Method for controlling running of pool robot, and electronic device and storage medium

Abstract

A method for controlling the running of a pool robot, and an electronic device and a storage medium. The method is applied to a client, and comprises: in response to an operation triggered for a first map of a target water area, determining a restricted operation area in the first map, wherein the client is used for performing information interaction with a pool robot, and the restricted operation area comprises an area in the target water area in which the pool robot is prohibited from executing a target operation (S202); and transmitting area information of the restricted operation area to the pool robot, so as to instruct the pool robot to generate a target running path according to the area information, and to execute the target operation in other water areas according to the target running path, wherein the other water areas are water areas in the target water area other than the restricted operation area (S204).

Description

Method, electronic device and storage medium for controlling operation of pool robot

[0001] This disclosure claims priority to a Chinese patent application filed with the Patent Office of China on September 27, 2023, with application number 202311265497.5 and invention name “Method, electronic device and storage medium for controlling the operation of a pool robot”, the entire contents of which are incorporated herein by reference. Technical Field

[0002] The embodiments of the present application relate to the field of robots, and more specifically, to a method, electronic device, and storage medium for controlling the operation of a pool robot. Background Art

[0003] Related pool robots can only plan paths in the water according to a preset map and perform operations according to the planned path. However, during operation, the pool robot may get stuck in a specific area or be unable to perform operations in a specific area, which reduces the pool robot's operating efficiency.

[0004] Summary of the Invention

[0005] The embodiments of the present application provide a method, electronic device, and storage medium for controlling the operation of a pool robot, so as to at least solve the problem in the related art that the pool robot may get stuck in a specific area or be unable to perform operations only in a specific area during operation, thereby reducing work efficiency.

[0006] According to one embodiment of the present application, a method for controlling the operation of a pool robot is provided, which is applied to a client, and includes: in response to an operation triggered on a first map of a target water area, determining an operation restricted area in the above-mentioned first map, wherein the above-mentioned client is used to interact with the pool robot for information, and the above-mentioned operation restricted area includes an area in the above-mentioned target water area where the above-mentioned pool robot is prohibited from performing the target operation; transmitting the area information of the above-mentioned operation restricted area to the above-mentioned pool robot to instruct the above-mentioned pool robot to generate a target operation path according to the above-mentioned area information, and perform the above-mentioned target operation in other water areas according to the above-mentioned target operation path, wherein the above-mentioned other water areas are water areas in the above-mentioned target water area other than the above-mentioned operation restricted area.

[0007] According to another embodiment of the present application, a method for controlling the operation of a pool robot is provided, which is applied to the pool robot and includes: receiving area information of an operation forbidden zone transmitted by a client, wherein the operation forbidden zone is determined in the first map by the client in response to an operation triggered on a first map of a target water area, the client is configured to interact with the pool robot for information, and the operation forbidden zone includes an area in the target water area where the pool robot is prohibited from performing a target operation; generating a target operation path according to the area information; and performing the target operation in other water areas according to the target operation path, wherein the other water areas are water areas in the target water area other than the operation forbidden zone.

[0008] According to another embodiment 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 steps of any one of the above method embodiments when run.

[0009] According to another embodiment of the present application, an electronic device is provided, including 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.

[0010] Through this application, after the client determines the restricted area in the first map, it transmits the area information of the restricted area to the pool robot, so that the pool robot can generate a target operation path according to the area information and perform the target operation in other water areas according to the target operation path. The pool robot does not perform the target operation in the restricted area, which can prevent the pool robot from being stuck in the restricted area; or by having the pool robot only perform the target operation in other water areas, the execution range of the target operation can be narrowed and the execution of the target operation can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] FIG1 is a hardware structure block diagram of a mobile terminal for controlling the operation of a pool robot according to an embodiment of the present application;

[0012] FIG2 is a flowchart of a method for controlling the operation of a pool robot according to an embodiment of the present application;

[0013] FIG3 is a schematic diagram of an operation restricted area according to an embodiment of the present application;

[0014] FIG4 is a second flowchart of a method for controlling the operation of a pool robot according to an embodiment of the present application;

[0015] FIG5 is a schematic diagram of a virtual wall according to a specific embodiment of the present application;

[0016] FIG6 is a structural block diagram 1 of a device for controlling the operation of a pool robot according to an embodiment of the present application;

[0017] FIG7 is a second structural block diagram of the device for controlling the operation of the pool robot according to an embodiment of the present application. DETAILED DESCRIPTION

[0018] The embodiments of the present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0019] It should be noted that the terms "first", "second", etc. in the description and claims of this application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0020] The method embodiments provided in the embodiments of the present application can be executed in a mobile terminal, a computer terminal or a similar computing device. Taking operation on a mobile terminal as an example, FIG1 is a hardware structure block diagram of a mobile terminal of a method for controlling the operation of a pool robot in an embodiment of the present application. As shown in FIG1 , the mobile terminal may include one or more (only one is shown in FIG1 ) processors 102 (the processor 102 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA) and a memory 104 configured to store data, wherein the mobile terminal may also include a transmission device 106 and an input / output device 108 configured to have a communication function. It will be understood by those skilled in the art that the structure shown in FIG1 is for illustration only and does not limit the structure of the mobile terminal. For example, the mobile terminal may also include more or fewer components than those shown in FIG1 , or have a configuration different from that shown in FIG1 .

[0021] The memory 104 can be configured to store computer programs, such as software programs and modules of application software, such as the computer program corresponding to the method for controlling the operation of the pool robot in the embodiments of the present application. The processor 102 executes the computer program stored in the memory 104 to execute various functional applications and data processing, thereby implementing the above-mentioned method. The memory 104 may include high-speed random access memory and may also include 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 memory remotely located relative to the processor 102, and these remote memories may be connected to the mobile terminal 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.

[0022] The transmission device 106 is configured to receive or transmit data via a network. A specific example of the aforementioned network may include a wireless network provided by the mobile terminal's telecommunications provider. 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 configured to communicate with the Internet wirelessly.

[0023] In this embodiment, a method for controlling the operation of a pool robot is provided. FIG2 is a flow chart of the method for controlling the operation of a pool robot according to an embodiment of the present application. As shown in FIG2 , the flow chart includes the following steps:

[0024] Step S202, in response to an operation triggered on the first map of the target water area, determining an operation restricted area in the first map, wherein the client is configured to interact with the pool robot, and the operation restricted area includes an area in the target water area where the pool robot is prohibited from performing the target operation;

[0025] Step S204, transmitting the area information of the operation restricted area to the pool robot to instruct the pool robot to generate a target operation path according to the area information, and perform target operations in other water areas according to the target operation path, wherein other water areas are water areas in the target water areas except the operation restricted area.

[0026] The execution subject of the above steps may be a client, which is set in a terminal, and a specific processor is set in the terminal.

[0027] Through the above steps, after the client determines the restricted area in the first map, it transmits the area information of the restricted area to the pool robot, allowing the pool robot to generate a target operation path according to the area information and perform the target operation in other water areas according to the target operation path. The pool robot does not perform the target operation in the restricted area, which can prevent the pool robot from getting stuck in the restricted area; or by only performing the target operation in other water areas, the scope of execution of the target operation is narrowed and the targeted execution of the target operation is improved. Therefore, it can solve the problem in the related art that the pool robot may get stuck in a specific area or be unable to perform operations only in a specific area during operation, thereby reducing work efficiency, thereby effectively improving operational efficiency.

[0028] Among them, the first map is a map of the target water area, which can be a two-dimensional map or a three-dimensional map, and can be generated by a pool robot running along the edge of the target water area.

[0029] Optionally, the pool robot includes but is not limited to a cleaning robot for cleaning the target water area and a disinfection robot for disinfecting the water in the target water area.

[0030] Optionally, the target water area includes but is not limited to enclosed water areas such as swimming pools, fish ponds, pools, fish tanks, bathtubs, etc., and the areas where operation restricted areas can be set include but are not limited to special areas in the target water area, for example, areas with steps in swimming pools, areas with oxygen equipment in fish ponds, etc.

[0031] Optionally, the target operation includes, but is not limited to, a cleaning operation, a disinfection operation, a salvage operation, etc. For example, a cleaning robot performs a cleaning operation in a swimming pool; a disinfection robot performs a disinfection operation in a swimming pool; or a cleaning robot simultaneously sweeps away garbage in a swimming pool and spreads disinfectant, thereby simultaneously cleaning and disinfecting the swimming pool.

[0032] Optionally, the restricted area can be an area formed by a virtual wall set in the target water area. The virtual wall is a barrier set in the target water area. For example, when the target water area is a swimming pool and the target operation is cleaning, a virtual wall is set at the steps in the swimming pool, and the area between the virtual wall and the physical wall corresponding to the steps in the target water area is designated as the restricted area. This prevents the pool robot from traveling onto the steps to perform cleaning operations. Furthermore, the pool robot will not perform cleaning operations on the virtual wall, only on physical walls and in other water areas. The restricted area can also be a target area in the target water area. For example, when the target water area is a swimming pool and the target operation is cleaning, a designated area between the water surface and the bottom of the pool is designated as a target area where cleaning operations are prohibited. Alternatively, an area in the swimming pool where the cleaning robot is easily trapped is designated as a target area where cleaning operations are prohibited.

[0033] Optionally, the area information of the operation restricted area includes but is not limited to the specific coordinates of the operation restricted area displayed in the first map, the identification displayed in the first map, the identification including the name and / or icon of the operation restricted area, etc., for example, the ladder icon or the identification of the ladder name in the swimming pool shown in the first map.

[0034] Optionally, the time period for determining the operation restricted area in the first map may be before the pool robot enters the water to perform the target operation, or may be determined in real time while the pool robot is performing the target operation in the water.

[0035] Alternatively, the client can be an application installed on a terminal that interacts with the pool robot. The pool robot can send information about the execution of target operations and travel information in the target water area to the application for display. The application can also receive control commands from the user and send these commands to the pool robot, instructing it to perform the target operation in the target water area. For example, a user can set up an application on their mobile phone to control the operation of the pool robot, and then use the application to view the pool robot's operation status in the target water area.

[0036] In an exemplary embodiment, in response to an operation triggered on a first map of a target water area in a client, determining an operation restricted area in the first map includes one of the following: receiving an operation instruction, and determining the operation restricted area in the first map in response to the operation instruction, wherein area information is generated when the operation restricted area is determined according to the operation instruction; determining the operation restricted area in the first map in response to a touch screen operation applied to the first map, wherein the touch screen operation includes an action applied to the first map to generate the operation restricted area.

[0037] Optionally, the operations triggered on the first map of the target water area include operations triggered by operation instructions and actions triggered by touch screen operations. The operation instructions include location information that needs to be set as an operation restricted area. For example, if the first map is a map of a swimming pool, the user inputs the location of a staircase in the first map into the client. The client identifies the staircase as an operation restricted area based on the staircase's location and sends the generated coordinates of the staircase location to the pool robot. Alternatively, the name of the staircase displayed in the first map is input into the client. The client identifies the staircase as an operation restricted area based on the staircase's name and sends both the generated coordinates and the name of the staircase to the pool robot.

[0038] A touch screen operation is an action performed by a user directly on the first map displayed in the client. The client recognizes the user's action and determines the position of the action in the first map as an operation restricted zone. For example, the user's action is to perform a sliding operation at the position of a step in the first map through the client. When the trajectory corresponding to the sliding operation is the periphery of the step position, the position of the action in the first map can be determined to be the step position, thereby determining the step position as an operation restricted zone, and sending the coordinates of the generated step to the pool robot. Optionally, when the user performs a touch screen operation, the client can display a corresponding operation pattern, such as a line, in the first map according to the touch screen operation, so that the user can promptly know whether the touch screen operation meets the user's needs. It should be noted that the area information of the operation restricted zone is the information (for example, coordinate information) identified by the client from the first map after the operation restricted zone is determined. This embodiment determines the operation restricted zone in the first map through an operation instruction or a touch screen operation, thereby increasing the accuracy and flexibility of determining the operation restricted zone.

[0039] In an exemplary embodiment, the area information of the operation restricted area is transmitted to the pool robot to instruct the pool robot to generate a target operating path according to the area information, including one of the following: generating a second map using the area information, and transmitting the second map to the pool robot to instruct the pool robot to generate the target operating path according to the second map; transmitting the area information to the pool robot to instruct the pool robot to generate a second map using the area information, and generate the target operating path based on the second map.

[0040] The client can generate a second map based on the area information of the operation restricted area and transmit it directly to the pool robot. It can also transmit the area information of the operation restricted area directly to the pool robot so that the pool robot generates a second map, thereby increasing the flexibility of generating the second map.

[0041] After the pool robot generates the second map or obtains the second map from the client, it generates a target path according to the second map. The target path is the path that the pool robot needs to traverse when performing the target operation in the second map. For example, it may be a bow-shaped path as shown in FIG3 , or it may be a spiderweb-shaped path, a Y-shaped path, etc. Optionally, the target path may be generated according to the second map and a preset path generation algorithm.

[0042] Optionally, using the regional information to generate the second map can be done by masking off-limit areas in the first map according to the regional information, or by marking off-limit areas with special symbols in the first map. Masking off-limit areas in the first map according to the regional information includes, but is not limited to, deleting the coordinates of the off-limit areas from the first map, setting the attributes of the coordinates of the off-limit areas to invisible, or simply deleting the off-limit areas from the first map. Marking off-limit areas in the first map with special symbols can be a box as shown in Figure 3 or other symbols. Setting off-limit areas in the first map in multiple ways increases flexibility and accuracy.

[0043] Optionally, the first map can be displayed on the client in the form of a two-dimensional map or a three-dimensional map. If the first map is a two-dimensional map, a second map can be generated directly from the two-dimensional map based on the area information. The second map is also a two-dimensional map and sent to the pool robot, which then generates a target operation path within the two-dimensional second map. Alternatively, the two-dimensional coordinates of the restricted area can be directly sent to the pool robot, which then generates a two-dimensional second map based on the two-dimensional coordinates and generates a target operation path within the two-dimensional second map.

[0044] Optionally, generating a second map using regional information about the restricted area may include: if the first map is a three-dimensional map, converting the first map into a first two-dimensional map; converting the three-dimensional coordinates of the restricted area in the first map, as described in the regional information, into two-dimensional coordinates to obtain the two-dimensional coordinates of the restricted area; masking the two-dimensional coordinates of the restricted area in the first two-dimensional map, or marking the two-dimensional coordinates of the restricted area in the first two-dimensional map to obtain a second two-dimensional map; and converting the second two-dimensional map into a three-dimensional map to obtain the second map. For example, if the first map is a three-dimensional map of a swimming pool, and the user needs to set a step in the pool as a restricted area, the three-dimensional map is expanded on the client into a two-dimensional map with six faces, and the location corresponding to the step is set as a restricted area in the two-dimensional map. After the restricted area is generated, the two-dimensional map is converted back into a three-dimensional map and resent to the pool robot. Alternatively, the location corresponding to the step is directly sent to the pool robot, which then generates a three-dimensional second map based on the location of the step and generates a target path within the three-dimensional second map.

[0045] In this embodiment, the client generates the second map according to the type of the first map, reducing the complexity of map processing.

[0046] In an exemplary embodiment, in response to an operation triggered on a first map of a target water area, an operation restricted area is determined in the first map, including one of the following: when the operation is to determine a virtual wall in the first map, the operation restricted area is determined based on the area formed by the virtual wall; when the operation is to determine a target area in the first map, the target area is determined as an operation restricted area.

[0047] Optionally, the virtual wall and the target area are set by operation instructions or touch screen operations. The above embodiments have described the operation instructions and touch screen operations, which will not be repeated here. In addition, the virtual wall and the target area can be set at any position in the target water area, and multiple virtual walls and multiple target areas can be set. For example, four virtual walls are set around the life-saving equipment in the swimming pool to enclose the life-saving equipment so that the cleaning robot does not enter the area where the life-saving equipment is located to perform cleaning operations. Or if the life-saving equipment is located in the corner of the wall, a single virtual wall can be set on the outside of the life-saving equipment, so that the area formed by the virtual wall and the two walls adjacent to the life-saving equipment (for example, a triangular area) is determined as an operation restricted area.

[0048] Alternatively, multiple steps in the swimming pool are set as target areas, and the cleaning robot does not enter the steps to perform cleaning. This embodiment can adapt to various application scenarios by setting multiple types of operation restricted areas in the first map, thereby improving the accuracy of setting operation restricted areas.

[0049] Alternatively, when the restricted area is defined by a virtual wall, the pool robot does not need to perform the target operation on the virtual wall, but can instead perform the target operation in other areas of water outside the virtual wall. For example, a pool cleaning robot can bypass the virtual wall and perform the cleaning operation on the physical wall; alternatively, the cleaning robot can perform the cleaning operation along the edge of the virtual wall, or it can drive along the edge to the physical wall and then perform the cleaning operation on the physical wall.

[0050] Optionally, when the pool robot determines the operation restricted area in real time during the process of performing the target operation in the water, and the operation restricted area is an area composed of virtual walls, the area away from the pool robot can be determined as the operation restricted area. For example, a single virtual wall divides the target water area into a first part and a second part. If the pool robot is currently located in the first part, the second part is determined as the operation restricted area.

[0051] In an exemplary embodiment, the method further includes: when it is determined that an abnormality occurs in the process of the pool robot performing the target operation in the target water area, determining an abnormal water area where the abnormality occurs to the pool robot; and setting the abnormal water area as an operation restricted area in the first map.

[0052] Optionally, abnormalities that occur while the pool robot is performing a target operation in the target water area include, but are not limited to, the following: the pool robot getting stuck in a corner area in the target water area, tipping over at a step in the target water area, becoming entangled with equipment installed in the target water area, etc. This embodiment can set abnormal areas as operation restricted areas in real time while the pool robot is operating in the target water area. For example, when a cleaning robot is performing a cleaning operation in a swimming pool, if the cleaning robot gets stuck in a corner area of ​​the swimming pool, the cleaning robot will transmit the coordinates of the corner area to the client, and the client will set the corner area as an operation restricted area. By setting the operation restricted area in real time, this embodiment can adapt to different application scenarios and further improve the efficiency of the pool robot in performing the target operation.

[0053] Optionally, before the pool robot reaches a target area to perform a target operation, a restricted area can be set in advance according to user requirements. For example, a user may find a swimming pool staircase difficult to clean and may want to designate the staircase as a prohibited cleaning area. Before the pool robot begins cleaning in the pool, the client can set the staircase as a restricted area. This embodiment improves the efficiency of the pool robot in executing the target operation by setting the restricted area in advance.

[0054] In this embodiment, a method for controlling the operation of a pool robot is provided. FIG4 is a second flow chart of the method for controlling the operation of a pool robot according to an embodiment of the present application. As shown in FIG4 , the flow chart includes the following steps:

[0055] Step S402: receiving area information of an operation forbidden zone transmitted by the client, wherein the operation forbidden zone is determined in the first map by the client in response to an operation triggered on the first map of the target water area, and is used by the client to exchange information with the pool robot. The operation forbidden zone includes an area in the target water area where the pool robot is prohibited from performing a target operation;

[0056] Step S404, generating a target running path according to the area information;

[0057] Step S406 , performing the target operation in other water areas according to the target operation path, wherein the other water areas are water areas in the target water areas except the operation restricted area.

[0058] The execution subject of the above steps may be a pool robot, in which a specific processor is provided.

[0059] Through the above steps, the pool robot receives the area information of the restricted area transmitted by the client, allowing the pool robot to generate a target operation path according to the area information and perform the target operation in other water areas according to the target operation path. The pool robot does not perform the target operation in the restricted area, which can prevent the pool robot from getting stuck in the restricted area. Alternatively, by performing the target operation only in other water areas, the scope of execution of the target operation is narrowed and the targeted execution of the target operation is improved. Therefore, the problem in the related art that the pool robot may get stuck in a specific area or be unable to perform operations only in a specific area during operation, thereby reducing work efficiency, can be solved, thereby effectively improving operational efficiency.

[0060] Among them, the first map is a map of the target water area, which can be a two-dimensional map or a three-dimensional map, and can be generated by a pool robot running along the edge of the target water area.

[0061] Optionally, the pool robot includes but is not limited to a cleaning robot for cleaning the target water area and a disinfection robot for disinfecting the water in the target water area.

[0062] Optionally, the target water area includes but is not limited to enclosed water areas such as swimming pools, fish ponds, pools, fish tanks, bathtubs, etc., and the areas where operation restricted areas can be set include but are not limited to special areas in the target water area, for example, areas with steps in swimming pools, areas with oxygen equipment in fish ponds, etc.

[0063] Optionally, the target operation includes, but is not limited to, a cleaning operation, a disinfection operation, a salvage operation, etc. For example, a cleaning robot performs a cleaning operation in a swimming pool; a disinfection robot performs a disinfection operation in a swimming pool; or a cleaning robot simultaneously sweeps away garbage in a swimming pool and spreads disinfectant, thereby simultaneously cleaning and disinfecting the swimming pool.

[0064] Optionally, the restricted area can be an area formed by a virtual wall set in the target water area. The virtual wall is a barrier set in the target water area. For example, when the target water area is a swimming pool and the target operation is cleaning, a virtual wall is set at the steps in the swimming pool, and the area between the virtual wall and the physical wall corresponding to the steps in the target water area is designated as the restricted area. This prevents the pool robot from traveling onto the steps to perform cleaning operations. Furthermore, the pool robot will not perform cleaning operations on the virtual wall, only on physical walls and in other water areas. The restricted area can also be a target area in the target water area. For example, when the target water area is a swimming pool and the target operation is cleaning, a designated area between the water surface and the bottom of the pool is designated as a target area where cleaning operations are prohibited. Alternatively, an area in the swimming pool where the cleaning robot is easily trapped is designated as a target area where cleaning operations are prohibited.

[0065] Optionally, the area information of the operation restricted area includes but is not limited to the specific coordinates of the operation restricted area displayed in the first map, the identification displayed in the first map, the identification including the name and / or icon of the operation restricted area, etc., for example, the ladder icon or the identification of the ladder name in the swimming pool shown in the first map.

[0066] Optionally, the time period for determining the operation restricted area in the first map may be before the pool robot enters the water to perform the target operation, or may be determined in real time while the pool robot is performing the target operation in the water.

[0067] Alternatively, the client can be an application installed on a terminal that interacts with the pool robot. The pool robot can send information about the execution of target operations and travel within the target water area to the application for display. The application can also receive control commands from the user and send them to the pool robot, instructing it to perform the target operation within the target water area. For example, a user can use the application on their mobile phone to control the pool robot and view the robot's operation status and path within the target water area.

[0068] In one exemplary embodiment, receiving restricted area information transmitted by a client includes: receiving a second map transmitted by the client, wherein the second map is a map generated by the client based on the restricted area information; and generating a target path based on the restricted area information includes: generating the target path within the second map. Optionally, the pool robot can generate the target path within the second map in any manner, including a path along an edge, a bow-shaped path, a Y-shaped path, and the like. Receiving the second map facilitates direct generation of the target path within the second map, improving efficiency.

[0069] In one exemplary embodiment, receiving restricted area information transmitted by a client includes: receiving the restricted area information transmitted by the client; generating a target path based on the restricted area information, including: generating a second map using the restricted area information; and generating the target path within the second map. This embodiment of the pool robot autonomously generates the second map and the target path after receiving the restricted area information, thereby reducing processing pressure on the client.

[0070] The pool robot can directly receive the second map transmitted by the client, and can also generate the second map based on the area information of the operation restricted area transmitted by the client, which increases the flexibility of generating the second map.

[0071] After the pool robot generates the second map or obtains the second map from the client, it generates a target path according to the second map. The target path is the path that the pool robot needs to traverse when performing the target operation in the second map. For example, it may be a bow-shaped path as shown in FIG3 , or it may be a spiderweb-shaped path, a Y-shaped path, etc. Optionally, the target path may be generated according to the second map and a preset path generation algorithm.

[0072] In one exemplary embodiment, performing a target operation in another water area according to a target operation path includes one of the following: when the operation forbidden area is the target area and the pool robot is within the target area, driving outside the target area and performing the target operation in another water area according to the target operation path; when the operation forbidden area is the target area and the pool robot is outside the target area, performing the target operation in another water area according to the target operation path. During the pool robot's execution of the target operation, the operation forbidden area is determined in real time. If the operation forbidden area is the target area, the pool robot may be within the target area. In this case, the pool robot drives outside the target area and performs the target operation in another water area according to the target operation path; if the pool robot is outside the target area, the target operation is performed in another water area according to the target operation path. This embodiment improves the effectiveness of the operation forbidden area by driving the pool robot outside the target area when it is within the target area. When the pool robot is outside the target area, the pool robot directly performs the target operation in another water area according to the newly planned target operation path, thereby improving the efficiency of the operation.

[0073] Alternatively, when the restricted area is defined by a virtual wall, the pool robot does not need to perform the target operation on the virtual wall, but can instead perform the target operation in other areas of water outside the virtual wall. For example, a pool cleaning robot can bypass the virtual wall and perform the cleaning operation on the physical wall; alternatively, the cleaning robot can perform the cleaning operation along the edge of the virtual wall, or it can drive along the edge to the physical wall and then perform the cleaning operation on the physical wall.

[0074] The present disclosure is described below with reference to specific embodiments:

[0075] This embodiment uses a cleaning robot operating in a swimming pool as an example. In this embodiment, a user draws a virtual wall on a first map of the pool through a client to define a restricted area. The cleaning robot then generates a target path based on the information in the second map generated from the restricted area, and performs cleaning operations in other water areas according to the target path. As shown in Figure 5, a three-dimensional virtual wall a is set up by the client between the bottom and the water surface in the first map of the pool. The virtual wall's height is the distance from the bottom to the water surface, dividing the pool into the restricted area and other water areas, thereby forming the second map. The areas marked with dense lines on both sides in Figure 5 represent the physical walls of the other water areas. After completing the cleaning operation along the target path along the physical wall on the left side of Figure 5 based on the second map, the cleaning robot can then continue cleaning operations at the bottom of other water areas, or travel from the bottom of other water areas to the physical wall on the right to continue cleaning. Cleaning operations are avoided within the restricted area or on the virtual wall, thereby improving the efficiency and effectiveness of cleaning operations.

[0076] 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 method described in each embodiment of the present application.

[0077] This embodiment also provides a device for controlling the operation of a pool robot. This device is configured to implement the aforementioned embodiments and alternative implementations, and details already described will not be repeated. As used below, the term "module" may refer to a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementation using hardware, or a combination of software and hardware, is also possible and contemplated.

[0078] FIG6 is a structural block diagram of a device for controlling the operation of a pool robot according to an embodiment of the present application. As shown in FIG6 , the device includes:

[0079] The first determination module 62 is configured to determine an operation restricted zone in the first map in response to an operation triggered on the first map of the target water area, wherein the client is used to exchange information with the pool robot, and the operation restricted zone includes an area in the target water area where the pool robot is prohibited from performing the target operation; the first transmission module 64 is configured to transmit area information of the operation restricted zone to the pool robot to instruct the pool robot to generate a target operation path according to the area information, and perform the target operation in other water areas according to the target operation path, wherein the other water areas are water areas in the target water area other than the operation restricted zone.

[0080] In an exemplary embodiment, the above-mentioned first operation module includes one of the following: a first receiving unit, configured to receive an operation instruction, and determine the above-mentioned operation restricted area in the above-mentioned first map in response to the above-mentioned operation instruction, wherein the above-mentioned area information is generated when the above-mentioned operation restricted area is determined according to the above-mentioned operation instruction; a first determination unit, configured to determine the above-mentioned operation restricted area in the above-mentioned first map in response to a touch screen operation applied to the above-mentioned first map, wherein the above-mentioned touch screen operation includes an action applied to the above-mentioned first map to generate the above-mentioned operation restricted area.

[0081] In an exemplary embodiment, the above-mentioned first transmission module includes one of the following: a first generation unit, configured to generate a second map using the above-mentioned area information, and transmit the above-mentioned second map to the above-mentioned pool robot to instruct the above-mentioned pool robot to generate the above-mentioned target operation path according to the above-mentioned second map; a first transmission unit, configured to transmit the above-mentioned area information to the above-mentioned pool robot to instruct the above-mentioned pool robot to generate a second map using the above-mentioned area information, and generate the above-mentioned target operation path based on the above-mentioned second map.

[0082] In an exemplary embodiment, the above-mentioned first generation unit includes: a first conversion subunit, which is configured to convert the above-mentioned first map into a first two-dimensional map when the above-mentioned first map is a three-dimensional map; a second conversion subunit, which is configured to convert the three-dimensional coordinates of the above-mentioned operation restricted area in the above-mentioned area information in the above-mentioned first map into two-dimensional coordinates to obtain the two-dimensional coordinates of the above-mentioned operation restricted area; a first shielding subunit, which is configured to shield the two-dimensional coordinates of the above-mentioned operation restricted area in the above-mentioned first two-dimensional map, or to mark the two-dimensional coordinates of the above-mentioned operation restricted area in the above-mentioned first two-dimensional map to obtain a second two-dimensional map; and a first conversion subunit, which is configured to convert the above-mentioned second two-dimensional map into a three-dimensional map to obtain the above-mentioned second map.

[0083] In an exemplary embodiment, the above-mentioned first determination module includes one of the following: a second determination unit, configured to determine the above-mentioned operation restricted area based on the area formed by the virtual wall when the above-mentioned operation is to determine the virtual wall in the above-mentioned first map; a third determination unit, configured to determine the above-mentioned target area as the above-mentioned operation restricted area when the above-mentioned operation is to determine the target area in the above-mentioned first map.

[0084] In an exemplary embodiment, the setting method of the above-mentioned virtual wall and target area includes setting through operation instructions or touch screen operation, allowing the above-mentioned virtual wall and the above-mentioned target area to be set at any position in the above-mentioned target water area, and allowing multiple above-mentioned virtual walls and multiple above-mentioned target areas to be set in the above-mentioned target water area.

[0085] In an exemplary embodiment, when the pool robot determines the operation restricted area in real time during the process of performing the target operation in water, and the operation restricted area is an area formed by the virtual wall, it is allowed to determine the area far away from the pool robot as the operation restricted area.

[0086] In an exemplary embodiment, the above-mentioned device also includes: a second determination module, which is configured to determine the abnormal water area where the above-mentioned pool robot has an abnormality when it is determined that an abnormality has occurred in the process of the above-mentioned pool robot performing the above-mentioned target operation in the above-mentioned target water area; and a first setting module, which is configured to set the above-mentioned abnormal water area as the above-mentioned operation restricted area in the above-mentioned first map.

[0087] In an exemplary embodiment, the abnormality that occurs when the pool robot performs the target operation in the target water area includes at least one of the following: the pool robot is stuck in a corner area in the target water area, the pool robot flips over at the steps in the target water area, or the pool robot becomes entangled with equipment set up in the target water area.

[0088] In an exemplary embodiment, the area information of the operation restricted area includes at least one of the following: the coordinates of the operation restricted area displayed in the first map, and the logo displayed in the first map, wherein the logo includes the name and / or icon of the operation restricted area.

[0089] In an exemplary embodiment, the time period for determining the above-mentioned operation restricted area in the above-mentioned first map is the time period before the above-mentioned pool robot performs the above-mentioned target operation, or, the time period for determining the above-mentioned operation restricted area in the above-mentioned first map is the time period determined in real time during the process of the above-mentioned pool robot performing the above-mentioned target operation in the above-mentioned target water area.

[0090] FIG7 is a second structural block diagram of a device for controlling the operation of a pool robot according to an embodiment of the present application. As shown in FIG7 , the device includes:

[0091] The first receiving module 72 is configured to receive area information of an operation forbidden zone transmitted by a client, wherein the operation forbidden zone is determined in the first map by the client in response to an operation triggered on the first map of the target water area, and the client is configured to interact with the pool robot for information, and the operation forbidden zone includes an area in the target water area where the pool robot is prohibited from performing the target operation; the first generating module 74 is configured to generate a target operation path according to the area information; the first executing module 76 is configured to perform the target operation in other water areas according to the target operation path, wherein the other water areas are water areas in the target water area other than the operation forbidden zone.

[0092] In an exemplary embodiment, the above-mentioned first execution module includes one of the following: a first driving unit, configured to drive to the outside of the above-mentioned target area when the above-mentioned operation restricted area is the target area and the above-mentioned pool robot is within the above-mentioned target area, and perform the above-mentioned target operation in the above-mentioned other waters according to the above-mentioned target operation path; the first execution unit, configured to perform the above-mentioned target operation in the above-mentioned other waters according to the above-mentioned target operation path when the above-mentioned operation restricted area is the target area and the above-mentioned pool robot is outside the above-mentioned target area.

[0093] In an exemplary embodiment, the first map is generated by the pool robot when it runs along the edge of the target water area. The first map is a map of the target water area, and the first map is a two-dimensional map or a three-dimensional map.

[0094] In an exemplary embodiment, the area information of the operation restricted area includes at least one of the following: the coordinates of the operation restricted area displayed in the first map, and the logo displayed in the first map, wherein the logo includes the name and / or icon of the operation restricted area.

[0095] In an exemplary embodiment, the virtual wall is allowed to be set at any position in the target water area, and multiple virtual walls are allowed to be set in the target water area.

[0096] In an exemplary embodiment, when the operation forbidden area is an area formed by virtual walls, the target operation is performed in other areas outside the virtual walls.

[0097] In an exemplary embodiment, the first generation module 74 is used to generate the target operation path in the following manner: receiving a second map sent by the client, wherein the second map is a map generated by the client using the area information; generating the target operation path according to the second map; or receiving the area information sent by the client; generating a second map using the area information; and generating the target operation path based on the second map.

[0098] According to another embodiment of the present application, an electronic device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of any one of the above methods when executing the computer program.

[0099] It should be noted that the above modules can be implemented through software or hardware. For the latter, it can be implemented in the following ways, but not limited to: the above modules are all located in the same processor; or the above modules are located in different processors in any combination.

[0100] An embodiment of the present application further provides a computer-readable storage medium, in which a computer program is stored. The computer program is configured to execute the steps of any of the above method embodiments when run.

[0101] In an exemplary embodiment, the computer-readable storage medium may include, but is not limited to, various media that can store computer programs, such as 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.

[0102] 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.

[0103] In an exemplary embodiment, 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.

[0104] For specific examples in this embodiment, reference may be made to the examples described in the above embodiments and exemplary implementation modes, and this embodiment will not be described in detail here.

[0105] 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 across a network composed of multiple computing devices, they can be implemented using program code executable by the computing device, and thus, they can be stored in a storage device and executed by the computing device, and in some cases, the steps shown or described can be performed in a different order than herein, or they can be fabricated into separate integrated circuit modules, or multiple modules or steps can be fabricated into a single integrated circuit module for implementation. Thus, the present application is not limited to any specific combination of hardware and software.

[0106] The above description is merely an optional embodiment of the present application and is not intended to limit the present application. Various modifications and variations are possible for those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. made within the principles of the present application shall be included within the scope of protection of the present application.

Claims

1. A method for controlling the operation of a pool robot, applied to a client, comprising: In response to an operation triggered on a first map of a target water area, determining an operation forbidden zone in the first map, wherein the client is used to interact with the pool robot, and the operation forbidden zone includes an area in the target water area where the pool robot is prohibited from performing a target operation; The area information of the operation restricted area is transmitted to the pool robot to instruct the pool robot to generate a target operation path according to the area information, and perform the target operation in other water areas according to the target operation path, wherein the other water areas are water areas in the target water areas except the operation restricted area.

2. The method according to claim 1, wherein: In response to an operation triggered on a first map of a target water area in a client, determining an operation restricted area in the first map includes one of the following: receiving an operation instruction, and determining the operation forbidden area in the first map in response to the operation instruction, wherein the area information is generated when the operation forbidden area is determined according to the operation instruction; In response to a touch screen operation on the first map, the operation forbidden zone is determined in the first map, wherein the touch screen operation includes an action of acting on the first map to generate the operation forbidden zone.

3. The method according to claim 1, wherein: Transmitting the area information of the operation restricted area to the pool robot to instruct the pool robot to generate a target operation path according to the area information, including one of the following: Generate a second map using the area information, and transmit the second map to the pool robot to instruct the pool robot to generate the target running path according to the second map; The area information is transmitted to the pool robot to instruct the pool robot A second map is generated using the area information, and the target running path is generated based on the second map.

4. The method according to claim 3, wherein: Generating a second map using the area information of the operation restricted area includes: In the case where the first map is a three-dimensional map, converting the first map into a first two-dimensional map; Converting the three-dimensional coordinates of the operation restricted area in the first map in the area information into two-dimensional coordinates to obtain the two-dimensional coordinates of the operation restricted area; shielding the two-dimensional coordinates of the operation restricted area in the first two-dimensional map, or marking the two-dimensional coordinates of the operation restricted area in the first two-dimensional map, to obtain a second two-dimensional map; The second two-dimensional map is converted into a three-dimensional map to obtain the second map.

5. The method according to claim 1, wherein: In response to an operation triggered on a first map of the target water area, determining an operation restricted area in the first map includes one of the following: In a case where the operation is to determine a virtual wall in the first map, determining the operation restricted area according to an area formed by the virtual wall; When the operation is to determine a target area in the first map, the target area is determined as the operation restricted area.

6. The method according to claim 5, wherein: The virtual wall and the target area are allowed to be set at any position in the target water area, and multiple virtual walls and multiple target areas are allowed to be set in the target water area.

7. The method according to claim 5, wherein: When the pool robot determines the operation forbidden zone in real time during the process of performing the target operation in water, and the operation forbidden zone is an area formed by the virtual wall, it is allowed to determine an area far away from the pool robot as the operation forbidden zone.

8. The method according to claim 1, wherein: The method further comprises: In the case where it is determined that an abnormality occurs during the process of the pool robot performing the target operation in the target water area, determining an abnormal water area where the abnormality occurs in the pool robot; The abnormal water area is set as the operation restricted area in the first map.

9. The method according to claim 8, wherein: The abnormality that occurs when the pool robot performs the target operation in the target water area includes one of the following: the pool robot is stuck in a corner area in the target water area, the pool robot rolls over at the steps in the target water area, and the pool robot becomes entangled with equipment set up in the target water area.

10. The method according to claim 1, wherein: The area information of the operation forbidden zone includes at least one of the following: coordinates of the operation forbidden zone displayed in the first map, and a logo displayed in the first map, wherein the logo includes a name and / or an icon of the operation forbidden zone.

11. The method according to claim 1, wherein: The time period for determining the operation restricted area in the first map is the time period before the pool robot performs the target operation, or the time period for determining the operation restricted area in the first map is the time period determined in real time during the process of the pool robot performing the target operation in the target water area.

12. A method for controlling the operation of a pool robot, applied to the pool robot, comprising: Receiving area information of an operation forbidden zone transmitted by a client, wherein the operation forbidden zone is determined in the first map by the client in response to an operation triggered on the first map of the target water area, the client is configured to exchange information with the pool robot, and the operation forbidden zone includes an area in the target water area where the pool robot is prohibited from performing a target operation; Generate a target running path according to the area information; The target operation is performed in other waters according to the target operation path, wherein the other waters are waters in the target waters except the operation restricted area.

13. The method according to claim 12, wherein: Perform the target operation in other waters according to the target operation path, including one of the following: When the operation restricted area is a target area and the pool robot is within the target area, the pool robot drives out of the target area and performs the target operation in other water areas according to the target operation path; When the operation restricted area is a target area and the pool robot is outside the target area, the target operation is performed in the other water area according to the target operation path.

14. The method according to claim 12, wherein: The first map is generated when the pool robot runs along the edge of the target water area. The first map is a map of the target water area. The first map is a two-dimensional map or a three-dimensional map.

15. The method according to claim 12, wherein: The area information of the operation forbidden zone includes at least one of the following: coordinates of the operation forbidden zone displayed in the first map, and a logo displayed in the first map, wherein the logo includes a name and / or an icon of the operation forbidden zone.

16. The method according to claim 15, wherein: It is allowed to set a virtual wall at any position in the target water area, and it is allowed to set a plurality of virtual walls in the target water area.

17. The method according to claim 12, wherein: When the operation forbidden area is an area formed by virtual walls, the target operation is performed in other areas outside the virtual walls.

18. The method according to claim 12, wherein: Generate a target running path according to the area information, including: receiving a second map sent by the client, wherein the second map is a map generated by the client using the area information; Generate the target running path according to the second map; or, receiving the area information sent by the client; generating a second map using the area information; The target operation path is generated based on the second map.

19. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method described in any one of claims 1 to 11 or any one of claims 12 to 18 when executing the computer program.

20. A computer-readable storage medium having a computer program stored therein, wherein: When the computer program is executed by a processor, the steps of the method described in any one of claims 1 to 11 are implemented; or, when the computer program is executed by a processor, the steps of the method described in any one of claims 12 to 18 are implemented.

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