynamically as the pool robot moves closer to the base station, and the distance value label decreases synchronously.

13. The dynamic visualization method for a swimming pool robot according to claim 12, characterized in that, The method further includes: When the pool robot is in the recharging mode, the pool map interface also displays a dynamic path from the pool robot's identifier to the base station identifier, or the dynamic path moves in a flowing manner from the pool robot's identifier to the base station identifier.

14. The dynamic visualization method for a swimming pool robot according to claim 1, characterized in that, The pool map interface displays a 2D view mode and a 3D stereoscopic view mode, and the 2D view mode and the 3D stereoscopic view mode can be switched; the method further includes: When the display mode of the pool map interface is switched, the visual effect of the marker remains consistent between the 2D view mode and the 3D stereoscopic view mode. In the 3D stereoscopic view mode, the height position of the marker in the pool space corresponds to the actual depth of the pool robot; When the pool robot is located at the bottom of the pool, the marker is located in the bottom area of ​​the pool space; When the pool robot is positioned at the pool waterline, the marker is located in the top area of ​​the pool space.

15. A terminal device, characterized in that, The device includes a display screen, a memory, and a processor. The memory stores a computer program, and the processor executes the computer program to implement the dynamic visualization method for the pool robot as described in any one of claims 1 to 14. The display screen is used to present the pool map interface.

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