WO2024026822A1

WO2024026822A1 - Method for generating pool wall cleaning path, method for cleaning pool wall, device thereof, and electronic device

Info

Publication number: WO2024026822A1
Application number: PCT/CN2022/110505
Authority: WO
Inventors: Zhongchao DING
Original assignee: Beijing Smorobot Technology Co., Ltd
Priority date: 2022-08-05
Filing date: 2022-08-05
Publication date: 2024-02-08

Abstract

The present disclosure provides a method for generating a pool wall cleaning path, a method for cleaning a pool wall, a device thereof and an electronic device, comprising: generating a cleaning path corresponding to the swimming pool water depth according to the swimming pool water depth dynamically measured by a swimming pool cleaning robot in the process of cleaning the pool wall; wherein each cleaning path at least comprises an upward cleaning road segment of the swimming pool cleaning robot extending from the pool bottom to the pool surface of the swimming pool and a downward cleaning road segment extending from the pool surface to the pool bottom of the swimming pool. Therefore, the present disclosure can generate a pool wall cleaning path based on the dynamically measured water depth, and can improve the pool wall cleaning effect.

Description

METHOD FOR GENERATING POOL WALL CLEANING PATH, METHOD FOR CLEANING POOL WALL, DEVICE THEREOF, AND ELECTRONIC DEVICE

TECHNICAL FIELD

The embodiment of the present disclosure relates to the technical field of cleaning control, in particular to a method for generating a pool wall cleaning path, a method for generating a pool wall cleaning route, a method for cleaning a pool wall, a device thereof, an electronic device and a computer storage medium.

BACKGROUND

A swimming pool cleaning robot is a cleaning robot which is produced for the demand of cleaning a swimming pool, which can finish the action of repeatedly cleaning the pool bottom and the pool wall and filtering the water in the swimming pool.

Generally speaking, when the bottom of a swimming pool is designed in a wave shape, or the swimming pool is equipped with escalators, steps, etc., the swimming pool water depth is inconsistent. However, the existing swimming pool cleaning robot does not dynamically adjust the pool wall cleaning path according to the water depth when performing the cleaning task of the pool wall, which leads to an unsatisfactory cleaning effect of the pool wall and affects the user experience of such products.

In view of this, there is a need for an improved pool wall cleaning route planning scheme, which can finish the cleaning task of the pool wall more efficiently.

SUMMARY

To solve the above problems, embodiments of the present disclosure provide a method for generating a pool wall cleaning path, a method for generating a pool wall cleaning route, a method for cleaning a pool wall, a device thereof, an electronic device and a computer storage medium, so as to at least partially solve the above problems.

According to an aspect of the present disclosure, there is provided a method for generating a pool wall cleaning path, comprising: generating a cleaning path corresponding to the swimming pool water depth according to the swimming pool water depth dynamically measured by a swimming pool cleaning robot in the process of cleaning the pool wall; wherein each cleaning path at least comprises an upward cleaning road segment extending from the pool bottom to the pool surface of the swimming pool and a downward cleaning road segment extending from the pool surface to the pool bottom of the swimming pool.

According to another aspect of the present disclosure, there is provided a method for generating a pool wall cleaning route, comprising: generating a cleaning route covering at least one pool wall of the swimming pool, wherein the pool wall cleaning route consists of a plurality of continuous cleaning paths; wherein each cleaning path is generated based on the method for generating a pool wall cleaning path described in the above aspect.

According to another aspect of the present disclosure, there is provided a method for cleaning a pool wall, comprising: controlling a swimming pool cleaning robot to move according to a cleaning route generated on a pool wall to perform a pool wall cleaning task; wherein the cleaning route consists of a plurality of continuous cleaning paths, and each cleaning path is generated based on the method for generating a pool wall cleaning path described in the above aspect.

According to another aspect of the present disclosure, there is provided a device for generating a pool wall cleaning path, comprising: a water depth measuring module, which is configured to dynamically measure the swimming pool water depth in the process of cleaning the pool wall by a swimming pool cleaning robot; a path generating module, which is configured to generate a cleaning path corresponding to the swimming pool water depth according to the swimming pool water depth measured by the measuring module; wherein each cleaning path at least comprises an upward cleaning road segment extending from the pool bottom to the pool surface of the swimming pool and a downward cleaning road segment extending from the pool surface to the pool bottom of the swimming pool.

According to another aspect of the present disclosure, there is provided a device for generating a pool wall cleaning route, comprising: a route generating module, which is configured to generate a cleaning route covering at least one pool wall of the swimming pool, wherein the pool wall cleaning route consists of a plurality of continuous cleaning paths; wherein each cleaning path is generated based on the device for generating a pool wall cleaning path described in the above aspect.

According to another aspect of the present disclosure, there is provided a device for cleaning a pool wall, comprising: a cleaning module, which is configured to control a swimming pool cleaning robot to move along a cleaning route on a pool wall to perform a pool wall cleaning task; wherein the cleaning route consists of a plurality of continuous cleaning paths, and each cleaning path is generated based on the device for generating a pool wall cleaning path described in the above aspect.

According to another aspect of the present disclosure, there is provided an electronic device, comprising: a processor; and a memory, which is configured to store programs; wherein the program comprises instructions which, when executed by the processor, cause the processor to execute the method for generating a pool wall cleaning path described in the above aspect, or cause the processor to execute the method for generating a pool wall cleaning route described in the above aspect, or cause the processor to execute the method for cleaning a pool wall described in the above aspect.

According to another aspect of the present disclosure, there is provided a non-transitory computer readable storage medium in which computer instructions are stored, wherein the computer instructions are used to cause a computer to execute the method for generating a pool wall cleaning path described in the above aspect, or cause the processor to execute the method for generating a pool wall cleaning route described in the above aspect, or the processor to execute the method for cleaning a pool wall described in the above aspect.

A method for generating a pool wall cleaning path, a method for generating a pool wall cleaning route, a method for cleaning a pool wall, a device thereof, an electronic device and a computer storage medium provided by the present disclosure can dynamically measure the swimming pool water depth in the process of cleaning the pool wall, and generate the cleaning path corresponding to the current water depth of the swimming pool in real time based on the current water depth of the swimming pool, so as to improve the pool wall cleaning coverage rate and the pool wall cleaning effect.

BRIEF DESCRIPTION OF THE DRAWINGS

The following drawings are only intended to schematically illustrate and explain the present disclosure, rather than limit the scope of the present disclosure.

FIG. 1 is a processing flow chart of a method for generating a pool wall cleaning path according to an exemplary embodiment of the present disclosure.

FIG. 2A to FIG. 2D are schematic diagrams of a method for generating a cleaning path according to an exemplary embodiment of the present disclosure.

FIG. 3A to FIG. 3C are schematic diagrams of a method for generating a cleaning path according to another exemplary embodiment of the present disclosure.

FIG. 4 is a processing flow chart of a method for generating a pool wall cleaning path according to an exemplary embodiment of the present disclosure.

FIG. 5 is a processing flow chart of a method for generating a pool wall cleaning path according to an exemplary embodiment of the present disclosure.

FIG. 6 is a processing flow chart of a method for generating a pool wall cleaning path according to an exemplary embodiment of the present disclosure.

FIG. 7 is a schematic diagram of a method for generating a cleaning path according to another exemplary embodiment of the present disclosure.

FIGS. 8A to 8D are schematic diagrams of cleaning paths of a plurality of pool walls according to an exemplary embodiment of the present disclosure.

FIGS. 9A to 9D are schematic diagrams of cleaning paths of a plurality of pool walls according to another exemplary embodiment of the present disclosure.

FIG. 10 is a processing flow chart of a method for cleaning a pool wall according to an exemplary embodiment of the present disclosure.

FIG. 11 is a structural block diagram of a device for generating a pool wall cleaning path according to an exemplary embodiment of the present disclosure.

FIG. 12 is a structural block diagram of an electronic device according to an exemplary embodiment of the present disclosure.

Description of reference numerals:

1100: Device for generating a pool wall cleaning path; 1102. Water depth measuring module; 1104. Path generating module; 1200. Electronic device; 1201. Calculating unit; 1202. ROM; 1203. RAM; 1204. Bus; 1205. Input and output interface; 1206. Input unit; 1207. Output unit; 1208. Storage unit; 1209. Communication unit.

DETAILED DESCRIPTION OF THE EMBODIMENTS

In order to have a clearer understanding of the technical features, objectives and effects of the embodiments of the present disclosure, the detailed implementation of the embodiments of the present disclosure will now be described with reference to the accompanying drawings.

In this text, "schematic" means "serving as an instance, example or illustration" , and any illustration and embodiment described as "schematic" in this text should not be interpreted as a more preferred or advantageous technical scheme.

In order to make the drawings concise, only the parts related to the present disclosure are schematically shown in each drawing, and they do not represent the actual structure as a product. In addition, in order to make the drawings concise and understandable, in some drawings, only one or more of the components with the same structure or function are schematically shown, or only one or more of the components with the same structure or function are marked.

FIG. 1 shows a processing flow chart of a method for generating a pool wall cleaning path according to an exemplary embodiment of the present disclosure. As shown in the figure, this embodiment mainly comprises the following steps.

Step S102, in the process of cleaning the pool wall by the swimming pool cleaning robot, the swimming pool water depth is dynamically measured.

Preferably, the pool bottom of the swimming pool may be wavy (refer to FIG. 2D) or have an inclined plane (refer to FIG. 2B, FIG. 3B, FIG. 8A, FIG. 8C, FIG. 9A, FIG. 9C) to form different swimming pool water depths.

Preferably, the pool bottom of the swimming pool may include steps (refer to FIG. 2C, FIG. 3C, FIG. 8B, FIG. 8D, FIG. 9B, FIG. 9D) to form different swimming pool water depths.

Step S104, a cleaning path corresponding to the swimming pool water depth is generated according to the dynamically measured swimming pool water depth.

Preferably, the cleaning path may be a zigzag path.

Preferably, each cleaning path at least comprises one upward cleaning road segment and one downward cleaning road segment, wherein the upward cleaning road segment may extend from the pool bottom to the pool surface of the swimming pool, and the downward cleaning road segment may extend from the pool surface to the pool bottom of the swimming pool.

Preferably, the upward cleaning road segment and the downward cleaning road segment of each cleaning path may be directly connected to form an inverted V-shaped cleaning path.

For example, in the examples shown in FIGS. 2A to 2C, the upward cleaning road segment AB and the downward cleaning road segment BC directly connected therewith may form an inverted V-shaped cleaning path ABC; the upward cleaning road segment CD and the downward cleaning road segment DE directly connected therewith may form another inverted V-shaped cleaning path CDE; the upward cleaning road segment DR and the downward cleaning road segment FG directly connected therewith may form another inverted V-shaped cleaning path EFG, and so on.

Preferably, the upward cleaning road segment and the downward cleaning road segment of each cleaning path may be indirectly connected to form a trapezoidal cleaning path.

For example, in the examples shown in FIGS. 3A to 3C, the upward cleaning road segment HI and the downward cleaning road segment JK indirectly connected therewith may form a trapezoidal cleaning path HIJK; the upward cleaning road segment KL and the downward cleaning road segment MN indirectly connected therewith may form another trapezoidal cleaning path KLMN; the upward cleaning road segment NO and the downward cleaning road segment PQ indirectly connected therewith may form another trapezoidal cleaning path NOPQ.

In this embodiment, the swimming pool cleaning robot is movable forward from the pool bottom to the pool surface of the swimming pool along the upward cleaning road segment of each cleaning path; or the swimming pool cleaning robot is movable backward from the pool surface to the pool bottom of the swimming pool along the downward cleaning road segment of each cleaning path.

For example, in the simple schematic diagrams shown in FIGS. 2A to 2C and 3A to 3C, the black area part is the head end of the swimming pool cleaning robot (the same in the following figures) .

The swimming pool cleaning robot can move forward along any upward cleaning road segment on the pool wall (for example, road segment AB, road segment CD, road segment EF in FIGS. 2A to 2C, or road segment HI, road segment KL and road segment NO in FIGS. 3A to 3C) to climb up from the pool bottom to the pool surface, and can move backward along any downward cleaning road segment on the pool wall (for example, road segment BC, road segment DE and road segment FG in FIGS. 2A to 2C, or road segment JK, road segment MN and road segment PQ in FIGS. 3A to 3C) to move downward from the pool surface to the pool bottom.

Preferably, in the case that the upward cleaning road segment and the downward cleaning road segment in the cleaning path are indirectly connected, the cleaning path further comprises a translation road segment, which connects the upward cleaning road segment and the downward cleaning road segment in the cleaning path to the end of the pool surface, respectively.

For example, the upward cleaning road segment HI and the downward cleaning road segment JK are connected to each other via the translation road segment IJ; the upward cleaning road segment KL and the downward cleaning road segment MN can be connected with each other via the translation road segment LM; the upward cleaning road segment NO and the downward cleaning road segment PQ are connected to each other via the translation road segment OP.

Preferably, the included angle of the cleaning path can be determined according to the measured swimming pool water depth, so as to determine the upward cleaning path obliquely extending from the pool bottom to the pool surface and the downward cleaning path obliquely extending from the pool surface to the pool bottom in the cleaning path.

To sum up, the method for generating a pool wall cleaning path provided by this embodiment can help to improve the cleaning effect of the pool wall of the swimming pool by dynamically measuring the swimming pool water depth, thereby generating a pool wall cleaning path corresponding to the current water depth of the swimming pool.

FIG. 4 is a processing flow chart of a method for generating a pool wall cleaning path according to another exemplary embodiment of the present disclosure. As shown in the figure, this embodiment mainly comprises the following steps.

Step S402, a current cleaning path on the pool wall which is continuous with the previous cleaning path is generated according to the water depth measured by the swimming pool cleaning robot moving along the previous cleaning path on the pool wall.

Preferably, the swimming pool water depth is updated according to the included angle of the previous cleaning path, and the moving time and the moving speed of the swimming pool cleaning robot moving along the previous upward cleaning road segment and/or the previous downward cleaning road segment in the previous cleaning path, and based on the updated swimming pool water depth, the upward cleaning road segment and the downward cleaning road segment in the current cleaning path are determined.

For example, in the examples shown in FIGS. 2A to 2C, the upward cleaning road segment CD and the downward cleaning road segment DE in the current cleaning path CDE can be determined according to the included angle of the previous cleaning path ABC, and the moving time and the moving speed of the swimming pool cleaning robot moving along the previous upward cleaning road segment AB and/or the previous downward cleaning road segment BC in the previous cleaning path ABC; alternatively, the upward cleaning road segment EF and the downward cleaning road segment FG in the current cleaning path EFG can be determined according to the included angle of the previous cleaning path CDE, and the moving time and the moving speed of the swimming pool cleaning robot along the previous upward cleaning road segment CD and/or the previous downward cleaning road segment DE in the previous cleaning path CDE.

For another example, in the examples shown in FIGS. 3A to 3C, the upward cleaning road segment KL and the downward cleaning road segment MN in the current cleaning path KLMN can be determined according to the included angle of the previous cleaning path HIJK, and the moving time and the moving speed of the swimming pool cleaning robot along the previous upward cleaning road segment HI and/or the previous downward cleaning road segment JK in the previous cleaning path HIJK; alternatively, the upward cleaning road segment NO and the downward cleaning road segment PQ in the current cleaning path NOPQ can be determined according to the included angle of the previous cleaning path KLMN, and the moving time and the moving speed of the swimming pool cleaning robot along the previous upward cleaning road segment KL and/or the previous downward cleaning road segment MN in the previous cleaning path KLMN.

Preferably, the distance of the translation road segment (e.g., road segment IJ, road segment LM, road segment in FIGS. 3A to 3C) connecting the upward cleaning road segment and the downward cleaning road segment may be a preset distance.

In this embodiment, the swimming pool cleaning robot can be controlled to perform differential motion at the waterline position to move along the translation road segment in each trapezoidal cleaning path.

Step S404, the current cleaning path is updated to the previous cleaning path, and return to step S402.

Specifically, the current cleaning path can be updated to the previous cleaning path, and return to step S402 to generate the next current cleaning path until the swimming pool cleaning robot finishes cleaning the pool wall.

FIG. 5 is a processing flow chart of a method for generating a pool wall cleaning path according to another exemplary embodiment of the present disclosure. This embodiment shows the specific implementation of the above step S402. As shown in the figure, this embodiment mainly comprises the following steps.

Step S502, the swimming pool water depth is updated according to the included angle of the previous cleaning path, and the moving time and the moving speed of the swimming pool cleaning robot moving along the previous upward cleaning road segment and/or the previous downward cleaning road segment in the previous cleaning path.

Preferably, the swimming pool water depth can be updated according to the included angle of the previous cleaning path, and the moving time and the moving speed of the swimming pool cleaning robot moving along the previous upward cleaning road segment and the previous downward cleaning road segment in the previous cleaning path.

Preferably, the swimming pool water depth can be updated according to the included angle of the previous cleaning path, and the moving time and the moving speed of the swimming pool cleaning robot moving along the previous upward cleaning road segment in the previous cleaning path.

More preferably, the swimming pool water depth can be updated according to the included angle of the previous cleaning path, and the moving time and the moving speed of the swimming pool cleaning robot moving along the previous downward cleaning road segment in the previous cleaning path.

For example, as shown in FIG. 2A, the swimming pool water depth can be updated according to the included angle of the previous cleaning path ABC, and the moving time and the moving speed of the swimming pool cleaning robot moving along the previous downward cleaning road segment BC; alternatively, the swimming pool water depth can be updated according to the included angle of the previous cleaning path CDE, and the moving time and the moving speed of the swimming pool cleaning robot along the previous downward cleaning path DE, and so on.

Step S504, the included angle of the current cleaning path is determined according to the updated swimming pool water depth and the rolling brush length of the swimming pool cleaning robot.

In this embodiment, the deeper (larger) the swimming pool water depth, the smaller the included angle of the cleaning path; on the contrary, the shallower (smaller) the swimming pool water depth, the smaller the included angle of the cleaning path.

For example, in the examples shown in FIG. 2B, FIG. 2C, and FIG. 2D, if the water depth of the swimming pool where the cleaning path CDE is located is greater than the water depth of the swimming pool where the cleaning path ABC is located, the included angle β of the cleaning path CDE should be smaller than the included angle αof the cleaning path ABC. For example, in the examples shown in FIGS. 2B and 2C, if the water depth of the swimming pool where the cleaning path EFG is located is greater than the water depth of the swimming pool where the cleaning path CDE is located, the included angle γ of the cleaning path EFG should be smaller than the included angle βof the cleaning path ABC.

For another example, in the examples shown in FIG. 3B and FIG. 3C, if the water depth of the swimming pool where the cleaning path KLMN is located is greater than the water depth of the swimming pool where the cleaning path ABC is located, the included angle β of the cleaning path CDE should be smaller than the included angle αof the cleaning path ABC. If the water depth of the swimming pool where the cleaning path NOPQ is located is greater than the water depth of the swimming pool where the cleaning path KLMN is located, the included angle γ of the cleaning path NOPQ should be smaller than the included angle β of the cleaning path KLMN.

In this embodiment, the upward cleaning road segment and the downward cleaning road segment in the same cleaning path have the same included angle.

For example, in the examples shown in FIGS. 2A to 2C,

Step S506, the current upward cleaning road segment and the current downward cleaning road segment in the current cleaning path are determined according to the current position of the swimming pool cleaning robot and the included angle of the current cleaning path.

For example, in the example shown in FIG. 2B or FIG. 2C, the upward cleaning road segment CD and the downward cleaning road segment DE in the current cleaning path CDE can be determined according to the included angle β of the current cleaning path CDE and the current position C of the swimming pool cleaning robot.

For another example, in the examples shown in FIGS. 3B to 3C, the upward cleaning road segment KL and the downward cleaning road segment MN in the current cleaning path KLMN can be determined according to the included angle β of the current cleaning path KLMN and the current position K of the swimming pool cleaning robot.

Preferably, the swimming pool cleaning robot can be controlled to perform a first differential movement at the current position according to the included angle of the current cleaning path, and the swimming pool cleaning robot can be controlled to move from the current position to the direction of the pool surface based on the first orientation after the swimming pool cleaning robot performs the first differential movement until it is detected that the swimming pool cleaning robot reaches the pool surface, so as to determine the current upward cleaning road segment in the current cleaning path; and the position where the swimming pool cleaning robot reaches the pool surface is updated to the current position, the swimming pool cleaning robot is controlled to perform a second differential movement at the current position according to the included angle of the current cleaning path, and the swimming pool cleaning robot is controlled to move from the current position to the direction of the pool bottom based on the second orientation after the swimming pool cleaning robot performs the second differential movement until the swimming pool cleaning robot reaches the pool bottom, so as to determine the current downward cleaning road segment in the current cleaning path.

Preferably, a waterline sensor provided on the swimming pool cleaning robot can be used to obtain a detection result that the swimming pool cleaning robot reaches the pool surface when the waterline position of the swimming pool is sensed.

It should be noted that the waterline sensor of this embodiment can be an ultrasonic sensor. Since the sensor that detects the position of the waterline can be implemented by various prior art means, it is not limited here.

Preferably, a collision sensor provided on the swimming pool cleaning robot can be used to obtain a detection result that the swimming pool cleaning robot reaches the pool bottom when it is sensed that the swimming pool cleaning robot collides with the pool bottom of the swimming pool.

It should be noted that it can also be judged whether the swimming pool cleaning robot collides with a pool wall obstacle in the moving process by other ways, and it is not limited to the above scheme. The present disclosure is not limited thereto.

For example, as shown in FIG. 2B or FIG. 2C, the swimming pool cleaning robot can be controlled to perform a first differential movement at the current position C according to the calculated included angle β of the current cleaning path CDE, and the swimming pool cleaning robot can be controlled to move (e.g., move forward) from the current position C to the direction of the pool surface based on the first orientation after the swimming pool cleaning robot performs the first differential movement until it is detected that swimming pool cleaning robot reaches the pool surface (position D) , so as to determine the current upward cleaning road segment CD in the current cleaning path CDE; and the position (position D) where the swimming pool cleaning robot reaches the pool surface is updated to the current position, the swimming pool cleaning robot is controlled to perform a second differential movement at the current position according to the included angle β of the current cleaning path, and the swimming pool cleaning robot is controlled to move (for example, move backward) from the current position (position D) to the direction of the pool bottom based on the second orientation after the swimming pool cleaning robot performs the second differential movement until it is detected that the swimming pool cleaning robot reaches the pool bottom, so as to determine the current downward cleaning road segment DE in the current cleaning path CDE.

In this embodiment, the included angle between the second orientation after the swimming pool cleaning robot performs the second differential movement and the first orientation after the swimming pool cleaning robot performs the first differential movement is twice the included angle of the cleaning path (that is, the current generated cleaning path) .

To sum up, in this embodiment, the method for generating a pool wall cleaning path generates the current cleaning path which is continuous with the previous cleaning path in real time according to the water depth dynamically measured by the swimming pool cleaning robot moving along the previous cleaning path on the pool wall, which is especially suitable for cleaning a pool wall with different swimming pool water depths, and can effectively improve the pool wall cleaning coverage rate.

FIG. 6 is a processing flow chart of a method for generating a pool wall cleaning path according to another exemplary embodiment of the present disclosure. This embodiment is another embodiment of the embodiment shown in FIG. 1. As shown in the figure, this embodiment mainly comprises the following steps.

Step S103, it is judged whether the swimming pool water depth is measured. If so, step S104 is executed; if not, step S106 is executed.

Specifically, if the water depth is not successfully measured in the process of cleaning the pool wall by the swimming pool cleaning robot, step S106 is executed.

Step S104, a cleaning path corresponding to the swimming pool water depth is generated according to the dynamically measured swimming pool water depth, and return to step S102.

Step S106, the swimming pool cleaning robot is controlled to vertically move between the pool bottom and the pool surface along the pool wall to measure the swimming pool water depth, and continue to perform Step S104.

With reference to FIG. 7, the swimming pool cleaning robot can be controlled to vertically move up (e.g., move forward) along the pool wall of the swimming pool at the current position (e.g., position A at the pool bottom) until it is detected that the swimming pool cleaning robot reaches the pool surface (e.g., position X at the pool surface) , and the swimming pool cleaning robot is then controlled to vertically move down (e.g., move backward) along the pool wall based on the current position (position X at the pool surface) until it is detected that the swimming pool cleaning robot reaches the pool bottom (e.g., position A at the pool bottom) .

Preferably, the swimming pool water depth can be measured according to the moving time and the moving speed of the swimming pool cleaning robot vertically moving down from the pool surface to the pool bottom along the pool wall.

It should be noted that this step S106 can also be executed when there is no previous cleaning path. For example, when the swimming pool cleaning robot starts to perform the pool wall cleaning task, since there is no previous cleaning path, the swimming pool water depth can be measured by executing this step.

To sum up, this embodiment can measure the swimming pool water depth by controlling the swimming pool cleaning robot to move vertically between the pool bottom and the pool surface along the pool wall when the swimming pool cleaning robot cannot measure the swimming pool water depth in the process of cleaning the pool wall, which can ensure the smooth generation of the pool wall cleaning path and improve the success rate of performing a pool wall cleaning task.

The present disclosure further provides a method for generating a pool wall cleaning path, which comprises generating a cleaning route covering at least one pool wall of the swimming pool, wherein the pool wall cleaning route consists of a plurality of continuous cleaning paths, wherein each cleaning path in the pool wall cleaning route can be generated based on the method for generating a pool wall cleaning path described in each of the above embodiments.

In this embodiment, the pool wall cleaning route can be a continuous zigzag path.

Preferably, each cleaning path in the pool wall cleaning route may be in an inverted V shape or trapezoidal shape.

The present disclosure further provides a method for cleaning a pool wall, which comprises controlling a swimming pool cleaning robot to move according to a cleaning route on a pool wall to perform a pool wall cleaning task, wherein the cleaning route consists of a plurality of continuous cleaning paths, and each cleaning path is generated based on the method for generating a pool wall cleaning path described in each of the above embodiments.

FIG. 10 shows a processing flow chart of a method for cleaning a pool wall according to an exemplary embodiment of the present disclosure. As shown in the figure, this embodiment mainly comprises the following steps.

Step S1002, a swimming pool cleaning robot is controlled to move according to a cleaning route generated on a first pool wall to perform a pool wall cleaning task of the first pool wall.

In this embodiment, the cleaning path generated on the first pool wall may comprise a plurality of inverted V-shaped cleaning paths (refer to FIGS. 8A to 8D) or a plurality of trapezoidal cleaning paths (refer to FIGS. 9A to 9D) .

Step S1004, it is judged whether the swimming pool cleaning robot collides with the second pool wall. If so, step S1006 is performed, and if not, step S1002 is repeatedly performed.

For example, as shown in FIG. 8A, FIG. 8B, FIG. 9A or FIG. 9B, step S1006 may be performed when the swimming pool cleaning robot collides with the second pool wall (e.g., position W) in the process of moving along any one of downward cleaning road segments on the first pool wall.

For example, as shown in FIG. 8C, FIG. 8D, FIG. 9C or FIG. 9D, step S1006 may also be performed when the swimming pool cleaning robot collides with the second pool wall (e.g., position W) in the process of moving along any one of the upward cleaning road segments on the first pool wall.

Step S1006, the swimming pool cleaning robot is controlled to move from the first pool wall to the pool bottom.

As shown in FIG. 8A to FIG. 8D or FIG. 9A to FIG. 9D, the swimming pool cleaning robot can be controlled to move down from the collision position W to the position X located at the pool bottom along the boundary between the first pool wall and the second pool wall.

Step S1006, the swimming pool cleaning robot is controlled to move to the second pool wall along the pool bottom, and move according to the cleaning route generated on the second pool wall to perform the pool wall cleaning task of the second pool wall.

As show in FIGS. 8A to 8D or 9A to 9D, the swimming pool cleaning robot can be controlled to move from position X to position Y along the pool bottom, and continue to move according to the cleaning route generated on the second pool wall to perform the pool wall cleaning task of the second pool wall.

Preferably, after moving to the second pool wall, the swimming pool cleaning robot can be controlled to vertically move between the pool bottom and the pool surface along the second pool wall (refer to step S106) , and the swimming pool water depth is measured to generate the first cleaning path on the second pool wall.

Preferably, after moving to the second pool wall, the first cleaning path on the second pool wall can also be generated according to the swimming pool water depth of the last cleaning path generated on the first pool wall.

For example, as shown in FIG. 8A, the cleaning path YIJ on the second pool wall can be generated according to the swimming pool water depth of the cleaning path GHWX generated on the first pool wall (that is, the included angles between the cleaning path YIJ and the cleaning path GHW are the same, both of which are θ) .

To sum up, in this embodiment, the method for cleaning a pool wall can control the swimming pool cleaning robot to move down to the pool bottom after the pool wall cleaning task of the first pool wall is completed, and continue to clean the pool wall of the second pool wall, so as to realize the continuous cleaning of a plurality of pool walls, improve the intelligence of the swimming pool cleaning robot, and enhance the user experience.

FIG. 11 shows a structural block diagram of a device for generating a pool wall cleaning path according to an exemplary embodiment of the present disclosure. As shown in the figure, in this embodiment, the device for cleaning a pool wall 1100 mainly comprises a water depth measuring module 1102 and a path generating module 1104.

The water depth measuring module 1102 is configured to dynamically measure the swimming pool water depth in the process of cleaning the pool wall by the swimming pool cleaning robot.

A path generating module 1104 is configured to generate a cleaning path corresponding to the swimming pool water depth according to the swimming pool water depth measured by the measuring module 1102, wherein each cleaning path at least comprises an upward cleaning road segment extending from the pool bottom to the pool surface of the swimming pool and a downward cleaning road segment extending from the pool surface to the pool bottom of the swimming pool.

Preferably, the path generating module 1102 is further configured to execute a path generating step of generating a current cleaning path on the pool wall which is continuous with the previous cleaning path according to the water depth measured by the swimming pool cleaning robot moving along the previous cleaning path on the pool wall; and a path updating step of updating the current cleaning path to the previous cleaning path, and continuing to execute the path generating step.

Preferably, the water depth measuring module 1102 is further configured to update the swimming pool water depth according to the included angle of the previous cleaning path, and the moving time and the moving speed of the swimming pool cleaning robot moving along the previous upward cleaning road segment and/or the previous downward cleaning road segment in the previous cleaning path; the path generating module 1102 is further configured to determine the upward cleaning road segment and the downward cleaning road segment in the current cleaning path based on the updated swimming pool water depth.

Preferably, the path generating module 1102 is further configured to determine the included angle of the current cleaning path according to the updated swimming pool water depth and the rolling brush length of the swimming pool cleaning robot; and determine the current upward cleaning road segment and the current downward cleaning road segment in the current cleaning path according to the current position of the swimming pool cleaning robot and the included angle of the current cleaning path; wherein the included angle between the upward cleaning road segment and the downward cleaning road segment in the same cleaning path is the same.

Preferably, the path generating module 1102 is further configured to control the swimming pool cleaning robot to perform a first differential movement at the current position according to the included angle of the current cleaning path, and control the swimming pool cleaning robot to move from the current position to the direction of the pool surface based on the first orientation after the swimming pool cleaning robot performs the first differential movement until it is detected that the swimming pool cleaning robot reaches the pool surface, so as to determine the current upward cleaning road segment in the current cleaning path; update the position where the swimming pool cleaning robot reaches the pool surface to the current position, control the swimming pool cleaning robot to perform a second differential movement at the current position according to the included angle of the current cleaning path, and control the swimming pool cleaning robot to move from the current position to the direction of the pool bottom based on the second orientation after the swimming pool cleaning robot performs the second differential movement until it is detected that the swimming pool cleaning robot reaches the pool bottom, so as to determine the current downward cleaning road segment in the current cleaning path.

Preferably, a collision sensor provided on the swimming pool cleaning robot can be used to obtain a detection result that the swimming pool cleaning robot reaches the bottom of the swimming pool when it is sensed that the swimming pool cleaning robot collides with the pool bottom of the swimming pool.

Preferably, the upward cleaning road segment and the downward cleaning road segment of each cleaning path are directly connected to form an inverted V-shaped cleaning path; or the upward cleaning road segment and the downward cleaning road segment of each cleaning path are indirectly connected to form a trapezoidal cleaning path.

Preferably, the water depth measuring module 102 is further configured to, in the case that there is no previous cleaning path, or in the case that the swimming pool cleaning robot moves along the previous cleaning path and fails to measure the swimming pool water depth, control the swimming pool cleaning robot to move vertically between the pool bottom and the pool surface along the pool wall to measure the swimming pool water depth.

Preferably, the swimming pool cleaning robot is movable forward from the pool bottom to the pool surface of the swimming pool along the upward cleaning road segment of each cleaning path; or the swimming pool cleaning robot is movable backward from the pool surface to the pool bottom of the swimming pool along the downward cleaning road segment of each cleaning path.

An exemplary embodiment of the present disclosure further provides a device for generating a pool wall cleaning route, comprising: a route generating module, which is configured to generate a cleaning route covering at least one pool wall of the swimming pool, wherein the pool wall cleaning route consists of a plurality of continuous cleaning paths; wherein each cleaning path is generated based on the device for generating a pool wall cleaning path described in the above embodiment.

An exemplary embodiment of the present disclosure further provides a device for cleaning a pool wall, comprising: a cleaning module, which is configured to control a swimming pool cleaning robot to move along a cleaning route on a pool wall to perform a pool wall cleaning task; wherein the cleaning route consists of a plurality of continuous cleaning paths, and each cleaning path is generated based on the device for generating a pool wall cleaning path described in the above embodiment.

An exemplary embodiment of the present disclosure further provides an electronic device, comprising: at least one processor; and a memory, which is communicated and connected with the at least one processor. The memory stores a computer program that can be executed by the at least one processor. The computer program, when executed by the at least one processor, is used to cause the electronic device to execute the method according to various embodiments of the present disclosure.

An exemplary embodiment of the present disclosure further provides a non-transitory computer readable storage medium in which a computer program is stored, wherein the computer program, when executed by a processor of a computer, is used to cause the computer to execute the method according to various embodiments of the present disclosure.

An exemplary embodiment of the present disclosure further provides a computer program product, including a computer program, wherein the computer program, when executed by a processor of a computer, is used to cause the computer to execute the method according to various embodiments of the present disclosure.

As shown in FIG. 12, a structural block diagram of an electronic device 1200 that can be used as a server or client of the present disclosure will now be described, which is an example of a hardware device that can be applied to various aspects of the present disclosure. The electronic devices is intended to mean various forms of digital electronic computer devices, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices and other similar computing devices. The components shown herein, their connections and relationships, and their functions are only examples, and are not intended to limit the implementation of the present disclosure described and/or claimed herein.

As shown in FIG. 12, the electronic device 1200 comprises a computing unit 1201, which can perform various appropriate actions and processes according to a computer program stored in a read only memory (ROM) 1202 or a computer program loaded from a storage unit 1208 into a Random Access Memory (RAM) 1203. In the RAM 1203, various programs and data required for the operation of the device 1200 can also be stored. The computing unit 1201, ROM 1202, and RAM 1203 are connected to each other through a bus 1204. An input/output (I/O) interface 1205 is also connected to the bus 1204.

A plurality of components in the electronic device 1200 are connected to the I/O interface 1205, including an input unit 1206, an output unit 1207, a storage unit 1208, and a communication unit 1209. The input unit 1206 can be any type of devices that can input information to the electronic device 1200. The input unit 1206 can receive input digital or character information and generate key signal input related to user setting and/or function control of the electronic device. The output unit 1207 may be any type of devices that can present information, and may include, but is not limited to, a display, a speaker, a video/audio output terminal, a vibrator, and/or a printer. The storage unit 1204 may include, but is not limited to, magnetic disks and optical disks. The communication unit 1209 allows the electronic device 1200 to exchange information/data with other devices through a computer network such as the Internet and/or various telecommunication networks, and may include, but is not limited to, modems, network cards, infrared communication devices, wireless communication transceivers and/or chipsets, such as Bluetooth TM devices, WiFi devices, WiMax devices, cellular communication devices and/or the like.

The computing unit 1201 may be various general-purpose and/or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 1201 include, but are not limited to, a Central Processing Unit (CPU) , a Graphics Processing Unit (GPU) , various dedicated Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP) , and any suitable processors, controllers, microcontrollers, etc. The calculating unit 1201 executes the various methods and processes described above. For example, in some embodiments, the method for generating a pool wall cleaning path or the method for generating a pool wall cleaning route or the method for cleaning a pool wall in the above embodiments can be implemented as a computer software program, which is tangibly embodied in a machine-readable medium, such as the storage unit 1208. In some embodiments, part or all of the computer programs can be loaded and/or installed on the electronic device 1200 via the ROM 1202 and/or the communication unit 1209. In some embodiments, the computing unit 1201 may be configured to execute the method for generating a pool wall cleaning path or the method for generating a pool wall cleaning route or the method for cleaning a pool wall in the above embodiments by any other suitable means (for example, by means of firmware) .

The program code for implementing the method of the present disclosure can be written in any combination of one or more programming languages. These program codes may be provided to the processors or controllers of general-purpose computers, special-purpose computers or other programmable data processing devices, so that when executed by the processors or controllers, the program codes cause the functions/operations specified in the flowcharts and/or block diagrams to be implemented. The program can be completely executed on the machine, partially executed on the machine, partially executed on the machine as an independent software package, partially executed on a remote machine or completely executed on a remote machine or server.

In the context of the present disclosure, a machine-readable medium may be a tangible medium that can contain or store a program for use by or in connection with an instruction execution system, device or apparatus. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. The machine-readable medium can include, but are not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or apparatuses, or any suitable combination of the above. More specific examples of the machine-readable storage medium will include electrical connection based on one or more wires, a portable computer disk, a hard disk, a Random Access Memory (RAM) , a Read-Only Memory (ROM) , an Erasable Programmable Read-Only Memory (EPROM or a flash memory) , an optical fiber, a Compact Disk Read-Only Memory (CD-ROM) , an optical storage device, a magnetic storage device, or any suitable combination of the above.

As used in the present disclosure, the terms "machine-readable medium" and "computer-readable medium" refer to any computer program product, apparatus, and/or device (e.g., a magnetic disk, an optical disk, a memory, a Programmable Logic Device (PLD) ) used to provide machine instructions and/or data to programmable processors, including the machine-readable medium that receives machine instructions as machine-readable signals. The term "machine readable signal" refers to any signal used to provide machine instructions and/or data to a programmable processor.

In order to provide interaction with the user, the system and technology described here can be implemented on a computer which is provided with: a display device (for example, CRT (Cathode Ray Tube) or LCD (Liquid Crystal Display) monitor) for displaying information to the user; and a keyboard and a pointing device (for example, a mouse or a trackball) through which a user can provide input to a computer. Other kinds of devices can also be used to provide interaction with users. For example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback) ; and the input from the user can be received in any form (including acoustic input, voice input or tactile input) .

The systems and technologies described herein can be implemented in a computing system including back-end components (e.g., as a data server) , or a computing system including middleware components (e.g., an application server) , or a computing system including front-end components (e.g., a user computer with a graphical user interface or a web browser through which users can interact with the implementation of the systems and technologies described herein) , or a computing system including any combination of such back-end components, middleware components, or front-end components. The components of the system can be connected to each other by digital data communication in any form or medium (e.g., communication network) . Examples of communication include Local Area Network (LAN) , Wide Area Network (WAN) and the Internet.

The computer system may include a client and a server. The client and the server are usually far away from each other and usually interact through a communication network. The relationship between the client and the server is generated by computer programs running on corresponding computers and having a client-server relationship with each other.

It should be understood that although this specification is described according to various embodiments, not every embodiment only contains an independent technical scheme. This description of the specification is only for the sake of clarity. Those skilled in the art should take the specification as a whole, and the technical schemes in various embodiments can also be appropriately combined to form other implementations that can be understood by those skilled in the art..

The above is only a schematic specific implementation of the embodiments of the present disclosure, but is not intended to limit the scope of the embodiments of the present disclosure. Any equivalent changes, modifications and combinations made by those skilled in the art without departing from the concepts and principles of the embodiments of the present disclosure shall fall within the scope of protection of the embodiments of the present disclosure.

Claims

A method for generating a pool wall cleaning path, comprising:

generating a cleaning path corresponding to the swimming pool water depth according to the swimming pool water depth dynamically measured by a swimming pool cleaning robot in the process of cleaning the pool wall;

wherein each cleaning path at least comprises an upward cleaning road segment extending from the pool bottom to the pool surface of the swimming pool and a downward cleaning road segment extending from the pool surface to the pool bottom of the swimming pool.
The method according to claim 1, wherein generating a cleaning path corresponding to the swimming pool water depth according to the swimming pool water depth dynamically measured by a swimming pool cleaning robot in the process of cleaning the pool wall comprises:

a path generating step of generating a current cleaning path on the pool wall which is continuous with the previous cleaning path according to the water depth measured by the swimming pool cleaning robot moving along the previous cleaning path on the pool wall;

a path updating step of updating the current cleaning path to the previous cleaning path, and continuing to execute the path generating step.
The method according to claim 2, wherein the path generating step comprises:

updating the swimming pool water depth according to the included angle of the previous cleaning path, and the moving time and the moving speed of the swimming pool cleaning robot moving along the previous upward cleaning road segment and/or the previous downward cleaning road segment in the previous cleaning path;

based on the updated swimming pool water depth, determining the upward cleaning road segment and the downward cleaning road segment in the current cleaning path.
The method according to claim 3, wherein based on the updated swimming pool water depth, determining the upward cleaning road segment and the downward cleaning road segment in the current cleaning path comprises:

determining the included angle of the current cleaning path according to the updated swimming pool water depth and the rolling brush length of the swimming pool cleaning robot;

determining the current upward cleaning road segment and the current downward cleaning road segment in the current cleaning path according to the current position of the swimming pool cleaning robot and the included angle of the current cleaning path;

wherein the included angle between the upward cleaning road segment and the downward cleaning road segment in the same cleaning path is the same.
The method according to claim 4, wherein determining the current upward cleaning road segment and the current downward cleaning road segment in the current cleaning path according to the current position of the swimming pool cleaning robot and the included angle of the current cleaning path comprises:

controlling the swimming pool cleaning robot to perform a first differential movement at the current position according to the included angle of the current cleaning path, and controlling the swimming pool cleaning robot to move from the current position to the direction of the pool surface based on the first orientation after the swimming pool cleaning robot performs the first differential movement until it is detected that the swimming pool cleaning robot reaches the pool surface, so as to determine the current upward cleaning road segment in the current cleaning path;

updating the position where the swimming pool cleaning robot reaches the pool surface to the current position, controlling the swimming pool cleaning robot to perform a second differential movement at the current position according to the included angle of the current cleaning path, and controlling the swimming pool cleaning robot to move from the current position to the direction of the pool bottom based on the second orientation after the swimming pool cleaning robot performs the second differential movement until the swimming pool cleaning robot reaches the pool bottom, so as to determine the current downward cleaning road segment in the current cleaning path.
The method according to claim 5, wherein the method further comprises:

using a waterline sensor provided on the swimming pool cleaning robot to obtain a detection result that the swimming pool cleaning robot reaches the pool surface when the waterline position of the swimming pool is sensed;

using a collision sensor provided on the swimming pool cleaning robot to obtain a detection result that the swimming pool cleaning robot reaches the bottom of the swimming pool when it is sensed that the swimming pool cleaning robot collides with the pool bottom of the swimming pool.
The method according to claim 2, wherein

the upward cleaning road segment and the downward cleaning road segment of each cleaning path are directly connected to form an inverted V-shaped cleaning path; or

the upward cleaning road segment and the downward cleaning road segment of each cleaning path are indirectly connected to form a trapezoidal cleaning path.
The method according to claim 7, wherein in the case that the upward cleaning road segment and the downward cleaning road segment in the cleaning path are indirectly connected, the cleaning path further comprises a translation road segment, which connects the upward cleaning road segment and the downward cleaning road segment in the cleaning path to the end of the pool surface, respectively.
The method according to claim 2, wherein the method further comprises:

in the case that there is no previous cleaning path, or in the case that the swimming pool cleaning robot moves along the previous cleaning path and fails to measure the swimming pool water depth, controlling the swimming pool cleaning robot to move vertically between the pool bottom and the pool surface along the pool wall to measure the swimming pool water depth.
The method according to claim 1, wherein

the swimming pool cleaning robot is movable forward from the pool bottom to the pool surface of the swimming pool along the upward cleaning road segment of each cleaning path; or

the swimming pool cleaning robot is movable backward from the pool surface to the pool bottom of the swimming pool along the downward cleaning road segment of each cleaning path.
A method for generating a pool wall cleaning route, comprising:

generating a cleaning route covering at least one pool wall of the swimming pool, wherein the pool wall cleaning route consists of a plurality of continuous cleaning paths;

wherein each cleaning path is generated based on the method for generating a pool wall cleaning path according to any of claims 1 to 10.
A method for cleaning a pool wall, comprising:

controlling a swimming pool cleaning robot to move according to a cleaning route generated on a pool wall to perform a pool wall cleaning task;

wherein the cleaning route consists of a plurality of continuous cleaning paths, and each cleaning path is generated based on the method for generating a pool wall cleaning path according to any of claims 1 to 10.
The method according to claim 12, wherein the pool wall comprises a first pool wall and a second pool wall, and the method further comprises:

controlling the swimming pool cleaning robot to move from the first pool wall to the pool bottom when colliding with the second pool wall in the process that the swimming pool cleaning robot moves according to the cleaning route generated on the first pool wall to perform the pool wall cleaning task of the first pool wall;

controlling the swimming pool cleaning robot to move to the second pool wall along the pool bottom, and moving according to the cleaning route generated on the second pool wall to perform the pool wall cleaning task of the second pool wall.
A device for generating a pool wall cleaning path, comprising:

a water depth measuring module, which is configured to dynamically measure the swimming pool water depth in the process of cleaning the pool wall by a swimming pool cleaning robot;

a path generating module, which is configured to generate a cleaning path corresponding to the swimming pool water depth according to the swimming pool water depth measured by the measuring module;

wherein each cleaning path at least comprises an upward cleaning road segment extending from the pool bottom to the pool surface of the swimming pool and a downward cleaning road segment extending from the pool surface to the pool bottom of the swimming pool.
A device for generating a pool wall cleaning route, comprising:

a route generating module, which is configured to generate a cleaning route covering at least one pool wall of the swimming pool, wherein the pool wall cleaning route consists of a plurality of continuous cleaning paths;

wherein each cleaning path is generated based on the device for generating a pool wall cleaning path according to claim 14.
A device for cleaning a pool wall, comprising:

a cleaning module, which is configured to control a swimming pool cleaning robot to move along a cleaning route on a pool wall to perform a pool wall cleaning task;

wherein the cleaning route consists of a plurality of continuous cleaning paths, and each cleaning path is generated based on the device for generating a pool wall cleaning path according to claim 14.
An electronic device, comprising:

a processor; and

a memory, which is configured to store programs;

wherein the program comprises instructions which, when executed by the processor, cause the processor to execute the method according to any of claims 1-10, or cause the processor to execute the method according to claim 11, or cause the processor to execute the method according to any of claims 12-13.
A non-transitory computer readable storage medium in which computer instructions are stored, wherein the computer instructions are used to cause a computer to execute the method according to any of claims 1-10, or cause the processor to execute the method according to claim 11, or the processor to execute the method according to any of claims 12-13.