Waterline cleaning method and apparatus, underwater cleaning robot, and storage medium

Abstract

The present application is applicable to the technical field of robots, and specifically relates to a waterline cleaning method and apparatus, an underwater cleaning robot, and a storage medium. The method comprises: using a distance sensor to collect a real-time distance to a water surface in real time, and using an attitude sensor to collect an attitude of a robot in real time; when the robot is below the water surface, on the basis of the attitude of the robot, controlling the robot to move upwards, and when the robot reaches the water surface, controlling a rolling brush to move; and when the movement of the rolling brush ends, controlling the robot to move vertically downwards, and when the robot is below the water surface, controlling the robot to rotate by a preset angle, and returning to execute the step of when the robot is below the water surface, on the basis of the attitude of the robot, controlling the robot to move upwards, until the cleaning ends. By controlling the upward / downward movement and rotation of a robot, monitoring the distance to the water surface, etc., waterline cleaning can be implemented by the robot, and the robot can gradually advance laterally without manual intervention, thereby completing waterline cleaning of the entire pool wall.

Description

Water level cleaning methods, devices, underwater cleaning robots and storage media

[0001] This application is based on and claims priority to Chinese Invention Application No. 202510185617.3, filed on February 19, 2025, entitled "Water Level Cleaning Method, Apparatus, Underwater Cleaning Robot and Storage Medium". Technical Field

[0002] This application relates to the field of robotics, and in particular to a water level cleaning method, apparatus, underwater cleaning robot, and storage medium. Background Technology

[0003] Currently, pool cleaning methods rely on manual labor or simple automated cleaning equipment, which are often inefficient and fail to thoroughly remove dirt from the waterline. With technological advancements, automated cleaning equipment has become a research hotspot; however, most existing equipment lacks precise positioning and cleaning capabilities, especially when cleaning the waterline, where it may fail to clean effectively or misalign.

[0004] Therefore, how to accurately identify the water level and control the cleaning action to improve cleaning efficiency has become an urgent problem to be solved. Summary of the Invention

[0005] This application provides a water level cleaning method, apparatus, underwater cleaning robot, and storage medium to address the problem of how to accurately identify and control the cleaning action based on the water level, thereby improving cleaning efficiency.

[0006] A method for cleaning water level lines, the method comprising:

[0007] A distance sensor mounted on the robot at the same height as the robot's roller brush is used to collect the real-time distance to the water surface, and an attitude sensor mounted on the robot is used to collect the robot's attitude in real time.

[0008] When the robot is below the water surface, the robot is controlled to move upward according to its posture; when the robot reaches the water surface, the roller brush is controlled to move.

[0009] After the roller brush movement ends, the robot is controlled to move vertically downwards. When the robot is below the water surface, the robot is controlled to rotate by a preset angle and return to the starting position. When the robot is below the water surface, the robot is controlled to move upwards according to its posture until the cleaning is completed.

[0010] A water level cleaning device, the water level cleaning device comprising:

[0011] The sensor module is used to collect the real-time distance to the water surface using a distance sensor mounted on the robot at the same height as the robot's roller brush, and to collect the robot's attitude in real time using an attitude sensor mounted on the robot.

[0012] The first control module is used to control the robot to move upward according to the robot's posture when the robot is below the water surface, and to control the movement of the roller brush when the robot reaches the water surface.

[0013] The second control module is used to control the robot to move vertically downward after the roller brush movement ends, and to control the robot to rotate by a preset angle when the robot is below the water surface, and to return to the starting position when the robot is below the water surface, and to control the robot to move upward according to the robot's posture until the cleaning is finished.

[0014] An underwater cleaning robot includes a memory, a processor, and a readable storage medium stored in the memory and operable on the processor, wherein the processor executes the readable storage medium to perform the following steps:

[0015] A distance sensor mounted on the robot at the same height as the robot's roller brush is used to collect the real-time distance to the water surface, and an attitude sensor mounted on the robot is used to collect the robot's attitude in real time.

[0016] When the robot is below the water surface, the robot is controlled to move upward according to its posture; when the robot reaches the water surface, the roller brush is controlled to move.

[0017] After the roller brush movement ends, the robot is controlled to move vertically downwards. When the robot is below the water surface, the robot is controlled to rotate by a preset angle and return to the starting position. When the robot is below the water surface, the robot is controlled to move upwards according to its posture until the cleaning is completed.

[0018] One or more readable storage media storing computer-readable instructions, wherein when executed by one or more processors, the computer-readable instructions cause the one or more processors to perform the following steps:

[0019] A distance sensor mounted on the robot at the same height as the robot's roller brush is used to collect the real-time distance to the water surface, and an attitude sensor mounted on the robot is used to collect the robot's attitude in real time.

[0020] When the robot is below the water surface, the robot is controlled to move upward according to its posture; when the robot reaches the water surface, the roller brush is controlled to move.

[0021] After the roller brush movement ends, the robot is controlled to move vertically downwards. When the robot is below the water surface, the robot is controlled to rotate by a preset angle and return to the starting position. When the robot is below the water surface, the robot is controlled to move upwards according to its posture until the cleaning is completed.

[0022] This application uses a distance sensor mounted on a robot at the same height as the robot's roller brush to collect real-time distance data from the water surface. It also uses an attitude sensor mounted on the robot to collect the robot's attitude data in real time. When the robot is below the water surface, the robot is controlled to move upwards based on its attitude. When the robot reaches the water surface, the roller brush is controlled to move. After the roller brush movement ends, the robot is controlled to move vertically downwards. When the robot is below the water surface, it is controlled to rotate by a preset angle and return to the starting position. The process of controlling the robot's vertical movement and rotation, combined with distance detection of the water surface, enables the robot to clean the water level line gradually, sideways, without human intervention, completing the cleaning of the entire pool wall's water level line. Attached Figure Description

[0023] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments of this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 is a schematic flowchart of a water level cleaning method provided in Embodiment 1 of this application;

[0025] Figure 2 is a flowchart illustrating a water level cleaning method provided in Embodiment 2 of this application;

[0026] Figure 3 is a schematic diagram of the operation of a robot cleaning system provided in Embodiment 2 of this application;

[0027] Figure 4 is a structural schematic diagram of a water level cleaning device provided in Embodiment 3 of this application;

[0028] Figure 5 is a structural schematic diagram of an underwater cleaning robot provided in Embodiment 4 of this application. Detailed Implementation

[0029] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0030] To illustrate the technical solution of this application, specific embodiments are described below.

[0031] Referring to Figure 1, it is a schematic flowchart of a water level cleaning method provided in Embodiment 1 of this application. This water level cleaning method is applied to a robot that can move on the wall of a pool to clean the pool wall. The robot can be an underwater cleaning robot, or it can be a multifunctional robot that can clean other environments.

[0032] As shown in Figure 1, the water level cleaning method may include the following steps:

[0033] Step S101: Using a distance sensor mounted on the robot at the same height as the robot's roller brush, the real-time distance to the water surface is collected, and using an attitude sensor mounted on the robot, the robot's attitude is collected in real time.

[0034] In this embodiment, the robot is equipped with a roller brush, a distance sensor, and an attitude sensor. The roller brush can be positioned anywhere on the robot. When the robot is vertically upright, a distance sensor is positioned at the same height as the roller brush, ensuring that the roller brush and the distance sensor are on the same horizontal plane when the robot is in a vertical position. This means that the distance detected by the distance sensor reflects the distance between the roller brush and the water surface. For example, when the distance sensor detects a distance of zero, it indicates that the roller brush is at the water surface, thus enabling the cleaning of the water level line formed by the water surface and the pool wall.

[0035] Distance sensors can detect distances to water surfaces by transmitting wireless signals or in conjunction with other beacons. In one embodiment, the distance sensor is an ultrasonic distance sensor (UDS), which is a sensor that uses ultrasonic signals to measure distances by emitting ultrasonic waves and receiving the reflected echoes to calculate the distance to obstacles.

[0036] An attitude sensor can determine the robot's attitude by detecting its motion. For example, in a vertical orientation, the robot's motion mechanism is in a vertical direction. If the roller brush is defined as the robot's front or rear end, then in a vertical orientation, the roller brush is directly above or below the robot. In one embodiment, the attitude sensor is an IMU sensor. An Inertial Measurement Unit (IMU) integrates an accelerometer and a gyroscope to measure and report specific forces, angular velocities, and, in certain cases, the state of a magnetic field around an object. Inertial Navigation System (INS) is an autonomous navigation technology that does not rely on external reference information and determines its position, velocity, and attitude by measuring the acceleration and angular velocity of the carrier.

[0037] Step S102: When the robot is below the water surface, control the robot to move upward according to the robot's posture; when the robot reaches the water surface, control the roller brush to move.

[0038] In this embodiment, the robot is below the water surface, that is, the distance sensor detects that the distance from the water surface has not reached the preset value (for example, the preset value is 0). At this time, the robot needs to move upward so that the roller brush reaches the water level line, and the roller brush is controlled to move when the robot reaches the water surface in order to achieve the washing of the water level line.

[0039] When the robot moves upward, it needs to be controlled differently depending on its underwater posture. For example, if the robot is in a vertical posture underwater, its next movement will be vertical upward. This vertical posture and vertical upward movement occur during the initial movement of the robot from underwater to the water level for cleaning. Or, if the robot is in a tilted posture to the left or right underwater, its next movement will be diagonally upward, thus realizing the robot's movement in both the horizontal and vertical directions.

[0040] The roller brush can be a horizontally oriented brush body that rotates along a horizontal axis, or a vertically oriented brush body that rotates along a vertical axis, so as to scrub the water level line formed by the water surface and the pool wall when it reaches the water surface.

[0041] Step S103: After the roller brush movement ends, control the robot to move vertically downwards, and when the robot is below the water surface, control the robot to rotate by a preset angle and return to the starting position. When the robot is below the water surface, control the robot to move upwards according to the robot's posture until the cleaning is finished.

[0042] In this embodiment, the brushing motion can be controlled to stop by setting a timer or detecting the cleanliness level. For example, the brush can be set to clean for 10 seconds by setting a timer for 10 seconds. Alternatively, a camera can be used to capture images of the water level and analyze the cleanliness level of the captured images until the cleanliness level is met, at which point the brushing motion stops.

[0043] After controlling the robot to rotate at a preset angle, the robot moves upward to the water level line, completing the horizontal translation and then cleaning at the water level line. The entire cycle realizes the robot's up-and-down and horizontal movement on the pool wall, thereby completing the cleaning of the water level line on the pool wall.

[0044] A corresponding rotation mechanism can be set on the robot to control its rotation, and the posture can be recorded by sensors such as IMU. Of course, if the robot has left and right wheels, rotation can be achieved by differential wheel movement to achieve the purpose of angle adjustment without designing a rotation mechanism.

[0045] Optionally, the robot includes a left wheel and a right wheel, and controlling the robot to rotate at a preset angle includes:

[0046] The left and right wheels are controlled differentially, and the real-time angle is determined according to the robot's posture;

[0047] When the real-time angle reaches the preset angle, the left wheel and the right wheel are controlled to stop differentially.

[0048] The robot is designed with left and right wheels. By outputting different rotational speeds between the left and right wheels, the robot can rotate. Combined with sensors such as IMU to monitor the rotation angle in real time, the robot's rotation can be controlled differentially by the left and right wheels.

[0049] This embodiment uses a distance sensor mounted on a robot at the same height as the robot's roller brush to collect real-time distance data from the water surface. An attitude sensor mounted on the robot collects the robot's attitude data in real-time. When the robot is below the water surface, the robot is controlled to move upwards based on its attitude. When the robot reaches the water surface, the roller brush is controlled to move. After the roller brush movement ends, the robot is controlled to move vertically downwards. When the robot is below the water surface, it is controlled to rotate by a preset angle and return to the starting position. The process of controlling the robot's vertical movement and rotation, combined with distance detection of the water surface, enables the robot to clean the water level line gradually, sideways, without human intervention, completing the cleaning of the entire pool wall's water level line.

[0050] Referring to Figure 2, which is a flowchart illustrating a water level cleaning method according to Embodiment 2 of this application, as shown in Figure 2, after controlling the robot to rotate by a preset angle in step S103 above, controlling the robot to move upward according to the robot's posture may include the following steps:

[0051] Step S201: Determine that the robot is in a non-vertical posture.

[0052] After the robot rotates, it changes from its original vertical posture to a non-vertical posture. Since step S101 specifies that the robot should move vertically downwards after the brush motion ends, the robot was in a vertical posture before rotating.

[0053] Step S202: Based on the non-vertical posture, control the robot to move diagonally upward.

[0054] In the non-vertical orientation, the robot is tilted. Therefore, controlling the robot to move upwards means moving diagonally upwards, resulting in a certain displacement in the horizontal direction. The magnitude of the displacement is related to the tilt angle. This preset angle can be designed to match the distance the robot moves vertically downwards, ensuring that after the robot moves diagonally upwards, the brush connects to the position of the previous sleep cleaning, avoiding any gap between two brush cleaning movements.

[0055] Optionally, controlling the robot to move upward based on its posture includes:

[0056] If the robot is detected to be in a vertical orientation, then the robot is controlled to move vertically upwards based on the vertical orientation.

[0057] Initially, the robot is in a vertical position underwater, so its first upward movement is vertical. If the robot moves vertically downward from the water surface to below the water surface, it will perform a rotation control action to change the vertical position to a non-vertical position, thereby enabling the robot to move in the horizontal direction.

[0058] Optionally, controlling the movement of the roller brush when the robot reaches the water surface includes:

[0059] When the robot reaches the water surface and is detected to be in the vertical posture, the roller brush is controlled to move, and the robot changes from the non-vertical posture to the vertical posture under the action of buoyancy when it reaches the water surface.

[0060] The robot is designed to change from a non-vertical to a vertical posture when it reaches the water surface due to buoyancy. The posture is detected by sensors such as IMU, and the movement of the roller brush is controlled when the posture changes to a vertical posture to clean the water level.

[0061] For example, as shown in Figure 3, which is a schematic diagram of the operation of a robot cleaning system according to Embodiment 2 of this application, the motion process is as follows:

[0062] 1) When the robot moves to the starting position on the pool wall, the ultrasonic sensor starts working to detect the distance between the robot and the water surface;

[0063] 2) The robot moves upward along the pool wall until the ultrasonic sensor detects that it has left the water surface, indicating that the roller brush has contacted the water level line. The robot starts cleaning as soon as it contacts the water level line, and the roller brush washes the water level line.

[0064] 3) After cleaning, the robot moves vertically downwards and returns to the water. The ultrasonic sensor detects the robot in the water again, indicating that the robot has returned to the initial cleaning position.

[0065] 4) Using the IMU's attitude detection, control the robot's left and right wheels to move differentially, causing the robot to tilt upwards at a certain angle.

[0066] While tilted, the robot continues to move upward until it leaves the water surface. The robot's posture will return to vertical due to buoyancy. Repeat step 3) to achieve lateral movement of the robot in the waterline plane.

[0067] 5) After the robot finishes cleaning one area, it adjusts its posture through IMU control and prepares to move to the next cleaning area. The robot repeats steps 2) to 4) until the water level of the entire pool is cleaned.

[0068] Corresponding to the water level cleaning method in the above embodiments, Figure 4 shows a structural block diagram of the water level cleaning device provided in Embodiment 3 of this application. For ease of explanation, only the parts related to the embodiments of this application are shown.

[0069] Referring to Figure 4, the water level cleaning device includes:

[0070] The sensor module 41 is used to collect the real-time distance to the water surface using a distance sensor mounted on the robot and at the same height as the robot's roller brush, and to collect the robot's attitude in real time using an attitude sensor mounted on the robot.

[0071] The first control module 42 is used to control the robot to move upward according to the robot's posture when the robot is below the water surface, and to control the movement of the roller brush when the robot reaches the water surface.

[0072] The second control module 43 is used to control the robot to move vertically downward after the roller brush movement ends, and to control the robot to rotate by a preset angle when the robot is below the water surface, and to return to the previous operation. When the robot is below the water surface, the module controls the robot to move upward according to the robot's posture until the cleaning is finished.

[0073] Optionally, the robot includes a left wheel and a right wheel, and the second control module 43 includes:

[0074] A differential control unit is used to control the differential movement of the left wheel and the right wheel, and to determine the real-time angle based on the robot's posture;

[0075] The differential stop unit is used to control the left wheel and the right wheel to stop differential operation when the real-time angle reaches a preset angle.

[0076] Optionally, the first control module 42 includes:

[0077] The first control unit is configured to, if the robot is detected to be in a vertical orientation, control the robot to move vertically upwards based on the vertical orientation.

[0078] Optionally, after controlling the robot to rotate by a preset angle, the first control module 42 includes:

[0079] An attitude determination unit is used to determine that the robot is in a non-vertical attitude;

[0080] The second control unit is used to control the robot to move diagonally upward based on the non-vertical posture.

[0081] Optionally, the first control module 42 includes:

[0082] A roller brush control unit is used to control the movement of the roller brush when the robot reaches the water surface and the robot is detected to be in the vertical posture. When the robot reaches the water surface, it changes from the non-vertical posture to the vertical posture under the action of buoyancy.

[0083] Optionally, the distance sensor is an ultrasonic ranging sensor.

[0084] Optionally, the attitude sensor is an IMU sensor.

[0085] It should be noted that the information interaction and execution process between the above modules are based on the same concept as the method embodiments of this application. For details on their specific functions and technical effects, please refer to the method embodiments section, which will not be repeated here.

[0086] In one embodiment, an underwater cleaning robot is provided, which can be a server, and its internal structure can be as shown in Figure 5. The underwater cleaning robot includes a processor, memory, network interface, and database connected via a system bus. The underwater cleaning robot corresponds to a detection device, and its processor provides computing and control capabilities. The underwater cleaning robot's memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores an operating system, a readable storage medium, and a database. The internal memory provides an environment for the operation of the operating system and the readable storage medium. The underwater cleaning robot's database stores raw user data. The underwater cleaning robot's network interface is used to communicate with external terminals via a network connection. When executed by the processor, the readable storage medium implements a method for detecting the departure of a vehicle drive motor.

[0087] In one embodiment, an underwater cleaning robot is provided, including a memory, a processor, and a readable storage medium stored in the memory and executable on the processor. When the processor executes the readable storage medium, it implements the steps of the vehicle drive motor off-vehicle detection method in the above embodiment, such as steps S101-S103 shown in FIG1, or the steps shown in FIG2 and FIG3. To avoid repetition, these steps will not be described again here. Alternatively, when the processor executes the readable storage medium, it implements the functions of each module / unit in this embodiment of the user data processing device, such as the functions of sensor module 41, first control module 42, and second control module 43 shown in FIG4. To avoid repetition, these functions will not be described again here.

[0088] In one embodiment, one or more readable storage media storing computer-readable instructions are provided. When executed by one or more processors, these computer-readable instructions cause the processors to perform the steps of the vehicle drive motor off-vehicle detection method described in the above embodiments, such as steps S101-S103 shown in FIG1, or the steps shown in FIG2 and FIG3. To avoid repetition, these steps will not be described again here. Alternatively, when the processor executes the readable storage medium, it performs the functions of various modules / units in this embodiment of the user data processing device, such as the functions of sensor module 41, first control module 42, and second control module 43 shown in FIG4. To avoid repetition, these functions will not be described again here. The readable storage medium in this embodiment includes both non-volatile readable storage media and volatile readable storage media.

[0089] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by instructing related hardware through a readable storage medium. The readable storage medium can be stored in a non-volatile computer-readable storage medium, which, when executed, can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0090] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is used as an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above.

[0091] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A method for cleaning water level lines, wherein, The water level cleaning method includes: A distance sensor mounted on the robot at the same height as the robot's roller brush is used to collect the real-time distance to the water surface, and an attitude sensor mounted on the robot is used to collect the robot's attitude in real time. When the robot is below the water surface, the robot is controlled to move upward according to its posture; when the robot reaches the water surface, the roller brush is controlled to move. After the roller brush movement ends, the robot is controlled to move vertically downwards. When the robot is below the water surface, the robot is controlled to rotate by a preset angle and return to the starting position. When the robot is below the water surface, the robot is controlled to move upwards according to its posture until the cleaning is completed.

2. The water level cleaning method according to claim 1, wherein, The robot includes a left wheel and a right wheel, and controlling the robot to rotate at a preset angle includes: The left and right wheels are controlled differentially, and the real-time angle is determined according to the robot's posture; When the real-time angle reaches the preset angle, the left wheel and the right wheel are controlled to stop differentially.

3. The water level cleaning method according to claim 1, wherein, The step of controlling the robot to move upward based on the robot's posture includes: If the robot is detected to be in a vertical orientation, then the robot is controlled to move vertically upwards based on the vertical orientation.

4. The water level cleaning method according to claim 3, wherein, After controlling the robot to rotate by a preset angle, controlling the robot to move upward according to the robot's posture includes: The robot is determined to be in a non-vertical posture; Based on the non-vertical posture, the robot is controlled to move diagonally upwards.

5. The water level cleaning method according to claim 4, wherein, The step of controlling the movement of the roller brush when the robot reaches the water surface includes: When the robot reaches the water surface and is detected to be in the vertical posture, the roller brush is controlled to move, and the robot changes from the non-vertical posture to the vertical posture under the action of buoyancy when it reaches the water surface.

6. The water level cleaning method according to claim 1, wherein, The distance sensor is an ultrasonic ranging sensor.

7. The water level cleaning method according to claim 1, wherein, The attitude sensor is an IMU sensor.

8. A water level cleaning device, wherein, The water level cleaning device includes: The sensor module is used to collect the real-time distance to the water surface using a distance sensor mounted on the robot at the same height as the robot's roller brush, and to collect the robot's attitude in real time using an attitude sensor mounted on the robot. The first control module is used to control the robot to move upward according to the robot's posture when the robot is below the water surface, and to control the movement of the roller brush when the robot reaches the water surface. The second control module is used to control the robot to move vertically downward after the roller brush movement ends, and to control the robot to rotate by a preset angle when the robot is below the water surface, and to return to the starting position when the robot is below the water surface, and to control the robot to move upward according to the robot's posture until the cleaning is finished.

9. An underwater cleaning robot, comprising a memory, a processor, and a readable storage medium stored in the memory and operable on the processor, wherein, When the processor executes the readable storage medium, it performs the following steps: A distance sensor mounted on the robot at the same height as the robot's roller brush is used to collect the real-time distance to the water surface, and an attitude sensor mounted on the robot is used to collect the robot's attitude in real time. When the robot is below the water surface, the robot is controlled to move upward according to its posture; when the robot reaches the water surface, the roller brush is controlled to move. After the roller brush movement ends, the robot is controlled to move vertically downwards. When the robot is below the water surface, the robot is controlled to rotate by a preset angle and return to the starting position. When the robot is below the water surface, the robot is controlled to move upwards according to its posture until the cleaning is completed.

10. The underwater cleaning robot according to claim 9, wherein, The robot includes a left wheel and a right wheel, and controlling the robot to rotate at a preset angle includes: The left and right wheels are controlled differentially, and the real-time angle is determined according to the robot's posture; When the real-time angle reaches the preset angle, the left wheel and the right wheel are controlled to stop differentially.

11. The underwater cleaning robot according to claim 9, wherein, The step of controlling the robot to move upward based on the robot's posture includes: If the robot is detected to be in a vertical orientation, then the robot is controlled to move vertically upwards based on the vertical orientation.

12. The underwater cleaning robot according to claim 11, wherein, After controlling the robot to rotate by a preset angle, controlling the robot to move upward according to the robot's posture includes: The robot is determined to be in a non-vertical posture; Based on the non-vertical posture, the robot is controlled to move diagonally upwards.

13. The underwater cleaning robot according to claim 12, wherein, The step of controlling the movement of the roller brush when the robot reaches the water surface includes: When the robot reaches the water surface and is detected to be in the vertical posture, the roller brush is controlled to move, and the robot changes from the non-vertical posture to the vertical posture under the action of buoyancy when it reaches the water surface.

14. The underwater cleaning robot according to claim 9, wherein, The distance sensor is an ultrasonic ranging sensor.

15. The underwater cleaning robot according to claim 9, wherein, The attitude sensor is an IMU sensor.

16. One or more readable storage media storing computer-readable instructions, wherein, When the computer-readable instructions are executed by one or more processors, the one or more processors cause the processors to perform the following steps: A distance sensor mounted on the robot at the same height as the robot's roller brush is used to collect the real-time distance to the water surface, and an attitude sensor mounted on the robot is used to collect the robot's attitude in real time. When the robot is below the water surface, the robot is controlled to move upward according to its posture; when the robot reaches the water surface, the roller brush is controlled to move. After the roller brush movement ends, the robot is controlled to move vertically downwards. When the robot is below the water surface, the robot is controlled to rotate by a preset angle and return to the starting position. When the robot is below the water surface, the robot is controlled to move upwards according to its posture until the cleaning is completed.

17. The readable storage medium according to claim 16, wherein, The robot includes a left wheel and a right wheel, and controlling the robot to rotate at a preset angle includes: The left and right wheels are controlled differentially, and the real-time angle is determined according to the robot's posture; When the real-time angle reaches the preset angle, the left wheel and the right wheel are controlled to stop differentially.

18. The readable storage medium according to claim 16, wherein, The step of controlling the robot to move upward based on the robot's posture includes: If the robot is detected to be in a vertical orientation, then the robot is controlled to move vertically upwards based on the vertical orientation.

19. The readable storage medium according to claim 18, wherein, After controlling the robot to rotate by a preset angle, controlling the robot to move upward according to the robot's posture includes: The robot is determined to be in a non-vertical posture; Based on the non-vertical posture, the robot is controlled to move diagonally upwards.

20. The readable storage medium according to claim 19, wherein, The step of controlling the movement of the roller brush when the robot reaches the water surface includes: When the robot reaches the water surface and is detected to be in the vertical posture, the roller brush is controlled to move, and the robot changes from the non-vertical posture to the vertical posture under the action of buoyancy when it reaches the water surface.

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