Path planning method and device for swimming pool cleaning robot

A path planning method for a swimming pool cleaning robot, comprising:

• (a) controlling the robot to search, at a first set angle, in one or more surrounding grids around a current grid of the robot;
• (b) controlling the robot to move to a first uncleaned grid for cleaning and determining the first uncleaned grid as the current grid of the robot when the first uncleaned grid is found in the one or more surrounding grids, and then returning to step (a);
• (c) determining whether path planning termination conditions are satisfied when no uncleaned grid is found in the one or more surrounding grids;
• (d) determining whether an accumulated rotation angle of the robot at a second set angle in the current grid reaches a full circle when the path planning termination conditions are not satisfied;
• and
• (e) controlling the robot to rotate by the second set angle when the accumulated rotation angle of the robot at the second set angle in the current grid does not reach a full circle, and then returning to step (a).