CN116752816B - A control method and storage medium for a pool robot - Google Patents
A control method and storage medium for a pool robotInfo
- Publication number
- CN116752816B CN116752816B CN202310714283.5A CN202310714283A CN116752816B CN 116752816 B CN116752816 B CN 116752816B CN 202310714283 A CN202310714283 A CN 202310714283A CN 116752816 B CN116752816 B CN 116752816B
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- Prior art keywords
- pool robot
- pool
- robot
- rotation angle
- water area
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H4/00—Swimming or splash baths or pools
- E04H4/14—Parts, details or accessories not otherwise provided for
- E04H4/16—Parts, details or accessories not otherwise provided for specially adapted for cleaning
- E04H4/1654—Self-propelled cleaners
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The embodiment of the application provides a control method and a storage medium of a pool robot, wherein the method comprises the steps of obtaining a first distance between the pool robot and an obstacle in the process that the pool robot performs target operation in a first direction on the water surface in a target water area, determining a first rotation angle of the pool robot under the condition that the first distance is smaller than a first threshold value, controlling the pool robot to rotate the first rotation angle to a second direction and perform target operation in the second direction, and determining a second rotation angle of the pool robot under the condition that the time for performing target operation in the second direction of the pool robot meets preset time or the distance for performing target operation in the second direction of the pool robot meets preset distance, and controlling the pool robot to rotate the second rotation angle to the first direction and perform target operation in the first direction. The application solves the problem of low cleaning efficiency of the pool robot, thereby achieving the effect of improving the cleaning efficiency of the pool robot.
Description
Technical Field
The embodiment of the application relates to the field of computers, in particular to a control method and a storage medium of a pool robot.
Background
Robots are increasingly replacing much of the labor work of humans, such as pool robots, with low cost and extremely low error rates.
However, the running route of the existing pool robot lacks planning and has no rule, and the running direction is randomly selected under the condition of impacting the pool wall, so that the running efficiency is low, for example, the cleaning of partial areas can be repeated, and the cleaning of partial areas can be omitted.
In view of the above problems, the related art has not proposed an effective solution.
Disclosure of Invention
The embodiment of the application provides a control method and a storage medium for a pool robot, which are used for at least solving the problem of low operation efficiency of the pool robot in the related technology.
According to one embodiment of the application, a control method of a pool robot is provided, which comprises the steps of acquiring a first distance between the pool robot and an obstacle in the process that the pool robot performs a target operation in a first direction on a water surface in a target water area, determining a first rotation angle of the pool robot when the first distance is smaller than a first threshold value, controlling the pool robot to rotate the first rotation angle to a second direction and perform the target operation in the second direction, and determining a second rotation angle of the pool robot when the time for the pool robot to perform the target operation in the second direction meets a preset time or when the distance for the pool robot to perform the target operation in the second direction meets a preset distance, and controlling the pool robot to rotate the second rotation angle to the first direction and perform the target operation in the first direction.
In an exemplary embodiment, determining the first rotation angle of the pool robot in the case that the first distance is smaller than a first threshold includes determining a first preset angle as the first rotation angle in the case that the direction of the current running direction is a first direction, and determining a second preset angle as the first rotation angle in the case that the direction of the current running direction is a second direction, wherein the first direction includes the first direction and the second direction, the first direction is a direction opposite to the second direction, and the first preset angle is opposite to a direction corresponding to the second preset angle.
In one exemplary embodiment, the method further includes acquiring a current running direction of the pool robot in real time during the target operation of the pool robot on the water surface in the target water area along the first direction, adjusting the running angular velocity of the pool robot if the current running direction deviates from the first direction, and adjusting the current running direction according to the running angular velocity to control the pool robot to perform the target operation along the first direction.
In one exemplary embodiment, before acquiring the current running direction of the pool robot in real time during the target operation of the pool robot in the first direction on the water surface in the target water area, the method further includes determining that the current running direction deviates from the first direction if the deviation angle between the current running direction and the first direction is greater than or equal to a second threshold value.
In one exemplary embodiment, determining the second rotation angle of the pool robot in a case where a time for the pool robot to perform the target operation in the second direction satisfies a preset time or in a case where a distance for the pool robot to perform the target operation in the second direction satisfies a preset distance includes determining a first rotation direction of the first rotation angle and determining the second rotation angle according to the first rotation direction and the first rotation angle.
In one exemplary embodiment, the method further includes determining a first rotation angle of the pool robot in a case where the first distance is less than a first threshold value, controlling the pool robot to rotate the first rotation angle to a second direction, and after performing the target operation in the second direction, acquiring a second distance between the pool robot and the obstacle, and controlling the pool robot to stop operating in a case where the second distance is less than a third threshold value, to stop performing the target operation.
In one exemplary embodiment, before a first distance between a pool robot and an obstacle is acquired during a target operation of a pool robot on a water surface in a target water area in a first direction, the pool robot is controlled to perform at least one of performing the target operation on the water surface in the target water area along the target water area boundary, and constructing a map of the target water area after performing the target operation on the water surface in the target water area along the target water area boundary.
In one exemplary embodiment, the obstacle comprises at least one of a physical obstacle and a virtual obstacle.
In one exemplary embodiment, before acquiring the first distance between the pool robot and the obstacle during the target operation of the pool robot on the water surface in the target water area along the first direction, the method further includes acquiring a map of the pool robot constructed during the operation of the pool robot in the target water area or from a pre-established map, determining an operation direction of the pool robot according to the map, wherein the operation direction includes the first direction and the second direction, or controlling the pool robot to operate in the target water area along the boundary of the target water area for one week, determining an operation direction having an operation time exceeding a preset threshold value as the first direction, and determining a direction perpendicular to the first direction as the second direction.
According to another embodiment of the present application, there is provided an apparatus for performing a target operation, including a first acquisition module for acquiring a first distance between a pool robot and an obstacle in a process of performing the target operation in a first direction on a water surface in a target water area by the pool robot, a first determination module for determining a first rotation angle of the pool robot if the first distance is smaller than a first threshold value, a first control module for controlling the pool robot to rotate the first rotation angle to a second direction and perform the target operation in the second direction, and a second control module for determining a second rotation angle of the pool robot if a time for the pool robot to perform the target operation in the second direction satisfies a preset time or if a distance for the pool robot to perform the target operation in the second direction satisfies a preset distance, and controlling the pool robot to rotate the second rotation angle to the first direction and perform the target operation in the first direction.
In an exemplary embodiment, the first determining module further includes a first determining sub-module configured to determine a first preset angle as the first rotation angle when the direction of the current running direction is a first direction, and a second determining sub-module configured to determine a second preset angle as the first rotation angle when the direction of the current running direction is a second direction, wherein the first direction includes the first direction and the second direction, the first direction is a direction opposite to the second direction, and the first preset angle is opposite to a direction corresponding to the second preset angle.
In one exemplary embodiment, the device further comprises a second acquisition module for acquiring a current running direction of the pool robot in real time during the target operation of the pool robot in the first direction on the water surface in the target water area, a first adjustment module for adjusting the running angular speed of the pool robot if the current running direction deviates from the first direction, and a second adjustment module for adjusting the current running direction according to the running angular speed to control the pool robot to execute the target operation in the first direction.
In an exemplary embodiment, the device further comprises a third determining module, configured to determine that the current running direction deviates from the first direction before acquiring the current running direction of the pool robot in real time during the process of performing the target operation on the water surface in the target water area along the first direction, where the deviation angle between the current running direction and the first direction is greater than or equal to a second threshold.
In an exemplary embodiment, the second determining module further includes a third determining sub-module for determining a first rotation direction of the first rotation angle, and a fourth determining sub-module for determining the second rotation angle according to the first rotation direction and the first rotation angle.
In one exemplary embodiment, the apparatus further includes a third acquiring module configured to determine a first rotation angle of the pool robot if the first distance is smaller than a first threshold value, control the pool robot to rotate the first rotation angle to a second direction and acquire a second distance between the pool robot and the obstacle after performing the target operation in the second direction, and a second controlling module configured to control the pool robot to stop operating to stop performing the target operation if the second distance is smaller than a third threshold value.
In an exemplary embodiment, the apparatus further includes a third control module for controlling the pool robot to perform at least one of the following operations in the target water area, performing the target operation in the target water area along the boundary of the target water area, and constructing a map of the target water area after performing the target operation in the target water area along the boundary of the target water area, before acquiring the first distance between the pool robot and the obstacle.
In one exemplary embodiment, the obstacle comprises at least one of a physical obstacle and a virtual obstacle.
In an exemplary embodiment, the apparatus further includes a fourth control module for acquiring a map of the pool robot before acquiring a first distance between the pool robot and an obstacle during a target operation of the pool robot on a water surface in a target water area in a first direction, wherein the map is constructed during the operation of the pool robot in the target water area or the map is acquired from a pre-established map, a third determination module for determining an operation direction of the pool robot according to the map, wherein the operation direction includes the first direction and the second direction, or the apparatus further includes a fourth determination module for determining an operation direction in which an operation time exceeds a preset threshold value as the first direction after the pool robot is operated in the target water area for one week along a boundary of the target water area, and a fifth determination module for determining a direction perpendicular to the first direction as the second direction.
According to a further embodiment of the present application, there is also provided a computer readable storage medium having a computer program stored therein, wherein the computer program is arranged to perform the steps of any of the method embodiments described above when run.
According to a further embodiment of the application there is also provided a pool robot comprising a memory having a computer program stored therein and a processor arranged to run the computer program to perform the steps of any of the method embodiments described above.
According to the application, the rotation angle and the running direction of the pool robot are continuously adjusted by acquiring the distance between the pool robot and the obstacle, so that the robot can run in a planned manner, and the random selection of the running direction under the condition of collision with the pool wall is avoided. Therefore, the problem of low operation efficiency of the pool robot in the related technology can be solved, and the effect of improving the operation efficiency of the pool robot is achieved.
Drawings
Fig. 1 is a hardware block diagram of a mobile terminal of a control method of a pool robot according to an embodiment of the present application;
fig. 2 is a flowchart of a control method of the pool robot according to an embodiment of the present application;
FIG. 3 is a working roadmap of a pool robot according to an embodiment of the application;
FIG. 4 is a main flow diagram of a pool robot cleaning a rectangular swimming pool in accordance with an embodiment of the present application;
FIG. 5 is a flow chart of a pool robot performing full coverage cleaning of a water surface in accordance with an embodiment of the present application;
fig. 6 is a block diagram of a control device of a pool robot according to an embodiment of the present application.
Detailed Description
Embodiments of the present application will be described in detail below with reference to the accompanying drawings in conjunction with the embodiments.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order.
The method embodiments provided in the embodiments of the present application may be performed in a mobile terminal, a computer terminal or similar computing device. Taking the mobile terminal as an example, fig. 1 is a block diagram of a hardware structure of the mobile terminal of a control method of a pool robot according to an embodiment of the present application. As shown in fig. 1, a mobile terminal may include one or more (only one is shown in fig. 1) processors 102 (the processor 102 may include, but is not limited to, a microprocessor MCU or a processing device such as a programmable logic device FPGA) and a memory 104 for storing data, wherein the mobile terminal may also include a transmission device 106 for communication functions and an input-output device 108. It will be appreciated by those skilled in the art that the structure shown in fig. 1 is merely illustrative and not limiting of the structure of the mobile terminal described above. For example, the mobile terminal may also include more or fewer components than shown in fig. 1, or have a different configuration than shown in fig. 1.
The memory 104 may be used to store computer programs, such as software programs of application software and modules, such as computer programs corresponding to the control method of the pool robot in the embodiment of the present application, and the processor 102 executes the computer programs stored in the memory 104 to perform various functional applications and data processing, i.e., implement the above-mentioned methods. Memory 104 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include memory remotely located relative to the processor 102, which may be connected to the mobile terminal via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The transmission device 106 is used to receive or transmit data via a network. Specific examples of the network described above may include a wireless network provided by a communication provider of the mobile terminal. In one example, the transmission device 106 includes a network adapter (NetworkInterfaceController, simply referred to as a NIC) that can connect to other network devices through a base station to communicate with the internet. In one example, the transmission device 106 may be a Radio Frequency (RF) module for communicating with the internet wirelessly.
In this embodiment, a control method of a pool robot is provided, fig. 2 is a flowchart of a control method of a pool robot according to an embodiment of the present application, as shown in fig. 2, the flowchart includes the following steps:
Step S202, acquiring a first distance between the pool robot and an obstacle in the process that the pool robot performs target operation along a first direction on the water surface in the target water area;
step S204, determining a first rotation angle of the pool robot under the condition that the first distance is smaller than a first threshold value;
Step S206, controlling the pool robot to rotate the first rotation angle to a second direction, and executing the target operation along the second direction;
and step S208, determining a second rotation angle of the pool robot and controlling the pool robot to rotate the second rotation angle to the first direction and execute the target operation along the first direction when the time for the pool robot to execute the target operation in the second direction is satisfied with a preset time or when the distance for the pool robot to execute the target operation in the second direction is satisfied with a preset distance.
The main execution body of the steps may be a controller of the pool robot, or a processor with data processing and signal interaction capabilities, or may be other processing devices or processing units with similar processing capabilities, but is not limited thereto.
In the above embodiment, the first distance is a distance between the front of the pool robot and the obstacle, and the target water area includes, but is not limited to, a swimming pool, an ornamental reservoir, a field pool, etc., the first threshold may be 20cm, 30cm, or 25cm, which is, of course, only an illustrative example, and the first threshold may be any length within 20-30cm, which is slightly smaller than the working width of the pool robot, and the working width of the pool robot may be 30-35cm, which is set to increase the actual coverage area of the pool robot working in the target water area and improve the coverage rate of the actual working range of the pool robot to the target water area. The pool robot may travel in a predetermined travel route in the target water area, for example, may travel in a "bow" type trajectory, or may travel in an "S" type trajectory. In the process that the pool robot moves in the overall arc-shaped track in the target water area, the first rotation angle and the second rotation angle are consistent in direction, for example, 90 degrees clockwise or 90 degrees anticlockwise. The first direction may be any direction in the target water area, and may be perpendicular to the second direction. For example, in the case that the target water area is a rectangular pool, the first direction may be a long side direction of the rectangular pool, including two directions on the long side, and the second direction may be a short side direction of the rectangular pool. The preset time can be 2s or 3s or 2.5s, the preset time is related to the advancing speed of the pool robot in the target water area, the distance of the pool robot moving in the second direction in the preset time is slightly smaller than the working width of the pool robot, for example, the distance of the pool robot moving in the second direction in the preset time is 1/2-1/3 of the working width of the pool robot, and the purpose of the arrangement is to increase the actual coverage area of the pool robot working in the target water area and improve the coverage rate of the actual working range of the pool robot to the target water area.
Optionally, the obstacle comprises at least one of a physical obstacle and a virtual obstacle, wherein the virtual obstacle can be a dividing line of a water area partition, a virtual wall and the like, and the physical obstacle can comprise a wall in a target water area.
Alternatively, in case that the pool robot collides with an obstacle, the pool robot is controlled to rotate through a first rotation angle to perform the target operation in a second direction.
Optionally, in a case that a distance of the pool robot performing the target operation in the second direction satisfies a preset distance, determining a second rotation angle of the pool robot, and controlling the pool robot to rotate through the second rotation angle to perform the target operation in the first direction.
The distance between the pool robot and the obstacle is obtained, and the rotation angle and the running direction of the pool robot are continuously adjusted, so that the robot can run in a planned manner, and the situation that the running direction is randomly selected under the condition of collision to the pool wall is avoided. Therefore, the problem of low operation efficiency of the pool robot in the related technology can be solved, and the effect of improving the operation efficiency of the pool robot is achieved.
In an exemplary embodiment, determining the first rotation angle of the pool robot in the case that the first distance is smaller than a first threshold includes determining a first preset angle as the first rotation angle in the case that the direction of the current running direction is a first direction, and determining a second preset angle as the first rotation angle in the case that the direction of the current running direction is a second direction, wherein the first direction includes the first direction and the second direction, the first direction is a direction opposite to the second direction, and the first preset angle is opposite to a direction corresponding to the second preset angle. In the above embodiment, the first direction and the second direction are opposite directions, and the case that the target water area is a rectangular swimming pool and the long side of the swimming pool is the east-west direction is taken as an example in fig. 3, the first direction may be the west-east direction, and the second direction may be the east-west direction. Further, in the case that the covering direction of the pool robot on the water surface is from the south to the north, the first rotation angle determined during the forward movement of the pool robot from the west to the east is 90 degrees counterclockwise (in the top view of the swimming pool), i.e. 90 degrees north, and if the pool robot is forward moved from the east to the west, the first rotation angle determined is 90 degrees clockwise, and likewise 90 degrees north. Through the embodiment, the angle of the next steering is determined through the forward direction of the pool robot, so that the treatment difficulty of a complex water area can be effectively reduced, and the cleaning efficiency is improved.
In one exemplary embodiment, the method further includes acquiring a current running direction of the pool robot in real time during the target operation of the pool robot on the water surface in the target water area along the first direction, adjusting the running angular velocity of the pool robot if the current running direction deviates from the first direction, and adjusting the current running direction according to the running angular velocity to control the pool robot to perform the target operation along the first direction. In the above embodiment, the running angular velocity may be 1rad/s or 1.5rad/s, but the above running angular velocity is merely an illustrative example, and the above running angular velocity may be any suitable angular velocity determined according to the adjustment requirement of the pool robot. Through the embodiment, under the condition that the current advancing direction of the pool robot is confirmed to deviate, the angular speed is timely output to adjust the advancing direction of the pool robot, so that the stability of the manual work route of the pool robot can be effectively improved.
In one exemplary embodiment, before acquiring the current running direction of the pool robot in real time during the target operation of the pool robot in the first direction on the water surface in the target water area, the method further includes determining that the current running direction deviates from the first direction if the deviation angle between the current running direction and the first direction is greater than or equal to a second threshold value. In the above embodiment, the second threshold may be 20 degrees, 30 degrees, or 25 degrees, although the above is merely an illustrative example, and the second threshold may be any angle suitable to allow for deviation of the pool robot direction. Whether the current advancing direction of the pool robot has deviation or not is judged through a preset threshold value, the method has the advantages of accuracy and easiness in execution, and the working efficiency of the pool robot is improved.
In one exemplary embodiment, determining the second rotation angle of the pool robot in a case where a time for the pool robot to perform the target operation in the second direction satisfies a preset time or in a case where a distance for the pool robot to perform the target operation in the second direction satisfies a preset distance includes determining a first rotation direction of the first rotation angle and determining the second rotation angle according to the first rotation direction and the first rotation angle. In the above embodiment, when the first rotation direction of the first rotation angle, that is, the rotation direction of the pool robot in the short side direction is determined, the rotation direction of the turning long side may be calculated with reference to the rotation direction of the turning long side from the previous long side to the current short side, and both have consistency. For example, as shown in fig. 3, in a rectangular swimming pool with east-west long side, the pool robot performs cleaning from north to south, the short side of the pool robot on the arcuate route may be divided into east-west short side, when the pool robot enters east-west short side from long side, the forward direction needs to be rotated 90 degrees counterclockwise, when the pool robot enters west-west short side from long side, the forward direction needs to be rotated 90 degrees clockwise, in addition, when the pool robot enters east-west short side from long side, the forward direction needs to be rotated 90 degrees counterclockwise, the pool robot enters west-west short side from long side, the forward direction needs to be rotated 90 degrees clockwise, that is, the direction of turning of the short side into long side is consistent with the direction of turning of the last long side into current short side. Through the embodiment, the second rotation angle of the current second direction turning into the first direction can be rapidly determined, and the working efficiency of the pool robot is improved.
In one exemplary embodiment, the method further includes determining a first rotation angle of the pool robot in a case where the first distance is less than a first threshold value, controlling the pool robot to rotate the first rotation angle to a second direction, and after performing the target operation in the second direction, acquiring a second distance between the pool robot and the obstacle, and controlling the pool robot to stop operating in a case where the second distance is less than a third threshold value, to stop performing the target operation. In the above embodiment, the second distance is a distance between the front of the pool robot and the obstacle, and the third threshold may be 20cm, 30cm, or 25cm, which is merely an illustrative example, and the third threshold may be a value within any reasonable range smaller than the working width of the pool robot. In the above embodiment, the time for properly ending the cleaning process of the pool robot can be determined by setting the third threshold, so that the overall cleaning efficiency is effectively improved.
In one exemplary embodiment, before a first distance between a pool robot and an obstacle is acquired during a target operation of a pool robot on a water surface in a target water area in a first direction, the pool robot is controlled to perform at least one of performing the target operation on the water surface of the target water area along a boundary of the target water area, performing the target operation on the water surface of the target water area along the boundary of the target water area, and constructing a map of the target water area after performing the target operation on the water surface of the target water area along the boundary of the target water area. Through the embodiment, the target water area is cleaned along the edge, so that the method can be effectively adapted to different target water areas, and the complexity of cleaning the whole water area is reduced.
In one exemplary embodiment, the obstacle comprises at least one of a physical obstacle and a virtual obstacle. In the above embodiment, the virtual barrier may be a dividing line of a water area, a virtual wall, or the like, and the physical barrier may be a wall of a swimming pool in a case where the target water area is the swimming pool.
In one exemplary embodiment, before acquiring the first distance between the pool robot and the obstacle during the target operation of the pool robot on the water surface in the target water area along the first direction, the method further includes acquiring a map of the pool robot constructed during the operation of the pool robot in the target water area or from a pre-established map, determining an operation direction of the pool robot according to the map, wherein the operation direction includes the first direction and the second direction, or controlling the pool robot to operate in the target water area along the boundary of the target water area for one week, determining an operation direction having an operation time exceeding a preset threshold value as the first direction, and determining a direction perpendicular to the first direction as the second direction. In the above embodiment, the map may be a water surface map or a water bottom map. The map may be constructed in the process that the pool robot performs the target operation in the target water area, or may be constructed in the case that the pool robot only operates in the target water area without performing the target operation. In the case where the target water area is a rectangular swimming pool, the long side direction of the rectangular swimming pool may be determined as a first direction, the short side direction of the rectangular swimming pool may be determined as a second direction, and the corner of the rectangular swimming pool in the map may be determined as the operation start point of the pool robot. The running direction in which the running time exceeds the preset threshold is determined to be the first direction, that is, the angle in which the running time is longest in the process of determining that the water surface is along the edge, which is close to the wall surface, is the first direction, the running direction in which the running time exceeds the preset threshold may be one or more, the first direction may be determined by randomly selecting a plurality of running directions in which the running time is longest in the process of running along the edge of the swimming pool, for example, the long-side direction in the case of a rectangular swimming pool in the target water area, for example, in the case of a circular pool in the target water area, a plurality of running directions in which the running time is the same in the process of running along the edge of the swimming pool may be determined by randomly selecting a plurality of running directions. Through the embodiment, the running starting point and the running direction of the robot can be rapidly determined based on the map constructed while the pool robot works or is constructed before, and the running efficiency of the pool robot is effectively improved.
The present invention will be described with reference to specific embodiments, and the flow of cleaning a rectangular swimming pool by a pool robot will be described with reference to the specific embodiment, as shown in fig. 4, wherein the steps of cleaning a rectangular swimming pool by a pool robot include:
s1, a pool robot enters a rectangular swimming pool to start cleaning;
s2, cleaning along the rectangular swimming pool edge and establishing a swimming pool map by the pool robot;
s3, carrying out full-coverage cleaning on the water surface by the pool robot;
S4, cleaning the pool robot along the edge of the rectangular swimming pool;
s5, the pool robot finishes cleaning the rectangular swimming pool.
The flow of the pool robot for cleaning the water surface in a full coverage manner is shown in fig. 5, and the method comprises the following steps:
step 1, a pool robot starts a water surface coverage cleaning process;
step 2, the pool robot determines the corner positions of the long side direction and the rectangular swimming pool based on the swimming pool shape map;
step3, the pool robot moves to the corner position of the rectangular swimming pool and rotates to the long side direction;
Step 4, the pool robot moves along the long side direction and cleans the water surface of the swimming pool along the way by taking the corner position of the rectangular swimming pool as a starting point;
step 5, continuously detecting the distance between the pool robot and the front Fang Yong pool wall in the process of moving along the long side direction;
Step 6, under the condition that the distance between the pool robot and the front swimming pool wall is detected to be smaller than a first threshold value, calculating a first azimuth angle, namely an angle required by the pool robot to turn to the short side direction;
Step 7, the pool robot rotates through a first azimuth angle to enter the short side direction;
step 8, the pool robot moves along the short side direction;
Step 9, under the condition that the pool robot moves for a preset time along the short side direction, the pool robot calculates a second azimuth angle, namely an angle required by the pool robot to turn to the long side direction;
Step 10, continuously detecting the distance between the pool robot and the front Fang Yong pool wall in the process of moving along the short side direction, executing step 11 when the distance is smaller than a second threshold value, executing step 3 according to the second azimuth angle when the distance is larger than the second threshold value, and repeating the flow;
And 11, finishing the water surface coverage cleaning process by the pool robot.
From the description of the above embodiments, it will be clear to a person skilled in the art that the method according to the above embodiments may be implemented by means of software plus the necessary general hardware platform, but of course also by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) comprising several instructions for causing a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) to perform the above-mentioned methods of the various embodiments of the present application.
The embodiment also provides a pool robot control device, which is used for implementing the above embodiment and the optional implementation manner, and is not described again. As used below, the term "module" may be a combination of software and/or hardware that implements a predetermined function. While the means described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware, is also possible and contemplated.
Fig. 6 is a block diagram of a pool robot apparatus according to an embodiment of the present application, as shown in fig. 6, including:
A first obtaining module 62, configured to obtain a first distance between the pool robot and the obstacle during a process of performing a target operation on the water surface of the pool robot in the target water area along a first direction;
a first determining module 64 configured to determine a first rotation angle of the pool robot if the first distance is less than a first threshold;
A first control module 66 for controlling the pool robot to rotate the first rotation angle to a second direction and perform the target operation in the second direction;
and a second determining module 68 for determining a second rotation angle of the pool robot and controlling the pool robot to rotate the second rotation angle to the first direction and perform the target operation in the first direction, in a case where a time for the pool robot to perform the target operation in the second direction satisfies a preset time or in a case where a distance for the pool robot to perform the target operation in the second direction satisfies a preset distance.
In an exemplary embodiment, the first determining module 64 further includes a first determining sub-module configured to determine a first preset angle as the first rotation angle when the direction of the current running direction is a first direction, and a second determining sub-module configured to determine a second preset angle as the first rotation angle when the direction of the current running direction is a second direction, wherein the first direction includes the first direction and the second direction, the first direction is a direction opposite to the second direction, and the first preset angle is opposite to a direction corresponding to the second preset angle.
In one exemplary embodiment, the device further comprises a second acquisition module for acquiring a current running direction of the pool robot in real time during the target operation of the pool robot in the first direction on the water surface in the target water area, a first adjustment module for adjusting the running angular speed of the pool robot if the current running direction deviates from the first direction, and a second adjustment module for adjusting the current running direction according to the running angular speed to control the pool robot to execute the target operation in the first direction.
In an exemplary embodiment, the device further comprises a third determining module, configured to determine that the current running direction deviates from the first direction before acquiring the current running direction of the pool robot in real time during the process of performing the target operation on the water surface in the target water area along the first direction, where the deviation angle between the current running direction and the first direction is greater than or equal to a second threshold.
In an exemplary embodiment, the second determining module 68 further includes a third determining sub-module for determining a first rotational direction of the first rotational angle and a fourth determining sub-module for determining the second rotational angle according to the first rotational direction and the first rotational angle.
In one exemplary embodiment, the apparatus further includes a third acquiring module configured to determine a first rotation angle of the pool robot if the first distance is smaller than a first threshold value, control the pool robot to rotate the first rotation angle to a second direction and acquire a second distance between the pool robot and the obstacle after performing the target operation in the second direction, and a second controlling module configured to control the pool robot to stop operating to stop performing the target operation if the second distance is smaller than a third threshold value.
In an exemplary embodiment, the apparatus further includes a third control module for controlling the pool robot to perform at least one of the following in the target water area, performing the target operation in the target water area along the boundary of the target water area, performing the water surface in the target water area along the boundary of the target water area, and constructing a map of the target water area after the water surface in the target water area is moved along the boundary of the target water area, before acquiring the first distance between the pool robot and the obstacle in the process of performing the target operation in the first direction on the water surface in the target water area.
In one exemplary embodiment, the obstacle comprises at least one of a physical obstacle and a virtual obstacle.
In an exemplary embodiment, the apparatus further includes a fourth control module for acquiring a map of the pool robot before acquiring a first distance between the pool robot and an obstacle during a target operation of the pool robot on a water surface in a target water area in a first direction, wherein the map is constructed during the operation of the pool robot in the target water area or the map is acquired from a pre-established map, a third determination module for determining an operation direction of the pool robot according to the map, wherein the operation direction includes the first direction and the second direction, or the apparatus further includes a fourth determination module for determining an operation direction in which an operation time exceeds a preset threshold value as the first direction after the pool robot is operated in the target water area for one week along a boundary of the target water area, and a fifth determination module for determining a direction perpendicular to the first direction as the second direction.
It should be noted that each of the above modules may be implemented by software or hardware, and the latter may be implemented by, but not limited to, the above modules all being located in the same processor, or each of the above modules being located in different processors in any combination.
Embodiments of the present application also provide a computer readable storage medium having a computer program stored therein, wherein the computer program is arranged to perform the steps of any of the method embodiments described above when run.
In an exemplary embodiment, the computer readable storage medium may include, but is not limited to, a U disk, a Read-only memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic disk, or an optical disk, etc. which can store a computer program.
Embodiments of the present application also provide a pool robot comprising a memory having a computer program stored therein and a processor arranged to run the computer program to perform the steps of any of the method embodiments described above.
In an exemplary embodiment, the pool robot may further include a transmission device connected to the processor, and an input/output device connected to the processor.
Specific examples in this embodiment may refer to the examples described in the foregoing embodiments and the exemplary implementation, and this embodiment is not described herein.
It will be appreciated by those skilled in the art that the modules or steps of the application described above may be implemented in a general purpose computing device, they may be concentrated on a single computing device, or distributed across a network of computing devices, they may be implemented in program code executable by computing devices, so that they may be stored in a storage device for execution by computing devices, and in some cases, the steps shown or described may be performed in a different order than that shown or described herein, or they may be separately fabricated into individual integrated circuit modules, or multiple modules or steps of them may be fabricated into a single integrated circuit module. Thus, the present application is not limited to any specific combination of hardware and software.
The above-mentioned embodiments of the present application are merely optional examples, and are not intended to limit the application, and various modifications and variations may be effected to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the principle of the present application should be included in the protection scope of the present application.
Claims (9)
Priority Applications (4)
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|---|---|---|---|
| CN202310714283.5A CN116752816B (en) | 2023-06-15 | 2023-06-15 | A control method and storage medium for a pool robot |
| PCT/CN2023/113176 WO2024254975A1 (en) | 2023-06-15 | 2023-08-15 | Control method for pool robot, and storage medium |
| PCT/CN2024/089380 WO2024222692A1 (en) | 2023-04-27 | 2024-04-23 | Control method for cleaning device, and cleaning device |
| AU2024263086A AU2024263086A1 (en) | 2023-04-27 | 2024-04-23 | Cleaning device control method and cleaning device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310714283.5A CN116752816B (en) | 2023-06-15 | 2023-06-15 | A control method and storage medium for a pool robot |
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| CN116752816B true CN116752816B (en) | 2026-01-06 |
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| AU2024263086A1 (en) * | 2023-04-27 | 2025-12-11 | Xingmai Innovation Technology (Suzhou) Co., Ltd. | Cleaning device control method and cleaning device |
| CN118257450A (en) * | 2024-03-25 | 2024-06-28 | 元鼎智能创新(国际)有限公司 | Pool robot edge cleaning method, device, pool robot and medium |
| CN119847156B (en) * | 2025-01-01 | 2025-12-05 | 深圳市元鼎智能创新有限公司 | Control method for automatic water tank cleaning device, automatic water tank cleaning device and computer storage medium |
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| JP2005230044A (en) * | 2004-02-17 | 2005-09-02 | Funai Electric Co Ltd | Autonomous running robot cleaner |
| CN114190820A (en) * | 2020-09-02 | 2022-03-18 | 深圳乐动机器人有限公司 | Robot area cleaning method and device, robot and storage medium |
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| CN104977926A (en) * | 2014-04-14 | 2015-10-14 | 科沃斯机器人科技(苏州)有限公司 | Local obstacle avoidance walking method for self-mobile robot |
| CN108247647B (en) * | 2018-01-24 | 2021-06-22 | 速感科技（北京）有限公司 | a cleaning robot |
| KR102301758B1 (en) * | 2018-12-07 | 2021-09-14 | 주식회사 유진로봇 | Autonomous Mobile Robot and Method for Driving Control the same |
| CN111352424B (en) * | 2020-03-12 | 2021-07-02 | 深圳市银星智能科技股份有限公司 | Robot obstacle avoidance method, nonvolatile computer readable storage medium and robot |
| CN113448325A (en) * | 2020-03-24 | 2021-09-28 | 青岛塔波尔机器人技术股份有限公司 | Sweeping robot control method and sweeping robot |
| CN114510015B (en) * | 2020-10-29 | 2024-10-15 | 深圳市普森斯科技有限公司 | Sweeping robot moving method, electronic device and storage medium |
| CN113576322B (en) * | 2021-08-10 | 2022-11-15 | 追觅创新科技(苏州)有限公司 | Cleaning method, apparatus and storage medium for cleaning robot |
| CN114019986B (en) * | 2022-01-04 | 2022-05-20 | 北京史河科技有限公司 | Path planning method of wall-climbing robot |
| CN114794980B (en) * | 2022-04-02 | 2024-07-23 | 深圳市云鼠科技开发有限公司 | Cleaning method and cleaning robot |
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| JP2005230044A (en) * | 2004-02-17 | 2005-09-02 | Funai Electric Co Ltd | Autonomous running robot cleaner |
| CN114190820A (en) * | 2020-09-02 | 2022-03-18 | 深圳乐动机器人有限公司 | Robot area cleaning method and device, robot and storage medium |
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| WO2024254975A1 (en) | 2024-12-19 |
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