Robotic pool cleaner control method and apparatus, and robotic pool cleaner

Abstract

The present application discloses a robotic pool cleaner control method and apparatus, and a robotic pool cleaner. The method comprises: acquiring a position or a direction signal related to a robotic pool cleaner; and controlling the robotic pool cleaner on the basis of the position or the direction signal.

Description

Control method and device of pool cleaning robot and pool cleaning robot

[0001] This application claims priority to Chinese patent application No. 2023115891309, filed on November 24, 2023, entitled “Pile return method and device for underwater cleaning robot and underwater cleaning robot”, and Chinese patent application No. 2023231808739, filed on November 23, 2023, entitled “Pool cleaning robot and pool cleaning system with same”, the entire contents of which are incorporated herein by reference. Technical Field

[0002] The present application relates to the field of robotics, and in particular to a control method, device, apparatus, and pool cleaning robot. Background Art

[0003] With the development of computer technology, robotics technology has also developed rapidly. For example, users use sweeping robots to clean the floors of houses, use window cleaning robots to clean the windows of houses, and use pool cleaning robots to clean pools. Summary of the Invention

[0004] The present invention provides a control method and device for a pool cleaning robot, and the pool cleaning robot, which can control the pool cleaning robot to automatically return to the pile, thereby improving the intelligence of the pool cleaning robot. The technical solution is as follows:

[0005] In one aspect, a control method for a pool cleaning robot is provided, the method comprising:

[0006] obtaining a position or orientation signal associated with the pool cleaning robot;

[0007] The pool cleaning robot is controlled based on the position or the direction signal.

[0008] In one possible implementation, obtaining a position or direction signal related to the pool cleaning robot includes:

[0009] In response to a control instruction for the pool cleaning robot, determining a position of the pool cleaning robot in a pool, the position including a bottom and a wall of the pool; and determining a target movement direction based on the position of the pool cleaning robot in the pool, the target movement direction being a direction toward a charging station;

[0010] The controlling of the pool cleaning robot based on the position or direction signal comprises:

[0011] Based on the target moving direction, the pool cleaning robot is controlled to return to the pile.

[0012] In a possible implementation, determining the position of the pool cleaning robot in the pool in response to a control instruction for the pool cleaning robot includes:

[0013] determining a posture of the pool cleaning robot in response to a control instruction for the pool cleaning robot;

[0014] Based on the posture of the pool cleaning robot, a position of the pool cleaning robot in the pool is determined.

[0015] In a possible implementation, determining the target movement direction based on the position of the pool cleaning robot in the pool includes:

[0016] When the pool cleaning robot is located at the bottom of the pool, obtaining an image of the environment surrounding the pool cleaning robot and / or a signal sent by the charging station; and determining the target movement direction based on the image of the environment and / or the signal;

[0017] And / or, when the pool cleaning robot is located at the wall of the pool, obtaining an environmental image of the pool cleaning robot and / or a signal sent by the charging pile; and determining the target movement direction based on the environmental image and / or the signal.

[0018] In a possible implementation, determining the target movement direction based on the environment image and / or the signal includes:

[0019] determining whether a charging pile exists in the environmental image; if a charging pile exists in the environmental image, determining the target movement direction based on the position of the charging pile in the environmental image; if no charging pile exists in the environmental image, controlling the pool cleaning robot to rotate and reacquire the environmental image; determining the target movement direction based on the reacquired environmental image;

[0020] Alternatively, the target movement direction is determined based on a signal parameter of the signal, wherein the signal parameter includes at least one of a signal reception time and a signal strength;

[0021] Alternatively, determine whether there is a charging pile in the environmental image; if there is a charging pile in the environmental image, determine the target movement direction based on the position of the charging pile in the environmental image and the signal parameters of the signal; if there is no charging pile in the environmental image, control the pool cleaning robot to rotate and reacquire the environmental image and signal based on the signal parameters of the signal; determine the target movement direction based on the reacquired environmental image and signal.

[0022] In a possible implementation, the signal is a sound wave signal, the pool cleaning robot includes at least two signal receiving units, and determining the target movement direction based on signal parameters of the signal includes:

[0023] determining a target movement direction of the pool cleaning robot based on a time difference between signal receiving times when the at least two signal receiving units receive the acoustic signal;

[0024] Alternatively, determining a target moving direction of the pool cleaning robot based on a strength difference between signal strengths of the acoustic signals received by the at least two signal receiving units;

[0025] Alternatively, the target moving direction of the pool cleaning robot is determined based on a time difference between signal receiving moments and a signal strength difference between the at least two signal receiving units receiving the sound wave signals.

[0026] In a possible implementation, determining whether a charging pile exists in the environment image includes:

[0027] Inputting the environmental image into a target detection model, performing target detection on the environmental image using the target detection model, and determining whether a target detection frame exists in the environmental image, wherein the target detection frame is used to indicate the location of the charging pile; if the target detection frame exists in the environmental image, determining that the charging pile exists in the environmental image; if the target detection frame does not exist in the environmental image, determining that the charging pile does not exist in the environmental image;

[0028] Alternatively, determining whether there is a clustered area of ​​a preset color in the environmental image, where the preset color corresponds to light of a preset wavelength emitted by the charging pile; if the clustered area of ​​the preset color exists, determining that the charging pile exists in the environmental image; if the clustered area of ​​the preset color does not exist, determining that the charging pile does not exist in the environmental image;

[0029] Alternatively, determine whether there is an area in the environmental image that matches a preset pattern template, and the preset pattern template corresponds to the pattern on the charging pile; if there is an area in the environmental image that matches the preset pattern template, determine that there is a charging pile in the environmental image; if there is no area in the environmental image that matches the preset pattern template, determine that there is no charging pile in the environmental image.

[0030] In a possible implementation, when the pool cleaning robot is located at the pool wall of the pool, determining the target movement direction based on the environmental image and / or the signal includes:

[0031] When the signal parameters of the signal meet the preset parameter conditions, controlling the pool cleaning robot to move toward the bottom of the pool;

[0032] When the pool cleaning robot reaches the bottom of the pool, acquiring an image of the environment surrounding the pool cleaning robot and / or reacquiring a signal sent by the charging station;

[0033] The target movement direction is determined based on the environment image and / or the re-acquired signal.

[0034] In a possible implementation, the charging pile is located on a wall of the pool, and controlling the pool cleaning robot to return to the charging pile based on the target movement direction includes:

[0035] When the pool cleaning robot is located at the bottom of the pool, controlling the pool cleaning robot to move in the target moving direction; when the pool cleaning robot moves below the charging pile, controlling the pool cleaning robot to climb up the wall and dock with the charging pile;

[0036] And / or, when the pool cleaning robot is located at the pool wall of the pool, the pool cleaning robot is controlled to return to the pile based on the geometric relationship between the target movement direction and the pool wall where the pool cleaning robot is located.

[0037] In a possible implementation, controlling the pool cleaning robot to return to the pile based on the geometric relationship between the target movement direction and the pool wall where the pool cleaning robot is located includes:

[0038] When the angle between the target movement direction and the pool wall where the pool cleaning robot is located is less than or equal to a preset angle, controlling the pool cleaning robot to move in the target movement direction until it docks with the charging pile;

[0039] When the angle between the target moving direction and the pool wall where the pool cleaning robot is located is greater than the preset angle, the pool cleaning robot is controlled to move toward the bottom of the pool; when the pool cleaning robot reaches the bottom of the pool, the target moving direction is re-determined; and based on the re-determined target moving direction, the pool cleaning robot is controlled to return to the pile.

[0040] In a possible implementation, when the pool cleaning robot moves to below the charging pile, controlling the pool cleaning robot to climb up the wall and dock with the charging pile includes:

[0041] When the pool cleaning robot moves to below the charging pile, controlling the pool cleaning robot to climb up the wall;

[0042] In the event that the pool cleaning robot becomes stuck while climbing up the wall, controlling the pool cleaning robot to retreat downward;

[0043] The pool cleaning robot is controlled to adjust its posture and / or position and then climb up the wall again to dock with the charging pile.

[0044] In a possible implementation, after controlling the pool cleaning robot to return to the pile based on the target moving direction, the method further includes:

[0045] If the pool cleaning robot has not returned to the charging pile after a preset time, control the pool cleaning robot to adhere to the pool wall near the charging pile, and send a prompt signal to the associated terminal of the pool cleaning robot, wherein the prompt signal is used to prompt the pool cleaning robot to be salvaged near the charging pile;

[0046] Alternatively, if the pool cleaning robot has not returned to the charging pile after the preset time period, the pool cleaning robot is controlled to move to the bottom of the pool below the charging pile, and the prompt signal is sent to the associated terminal of the pool cleaning robot.

[0047] In one possible implementation, before determining the position of the pool cleaning robot in the pool in response to a control instruction for the pool cleaning robot, the method further includes:

[0048] When the pool cleaning robot performs a cleaning action on a wall of the pool, obtaining a collision signal sent by the charging pile, the collision signal being used to indicate a distance between the pool cleaning robot and the charging pile;

[0049] Based on the collision signal, the pool cleaning robot is controlled to avoid the charging pile.

[0050] In one aspect, a control device for a pool cleaning robot is provided, the device comprising:

[0051] A signal acquisition module, for acquiring a position or direction signal related to the pool cleaning robot;

[0052] The control module is configured to control the pool cleaning robot based on the position or direction signal.

[0053] In a possible implementation, the signal acquisition module includes a position determination module and a movement direction determination module;

[0054] The position determination module is configured to determine the position of the pool cleaning robot in the pool in response to a control instruction for the pool cleaning robot, wherein the position includes the bottom and the wall of the pool;

[0055] The movement direction determination module is used to determine a target movement direction based on the position of the pool cleaning robot in the pool, wherein the target movement direction is a direction close to the charging pile;

[0056] The control module is used to control the pool cleaning robot to return to the pile based on the target moving direction.

[0057] In a possible implementation, the position determination module is configured to determine a posture of the pool cleaning robot in response to a control instruction for the pool cleaning robot; and determine a position of the pool cleaning robot in the pool based on the posture of the pool cleaning robot.

[0058] In one possible embodiment, the movement direction determination module is used to obtain an environmental image of the pool cleaning robot and / or a signal sent by the charging pile when the pool cleaning robot is located at the bottom of the pool; determine the target movement direction based on the environmental image and / or the signal; and / or, when the pool cleaning robot is located at the wall of the pool, obtain an environmental image of the pool cleaning robot and / or a signal sent by the charging pile; determine the target movement direction based on the environmental image and / or the signal.

[0059] In one possible implementation, the movement direction determination module is configured to determine whether a charging pile exists in the environment image; if a charging pile exists in the environment image, determine the target movement direction based on the position of the charging pile in the environment image; if no charging pile exists in the environment image, control the pool cleaning robot to rotate and reacquire the environment image; and determine the target movement direction based on the reacquired environment image;

[0060] Alternatively, the target movement direction is determined based on a signal parameter of the signal, wherein the signal parameter includes at least one of a signal reception time and a signal strength;

[0061] Alternatively, determine whether there is a charging pile in the environmental image; if there is a charging pile in the environmental image, determine the target movement direction based on the position of the charging pile in the environmental image and the signal parameters of the signal; if there is no charging pile in the environmental image, control the pool cleaning robot to rotate and reacquire the environmental image and signal based on the signal parameters of the signal; determine the target movement direction based on the reacquired environmental image and signal.

[0062] In one possible embodiment, the signal is a sound wave signal, the pool cleaning robot includes at least two signal receiving units, and the movement direction determination module is used to determine the target movement direction of the pool cleaning robot based on the time difference between the signal receiving moments when the at least two signal receiving units receive the sound wave signals; or, determine the target movement direction of the pool cleaning robot based on the intensity difference of the signal intensities when the at least two signal receiving units receive the sound wave signals; or, determine the target movement direction of the pool cleaning robot based on the time difference between the signal receiving moments when the at least two signal receiving units receive the sound wave signals and the intensity difference of the signal intensities.

[0063] In one possible implementation, the movement direction determination module is configured to input the environmental image into a target detection model, perform target detection on the environmental image using the target detection model, and determine whether a target detection frame exists in the environmental image, where the target detection frame is used to indicate the location of the charging pile; if the target detection frame exists in the environmental image, it is determined that the charging pile exists in the environmental image; if the target detection frame does not exist in the environmental image, it is determined that the charging pile does not exist in the environmental image;

[0064] Alternatively, determining whether there is a clustered area of ​​a preset color in the environmental image, where the preset color corresponds to light of a preset wavelength emitted by the charging pile; if the clustered area of ​​the preset color exists, determining that the charging pile exists in the environmental image; if the clustered area of ​​the preset color does not exist, determining that the charging pile does not exist in the environmental image;

[0065] Alternatively, determine whether there is an area in the environmental image that matches a preset pattern template, and the preset pattern template corresponds to the pattern on the charging pile; if there is an area in the environmental image that matches the preset pattern template, determine that there is a charging pile in the environmental image; if there is no area in the environmental image that matches the preset pattern template, determine that there is no charging pile in the environmental image.

[0066] In one possible embodiment, when the pool cleaning robot is located at the wall of the pool, the movement direction determination module is used to control the pool cleaning robot to move toward the bottom of the pool when the signal parameters of the signal meet preset parameter conditions; when the pool cleaning robot reaches the bottom of the pool, obtain an environmental image around the pool cleaning robot and / or re-acquire the signal sent by the charging pile; and determine the target movement direction based on the environmental image and / or the re-acquired signal.

[0067] In one possible embodiment, the charging pile is located on the wall of the pool, and the control module is used to control the pool cleaning robot to move in the target moving direction when the pool cleaning robot is located at the bottom of the pool; to control the pool cleaning robot to climb up the wall and dock with the charging pile when the pool cleaning robot moves to below the charging pile; and / or, when the pool cleaning robot is located at the wall of the pool, to control the pool cleaning robot to return to the pile based on the geometric relationship between the target moving direction and the wall where the pool cleaning robot is located.

[0068] In one possible embodiment, the control module is used to control the pool cleaning robot to move in the target moving direction until it docks with the charging pile when the angle between the target moving direction and the pool wall where the pool cleaning robot is located is less than or equal to a preset angle; control the pool cleaning robot to move toward the bottom of the pool when the angle between the target moving direction and the pool wall where the pool cleaning robot is located is greater than the preset angle; redetermine the target moving direction when the pool cleaning robot reaches the bottom of the pool; and control the pool cleaning robot to return to the pile based on the redetermined target moving direction.

[0069] In a possible embodiment, the control module is used to control the pool cleaning robot to climb up the wall when the pool cleaning robot moves to the bottom of the charging pile; control the pool cleaning robot to retreat downward when the pool cleaning robot gets stuck in the process of climbing up the wall; and control the pool cleaning robot to adjust its posture and / or position and then climb up the wall again to dock with the charging pile.

[0070] In one possible embodiment, the control module is further used to control the pool cleaning robot to be adsorbed on the pool wall near the charging pile if the pool cleaning robot has not returned to the charging pile after a preset period of time, and send a prompt signal to the associated terminal of the pool cleaning robot, wherein the prompt signal is used to prompt the pool cleaning robot to be salvaged near the charging pile; or, if the pool cleaning robot has not returned to the charging pile after the preset period of time, control the pool cleaning robot to move to the bottom of the pool below the charging pile, and send the prompt signal to the associated terminal of the pool cleaning robot.

[0071] In one possible embodiment, the device also includes an avoidance module for obtaining a collision signal sent by the charging pile when the pool cleaning robot performs a cleaning action on the wall of the pool, wherein the collision signal is used to indicate the distance between the pool cleaning robot and the charging pile; based on the collision signal, the pool cleaning robot is controlled to avoid the charging pile.

[0072] On the one hand, a pool cleaning robot is provided, which includes a robot controller, which includes one or more processors and one or more memories, at least one computer program stored in the one or more memories, and the computer program is loaded and executed by the one or more processors to implement a control method for the pool cleaning robot.

[0073] In one aspect, a computer-readable storage medium is provided, wherein at least one computer program is stored in the computer-readable storage medium, and the computer program is loaded and executed by a processor to implement the control method of the pool cleaning robot.

[0074] On the one hand, a computer program product or computer program is provided, which includes a program code, which is stored in a computer-readable storage medium. A processor of a robot controller reads the program code from the computer-readable storage medium, and the processor executes the program code, so that the robot controller performs the above-mentioned control method of the pool cleaning robot.

[0075] In one aspect, another pool cleaning robot is provided, comprising:

[0076] A signal acquisition component, for acquiring a position or direction signal related to the pool cleaning robot;

[0077] The robot controller is configured to control the pool cleaning robot based on the position or direction signal.

[0078] In one possible embodiment, the pool cleaning robot further includes:

[0079] a machine body, wherein the machine body is provided with at least one water inlet and at least one water outlet;

[0080] A filter unit, used for filtering the liquid entering from the water inlet and discharging the filtered liquid from the drain outlet;

[0081] a walking unit, used for contacting the wetted surface in the water pool and being rotatable relative to the body;

[0082] The robot controller is arranged on the body;

[0083] The signal acquisition component is disposed on the body and communicates with the robot controller. The signal acquisition component can acquire signals at at least two positions on the body, and the signals are used to provide information related to the position or direction of the pool cleaning robot.

[0084] In a possible implementation, the signal acquisition component includes at least two signal receiving units, and the at least two signal receiving units are located at different positions of the body; or,

[0085] The signal acquisition component includes a signal receiving unit, and the signal receiving unit is movable relative to the body between a first position and a second position.

[0086] In one possible embodiment, the pool cleaning robot has a central cross-section, the vertical planes on which the walking units on both sides of the body are located are a first plane and a second plane, the central cross-section, the first plane, and the second plane are parallel to each other, and the central cross-section is located between the first plane and the second plane;

[0087] When there are at least two signal receiving units, the vertical planes where the at least two signal receiving units are located are respectively arranged on both sides of the central cross-section, and the vertical planes where the signal receiving units are located are parallel to the first plane and the second plane;

[0088] There is one signal receiving unit, and the vertical plane where the first position is located and the vertical plane where the second position is located are respectively arranged on both sides of the central section, and the vertical plane where the first position is located and the vertical plane where the second position is located are parallel to the first plane and the second plane.

[0089] In a possible implementation, the distance between the signal receiving unit and the bottom surface of the body in the height direction of the pool cleaning robot is not less than 4 cm.

[0090] In one possible implementation, the pool cleaning robot further includes:

[0091] an amplifying unit, wherein the amplifying unit communicates with the robot controller and the signal receiving unit respectively, and is used for amplifying the signal received by the signal receiving unit and then transmitting it to the robot controller.

[0092] In a possible implementation manner, the signal receiving unit is provided on a side surface of the body in the moving direction; and / or

[0093] A mounting protrusion is provided on the upper surface of the body, and the signal receiving unit is arranged on the body mounting protrusion.

[0094] In one possible implementation, the pool cleaning robot further includes:

[0095] a posture detection unit, the posture detection unit being provided on the body and communicating with the robot controller, the robot controller acquiring the moving destination of the pool cleaning robot based on the signal from the signal acquisition component and controlling the moving direction of the pool cleaning robot based on the posture detection unit;

[0096] A suction unit is provided on the machine body and communicates with the robot controller, and the robot controller controls the power of the suction unit according to the signal of the posture detection unit.

[0097] In one possible implementation, the pool cleaning robot further includes:

[0098] A power storage module, the power storage module is provided in the body and connected to the signal acquisition component;

[0099] A wireless charging module and / or a wired charging module, wherein the wireless charging module is arranged at the bottom of the body and connected to the power storage module, and the wired charging module is arranged at the bottom of the body and connected to the power storage module, and the wired charging module includes a corrosion-resistant electrode sheet.

[0100] In a possible implementation, at least one of the power storage module, the wireless charging module, and the wired charging module is detachably connected to the body.

[0101] In one aspect, a pool cleaning system is provided, comprising:

[0102] The pool cleaning robot described above;

[0103] a signal generating device, the signal generating device being configured to emit a signal, and when the signal acquiring component acquires the signal, the robot controller controls the pool cleaning robot to move to a preset position;

[0104] In which, during the movement of the pool cleaning robot to the preset position, the total distance moved by the pool cleaning robot is L1, the distance moved by the connecting line between the signal generating device and the signal acquisition component passing through the body of the pool cleaning robot is L2, and L2 / L1 is less than 50%. BRIEF DESCRIPTION OF THE DRAWINGS

[0105] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following is a brief introduction to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0106] FIG1 is a schematic diagram of a pool cleaning robot on a pool bottom provided by an embodiment of the present application;

[0107] FIG2 is a flow chart of a control method of a pool cleaning robot provided in an embodiment of the present application;

[0108] FIG3 is a flow chart of another method for controlling a pool cleaning robot provided in an embodiment of the present application;

[0109] FIG4 is a schematic diagram of a pool cleaning robot returning to a pile according to an embodiment of the present application;

[0110] FIG5 is a schematic diagram of another pool cleaning robot returning to a pile provided by an embodiment of the present application;

[0111] FIG6 is a schematic diagram of another pool cleaning robot returning to a pile provided by an embodiment of the present application;

[0112] FIG7 is a schematic diagram of another pool cleaning robot returning to a pile provided by an embodiment of the present application;

[0113] FIG8 is a schematic structural diagram of a control device of a pool cleaning robot provided in an embodiment of the present application;

[0114] FIG9 is a schematic structural diagram of a pool cleaning robot provided in an embodiment of the present application;

[0115] FIG10 is a schematic structural diagram of another pool cleaning robot provided in an embodiment of the present application;

[0116] FIG11 is a schematic structural diagram of another pool cleaning robot provided in an embodiment of the present application;

[0117] FIG12 is a schematic structural diagram of another pool cleaning robot provided in an embodiment of the present application;

[0118] FIG13 is a schematic structural diagram of another pool cleaning robot provided in an embodiment of the present application;

[0119] FIG14 is a schematic structural diagram of another pool cleaning robot provided in an embodiment of the present application;

[0120] FIG15 is a schematic structural diagram of another pool cleaning robot provided in an embodiment of the present application;

[0121] FIG16 is a schematic structural diagram of another pool cleaning robot provided in an embodiment of the present application;

[0122] FIG17 is a schematic structural diagram of another pool cleaning robot provided in an embodiment of the present application;

[0123] FIG18 is a schematic diagram of a pool cleaning system according to an embodiment of the present application, in which a sound collecting assembly is provided on one side of the body in the direction of movement, and the pool cleaning robot is located at the bottom of the pool;

[0124] FIG19 is a schematic diagram of a pool cleaning system according to an embodiment of the present application, in which a sound collecting assembly is provided on one side of the body in the direction of movement, and the pool cleaning robot is located on the pool wall;

[0125] FIG20 is a schematic diagram of a pool cleaning system according to an embodiment of the present application, wherein a sound collecting assembly is provided on the upper surface of the body, and the pool cleaning robot is located at the bottom of the pool;

[0126] Figure 21 is a schematic diagram of a pool cleaning system provided in an embodiment of the present application, in which a sound collection component is provided on the upper surface of the body, and the pool cleaning robot is located on the pool wall. DETAILED DESCRIPTION

[0127] In order to make the objectives, technical solutions and advantages of this application clearer, the implementation methods of this application will be further described in detail below with reference to the accompanying drawings.

[0128] In this application, the terms "first", "second", etc. are used to distinguish identical or similar items with substantially the same effects and functions. It should be understood that there is no logical or temporal dependency between "first", "second", and "nth", nor is there any limitation on the quantity and execution order.

[0129] First, the nouns involved in the embodiments of the present application are introduced.

[0130] Pool cleaning robot: A robot used to perform pool cleaning tasks. For example, when the pool cleaning robot is placed in a pool, it can clean the bottom and walls of the pool.

[0131] Ultrasonic waves: Ultrasonic waves are mechanical waves with extremely short wavelengths, typically less than 2 cm in air. They rely on a medium to propagate and cannot exist in a vacuum (such as space). They travel farther in water than in air, and in some scenarios, can reach hundreds of meters in water.

[0132] In the related art, when a pool cleaning robot is used to clean a pool, the pool cleaning robot will continue to work until the battery is exhausted. After the battery is exhausted, the pool cleaning robot will stop at the bottom of the water, and the staff needs to use tools to pick up the pool cleaning robot, charge the pool cleaning robot, and then continue to use the pool cleaning robot.

[0133] However, the salvaging and charging in the related art both require manual operation by staff, and the efficiency of charging the pool cleaning robot is low.

[0134] After introducing the nouns involved in the embodiments of the present application, the application scenarios provided by the embodiments of the present application are described below.

[0135] The technical solution provided in the embodiments of the present application can be applied to a scenario where a pool cleaning robot is controlled to clean the bottom of a pool (for example). Referring to FIG1 , the pool cleaning robot 101 can move on the bottom of the pool, thereby cleaning the bottom of the pool. While the pool cleaning robot 101 is moving on the bottom of the pool, the water pump of the pool cleaning robot 101 is activated, and the liquid in the pool is sucked into the filter unit of the pool cleaning robot 101 through the water inlet at the bottom of the pool cleaning robot 101. The liquid is filtered by the filter unit, and the dirt in the liquid is retained in the filter unit. The filtered liquid is discharged through the drain of the pool cleaning robot 101, thereby cleaning the bottom of the pool. A charging column 102 is provided in the pool, and the pool cleaning robot 101 can be charged using the charging column 102. Of course, in the embodiments of the present application, the pool cleaning robot 101 also has a wall climbing function. In addition to cleaning the bottom of the pool, the pool cleaning robot 101 can also clean the walls of the pool.

[0136] After adopting the control method of the pool cleaning robot provided in the embodiment of the present application, in response to the return-to-charging instruction of the pool cleaning robot 101, the position of the pool cleaning robot 101 in the pool is determined, which includes the bottom and walls of the pool. Based on the position of the pool cleaning robot 101 in the pool, the target movement direction is determined, and the target movement direction is the direction of approaching the charging station. Based on the target movement direction, the pool cleaning robot 101 is controlled to return to the charging station. This enables the pool cleaning robot 101 to automatically return to the charging station at different positions in the pool, improves the efficiency of charging the pool cleaning robot, and thus improves the intelligence level of the pool cleaning robot.

[0137] The following describes the technical solution provided by the embodiment of the present application. The embodiment of the present application provides a control method for a pool cleaning robot, taking the robot controller of the pool cleaning robot as an example, including the following steps:

[0138] A. The robot controller obtains a position or orientation signal related to the pool cleaning robot;

[0139] B. The robot controller controls the pool cleaning robot based on the position or direction signal.

[0140] The above steps will be described below with reference to the accompanying drawings.

[0141] The technical solution provided in the embodiment of the present application is described below. Figure 2 is a flow chart of a control method for a pool cleaning robot provided in the embodiment of the present application. Referring to Figure 2, taking the robot controller of the pool cleaning robot as an example, the method includes the following steps.

[0142] 201. In response to a control instruction for a pool cleaning robot, a robot controller determines a position of the pool cleaning robot in a pool, where the position includes a bottom and a wall of the pool.

[0143] The robot controller is built into the pool cleaning robot and is used to control the pool cleaning robot. The pool cleaning robot is used to clean the bottom and walls of a pool. When the pool cleaning robot is located on the bottom of the pool, it can move and perform cleaning actions on the bottom of the pool. Accordingly, the process of the pool cleaning robot moving also includes the pool cleaning robot moving or rotating on the bottom of the pool. The pool cleaning robot is equipped with a walking unit at its bottom, which can be driven to control the pool cleaning robot to move on the bottom of the pool. The walking unit includes running wheels, and driving the walking unit rotates the running wheels, thereby driving the pool cleaning robot to move. When the pool cleaning robot is located on the wall of the pool, it can adhere to the wall of the pool, move on the wall, and perform cleaning actions. The return to charging station command is used to instruct the pool cleaning robot to dock with the charging station, thereby charging the pool cleaning robot via the charging station. The position of the pool cleaning robot in the pool includes the pool bottom and the pool wall. That is, in the process of the pool cleaning robot returning to the pile, different control logic will be performed based on the position of the pool cleaning robot to ensure that the pool cleaning robot can automatically return to the pile at both the pool bottom and the pool wall.

[0144] 202. The robot controller determines a target moving direction based on the position of the pool cleaning robot in the pool, where the target moving direction is a direction approaching the charging pile.

[0145] The target movement direction is the direction toward the charging station. In some embodiments, the target movement direction is the direction from the pool cleaning robot toward the charging station. That is, the target movement direction is not necessarily the movement direction of the pool cleaning robot when returning to the charging station. In the embodiments of the present application, the pool cleaning robot determines the target movement direction differently in different locations. The charging station is located within the pool, and more specifically, the charging station is located on the bottom or wall of the pool.

[0146] 203. The robot controller controls the pool cleaning robot to return to the pile based on the target moving direction.

[0147] Among them, controlling the pool cleaning robot to return to the charging pile includes controlling the pool cleaning robot to move to the location of the charging pile and to complete docking with the charging pile.

[0148] Through the technical solution provided by the embodiments of the present application, the pool cleaning robot's position in the pool is determined in response to control instructions for the pool cleaning robot, which includes the pool bottom and pool walls. Based on the pool cleaning robot's position in the pool, a target movement direction is determined, which is the direction toward the charging station. Based on the target movement direction, the pool cleaning robot is controlled to return to the charging station. This enables the pool cleaning robot to automatically return to the charging station at different locations in the pool, improves the efficiency of charging the pool cleaning robot, and thus enhances the intelligence of the pool cleaning robot.

[0149] It should be noted that the above steps 201-203 are a brief introduction to the technical solution provided in the embodiment of the present application. The technical solution provided in the embodiment of the present application will be described in more detail below with reference to some examples. Referring to Figure 3, the method includes the following steps.

[0150] 301. The robot controller obtains a control instruction for the pool cleaning robot. The return-to-pile instruction is used to instruct the pool cleaning robot to dock with the charging pile.

[0151] The robot controller is built into the pool cleaning robot and is used to control the pool cleaning robot. The pool cleaning robot is used to clean the bottom and walls of a pool. When the pool cleaning robot is located on the bottom of the pool, it can move and perform cleaning actions on the bottom of the pool. Accordingly, the process of the pool cleaning robot moving also includes the pool cleaning robot moving or rotating on the bottom of the pool. The pool cleaning robot is equipped with a walking unit at its bottom, which can be driven to control the pool cleaning robot to move on the bottom of the pool. The walking unit includes running wheels, and driving the walking unit rotates the running wheels, thereby driving the pool cleaning robot to move. When the pool cleaning robot is located on the wall of the pool, it can adhere to the wall of the pool, move on the wall, and perform cleaning actions. The return to charging station command is used to instruct the pool cleaning robot to dock with the charging station, thereby charging the pool cleaning robot via the charging station. In some embodiments, the charging pile is bound to the pool cleaning robot and can charge the pool cleaning robot. The charging pile is located underwater. The term "underwater" herein includes partially underwater and completely underwater, which is not limited in the embodiments of the present application. For example, the charging pile is located at the bottom of the pool. Alternatively, the charging pile is located on the water surface, for example, the charging pile is located on the wall of the pool. The charging pile is equipped with a wireless charging component, and accordingly, the pool cleaning robot also includes a wireless charging unit. Through the cooperation between the wireless charging component and the wireless charging unit, wireless charging of the pool cleaning robot can be achieved.

[0152] In a possible implementation, when the state parameters of the pool cleaning robot meet preset state conditions, the robot controller triggers the return-to-pile instruction.

[0153] Among them, the state parameter is used to reflect the state of the pool cleaning robot. In some embodiments, the state parameter includes at least one of the remaining power, single cleaning time and single cleaning area. The pool cleaning robot is powered by a built-in battery. The remaining power is the current power of the built-in battery. The remaining power can reflect the remaining working time of the pool cleaning robot. The single cleaning time refers to the cumulative cleaning time of the pool cleaning robot performing a single cleaning task. The single cleaning area refers to the cumulative cleaning area of ​​the pool cleaning robot performing a single cleaning task. The preset state condition is set by technical personnel according to actual conditions, and the embodiments of the present application are not limited to this. If the state parameter of the pool cleaning robot meets the preset state condition, it means that the pool cleaning robot needs to be charged.

[0154] Under this embodiment, when the state parameters of the pool cleaning robot meet the preset state conditions, the return-to-pile instruction can be automatically triggered, thereby realizing the intelligent charging of the pool cleaning robot and improving the efficiency of charging the pool cleaning robot.

[0155] For example, the robot controller obtains status parameters of the pool cleaning robot, including at least one of remaining battery power, single cleaning duration, and single cleaning area. If the remaining battery power is less than or equal to a battery power threshold, the single cleaning duration is greater than or equal to a cleaning duration threshold, and the single cleaning area is greater than or equal to a cleaning area threshold, the robot controller triggers the return-to-pile instruction.

[0156] The power threshold is used to limit the minimum power of the pool cleaning robot, the cleaning time threshold is used to limit the single cleaning time of the pool cleaning robot, and the cleaning area threshold is used to limit the single cleaning area of ​​the pool cleaning robot, so that the remaining power of the pool cleaning robot can ensure that the pool cleaning robot moves to the location of the charging station. The power threshold, cleaning time threshold, and cleaning area threshold are set by technicians based on actual conditions and can of course be adjusted by staff as needed, and are not limited in this embodiment of the present application.

[0157] In a possible implementation, the robot controller receives the return-to-charging pile instruction sent by the charging pile.

[0158] The charging pile has a communication component that can both receive and send signals. In some embodiments, the communication component also has a signal forwarding function. That is, if the device cannot directly communicate with the pool cleaning robot, the device can send a signal to the charging pile, and the charging pile forwards the signal to the pool cleaning robot through the communication component, thereby achieving communication between the device and the pool cleaning robot.

[0159] In order to explain the above embodiment more clearly, the above embodiment is described below through two examples.

[0160] Example 1: The robot controller receives the return-to-pile instruction sent by the charging pile, and the return-to-pile instruction is actively sent by the charging pile.

[0161] For example, the charging pile is provided with a return button. When the return button is pressed, the charging pile sends a return instruction to the pool cleaning robot.

[0162] Example 2: The robot controller receives the return-to-pile instruction sent by the charging pile. The return-to-pile instruction is sent by the associated terminal of the pool cleaning robot to the charging pile and forwarded by the charging pile.

[0163] The associated terminal of the pool cleaning robot is a terminal bound to the pool cleaning robot, and the associated terminal has the authority to control the pool cleaning robot.

[0164] In a possible implementation, the robot controller receives the return-to-pile instruction sent by an associated terminal of the pool cleaning robot.

[0165] In this embodiment, the associated terminal can directly communicate with the pool cleaning robot, and the robot controller can directly receive the return-to-pile instruction sent by the associated terminal.

[0166] It should be noted that the robot controller can obtain the return instruction through any of the above methods, and the embodiments of the present application do not limit this.

[0167] Optionally, before step 301 , the following steps can also be performed.

[0168] In one possible embodiment, when the pool cleaning robot is performing a cleaning operation on the pool wall, the robot controller obtains a collision signal sent by the charging station, where the collision signal indicates the distance between the pool cleaning robot and the charging station. Based on the collision signal, the robot controller controls the pool cleaning robot to avoid the charging station.

[0169] The collision signal is a sound wave signal or a radio frequency signal, which is not limited in the embodiment of the present application.

[0170] In this embodiment, when the pool cleaning robot performs a cleaning action on the pool wall, it can obtain a collision signal sent by the charging pile. According to the collision signal, the robot avoids the charging pile, thereby ensuring the safety of the pool cleaning robot and the charging pile.

[0171] For example, while the pool cleaning robot is cleaning the pool wall, the robot controller receives a collision signal from the charging station. If the collision signal strength is greater than or equal to a preset strength, the robot controller controls the pool cleaning robot to move so that the received collision signal strength decreases to below the preset strength, and then controls the pool cleaning robot to continue cleaning the pool wall.

[0172] 302. In response to a control instruction for the pool cleaning robot, the robot controller determines a position of the pool cleaning robot in the pool, where the position includes a bottom and a wall of the pool.

[0173] Among them, the position of the pool cleaning robot in the pool includes the pool bottom and the pool wall. That is, in the process of the pool cleaning robot returning to the pile, different control logic will be performed based on the position of the pool cleaning robot to ensure that the pool cleaning robot can automatically return to the pile at both the pool bottom and the pool wall.

[0174] In one possible embodiment, in response to a control instruction for the pool cleaning robot, the robot controller determines a posture of the pool cleaning robot. Based on the posture of the pool cleaning robot, the robot controller determines a position of the pool cleaning robot in the pool.

[0175] The pool cleaning robot's posture is determined by its pitch angle or a combination of pitch and roll angles. Because the position includes both the pool bottom and the pool walls, the pool cleaning robot's pitch and roll angles differ significantly when located at the pool bottom and the pool walls. Therefore, the pool cleaning robot's position in the pool can be determined using the pitch and roll angles.

[0176] In this embodiment, in response to the return-to-pile instruction, the posture of the pool cleaning robot is first determined, and the posture is used to determine the position of the pool cleaning robot in the pool. Since the position and posture are strongly correlated, the determined position has a high accuracy.

[0177] For example, in response to a control command for a pool cleaning robot, the robot controller obtains the pool cleaning robot's pitch angle or pitch angle and roll angle through the pool cleaning robot's posture sensor. The robot controller determines the pool cleaning robot's posture based on the pitch angle or pitch angle and roll angle. Based on the posture of the pool cleaning robot, the robot controller determines the pool cleaning robot's position in the pool.

[0178] The pitch angle represents the angle between the forward direction of the pool cleaning robot and the horizontal plane. When the forward direction of the pool cleaning robot is parallel to the horizontal plane, the pitch angle is 0°. The attitude sensor is a gyroscope or a spirit level, which is not limited in the present embodiment.

[0179] For example, in response to a control command for a pool cleaning robot, the robot controller obtains the pool cleaning robot's pitch angle via the robot's attitude sensor. If the absolute value of the pitch angle is less than or equal to a preset pitch angle, the robot controller determines the pool cleaning robot's attitude as a translational posture; if the absolute value of the pitch angle is greater than the preset pitch angle, the robot controller determines the pool cleaning robot's attitude as a wall-climbing posture. If the pool cleaning robot's attitude is a translational posture, the robot controller determines the pool cleaning robot's position as the bottom of the pool; if the pool cleaning robot's attitude is a wall-climbing posture, the robot controller determines the pool cleaning robot's position as the pool wall.

[0180] Alternatively, in response to a control instruction for the pool cleaning robot, the robot controller obtains the pool cleaning robot's pitch angle and roll angle via the pool cleaning robot's posture sensor. If the absolute value of the pitch angle is less than or equal to a preset pitch angle, and the absolute value of the roll angle is less than or equal to a preset roll angle, the robot controller determines the pool cleaning robot's posture as a translational posture. If the absolute value of the pitch angle is greater than the preset pitch angle, and the absolute value of the roll angle is less than or equal to the preset roll angle, the robot controller determines the pool cleaning robot's posture as a wall-climbing posture. If the pool cleaning robot's posture is a translational posture, the robot controller determines the pool cleaning robot's position as the bottom of the pool. If the pool cleaning robot's posture is a wall-climbing posture, the robot controller determines the pool cleaning robot's position as the pool wall.

[0181] Among them, the preset pitch angle and the preset roll angle are set by technicians according to actual conditions, and the embodiments of the present application do not limit this.

[0182] In one possible embodiment, in response to a control command for a pool cleaning robot, a robot controller determines the operating status of a wall-climbing assembly of the pool cleaning robot, which assists the pool cleaning robot in wall climbing. The robot controller determines the position of the pool cleaning robot based on the operating status of the wall-climbing assembly.

[0183] Among them, the wall climbing component is also called an adsorption component. The pool cleaning robot can be adsorbed on the pool wall through the adsorption component and move on the pool wall under the drive of the adsorption component.

[0184] In this embodiment, the working state of the wall climbing component is determined in response to a control instruction of the pool cleaning robot. The working state of the wall climbing component is used to determine the position of the pool cleaning robot, and the position determination efficiency is high.

[0185] For example, in response to a control command for a pool cleaning robot, the robot controller determines the operating status of the pool cleaning robot's wall-climbing component. If the wall-climbing component is not operating, the robot controller determines the pool cleaning robot's position as the bottom of the pool; if the wall-climbing component is operating, the robot controller determines the pool cleaning robot's position as the pool wall. It should be noted that if the pool cleaning robot's wall-climbing component is a water pump, since the water pump performs both cleaning and wall-climbing functions, the above embodiment cannot be used to determine the pool cleaning robot's position.

[0186] 303. The robot controller determines a target moving direction based on the position of the pool cleaning robot in the pool, where the target moving direction is a direction approaching the charging pile.

[0187] The target movement direction is the direction toward the charging station. In some embodiments, the target movement direction is the direction from the pool cleaning robot toward the charging station. That is, the target movement direction is not necessarily the movement direction of the pool cleaning robot when returning to the charging station. In the embodiments of the present application, the pool cleaning robot determines the target movement direction differently in different locations. The charging station is located within the pool, and more specifically, the charging station is located on the bottom or wall of the pool.

[0188] In one possible embodiment, when the pool cleaning robot is located at the bottom of the pool, the robot controller obtains an image of the environment surrounding the pool cleaning robot and / or a signal sent by the charging station. The robot controller determines the target movement direction based on the image and / or the signal.

[0189] The signal is used to guide the pool cleaning robot back to the charging station. In some embodiments, the signal is a return signal or a return guidance signal, that is, a signal used to guide the underwater cleaning robot back to the charging station. In some embodiments, the signal is an acoustic signal, that is, the charging station guides the pool cleaning robot back to the charging station by transmitting an acoustic signal. In some embodiments, the acoustic signal is an ultrasonic signal.

[0190] In this embodiment, when the pool cleaning robot is located at the bottom of the pool, an image of the environment surrounding the pool cleaning robot and / or a signal sent by the charging station are obtained. Based on the image of the environment and / or the signal, the target movement direction is determined with high accuracy.

[0191] In order to explain the above embodiment more clearly, the following will be divided into two parts to explain the above embodiment.

[0192] Part 1: When the pool cleaning robot is located at the bottom of the pool, the robot controller obtains an image of the environment around the pool cleaning robot and / or a signal sent by the charging pile.

[0193] In one possible embodiment, when the pool cleaning robot is located at the bottom of the pool, the robot controller obtains an image of the environment around the pool cleaning robot through the image acquisition component of the pool cleaning robot, and / or starts the signal receiving component of the pool cleaning robot to obtain a signal sent by the charging pile through the signal receiving component.

[0194] Wherein, the image acquisition component is arranged around the pool cleaning robot, and the number of the image acquisition components is one or more, which is not limited in the embodiment of the present application. When the number of the image acquisition component is one, the image acquisition component is used to acquire the environmental image directly in front of the pool cleaning robot. When the number of the image acquisition components is multiple, multiple image acquisition components are used to acquire the environmental image directly in front of the pool cleaning robot, the environmental images on both sides of the pool cleaning robot and / or the environmental image directly behind. When the signal is a sound wave signal, the signal receiving component is a signal receiving unit. When the signal receiving component is a signal receiving unit, the number of the ultrasonic receiving components is at least two, and at least two ultrasonic receiving components are installed at different positions of the pool cleaning robot.

[0195] In this embodiment, the image acquisition component is used to obtain the environmental image around the pool cleaning robot, and the signal receiving component is used to obtain the signal. The efficiency of obtaining the environmental image and the signal is high.

[0196] In the second part, the robot controller determines the target moving direction based on the environment image and / or the signal.

[0197] In one possible implementation, the robot controller determines whether a charging station is present in the environmental image. If a charging station is present in the environmental image, the robot controller determines the target movement direction based on the location of the charging station in the environmental image. If a charging station is not present in the environmental image, the robot controller controls the pool cleaning robot to rotate and reacquire the environmental image. The robot controller determines the target movement direction based on the reacquired environmental image.

[0198] In order to explain the above embodiment more clearly, the above embodiment will be further described in several parts below.

[0199] A. The robot controller determines whether there is a charging station in the environment image.

[0200] In one possible implementation, the robot controller inputs the environmental image into a target detection model, which then performs target detection on the environmental image to determine whether a target detection frame exists within the environmental image. The target detection frame indicates the location of the charging station. If the target detection frame exists within the environmental image, the robot controller determines that the charging station exists within the environmental image. If the target detection frame does not exist within the environmental image, the robot controller determines that the charging station does not exist within the environmental image.

[0201] The target detection model is used to identify charging stations in the input image. The target detection model is trained based on multiple sample environment images and the corresponding annotated detection boxes for each sample environment image. The annotated detection boxes are used to indicate the location of the charging station in the corresponding sample environment image. In the embodiments of the present application, the target detection model can be any type of target detection model, and the embodiments of the present application are not limited to this.

[0202] In this embodiment, the environment image is input into the target detection model, and the target detection model is used to perform target detection on the environment image to determine whether there is a charging pile in the environment image. The efficiency of determining the charging pile is high.

[0203] For example, the robot controller inputs the environment image into the target detection model, and extracts features of the environment image through the target detection model to obtain image features of the environment image. The robot controller uses the target detection model to slide the candidate detection frame on the image features, classifies the covered image area during the sliding process, and obtains the area type of the image area corresponding to the candidate detection frame. When the area type of any image area is a preset type, the robot controller determines that the candidate frame covering the image area is a target detection frame, and the preset type is to include a charging pile. When a target detection frame exists, the robot controller determines that a charging pile exists in the environment image. When no target detection frame exists, the robot controller determines that a charging pile does not exist in the environment image.

[0204] In one possible implementation, the robot controller determines whether a cluster of a preset color exists in the environmental image, where the preset color corresponds to a preset wavelength of light emitted by the charging station. If a cluster of the preset color exists, the robot controller determines that a charging station exists in the environmental image. If a cluster of the preset color does not exist, the robot controller determines that a charging station does not exist in the environmental image.

[0205] The preset wavelength is a wavelength that propagates farther underwater, and is set by technicians based on actual conditions, and is not limited in this embodiment of the present application. The charging pile includes a light source assembly, which is configured to emit light of the preset wavelength.

[0206] In this embodiment, whether a charging pile exists in the environment image is determined by identifying a cluster of preset colors in the environment image, and the efficiency of determining the charging pile is high.

[0207] For example, the robot controller determines the pixel values ​​of multiple pixels in the environmental image. If there are N adjacent pixels with pixel values ​​of preset pixel values ​​among the multiple pixels, the robot controller determines that there is a cluster of preset colors in the environmental image, where the preset pixel value is used to indicate the preset color, and N is a positive integer. If there are not N adjacent pixels with pixel values ​​of preset pixel values ​​among the multiple pixels, the robot controller determines that there is no cluster of preset colors in the environmental image. If there is a cluster of preset colors, the robot controller determines that there are charging piles in the environmental image. If there is no cluster of preset colors, the robot controller determines that there are no charging piles in the environmental image.

[0208] Among them, N is set by technical personnel according to actual conditions, and the embodiments of this application do not limit this.

[0209] In one possible implementation, the robot controller determines whether there is an area in the environmental image that matches a preset pattern template, where the preset pattern template corresponds to a pattern on the charging pile. If there is an area in the environmental image that matches the preset pattern template, the robot controller determines that a charging pile exists in the environmental image. If there is no area in the environmental image that matches the preset pattern template, the robot controller determines that a charging pile does not exist in the environmental image.

[0210] Among them, the preset pattern template corresponds to the pattern on the charging pile, and the pattern on the charging pile is set by technicians according to actual conditions. In some embodiments, the pattern on the charging pile can be formed by the light-emitting component on the charging pile through light emission, or it can be a sticker on the charging pile. The embodiments of this application are not limited to this.

[0211] In this embodiment, a preset pattern template is used to perform matching on the environment image to determine whether a charging pile exists in the environment image, and the efficiency of determining the charging pile is high.

[0212] For example, the robot controller uses the preset pattern template to slide within the environment image to determine whether there is an image region in the environment image that matches the preset pattern template. If there is an image region in the environment image that matches the preset pattern template, the robot controller determines that a charging station exists in the environment image; if there is no image region in the environment image that matches the preset pattern template, the robot controller determines that there is no charging station in the environment image.

[0213] For example, the robot controller slides the preset pattern template within the environmental image to determine the similarity between the preset pattern template and multiple image regions within the environmental image. If, among the multiple image regions, there is an image region whose similarity to the preset pattern template is greater than or equal to a preset similarity, the robot controller determines that the image region matches the preset pattern template, and further determines that a charging station exists within the environmental image. If, among the multiple image regions, there is no image region whose similarity to the preset pattern template is greater than or equal to a preset similarity, the robot controller determines that none of the multiple image regions matches the preset pattern template, and further determines that a charging station does not exist within the environmental image.

[0214] B. When there is a charging pile in the environment image, the robot controller determines the target moving direction based on the position of the charging pile in the environment image.

[0215] In one possible implementation, when a charging station is present in the environment image, the robot controller determines a relative position between the charging station and a center point of the environment image. The robot controller determines the target movement direction based on the relative position between the charging station and the center point of the environment image.

[0216] The center point of the environmental image is directly in front of the pool cleaning robot, that is, the direction of travel of the pool cleaning robot. If the pool cleaning robot includes multiple image acquisition components, the environmental images captured by the multiple image acquisition components are spliced ​​into the environmental image, and the center point of the environmental image is still directly in front of the pool cleaning robot.

[0217] In this embodiment, the target moving direction is determined by using the relative position between the charging pile and the center point of the environment image, and the determination efficiency of the target moving direction is relatively high.

[0218] For example, when there is a charging pile in the environmental image, the robot controller determines the distance and direction between the charging pile and the center point of the environmental image. The direction between the charging pile and the center point is the direction of the vector pointing from the center point to the center point of the charging pile. Accordingly, the distance is the length of the vector. The robot controller converts the distance and direction between the charging pile and the center point of the environmental image into the target moving direction, which is equivalent to converting the two-dimensional distance and direction in the environmental image into the direction in the space where the pool cleaning robot is located. That is, the robot controller determines the direction deviation angle of the pool cleaning robot based on the distance and direction between the charging pile and the center point of the environmental image. The robot controller adds the forward direction of the pool cleaning robot to the direction deviation angle to obtain the target moving direction.

[0219] C. When there is no charging pile in the environment image, the robot controller controls the pool cleaning robot to rotate and reacquire the environment image.

[0220] In a possible implementation, when there is no charging pile in the environment image, the robot controller controls the pool cleaning robot to rotate in a preset direction and reacquire the environment image.

[0221] Among them, the preset direction is set by technical personnel according to actual conditions, and the embodiments of the present application do not limit this.

[0222] D. The robot controller determines the target movement direction based on the re-acquired environment image.

[0223] Among them, the method of determining the target movement direction based on the re-acquired environmental image belongs to the same inventive concept as the above A and B. The implementation process can be found in the above description and will not be repeated here.

[0224] The above is an explanation of a method for determining the target moving direction based on the environment image. The following is an explanation of a method for determining the target moving direction based on the signal.

[0225] In a possible implementation, the robot controller determines the target moving direction based on a signal parameter of the signal, where the signal parameter includes at least one of a signal receiving time and a signal strength.

[0226] Since the charging pile periodically transmits signals, the at least two signal receiving units each have a signal receiving moment in each signal transmission cycle of the charging pile. The signal strength can reflect the distance between the pool cleaning robot and the charging pile. The stronger the signal strength, the closer the distance between the pool cleaning robot and the charging pile; the weaker the signal strength, the farther the distance between the pool cleaning robot and the charging pile. In some embodiments, the signal is an acoustic signal, a wireless signal, or a radio frequency signal, which is not limited in this embodiment of the present application.

[0227] In this embodiment, the target moving direction can be determined using the signal parameters of the signal, and the accuracy of determining the target moving direction is relatively high.

[0228] For example, the signal is a sound wave signal, the pool cleaning robot includes at least two signal receiving units, and the robot controller determines the target moving direction based on signal parameters of the sound wave signal.

[0229] In addition to charging the pool cleaning robot, the charging station can also transmit acoustic signals. In some embodiments, the charging station includes at least one signal transmitting unit configured to transmit the acoustic signal. The pool cleaning robot's at least two signal receiving units are configured to receive the acoustic signal transmitted by the charging station. The signal parameters of the acoustic signal received by the at least two signal receiving units refer to the signal parameters of each of the at least two signal receiving units receiving the acoustic signal. That is, if there are two signal receiving units, the number of these signal parameters is also two. In some embodiments, the signal parameters include the time at which each signal receiving unit receives the acoustic signal and the signal strength of the acoustic signal at the time each signal receiving unit receives the acoustic signal. Because acoustic signals travel a long distance underwater, transmitting the acoustic signal from the charging station can remotely guide the pool cleaning robot back to the charging station. The charging station and the pool cleaning robot are both located underwater, and the charging station and the pool cleaning robot are located in the same space, allowing the pool cleaning robot to move from its current location to the location of the charging station. In some embodiments, the charging station transmits the acoustic signal periodically.

[0230] The above examples are further explained below.

[0231] Example 1: The robot controller determines the target moving direction of the pool cleaning robot based on the time difference between the signal receiving times of the at least two signal receiving units receiving the sound wave signal.

[0232] Among them, since the sound wave signal is sent periodically by the charging pile, the signal receiving time can reflect the distance between the signal receiving unit and the charging pile. That is, for two signal receiving units, the signal receiving time of the signal receiving unit is earlier, then the distance between the signal receiving unit and the charging pile is smaller than the distance between the other signal receiving unit and the charging pile.

[0233] In one possible embodiment, the robot controller determines the target movement direction of the pool cleaning robot based on the time difference between the times at which the at least two signal receiving units receive the acoustic signal and the respective positions of the at least two signal receiving units on the pool cleaning robot. Alternatively, the robot controller determines the direction corresponding to the signal receiving unit with the earlier signal time among the at least two signal receiving units as the target movement direction, wherein the direction corresponding to the signal receiving unit is the opposite direction from when the signal receiving unit received the ultrasonic wave.

[0234] Example 2: The robot controller determines the target moving direction of the pool cleaning robot based on the intensity difference between the signal intensities of the sound wave signals received by the at least two signal receiving units.

[0235] Among them, since the sound wave signal is sent periodically by the charging pile, the signal strength can reflect the distance between the signal receiving unit and the charging pile. That is, for two signal receiving units, if the signal strength of the signal receiving unit is stronger, then the distance between the signal receiving unit and the charging pile is smaller than the distance between the other signal receiving unit and the charging pile.

[0236] In one possible embodiment, the robot controller determines the target movement direction of the pool cleaning robot based on the difference in signal strength between the at least two signal receiving units receiving the acoustic signal and the respective positions of the at least two signal receiving units on the pool cleaning robot. Alternatively, the robot controller determines the direction corresponding to the signal receiving unit with the stronger signal at that moment among the at least two signal receiving units as the target movement direction, wherein the direction corresponding to the signal receiving unit is the opposite direction from which the ultrasonic wave was received by the signal receiving unit.

[0237] Example 3: The robot controller determines the target moving direction of the pool cleaning robot based on the time difference between the signal receiving moments and the signal strength difference between the at least two signal receiving units receiving the sound wave signal.

[0238] In one possible embodiment, the robot controller determines a first movement direction of the pool cleaning robot based on a time difference between the times at which the at least two signal receiving units receive the acoustic signal. The robot controller determines a second movement direction of the pool cleaning robot based on a difference in signal strength between the at least two signal receiving units receiving the acoustic signal. The robot controller combines the first and second movement directions to obtain the target movement direction.

[0239] The method for determining the first moving direction and the second moving direction belongs to the same inventive concept as the implementation methods described in Examples 1 and 2 above. The implementation process is described in Examples 1 and 2 above and will not be repeated here. The method for fusing the first moving direction and the second moving direction is described below.

[0240] In some embodiments, the robot controller uses a first confidence level and a second confidence level to perform a weighted fusion of the first and second movement directions to obtain the target movement direction. The first confidence level is the confidence level corresponding to the signal reception moment, and the second confidence level is the confidence level corresponding to the signal strength. The first and second confidence levels are set by technicians based on actual conditions and are not limited in this embodiment of the application.

[0241] The above is an explanation of a method for determining the target moving direction based on the signal. The following is an explanation of a method for determining the target moving direction based on the signal and an environment image.

[0242] In one possible implementation, the robot controller determines whether a charging station is present in the environmental image. If a charging station is present in the environmental image, the robot controller determines the target movement direction based on the charging station's position in the environmental image and the signal parameters of the signal. If a charging station is not present in the environmental image, the robot controller controls the pool cleaning robot to rotate and reacquire the environmental image and signal based on the signal parameters. The robot controller determines the target movement direction based on the reacquired environmental image and signal.

[0243] In this embodiment, the target moving direction is comprehensively determined using the signal and the environment image, and the accuracy of the target moving direction is relatively high.

[0244] In order to explain the above embodiment more clearly, the above embodiment will be described in several parts below.

[0245] In the first part, the robot controller determines whether there is a charging pile in the environment image.

[0246] Among them, the way in which the robot controller determines whether there is a charging pile in the environmental image belongs to the same inventive concept as described in the other embodiments above. The implementation process can be found in the above related description and will not be repeated here.

[0247] Part 2: When there is a charging pile in the environment image, the robot controller determines the target moving direction based on the position of the charging pile in the environment image and the signal parameters of the signal.

[0248] In one possible implementation, if a charging station is present in the environmental image, the robot controller determines a third movement direction based on the location of the charging station in the environmental image. The robot controller determines a fourth movement direction based on signal parameters of the signal. The robot controller fuses the third and fourth movement directions to obtain the target movement direction.

[0249] Among them, the method of determining the third moving direction and the method of determining the target moving direction based on the position of the charging pile in the environmental image in the other embodiments mentioned above belong to the same inventive concept; determining the fourth moving direction based on the signal parameters of the signal and the method of determining the target moving direction based on the signal parameters of the signal in the other embodiments mentioned above belong to the same inventive concept. For the implementation process, please refer to the description in the other embodiments mentioned above and will not be repeated here.

[0250] The method of fusing the third moving direction and the fourth moving direction is described below.

[0251] In some embodiments, the robot controller uses a third confidence level and a fourth confidence level to perform a weighted fusion of the third and fourth movement directions to obtain the target movement direction. The third confidence level is the confidence level corresponding to the signal reception moment, and the fourth confidence level is the confidence level corresponding to the signal strength. The third and fourth confidence levels are set by technicians based on actual conditions and are not limited in this embodiment of the present application.

[0252] Part 3: When there is no charging pile in the environmental image, the robot controller controls the pool cleaning robot to rotate and reacquire the environmental image and signal based on the signal parameters of the signal.

[0253] In one possible implementation, if no charging station is present in the environmental image, the robot controller determines a target rotation angle based on the signal parameters of the signal. The robot controller controls the pool cleaning robot to rotate to the target rotation angle. After the pool cleaning robot rotates to the target rotation angle, the robot controller controls the pool cleaning robot to reacquire the environmental image and signal.

[0254] Part 4: The robot controller determines the target moving direction based on the re-acquired environment image and signal.

[0255] Among them, the method of re-determining the target moving direction belongs to the same inventive concept as the description in the above parts. The implementation process can be found in the description in the above parts and will not be repeated here.

[0256] The above embodiment is described by taking the case where the pool cleaning robot is located at the bottom of the pool as an example. The following describes the case where the pool cleaning robot is located at the wall of the pool.

[0257] In one possible embodiment, when the pool cleaning robot is located at the wall of the pool, the robot controller obtains an environmental image of the pool cleaning robot and / or a signal sent by the charging pile; the robot controller determines the target movement direction based on the environmental image and / or the signal.

[0258] For example, if the pool cleaning robot is located at the pool wall and the signal parameters of the signal meet preset parameter conditions, the robot controller controls the pool cleaning robot to move toward the bottom of the pool. When the pool cleaning robot reaches the bottom of the pool, the robot controller obtains an image of the environment surrounding the pool cleaning robot and / or re-obtains the signal sent by the charging station. Based on the image and / or the re-obtained signal, the robot controller determines the target movement direction.

[0259] Among them, the signal parameters meet the preset parameter conditions, indicating that the distance between the pool cleaning robot and the charging pile is far, and it is difficult to return to the pile using the signal. At this time, the pool cleaning robot is controlled to return to the bottom of the pool to obtain the environmental image and / or re-acquire the signal sent by the charging pile, so as to achieve a more accurate return to the pile.

[0260] For example, the signal parameter includes signal strength. The signal parameter meeting the preset parameter condition means that the signal strength is less than a first signal strength threshold or greater than a second signal strength threshold, the first signal strength threshold is greater than the second signal strength threshold, and the first signal strength threshold and the second signal strength threshold constitute a normal signal strength range. The signal parameter meeting the preset parameter condition also means that the signal strength is not within the normal signal strength range. The first signal strength threshold and the second signal strength threshold are set by technicians based on actual conditions, and the embodiments of the present application do not limit this.

[0261] Under this embodiment, when the signal parameters of the signal meet the preset parameter conditions, it means that the signal strength is not within the normal signal strength range, which means that the distance between the pool cleaning robot and the charging pile is too far or too close. At this time, the pool cleaning robot automatically retreats to the bottom of the pool and re-searches for signals and / or re-acquires environmental images to ensure the stability of the pool cleaning robot returning to the pile.

[0262] For another example, the signal parameters include the signal reception time. If the signal parameters meet the preset parameter conditions, it means that the time difference between the signal reception times of at least two signal receiving units of the pool cleaning robot is greater than or equal to the time difference threshold. If the time difference is too large, it means that the distance between the pool cleaning robot and the charging station is far. If the signal parameters meet the preset parameter conditions, it means that the time difference between the signal reception times is not within the normal time difference range. The time difference threshold is set by technicians based on actual conditions and is not limited in the embodiments of the present application.

[0263] For example, referring to FIG. 4 , when the signal parameters of the signal meet the preset parameter conditions, the robot controller controls the pool cleaning robot 101 to move toward the bottom of the pool.

[0264] In a possible implementation, the robot controller determines the target moving direction based on a signal parameter of the signal, where the signal parameter includes at least one of a signal receiving time and a signal strength.

[0265] Among them, the implementation method of the above embodiment and the description in the above other embodiments belong to the same inventive concept. The implementation process can be found in the description in the above other embodiments and will not be repeated here.

[0266] 304. The robot controller controls the pool cleaning robot to return to the pile based on the target moving direction.

[0267] Controlling the pool cleaning robot to return to the charging pile includes controlling the pool cleaning robot to move toward the location of the charging pile and docking with the charging pile. The charging pile is located on the wall of the pool.

[0268] In one possible embodiment, when the pool cleaning robot is at the bottom of the pool, the robot controller controls the pool cleaning robot to move in the target movement direction. When the pool cleaning robot moves below the charging station, the robot controller controls the pool cleaning robot to climb up the wall and dock with the charging station.

[0269] In this embodiment, when the pool cleaning robot is located at the bottom of the pool, the underwater cleaning robot is directly controlled to move in the target moving direction. When it moves below the charging pile, it climbs up the wall to complete docking with the charging pile, thereby realizing the automatic return of the pool cleaning robot to the pile.

[0270] In order to explain the above embodiment more clearly, the following describes the above embodiment in two parts.

[0271] Part 1: When the pool cleaning robot is located at the bottom of the pool, the robot controller controls the pool cleaning robot to move toward the target moving direction.

[0272] In one possible embodiment, when the pool cleaning robot is located at the bottom of the pool, the robot controller controls the pool cleaning robot to turn in place to adjust the movement direction of the pool cleaning robot to the target movement direction. The robot controller controls the pool cleaning robot to move in the target movement direction. For example, referring to FIG5 , the robot controller controls the pool cleaning robot 101 to turn in place to adjust the movement direction of the pool cleaning robot 101 to the target movement direction.

[0273] For example, the robot controller determines a directional deviation between the current orientation of the pool cleaning robot and the target movement direction. The robot controller controls the pool cleaning robot to rotate based on the directional deviation. When the pool cleaning robot rotates to the target movement direction, the robot controller sends a drive instruction to a drive unit of the pool cleaning robot, causing the drive unit to drive the pool cleaning robot forward.

[0274] In one possible embodiment, when the pool cleaning robot is located at the bottom of the pool, the robot controller controls the pool cleaning robot to move forward and backward and to turn, thereby adjusting the movement direction of the pool cleaning robot to the target movement direction. The robot controller controls the pool cleaning robot to move in the target movement direction. For example, referring to FIG6 , the robot controller controls the pool cleaning robot 101 to move forward and backward and to turn, thereby adjusting the movement direction of the pool cleaning robot 101 to the target movement direction.

[0275] For example, the robot controller determines a directional deviation between the pool cleaning robot's current orientation and the target movement direction. The robot controller moves forward and backward and controls the pool cleaning robot to rotate based on the directional deviation. When the pool cleaning robot rotates to the target movement direction, the robot controller sends a drive instruction to the drive unit of the pool cleaning robot, causing the drive unit to stop driving the pool cleaning robot to turn and instead drive the pool cleaning robot forward.

[0276] In addition, when the robot controller controls the pool cleaning robot to move toward the target moving direction, the robot controller can adjust the moving direction of the pool cleaning robot through the signal parameters of the signal and / or the collected environmental image, so that the pool cleaning robot can maintain the trend of moving toward the charging pile.

[0277] Part 2: When the pool cleaning robot moves to the bottom of the charging pile, the robot controller controls the pool cleaning robot to climb up the wall and dock with the charging pile.

[0278] 7 , when the pool cleaning robot 101 moves to the bottom of the charging pile 102 , the robot controller controls the pool cleaning robot 101 to climb up the wall and dock with the charging pile 102 .

[0279] In one possible embodiment, when the pool cleaning robot moves below the charging station, the robot controller controls the pool cleaning robot to climb upward. If the pool cleaning robot becomes stuck while climbing upward, the robot controller controls the pool cleaning robot to retreat downward. The robot controller controls the pool cleaning robot to adjust its posture and / or position and then climb upward again to dock with the charging station.

[0280] The underwater robot may be stuck by an obstacle on the pool wall or by a guide plate of the charging pile, and this embodiment of the present application does not limit this.

[0281] Under this embodiment, when the pool cleaning robot moves to the bottom of the charging pile, the pool cleaning robot can be controlled to automatically retreat and adjust its posture, thereby re-docking with the charging pile, thereby improving the stability of the docking between the under-tree cleaning robot and the charging pile.

[0282] It should be noted that the above description is based on the example of the pool cleaning robot being located at the pool bottom, and the following description will be based on the example of the pool cleaning robot being located at the pool wall.

[0283] In one possible embodiment, when the pool cleaning robot is located at the pool wall of the pool, the robot controller controls the pool cleaning robot to return to the pile based on the geometric relationship between the target moving direction and the pool wall where the pool cleaning robot is located.

[0284] The geometric relationship between the target moving direction and the pool wall where the pool cleaning robot is located refers to the angle between the target moving direction and the pool wall where the pool cleaning robot is located.

[0285] In this embodiment, the pool cleaning robot is controlled to return to the pile by the geometric relationship between the target moving direction and the pool wall where the pool cleaning robot is located, and the efficiency of returning to the pile is relatively high.

[0286] In order to explain the above embodiment more clearly, the above embodiment is described below through two examples.

[0287] Example 1: When the angle between the target moving direction and the pool wall where the pool cleaning robot is located is less than or equal to a preset angle, the robot controller controls the pool cleaning robot to move in the target moving direction until it docks with the charging pile.

[0288] If the angle between the target movement direction and the pool wall where the pool cleaning robot is located is less than or equal to a preset angle, it indicates that the charging station and the pool cleaning robot are located on the same pool wall. The pool cleaning robot can be directly controlled to move in the target movement direction to complete docking with the charging station. The preset angle is set by technicians based on actual conditions and is not limited in this embodiment of the application.

[0289] Example 2: If the angle between the target movement direction and the pool wall where the pool cleaning robot is located is greater than the preset angle, the robot controller controls the pool cleaning robot to move toward the bottom of the pool. When the pool cleaning robot reaches the bottom of the pool, the robot controller re-determines the target movement direction. Based on the re-determined target movement direction, the robot controller controls the pool cleaning robot to return to the pool.

[0290] Among them, when the angle between the target moving direction and the pool wall where the pool cleaning robot is located is greater than the preset angle, it means that the charging pile and the pool cleaning robot are not located on the same pool wall. At this time, the pool cleaning robot is controlled to retreat to the bottom of the pool and then return to the pile, which is more efficient.

[0291] Optionally, after step 304 , the following step 305 or 306 can also be executed.

[0292] 305. If the pool cleaning robot fails to return to the charging pile after a preset period of time, the robot controller controls the pool cleaning robot to be adsorbed on the pool wall near the charging pile, and sends a prompt signal to the associated terminal of the pool cleaning robot, which prompts the pool cleaning robot to be salvaged near the charging pile.

[0293] Among them, the preset duration is set by technical personnel according to actual conditions, and the embodiments of this application do not limit this.

[0294] Through step 305, if the pool cleaning robot fails to return to the pile for a period of time, the pool cleaning robot can be controlled to be adsorbed on the pool wall and automatically send a prompt signal to the associated terminal to prompt the pool cleaning robot to be salvaged in time, thereby reducing the difficulty of salvaging the pool cleaning robot.

[0295] 306. If the pool cleaning robot has not returned to the charging pile after the preset time, the robot controller controls the pool cleaning robot to move to the bottom of the pool below the charging pile and sends the prompt signal to the associated terminal of the pool cleaning robot.

[0296] Through step 306, if the pool cleaning robot fails to return to the charging pile for a period of time, the pool cleaning robot can be controlled to move to the bottom of the pool below the charging pile and automatically send a prompt signal to the associated terminal to prompt the pool cleaning robot to be salvaged in time, thereby reducing the difficulty of salvaging the pool cleaning robot.

[0297] All of the above optional technical solutions can be combined in any way to form optional embodiments of the present application, and will not be described in detail here.

[0298] Through the technical solution provided by the embodiments of the present application, the pool cleaning robot's position in the pool is determined in response to control instructions for the pool cleaning robot, which includes the pool bottom and pool walls. Based on the pool cleaning robot's position in the pool, a target movement direction is determined, which is the direction toward the charging station. Based on the target movement direction, the pool cleaning robot is controlled to return to the charging station. This enables the pool cleaning robot to automatically return to the charging station at different locations in the pool, improves the efficiency of charging the pool cleaning robot, and thus enhances the intelligence of the pool cleaning robot.

[0299] FIG8 is a schematic diagram of the structure of a control device of a pool cleaning robot provided in an embodiment of the present application. Referring to FIG8 , the device includes:

[0300] A signal acquisition module, for acquiring a position or direction signal related to the pool cleaning robot;

[0301] The control module 803 is configured to control the pool cleaning robot based on the position or direction signal.

[0302] The signal acquisition module includes a position determination module 801 and a movement direction determination module 802 .

[0303] Position determination module 801 , moving direction determination module 802 and control module 803 .

[0304] The position determination module 801 is used to determine the position of the pool cleaning robot in the pool in response to a control instruction for the pool cleaning robot, where the position includes the bottom and wall of the pool.

[0305] The moving direction determining module 802 is used to determine a target moving direction based on the position of the pool cleaning robot in the pool, where the target moving direction is a direction close to the charging pile.

[0306] The control module 803 is used to control the pool cleaning robot to return to the pile based on the target moving direction.

[0307] In one possible implementation, the position determination module 801 is configured to determine the posture of the pool cleaning robot in response to a control instruction for the pool cleaning robot and determine the position of the pool cleaning robot in the pool based on the posture of the pool cleaning robot.

[0308] In one possible implementation, the movement direction determination module 802 is configured to, when the pool cleaning robot is located at the bottom of the pool, obtain an image of the environment surrounding the pool cleaning robot and / or a signal transmitted by the charging station. Based on the image and / or signal, determine the target movement direction. And / or, when the pool cleaning robot is located at the wall of the pool, obtain an image of the environment surrounding the pool cleaning robot and / or a signal transmitted by the charging station. Based on the image and / or signal, determine the target movement direction.

[0309] In one possible implementation, the movement direction determination module 802 is configured to determine whether a charging station is present in the environmental image. If a charging station is present in the environmental image, the target movement direction is determined based on the location of the charging station in the environmental image. If a charging station is not present in the environmental image, the pool cleaning robot is controlled to rotate and reacquire the environmental image. The target movement direction is determined based on the reacquired environmental image.

[0310] Alternatively, the target moving direction is determined based on a signal parameter of the signal, where the signal parameter includes at least one of a signal receiving time and a signal strength.

[0311] Alternatively, a determination is made as to whether a charging station is present in the environmental image. If a charging station is present in the environmental image, the target movement direction is determined based on the location of the charging station in the environmental image and the signal parameters of the signal. If a charging station is not present in the environmental image, the pool cleaning robot is controlled to rotate and the environmental image and signal are reacquired based on the signal parameters. The target movement direction is determined based on the reacquired environmental image and signal.

[0312] In one possible embodiment, the signal is a sonic signal, and the pool cleaning robot includes at least two signal receiving units. The movement direction determination module 802 is configured to determine the target movement direction of the pool cleaning robot based on a time difference between the times when the at least two signal receiving units receive the sonic signal. The target movement direction of the pool cleaning robot is determined based on a difference in signal strengths when the at least two signal receiving units receive the sonic signal. The target movement direction of the pool cleaning robot is determined based on a time difference between the times when the at least two signal receiving units receive the sonic signal and a difference in signal strengths.

[0313] In one possible implementation, the movement direction determination module 802 is configured to input the environmental image into a target detection model, perform target detection on the environmental image using the target detection model, and determine whether a target detection frame exists in the environmental image. The target detection frame is used to indicate the location of the charging station. If the target detection frame exists in the environmental image, it is determined that the charging station exists in the environmental image. If the target detection frame does not exist in the environmental image, it is determined that the charging station does not exist in the environmental image.

[0314] Alternatively, a determination is made as to whether a cluster of a preset color exists in the environmental image, where the preset color corresponds to a preset wavelength of light emitted by the charging pile. If a cluster of the preset color exists, it is determined that a charging pile exists in the environmental image. If a cluster of the preset color does not exist, it is determined that a charging pile does not exist in the environmental image.

[0315] Alternatively, a determination is made as to whether there is an area in the environmental image that matches a preset pattern template, where the preset pattern template corresponds to a pattern on the charging pile. If an area in the environmental image that matches the preset pattern template exists, it is determined that a charging pile exists in the environmental image. If no area in the environmental image that matches the preset pattern template exists, it is determined that no charging pile exists in the environmental image.

[0316] In one possible implementation, when the pool cleaning robot is located at the pool wall, the movement direction determination module 802 is configured to control the pool cleaning robot to move toward the pool bottom if the signal parameters of the signal meet preset parameter conditions. When the pool cleaning robot reaches the pool bottom, an image of the environment surrounding the pool cleaning robot is acquired and / or the signal sent by the charging station is reacquired. The target movement direction is determined based on the image of the environment and / or the reacquired signal.

[0317] In one possible embodiment, the charging post is located on the wall of the pool, and the control module 803 is configured to control the pool cleaning robot to move in the target movement direction when the pool cleaning robot is located at the bottom of the pool. If the pool cleaning robot moves below the charging post, the control module 803 controls the pool cleaning robot to climb the wall and dock with the charging post. And / or, if the pool cleaning robot is located at the wall of the pool, the control module 803 controls the pool cleaning robot to return to the charging post based on the geometric relationship between the target movement direction and the wall where the pool cleaning robot is located.

[0318] In one possible embodiment, the control module 803 is configured to control the pool cleaning robot to move in the target movement direction until it docks with the charging station when the angle between the target movement direction and the pool wall where the pool cleaning robot is located is less than or equal to a preset angle. When the angle between the target movement direction and the pool wall where the pool cleaning robot is located is greater than the preset angle, the pool cleaning robot is controlled to move toward the bottom of the pool. When the pool cleaning robot reaches the bottom of the pool, the target movement direction is re-determined. Based on the re-determined target movement direction, the pool cleaning robot is controlled to return to the charging station.

[0319] In one possible implementation, the control module 803 is configured to control the pool cleaning robot to climb upward when the pool cleaning robot moves below the charging station. If the pool cleaning robot becomes stuck while climbing upward, the control module 803 is configured to control the pool cleaning robot to retreat downward. The control module 803 is configured to control the pool cleaning robot to adjust its posture and / or position and then climb upward again to dock with the charging station.

[0320] In one possible embodiment, the control module 803 is further configured to, if the pool cleaning robot has not returned to the charging station after a preset time period, control the pool cleaning robot to adhere to the pool wall near the charging station and send a prompt signal to the pool cleaning robot's associated terminal, prompting the pool cleaning robot to be retrieved from the charging station. Alternatively, if the pool cleaning robot has not returned to the charging station after the preset time period, control the pool cleaning robot to move to the pool bottom below the charging station and send the prompt signal to the pool cleaning robot's associated terminal.

[0321] In one possible embodiment, the device further includes an avoidance module configured to obtain a collision signal sent by the charging station while the pool cleaning robot is performing a cleaning action on the pool wall, the collision signal indicating the distance between the pool cleaning robot and the charging station. Based on the collision signal, the pool cleaning robot is controlled to avoid the charging station.

[0322] It should be noted that the control device for the pool cleaning robot provided in the above embodiment only illustrates the division of the above functional modules when controlling the pool cleaning robot to return to the pile. In actual application, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the robot controller can be divided into different functional modules to complete all or part of the functions described above. In addition, the control device for the pool cleaning robot provided in the above embodiment and the control method embodiment of the pool cleaning robot are based on the same concept. The specific implementation process is detailed in the method embodiment and will not be repeated here.

[0323] Through the technical solution provided by the embodiments of the present application, the pool cleaning robot's position in the pool is determined in response to control instructions for the pool cleaning robot, which includes the pool bottom and pool walls. Based on the pool cleaning robot's position in the pool, a target movement direction is determined, which is the direction toward the charging station. Based on the target movement direction, the pool cleaning robot is controlled to return to the charging station. This enables the pool cleaning robot to automatically return to the charging station at different locations in the pool, improves the efficiency of charging the pool cleaning robot, and thus enhances the intelligence of the pool cleaning robot.

[0324] The present invention also provides a pool cleaning robot. FIG9 is a schematic diagram of a robot controller provided by the present invention. Generally, the pool cleaning robot includes a robot controller 900 , which includes one or more processors 901 and one or more memories 902 .

[0325] The processor 901 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 901 may be implemented in at least one hardware form of DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), or PLA (Programmable Logic Array). The processor 901 may also include a main processor and a coprocessor. The main processor is a processor for processing data in the awake state, also known as a CPU (Central Processing Unit); the coprocessor is a low-power processor for processing data in the standby state. In some embodiments, the processor 901 may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the display screen. In some embodiments, the processor 901 may also include an AI (Artificial Intelligence) processor, which is used to process computing operations related to machine learning.

[0326] The memory 902 may include one or more computer-readable storage media, which may be non-transitory. The memory 902 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices and flash memory storage devices. In some embodiments, the non-transitory computer-readable storage medium in the memory 902 is used to store at least one computer program, which is used to be executed by the processor 901 to implement the control method of the pool cleaning robot provided in the method embodiment of the present application.

[0327] In some embodiments, the pool cleaning robot 900 may also optionally include a peripheral device interface 903 and at least one peripheral device. The processor 901, memory 902, and peripheral device interface 903 may be connected via a bus or signal lines. Each peripheral device may be connected to the peripheral device interface 903 via a bus, signal lines, or circuit boards.

[0328] Those skilled in the art will appreciate that the structure shown in FIG. 9 does not limit the pool cleaning robot 900 , and may include more or fewer components than shown, or combine certain components, or adopt a different component arrangement.

[0329] In an exemplary embodiment, a computer-readable storage medium is also provided, such as a memory including a computer program. The computer program can be executed by a processor to implement the control method of the pool cleaning robot in the above embodiment. For example, the computer-readable storage medium can be a read-only memory (ROM), a random access memory (RAM), a compact disc (CD-ROM), a magnetic tape, a floppy disk, an optical data storage device, etc.

[0330] In an exemplary embodiment, a computer program product or computer program is also provided, which includes a program code, which is stored in a computer-readable storage medium. A processor of a robot controller reads the program code from the computer-readable storage medium, and the processor executes the program code, so that the robot controller performs the above-mentioned control method of the pool cleaning robot.

[0331] In some embodiments, the computer program involved in the embodiments of the present application can be deployed and executed on a robot controller, or on multiple robot controllers located at one location, or on multiple robot controllers distributed at multiple locations and interconnected through a communication network. Multiple robot controllers distributed at multiple locations and interconnected through a communication network can form a blockchain system.

[0332] Those skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware, or may be accomplished by a program to instruct the relevant hardware, and the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a disk or an optical disk, etc.

[0333] The following describes the pool cleaning robot 101 provided according to an embodiment of the present application with reference to the accompanying drawings.

[0334] The pool cleaning robot 101 provided in the embodiment of the present application includes a signal acquisition component 20 for acquiring a position or direction signal related to the pool cleaning robot; and a robot controller 40 for controlling the pool cleaning robot based on the position or direction signal.

[0335] As shown in Figures 10 to 17, the pool cleaning robot 101 provided according to an embodiment of the present application includes a body 10, a filtering unit, a walking unit 11, a robot controller 40 and a signal acquisition component 20.

[0336] The body 10 is provided with at least one water inlet and at least one drain outlet. The filtering unit is used to filter the liquid entering from the water inlet and discharge it from the drain outlet after filtration. The walking unit 11 is used to contact the wetted surface in the pool and can rotate relative to the body 10. The robot controller 40 is provided on the body 10 to control the pool cleaning robot 101. The signal acquisition component 20 is provided on the body 10 and communicates with the robot controller 40. The signal acquisition component 20 can obtain signals at at least two positions of the body 10, and the signal is used to provide information related to the position or direction of the pool cleaning robot. In some embodiments, the signal is a sound signal or a sound signal, and accordingly, the signal acquisition component 20 is a sound acquisition component. In addition, the sound signal is used to guide the pool cleaning robot to move to a preset position, which includes a charging position or a salvage position. The charging position usually refers to the location of the charging pile.

[0337] According to the pool cleaning robot of the embodiment of the present application, a sound collection component is provided on the body, so that sound signals can be collected, and the sound signals are converted into electrical signals and transmitted to the robot controller. The robot controller controls the pool cleaning robot according to the electrical signals of the sound collection component, thereby realizing sound control. Moreover, the sound collection component can collect sound signals at different positions. By judging that the parameters of the sound signals collected at different positions are different, the current position of the pool cleaning robot can be determined. Therefore, the pool cleaning robot is more convenient to move to a specific position, has a strong perception ability of sound signals, and greatly improves the success probability of moving to a specific position.

[0338] In one possible embodiment, the filter unit can be a filter unit that can be detachably installed on the body 10. The liquid in the pool can enter the filter unit through the water inlet, and then the filter unit filters the liquid. The garbage in the liquid remains in the filter unit, and the filtered liquid flows from the filter unit to the drain and flows back to the pool through the drain.

[0339] For example, the walking unit 11 may be a structure such as a crawler track, a roller brush, a roller, or a mechanical leg, or other structures that enable the pool cleaning robot 101 to move across the bottom of the pool. In addition, a signal processing unit 90 may be provided between the robot controller 40 and the signal acquisition component 20. The electrical signal from the signal acquisition component 20 is first processed by the signal processing unit 90 and then transmitted to the robot controller 40. This can eliminate interfering signals, avoid clutter interference, and improve control reliability.

[0340] According to the pool cleaning robot 101 provided in the embodiment of the present application, by arranging the body 10 on the signal acquisition component 20, the signal acquisition component 20 can receive sound signals, convert the sound signals into electrical signals, and then transmit the electrical signals to the robot controller 40. The robot controller 40 can control parameters such as the movement direction, working state, and working power of the pool cleaning robot 101 based on the electrical signals fed back by the signal acquisition component 20, thereby realizing sound control of the pool cleaning robot 101. The signal acquisition component 20 can be an ultrasonic receiver. Sound signals propagate over long distances in water, for example, ultrasonic waves can propagate up to hundreds of meters. The pool cleaning robot 101 has a stronger signal receiving capability, which is conducive to realizing long-distance control and large-scale control, and greatly improves control flexibility.

[0341] In addition, the signal acquisition component 20 can acquire signals from at least two locations on the body 10. For example, the robot controller 40 can acquire the time when the signal generating device 50 emits a sound, as well as the time when the signal acquisition component 20 acquires the sound at each location. Since the position of the signal generating device 50 can be determined, the time when the signal acquisition component 20 acquires the sound at each location can be used to determine the distance between each location and the signal generating device 50, thereby determining the relative position between the pool cleaning robot 101 and the signal generating device 50. In some embodiments, the signal generating device 50 is also referred to as the sound source. Alternatively, the robot controller 40 can acquire the volume of the sound at each location based on the signal acquisition component 20. Since the position of the signal generating device 50 can be determined, the volume of the sound acquired by the signal acquisition component 20 at each location can be used to determine the distance between each location and the signal generating device 50, thereby determining the relative position between the pool cleaning robot 101 and the signal generating device 50. In some embodiments, the signal generating device 50 is a charging station.

[0342] The robot controller 40 can control the pool cleaning robot 101 to return to a specific location based on the relative position between the pool cleaning robot 101 and the signal generating device 50, such as controlling the pool cleaning robot 101 to move to the location of the charging station or to the salvage location. In this way, the pool cleaning robot 101 has a strong ability to perceive sound signals, greatly improving the probability of successfully moving to a specific location, facilitating charging and salvaging, and is not restricted by the liquid level, thus achieving a higher degree of automation for the pool cleaning robot 101.

[0343] In this way, the pool cleaning robot 101 provided according to the embodiment of the present application can not only realize voice control, but also has a strong perception ability of sound signals, which greatly improves the success probability of moving to a specific location.

[0344] As shown in FIG. 14 to FIG. 17 , the signal acquisition component 20 includes at least two signal receiving units 21 , and the at least two signal receiving units 21 are disposed at different positions of the body 10 .

[0345] For example, the signal acquisition component 20 includes a first signal receiving unit and a second signal receiving unit. The first signal receiving unit and the second signal receiving unit can be located on the same side or different sides of the body 10. After the signal generating device 50 sends a signal, the first signal receiving unit and the second signal receiving unit will receive the signal. The robot controller 40 can determine the first distance between the signal generating device 50 and the first signal receiving unit based on the time when the signal generating device 50 sends the signal and the time when the first signal receiving unit receives the signal. The robot controller 40 can also determine the second distance between the signal generating device 50 and the second signal receiving unit based on the time when the signal generating device 50 sends the signal and the time when the second signal receiving unit receives the signal.

[0346] Since the position of the signal generating device 50 is determined, the controller can determine the rotation angle and driving direction of the pool cleaning robot 101 according to the first distance, the second distance and the position of the signal generating device 50, so that the pool cleaning robot 101 can move to the target area.

[0347] In one possible embodiment, the pool cleaning robot 101 has a central cross-section, the vertical planes where the walking units 11 on both sides of the body 10 are located are the first plane and the second plane, the central cross-section, the first plane and the second plane are parallel to each other, and the central cross-section is located in the middle of the first plane and the second plane.

[0348] When there are at least two signal receiving units 21, the vertical planes where the at least two signal receiving units 21 are located are located on both sides of the central section, and the vertical planes where the signal receiving units 21 are located, the first plane and the second plane are parallel to each other.

[0349] For example, the pool cleaning robot 101 has a preset direction, and the preset direction, the moving direction of the pool cleaning robot 101, and the height direction of the pool cleaning robot 101 are perpendicular to each other. At least two signal receiving units 21 are disposed on opposite sides of the body 10 in the preset direction.

[0350] In this way, when the signal generating device 50 is located directly in front of the pool cleaning robot 101, the sound parameters (such as time and volume) collected by the signal receiving unit 21 should be the same or approximately the same, which can achieve the purpose of eliminating interference and increase the success probability of moving to a specific position.

[0351] As shown in FIG. 10 to FIG. 13 , the signal acquisition component 20 includes a signal receiving unit 21 , and the signal receiving unit 21 is movable relative to the body 10 .

[0352] For example, the body 10 is provided with a slide rail, and the signal receiving unit 21 can be slidably installed on the slide rail; or, the body 10 is connected to a rotating arm, which is rotatably installed on the body 10, and the signal receiving unit 21 is connected to the rotating arm. When the rotating arm rotates relative to the body 10, the signal receiving unit 21 moves relative to the body 10; or the body 10 is connected to a telescopic arm, which has a telescopic function, and the signal receiving unit 21 is connected to the telescopic arm. When the telescopic arm is retracted, the distance between the body 10 and the signal receiving unit 21 is closer, and when the telescopic arm is extended, the distance between the body 10 and the signal receiving unit 21 is farther.

[0353] That is to say, after the signal generating device 50 sends a signal, the signal receiving unit 21 will receive the signal when it is in the first position, and the robot controller 40 can determine the first distance between the signal generating device 50 and the first position based on the time when the signal generating device 50 sends the signal and the time when the signal receiving unit 21 receives the signal at the first position; the signal receiving unit 21 will also receive a signal when it is in the second position. The robot controller 40 can determine the second distance between the signal generating device 50 and the second position based on the time when the signal generating device 50 sends the signal and the time when the signal receiving unit 21 receives the signal at the second position. The first position and the second position are different positions.

[0354] Since the position of the signal generating device 50 is determined, the controller can determine the angle and driving direction of the pool cleaning robot 101 based on the first distance, the second distance and the position of the signal generating device 50, so that the pool cleaning robot 101 can move to the target area. In some embodiments, the target area is the area where the charging pile is located.

[0355] In one possible embodiment, the pool cleaning robot 101 has a central cross-section, the vertical planes where the walking units 11 on both sides of the body 10 are located are the first plane and the second plane, the central cross-section, the first plane and the second plane are parallel to each other, and the central cross-section is located in the middle of the first plane and the second plane.

[0356] There is one signal receiving unit 21, and the vertical plane where the first position is located and the vertical plane where the second position is located are respectively arranged on both sides of the central section, and the vertical plane where the first position is located, the vertical plane where the second position is located, the first plane and the second plane are parallel to each other.

[0357] For example, the above-mentioned pool cleaning robot 101 has a preset direction, the preset direction, the moving direction of the pool cleaning robot 101, and the height direction of the pool cleaning robot 101 are perpendicular to each other, and the first position and the second position are located on opposite sides of the body 10 in the preset direction.

[0358] In this way, when the signal generating device 50 is located directly in front of the pool cleaning robot 101, the sound parameters (such as time and volume) collected by the signal receiving unit 21 at the first position and the second position should be the same or approximately the same, which can achieve the purpose of eliminating interference and increase the success probability of moving to a specific position.

[0359] As shown in Figures 10-17, the pool cleaning robot 101 further includes an amplifying unit 30, which communicates with the robot controller 40 and the signal receiving unit 21, respectively, and is configured to amplify the signal received by the signal receiving unit 21 and transmit it to the robot controller 40. By providing the amplifying unit 30, the signal receiving unit 21 converts the sound signal into an electrical signal and transmits it to the amplifying unit 30. The robot controller 40 then receives the amplified electrical signal from the amplifying unit 30, thereby reducing the attenuation effect of the sound signal during transmission, improving the reliability of the robot controller 40 receiving the signal, and optimizing the control effect.

[0360] As shown in Figures 18 and 19, the signal receiving unit 21 is provided on a side surface of the body 10 in the direction of movement. During the movement of the pool cleaning robot 101, the side surface of the body 10 in the direction of movement on which the signal receiving unit 21 is provided can always face the signal generating device 50, thereby reducing the probability of obstacles between the signal receiving unit 21 and the signal generating device 50. As a result, the sound emitted by the signal generating device 50 is less attenuated and reflected during transmission to the signal receiving unit 21, thereby reducing the impact of the multipath effect. This improves the effectiveness of the signal receiving unit 21 in receiving the sound signal, and makes the travel and rotation directions of the pool cleaning robot 101 more reliable and accurate.

[0361] As shown in FIG. 20 and FIG. 21 , a mounting protrusion 13 is provided on the upper surface of the body 10 , and the signal receiving unit 21 is provided on the mounting protrusion 13 of the body 10 .

[0362] By locating the signal receiving unit 21 on the upper surface of the body 10, the probability of an obstacle being present between the signal receiving unit 21 and the signal generating device 50 is low when the pool cleaning robot 101 moves along the bottom of the pool. Furthermore, since the upper surface of the body 10 is provided with a mounting protrusion 13, the height of the signal receiving unit 21 mounted on the mounting protrusion 13 is higher than the upper surface of the body 10. This reduces the probability of an obstacle being present between the signal receiving unit 21 and the signal generating device 50 when the pool cleaning robot 101 moves along the pool wall. Consequently, the sound emitted by the signal generating device 50 is less attenuated and reflected during transmission to the signal receiving unit 21, reducing the impact of multipath effects. This improves the effectiveness of the sound signal received by the signal receiving unit 21, and makes the travel and rotation directions of the pool cleaning robot 101 more reliable and accurate.

[0363] In this way, no matter whether the pool cleaning robot 101 moves on the bottom of the pool or on the wall of the pool, the sound emitted by the signal generating device 50 is less attenuated and reflected in the process of being transmitted to the signal receiving unit 21, and the influence caused by the multipath effect is also reduced, which can improve the effectiveness of the signal receiving unit 21 in receiving the sound signal, and the moving direction and rotation direction of the pool cleaning robot 101 are more reliable and accurate.

[0364] For example, the mounting protrusion 13 may be disposed on a side of the pool cleaning robot 101 that is close to the signal generating device 50 in the moving direction of the pool cleaning robot 101 .

[0365] As shown in Figures 18-21, the distance between the signal receiving unit 21 and the bottom surface of the body 10 in the height direction of the pool cleaning robot 101 is no less than 4 cm. In this way, the signal receiving unit 21 is closer to the upper surface of the body 10. On the one hand, the signal receiving unit 21 and the bottom surface of the body 10 maintain a sufficient disassembly and assembly distance, making the signal receiving unit 21 easier to disassemble and assemble. On the other hand, whether the pool cleaning robot 101 moves on the bottom or wall of the pool, the time and probability of obstacles existing between the signal receiving unit 21 and the signal generating device 50 are shorter, further reducing the impact of the multipath effect, thereby improving the effectiveness of the signal receiving unit 21 in receiving sound signals, and making the travel direction and rotation direction of the pool cleaning robot 101 more reliable and accurate.

[0366] As shown in FIG. 10 to FIG. 17 , the pool cleaning robot 101 further includes a posture detection unit and a suction unit 12 .

[0367] The posture detection unit is provided in the body 10 and communicates with the robot controller 40. The robot controller 40 obtains the moving destination of the pool cleaning robot 101 according to the signal of the signal acquisition component 20, and controls the moving direction of the pool cleaning robot 101 according to the posture detection unit. The suction unit 12 is provided in the body 10 and communicates with the robot controller 40. The robot controller 40 controls the power of the suction unit 12 according to the signal of the posture detection unit.

[0368] For example, the posture detection unit may include at least one of an accelerometer and a gyroscope. The posture detection unit can detect the movement direction of the pool cleaning robot 101 and the angle between the pool cleaning robot 101 and the vertical direction. The robot controller 40 can determine whether the movement direction of the pool cleaning robot 101 can reach the target area based on the electrical signal fed back by the posture detection unit, and thus adjust the movement direction and rotation angle of the pool cleaning robot 101.

[0369] In addition, the opening direction of the drain outlet is set upward, and the suction unit 12 is started to guide the liquid in the pool to flow from the water inlet into the filter unit, and then flow from the filter unit to the drain outlet. The liquid flowing out of the drain outlet moves upward, thereby providing a downward pressure for the pool cleaning robot 101 to ensure that the pool cleaning robot 101 is in close contact with the bottom of the pool.

[0370] When the pool cleaning robot 101 moves to the corner between the pool bottom and the pool wall, the power of the suction unit 12 can be reduced to reduce the downward pressure on the pool cleaning robot 101, thereby facilitating the pool cleaning robot 101 to move from the pool bottom to the pool wall. After the pool cleaning robot 101 has completely moved to the pool wall, the power of the suction unit 12 can be increased to increase the downward pressure on the pool cleaning robot 101, so that the pool cleaning robot 101 fits tightly against the pool wall, preventing the pool cleaning robot 101 from separating from the pool wall under the action of gravity.

[0371] The signal receiving unit 21 includes at least one of an acoustic sensor and a microphone. That is, the signal receiving unit 21 may include an acoustic sensor, or may include a microphone, or may include both an acoustic sensor and a microphone. The acoustic sensor may be an ultrasonic sensor. This allows for more diverse configuration options for the signal receiving unit 21, increasing the versatility of the pool cleaning robot 101 and thereby meeting different usage scenarios and requirements.

[0372] As shown in FIG. 10 to FIG. 17 , the pool cleaning robot 101 further includes a power storage module 60 , and at least one of a wireless charging module 70 and a wired charging module 80 .

[0373] The power storage module 60 is arranged on the body 10 and connected to the signal acquisition component 20, the wireless charging module 70 is arranged at the bottom of the body 10 and connected to the power storage module 60, and the wired charging module 80 is arranged at the bottom of the body 10 and connected to the power storage module 60. The wired charging module 80 includes corrosion-resistant electrode sheets.

[0374] In this way, the pool cleaning robot 101 can power the signal acquisition component 20 through the power storage module 60, and can realize wireless charging through the wireless charging module 70, as well as wired charging through the wired charging module 80. Since the wired charging module 80 includes corrosion-resistant electrode sheets, the corrosion-resistant electrode sheets can be used in water. Therefore, whether the wireless charging module 70 or the wired charging module 80 is used, underwater charging can be realized.

[0375] That is to say, the pool cleaning robot 101 can not only realize wireless charging and wired charging, and adopt a variety of different charging methods, but also realize underwater charging, which is not restricted by the charging site, and the convenience and timeliness of charging are greatly improved.

[0376] As shown in Figures 11-13 and 15-17, at least one of the above-mentioned power storage module 60, wireless charging module 70 and wired charging module 80 is detachably connected to the body 10. When the power storage module 60 is detachably connected to the body 10, the power storage module 60 can be charged outside the body 10. The pool cleaning robot 101 can have multiple power storage modules 60 and then be replaced between the power storage modules 60. The wireless charging module 70 can be detachably connected to the body 10 as an optional plug-in. If the user's home does not have wireless charging conditions or the user does not need the wireless charging mode, the user does not need to purchase the wireless charging module 70. The pool cleaning robot 101 uses a wired charging method to charge or replace the power storage module 60, which reduces the user's usage cost and has higher flexibility. When the wired charging module 80 can be detachably connected to the body 10, the wired charging module 80 can be used as an optional plug-in. The pool cleaning robot 101 uses a wireless charging method to charge or replace the power storage module 60. If there is no wired charging condition at the user's home, or the user does not need the wired charging mode, the wired charging module 80 can be not purchased, which reduces the user's usage cost and has higher flexibility.

[0377] The following describes a pool cleaning system 200 provided according to an embodiment of the present application with reference to the accompanying drawings.

[0378] As shown in Figures 18 to 21, the pool cleaning system 200 provided according to an embodiment of the present application includes the pool cleaning robot 101 according to the above embodiment of the present application.

[0379] The pool cleaning system 200 provided according to the embodiment of the present application, by utilizing the pool cleaning robot 101 provided according to the embodiment of the present application, can not only realize voice control, but also has a strong perception ability of sound signals, thereby greatly improving the success probability of moving to a specific location.

[0380] As shown in FIG. 18 to FIG. 21 , the pool cleaning system 200 further includes a signal generating device 50 , which is used to send a signal. When the signal acquisition component 20 obtains the signal, the robot controller 40 controls the pool cleaning robot 101 to move to a preset position.

[0381] Among them, during the movement of the pool cleaning robot 101 to the preset position, the total moving distance of the pool cleaning robot 101 is L1, the moving distance of the pool cleaning robot 101 through which the connecting line between the signal generating device 50 and the signal acquisition component 20 passes through the body 10 is L2, and L2 / L1<50%.

[0382] In this way, when the pool cleaning robot 101 is moving, the signal generating device 50 and the signal acquisition component 20 will not be blocked by the body 10 for more than half of the distance, which is conducive to optimizing the signal quality of the sound signal transmission between the sound sensor and the signal generating device 50 when the robot returns to the base station, improving the perception quality, and increasing the success probability of the swimming pool robot returning to the base station.

[0383] Other structures and operations of the pool cleaning robot 101 and the pool cleaning system 200 provided in accordance with the embodiments of the present application are well known to those skilled in the art and will not be described in detail here.

[0384] The above are only optional embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A control method for a pool cleaning robot, the method comprising: obtaining a position or orientation signal associated with the pool cleaning robot; Based on the position or the direction signal, the pool cleaning robot is controlled.

2. The method according to claim 1, wherein: The step of obtaining a position or direction signal related to the pool cleaning robot includes: In response to a control instruction for the pool cleaning robot, determine a position of the pool cleaning robot in a pool, the position including a bottom and a wall of the pool; based on the position of the pool cleaning robot in the pool, determine a target moving direction, the target moving direction being a direction close to a charging pile; The method of controlling the pool cleaning robot based on the position or direction signal comprises: Based on the target moving direction, the pool cleaning robot is controlled to return to the pile.

3. The method according to claim 2, wherein: The determining the position of the pool cleaning robot in the pool in response to the control instruction to the pool cleaning robot comprises: In response to a control instruction for the pool cleaning robot, determining a posture of the pool cleaning robot; Based on the posture of the pool cleaning robot, a position of the pool cleaning robot in the pool is determined.

4. The method according to claim 2, wherein: The determining of the target moving direction based on the position of the pool cleaning robot in the pool includes: When the pool cleaning robot is located at the bottom of the pool, obtaining an environmental image of the pool cleaning robot and / or a signal sent by the charging pile; and determining the target moving direction based on the environmental image and / or the signal; And / or, when the pool cleaning robot is located at the pool wall of the pool, obtain an environmental image of the pool cleaning robot and / or a signal sent by the charging pile; and determine the target moving direction based on the environmental image and / or the signal.

5. The method according to claim 4, wherein: The determining the target moving direction based on the environment image and / or the signal comprises: Determine whether there is a charging pile in the environment image; if there is a charging pile in the environment image, determine the target moving direction based on the position of the charging pile in the environment image; if there is no charging pile in the environment image, control the pool cleaning robot to rotate and reacquire the environment image; determine the target moving direction based on the reacquired environment image; Alternatively, the target moving direction is determined based on a signal parameter of the signal, wherein the signal parameter includes at least one of a signal receiving time and a signal strength; Alternatively, determine whether there is a charging pile in the environmental image; if there is a charging pile in the environmental image, determine the target moving direction based on the position of the charging pile in the environmental image and the signal parameters of the signal; if there is no charging pile in the environmental image, control the pool cleaning robot to rotate and reacquire the environmental image and signal based on the signal parameters of the signal; determine the target moving direction based on the reacquired environmental image and signal.

6. The method according to claim 5, wherein: The signal is a sound wave signal, the pool cleaning robot includes at least two signal receiving units, and the determining the target moving direction based on the signal parameters of the signal includes: determining a target moving direction of the pool cleaning robot based on a time difference between signal receiving times when the at least two signal receiving units receive the acoustic wave signals; Alternatively, the target moving direction of the pool cleaning robot is determined based on the difference in signal strengths of the sound wave signals received by the at least two signal receiving units; Alternatively, the target moving direction of the pool cleaning robot is determined based on the time difference between the signal receiving moments when the at least two signal receiving units receive the sound wave signals and the strength difference of the signal strengths.

7. The method according to claim 5, wherein: The determining whether there is a charging pile in the environment image includes: The environment image is input into a target detection model, and target detection is performed on the environment image by the target detection model to determine whether there is a target detection frame in the environment image, and the target detection frame is used to indicate the position of the charging pile; if there is a target detection frame in the environment image, it is determined that there is a charging pile in the environment image; if there is no target detection frame in the environment image, it is determined that there is no charging pile in the environment image; Alternatively, determining whether there is a clustered area of ​​a preset color in the environmental image, the preset color corresponding to the light of a preset wavelength emitted by the charging pile; if there is a clustered area of ​​the preset color, determining that there is a charging pile in the environmental image; if there is no clustered area of ​​the preset color, determining that there is no charging pile in the environmental image; Alternatively, determine whether there is an area in the environmental image that matches a preset pattern template, and the preset pattern template corresponds to the pattern on the charging pile; if there is an area in the environmental image that matches the preset pattern template, determine that there is a charging pile in the environmental image; if there is no area in the environmental image that matches the preset pattern template, determine that there is no charging pile in the environmental image.

8. The method according to claim 4, wherein: In the case where the pool cleaning robot is located at the pool wall of the pool, determining the target moving direction based on the environment image and / or the signal includes: When the signal parameter of the signal meets the preset parameter conditions, controlling the pool cleaning robot to move toward the bottom of the pool; When the pool cleaning robot reaches the bottom of the pool, acquiring an image of the environment around the pool cleaning robot and / or reacquiring a signal sent by the charging pile; The target movement direction is determined based on the environment image and / or the re-acquired signal.

9. The method according to claim 2, wherein: The charging pile is located on the wall of the pool, and the controlling the pool cleaning robot to return to the charging pile based on the target moving direction includes: When the pool cleaning robot is located at the bottom of the pool, the pool cleaning robot is controlled to move in the target moving direction; when the pool cleaning robot moves below the charging pile, the pool cleaning robot is controlled to climb up the wall and dock with the charging pile; And / or, when the pool cleaning robot is located at the pool wall of the pool, the pool cleaning robot is controlled to return to the pile based on the geometric relationship between the target moving direction and the pool wall where the pool cleaning robot is located.

10. The method according to claim 9, wherein: The controlling the pool cleaning robot to return to the pile based on the geometric relationship between the target moving direction and the pool wall where the pool cleaning robot is located comprises: When the angle between the target moving direction and the pool wall where the pool cleaning robot is located is less than or equal to a preset angle, the pool cleaning robot is controlled to move in the target moving direction until it docks with the charging pile; When the angle between the target moving direction and the pool wall where the pool cleaning robot is located is greater than the preset angle, the pool cleaning robot is controlled to move toward the bottom of the pool; when the pool cleaning robot reaches the bottom of the pool, the target moving direction is redetermined; and based on the redetermined target moving direction, the pool cleaning robot is controlled to return to the pile.

11. The method according to claim 9, wherein: When the pool cleaning robot moves to the bottom of the charging pile, controlling the pool cleaning robot to climb up the wall and dock with the charging pile includes: When the pool cleaning robot moves to below the charging pile, controlling the pool cleaning robot to climb up the wall; In the case where the pool cleaning robot is stuck in the process of climbing up the wall, controlling the pool cleaning robot to retreat downward; The pool cleaning robot is controlled to adjust its posture and / or position and then climb up the wall again to dock with the charging pile.

12. The method according to claim 2, wherein: After controlling the pool cleaning robot to return to the pile based on the target moving direction, the method further includes: If the pool cleaning robot has not returned to the charging pile after a preset time, control the pool cleaning robot to be adsorbed on the pool wall near the charging pile, and send a prompt signal to the associated terminal of the pool cleaning robot, wherein the prompt signal is used to prompt the pool cleaning robot to be salvaged near the charging pile; Alternatively, if the pool cleaning robot has not returned to the charging pile after the preset time period, the pool cleaning robot is controlled to move to the bottom of the pool below the charging pile, and the prompt signal is sent to the associated terminal of the pool cleaning robot.

13. The method according to claim 2, wherein: Before determining the position of the pool cleaning robot in the pool in response to the control instruction for the pool cleaning robot, the method further includes: When the pool cleaning robot performs a cleaning action on the pool wall of the pool, obtaining a collision signal sent by the charging pile, wherein the collision signal is used to indicate the distance between the pool cleaning robot and the charging pile; Based on the collision signal, the pool cleaning robot is controlled to avoid the charging pile.

14. A control device for a pool cleaning robot, the device comprising: A signal acquisition module, used to acquire a position or direction signal related to the pool cleaning robot; The control module is used to control the pool cleaning robot based on the position or the direction signal.

15. A pool cleaning robot, comprising a robot controller, wherein the robot controller comprises one or more processors and one or more memories, wherein at least one computer program is stored in the one or more memories, and the computer program is loaded and executed by the one or more processors to implement the control method of the pool cleaning robot according to any one of claims 1 to 14.

16. A pool cleaning robot, comprising: A signal acquisition component, used to obtain a position or direction signal related to the pool cleaning robot; The robot controller is used to control the pool cleaning robot based on the position or the direction signal.

17. The pool cleaning robot of claim 16, wherein: The pool cleaning robot also includes: A machine body, wherein the machine body is provided with at least one water inlet and at least one water outlet; A filtering unit, used for filtering the liquid entering from the water inlet and discharging the filtered liquid from the drain outlet; A walking unit, used for contacting the wetted surface in the water pool and being rotatable relative to the body; The robot controller is arranged on the body; The signal acquisition component is disposed on the body and communicates with the robot controller. The signal acquisition component can acquire signals at at least two positions of the body, and the signals are used to provide information related to the position or direction of the pool cleaning robot.

18. The pool cleaning robot of claim 17, wherein: The signal collection component is a sound collection component, and the signal is a sound signal.

19. The pool cleaning robot of claim 17, wherein: The signal acquisition component comprises at least two signal receiving units, and at least two of the signal receiving units are arranged at different positions of the body; or, The signal collection assembly comprises a signal receiving unit, and the signal receiving unit is movable relative to the body between a first position and a second position.

20. The pool cleaning robot of claim 19, wherein: The pool cleaning robot has a central section, the vertical planes where the walking units on both sides of the body are located are the first plane and the second plane, the central section, the first plane and the second plane are parallel to each other, and the central section is located between the first plane and the second plane; When there are at least two signal receiving units, the vertical planes where the at least two signal receiving units are located are arranged on both sides of the central section, and the vertical planes where the signal receiving units are located are parallel to the first plane and the second plane; There is one signal receiving unit, and the vertical plane where the first position is located and the vertical plane where the second position is located are arranged on both sides of the central section, and the vertical plane where the first position is located and the vertical plane where the second position is located are parallel to the first plane and the second plane.

21. The pool cleaning robot of claim 19, wherein: The distance between the signal receiving unit and the bottom surface of the body in the height direction of the pool cleaning robot is not less than 4 cm.

22. The pool cleaning robot of claim 19, wherein: The pool cleaning robot also includes: an amplifying unit, wherein the amplifying unit communicates with the robot controller and the signal receiving unit respectively, and is used for amplifying the signal received by the signal receiving unit and transmitting the amplified signal to the robot controller.

23. The pool cleaning robot of claim 19, wherein: The signal receiving unit is arranged on a side of the moving direction of the machine body; and / or, A mounting protrusion is arranged on the upper surface of the body, and the signal receiving unit is arranged on the mounting protrusion of the body.

24. The pool cleaning robot of claim 17, wherein: The pool cleaning robot also includes: a posture detection unit, the posture detection unit being disposed on the body and communicating with the robot controller, the robot controller acquiring the moving destination of the pool cleaning robot according to the signal of the signal acquisition component, and controlling the moving direction of the pool cleaning robot according to the posture detection unit; A suction unit is provided in the machine body and communicates with the robot controller, and the robot controller controls the power of the suction unit according to the signal of the posture detection unit.

25. The pool cleaning robot of claim 17, wherein: The pool cleaning robot also includes: A power storage module, which is disposed in the body and connected to the signal acquisition component; A wireless charging module and / or a wired charging module, wherein the wireless charging module is disposed at the bottom of the body and connected to the power storage module, and the wired charging module is disposed at the bottom of the body and connected to the power storage module, and the wired charging module includes a corrosion-resistant electrode sheet.

26. The pool cleaning robot of claim 25, wherein: At least one of the power storage module, the wireless charging module and the wired charging module is detachably connected to the body.

27. A pool cleaning system comprising: The pool cleaning robot according to any one of claims 16 to 26; A signal generating device, the signal generating device is used to send a signal, and when the signal acquisition component obtains the signal, the robot controller controls the pool cleaning robot to move to a preset position; Among them, during the movement of the pool cleaning robot to the preset position, the total moving distance of the pool cleaning robot is L1, the moving distance of the pool cleaning robot through the body of the connecting line between the signal generating device and the signal collecting component is L2, and L2 / L1<50%.

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