CN114545939A

CN114545939A - Driving control method and device for swimming pool cleaning robot and electronic equipment

Info

Publication number: CN114545939A
Application number: CN202210153395.3A
Authority: CN
Inventors: 不公告发明人
Original assignee: Beijing Smorobot Technology Co Ltd
Current assignee: Zhicheng Power Suzhou Technology Co ltd
Priority date: 2022-02-18
Filing date: 2022-02-18
Publication date: 2022-05-27
Anticipated expiration: 2042-02-18
Also published as: CN114545939B

Abstract

The application provides a driving control method, a driving control device, electronic equipment and a computer storage medium for a swimming pool cleaning robot, wherein the driving control method comprises the following steps: obtaining a working mode of the swimming pool cleaning robot and an instruction execution result of an executed instruction; generating a to-be-executed instruction according to the working mode of the swimming pool cleaning robot, the instruction execution result of the executed instruction and the swimming pool map, and driving the swimming pool cleaning robot to execute the swimming pool work task meeting the working mode according to the to-be-executed instruction. Therefore, the robot can be stably controlled to execute various swimming pool work tasks, and the task execution efficiency and the task execution safety are improved.

Description

Driving control method and device for swimming pool cleaning robot and electronic equipment

Technical Field

The embodiment of the application relates to the technical field of robot control, in particular to a driving control method and device for a swimming pool cleaning robot, electronic equipment and a computer storage medium.

Background

The swimming pool cleaning robot is a swimming pool cleaning robot generated according to swimming pool cleaning requirements, and can be used for performing a swimming pool cleaning map construction task and a swimming pool cleaning task performed based on the constructed cleaning map.

Each swimming pool work task is completed by executing appointed movement action and/or collision action by the swimming pool cleaning robot, and how to control the swimming pool cleaning robot to execute accurate and stable action operation so as to improve the task execution efficiency and the task execution safety, namely the technical problem to be solved by the application.

Disclosure of Invention

In order to solve the above problems, embodiments of the present application provide a driving control method, apparatus, electronic device and computer storage medium for a pool cleaning robot, so as to at least partially solve the above problems.

According to an aspect of the present application, there is provided a driving control method of a pool cleaning robot, including: obtaining a working mode of the swimming pool cleaning robot and an instruction execution result of an executed instruction; generating a command to be executed according to the working mode of the swimming pool cleaning robot, the command execution result of the executed command and a swimming pool map, and driving the swimming pool cleaning robot to execute the swimming pool work task meeting the working mode according to the command to be executed.

Optionally, the operating mode of the pool cleaning robot comprises a mapping mode, the pool map comprises a grid map completely covering the pool; and wherein, according to the mode of operation of swimming pool cleaning robot, instruction execution result, swimming pool map of the carried out instruction, generate and wait to carry out the instruction, and according to wait to carry out the instruction drive the swimming pool cleaning robot carries out and satisfies the task of swimming pool work of mode of operation, include: providing a driving control algorithm, and outputting the instruction execution result of the executed instruction to a preset mapping algorithm according to the mapping mode of the swimming pool cleaning robot; an instruction generating step, namely providing the preset mapping algorithm, generating an instruction to be executed according to an instruction execution result of the executed instruction and the grid map, and returning the instruction to be executed to the drive control algorithm; and a driving control step of providing the driving control algorithm, driving the swimming pool cleaning robot to execute a swimming pool mapping task in a working area defined by the swimming pool based on the instruction to be executed, updating the instruction to be executed into an executed instruction after the swimming pool cleaning robot finishes executing, and returning to the step of obtaining the working mode of the swimming pool cleaning robot and the instruction execution result of the executed instruction to continue executing.

Optionally, the grid map comprises a plurality of grid blocks, and the instruction execution result of the executed instruction comprises the current position, the current orientation and the current collision detection information of the pool cleaning robot; and wherein the instruction generating step comprises: providing the preset mapping algorithm, and determining a current block and a target block in the grid map according to the current position, the current orientation and the current collision detection information of the swimming pool cleaning robot and each grid block in the grid map; and providing the preset mapping algorithm, generating a command to be executed according to the current block and the target block determined in the grid map and the current orientation of the swimming pool cleaning robot, and returning the command to be executed to the drive control algorithm.

Optionally, the determining a current block and a target block in the grid map includes: providing the preset mapping algorithm, and determining the grid block where the swimming pool cleaning robot is located currently as a current block according to the current position of the swimming pool cleaning robot and each grid block in the grid map; and providing the preset mapping algorithm, and determining the grid block to be moved of the swimming pool cleaning robot as a target block according to the current block, the current orientation of the swimming pool cleaning robot, the current collision detection information and each grid block in the grid map.

Optionally, the driving controlling step includes: and providing the driving control algorithm, and driving the swimming pool cleaning robot to execute the movement action from the current block to the target block and/or execute the collision detection action aiming at the target block based on the instruction to be executed.

Optionally, the driving control algorithm may drive the pool cleaning robot to perform a single action or a plurality of actions in succession based on the instruction to be performed; the swimming pool cleaning robot can be driven to execute based on the instruction to be executed: at least one of a forward movement motion, a backward movement motion, a left turn motion, a right turn motion, a collision detection motion, and an end of motion.

Optionally, the method further comprises: providing the preset mapping algorithm, judging whether the mapping task of the swimming pool is completed or not according to the instruction execution result of the executed instruction and the grid map, and if the mapping task of the swimming pool is not completed, continuing to execute the instruction generating step; and if the swimming pool mapping task is judged to be completed, ending the quitting.

Optionally, the operating mode of the pool cleaning robot comprises a sweeping mode, and the pool map comprises a sweeping map; and wherein, according to the operating mode of the swimming pool cleaning robot, the instruction execution result of the executed instruction, the swimming pool map, generate the instruction to be executed, and drive the swimming pool cleaning robot to execute the instruction to be executed, including: providing a driving control algorithm, and outputting the instruction execution result of the executed instruction to a preset cleaning algorithm according to the cleaning mode of the swimming pool cleaning robot; an instruction generating step, namely providing the preset cleaning algorithm, generating an instruction to be executed according to an instruction execution result of the executed instruction and the cleaning map, and returning the instruction to be executed to the drive control algorithm; and a drive control step of providing the drive control algorithm, driving the swimming pool cleaning robot to execute a swimming pool cleaning task based on the instruction to be executed, updating the instruction to be executed into an executed instruction after the swimming pool cleaning robot finishes executing, and returning to the step of obtaining the working mode of the swimming pool cleaning robot and the instruction execution result of the executed instruction to continue executing.

Optionally, the cleaning map comprises a plurality of cleaning blocks, and the instruction execution result of the executed instruction comprises the current position and the current orientation of the pool cleaning robot; wherein the instruction generating step further comprises: providing the preset cleaning algorithm, and determining a current block and a target block in the cleaning map according to the current position and the current orientation of the swimming pool cleaning robot and each cleaning block in the cleaning map; providing the preset cleaning algorithm, generating a command to be executed according to the current block and the target block determined in the cleaning map, and returning the command to be executed to the drive control algorithm; wherein the drive control step further includes: and providing the driving control algorithm, and driving the swimming pool cleaning robot to perform a moving action from the current block to the target block and/or perform a sweeping action aiming at the target block based on the instruction to be executed.

Optionally, the operating mode of the pool cleaning robot further comprises a return mode, and the method further comprises: providing a preset return algorithm, and outputting a return instruction to the drive control algorithm based on a preset trigger condition; providing the driving control algorithm, responding to the return instruction, and outputting the current position and the current orientation of the swimming pool cleaning robot to the preset return algorithm; providing the preset return algorithm, generating a command to be executed according to the current position, the current orientation, the preset return position and the swimming pool map of the swimming pool cleaning robot, and returning the command to be executed to the drive control algorithm; and providing the driving control algorithm, and driving the swimming pool cleaning robot to execute a return task based on the instruction to be executed.

Optionally, the preset trigger condition includes system automatic trigger or human-computer interaction input trigger meeting a preset rule.

Optionally, the system automatically triggering to satisfy the preset rule includes: the system when surveying swimming pool cleaning robot accomplishes preset job task triggers automatically, when surveying swimming pool cleaning robot's current electric quantity is less than the system automatic triggering when predetermineeing the electric quantity threshold value, when survey swimming pool cleaning robot system automatic triggering when the operation trouble appears, when survey swimming pool cleaning robot satisfy the system automatic triggering when predetermineeing the time, when survey swimming pool cleaning robot's operating duration satisfies in the time of predetermineeing at least one in the system automatic triggering.

Optionally, the preset return position includes at least one of a designated charging position, a designated edge proximity position, and an edge proximity position.

According to another aspect of the present application, there is provided a driving control apparatus of a pool cleaning robot, including: the acquisition module is used for acquiring the working mode of the swimming pool cleaning robot and the instruction execution result of the executed instruction; and the control module is used for generating a command to be executed according to the working mode of the swimming pool cleaning robot, the command execution result of the executed command and a swimming pool map, and driving the swimming pool cleaning robot to execute the swimming pool work task meeting the working mode according to the command to be executed.

According to another aspect of the present application, there is provided an electronic device including: a processor; and a memory storing a program, wherein the program comprises instructions which, when executed by the processor, cause the processor to perform the method of the above aspect.

According to another aspect of the present application, there is provided a non-transitory computer readable storage medium having stored thereon computer instructions for causing a computer to perform the method of the above aspect.

The drive control method, the drive control device, the electronic equipment and the computer storage medium of the swimming pool cleaning robot can generate a command to be executed according to the working mode of the swimming pool cleaning robot and the command execution result of the executed command so as to drive the swimming pool cleaning robot to execute the next action.

Drawings

The drawings are only for purposes of illustrating and explaining the present application and are not to be construed as limiting the scope of the present application. Wherein,

fig. 1 is a flowchart illustrating a driving control method of a pool cleaning robot according to an exemplary embodiment of the present application.

Fig. 2 is a flowchart illustrating a driving control method of a pool cleaning robot according to another exemplary embodiment of the present application.

Fig. 3 is a flowchart illustrating a driving control method of a pool cleaning robot according to another exemplary embodiment of the present application.

Fig. 4 is a flowchart illustrating a driving control method of a pool cleaning robot according to another exemplary embodiment of the present application.

Fig. 5 is a block diagram illustrating a driving control apparatus of the pool cleaning robot according to an exemplary embodiment of the present invention.

Fig. 6 is a block diagram of an electronic device according to an exemplary embodiment of the present application.

Description of reference numerals:

500. a drive control device of the swimming pool cleaning robot; 502. an acquisition module; 504. a control module; 600. an electronic device; 601. a calculation unit; 602. a ROM; 603. a RAM; 604. a bus; 605. an input/output interface; 606. an input unit; 607. an output unit; 608. a storage unit; 609. a communication unit.

Detailed Description

In order to more clearly understand the technical features, objects and effects of the embodiments of the present application, specific embodiments of the present application will be described with reference to the accompanying drawings.

"exemplary" means "serving as an example, instance, or illustration" herein, and any illustration, embodiment, or steps described as "exemplary" herein should not be construed as a preferred or advantageous alternative.

For the sake of simplicity, the drawings only schematically show the parts relevant to the present application, and they do not represent the actual structure of the product. In addition, for simplicity and clarity of understanding, elements having the same structure or function in some of the figures may be shown only schematically or only schematically.

As described above, all the swimming pool tasks performed by the swimming pool cleaning robot are currently completed by the swimming pool cleaning robot performing a predetermined moving action and/or collision action. In view of the above, embodiments of the present disclosure provide a driving control method, a driving control apparatus, an electronic device, and a computer storage medium for a pool cleaning robot, which can control the pool cleaning robot to perform precise and stable operations, so as to improve task execution efficiency and task execution safety.

Specific embodiments of each application will be described in detail below with reference to the accompanying drawings.

Fig. 1 is a flowchart illustrating a driving control method of a pool cleaning robot according to an exemplary embodiment of the present disclosure. As shown in the figure, the present embodiment mainly includes the following processing steps:

step S102, obtaining the working mode of the swimming pool cleaning robot and the instruction execution result of the executed instruction.

Optionally, the pool cleaning robot's operating modes can include one or more of a mapping mode, a sweeping mode, and a return mode.

The pool cleaning robot can only execute a single working mode, or the pool cleaning robot can execute a plurality of working modes in a synchronous mode or an asynchronous mode.

For example, the pool cleaning robot may continue to perform the sweeping mode after performing the mapping mode, and trigger the return mode when a preset return condition is satisfied during the course of performing the mapping mode and the sweeping mode.

In this embodiment, different function values can be used to represent different operation modes, for example: 1 denotes a mapping mode, 2 denotes a cleaning mode, 3 denotes a return mode, and so on.

Optionally, the instruction execution results of the executed instructions may include the instruction execution results of at least one executed instruction.

In this embodiment, the instruction execution results of the executed instructions obtained are not completely the same according to the different working modes of the cleaning robot.

For example, if the working mode is the mapping mode, the instruction execution result of the executed instruction may include the current position, the current orientation, the current collision detection information, and the like of the pool cleaning robot; if the operation mode is the cleaning mode, the instruction execution result of the executed instruction may include the current position and the current orientation of the pool cleaning robot.

And step S104, generating a command to be executed according to the working mode of the swimming pool cleaning robot, the command execution result of the executed command and the swimming pool map, and driving the swimming pool cleaning robot to execute the swimming pool work task meeting the working mode according to the command to be executed.

Optionally, the driving control algorithm may call a corresponding instruction generating algorithm according to the working mode of the pool cleaning robot, so that the called instruction generating algorithm generates a to-be-executed instruction based on the instruction execution result of the executed instruction and the pool map, and returns the to-be-executed instruction to the driving control algorithm, so that the driving control algorithm drives the pool cleaning robot to execute the pool working task meeting the working mode based on the to-be-executed instruction.

Alternatively, the pool map can be a preconfigured pool map, such as a pool map generated based on preset map parameters, which can be fixed parameters or adjustable parameters.

Alternatively, the pool map may be a pool map generated in real time based on human-computer interaction results. For example, corresponding map parameters can be determined according to the area range input by the user (such as the area range delineated in a drawing way) so as to generate the pool map; for another example, the corresponding map parameters can be determined according to the information of the area, shape, or position input by the user, and the swimming pool map can be generated accordingly.

Alternatively, the corresponding map parameters can be determined based on the images of the pool (e.g., two-dimensional area images or three-dimensional volume images of the pool) acquired by the image acquisition device to generate the pool map.

In this embodiment, the executed instruction and the instruction to be executed may be a previous instruction and a next instruction for controlling the pool cleaning robot to continuously execute.

In summary, the present embodiment generates the expected command to be executed according to the operation mode of the pool cleaning robot and the command execution result of the executed command, so as to control the pool cleaning robot to accurately and safely execute the action commands in various operation modes, thereby improving the execution efficiency of the operation tasks of the pool.

Fig. 2 is a flowchart illustrating a driving control method of a pool cleaning robot according to another exemplary embodiment of the present disclosure. This example is a specific embodiment of the example shown in figure 1 and described above.

As shown in the figure, the present embodiment mainly includes the following steps:

step S202, the working mode of the swimming pool cleaning robot and the instruction execution result of the executed instruction are obtained.

In this embodiment, the operation mode of the pool cleaning robot is a mapping mode.

Optionally, the results of the instruction execution of the executed instructions may include at least the current location, current orientation, and current collision detection information of the pool cleaning robot.

And step S204, providing a drive control algorithm, and outputting the instruction execution result of the executed instruction to a preset mapping algorithm according to the mapping mode of the swimming pool cleaning robot.

In this embodiment, the driving control algorithm may call a preset mapping algorithm according to the mapping mode of the pool cleaning robot, and output the instruction execution result of the executed instruction to the preset mapping algorithm.

Step S206, determining whether the task of building the swimming pool is completed, if so, ending the process, and if not, executing step S208.

Optionally, a preset mapping algorithm may be provided to determine whether the current execution progress of the swimming pool mapping task meets a preset mapping end condition according to the instruction execution result of the executed instruction and the swimming pool map.

In this embodiment, the pool map may include a grid map that completely covers the pool and includes a plurality of grid blocks.

In this embodiment, the grid map may completely cover the working area of the pool (e.g., the water area of the pool).

Preferably, the grid map also covers portions of the non-working area adjacent to the working area of the pool (e.g., wall portions of the pool).

Specifically, a preset mapping algorithm may be provided to update the grid map according to the instruction execution result of the executed instruction, and determine whether the updated grid map meets a preset mapping end condition (e.g., whether all cleaning blocks corresponding to the working area of the swimming pool in the grid map have been marked), so as to determine whether the swimming pool mapping task is completed.

And step S208, providing a preset mapping algorithm, generating an instruction to be executed according to the instruction execution result of the executed instruction and the grid map, and returning the instruction to be executed to the drive control algorithm.

Alternatively, a preset mapping algorithm may be provided to determine the current block and the target block in the grid map based on the current position and the current orientation of the pool cleaning robot, the current collision detection information, and each grid block in the grid map.

In this embodiment, a preset mapping algorithm may be provided, which determines the current grid block of the pool cleaning robot according to the current location of the pool cleaning robot and each grid block in the grid map, and uses the current grid block as the current block, and determines the grid block to be moved by the pool cleaning robot according to the determined current block, the current orientation of the pool cleaning robot, the current collision detection information, and each grid block in the grid map, and uses the determined grid block to be moved as the target block.

Optionally, the preset mapping algorithm may include: based on the current orientation of the cleaning robot, if the cleaning robot cannot move forward based on the current orientation of the cleaning robot, the cleaning robot continues to move forward after performing steering operation based on the current orientation of the cleaning robot and a preset rotation angle, or performs retreating movement based on the current orientation of the cleaning robot, wherein the preset rotation angle may include clockwise rotation of 90 degrees or counterclockwise rotation of 90 degrees based on the current orientation of the cleaning robot.

Based on the preset mapping algorithm, according to the determined current block, the current orientation of the swimming pool cleaning robot and the current collision detection information, if the current collision detection information is no collision, the grid block positioned in front of the swimming pool cleaning robot is determined as the target block, and if the current collision detection information is collision, the grid block at the side (left side or right side) or rear of the swimming pool cleaning robot is determined as the target block.

Alternatively, the preset mapping algorithm may also label each cleaning block in the grid map according to the current collision detection information in the instruction execution result of the executed instruction, for example, if the current collision detection information returned after the collision detection is performed on the target block by the pool cleaning robot, indicates that the target block may correspond to a water area (working area) in the pool, and then label it as a cleaning block, otherwise, if the current collision detection information returned after the collision detection is performed on the target block by the pool cleaning robot, indicates that the target block may correspond to a wall of the pool or an obstacle portion in the pool, and then label it as a non-cleaning block.

Alternatively, a preset mapping algorithm can be provided, a command to be executed is generated according to the current block and the target block determined in the grid map and the current orientation of the pool cleaning robot, and the command to be executed and a working mode (mapping mode) corresponding to the command to be executed are returned to the driving control algorithm.

In this embodiment, the instruction to be executed is used for feeding back the action to be executed, and may be presented in the form of an action list or an action array, for example, where each parameter value in the action list or the action array may represent an action to be executed.

For example, 0 represents an end action; 1 represents advancing by one grid (e.g., advancing by one grid block based on the current block in the grid map); 2 represents one grid back (e.g., one grid block back based on the current block in the grid map); 3 collision detection (e.g., forward collision action); 4 represents a 90 degree left turn (e.g., a 90 degree left turn based on the current orientation of the pool cleaning robot); 5 represents a 90 degree right turn (e.g., a 90 degree right turn based on the current orientation of the pool cleaning robot).

Step S210, providing a driving control algorithm, driving the pool cleaning robot to execute the task of pool mapping in the work area defined by the pool based on the instruction to be executed, updating the instruction to be executed into the executed instruction after the execution of the pool cleaning robot is completed, and returning to step S202 to continue executing.

Optionally, a drive control algorithm may be provided to drive the pool cleaning robot to perform a movement action from the current block to the target block and/or to perform a collision detection action for the target block based on the instructions to be executed.

Alternatively, the drive control algorithm may drive the pool cleaning robot to perform a single action or a succession of actions based on the instructions to be executed.

In this embodiment, the pool cleaning robot may be driven to execute based on the to-be-executed instruction: at least one of a forward movement motion, a backward movement motion, a left turn motion, a right turn motion, a collision detection motion, and an end of motion.

For example, if the command to be executed (action list or action array) is action _ list [ ] {1,5,0}, the drive control algorithm can drive the motor of the pool cleaning robot to sequentially execute successive actions of moving forward one time, rotating right 90 degrees, and ending the actions.

In summary, the drivable control algorithm of the embodiment can call the preset mapping algorithm based on the mapping mode of the swimming pool cleaning robot to generate the to-be-executed instruction based on the instruction execution result of the executed instruction of the swimming pool cleaning robot and the grid map, and provide the driving control algorithm to drive the swimming pool cleaning robot to execute the corresponding swimming pool mapping task according to the to-be-executed instruction, so that the swimming pool cleaning robot can be controlled to accurately and safely execute the swimming pool mapping task, and the generated swimming pool cleaning map can accurately reflect the actual size and shape of the swimming pool.

Fig. 3 is a process flowchart of a driving control method of a pool cleaning robot according to another exemplary embodiment of the present application. This example is another embodiment of the example shown in figure 1 and described above.

In an embodiment, each processing step of the present embodiment may be executed separately.

In another embodiment, after the above embodiment shown in fig. 2 is completed, the processing steps of this embodiment may be continuously executed.

step S302, the working mode of the pool cleaning robot and the instruction execution result of the executed instruction are obtained.

In this embodiment, the operation mode of the pool cleaning robot is a cleaning mode.

Alternatively, the instruction execution results of the executed instructions may include the current position and current orientation of the pool cleaning robot.

Step S304, providing a driving control algorithm, and outputting the instruction execution result of the executed instruction to a preset cleaning algorithm according to the cleaning mode of the swimming pool cleaning robot.

In this embodiment, the driving control algorithm may call a preset cleaning algorithm according to the cleaning mode of the swimming pool cleaning robot, and output the instruction execution result of the executed instruction to the preset cleaning algorithm.

Step S306, determining whether the swimming pool cleaning task is completed, if so, ending the process, and if not, executing step S308.

Optionally, a preset cleaning algorithm may be provided, and whether the current execution progress of the swimming pool cleaning task meets a preset cleaning end condition is determined according to the instruction execution result of the executed instruction and the swimming pool map.

In this embodiment, the pool map can include a cleaning map, wherein the cleaning map can include a plurality of cleaning blocks corresponding to water areas of the pool.

Alternatively, the sweep map may be generated by performing the pool mapping task of the embodiment shown in FIG. 2 described above. However, the present invention is not limited thereto, and the cleaning map may be obtained by any other means, and the present invention is not limited thereto.

Specifically, a preset cleaning algorithm may be provided, the cleaning map is updated according to the instruction execution result of the executed instruction, and whether the updated cleaning map meets a preset cleaning end condition (for example, each cleaning block in the cleaning map is cleaned completely) is determined, so as to determine whether the swimming pool cleaning task is completed.

And step S308, providing a preset cleaning algorithm, generating a command to be executed according to the command execution result of the executed command and the cleaning map, and returning the command to be executed to the drive control algorithm.

Optionally, a preset sweeping algorithm can be provided to determine a current block and a target block in the sweep map based on the current position, current orientation, and each swept block in the sweep map of the pool cleaning robot.

The determination method of the current block and the target block in the cleaning map is basically the same as the determination method of the current block and the target block in the grid map in step S208, and is not repeated here.

Optionally, a preset cleaning algorithm may be provided, a to-be-executed instruction is generated according to the current block and the target block determined in the cleaning map, and the to-be-executed instruction is returned to the drive control algorithm.

Step S310, providing a driving control algorithm, driving the swimming pool cleaning robot to perform the swimming pool cleaning task based on the instruction to be executed, updating the instruction to be executed into an executed instruction after the swimming pool cleaning robot is executed, and returning to step S302 to continue executing.

Optionally, a drive control algorithm may be provided to drive the pool cleaning robot to perform a move action from the current block to the target block and/or to perform a sweep action for the target block based on the instructions to be executed.

In this embodiment, the pool cleaning robot may be driven to execute based on the to-be-executed instruction: at least one of forward movement, backward movement, left rotation, right rotation, cleaning and ending.

For the technical principle that the driving control algorithm drives the swimming pool cleaning robot to perform the swimming pool cleaning task based on the to-be-executed instruction, the technical principle is substantially similar to the technical principle that the driving control algorithm drives the swimming pool cleaning robot to perform the swimming pool mapping task based on the to-be-executed instruction in the step S210, and specific reference may be made to the description of the step S210, which is not repeated herein.

In summary, the drivable control algorithm of the embodiment can call the preset cleaning algorithm based on the cleaning mode of the swimming pool cleaning robot to generate the to-be-executed instruction based on the instruction execution result of the executed instruction of the swimming pool cleaning robot and the cleaning map, and provide the driving control algorithm to drive the swimming pool cleaning robot to execute the corresponding swimming pool cleaning task according to the to-be-executed instruction, so that the swimming pool cleaning robot can be controlled to accurately and safely execute the swimming pool cleaning task, and the swimming pool cleaning coverage and cleaning effect can be improved.

Fig. 4 is a process flow chart showing a driving control method of the pool cleaning robot according to another exemplary embodiment of the present application.

This example illustrates a particular embodiment of a return mode for a pool cleaning robot, wherein the return mode can be triggered during or after the completion of the pool construction task described above with reference to fig. 2, or during or after the completion of the pool cleaning task described above with reference to fig. 3. As shown in the figure, the present embodiment mainly includes the following steps:

and step S402, providing a preset return algorithm, and outputting a return instruction to the drive control algorithm based on a preset trigger condition.

Optionally, the preset trigger condition may include a system automatic trigger or a human-computer interaction input trigger satisfying a preset rule.

Optionally, the system automatic triggering meeting the preset rule may include: system automatic triggering when surveying swimming pool cleaning machines people and accomplishing when presetting the work task, system automatic triggering when the current electric quantity of surveying swimming pool cleaning machines people is less than when presetting the electric quantity threshold value, system automatic triggering when surveying swimming pool cleaning machines people when the operational failure appears, system automatic triggering when the degree of blockage of surveying swimming pool cleaning machines people's filter basket satisfies when presetting the jam condition, at least one in the system automatic triggering when the operating duration of surveying swimming pool cleaning machines people satisfies when presetting the time.

For example, when it is detected that the pool cleaning robot completes a pool mapping task or a pool cleaning task, a return command is triggered and generated.

For another example, in the process of executing the swimming pool mapping task or the swimming pool cleaning task by the swimming pool cleaning robot, when the current electric quantity detected by the swimming pool cleaning robot is lower than the preset electric quantity threshold value, or the running fault of the swimming pool cleaning robot is detected, or the filtering basket of the swimming pool cleaning robot is detected to be seriously blocked, the return instruction is triggered and generated.

For another example, an expected operating time of the pool cleaning robot can be set, and a return command can be triggered to be generated when the detected actual operating time of the pool cleaning robot meets the expected operating time.

And S404, providing a driving control algorithm, responding to the return instruction, and outputting the current position and the current orientation of the swimming pool cleaning robot to a preset return algorithm.

In this embodiment, if the driving control algorithm detects that the return command is triggered, the current operation of the swimming pool cleaning robot can be interrupted, and the current position and the current orientation of the swimming pool cleaning robot can be obtained to be transmitted to the predetermined return algorithm.

And step S406, providing a preset return algorithm, generating a command to be executed according to the current position, the current orientation, the preset return position and the swimming pool map of the swimming pool cleaning robot, and returning the command to be executed to the drive control algorithm.

Optionally, if the current working mode of the pool cleaning robot is a mapping mode, the pool map is a grid map, and if the current working mode of the pool cleaning robot is a cleaning mode, the pool map is a cleaning map.

In general, when a cleaning map is generated based on a grid map, the map coordinate information corresponding to the two is basically the same.

Alternatively, the preset return position may include at least one of a specified charging position, a specified edge proximity position, and an immediate edge proximity position.

Specifically, the designated charging position may represent a position of a charging pile of the swimming pool cleaning robot; the specified edgewise position may represent an initial position of the pool cleaning robot (e.g., a water-down position of the pool cleaning robot); the near edge position may represent a moving distance from a current position of the pool cleaning robot to a nearest pool edge position.

Alternatively, the preset return algorithm may generate a return path from the current position to the preset return position based on the preset routing algorithm, and generate the instruction to be executed based on the return path.

And step S408, providing a driving control algorithm, and driving the swimming pool cleaning robot to execute a return task based on the instruction to be executed.

Specifically, the driving control algorithm drives the swimming pool cleaning robot to return to the preset return position from the current position based on the instruction to be executed so as to provide the swimming pool cleaning robot to return to the charging pile located at the preset return position for charging, or provide an operator to withdraw the swimming pool cleaning robot from the preset return position.

In conclusion, this embodiment can drive the swimming pool cleaning robot to execute the automatic return operation based on the preset return position, not only can assist the work safety who improves the swimming pool cleaning robot, also can improve user's use experience.

As shown in the drawing, the drive control device 500 of the present embodiment mainly includes:

an obtaining module 502 is configured to obtain a work mode of the pool cleaning robot and an instruction execution result of the executed instruction.

And the control module 504 is used for generating a command to be executed according to the working mode of the swimming pool cleaning robot, the command execution result of the executed command and a swimming pool map, and driving the swimming pool cleaning robot to execute a swimming pool working task meeting the working mode according to the command to be executed.

Optionally, the operating mode of the pool cleaning robot comprises a mapping mode, the pool map comprises a grid map completely covering the pool; the control module 504 is also used for

Optionally, the control module 504 is further configured to provide a driving control algorithm, and output the instruction execution result of the executed instruction to a preset mapping algorithm according to the mapping mode of the pool cleaning robot; executing an instruction generating step to provide the preset mapping algorithm, generating an instruction to be executed according to an instruction execution result of the executed instruction and the grid map, and returning the instruction to be executed to the drive control algorithm; and executing a drive control step to provide the drive control algorithm, driving the swimming pool cleaning robot to execute a swimming pool mapping task in a working area defined by the swimming pool based on the to-be-executed instruction, updating the to-be-executed instruction into an executed instruction after the swimming pool cleaning robot executes, and returning to the step of obtaining the working mode of the swimming pool cleaning robot and the instruction execution result of the executed instruction to continue execution.

Optionally, the grid map comprises a plurality of grid blocks, and the instruction execution result of the executed instruction comprises the current position, the current orientation and the current collision detection information of the pool cleaning robot; the control module 504 is further configured to provide the preset mapping algorithm, and determine a current block and a target block in the grid map according to the current position, the current orientation, the current collision detection information, and each grid block in the grid map of the pool cleaning robot; and providing the preset mapping algorithm, generating a command to be executed according to the current block and the target block determined in the grid map and the current orientation of the swimming pool cleaning robot, and returning the command to be executed to the drive control algorithm.

Optionally, the control module 504 is further configured to provide the preset mapping algorithm, and determine the grid block where the pool cleaning robot is currently located as the current block according to the current position of the pool cleaning robot and each grid block in the grid map; and providing the preset mapping algorithm, and determining the grid block to be moved of the swimming pool cleaning robot as a target block according to the current block, the current orientation of the swimming pool cleaning robot, the current collision detection information and each grid block in the grid map.

Optionally, the control module 504 is further configured to provide the driving control algorithm, based on the instruction to be executed, to drive the pool cleaning robot to perform a moving action from the current block to the target block and/or perform a collision detection action for the target block.

Optionally, the control module 504 is further configured to provide the driving control algorithm to drive the pool cleaning robot to perform a single action or a plurality of actions in succession based on the instruction to be executed; wherein, can be based on waiting to carry out the instruction drive the swimming pool cleaning robot and carry out: at least one of a forward movement motion, a backward movement motion, a left turn motion, a right turn motion, a collision detection motion, and an end of motion.

Optionally, the control module 504 is further configured to provide the preset mapping algorithm, determine whether the swimming pool mapping task is completed according to the instruction execution result of the executed instruction and the grid map, and continue to execute the instruction generating step if it is determined that the swimming pool mapping task is not completed; and if the swimming pool mapping task is judged to be completed, ending the quitting.

Optionally, the operating mode of the pool cleaning robot comprises a sweeping mode, and the pool map comprises a sweeping map; the control module 504 is further configured to provide a driving control algorithm, and output an instruction execution result of the executed instruction to a preset cleaning algorithm according to the cleaning mode of the pool cleaning robot; an execution instruction generating step, namely providing the preset cleaning algorithm, generating an instruction to be executed according to an instruction execution result of the executed instruction and the cleaning map, and returning the instruction to be executed to the drive control algorithm; and a driving control executing step, namely providing the driving control algorithm, driving the swimming pool cleaning robot to execute a swimming pool cleaning task based on the to-be-executed instruction, updating the to-be-executed instruction into an executed instruction after the swimming pool cleaning robot executes, and returning to the step of obtaining the working mode of the swimming pool cleaning robot and the instruction execution result of the executed instruction to continue executing.

Optionally, the cleaning map comprises a plurality of cleaning blocks, and the instruction execution result of the executed instruction comprises the current position and the current orientation of the pool cleaning robot; the control module 504 is further configured to provide the preset sweeping algorithm, determine a current block and a target block in the sweep map based on the current position, the current orientation, and each swept block in the sweep map of the pool cleaning robot; providing the preset cleaning algorithm, generating a command to be executed according to the current block and the target block determined in the cleaning map, and returning the command to be executed to the drive control algorithm; and providing the driving control algorithm, and driving the swimming pool cleaning robot to perform a moving action from the current block to the target block and/or perform a sweeping action aiming at the target block based on the instruction to be executed.

Optionally, the working modes of the pool cleaning robot further include a return mode, and the control module 504 is further configured to provide a preset return algorithm, and output a return instruction to the drive control algorithm based on a preset trigger condition; providing the driving control algorithm, responding to the return instruction, and outputting the current position and the current orientation of the swimming pool cleaning robot to the preset return algorithm; providing the preset return algorithm, generating a command to be executed according to the current position, the current orientation, the preset return position and the swimming pool map of the swimming pool cleaning robot, and returning the command to be executed to the drive control algorithm; and providing the driving control algorithm, and driving the swimming pool cleaning robot to execute a return task based on the instruction to be executed.

Optionally, the system automatically triggering to satisfy the preset rule includes: when listening system automatic triggering when swimming pool cleaning robot accomplishes preset work task, when listening system automatic triggering when swimming pool cleaning robot's current electric quantity is less than predetermineeing the electric quantity threshold value, when listening system automatic triggering when the swimming pool cleaning robot breaks down, when listening system automatic triggering when satisfying the time of predetermineeing of swimming pool cleaning robot, when listening among at least one of the system automatic triggering when the operating duration of swimming pool cleaning robot satisfies the time of predetermineeing.

In addition, the driving control apparatus 500 of the pool cleaning robot in the embodiment of the present application can also be used to implement other steps in the aforementioned driving control method embodiments of the pool cleaning robot, and has the advantages of the corresponding method step embodiments, which are not described herein again.

An exemplary embodiment of the present application also provides an electronic device, including: at least one processor; and a memory communicatively coupled to the at least one processor. The memory stores a computer program executable by the at least one processor, the computer program, when executed by the at least one processor, is operative to cause the electronic device to perform a method according to embodiments of the present application.

The exemplary embodiments of this application also provide a non-transitory computer readable storage medium storing a computer program, wherein the computer program, when executed by a processor of a computer, is configured to cause the computer to perform a method according to embodiments of this application.

The exemplary embodiments of this application also provide a computer program product comprising a computer program, wherein the computer program is adapted to cause a computer to perform the method according to the embodiments of this application when executed by a processor of the computer.

Referring to fig. 6, a block diagram of a structure of an electronic device 600, which may be a server or a client of the present application, which is an example of a hardware device that may be applied to aspects of the present application, will now be described. Electronic device is intended to represent various forms of digital electronic computer devices, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other suitable computers. The electronic device may 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 meant to be examples only, and are not meant to limit implementations of the present application that are described and/or claimed herein.

As shown in fig. 6, the electronic device 600 includes a computing unit 601, which can perform various appropriate actions and processes according to a computer program stored in a Read Only Memory (ROM)602 or a computer program loaded from a storage unit 608 into a Random Access Memory (RAM) 603. In the RAM 603, various programs and data required for the operation of the device 600 can also be stored. The calculation unit 601, the ROM 602, and the RAM 603 are connected to each other via a bus 604. An input/output (I/O) interface 605 is also connected to bus 604.

Various components in the electronic device 600 are connected to the I/O interface 605, including: an input unit 606, an output unit 607, a storage unit 608, and a communication unit 609. The input unit 606 may be any type of device capable of inputting information to the electronic device 600, and the input unit 606 may receive input numeric or character information and generate key signal inputs related to user settings and/or function controls of the electronic device. Output unit 607 may be any type of device capable of presenting information and may include, but is not limited to, a display, speakers, a video/audio output terminal, a vibrator, and/or a printer. Storage unit 604 may include, but is not limited to, magnetic or optical disks. The communication unit 609 allows the electronic device 600 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunications networks, and may include, but is not limited to, a modem, a network card, an infrared communication device, a wireless communication transceiver, and/or a chipset, such as a bluetooth (TM) device, a WiFi device, a WiMax device, a cellular communication device, and/or the like.

The computing unit 601 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of the computing unit 601 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 processor, controller, microcontroller, and so forth. The calculation unit 601 performs the respective methods and processes described above. For example, in some embodiments, the pool cleaning robot drive control method of the previous embodiments can be implemented as a computer software program tangibly embodied in a machine-readable medium, such as the storage unit 608. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 600 via the ROM 602 and/or the communication unit 609. In some embodiments, the computing unit 601 can be configured to perform the pool cleaning robot's drive control method by any other suitable means (e.g., by way of firmware).

Program code for implementing the methods of the present application may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the program codes, when executed by the processor or controller, cause the functions/operations specified in the flowchart and/or block diagram to be performed. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of this application, 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, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

As used herein, the terms "machine-readable medium" and "computer-readable medium" refer to any computer program product, apparatus, and/or device (e.g., magnetic discs, optical disks, memory, Programmable Logic Devices (PLDs)) used to provide machine instructions and/or data to a programmable processor, including a machine-readable medium that receives machine instructions as a machine-readable signal. The term "machine-readable signal" refers to any signal used to provide machine instructions and/or data to a programmable processor.

To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), Wide Area Networks (WANs), and the Internet.

The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other.

It should be understood that although the present description has been described in terms of various embodiments, not every embodiment includes only a single embodiment, and such description is for clarity purposes only, and those skilled in the art will recognize that the embodiments described herein may be combined as suitable to form other embodiments, as will be appreciated by those skilled in the art.

The above description is only an exemplary embodiment of the present disclosure, and is not intended to limit the scope of the present disclosure. Any person skilled in the art should also understand that they can make equivalent changes, modifications and combinations without departing from the concept and principle of the embodiments of the present application.

Claims

1. A driving control method of a swimming pool cleaning robot, comprising:

obtaining a working mode of the swimming pool cleaning robot and an instruction execution result of an executed instruction;

generating a command to be executed according to the working mode of the swimming pool cleaning robot, the command execution result of the executed command and a swimming pool map, and driving the swimming pool cleaning robot to execute the swimming pool work task meeting the working mode according to the command to be executed.

2. A method as claimed in claim 1, wherein the pool cleaning robot operating modes include a mapping mode, the pool map including a grid map completely covering the pool;

and wherein, according to the mode of operation of swimming pool cleaning robot, instruction execution result, swimming pool map of the carried out instruction, generate and wait to carry out the instruction, and according to wait to carry out the instruction drive the swimming pool cleaning robot carries out and satisfies the task of swimming pool work of mode of operation, include:

providing a driving control algorithm, and outputting the instruction execution result of the executed instruction to a preset mapping algorithm according to the mapping mode of the swimming pool cleaning robot;

an instruction generating step, namely providing the preset mapping algorithm, generating an instruction to be executed according to an instruction execution result of the executed instruction and the grid map, and returning the instruction to be executed to the drive control algorithm;

and a driving control step of providing the driving control algorithm, driving the swimming pool cleaning robot to execute a swimming pool mapping task in a working area defined by the swimming pool based on the instruction to be executed, updating the instruction to be executed into an executed instruction after the swimming pool cleaning robot finishes executing, and returning to the step of obtaining the working mode of the swimming pool cleaning robot and the instruction execution result of the executed instruction to continue executing.

3. A method as claimed in claim 2, wherein the grid map comprises a plurality of grid blocks, and the results of the instruction execution of the executed instructions comprise current position, current orientation, current collision detection information of the pool cleaning robot;

and wherein the instruction generating step comprises:

providing the preset mapping algorithm, and determining a current block and a target block in the grid map according to the current position, the current orientation and the current collision detection information of the swimming pool cleaning robot and each grid block in the grid map;

and providing the preset mapping algorithm, generating a command to be executed according to the current block and the target block determined in the grid map and the current orientation of the swimming pool cleaning robot, and returning the command to be executed to the drive control algorithm.

4. The method of claim 3, wherein determining the current block and the target block in the grid map comprises:

providing the preset mapping algorithm, and determining the grid block where the swimming pool cleaning robot is located currently as a current block according to the current position of the swimming pool cleaning robot and each grid block in the grid map;

and providing the preset mapping algorithm, and determining the grid block to be moved of the swimming pool cleaning robot as a target block according to the current block, the current orientation of the swimming pool cleaning robot, the current collision detection information and each grid block in the grid map.

5. The method according to any one of claims 2 to 4, wherein the drive control step includes:

and providing the driving control algorithm, and driving the swimming pool cleaning robot to execute the movement action from the current block to the target block and/or execute the collision detection action aiming at the target block based on the instruction to be executed.

6. A method as claimed in claim 2, wherein the drive control algorithm can drive the pool cleaning robot to perform a single action or a plurality of actions in succession based on the instructions to be executed;

wherein, can be based on waiting to carry out the instruction drive the swimming pool cleaning robot and carry out: at least one of a forward movement motion, a backward movement motion, a left turn motion, a right turn motion, a collision detection motion, and an end of motion.

7. The method of claim 2, further comprising:

providing the preset mapping algorithm, judging whether the mapping task of the swimming pool is completed or not according to the instruction execution result of the executed instruction and the grid map, and if the mapping task of the swimming pool is not completed, continuing to execute the instruction generating step; and if the swimming pool mapping task is judged to be completed, ending the quitting.

8. The method of claim 1, wherein the pool cleaning robot operating modes include a sweep mode, the pool map includes a sweep map;

and wherein, according to the operating mode of the swimming pool cleaning robot, the instruction execution result of the executed instruction, the swimming pool map, generate the instruction to be executed, and drive the swimming pool cleaning robot to execute the instruction to be executed, including:

providing a driving control algorithm, and outputting the instruction execution result of the executed instruction to a preset cleaning algorithm according to the cleaning mode of the swimming pool cleaning robot;

an instruction generating step, namely providing the preset cleaning algorithm, generating an instruction to be executed according to an instruction execution result of the executed instruction and the cleaning map, and returning the instruction to be executed to the drive control algorithm;

and a drive control step of providing the drive control algorithm, driving the swimming pool cleaning robot to execute a swimming pool cleaning task based on the instruction to be executed, updating the instruction to be executed into an executed instruction after the swimming pool cleaning robot finishes executing, and returning to the step of obtaining the working mode of the swimming pool cleaning robot and the instruction execution result of the executed instruction to continue executing.

9. The method of claim 8, wherein the cleaning map comprises a plurality of cleaning blocks, and wherein the instruction execution results of the executed instructions comprise a current position and a current orientation of the pool cleaning robot;

wherein the instruction generating step further comprises:

providing the preset cleaning algorithm, and determining a current block and a target block in the cleaning map according to the current position and the current orientation of the swimming pool cleaning robot and each cleaning block in the cleaning map;

providing the preset cleaning algorithm, generating a command to be executed according to the current block and the target block determined in the cleaning map, and returning the command to be executed to the drive control algorithm;

wherein the drive control step further includes:

and providing the driving control algorithm, and driving the swimming pool cleaning robot to perform a moving action from the current block to the target block and/or perform a sweeping action aiming at the target block based on the instruction to be executed.

10. A method as claimed in any one of claims 1, 2 and 8 wherein the pool cleaning robot operating modes further include a return mode and the method further comprises:

providing a preset return algorithm, and outputting a return instruction to the drive control algorithm based on a preset trigger condition;

providing the driving control algorithm, responding to the return instruction, and outputting the current position and the current orientation of the swimming pool cleaning robot to the preset return algorithm;

providing the preset return algorithm, generating a command to be executed according to the current position, the current orientation, the preset return position and the swimming pool map of the swimming pool cleaning robot, and returning the command to be executed to the drive control algorithm;

and providing the driving control algorithm, and driving the swimming pool cleaning robot to execute a return task based on the instruction to be executed.

11. The method of claim 10, wherein the preset trigger condition comprises a system auto trigger or a human-computer interaction input trigger meeting a preset rule.

12. The method of claim 11, wherein the system automatic triggering meeting the preset rule comprises: the system when surveying swimming pool cleaning robot accomplishes preset job task triggers automatically, when surveying swimming pool cleaning robot's current electric quantity is less than the system automatic triggering when predetermineeing the electric quantity threshold value, when survey swimming pool cleaning robot system automatic triggering when the operation trouble appears, when survey swimming pool cleaning robot satisfy the system automatic triggering when predetermineeing the time, when survey swimming pool cleaning robot's operating duration satisfies in the time of predetermineeing at least one in the system automatic triggering.

13. The method of claim 10, wherein the preset return position comprises at least one of a designated charging position, a designated edge-proximity position, and an edge-proximity position.

14. A drive control apparatus of a swimming pool cleaning robot, comprising:

the acquisition module is used for acquiring the working mode of the swimming pool cleaning robot and the instruction execution result of the executed instruction;

and the control module is used for generating a command to be executed according to the working mode of the swimming pool cleaning robot, the command execution result of the executed command and a swimming pool map, and driving the swimming pool cleaning robot to execute the swimming pool work task meeting the working mode according to the command to be executed.

15. An electronic device, comprising:

a processor; and

a memory storing a program;

wherein the program comprises instructions which, when executed by the processor, cause the processor to carry out the method according to any one of claims 1-13.

16. A non-transitory computer readable storage medium having stored thereon computer instructions for causing a computer to perform the method of any one of claims 1-13.