CN-121995953-A - Swimming pool robot return method

CN121995953ACN 121995953 ACN121995953 ACN 121995953ACN-121995953-A

Abstract

The embodiment of the application provides a swimming pool robot return stroke method, which comprises the steps of controlling a swimming pool robot to move in a swimming pool according to a moving mode except that the swimming pool moves along the water surface of the swimming pool if a return stroke condition is triggered, controlling the swimming pool robot to move in the swimming pool according to the mode of moving along the water surface to acquire the target position when the target position is not acquired, improving the acquisition success rate of the target position, improving the return stroke reliability of the swimming pool robot, controlling the swimming pool robot to move to a target area corresponding to the return stroke target based on the target position when the target position is acquired, and realizing the accurate return stroke positioning capability of the swimming pool robot so as to ensure that the swimming pool robot can accurately return stroke.

Inventors

LIU CHENG
FAN YINDONG
JIN QI
Qi Pengtao
ZHANG QIANG

Assignees

星迈创新科技(苏州)有限公司

Dates

Publication Date: 20260508
Application Date: 20260105

Claims (10)

1. A method of swimming pool robot backhaul, characterized by being applied to a swimming pool robot, the method comprising: If the return stroke condition is triggered, the swimming pool robot is controlled to move in the swimming pool according to a first moving mode, and the target position of a return stroke target is attempted to be acquired, wherein the first moving mode is a moving mode other than the moving mode of the swimming pool along the water surface of the swimming pool; controlling the swimming pool robot to move in the swimming pool according to a second moving mode under the condition that the target position is not acquired, so as to acquire the target position, wherein the second moving mode is to move along the water surface; and under the condition that the target position is acquired, controlling the swimming pool robot to move to a target area corresponding to the return target based on the target position, wherein the target area comprises a pool wall or the distance between the target area and the pool wall is smaller than or equal to a first preset distance, and the target area is at least partially positioned on the water surface of the swimming pool and above the water surface.
2. The method of claim 1, wherein, if the target location is acquired, controlling the pool robot to move to a target area corresponding to the backhaul target based on the target location comprises: Determining the direction deviation of the advancing direction of the swimming pool robot and the target area according to the target position; and determining whether to adjust the travelling direction of the swimming pool robot according to the direction deviation so as to enable the swimming pool robot to move from the current position to the target area.
3. The method of claim 2, wherein determining a directional deviation of the travel direction of the pool robot from the target area based on the target location comprises: under the condition that a swimming pool map exists, a first path for returning the swimming pool robot to a first target point is planned according to the swimming pool map, wherein the distance between the first target point and the target position is a second preset distance; And controlling the swimming pool robot to move to the first target point along the first path, and determining the direction deviation of the advancing direction of the swimming pool robot and the target area according to the target position acquired at the first target point.
4. The method of claim 1, wherein controlling the pool robot to move in a second manner of movement in the pool to acquire the target location if the target location is not acquired comprises: if the target position is not acquired, controlling the swimming pool robot to move from the water surface to the rear edge of the pool wall of the swimming pool if the swimming pool robot is on the water surface; If the swimming pool robot is at the bottom or the wall of the swimming pool, the swimming pool robot is controlled to float to the water surface and move along the rear edge of the swimming pool from the water surface to the wall of the swimming pool.
5. The method of claim 1, wherein the pool robot includes a magnetometer that controls the pool robot to move in a first movement pattern across the pool, comprising: and controlling the swimming pool robot to move along the bottom edge of the swimming pool.
6. The method according to claim 1, wherein the method further comprises: When the swimming pool robot reaches a second target point, reducing the running speed, wherein the distance between the second target point and the target position is a third preset distance; If the distance between the swimming pool robot and the first obstacle at the side is smaller than or equal to a fourth preset distance, and the distance between the swimming pool robot and the second obstacle at the front is larger than a fifth preset distance, controlling the swimming pool robot to move to the first obstacle; If the distance between the swimming pool robot and the second obstacle is smaller than or equal to the fifth preset distance, controlling the swimming pool robot to move to the second obstacle; If the distance between the swimming pool robot and the first obstacle is larger than the fourth preset distance, and the distance between the swimming pool robot and the second obstacle is larger than the fifth preset distance, the swimming pool robot is controlled to rotate at least one circle so as to find a third obstacle and move to the third obstacle.
7. The method according to claim 1, wherein the method further comprises: receiving a target signal sent by a communication module corresponding to the return target, and acquiring the target position according to the target signal, wherein the distance between the communication module and the water surface is smaller than or equal to a sixth preset distance, and/or, And identifying a first mark corresponding to the return stroke target, and acquiring the target position according to the first mark, wherein the distance between the first mark and the water surface is smaller than or equal to a seventh preset distance.
8. The method of claim 7, wherein the method further comprises: when the swimming pool robot detects that the target signal is abnormal or the first mark is not recognized, controlling the swimming pool cleaning to advance to an eighth preset distance in a random direction so as to execute one exploration action; executing the exploring action again until the acquired target position or the executing times of the exploring action reach a preset time threshold; and if the execution times of the exploring actions exceeds the preset times threshold, determining that the target position is not acquired.
9. The method according to claim 1, wherein the method further comprises: after triggering the return condition, if the swimming pool robot is executing a cleaning task, interrupting the cleaning task, and executing return operation after recording the current cleaning progress and the cleaning position; And if the swimming pool robot executes the floating task or the submerging task, waiting for the swimming pool robot to execute the return operation after completing the floating task or the submerging task.
10. The method of claim 1, wherein the pool robot comprises a travel mechanism for driving the pool robot at least to move in a pool, the travel mechanism comprising a travel assembly and/or a propulsion assembly; after controlling the swimming pool robot to move to a target area corresponding to the return target based on the target position, the method further comprises the following steps: Controlling the swimming pool robot to reduce the motor power of the travelling mechanism after the target area stops for a first time period, and then increasing the motor power of the travelling mechanism every second time period, and controlling the swimming pool robot to move to the target area and stop; Repeating the above actions, and closing the travelling mechanism after the stopping time of the target area reaches a third time or after the third time passes by taking the first stopping time of the swimming pool robot at the target area as the starting time.

Description

Swimming pool robot return method Technical Field The application relates to an artificial intelligence technology, in particular to a swimming pool robot return method. Background The swimming pool robot is widely applied to swimming pool cleaning scenes in families and business places, and has the main functions of completing the cleaning task of swimming pool water bodies through automatic movement, including collecting water surface floaters, cleaning dirt on pool bottoms and pool walls, filtering impurities and the like. In practice, users often need to remove the pool robot from the pool after it has completed its cleaning tasks for recharging, maintenance, or long-term storage. However, conventional pool robots require manual searching and fishing by the user after the task is completed, which is inefficient and increases operational complexity. Disclosure of Invention The embodiment of the application provides a return method of a swimming pool robot, which is used for realizing the success rate of the swimming pool robot to the return position positioning so as to ensure the swimming pool robot to return accurately. In a first aspect, an embodiment of the present application provides a method for backhaul of a swimming pool robot, applied to the swimming pool robot, the method comprising: If the return stroke condition is triggered, the swimming pool robot is controlled to move in the swimming pool according to a first moving mode, and the target position of a return stroke target is attempted to be acquired, wherein the first moving mode is a moving mode other than the moving mode of the swimming pool along the water surface of the swimming pool; controlling the swimming pool robot to move in the swimming pool according to a second moving mode under the condition that the target position is not acquired, so as to acquire the target position, wherein the second moving mode is to move along the water surface; And under the condition that the target position is acquired, controlling the swimming pool robot to move to a target area corresponding to the return target based on the target position, wherein the distance between the pool wall or the target area and the pool wall is smaller than or equal to a first preset distance, and the target area is at least partially positioned on the water surface of the swimming pool and above the water surface. In a possible implementation manner, when the target position is acquired, controlling the swimming pool robot to move to a target area corresponding to the backhaul target based on the target position includes: Determining the direction deviation of the advancing direction of the swimming pool robot and the target area according to the target position; and determining whether to adjust the travelling direction of the swimming pool robot according to the direction deviation so as to enable the swimming pool robot to move from the current position to the target area. In one possible embodiment, determining a directional deviation of a travel direction of the pool robot from the target area based on the target location includes: under the condition that a swimming pool map exists, a first path for returning the swimming pool robot to a first target point is planned according to the swimming pool map, wherein the distance between the first target point and the target position is a second preset distance; And controlling the swimming pool robot to move to the first target point along the first path, and determining the direction deviation of the advancing direction of the swimming pool robot and the target area according to the target position acquired at the first target point. In one possible embodiment, in the case that the target position is not obtained, controlling the swimming pool robot to move in the swimming pool according to the second movement manner to obtain the target position includes: if the target position is not acquired, controlling the swimming pool robot to move from the water surface to the rear edge of the pool wall of the swimming pool if the swimming pool robot is on the water surface; If the swimming pool robot is at the bottom or the wall of the swimming pool, the swimming pool robot is controlled to float to the water surface and move along the rear edge of the swimming pool from the water surface to the wall of the swimming pool. In one possible embodiment, the pool robot includes a magnetometer that controls the pool robot to move in a first movement pattern in a pool, comprising at least one of: and controlling the swimming pool robot to move along the bottom of the swimming pool. In one possible embodiment, the method further comprises: When the swimming pool robot reaches a second target point, reducing the running speed, wherein the distance between the second target point and the target position is a third preset distance; If the distance between the swimming pool robot and the first obstacle at the side is smaller than or equ