Pool robot moving method, storage medium, and pool robot

Abstract

A pool robot moving method, a storage medium, and a pool robot, which relate to the technical field of robots. The pool robot moving method comprises: receiving a plurality of traveling instructions continuously sent by a remote control device within a preset time period, wherein each traveling instruction is at least used for indicating a traveling direction of a pool robot (S204); and according to the plurality of traveling instructions, controlling the pool robot to move to a first position from a second position in a water storage pool where the pool robot is currently located, wherein the first position is a position different from the second position in the water storage pool (S206).

Description

Mobile method of pool robot, storage medium and pool robot

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on July 21, 2023, with application number 202310904651.2 and invention name “Pool Robot Moving Method, Storage Medium and Pool Robot”, the entire contents of which are incorporated by reference in this disclosure. Technical Field

[0002] The present application relates to the field of robotics technology, and in particular to a movement method, storage medium, and pool robot of a pool robot. Background Art

[0003] In related art, when a pool robot is used for cleaning, it is usually moved based on a preset path. However, the preset path cannot move the pool robot from any position to the target cleaning position. Therefore, how to better realize the movement of the pool robot has become an urgent problem to be solved.

[0004] Summary of the Invention

[0005] Embodiments of the present application provide a method for moving a pool robot, a storage medium, and a pool robot. According to one embodiment of the present application, a method for moving a pool robot is provided, comprising: receiving multiple travel instructions continuously transmitted by a remote control device within a preset time period, wherein the travel instructions are used to at least indicate a travel direction for the pool robot; and controlling the pool robot to move from a second position in a current water storage pool to a first position based on the multiple travel instructions.

[0006] According to another embodiment of the present application, a moving device for a pool robot is also provided, including: an acquisition module, configured to receive multiple driving instructions continuously sent by a remote control device within a preset time period, wherein the driving instructions are at least used to indicate the driving direction of the pool robot; a moving module, configured to control the pool robot to move from a second position in the water storage pool where it is currently located to the first position according to the multiple driving instructions, wherein the first position is a position in the water storage pool different from the second position.

[0007] According to another aspect of the embodiments of the present application, a computer-readable storage medium is provided, in which a computer program is stored. The computer program is configured to execute the above-mentioned method for moving the pool robot when running.

[0008] According to another aspect of the embodiments of the present application, a pool robot is provided, comprising a memory and a processor, wherein the memory stores a computer program, and the processor is configured to execute the above-mentioned method for moving the pool robot through the computer program. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0010] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following briefly introduces the drawings required for use in the embodiments or related technical descriptions. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0011] FIG1 is a schematic diagram of a hardware environment for a method for moving a pool robot according to an embodiment of the present application;

[0012] FIG2 is a flow chart of a method for moving a pool robot according to an embodiment of the present application;

[0013] FIG3 is a flow chart of a method for moving a pool robot according to a first optional embodiment of the present application;

[0014] FIG4 is a flow chart of a method for moving a pool robot according to a second optional embodiment of the present application;

[0015] FIG5 is a flow chart of a method for moving a pool robot according to a third optional embodiment of the present application;

[0016] 6 is a flow chart of a method for moving a pool robot according to a fourth optional embodiment of the present application;

[0017] 7 is a flow chart of a method for moving a pool robot according to a fifth alternative embodiment of the present application;

[0018] 8 is a flow chart of a method for moving a pool robot according to a sixth alternative embodiment of the present application;

[0019] FIG9 is a structural block diagram of a mobile device of a pool robot according to an embodiment of the present application. DETAILED DESCRIPTION

[0020] In order to enable those skilled in the art to better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of this application.

[0021] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in a sequence other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0022] According to one aspect of an embodiment of the present application, a method for moving a pool robot is provided. The method for moving a pool robot can be executed in the pool robot. Taking running on the pool robot as an example, FIG1 is a hardware structure block diagram of a terminal device for a method for moving a pool robot according to an embodiment of the present application. As shown in FIG1 , the terminal device may include one or more (only one is shown in FIG1 ) processors 102 (the processor 102 may include, but is not limited to, a microprocessor (Microprocessor Unit, MPU) or a programmable logic device (PLD)) and a memory 104 for storing data. In an exemplary embodiment, the terminal device may also include a transmission device 106 and an input / output device 108 for communication functions. It will be understood by those skilled in the art that the structure shown in FIG1 is merely illustrative and does not limit the structure of the terminal device. For example, the terminal device may also include more or fewer components than those shown in FIG1 , or have a different configuration with the same functions as those shown in FIG1 or with more functions than those shown in FIG1 .

[0023] The memory 104 can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the method for moving the pool robot in the embodiment of the present application. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, that is, implementing the above-mentioned method. The memory 104 may include a high-speed random access memory and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include a memory remotely located relative to the processor 102, and these remote memories may be connected to the terminal device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0024] The transmission device 106 is used to receive or transmit data via a network. A specific example of the aforementioned network may include a wireless network provided by a communications provider of a switching device. In one embodiment, the transmission device 106 includes a network interface controller (NIC), which can be connected to other network devices via a base station to enable communication with the Internet. In another embodiment, the transmission device 106 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0025] In this embodiment, a method for moving a pool robot is provided, which can be applied to the above-mentioned pool robot. This embodiment of the present application is not limited to this. Figure 2 is a flow chart of the method for moving a pool robot according to an embodiment of the present application, which includes the following steps:

[0026] Step S204: receiving a plurality of driving instructions continuously sent by the remote control device within a preset time period, wherein the driving instructions are at least used to indicate the driving direction of the pool robot.

[0027] In other words, the remote control device can continuously send multiple driving commands within a preset time period, so that the pool robot receives these multiple driving commands. The multiple driving commands sent by the remote control device can be triggered by the target object within the preset time period, or they can be multiple driving commands calculated by the remote control device using a preset algorithm after obtaining the first position and the second position of the pool robot. Furthermore, the preset algorithm can calculate the driving commands that need to be sent at different time points within the preset time period.

[0028] It should be noted that the duration of the preset time period is not fixed and can be any duration. This application does not limit the preset time.

[0029] The target object can trigger multiple driving commands within a preset time period by, for example, clicking a button or sensing a touch screen. In one embodiment of the present application, multiple driving commands can be sent based on buttons on the remote control device. For example, the remote control device may have forward, backward, left, and right buttons. Clicking or pressing the "forward" button can send a forward driving command, while clicking or pressing the "backward" button can send a backward driving command.

[0030] Optionally, in one embodiment of the present application, multiple driving instructions can be sent based on touching the touch screen in the remote control device. For example, front, back, left, and right buttons can be set in the screen of the remote control device, and a forward driving instruction can be sent by clicking or pressing the "front" button; multiple driving instructions can also be sent based on a sliding operation on the remote control device screen. For example, sliding the remote control device screen upward can send a forward driving instruction, and sliding the remote control device screen downward can send a backward driving instruction.

[0031] Furthermore, in one embodiment of the present application, multiple driving instructions can be sent based on the voice instructions received by the remote control device. For example, when the remote control device receives the "forward" voice, a forward driving instruction can be sent based on the voice.

[0032] Optionally, in one embodiment of the present application, a radio frequency module may be provided in the remote control device, thereby transmitting multiple driving instructions for controlling the movement of the pool robot via the radio frequency module. This embodiment, by providing the radio frequency module, allows for direct transmission of multiple driving instructions between the remote control device and the pool robot, as well as control of multiple driving instructions, avoiding the need for a relay solution. For example, after the remote control device issues multiple driving instructions, a device above the water surface of the reservoir or a device external to the reservoir is used to receive the driving instructions, and then transmit the driving instructions to the control component via a wired method.

[0033] Step S206 , controlling the pool robot to move from the second position in the water storage pool to the first position according to the multiple driving instructions.

[0034] The first position includes at least one of the following: the bottom surface of the water storage pool, the wall surface of the water storage pool, and the water surface of the water storage pool; the second position includes at least one of the following: the bottom surface of the water storage pool, the wall surface of the water storage pool, and the water surface of the water storage pool.

[0035] In an embodiment of the present application, upon determining a first location to be cleaned and a second location in the water storage pool where the pool robot is located, the pool robot suspends the currently executed cleaning operation and, based on multiple travel instructions received by the pool robot, precisely controls movement from the second location to the first location, wherein the first location is a location in the water storage pool different from the second location.

[0036] In an embodiment of the present application, a pool robot is controlled to move from a second position to a junction based on multiple travel instructions. The first position and the second position are located on different surfaces of a water storage pool. When the pool robot reaches the junction and continues to receive multiple travel instructions, the pool robot is controlled to move from the junction to a third position on the surface of the first position. The junction includes at least one of the following: a first junction between a bottom surface and a wall surface, or a second junction between a wall surface and a water surface. The pool robot is controlled to move from the third position to the first position based on the multiple travel instructions. The surfaces of the water storage pool include the bottom surface, the wall surface, and the water surface. The surface of the first position includes at least one of the following: the bottom surface, the wall surface, and the water surface. The pool robot is controlled to move from the third position to the first position.

[0037] The second position of the pool robot in the water storage pool may be determined based on the positioning system of the pool robot.

[0038] The first location to be cleaned can be determined by testing the water reservoir according to a preset testing method. For example, if the water quality of the water reservoir is tested and it is determined that the water quality exceeds a preset standard, the first location to be reached by the pool robot is determined to be the water surface of the water reservoir. For another example, if the wall of the water reservoir is tested and it is determined that the stain range on the wall is larger than a preset range, the first location to be reached by the pool robot is determined to be the wall of the water reservoir. For another example, if the bottom of the water reservoir is tested and it is detected to contain preset aquatic plants or animals or preset chemical substances, the first location to be reached by the pool robot is determined to be the bottom of the water reservoir. Preset aquatic animals may include water fleas or ants, preset aquatic plants may include algae, and preset chemical substances may include calcium salt sediments or chlorides. It should be noted that water reservoirs include, but are not limited to, swimming pools, reservoirs, and sewage tanks.

[0039] In an embodiment of the present application, when the remote control device communicates with the pool robot based on a radio frequency module, the pool robot may include one or more communication units, which may be various systems and mechanisms capable of wireless communication (for example, near-field communication, radio communication, cellular communication, Wi-Fi, Bluetooth communication, Bluetooth Low Energy communication (Bluetooth Low Energy, BLE), etc.).

[0040] Among them, the pool robot is used to carry out two-way communication (such as sending instructions and receiving instructions) with the remote control device. As an example, the remote control device can send instructions to the pool robot through a wireless communication protocol that is not limited to a radio frequency module or Wi-Fi or Bluetooth.

[0041] For example, in one embodiment, the pool robot can be configured to perform two-way communication (e.g., sending and receiving communications) in at least an extended communication environment, and in some embodiments, the pool robot can perform two-way communication in a limited communication environment. An extended communication environment can be understood as an environment that expands and enhances traditional communication methods through technical means, enabling more convenient and efficient communication and exchange; a limited communication environment can be understood as an environment in which communication is performed under certain conditions or restrictions.

[0042] Through the above steps, multiple driving commands continuously sent by the remote control device within a preset time period are received, and the pool robot is controlled to move from the second position in the water storage pool where it is currently located to the first position according to the multiple driving commands. This solves the problem in the related art that there is no technical solution for controlling the pool robot to move from any position in the water storage pool to the desired position. The embodiments of the present application determine the first position to be reached by the pool robot and the second position of the pool robot from its current position in the water storage pool. Based on the multiple driving commands received, the second position is accurately controlled to move to the first position, allowing the pool robot to move from any position in the water storage pool to the desired position, thereby accurately cleaning the desired position.

[0043] Controlling the movement from the second position to the first position includes at least one of the following: the bottom surface of the water reservoir moves to the wall surface of the water reservoir, the bottom surface of the water reservoir moves to the water surface of the water reservoir, the bottom surface of the water reservoir moves to the bottom surface of the water reservoir, the wall surface of the water reservoir moves to the bottom surface of the water reservoir, the wall surface of the water reservoir moves to the water surface of the water reservoir, the wall surface of the water reservoir moves to the wall surface of the water reservoir, the water surface of the water reservoir moves to the bottom surface of the water reservoir, the water surface of the water reservoir moves to the wall surface of the water reservoir, or the water surface of the water reservoir moves to the water surface of the water reservoir. Specific implementation methods of the movement may be implemented in subsequent embodiments.

[0044] Furthermore, in an embodiment of the present application, when the second position is the bottom surface and the first position is the wall surface, the pool robot pauses the currently executed cleaning operation. For the above step S206, the implementation steps shown in FIG3 may also be included, specifically including:

[0045] S212: Control the pool robot to move from the second position according to the multiple driving instructions, and control the pool robot to move from the second position to the junction.

[0046] In an embodiment of the present application, a direction travel instruction sent by a remote control device within a first preset time period is received, and the pool robot is controlled to move from a second position based on the direction travel instruction sent within the first preset time period, and then to move from the second position to a first intersection. For example, the pool robot moves from the second position on the bottom surface of the water storage pool to below the wall of the bottom surface, where the below the wall of the bottom surface may include a preset range of the bottom surface closer to the lower edge of the wall.

[0047] For example, within a first preset time period, the front, back, left, and right buttons on the remote control device may be triggered to send forward, backward, left, and right direction movement commands. The pool robot receives the forward, backward, left, and right direction movement commands and controls the pool robot to move from the second position on the bottom surface to below the wall on the bottom surface according to the forward, backward, left, and right direction movement commands. After the pool robot moves from the second position on the bottom surface to below the wall on the bottom surface, the pool robot faces the wall, facilitating subsequent wall-climbing operations.

[0048] S214 , when the pool robot moves to the first intersection and the pool robot continues to receive multiple driving instructions, control the pool robot to move from the first intersection to a third position on the surface where the first position is located.

[0049] In an embodiment of the present application, a plurality of first-direction movement commands continuously transmitted by a remote control device within a second preset time period are received, and the pool robot is controlled to move from the first intersection to a third position on the surface where the first position is located based on the plurality of first-direction movement commands. For example, the robot may move from below the wall of the bottom surface to the third position on the wall. The below the wall of the bottom surface may include a preset range of the bottom surface that is closer to the lower edge of the wall.

[0050] The plurality of first-direction travel instructions are used to instruct the pool robot to always travel in the first direction. The first-direction travel instructions are forward travel instructions. The forward travel instructions can be understood as wall-climbing instructions. It should be noted that the forward travel instructions are understood as wall-climbing instructions only if the pool robot is located at the intersection of the bottom surface and the wall, and continuously receives forward travel instructions.

[0051] For example, the "forward" button in the remote control device is continuously triggered within the second preset time to continuously send forward driving instructions within the second preset time. The pool robot receives the forward driving instructions continuously sent by the remote control device within the second preset time period, and controls the pool robot to move from below the wall on the bottom surface to a third position on the wall.

[0052] S216: Control the pool robot to move from the third position to the first position according to the multiple driving instructions.

[0053] In an embodiment of the present application, a direction driving instruction sent by a remote control device within a third preset time period is received, and the pool robot is controlled to move from the third position to the first position according to the direction driving instruction sent within the third preset time period.

[0054] That is, when the pool robot is controlled to move from the first intersection to the third position, it can be determined that the pool robot has moved to the wall. Then, by receiving the direction driving command, the pool robot is controlled to move from the current position of the wall to the first position. The current position of the wall can be understood as the third position.

[0055] Among them, multiple driving instructions include: direction driving instructions sent within the first preset time period, multiple first direction driving instructions and direction driving instructions sent within the third preset time period; the preset time period includes: the first preset time period, the second preset time period and the third preset time period.

[0056] In an embodiment of the present application, when the second position is the bottom surface and the first position is the water surface, the pool robot pauses the currently executed cleaning operation. The above step S206 may further include the implementation steps shown in FIG4 , specifically including:

[0057] S222: Control the pool robot to move from the second position according to the plurality of driving instructions, and control the pool robot to move from the second position to the junction.

[0058] In an embodiment of the present application, a direction travel instruction sent by a remote control device within a first preset time period is received, and the pool robot is controlled to start from a second position and move to a second intersection based on the direction travel instruction sent within the first preset time period. For example, the pool robot may move from the second position on the bottom surface of the water storage pool to above the wall within the wall. The above the wall within the wall may include a preset range within the wall that is closer to the upper edge of the wall.

[0059] For example, within a first preset time period, the front, back, left, and right buttons in the remote control device can be triggered to send front, back, left, and right direction driving instructions. The pool robot receives the front, back, left, and right direction driving instructions and controls the pool robot to move from the second position on the bottom surface to above the wall in the wall surface according to the front, back, left, and right direction driving instructions.

[0060] S224 , when the pool robot moves to the second intersection and the pool robot continues to receive multiple driving instructions, control the pool robot to move from the second intersection to a third position on the surface where the first position is located.

[0061] In an embodiment of the present application, multiple first direction driving instructions continuously sent by the remote control device within a second preset time period are received, and the ascending mode is turned on to move the pool robot from the second intersection to the third position.

[0062] For example, the ascending mode may include a drainage mode, wherein the drainage mode may be activated to move the pool robot from the second intersection to the third position. The drainage mode may be understood as the pool robot activating the drainage mode to drain the water from the pool robot and then controlling the pool robot to rise from underwater to the surface. Alternatively, the pool robot may be moved from the second intersection to the third position by inflating the airbag of the pool robot.

[0063] The plurality of first direction driving instructions are used to instruct the pool robot to always drive in the first direction. The first direction driving instruction is a forward direction driving instruction. The forward direction driving instruction can be understood as a wall climbing instruction.

[0064] For example, the "forward" button in the remote control device is continuously triggered within the second preset time to continuously send forward driving instructions within the second preset time. The pool robot receives the forward driving instructions continuously sent by the remote control device within the second preset time period, and controls the pool robot to move from above the wall in the wall to a third position on the water surface.

[0065] S226: Control the pool robot to move from the third position to the first position according to the multiple driving instructions.

[0066] In an embodiment of the present application, a direction driving instruction sent by a remote control device within a third preset time period is received, and the pool robot is controlled to move from the third position to the first position according to the direction driving instruction sent within the third preset time period.

[0067] That is, when the pool robot is controlled to move from the second intersection to the third position, it can be determined that the pool robot has moved to the water surface, and then by receiving the direction driving instruction, the pool robot is controlled to move from the current position on the water surface to the first position. The current position on the water surface can be understood as the third position.

[0068] Among them, multiple driving instructions include: direction driving instructions sent within the first preset time period, multiple first direction driving instructions and direction driving instructions sent within the third preset time period; the preset time period includes: the first preset time period, the second preset time period and the third preset time period.

[0069] In an embodiment of the present application, when the second position is located on a wall and the first position is located on a bottom surface, the pool robot pauses the currently executed cleaning operation. The above step S206 may further include the implementation steps shown in FIG5 , specifically including:

[0070] S232: Control the pool robot to move from the second position according to the multiple driving instructions, and control the pool robot to move from the second position to the junction.

[0071] In an embodiment of the present application, a direction travel instruction sent by a remote control device within a first preset time period is received, and the pool robot is controlled to move from a second position based on the direction travel instruction sent within the first preset time period, and then to a first intersection. For example, the pool robot may move from the second position within the wall of the water storage pool to below the wall within the wall. The below the wall within the wall may include a preset range within the wall that is closer to the lower edge of the wall.

[0072] For example, within a first preset time period, the front, back, left, and right buttons in the remote control device can be triggered to send front, back, left, and right direction driving instructions. The pool robot receives the front, back, left, and right direction driving instructions and controls the pool robot to move from the second position in the wall to the bottom of the wall in the wall according to the front, back, left, and right direction driving instructions.

[0073] S234 , when the pool robot moves to the first intersection and the pool robot continues to receive multiple driving instructions, control the pool robot to move from the first intersection to a third position on the surface where the first position is located.

[0074] In an embodiment of the present application, a plurality of second direction movement instructions continuously sent by the remote control device within a second preset time period are received, and the pool robot is controlled to move from the first intersection to a third position according to the plurality of second direction movement instructions, for example, from below the wall in the wall to the third position in the bottom surface.

[0075] The multiple second-direction travel instructions are used to control the pool robot to always travel in the second direction; the second-direction travel instructions are backward travel instructions. The backward travel instructions can be understood as wall-descent instructions. It should be noted that the backward travel instructions are understood as wall-descent instructions only when the pool robot is located at the intersection of the wall and the bottom of the wall and continuously receives backward travel instructions.

[0076] For example, the "down" button in the remote control device is continuously triggered within the second preset time to continuously send backward driving instructions within the second preset time. The pool robot receives the backward driving instructions continuously sent by the remote control device within the second preset time period, and controls the pool robot to move from the bottom of the wall to the third position on the bottom surface.

[0077] S236: Control the pool robot to move from the third position to the first position according to the multiple driving instructions.

[0078] In an embodiment of the present application, a direction driving instruction sent by a remote control device within a third preset time period is received, and the pool robot is controlled to move from the third position to the first position according to the direction driving instruction sent within the third preset time period.

[0079] That is, when the pool robot is controlled to move from the first intersection to the third position, it can be determined that the pool robot has moved to the bottom surface, and then, by receiving the direction driving command, the pool robot is controlled to move from the current position on the bottom surface to the first position. The current position on the bottom surface can be understood as the third position.

[0080] Among them, multiple driving instructions include: the direction driving instructions sent within the first preset time period, the multiple second direction driving instructions and the direction driving instructions sent within the third preset time period; the preset time period includes: the first preset time period, the second preset time period and the third preset time period.

[0081] In an embodiment of the present application, when the second position is a wall and the first position is a water surface, the pool robot pauses the currently executed cleaning operation. The above step S206 may further include the implementation steps shown in FIG6 , specifically including:

[0082] S242: Control the pool robot to move from the second position according to the plurality of driving instructions, and control the pool robot to move from the second position to the junction.

[0083] In an embodiment of the present application, a direction travel instruction sent by a remote control device within a first preset time period is received, and the pool robot is controlled to start from a second position and move to a second intersection based on the direction travel instruction sent within the first preset time period. For example, the pool robot may move from the second position within the wall of the water storage pool to above the wall within the wall. The above the wall within the wall may include a preset range within the wall that is closer to the upper edge of the wall.

[0084] For example, within a first preset time period, the front, back, left, and right buttons in the remote control device can be triggered to send front, back, left, and right direction driving instructions. The pool robot receives the front, back, left, and right direction driving instructions and controls the pool robot to move from a second position in the wall to above the wall in the wall according to the front, back, left, and right direction driving instructions.

[0085] S244: When the pool robot moves to the second intersection and the pool robot continues to receive multiple driving instructions, control the pool robot to move from the second intersection to a third position on the surface where the first position is located.

[0086] In an embodiment of the present application, multiple first direction driving instructions continuously sent by the remote control device within a second preset time period are received, and the ascending mode is turned on to move the pool robot from the second intersection to the third position.

[0087] For example, the ascending mode may include a drainage mode, wherein the drainage mode may be activated to move the pool robot from the second intersection to the third position. The drainage mode may be understood as the pool robot activating the drainage mode to drain the water from the pool robot and then controlling the pool robot to rise from underwater to the surface. Alternatively, the pool robot may be moved from the second intersection to the third position by inflating the airbag of the pool robot.

[0088] The plurality of first direction driving instructions are used to control the pool robot to always drive in the first direction, wherein the first direction driving instruction is a forward direction driving instruction.

[0089] For example, the "up" button in the remote control device is continuously triggered within the second preset time to continuously send forward driving instructions within the second preset time. The pool robot receives the forward driving instructions continuously sent by the remote control device within the second preset time period, and controls the pool robot to move from above the wall in the wall to a third position in the water surface.

[0090] S246: Control the pool robot to move from the third position to the first position according to the multiple driving instructions.

[0091] In an embodiment of the present application, a direction driving instruction sent by a remote control device within a third preset time period is received, and the pool robot is controlled to move from the third position to the first position according to the direction driving instruction sent within the third preset time period.

[0092] That is, when the pool robot is controlled to move from the second intersection to the third position, it can be determined that the pool robot has moved to the water surface, and then by receiving the direction driving instruction, the pool robot is controlled to move from the current position on the water surface to the first position. The current position on the water surface can be understood as the third position.

[0093] Among them, multiple driving instructions include: the direction driving instructions sent within the first preset time period, the multiple first direction driving instructions and the direction driving instructions sent within the third preset time period; the preset time period includes: the first preset time period, the second preset time period and the third preset time period.

[0094] In an embodiment of the present application, when the second position is a water surface and the first position is a wall, the pool robot pauses the currently executed cleaning operation. The above step S206 may further include the implementation steps shown in FIG. 7 , specifically including:

[0095] S252: Control the pool robot to move from the second position according to multiple driving instructions, and control the pool robot to move from the second position to the junction.

[0096] In an embodiment of the present application, a direction travel command sent by a remote control device within a first preset time period is received, and the pool robot is controlled to move from a second position based on the direction travel command sent within the first preset time period, and then to a second intersection. For example, the pool robot may move from the second position within the water surface of the reservoir to above the wall of the water surface. The area above the wall of the water surface may include a preset range within the water surface that is closer to the upper edge of the water surface.

[0097] For example, within a first preset time period, the front, back, left, and right buttons in the remote control device can be triggered to send front, back, left, and right direction driving instructions. The pool robot receives the front, back, left, and right direction driving instructions and controls the pool robot to move from a second position on the water surface of the water pool to above the wall on the water surface according to the front, back, left, and right direction driving instructions.

[0098] S254: When the pool robot moves to the second intersection and the pool robot continues to receive multiple driving instructions, control the pool robot to move from the second intersection to a third position on the surface where the first position is located.

[0099] In an embodiment of the present application, multiple second direction driving instructions continuously sent by the remote control device within a second preset time period are received, the water entry mode of the pool robot is turned on, and the pool robot is controlled to move from the second intersection to the third position on the surface where the first position is located.

[0100] The second direction driving instruction is a backward direction driving instruction.

[0101] Among them, the water entry mode can be understood as moving the pool robot from a state suspended on the water surface to an underwater state.

[0102] Among them, the water entry mode includes the first water entry mode and the second water entry mode. Among them, the first water entry mode is a mode in which the pool robot is suspended on the water surface and the robot is controlled to sink to the bottom of the water pool by drainage; the second water entry mode is a mode in which the pool robot is suspended on the water surface and moves to the wall.

[0103] For example, if the "back" button on the remote control device is continuously triggered within the second preset time period to continuously send a backward movement instruction within the second preset time period, the pool robot receives the backward movement instruction continuously sent by the remote control device within the second preset time period and controls the pool robot to move from the second intersection to a third position on the surface where the first position is located. The pool robot can also be controlled to sink from the second intersection to the bottom surface, and then, based on the movement instruction, control the pool robot to move from the bottom surface to the first intersection, and then control the pool robot to move from the first intersection to the third position on the wall.

[0104] S256: Control the pool robot to move from the third position to the first position according to multiple driving instructions.

[0105] In an embodiment of the present application, a direction driving instruction sent by a remote control device within a third preset time period is received, and the pool robot is controlled to move from the third position to the first position according to the direction driving instruction sent within the third preset time period.

[0106] That is, when the pool robot is controlled to move from the second intersection to the third position, it can be determined that the pool robot has moved to the wall. Then, by receiving the direction driving command, the pool robot is controlled to move from the current position of the wall to the first position. The current position of the wall can be understood as the third position.

[0107] Among them, multiple driving instructions include: the direction driving instructions sent within the first preset time period, the multiple second direction driving instructions, and the direction driving instructions sent within the third preset time period; the preset time period includes: the first preset time period, the second preset time period and the third preset time period.

[0108] In an embodiment of the present application, when the second position is the water surface and the first position is the bottom surface, the pool robot pauses the currently executed cleaning operation. The above step S206 may further include the implementation steps shown in FIG8 , specifically including:

[0109] S262: Control the pool robot to move from the second position according to the plurality of driving instructions, and control the pool robot to move from the second position to the junction.

[0110] In an embodiment of the present application, a direction travel instruction sent by the remote control device within a first preset time period is received, and the pool robot is controlled to move from the second position to the second intersection according to the direction travel instruction sent within the first preset time period. For example, the robot may move from the second position within the water surface of the pool to above the wall within the wall. The above the wall within the wall may include a preset range within the wall that is closer to the upper edge of the wall.

[0111] For example, within a first preset time period, the front, back, left, and right buttons in the remote control device can be triggered to send front, back, left, and right direction driving instructions. The pool robot receives the front, back, left, and right direction driving instructions and controls the pool robot to move from the second position in the water surface to above the wall in the wall according to the front, back, left, and right direction driving instructions.

[0112] S264: When the pool robot moves to the second intersection and the pool robot continues to receive multiple driving instructions, control the pool robot to move from the second intersection to a third position on the surface where the first position is located.

[0113] In an embodiment of the present application, multiple second direction movement commands sent by the remote control device within a second preset time period are received, and the bottom sinking mode of the pool robot is activated, so that the pool robot moves from the second intersection to a third position on the surface where the first position is located. For example, the pool robot moves from the upper part of a wall to the lower part of a wall.

[0114] The plurality of second direction driving instructions are used to instruct the pool robot to always drive in the second direction. The second direction driving instruction is a backward driving instruction. The backward driving instruction can be understood as a wall-descent instruction.

[0115] Among them, the sinking mode can be understood as a mode in which the pool robot is suspended on the water surface and the robot is controlled to sink to the bottom of the water pool through drainage.

[0116] For example, the "back" button in the remote control device is continuously triggered within the second preset time period to continuously send backward driving instructions within the second preset time period. The pool robot receives the backward driving instructions continuously sent by the remote control device within the second preset time period, and controls the pool robot to sink from above the wall in the wall to the third position on the bottom surface. The pool robot can also be controlled to move from above the wall in the wall to the wall, and then based on the driving instructions, the pool robot is controlled to move from the wall to the first junction, and then the pool robot is controlled to move from the first junction to the third position on the bottom surface.

[0117] S266, controlling the pool robot to move from the third position to the first position.

[0118] In an embodiment of the present application, a direction driving instruction sent by the remote control device within a third preset time period is received, and the pool robot is controlled to move from the third position to the first position according to the direction driving instruction sent within the third preset time period.

[0119] That is, when the pool robot is controlled to move from the first intersection to the third position, it can be determined that the pool robot has moved to the bottom surface, and then, by receiving the direction driving command, the pool robot is controlled to move from the current position on the bottom surface to the first position. The current position on the bottom surface can be understood as the third position.

[0120] The multiple driving instructions include: a direction driving instruction sent within the first preset time period, multiple second direction driving instructions sent within the second preset time period, and a direction driving instruction sent within the third preset time period; the preset time periods include: the first preset time period, the second preset time period, and the third preset time period.

[0121] In an embodiment of the present application, when the second position is the bottom surface and the first position is the bottom surface, the pool robot pauses the currently executed cleaning operation and controls the pool robot to move from the second position in the current water storage pool to the first position according to multiple driving instructions, including at least one of the following: receiving direction driving instructions sent by the remote control device within a first preset time period, and controlling the pool robot to move from the second position in the bottom surface to the first position in the bottom surface according to the direction driving instructions sent within the first preset time period; receiving multiple first direction driving instructions or multiple second direction driving instructions or multiple third direction driving instructions or multiple fourth direction driving instructions continuously sent by the remote control device within a second preset time period, and controlling the pool robot to move from the second position in the bottom surface to the first position in the bottom surface according to multiple first direction driving instructions or multiple second direction driving instructions or multiple third direction driving instructions or multiple fourth direction driving instructions.

[0122] Among them, multiple driving instructions include: direction driving instructions sent within the first preset time period or multiple first direction driving instructions or multiple second direction driving instructions or multiple third direction driving instructions or multiple fourth direction driving instructions; the preset time period includes: the first preset time period or the second preset time period.

[0123] Among them, the third direction driving instruction is a left direction driving instruction; the fourth direction driving instruction is a right direction driving instruction.

[0124] As an implementation method, within a first preset time period, the front, back, left, and right buttons in the remote control device can be triggered to send front, back, left, and right direction driving instructions. The pool robot receives the front, back, left, and right direction driving instructions and controls the pool robot to move from the second position on the bottom surface to the first position on the bottom surface according to the front, back, left, and right direction driving instructions.

[0125] As another implementation method, the "left" button or the "right" button in the remote control device is continuously triggered within the second preset time to continuously send left-direction driving instructions or right-direction driving instructions within the second preset time. The pool robot receives the left-direction driving instructions or right-direction driving instructions continuously sent by the remote control device within the second preset time period, and controls the pool robot to move left or right from the bottom surface, so as to control the pool robot to move from the second position in the bottom surface to the first position in the bottom surface.

[0126] In an embodiment of the present application, when the second position is the water surface and the first position is the water surface, the pool robot pauses the currently executed cleaning operation and controls the pool robot to move from the second position in the current water storage pool to the first position according to multiple driving instructions, including at least one of the following: receiving direction driving instructions sent by the remote control device within a first preset time period, and controlling the pool robot to move from the second position in the water surface to the first position in the water surface according to the direction driving instructions sent within the first preset time period; receiving multiple first direction driving instructions or multiple second direction driving instructions or multiple third direction driving instructions or multiple fourth direction driving instructions continuously sent by the remote control device within a second preset time period, and controlling the pool robot to move from the second position in the water surface to the first position in the water surface according to multiple first direction driving instructions or multiple second direction driving instructions or multiple third direction driving instructions or multiple fourth direction driving instructions.

[0127] Among them, multiple driving instructions include: direction driving instructions sent within the first preset time period or multiple first direction driving instructions or multiple second direction driving instructions or multiple third direction driving instructions or multiple fourth direction driving instructions; the preset time period includes: the first preset time period or the second preset time period.

[0128] Among them, the third direction driving instruction is a left direction driving instruction; the fourth direction driving instruction is a right direction driving instruction.

[0129] As an implementation method, within a first preset time period, the front, back, left, and right buttons in the remote control device can be triggered to send front, back, left, and right direction driving instructions. The pool robot receives the front, back, left, and right direction driving instructions and controls the pool robot to move from the second position in the water surface to the first position in the water surface according to the front, back, left, and right direction driving instructions.

[0130] As another implementation method, the "left" button or the "right" button in the remote control device is continuously triggered within the second preset time to continuously send left-direction driving instructions or right-direction driving instructions within the second preset time. The pool robot receives the left-direction driving instructions or right-direction driving instructions continuously sent by the remote control device within the second preset time period, and controls the pool robot to move left or right from the bottom surface, so as to control the pool robot to move from the second position in the water surface to the first position in the water surface.

[0131] In an embodiment of the present application, when the second position is a wall and the first position is a wall, the pool robot pauses the currently executed cleaning operation and controls the pool robot to move from the second position in the current water storage pool to the first position according to multiple driving instructions, including at least one of the following: receiving a direction driving instruction sent by a remote control device within a first preset time period, and controlling the pool robot to move from the second position in the wall to the first position in the wall according to the direction driving instruction; receiving multiple first direction driving instructions or multiple second direction driving instructions or multiple third direction driving instructions or multiple fourth direction driving instructions continuously sent by the remote control device within a second preset time period, and controlling the pool robot to move from the second position in the wall to the first position in the wall according to the multiple first direction driving instructions or multiple second direction driving instructions or multiple third direction driving instructions or multiple fourth direction driving instructions.

[0132] Among them, multiple driving instructions include: direction driving instructions sent within the first preset time period or multiple first direction driving instructions or multiple second direction driving instructions or multiple third direction driving instructions or multiple fourth direction driving instructions; the preset time period includes: the first preset time period or the second preset time period.

[0133] The first direction driving instruction is an upward direction driving instruction; the second direction driving instruction is a downward right direction driving instruction.

[0134] As an implementation method, within a first preset time period, the front, back, left, and right buttons in the remote control device can be triggered to send front, back, left, and right direction driving instructions. The pool robot receives the front, back, left, and right direction driving instructions and controls the pool robot to move from the second position in the wall to the first position in the wall according to the front, back, left, and right direction driving instructions.

[0135] As another implementation method, the "up" button or the "down" button in the remote control device is continuously triggered within the second preset time to continuously send upward driving instructions or downward driving instructions within the second preset time. The pool robot receives the upward driving instructions or downward driving instructions continuously sent by the remote control device within the second preset time period, and controls the pool robot to move up or down on the wall, so as to control the pool robot to move from the second position in the wall to the first position in the wall.

[0136] As another implementation, when the second position is located at the first wall of the water storage pool, and the first position is located at the second wall of the water storage pool, and if it is detected that it cannot cross the wall, the pool robot can be controlled to move from the first wall to the water surface, and then from the water surface to the second wall, thereby achieving the movement of the pool robot from the first wall to the second wall. The implementation of the wall moving to the water surface and the water surface moving to the wall can refer to the above embodiment. The first wall can also be controlled to move to the bottom surface, and then from the bottom surface to the second wall, thereby achieving the movement of the pool robot from the first wall to the second wall. The first wall and the second wall are different walls of the water storage pool, and the implementation of the wall moving to the bottom surface and the bottom surface moving to the wall can refer to the above embodiment.

[0137] According to the method for moving a pool robot of the present application, by determining the location of a first position and the location of a second position, the pool robot is controlled to move from the bottom surface of the water reservoir to the wall surface of the water reservoir, or from the bottom surface of the water reservoir to the water surface of the water reservoir, or from the bottom surface of the water reservoir to the bottom surface of the water reservoir, or from the wall surface of the water reservoir to the bottom surface of the water reservoir, or from the wall surface of the water reservoir to the water surface of the water reservoir, or from the wall surface of the water reservoir to the wall surface of the water reservoir, or from the water surface of the water reservoir to the bottom surface of the water reservoir, or from the water surface of the water reservoir to the wall surface of the water reservoir, or from the water surface of the water reservoir to the water surface of the water reservoir. This achieves accurate control of the pool robot from any position in the water reservoir to a desired position, and enables switching between cleaning surfaces, thereby improving the cleaning effect.

[0138] Through the description of the above implementation methods, those skilled in the art can clearly understand that the method according to the above embodiment can be implemented by means of software plus the necessary general hardware platform, and of course it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present application, or the part that contributes to the relevant technology, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a number of instructions for enabling a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods of each embodiment of the present application.

[0139] FIG9 is a structural block diagram of a mobile device of a pool robot according to an embodiment of the present application; as shown in FIG9 , it includes:

[0140] An acquisition module 940 is configured to receive a plurality of driving instructions continuously sent by a remote control device within a preset time period, wherein the driving instructions are at least used to indicate a driving direction of the pool robot;

[0141] The movement module 960 is configured to control the pool robot to move from the second position in the water storage pool to the first position according to the multiple driving instructions, wherein the first position is a position in the water storage pool different from the second position.

[0142] The above-mentioned device receives multiple driving commands continuously sent by a remote control device within a preset time period, and controls the pool robot to move from the second position in the water storage pool to the first position based on the multiple driving commands. This solves the problem in the related art that there is no technical solution for controlling the pool robot to move from any position in the water storage pool to the desired position. The embodiments of the present application determine the first position to be reached by the pool robot and the second position of the pool robot from its current position in the water storage pool. Based on the multiple driving commands received, the pool robot accurately controls the second position to move to the first position, thereby allowing the pool robot to move from any position in the water storage pool to the desired position, thereby accurately cleaning the desired position.

[0143] In an exemplary embodiment, the location of the first position includes at least one of the following: the bottom surface of the water reservoir, the wall of the water reservoir, and the water surface of the water reservoir; the location of the second position includes at least one of the following: the bottom surface of the water reservoir, the wall of the water reservoir, and the water surface of the water reservoir.

[0144] In an exemplary embodiment, the moving module 960 is configured to control the pool robot to move from the second position according to the multiple driving instructions, and control the pool robot to move from the second position to the junction; wherein the first position and the second position are on different surfaces of the water storage pool; when the pool robot moves to the junction and the pool robot continues to receive the multiple driving instructions, the pool robot is controlled to move from the junction to a third position on the surface where the first position is located, wherein the junction includes at least one of the following: a first junction between the bottom surface and the wall surface, a second junction between the wall surface and the water surface; according to the multiple driving instructions, the pool robot is controlled to move from the third position to the first position.

[0145] In an exemplary embodiment, when the second position is located on the bottom surface and the first position is located on the wall surface, the movement module 960 is configured to receive a direction driving instruction sent by the remote control device within a first preset time period, and control the pool robot to move from the second position to the first intersection according to the direction driving instruction sent within the first preset time period; receive multiple first direction driving instructions continuously sent by the remote control device within a second preset time period, and control the pool robot to move from the first intersection to a third position on the surface where the first position is located according to the multiple first direction driving instructions; wherein the multiple first direction driving instructions are used to instruct the pool robot to always travel in the first direction; receive a direction driving instruction sent by the remote control device within a third preset time period, and control the pool robot to move from the third position to the first position according to the direction driving instruction sent within the third preset time period; the multiple driving instructions include: the direction driving instruction sent within the first preset time period, the multiple first direction driving instructions, and the direction driving instruction sent within the third preset time period; the preset time periods include: the first preset time period, the second preset time period, and the third preset time period.

[0146] In an exemplary embodiment, when the second position is located on the wall and the first position is located on the bottom surface, the movement module 960 is configured to receive a direction driving instruction sent by the remote control device within a first preset time period, and control the pool robot to move from the second position to the first intersection according to the direction driving instruction sent within the first preset time period; receive multiple second direction driving instructions continuously sent by the remote control device within a second preset time period, and control the pool robot to move from the first intersection to a third position on the surface where the first position is located according to the multiple second direction driving instructions; receive the direction driving instruction sent by the remote control device within a third preset time period, and control the pool robot to move from the third position to the first position according to the direction driving instruction sent within the third preset time period; wherein the multiple second direction driving instructions are used to instruct the pool robot to always travel in the second direction; the multiple driving instructions include: the direction driving instruction sent within the first preset time period, the multiple second direction driving instructions, and the direction driving instruction sent within the third preset time period; the preset time periods include: the first preset time period, the second preset time period, and the third preset time period.

[0147] In an exemplary embodiment, when the second position is the wall and the first position is the water surface, the movement module 960 is configured to receive a direction driving instruction sent by the remote control device within a first preset time period, and control the pool robot to move from the second position to the second junction according to the direction driving instruction sent within the first preset time period; receive multiple first direction driving instructions continuously sent by the remote control device within a second preset time period, and start the ascending mode to move the pool robot from the second junction to the third position; receive a direction driving instruction sent by the remote control device within a third preset time period, and control the pool robot to move from the third position to the first position according to the direction driving instruction sent within the third preset time period; wherein the multiple first direction driving instructions are used to instruct the pool robot to always travel in the first direction; the multiple driving instructions include: the direction driving instruction sent within the first preset time period, the multiple first direction driving instructions, and the direction driving instruction sent within the third preset time period; the preset time periods include: the first preset time period, the second preset time period, and the third preset time period.

[0148] In an exemplary embodiment, when the second position is located on the water surface and the first position is located on the wall, the movement module 960 is configured to receive a direction driving instruction sent by the remote control device within a first preset time period, and control the pool robot to move from the second position according to the direction driving instruction sent within the first preset time period, and control the pool robot to move from the second position to the second junction; receive multiple second direction driving instructions continuously sent by the remote control device within a second preset time period, turn on the water entry mode of the pool robot, and control the pool robot to move from the second junction to a third position on the surface where the first position is located; receive a direction driving instruction sent by the remote control device within a third preset time period, and control the pool robot to move from the third position to the first position according to the direction driving instruction sent within the third preset time period; the multiple driving instructions include: the direction driving instruction sent within the first preset time period, the multiple second direction driving instructions, and the direction driving instruction sent within the third preset time period; the preset time period includes: the first preset time period, the second preset time period, and the third preset time period.

[0149] In an exemplary embodiment, when the second position is located on the water surface and the first position is located on the bottom surface, the movement module 960 is configured to receive a direction driving instruction sent by the remote control device within a first preset time period, and control the pool robot to move from the second position to a second junction according to the direction driving instruction sent within the first preset time period; receive multiple second direction driving instructions sent by the remote control device within a second preset time period, and activate the bottom sinking mode of the pool robot to move from the second junction to a third position on the surface where the first position is located; wherein the multiple second direction driving instructions are used to instruct the pool robot to always travel in the second direction; receive a direction driving instruction sent by the remote control device within a third preset time period, and control the pool robot to move from the third position to the first position according to the direction driving instruction sent within the third preset time period; the multiple driving instructions include: the direction driving instruction sent within the first preset time period, the multiple second direction driving instructions sent within the second preset time period, and the direction driving instruction sent within the third preset time period; the preset time periods include: the first preset time period, the second preset time period, and the third preset time period.

[0150] An embodiment of the present application further provides a storage medium, which includes a stored program, wherein the program executes any of the above methods when it is run.

[0151] Optionally, in this embodiment, the storage medium may be configured to store program codes for executing the following steps:

[0152] S1, receiving multiple driving instructions continuously sent by a remote control device within a preset time period, wherein the driving instructions are at least used to indicate the driving direction of the pool robot;

[0153] S2, controlling the pool robot to move from a second position in the water storage pool to the first position according to the multiple driving instructions, wherein the first position is a position in the water storage pool different from the second position.

[0154] An embodiment of the present application further provides a pool robot, comprising a memory and a processor, wherein the memory stores a computer program, and the processor is configured to run the computer program to execute the steps in any one of the above method embodiments.

[0155] Optionally, the pool robot may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor, and the input / output device is connected to the processor.

[0156] Optionally, in this embodiment, the processor may be configured to execute the following steps through a computer program:

[0157] S1, receiving multiple driving instructions continuously sent by a remote control device within a preset time period, wherein the driving instructions are at least used to indicate the driving direction of the pool robot;

[0158] S2, controlling the pool robot to move from a second position in the water storage pool to the first position according to the multiple driving instructions, wherein the first position is a position in the water storage pool different from the second position.

[0159] Optionally, in this embodiment, the above-mentioned storage medium may include but is not limited to: a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk, and other media that can store program codes.

[0160] Optionally, specific examples in this embodiment may refer to the examples described in the above embodiments and optional implementation modes, and this embodiment will not be described in detail here.

[0161] Obviously, those skilled in the art should understand that the modules or steps of the present application described above can be implemented using a general-purpose computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices. Alternatively, they can be implemented using program code executable by the computing device, so that they can be stored in a storage device and executed by the computing device. In some cases, the steps shown or described can be performed in a different order than herein, or they can be made into separate integrated circuit modules, or multiple modules or steps can be made into a single integrated circuit module for implementation. Thus, the present application is not limited to any specific combination of hardware and software.

[0162] The above is only an optional implementation of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A method for moving a pool robot, comprising: Receiving a plurality of driving instructions continuously sent by a remote control device within a preset time period, wherein the driving instructions are at least used to indicate the driving direction of the pool robot; The pool robot is controlled to move from a second position in the water storage pool where it is currently located to a first position according to the multiple driving instructions, wherein the first position is a position in the water storage pool different from the second position.

2. The method for moving a pool robot according to claim 1, wherein: The location of the first position includes at least one of the following: the bottom surface of the water reservoir, the wall of the water reservoir, and the water surface of the water reservoir; the location of the second position includes at least one of the following: the bottom surface of the water reservoir, the wall of the water reservoir, and the water surface of the water reservoir.

3. The method for moving a pool robot according to claim 2, wherein: Controlling the pool robot to move from the second position in the water storage pool to the first position according to the multiple driving instructions includes: Controlling the pool robot to move from the second position according to the plurality of driving instructions, and controlling the pool robot to move from the second position to the junction; wherein the first position and the second position are located on different surfaces of the water storage pool; When the pool robot moves to the junction and the pool robot continues to receive the multiple driving instructions, the pool robot is controlled to move from the junction to a third position on the surface where the first position is located, wherein the junction includes at least one of the following: a first junction between the bottom surface and the wall surface, and a second junction between the wall surface and the water surface; The pool robot is controlled to move from the third position to the first position according to the multiple driving instructions.

4. The method for moving a pool robot according to claim 3, wherein: When the second position is located at the bottom surface and the first position is located at the wall surface, Controlling the pool robot to move from the second position according to the plurality of driving instructions, and controlling the pool robot to move from the second position to the junction, comprises: receiving a direction driving instruction sent by the remote control device within a first preset time period, and controlling the pool robot to move from the second position according to the direction driving instruction sent within the first preset time period, and controlling the pool robot to move from the second position to the first junction; When the pool robot moves to the first intersection and the pool robot continues to receive the multiple driving instructions, controlling the pool robot to move from the first intersection to a third position on the surface where the first position is located includes: receiving a plurality of first direction driving instructions continuously sent by the remote control device within a second preset time period, and controlling the pool robot to move from the first intersection to a third position on the surface where the first position is located according to the plurality of first direction driving instructions; wherein the plurality of first direction driving instructions are used to instruct the pool robot to always drive in the first direction; Controlling the pool robot to move from the third position to the first position according to the plurality of driving instructions includes: receiving a direction driving instruction sent by the remote control device within a third preset time period, and controlling the pool robot to move from the third position to the first position according to the direction driving instruction sent within the third preset time period; The multiple driving instructions include: the direction driving instructions sent within the first preset time period, the multiple first direction driving instructions and the direction driving instructions sent within the third preset time period; the preset time periods include: the first preset time period, the second preset time period and the third preset time period.

5. The method for moving a pool robot according to claim 3, wherein: When the second position is located on the wall surface and the first position is located on the bottom surface, Controlling the pool robot to move from the second position according to the plurality of driving instructions, and controlling the pool robot to move from the second position to the junction, comprises: receiving a direction driving instruction sent by the remote control device within a first preset time period, and controlling the pool robot to move from the second position according to the direction driving instruction sent within the first preset time period, and controlling the pool robot to move from the second position to the first junction; When the pool robot moves to the first intersection and the pool robot continues to receive the multiple driving instructions, controlling the pool robot to move from the first intersection to a third position on the surface where the first position is located includes: receiving a plurality of second direction driving instructions continuously sent by the remote control device within a second preset time period, and controlling the pool robot to move from the first intersection to a third position on the surface where the first position is located according to the plurality of second direction driving instructions; Controlling the pool robot to move from the third position to the first position according to the plurality of driving instructions includes: receiving the direction driving instruction sent by the remote control device within a third preset time period, and controlling the pool robot to move from the third position to the first position according to the direction driving instruction sent within the third preset time period; Wherein, the plurality of second direction driving instructions are used to instruct the pool robot to always drive in the second direction; The multiple driving instructions include: the direction driving instructions sent within the first preset time period, the multiple second direction driving instructions and the direction driving instructions sent within the third preset time period; the preset time period includes: the first preset time period, the second preset time period and the third preset time period.

6. The method for moving a pool robot according to claim 3, wherein: When the second position is located on the wall surface and the first position is located on the water surface, Controlling the pool robot to move from the second position according to the plurality of driving instructions, and controlling the pool robot to move from the second position to the junction, comprises: receiving a driving direction instruction sent by the remote control device within a first preset time period, and The direction driving instruction sent within the first preset time period controls the pool robot to move from the second position, and controls the pool robot to move from the second position to the second junction; When the pool robot moves to the second junction and the pool robot continues to receive the plurality of driving instructions, controlling the pool robot to move from the second junction to a third position on the surface where the first position is located includes: receiving a plurality of first direction driving instructions continuously sent by the remote control device within a second preset time period, and starting an ascending mode to move the pool robot from the second junction to the third position; Controlling the pool robot to move from the third position to the first position according to the plurality of driving instructions includes: receiving a direction driving instruction sent by the remote control device within a third preset time period, and controlling the pool robot to move from a third position to the first position according to the direction driving instruction sent within the third preset time period; Wherein, the plurality of first direction driving instructions are used to instruct the pool robot to always drive in the first direction; The multiple driving instructions include: the direction driving instructions sent within the first preset time period, the multiple first direction driving instructions and the direction driving instructions sent within the third preset time period; the preset time periods include: the first preset time period, the second preset time period and the third preset time period.

7. The method for moving a pool robot according to claim 3, wherein: When the second position is located on a water surface and the first position is located on a wall surface, Controlling the pool robot to move from the second position according to the plurality of driving instructions, and controlling the pool robot to move from the second position to the junction, comprises: receiving a direction driving instruction sent by the remote control device within a first preset time period, and controlling the pool robot to move from the second position according to the direction driving instruction sent within the first preset time period Starting to move, and controlling the pool robot to move from the second position to the second junction; When the pool robot moves to the second junction and the pool robot continues to receive the plurality of driving instructions, controlling the pool robot to move from the second junction to a third position on the surface where the first position is located includes: receiving a plurality of second direction driving instructions continuously sent by the remote control device within a second preset time period, turning on the water entry mode of the pool robot, and controlling the pool robot to move from the second intersection to a third position on the surface where the first position is located; Controlling the pool robot to move from the third position to the first position according to the plurality of driving instructions includes: receiving a direction driving instruction sent by the remote control device within a third preset time period, and controlling the pool robot to move from the third position to the first position according to the direction driving instruction sent within the third preset time period; The multiple driving instructions include: the direction driving instructions sent within the first preset time period, the multiple second direction driving instructions, and the direction driving instructions sent within the third preset time period; the preset time periods include: the first preset time period, the second preset time period and the third preset time period.

8. The method for moving a pool robot according to claim 3, wherein: When the second position is located at the water surface and the first position is located at the bottom surface, Controlling the pool robot to move from the second position according to the plurality of driving instructions, and controlling the pool robot to move from the second position to the junction, comprises: receiving a direction driving instruction sent by the remote control device within a first preset time period, and controlling the pool robot to move from the second position according to the direction driving instruction sent within the first preset time period, and controlling the pool robot to move from the second position to a second junction; When the pool robot moves to the second junction and the pool robot continues to receive the plurality of driving instructions, the pool robot is controlled to move from the second junction to the The third position of the face where the first position is located includes: receiving a plurality of second direction driving instructions sent by the remote control device within a second preset time period, and turning on the bottom sinking mode of the pool robot, so that the pool robot moves from the second intersection to a third position on the surface where the first position is located; wherein the plurality of second direction driving instructions are used to instruct the pool robot to always drive in the second direction; Controlling the pool robot to move from the third position to the first position includes: receiving a direction driving instruction sent by the remote control device within a third preset time period, and controlling the pool robot to move from the third position to the first position according to the direction driving instruction sent within the third preset time period; The multiple driving instructions include: directional driving instructions sent within the first preset time period, multiple second direction driving instructions sent within the second preset time period, and directional driving instructions sent within the third preset time period; the preset time periods include: the first preset time period, the second preset time period, and the third preset time period.

9. The method for moving a pool robot according to claim 3, wherein: When the second position is located at the bottom surface and the first position is located at the water surface, Controlling the pool robot to move from the second position according to the plurality of driving instructions, and controlling the pool robot to move from the second position to the junction, comprises: receiving a direction travel instruction sent by the remote control device within a first preset time period, and controlling the pool robot to start from the second position according to the direction travel instruction sent within the first preset time period, and controlling the pool robot to move from the second position to the second junction; When the pool robot moves to the second junction and the pool robot continues to receive the plurality of driving instructions, controlling the pool robot to move from the second junction to a third position on the surface where the first position is located includes: receiving a plurality of first direction driving instructions continuously sent by the remote control device within a second preset time period, and starting the ascending mode so that the pool robot moves from the second junction to the third junction; Position, wherein the plurality of first direction driving instructions are used to instruct the pool robot to always drive in the first direction; wherein the first direction driving instruction is a forward direction driving instruction; Controlling the pool robot to move from the third position to the first position includes: receiving a direction driving instruction sent by the remote control device within a third preset time period, and controlling the pool robot to move from the third position to the first position according to the direction driving instruction sent within the third preset time period; The multiple driving instructions include: directional driving instructions sent within the first preset time period, multiple first direction driving instructions and directional driving instructions sent within the third preset time period; the preset time periods include: the first preset time period, the second preset time period and the third preset time period.

10. The method for moving a pool robot according to claim 2, wherein: When the second position is located at the bottom surface and the first position is located at the bottom surface, Controlling the pool robot to move from the second position in the water storage pool to the first position according to the multiple driving instructions includes at least one of the following: receiving a direction driving instruction sent by the remote control device within a first preset time period, and controlling the pool robot to move from a second position in the bottom surface to a first position in the bottom surface according to the direction driving instruction sent within the first preset time period; receiving a plurality of first direction driving instructions or a plurality of second direction driving instructions or a plurality of third direction driving instructions or a plurality of fourth direction driving instructions continuously sent by the remote control device within a second preset time period, and controlling the pool robot to move from the second position in the bottom surface to the first position in the bottom surface according to the plurality of first direction driving instructions or the plurality of second direction driving instructions or the plurality of third direction driving instructions or the plurality of fourth direction driving instructions; The multiple driving instructions include: the direction driving instructions sent within the first preset time period or the multiple first direction driving instructions or the multiple second direction driving instructions or the multiple third direction driving instructions or the multiple fourth direction driving instructions; the preset time period includes: the first preset time period or the second preset time period.

11. The method for moving a pool robot according to claim 2, wherein: When the second position is located on the water surface and the first position is located on the water surface, Controlling the pool robot to move from the second position in the water storage pool to the first position according to the multiple driving instructions includes at least one of the following: receiving a direction travel instruction sent by the remote control device within a first preset time period, and controlling the pool robot to move from the second position in the water surface to the first position in the water surface according to the direction travel instruction sent within the first preset time period; receiving a plurality of first direction driving instructions or a plurality of second direction driving instructions or a plurality of third direction driving instructions or a plurality of fourth direction driving instructions continuously sent by the remote control device within a second preset time period, and controlling the pool robot to move from the second position in the water surface to the first position in the water surface according to the plurality of first direction driving instructions or the plurality of second direction driving instructions or the plurality of third direction driving instructions or the plurality of fourth direction driving instructions; The multiple driving instructions include: the direction driving instructions sent within the first preset time period or the multiple first direction driving instructions or the multiple second direction driving instructions or the multiple third direction driving instructions or the multiple fourth direction driving instructions; the preset time period includes: the first preset time period or the second preset time period.

12. The method for moving a pool robot according to claim 2, wherein: When the second position is located on a wall and the first position is located on a wall, Controlling the pool robot to move from the second position in the water storage pool to the first position according to the multiple driving instructions includes at least one of the following: receiving a direction driving instruction sent by the remote control device within a first preset time period, and controlling the pool robot to move from the second position in the wall to the first position in the wall according to the direction driving instruction sent within the first preset time period; receiving the plurality of first direction driving instructions or the plurality of second direction driving instructions or the plurality of third direction driving instructions or the plurality of fourth direction driving instructions continuously sent by the remote control device within a second preset time period, and controlling the plurality of first direction driving instructions or the plurality of second direction driving instructions or the plurality of fourth direction driving instructions according to the plurality of first direction driving instructions or the plurality of second direction driving instructions or the plurality of The plurality of third-direction driving instructions or the plurality of fourth-direction driving instructions control the pool robot to move from the second position in the wall to the first position in the wall; The multiple driving instructions include: the direction driving instructions sent within the first preset time period or the multiple first direction driving instructions or the multiple second direction driving instructions or the multiple third direction driving instructions or the multiple fourth direction driving instructions; the preset time period includes: the first preset time period or the second preset time period.

13. The method for moving a pool robot according to claim 2, wherein: The method further comprises: When the second position is located at the first wall, the first position is located at the second wall, and it is detected that the wall cannot be crossed, Control the pool robot to move from the first wall surface to the water surface, and then move from the water surface to the second wall surface; or Controlling the pool robot to move from the first wall surface to the bottom surface, and then from the bottom surface to the second wall surface; Wherein, the first wall surface and the second wall surface are different wall surfaces in the water storage tank.

14. The method for moving a pool robot according to any one of claims 1 to 13, wherein: The multiple driving instructions include at least one of the following: multiple driving instructions triggered by the target object within a preset time period; multiple driving instructions calculated by the remote control device through a preset algorithm after obtaining the first position and the second position of the pool robot.

15. The method for moving a pool robot according to claim 14, wherein: The multiple driving instructions triggered by the target object within a preset time period include: multiple driving instructions triggered by the target object by clicking a button, or multiple driving instructions triggered by the target object by touch screen sensing.

16. The method for moving a pool robot according to claim 1, wherein: Before controlling the pool robot to move from the second position in the water storage pool to the first position according to the multiple driving instructions, the method further includes: The water storage tank is inspected according to a preset inspection method to determine the first position to be cleaned.

17. The method for moving a pool robot according to claim 16, wherein: The water storage pool is tested in a preset testing manner to determine the first position to be cleaned, including at least one of the following: Testing the water quality of the water storage pool, and if it is determined that the water quality of the water storage pool exceeds a preset water quality standard, determining that the first position to be reached by the water pool robot is the water surface of the water storage pool; Detecting the wall of the water storage pool, and determining that the first position of the pool robot is the wall of the water storage pool when it is determined that the stain range of the wall is greater than a preset range; The bottom surface of the water storage pool is detected, and when it is detected that there are preset aquatic plants and animals or preset chemical substances, the first position to be reached by the pool robot is determined to be the bottom surface of the water storage pool.

18. The method for moving a pool robot according to claim 7, wherein: The water entry mode includes a first water entry mode and a second water entry mode, wherein the first water entry mode is a mode in which the pool robot is suspended on the water surface and the pool robot is controlled to sink to the bottom surface by drainage; the second water entry mode is a mode in which the pool robot is suspended on the water surface and moves to the wall.

19. A computer-readable storage medium, the computer-readable storage medium comprising a stored program, wherein: When the program is executed, the method described in any one of claims 1 to 18 is executed.

20. A pool robot, comprising a memory and a processor, wherein the memory stores a computer program, and the processor is configured to execute the method according to any one of claims 1 to 18 through the computer program.

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