CN116700255A - Method for controlling movement of robot - Google Patents
Method for controlling movement of robot Download PDFInfo
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- CN116700255A CN116700255A CN202310665144.8A CN202310665144A CN116700255A CN 116700255 A CN116700255 A CN 116700255A CN 202310665144 A CN202310665144 A CN 202310665144A CN 116700255 A CN116700255 A CN 116700255A
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- 238000000034 method Methods 0.000 title claims abstract description 46
- 230000009182 swimming Effects 0.000 claims abstract description 79
- 238000004140 cleaning Methods 0.000 claims abstract description 41
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 46
- 238000004590 computer program Methods 0.000 claims description 16
- 230000008569 process Effects 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 238000005096 rolling process Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000003749 cleanliness Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000010295 mobile communication Methods 0.000 description 1
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Abstract
The embodiment of the application provides a method for controlling movement of a robot, which comprises the following steps: when the robot cleans a first wall surface of the swimming pool, the robot is controlled to sequentially move along two opposite directions on a first path respectively; when the robot finishes moving on the first path, controlling the robot to reach a second path, wherein the second path is parallel to the first path and is adjacent to the first path; the control robot moves in two opposite directions on the second path, respectively. The application solves the problem of low efficiency of manually cleaning the swimming pool.
Description
Technical Field
The embodiment of the application relates to the field of mobile robots, in particular to a method for controlling the movement of a robot.
Background
In the related art, pool cleaning is typically performed manually. The clean swimming pool area is great, and the manual cleaning mode needs a large amount of manpower resources, and the manual cleaning swimming pool consumes long time, and is inefficiency.
There is currently no effective solution to the above problems.
Disclosure of Invention
The embodiment of the application provides a method for controlling movement of a robot, which at least solves the problem of low efficiency of manually cleaning a swimming pool in the related art.
According to an embodiment of the present application, there is provided a method of controlling movement of a robot, including: when the robot cleans a first wall surface of the swimming pool, the robot is controlled to sequentially move along two opposite directions on a first path respectively; when the robot finishes moving on the first path, controlling the robot to reach a second path, wherein the second path is parallel to the first path, and the second path is adjacent to the first path; and controlling the robots to sequentially move along two opposite directions on the second path respectively.
In an exemplary embodiment, controlling the robot to sequentially move in two opposite directions on the first path, respectively, includes: controlling the robot to move along a first direction on the first path, wherein the first direction is a direction from the bottom surface of the swimming pool to the water surface in the swimming pool; controlling the robot to move in a second direction on the first path in the case that the robot is detected to reach the water surface of the swimming pool, wherein the second direction is a direction from the water in the swimming pool to the bottom surface of the swimming pool; or when the robot detects an obstacle during the movement of the robot along the first path in the first direction, the robot is controlled to move along the second direction on the first path.
In an exemplary embodiment, the method further comprises: and under the condition that the robot is detected to reach the water surface of the swimming pool, controlling the robot to stay at the position reaching the water surface for a preset time period, and controlling the robot to move along the second direction on the first path, wherein the robot is controlled to clean the waterline of the swimming pool within the preset time period.
In one exemplary embodiment, controlling the robot to move in the second direction on the first path includes: controlling the robot to turn around and controlling the robot to move along the second direction on the first path; alternatively, the robot is controlled to reverse to move in the second direction on the first path.
In an exemplary embodiment, the robot is provided with a pressure sensor thereon, and the method further comprises: collecting pressure sensing data by the pressure sensor, wherein the pressure sensing data is used for representing the water pressure in the swimming pool; and under the condition that the pressure sensing data is smaller than or equal to a preset threshold value, determining that the robot reaches the water surface of the swimming pool.
In an exemplary embodiment, the method further comprises: the robot is controlled to complete movement on the first path with the robot being controlled to move on the first path in the second direction to the bottom surface of the pool.
In an exemplary embodiment, the robot is provided with a target sensor, the method further comprising: detecting whether a collision event occurs to the robot through the target sensor; in the event that the robot is determined to have the collision event, it is determined that the robot has moved to the bottom surface of the pool or that the robot has collided with an obstacle.
In one exemplary embodiment, when the robot completes the movement on the first path, controlling the robot to reach a second path includes: when the robot finishes moving on the first path, controlling the robot to rotate by a first preset angle; after the robot rotates the first preset angle, controlling the robot to move a first preset distance; and determining the position reached by the robot when moving the first preset distance as the starting point of the second path.
In an exemplary embodiment, when the robot completes the movement on the first path, controlling the robot to reach a second path further includes: when the robot finishes moving on the first path, controlling the robot to move a second preset distance along the first direction on the first path; and after the robot moves the second preset distance, controlling the robot to rotate a second preset angle and move a third preset distance so as to reach the starting point of the second path.
In one exemplary embodiment, in case it is determined that the robot completes cleaning the first wall surface, the robot is controlled to move to a second wall surface adjacent to the first wall surface.
In one exemplary embodiment, the robot is provided with a target sensor, and the controlling the robot to move to a second wall surface adjacent to the first wall surface includes: detecting whether a collision event occurs on the left side or the right side of the robot through the target sensor; under the condition that the collision event is determined to occur, determining that the robot finishes cleaning the first wall surface, and controlling the robot to move to a second wall surface so as to clean the second wall surface; or detecting whether an obstacle exists on the left side or the right side of the robot by the target sensor; and under the condition that the obstacle is determined to exist, determining that the robot finishes cleaning the first wall surface, and controlling the robot to move to a second wall surface so as to clean the second wall surface.
In one exemplary embodiment, controlling the robot to move to the second wall surface includes: controlling the robot to move from the first wall surface to the bottom surface of the swimming pool; and after the robot reaches the bottom surface of the swimming pool, controlling the robot to move to the second wall surface.
In an exemplary embodiment, the method further comprises: detecting, by the target sensor, whether a collision event occurs on the right side of the robot in a case where the second path is located on the right side of the first path; under the condition that the collision event is determined to occur, determining that the robot finishes cleaning the first wall surface, and controlling the robot to move to the second wall surface positioned on the right side of the robot so as to clean the second wall surface; or, in a case where the second path is located on the left side of the first path, detecting, by the object sensor, whether a collision event occurs on the left side of the robot; and under the condition that the collision event is determined to occur, determining that the robot finishes cleaning the first wall surface, and controlling the robot to move to the second wall surface positioned at the left side of the robot so as to clean the second wall surface.
According to another embodiment of the present application, there is provided an apparatus for controlling movement of a robot, including: the first control module is used for controlling the robot to sequentially move along two opposite directions on a first path when the robot cleans a first wall surface of the swimming pool; a second control module for controlling the robot to reach a second path when the robot completes the movement on the first path, wherein the second path is parallel to the first path and the second path is adjacent to the first path; and the third control module is used for controlling the robot to sequentially move along two opposite directions on the second path.
According to another embodiment of the present application, there is provided a swimming pool robot, comprising: a pressure sensor for acquiring pressure sensing data, wherein the pressure sensing data is used for representing the water pressure in the swimming pool; the target sensor is used for detecting whether the robot has a collision event or not; the control unit is used for controlling the robot to sequentially move along two opposite directions on a first path when the robot cleans a first wall surface of the swimming pool; when the robot finishes moving on the first path, controlling the robot to reach a second path, wherein the second path is parallel to the first path, and the second path is adjacent to the first path; and controlling the robots to sequentially move along two opposite directions on the second path respectively.
According to a further embodiment of the application, there is also provided a computer readable storage medium having stored therein a computer program, wherein the computer program is arranged to perform the steps of any of the method embodiments described above when run.
According to yet another embodiment of the present application there is also provided a swimming pool robot comprising a memory having a computer program stored therein and a processor arranged to run the computer program to perform the steps of any of the method embodiments described above.
According to the application, a mode of cleaning the swimming pool wall surface by a machine is adopted, and the robot is controlled to sequentially move along two opposite directions on a first path; when the robot finishes moving on the first path, controlling the robot to reach a second path, wherein the second path is parallel to the first path and is adjacent to the first path; the control robot moves in two opposite directions on the second path, respectively. Therefore, the robot can realize the aim of cleaning the wall surface of the swimming pool by moving along the path. Therefore, the problem of low cleaning efficiency of the swimming pool by manpower can be solved, and the effect of improving the cleaning efficiency of the swimming pool is achieved.
Drawings
Fig. 1 is a hardware block diagram of a mobile terminal of a method of controlling movement of a robot according to an embodiment of the present application;
FIG. 2 is a flow chart of a method of controlling movement of a robot according to an embodiment of the present application;
FIG. 3 is a schematic diagram of a swimming pool structure in accordance with an embodiment of the present application;
FIG. 4 is a schematic view of a wall structure according to an embodiment of the present application;
fig. 5 is a schematic view of a wall structure according to another embodiment of the present application;
fig. 6 is a schematic view of a wall structure according to yet another embodiment of the present application;
fig. 7 is a block diagram of a structure of an apparatus for controlling movement of a robot according to an embodiment of the present application.
Detailed Description
Embodiments of the present application will be described in detail below with reference to the accompanying drawings in conjunction with the embodiments.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order.
The method embodiments provided in the embodiments of the present application may be performed in a mobile terminal, a computer terminal or similar computing device. Taking the example of running on a mobile terminal, the mobile terminal may be a robot. Fig. 1 is a block diagram of a hardware structure of a mobile terminal of a method of controlling movement of a robot according to an embodiment of the present application. As shown in fig. 1, a mobile terminal may include one or more (only one is shown in fig. 1) processors 102 (the processor 102 may include, but is not limited to, a microprocessor MCU or a processing device such as a programmable logic device FPGA) and a memory 104 for storing data, wherein the mobile terminal may also include a transmission device 106 for communication functions and an input-output device 108. It will be appreciated by those skilled in the art that the structure shown in fig. 1 is merely illustrative and not limiting of the structure of the mobile terminal described above. For example, the mobile terminal may also include more or fewer components than shown in fig. 1, or have a different configuration than shown in fig. 1.
The memory 104 may be used to store a computer program, for example, a software program of application software and a module, such as a computer program corresponding to a method of controlling movement of a robot in an embodiment of the present application, and the processor 102 executes the computer program stored in the memory 104 to perform various functional applications and data processing, that is, to implement the above-described method. Memory 104 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include memory remotely located relative to the processor 102, which may be connected to the mobile terminal via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The transmission device 106 is used to receive or transmit data via a network. Specific examples of the network described above may include a wireless network provided by a communication provider of the mobile terminal. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, simply referred to as NIC) that can connect to other network devices through a base station to communicate with the internet. In one example, the transmission arrangement 106 may be a Radio Frequency (RF) module for communicating wirelessly with the internet.
In this embodiment, a method for controlling movement of a robot running on the mobile terminal is provided, and fig. 2 is a flowchart of a method for controlling movement of a robot according to an embodiment of the present application, as shown in fig. 2, the flowchart includes the following steps:
step S202, when a robot cleans a first wall surface of a swimming pool, controlling the robot to sequentially move along two opposite directions on a first path respectively;
as shown in the schematic view of fig. 3, the swimming pool typically includes a bottom surface and four wall surfaces connected to the bottom surface. The first wall surface may be any one of four wall surfaces of the swimming pool. Taking the wall surface shown in fig. 4 as an example, the first path on the first wall surface is parallel to the connecting line of the first wall surface and the second wall surface.
For example, the robot is controlled to move in a first direction on a first path, as shown in fig. 4, the first direction being from the bottom surface of the pool to the water surface in the pool; and detecting whether the robot reaches the water surface or not through a pressure sensor arranged on the robot, and if the robot reaches the water surface of the swimming pool, controlling the robot to move along the second direction on the first path. The second direction is from the water level in the pool to the bottom of the pool as shown in figure 4. Or when the robot detects an obstacle during the movement of the robot in the first direction on the first path, the robot is controlled to move in the second direction on the first path.
When the robot moves from the first path to the water surface along the first direction, the robot may be controlled to turn around and move in the second direction on the first path, or the robot may be controlled to reverse on the first path so that the robot moves in the second direction on the first path. The robot does not need to turn around in the reversing mode, so that time can be saved, and time consumption can be reduced in the turning around mode.
In case it is detected that the robot reaches the water surface of the swimming pool, the robot is controlled to stay at the position reaching the water surface for a preset time period (the preset time period may be determined according to practical situations, for example, 3 seconds), and then the robot is controlled to move along the second direction on the first path, and a cleaning rolling brush is provided on the robot (the cleaning rolling brush may be provided at the front of the robot). When the robot reaches the water surface, the cleaning rolling brush at the front part of the robot is just in the position of the waterline, so that the waterline can be cleaned within the preset time of the robot.
In the process of moving from the bottom surface of the swimming pool to the water surface along the first path, the pressure sensor is used for collecting the water pressure in the swimming pool, and in general, the water pressure is larger when the water pressure is closer to the bottom surface of the swimming pool, and the water pressure is smaller when the water pressure is closer to the water surface. Therefore, the pressure sensing data collected by the pressure sensor can reflect the distance between the robot and the bottom surface of the swimming pool, and further can reflect the distance between the robot and the water surface. The larger the value of the pressure sensing data collected by the pressure sensor is, the larger the water pressure is, the closer the robot is to the bottom surface of the swimming pool, the smaller the pressure sensing data is, the smaller the water pressure is, and the closer the robot is to the water surface. The threshold value can be preset (the specific value is set according to the actual situation), and the robot is determined to move to the water surface under the condition that the pressure sensing data collected by the pressure sensor is smaller than or equal to the preset threshold value. When the robot moves to the water surface, the robot moves along a first path from the water surface to the bottom surface of the pool. When the robot moves to the bottom surface of the pool, it is determined that the robot has moved on the first path, i.e., the robot has completed cleaning of the first path.
Through this step, because the robot is along two times of two different direction removal on same route, can carry out twice to this route and clean, increase the clean dynamics, improved the cleanliness of swimming pool.
Step S204, when the robot finishes moving on the first path, controlling the robot to reach a second path, wherein the second path is parallel to the first path and is adjacent to the first path;
in the case where the control robot moves to the bottom surface of the swimming pool in the second direction on the first path, it is determined that the movement of the robot on the first path is completed. An object sensor (the object sensor may be a sensor capable of detecting a collision, for example, an inertial measurement unit, a collision sensor, or the like, or may be a sensor capable of detecting a distance, for example, an ultrasonic sensor, a laser sensor, or the like) may be provided in front of or behind the robot, and the object sensor provided in front of the robot may be used to detect whether a collision event occurs in front of the robot or whether there is an obstacle in front of the robot when the robot moves forward. The object sensor arranged behind the robot can be used for detecting whether a collision event occurs behind the robot or whether an obstacle exists behind the robot when the robot backs up.
For example, the inertial measurement unit may determine that the robot collides with the bottom surface of the swimming pool or determines that the robot collides with an obstacle through a sudden change in the acceleration count value. If the object sensor detects that the robot collides with the bottom surface of the swimming pool, the robot is determined to move to the bottom surface of the swimming pool, and in this case, the robot needs to be controlled to change the path, and the robot is controlled to reach a second path adjacent to the first path so as to complete the cleaning work of the second path. When the distance sensor (such as an ultrasonic sensor) detects that the distance between the robot and the bottom surface of the swimming pool reaches a preset distance threshold (which can be set according to practical situations, such as 0.2 meter, 0.3 meter and the like), the robot is determined to move to the bottom surface of the swimming pool, namely, the robot is close to the pool bottom but does not collide with the pool bottom, the movement on the first path is completed, and the robot moves to the second path. To complete the cleaning of the second path.
Step S206, controlling the robot to sequentially move along two opposite directions on the second path.
For example, the robot may be controlled to move to the second path by:
as shown in fig. 5, the robot is controlled to rotate by a preset angle, and the first preset angle can be set according to practical situations, for example, can be 10 degrees, 15 degrees, etc.; after the robot rotates a first preset angle, the robot is controlled to move for a first preset distance, and the first preset distance can be set according to practical conditions, for example, 0.2 meter, 0.3 meter and the like. And determining the position reached by the robot when moving the first preset distance as the starting point of the second path. The second path shown in fig. 5 is located to the left of the first path, alternatively the second path may also be located to the right of the first path. And repeatedly cleaning the first and second paths until the first wall surface is cleaned.
The robot may also be controlled to move to the second path by: when the robot finishes moving on the first path, controlling the robot to move a second preset distance along the first direction on the first path; after the robot moves a second preset distance, the robot is controlled to rotate a second preset angle and move a third preset distance to reach the starting point of the second path.
The second preset distance may be according to practical situations, for example, 0.1 meter, 0.2 meter, etc. The third preset distance may be according to practical situations, for example, 0.2 meters, 0.3 meters, etc. After the robot finishes moving on the first path, the robot moves a second preset distance along the first path in the radial direction, and then rotates a second preset angle and then moves a third preset distance to reach the starting point of the second path. The upward second movement by the preset distance serves to leave a space for the robot to rotate to perform a rotating action.
A target sensor may be provided at the left or right side of the robot, by which it is possible to detect whether a collision event of the robot with the wall surface occurs. As shown in fig. 5, when the robot completes the cleaning work of the first wall surface, the robot is controlled to move to the second wall surface adjacent to the first wall surface. Specifically, whether the robot collides with the second wall surface or not is detected through a target sensor arranged on the robot, and under the condition that the collision event is determined, the robot is determined to finish cleaning the first wall surface, and the robot is controlled to move to the second wall surface so as to clean the second wall surface. Or detecting whether an obstacle exists on the left side or the right side of the robot by the target sensor; and under the condition that the existence of the obstacle is determined, determining that the robot finishes cleaning the first wall surface, and controlling the robot to move to the second wall surface so as to clean the second wall surface.
The robot may be controlled to move from the first wall surface to the second wall surface by: controlling the robot to move from the first wall surface to the bottom surface of the swimming pool; and after the robot reaches the bottom surface of the swimming pool, controlling the robot to move to the second wall surface. And after the robot reaches the second wall surface, the robot finishes the cleaning work of the second wall surface according to the moving mode in the embodiment.
The second path shown in fig. 5 is located at the left side of the first path, and the second wall surface is located at the left side of the first wall surface. In this case, whether a collision event occurs on the left side of the robot is detected by the object sensor; under the condition that a collision event is determined, determining that the robot finishes cleaning a first wall surface, and controlling the robot to move to a second wall surface positioned on the left side of the robot so as to clean the second wall surface; or detecting whether an obstacle exists on the left side of the robot through the target sensor; and under the condition that the existence of the obstacle is determined, determining that the robot finishes cleaning the first wall surface, and controlling the robot to move to the second wall surface so as to clean the second wall surface.
As an alternative embodiment, the second wall surface may also be located on the right side of the first wall surface as shown in fig. 6, in which case the second path is located on the right side of the first path. Detecting whether a collision event occurs on the right side of the robot by the target sensor in a case where the second path is located on the right side of the first path; under the condition that a collision event is determined, determining that the robot finishes cleaning a first wall surface, and controlling the robot to move to a second wall surface positioned on the right side of the robot so as to clean the second wall surface; or detecting whether an obstacle exists on the right side of the robot through the target sensor; and under the condition that the existence of the obstacle is determined, determining that the robot finishes cleaning the first wall surface, and controlling the robot to move to the second wall surface so as to clean the second wall surface.
Through the steps, a mode of cleaning the swimming pool wall surface by a machine is adopted, and the robot is controlled to sequentially move along two opposite directions on a first path; when the robot moves on the first path, controlling the robot to reach a second path, wherein the second path is parallel to the first path and is adjacent to the first path; the control robot moves in two opposite directions on the second path, respectively. The movable person can realize the aim of cleaning the wall surface of the swimming pool by moving along the path. Therefore, the problem of low cleaning efficiency of the swimming pool by manpower can be solved, and the effect of improving the cleaning efficiency of the swimming pool is achieved.
The main body of the steps may be a robot, but is not limited thereto.
From the description of the above embodiments, it will be clear to a person skilled in the art that the method according to the above embodiments may be implemented by means of software plus the necessary general hardware platform, but of course also by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) comprising instructions for causing a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) to perform the method according to the embodiments of the present application.
In this embodiment, a device for controlling movement of a robot is further provided, and the device is used to implement the foregoing embodiments and preferred embodiments, and will not be described again. As used below, the term "module" may be a combination of software and/or hardware that implements a predetermined function. While the means described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware, is also possible and contemplated.
Fig. 7 is a block diagram of a device for controlling movement of a robot according to an embodiment of the present application, as shown in fig. 7, the device including: a first control module 72, configured to control the robot to sequentially move along two opposite directions on a first path when the robot cleans a first wall surface of the swimming pool; a second control module 74 for controlling the robot to reach a second path when the robot completes the movement on the first path, wherein the second path is parallel to the first path and the second path is adjacent to the first path; and a third control module 76 for controlling the robots to sequentially move in two opposite directions on the second path, respectively.
In an exemplary embodiment, the apparatus is further configured to control the robot to move in a first direction along the first path, wherein the first direction is a direction from a bottom surface of the pool to a water surface in the pool; controlling the robot to move in a second direction on the first path in the case that the robot is detected to reach the water surface of the swimming pool, wherein the second direction is a direction from the water in the swimming pool to the bottom surface of the swimming pool; or when the robot detects an obstacle during the movement of the robot along the first path in the first direction, the robot is controlled to move along the second direction on the first path.
In an exemplary embodiment, the device is further configured to control the robot to move along the second direction on the first path after the robot is controlled to stay at a position reaching the water surface for a preset time period when the robot is detected to reach the water surface of the swimming pool, wherein the robot is controlled to clean the waterline of the swimming pool within the preset time period.
In an exemplary embodiment, the apparatus is further configured to control the robot to turn around and control the robot to move along the second direction on the first path; alternatively, the robot is controlled to reverse to move in the second direction on the first path.
In an exemplary embodiment, the robot is provided with a pressure sensor, and the device is further configured to collect pressure sensing data through the pressure sensor, where the pressure sensing data is used to represent the water pressure in the swimming pool; and under the condition that the pressure sensing data is smaller than or equal to a preset threshold value, determining that the robot reaches the water surface of the swimming pool.
In an exemplary embodiment, the apparatus is further configured to complete the movement of the robot on the first path if the robot is controlled to move on the first path in the second direction to the bottom surface of the pool.
In an exemplary embodiment, the robot is provided with a target sensor, the above arrangement being further adapted to detect by means of the target sensor whether the robot has a collision event; in the event that the robot is determined to have the collision event, it is determined that the robot has moved to the bottom surface of the pool or that the robot has collided with an obstacle.
In an exemplary embodiment, the apparatus is further configured to control the robot to rotate a first preset angle when the robot completes the movement on the first path; after the robot rotates the first preset angle, controlling the robot to move a first preset distance; and determining the position reached by the robot when moving the first preset distance as the starting point of the second path.
In an exemplary embodiment, the apparatus is further configured to control the robot to move a second preset distance in the first direction on the first path when the robot completes the movement on the first path; and after the robot moves the second preset distance, controlling the robot to rotate a second preset angle and move a third preset distance so as to reach the starting point of the second path.
In an exemplary embodiment, the above apparatus is further configured to control the robot to move to a second wall surface adjacent to the first wall surface, in case it is determined that the robot completes cleaning the first wall surface.
In an exemplary embodiment, the above device is further configured to detect whether a collision event occurs on the left or right side of the robot through the object sensor; under the condition that the collision event is determined to occur, determining that the robot finishes cleaning the first wall surface, and controlling the robot to move to a second wall surface so as to clean the second wall surface; or detecting whether an obstacle exists on the left side or the right side of the robot by the target sensor; and under the condition that the obstacle is determined to exist, determining that the robot finishes cleaning the first wall surface, and controlling the robot to move to a second wall surface so as to clean the second wall surface.
In an exemplary embodiment, the apparatus is further configured to control the robot to move from the first wall surface to the bottom surface of the pool; and after the robot reaches the bottom surface of the swimming pool, controlling the robot to move to the second wall surface.
In an exemplary embodiment, the above device is further configured to detect, by the target sensor, whether a collision event occurs on the right side of the robot in a case where the second path is located on the right side of the first path; under the condition that the collision event is determined to occur, determining that the robot finishes cleaning the first wall surface, and controlling the robot to move to the second wall surface positioned on the right side of the robot so as to clean the second wall surface; or, in a case where the second path is located on the left side of the first path, detecting, by the object sensor, whether a collision event occurs on the left side of the robot; and under the condition that the collision event is determined to occur, determining that the robot finishes cleaning the first wall surface, and controlling the robot to move to the second wall surface positioned at the left side of the robot so as to clean the second wall surface.
It should be noted that each of the above modules may be implemented by software or hardware, and for the latter, it may be implemented by, but not limited to: the modules are all located in the same processor; alternatively, the above modules may be located in different processors in any combination.
According to another embodiment of the present application, there is provided a swimming pool robot including a pressure sensor, a target sensor, a control unit, including: the pressure sensor is used for collecting pressure sensing data, wherein the pressure sensing data are used for representing the water pressure in the swimming pool; the target sensor detects whether the robot has a collision event; the control unit is used for controlling the robot to sequentially move along two opposite directions on a first path when the robot cleans a first wall surface of the swimming pool; when the robot finishes moving on the first path, controlling the robot to reach a second path, wherein the second path is parallel to the first path, and the second path is adjacent to the first path; and controlling the robots to sequentially move along two opposite directions on the second path respectively.
Embodiments of the present application also provide a computer readable storage medium having a computer program stored therein, wherein the computer program is arranged to perform the steps of any of the method embodiments described above when run.
In one exemplary embodiment, the computer readable storage medium may include, but is not limited to: a usb disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing a computer program.
Embodiments of the present application also provide a swimming pool robot comprising a memory having a computer program stored therein and a processor arranged to run the computer program to perform the steps of any of the method embodiments described above.
In an exemplary embodiment, the swimming pool robot may further include a transmission device connected to the processor and an input/output device connected to the processor.
Specific examples in this embodiment may refer to the examples described in the foregoing embodiments and the exemplary implementation, and this embodiment is not described herein.
It will be appreciated by those skilled in the art that the modules or steps of the application described above may be implemented in a general purpose computing device, they may be concentrated on a single computing device, or distributed across a network of computing devices, they may be implemented in program code executable by computing devices, so that they may be stored in a storage device for execution by computing devices, and in some cases, the steps shown or described may be performed in a different order than that shown or described herein, or they may be separately fabricated into individual integrated circuit modules, or multiple modules or steps of them may be fabricated into a single integrated circuit module. Thus, the present application is not limited to any specific combination of hardware and software.
The above description is only of the preferred embodiments of the present application and is not intended to limit the present application, but various modifications and variations can be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the principle of the present application should be included in the protection scope of the present application.
Claims (13)
1. A method of controlling movement of a robot, comprising:
when the robot cleans a first wall surface of the swimming pool, the robot is controlled to sequentially move along two opposite directions on a first path respectively;
when the robot finishes moving on the first path, controlling the robot to reach a second path, wherein the second path is parallel to the first path, and the second path is adjacent to the first path;
and controlling the robots to sequentially move along two opposite directions on the second path respectively.
2. The method of claim 1, wherein controlling the robot to sequentially move in two opposite directions on the first path, respectively, comprises:
controlling the robot to move along a first direction on the first path, wherein the first direction is a direction from the bottom surface of the swimming pool to the water surface in the swimming pool;
controlling the robot to move in a second direction on the first path in the case that the robot is detected to reach the water surface of the swimming pool, wherein the second direction is a direction from the water in the swimming pool to the bottom surface of the swimming pool;
or when the robot detects an obstacle during the movement of the robot along the first path in the first direction, the robot is controlled to move along the second direction on the first path.
3. The method according to claim 2, wherein the method further comprises:
and under the condition that the robot is detected to reach the water surface of the swimming pool, controlling the robot to stay at the position reaching the water surface for a preset time period, and controlling the robot to move along the second direction on the first path, wherein the robot is controlled to clean the waterline of the swimming pool within the preset time period.
4. The method of claim 2, wherein controlling the robot to move in the second direction on the first path comprises:
controlling the robot to turn around and controlling the robot to move along the second direction on the first path; or alternatively, the process may be performed,
the robot is controlled to reverse to move in the second direction on the first path.
5. The method of claim 2, wherein the robot has a pressure sensor disposed thereon, the method further comprising:
collecting pressure sensing data by the pressure sensor, wherein the pressure sensing data is used for representing the water pressure in the swimming pool;
and under the condition that the pressure sensing data is smaller than or equal to a preset threshold value, determining that the robot reaches the water surface of the swimming pool.
6. The method according to claim 2, wherein the method further comprises:
the robot is controlled to complete movement on the first path with the robot being controlled to move on the first path in the second direction to the bottom surface of the pool.
7. The method according to claim 2 or 6, wherein the robot is provided with a target sensor, the method further comprising:
detecting whether a collision event occurs to the robot through the target sensor;
in the event that the robot is determined to have the collision event, it is determined that the robot has moved to the bottom surface of the pool or that the robot has collided with an obstacle.
8. The method of claim 1, wherein controlling the robot to reach a second path when the robot completes movement on the first path comprises:
when the robot finishes moving on the first path, controlling the robot to rotate by a first preset angle;
after the robot rotates the first preset angle, controlling the robot to move a first preset distance;
determining a position reached when the robot moves the first preset distance as a starting point of the second path; or alternatively, the process may be performed,
when the robot completes moving on the first path, controlling the robot to reach a second path, comprising:
when the robot finishes moving on the first path, controlling the robot to move a second preset distance along a first direction on the first path, wherein the first direction is a direction from the bottom surface of the swimming pool to the water surface in the swimming pool;
and after the robot moves the second preset distance, controlling the robot to rotate a second preset angle and move a third preset distance so as to reach the starting point of the second path.
9. The method according to any one of claims 1 to 8, further comprising:
and controlling the robot to move to a second wall surface adjacent to the first wall surface under the condition that the robot is determined to finish cleaning the first wall surface.
10. The method of claim 9, wherein the robot is provided with a target sensor, the controlling the robot to move to a second wall adjacent the first wall, comprising:
detecting whether a collision event occurs on the left side or the right side of the robot through the target sensor; under the condition that the collision event is determined to occur, determining that the robot finishes cleaning the first wall surface, and controlling the robot to move to a second wall surface so as to clean the second wall surface; or alternatively, the process may be performed,
detecting whether an obstacle exists on the left side or the right side of the robot through the target sensor; and under the condition that the obstacle is determined to exist, determining that the robot finishes cleaning the first wall surface, and controlling the robot to move to a second wall surface so as to clean the second wall surface.
11. The method of claim 9, wherein controlling the robot to move to a second wall adjacent the first wall comprises:
controlling the robot to move from the first wall surface to the bottom surface of the swimming pool;
and after the robot reaches the bottom surface of the swimming pool, controlling the robot to move to the second wall surface.
12. A computer readable storage medium, characterized in that a computer program is stored in the computer readable storage medium, wherein the computer program, when being executed by a processor, implements the steps of the method according to any of the claims 1 to 11.
13. A swimming pool robot comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the method of any one of claims 1 to 11 when the computer program is executed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310665144.8A CN116700255A (en) | 2023-06-06 | 2023-06-06 | Method for controlling movement of robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310665144.8A CN116700255A (en) | 2023-06-06 | 2023-06-06 | Method for controlling movement of robot |
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| Publication Number | Publication Date |
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| CN116700255A true CN116700255A (en) | 2023-09-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310665144.8A Pending CN116700255A (en) | 2023-06-06 | 2023-06-06 | Method for controlling movement of robot |
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| Country | Link |
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| CN (1) | CN116700255A (en) |
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2023
- 2023-06-06 CN CN202310665144.8A patent/CN116700255A/en active Pending
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