Cleaning system

Abstract

The invention discloses a cleaning system. The cleaning system comprises pool cleaning equipment, a control unit, a positioning unit and overwater functional equipment. The pool cleaning equipment is connected with the overwater functional equipment through a flexible wire, the overwater functional equipment comprises a sensor, and the sensor can obtain pool edge information on the water surface when the overwater functional equipment floats and can also obtain underwater sensing information of a corresponding area; the positioning unit is positioned in the pool cleaning equipment or the overwater functional equipment and is used for acquiring the positioning information of the equipment; and the control unit is positioned in the pool cleaning equipment or the overwater functional equipment, and is used for guiding the pool cleaning equipment to perform underwater cleaning operation based on the pool edge information, the positioning information and the sensing information. According to the invention, the problem of large interference of underwater signal receiving is solved, and the working efficiency and effect of the pool cleaning equipment are improved.

Description

Technical Field

[0001] The present application relates to the technical field of cleaning equipment, and in particular to a cleaning system. Background Art

[0002] Pool cleaning equipment is used to clean various water areas (such as swimming pools, ponds, etc.). In the related art, since the application scenario of pool cleaning equipment is mainly underwater, and the signals received underwater are often interfered with, the working efficiency and effect of the pool cleaning equipment are affected. Summary of the invention

[0003] Based on this, the purpose of this application is to provide a cleaning system to solve at least one technical problem in the related art. The technical solution is as follows:

[0004] In one aspect, the present application provides a cleaning system, including a pool cleaning device, a control unit, a positioning unit, and a water function device;

[0005] The pool cleaning device is connected to the water function device via a soft wire, and the water function device includes a sensor, which can obtain pool edge information on the water surface when the water function device floats, and the sensor can also obtain underwater perception information of the corresponding area;

[0006] The positioning unit is located in the pool cleaning device or in the water function device, and is used to obtain positioning information of the device;

[0007] The control unit is located in the pool cleaning device or in the water function device, and is used to guide the pool cleaning device to perform cleaning operations underwater based on the pool edge information, the positioning information and the perception information.

[0008] In some embodiments of the present application, the sensor includes a collection device capable of collecting first relative position relationship information between the water function device and the edge of the pool;

[0009] If the positioning unit is located in the pool cleaning device, the perception information includes the second relative position relationship information between the water function device and the pool cleaning device, and the sensor can obtain the pool edge information based on the first relative position relationship information, the second relative position relationship information and the positioning information; if the positioning unit is located in the water function device, the sensor can obtain the pool edge information based on the first relative position relationship and the positioning information.

[0010] In some embodiments of the present application, if the positioning unit is located in the water function equipment, the perception information includes the second relative position relationship information, and the pool cleaning equipment obtains its own positioning information based on the positioning information and the second relative position relationship information.

[0011] In some embodiments of the present application, the soft wire has a communication function.

[0012] In some embodiments of the present application, the sensor includes one or more of a camera, an ultrasonic sensor, and a radar, and the positioning unit includes an IMU or a GPS.

[0013] In some embodiments of the present application, the perception information includes underwater environmental information or underwater pollutant information, and the control unit guides the pool cleaning device to perform path planning based on the underwater environmental information or to perform directional cleaning based on the underwater pollutant information.

[0014] In some embodiments of the present application, a wireless communication unit is further included, and the wireless communication unit is capable of sending the pool edge information and / or the positioning information of the pool cleaning device to a user.

[0015] In some embodiments of the present application, the perception information includes status information of the pool cleaning device, and the control unit can issue an alarm or prompt based on the status information.

[0016] In some embodiments of the present application, a storage unit is further included, for storing the pool edge information.

[0017] In some embodiments of the present application, when the sensing range of the sensor does not meet a preset condition, the control unit controls the pool cleaning device to move.

[0018] The present application provides a cleaning system, which includes a pool cleaning device, a control unit, a positioning unit and a water function device; the pool cleaning device is connected to the water function device through a soft wire, and the water function device includes a sensor, which can obtain the pool edge information on the water surface when the water function device floats, and the sensor can also obtain the underwater perception information of the corresponding area; the positioning unit is located in the pool cleaning device or in the water function device, and is used to obtain the positioning information of the device; the control unit is located in the pool cleaning device or in the water function device, and is used to: guide the pool cleaning device to perform cleaning operations underwater based on the pool edge information, positioning information and perception information. In this way, by setting up a water function device independent of the pool cleaning device, using the sensor in the water function device to obtain the pool edge information on the water surface, and combining the sensor to obtain the underwater perception information of the corresponding area and the positioning information obtained by the positioning unit, the pool cleaning device is jointly guided to perform cleaning operations underwater, so that it is not necessary to map the pool cleaning device itself underwater, thereby improving the problem of large interference of signals received underwater, and improving the working efficiency and effect of the pool cleaning device. In addition, since the positioning unit is selectively arranged in the pool cleaning device or in the water function device, there is no need to configure the positioning unit on both the pool cleaning device and the water function device, thereby reducing the equipment cost.

[0019] It should be understood that the foregoing general description and the following detailed description are exemplary only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions and advantages in the embodiments of the present application or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0021] Figure 1 It is a structural block diagram of a cleaning system provided in an embodiment of the present application;

[0022] Figure 2 is a structural block diagram of another cleaning system provided in an embodiment of the present application;

[0023] Figure 3 It is a schematic diagram of a scenario involved in the working process of a cleaning system provided in an embodiment of the present application.

[0024] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiment is only one embodiment of the present application, not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present application.

[0026] "Some embodiments" or "embodiments" referred to herein refer to specific features, structures, or characteristics that may be included in at least one implementation of the present application.

[0027] Unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like involved in this application should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection. For another example, it can be a mechanical connection or an electrical connection. For another example, it can be a direct connection or an indirect connection through an intermediate medium. It can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0028] Unless otherwise clearly specified and limited, the terms "first", "second", etc. involved in this application are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the term "at least one" refers to one or more, and the term "multiple" refers to two or more. The term "and / or" describes the association relationship of associated objects, indicating that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone.

[0029] It should be noted that when an element is described as being "fixed on" or "disposed on" another element, the element may be directly on the other element or there may be an element centered thereon. In addition, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only implementation method.

[0030] In the related art, since the application scenario of the pool cleaning equipment is mainly underwater and the signals received underwater are often weak, this will bring certain difficulties to the accurate positioning of the pool cleaning equipment, thereby affecting the working efficiency and effect of the pool cleaning equipment.

[0031] In view of this, the present application provides a cleaning system, which includes a pool cleaning device, a control unit, a positioning unit and a water function device; the pool cleaning device is connected to the water function device through a soft wire, and the water function device includes a sensor, which can obtain the pool edge information on the water surface when the water function device floats, and the sensor can also obtain the underwater perception information of the corresponding area; the positioning unit is located in the pool cleaning device or in the water function device, and is used to obtain the positioning information of the device; the control unit is located in the pool cleaning device or in the water function device, and is used to: guide the pool cleaning device to perform cleaning operations underwater based on the pool edge information, positioning information and perception information. In this way, by setting up a water function device independent of the pool cleaning device, using the sensor in the water function device to obtain the pool edge information on the water surface, and combining the sensor to obtain the underwater perception information of the corresponding area and the positioning information obtained by the positioning unit, the pool cleaning device is jointly guided to perform cleaning operations underwater, so that it is not necessary to build a map underwater by the pool cleaning device itself, thereby improving the problem of large interference of signals received underwater, and improving the working efficiency and effect of the pool cleaning device. In addition, since the positioning unit is selectively arranged in the pool cleaning device or in the water function device, there is no need to configure the positioning unit on both the pool cleaning device and the water function device, thereby reducing the equipment cost.

[0032] It should be noted that the pool cleaning device provided in this application can be any robot, smart device, smart mobile terminal, automatic device, etc. that can perform underwater cleaning work, but is not limited thereto. In addition, the pool cleaning device is not limited to having an underwater cleaning function, but can also have a surface cleaning function and / or some other suitable functions.

[0033] It should also be noted that the underwater solution involved in the present application is not limited to water, but may also be other suitable liquids.

[0034] A cleaning system involved in an embodiment of the present application is described in detail below in conjunction with the accompanying drawings.

[0035] Figure 1 is a structural block diagram of a cleaning system provided in an embodiment of the present application, Figure 2 is a structural block diagram of another cleaning system provided in an embodiment of the present application. Figure 1 and Figure 2 The cleaning system 100 includes a pool cleaning device 110 , a water function device 120 , a positioning unit 130 and a control unit 140 .

[0036] The pool cleaning device 110 and the water function device 120 can be connected by a connection member such as a cord.

[0037] Optionally, when the pool cleaning device 110 is underwater in the pool, the water function device 120 can float on the surface of the pool. The fluctuation of the water function device on the water surface can be limited to a certain extent by a connector such as a cord connected to the pool cleaning device 110. In addition, under the action of the connector such as a cord, the water function device 120 can move with the pool cleaning device 110 in the pool. By way of example only, the cord can include, but is not limited to, a cable, a rope, etc.

[0038] The water function device 120 includes a sensor 121, which can obtain pool edge information on the water surface when the water function device 120 floats. The sensor 121 can also obtain underwater perception information of the corresponding area.

[0039] The pool edge information is at least used to characterize the boundary position of the pool where the water function equipment is located. As an example only, the pool edge information may include the position coordinates of the water surface contour of the pool. In this embodiment, the pool edge information may refer to the water surface map information of the pool where the water function equipment is located.

[0040] The underwater sensing information is at least used to characterize the underwater situation of the corresponding area of ​​the sensor. The corresponding area of ​​the sensor may include the collected area of ​​the sensor. The specific position and / or area range of the corresponding area can be related to the installation position of the sensor and the collection range threshold of the sensor.

[0041] The positioning unit 130 is located in the pool cleaning device 110 or in the water function device 120 and is used to obtain the positioning information of the device.

[0042] Optionally, the positioning unit 130 may be located in one of the pool cleaning device and the water function device, and the other device may not have the positioning unit. The positioning unit can obtain the positioning information of the device where it is located. For example, Figure 1 As shown, if the positioning unit 130 is located in the pool cleaning device 110, the positioning unit 130 obtains the positioning information of the pool cleaning device 110. Figure 2 As shown, if the positioning unit 130 is located in the water function equipment 120 , the positioning unit 130 obtains the positioning information of the water function equipment 120 .

[0043] The control unit 140 is located in the pool cleaning device 110 or in the water function device 120, and is used to guide the pool cleaning device 110 to perform cleaning operations underwater based on the pool edge information, positioning information and perception information.

[0044] Optionally, the control unit 140 may be located in one of the pool cleaning device 110 and the water function device 120, and the other device may not have the control unit. The control unit 140 is used to obtain the aforementioned pool edge information, positioning information, and perception information, and guides the pool cleaning device 110 to at least perform cleaning operations underwater based on the pool edge information, positioning information, and perception information.

[0045] In the above-mentioned embodiment, a water function device independent of the pool cleaning device is provided, and the sensor in the water function device is used to obtain the pool edge information on the water surface, and the sensor is combined to obtain the underwater perception information of the corresponding area and the positioning information obtained by the positioning unit, so as to jointly guide the pool cleaning device to perform cleaning operations underwater. In this way, there is no need for the pool cleaning device itself to build a map underwater, thereby improving the problem of large interference of signals received underwater and improving the working efficiency and effect of the pool cleaning device. In addition, since the positioning unit is selectively provided in the pool cleaning device or in the water function device, there is no need to configure the positioning unit on both the pool cleaning device and the water function device, thereby reducing the equipment cost.

[0046] In some embodiments of the present application, the sensor 121 includes a collection device capable of collecting first relative position relationship information between the water function equipment and the edge of the pool;

[0047] If the positioning unit 130 is located in the pool cleaning device 110, the perception information includes the second relative position relationship information between the water function equipment and the pool cleaning equipment, and the sensor 121 can obtain the pool edge information based on the first relative position relationship information, the second relative position relationship information and the positioning information; if the positioning unit 130 is located in the water function equipment 120, the sensor 121 can obtain the pool edge information based on the first relative position relationship and the positioning information.

[0048] Optionally, the sensor 121 includes a collection device, through which the first relative position relationship information between the water function equipment and the edge of the pool can be collected. As an example only, the first relative position relationship information may include: the relative distance or relative position coordinates of each edge contour point in the edge of the pool relative to the water function equipment.

[0049] Since the positioning unit 130 is located in either the pool cleaning device 110 or the water function device 120, obtaining the pool edge information can be divided into the following situations:

[0050] Scenario 1: If the positioning unit 130 is located in the pool cleaning device 110, that is, the positioning information obtained by the positioning unit 130 is the positioning information of the pool cleaning device 110 itself. In this case, the underwater sensing information obtained by the water function device 120 includes the second relative position relationship information between the water function device 120 and the pool cleaning device 110. The second relative position relationship information may refer to the relative position of the two in a reference direction (for example, the horizontal direction). As an example only, the second relative position relationship information may include: the relative distance or relative position coordinates of the reference position point in the pool cleaning device 110 relative to the water function device 120 in the horizontal direction. Among them, the reference position point may include but is not limited to at least one of a position point at the front end of the fuselage, a position point at the center of the fuselage, a position point at the rear end of the fuselage, a marked position point on the device, etc.

[0051] At this time, the sensor 121 obtains the second relative position relationship information and the positioning information, and obtains the pool edge information based on the first relative position relationship information, the second relative position relationship information and the positioning information. Specifically, the sensor 121 can determine the positioning information of the aquatic function equipment through the second relative position relationship information between the aquatic function equipment and the pool cleaning equipment, and the positioning information of the pool cleaning equipment itself; and then obtain the pool edge information based on the positioning information of the aquatic function equipment and the first relative position relationship information between the aquatic function equipment and the pool edge.

[0052] Scenario 2: If the positioning unit 130 is located in the water function device 120, that is, the positioning information obtained by the positioning unit 130 is the positioning information of the water function device 120 itself. At this time, the sensor 121 obtains the first relative position relationship information between the water function device 120 and the edge of the pool, and the positioning information of the water function device itself, and obtains the pool edge information based on the first relative position relationship and the positioning information.

[0053] In the above embodiment, the acquisition device in the sensor is introduced to collect the first relative position relationship information between the water function equipment and the edge of the pool, and the configuration perception information includes the second relative position relationship information between the water function equipment and the pool cleaning equipment, and the pool edge information is determined in combination with the positioning information of the equipment carried by the positioning unit, that is, the water map is realized, thereby overcoming the limitations of the pool cleaning equipment itself in underwater mapping and improving the accuracy and reliability of the pool edge information. In addition, the pool edge information can be flexibly and accurately determined by a positioning unit, without the need to carry multiple positioning units in the pool cleaning equipment and the water function equipment, thereby reducing the equipment cost.

[0054] In some embodiments of the present application, if the positioning unit 130 is located in the water function equipment 120, the perception information includes the second relative position relationship information, and the pool cleaning equipment obtains its own positioning information based on the positioning information and the second relative position relationship information.

[0055] Optionally, for the second situation in which the positioning unit 130 is located in the water function device 120, that is, the positioning information obtained by the positioning unit 130 is the positioning information of the water function device 120 itself. In this case, the underwater perception information may include the second relative position relationship information between the water function device and the pool cleaning device. The second relative position relationship information may refer to the relative position of the two in a reference direction (for example, the horizontal direction). As an example only, the second relative position relationship information may include: the relative distance or relative position coordinates of the reference position point in the pool cleaning device relative to the water function device in the horizontal direction. Among them, the reference position point may include but is not limited to at least one of a position point at the front end of the fuselage in the pool cleaning device, a position point at the center of the fuselage, a position point at the rear end of the fuselage, a marked position point on the device, etc.

[0056] At this time, the pool cleaning equipment can obtain the second relative position relationship information between the water function equipment and the pool cleaning equipment, as well as the positioning information of the water function equipment, and based on the second relative position relationship information and the positioning information of the water function equipment, determine the pool cleaning equipment's own positioning information, so as to subsequently perform corresponding operations based on the self-positioning information.

[0057] In the above embodiment, by configuring the perception information to include the second relative position relationship information between the water functional equipment and the pool cleaning equipment, and combining the positioning information of the water functional equipment, the positioning information of the pool cleaning equipment itself located underwater can be accurately obtained. In this way, the difficulty of accurately positioning the pool cleaning equipment underwater is reduced, and the working effect of the equipment is improved.

[0058] In some embodiments of the present application, the flexible wire has a communication function.

[0059] Optionally, the soft wire connecting the pool cleaning device 110 and the water function device 120 has a communication function, that is, the soft wire not only realizes the flexible connection between the pool cleaning device and the water function device, but also realizes the communication between the two. As an example only, the soft wire can be a cable with a communication function. In this way, by providing a soft wire with an integrated communication function, the need for additionally arranging communication cables is reduced, and interference caused by the arranged communication cables is avoided.

[0060] In some embodiments of the present application, the sensor 121 includes one or more of a camera, an ultrasonic sensor, and a radar, and the positioning unit includes an IMU or a GPS.

[0061] Optionally, the sensor 121 may include but is not limited to one or more of a camera, an ultrasonic sensor, and a radar. The positioning unit 130 may include at least one of an inertial sensor (IMU) and a global positioning system (GPS), but is not limited thereto. The positioning unit 130 may also include other units capable of implementing a positioning function. The control unit 140 may include but is not limited to a micro control unit (MCU).

[0062] In this embodiment, the sensor 121 may include a radar. The radar may be used as the above-mentioned collection device for collecting the first relative position relationship information between the water function equipment and the edge of the pool. Specifically, the radar sends a radar signal to each direction of the pool, and the first relative distance between the radar on the water function equipment and the pool boundary is determined according to the received radar signal. Then, the distance value can be adjusted based on the first relative distance and the installation position of the radar on the water function equipment to obtain the second relative distance of the pool edge relative to the water function equipment, that is, the first relative position relationship information between the water function equipment and the pool edge is collected.

[0063] In this embodiment, the sensor 121 may also include a camera. The camera may capture an underwater image of the corresponding area of ​​the sensor, and then perform image analysis on the underwater image to determine the relative distance between the camera and the pool cleaning device. The relative distance is then numerically adjusted based on the camera on the water function device to obtain the relative distance of the pool cleaning device relative to the water function device, that is, the second relative position relationship information between the water function device and the pool cleaning device. For example, the pool cleaning device is located underwater and in front of the water function device at a horizontal distance t1, or the pool cleaning device is located underwater and at the left side of the water function device at a horizontal distance t2.

[0064] In this embodiment, the positioning unit 130 may include an inertial sensor, and the positioning information acquired by the inertial sensor may include but is not limited to at least one type of information such as position, yaw angle, and speed.

[0065] In some embodiments of the present application, the perception information includes underwater environmental information or underwater pollutant information, and the control unit guides the pool cleaning equipment to perform path planning based on the underwater environmental information or to perform directional cleaning based on the underwater pollutant information.

[0066] Optionally, when the underwater perception information includes underwater environmental information, the control unit guides the pool cleaning device to perform path planning based on the underwater environmental information. As an example only, the underwater environmental information may include but is not limited to underwater obstacle information. Specifically, when the control unit guides the pool cleaning device to perform cleaning operations, the control unit may determine obstacle information in the direction of travel based on the underwater environmental information contained in the perception information, and then guide the pool cleaning device to perform obstacle avoidance actions based on the obstacle information, thereby avoiding touching obstacles during cleaning operations and improving the cleaning efficiency of the device.

[0067] Alternatively, when the underwater sensing information includes underwater pollutant information, the control unit performs directional cleaning based on the underwater pollutant information. As an example only, the underwater pollutant information includes, but is not limited to, information on pollutants such as underwater garbage, impurities, and stains. Specifically, in the process of the control unit directing the pool cleaning equipment to perform cleaning operations, the control unit can direct the pool cleaning equipment to perform directional cleaning of pollutants indicated by the underwater pollutant information based on the underwater pollutant information contained in the sensing information, thereby reducing the amount of operations for cleaning non-polluted areas, improving the cleaning efficiency of the equipment, and extending the overall cleaning time.

[0068] In practical applications, the underwater perception information of the corresponding area is obtained by the sensor on the water functional equipment, and the object recognition unit can analyze and process the perception information to identify the object type of the target object contained in the perception information, such as garbage, obstacles, drowning people, etc. In this case, the perception information can also include the third relative position relationship information between the pool cleaning equipment and the target object. As an example only, the third relative position relationship information may include: the relative distance or relative position coordinates of the target object relative to the reference position point in the pool cleaning equipment in at least one reference direction (such as horizontal direction, vertical direction, etc.). Then, the object positioning information of the target object can be determined based on the third relative position relationship information and the positioning information of the pool cleaning equipment itself. The object positioning information may include one or more of the absolute position information of the target object and the relative position information of the target object relative to the pool cleaning equipment.

[0069] Optionally, the object recognition unit can be arranged on the water function device, that is, the object recognition unit can be arranged at any suitable position of the water function device. Alternatively, the object recognition unit block is integrated on the sensor, that is, the function of the object recognition unit is integrated on the sensor, so as to perform the object recognition processing task through the function-integrated sensor.

[0070] As an example only, the object recognition unit may include an object recognition model, which performs object recognition processing on underwater environmental data to identify target objects and their object types in the target area, such as garbage, obstacles, drowning people, etc. The object recognition model may be a suitable neural network model for realizing object type recognition, and the specific model structure of the neural network model is not specifically limited here. Before performing object recognition processing, the initial object recognition model may be trained using object recognition training data of underwater scenes, so that the trained object recognition model can be applied to identify target objects and object types in underwater perception data.

[0071] After determining the object type of the target object and its object positioning information, the pool cleaning device can be guided to perform corresponding operations based on the object positioning information of the target object and the object type of the target object. For example, if the object type of the target object is identified as an obstacle type, that is, it is determined that the underwater perception information includes underwater environmental information, then the pool cleaning device is controlled to perform obstacle avoidance based on the object positioning information. If the object type of the target object is identified as an object type to be cleaned (such as garbage, etc.), that is, it is determined that the underwater perception information includes underwater pollutant information, then the pool cleaning device can be controlled to perform directional cleaning actions based on the object positioning information. If the object type of the target object is identified as an alarm object type (such as a pet, a drowning person, etc.), that is, it is determined that the underwater perception information includes underwater alarm information, then the pool cleaning device can be controlled to upload an alarm signal containing the object positioning information to the associated terminal device for an alarm prompt.

[0072] In the above-mentioned embodiment, the pool cleaning device is controlled to execute differentiated business actions according to the information type of the sensed information, thereby improving the operational flexibility of the pool cleaning device and expanding the functions and application scope of the pool cleaning device.

[0073] In some embodiments of the present application, a wireless communication unit (not shown) is further included, and the wireless communication unit can send pool edge information and / or location information of the pool cleaning device to the user.

[0074] Optionally, the cleaning system also includes a wireless communication unit, which can be connected to the associated terminal device on the user side. As an example only, the associated terminal device may include but is not limited to a mobile phone, a tablet computer, a laptop computer, a wearable device, etc. The pool edge information and / or the positioning information of the pool cleaning device are sent to the associated terminal device through the wireless communication unit, so that the user can view the pool edge information and / or the positioning information of the pool cleaning device through the associated terminal device. For example, the position of the pool cleaning device in the pool corresponding to the pool edge information can be displayed in real time on the associated terminal device. Thus, by introducing a wireless communication unit to transmit the pool edge information and / or the positioning information of the pool cleaning device, it is convenient to timely understand the current position of the pool cleaning device or the position of the pool cleaning device in the pool.

[0075] In some embodiments of the present application, the sensing information includes status information of the pool cleaning device, and the control unit can issue an alarm or prompt based on the status information.

[0076] Optionally, when the perception information includes status information of the pool cleaning equipment, the control unit may obtain the status information of the pool cleaning equipment, and then issue a corresponding alarm or prompt based on the status information.

[0077] As an example only, the status information may include one or more of first status information for characterizing an operational failure of the pool cleaning device, second status information for characterizing that the pool cleaning device has entered an infinite loop, third status information for characterizing that an abnormality in the filtering function of the pool cleaning device has occurred, and the like.

[0078] Specifically, if the status information includes first status information for characterizing an operational failure of the pool cleaning equipment, it can reflect that an operational failure of the pool cleaning equipment has occurred. At this time, the control unit can send a prompt or alarm message to the outside, and then through the guidance of the water functional equipment or other appropriate operations, such as adjusting the operation of the pool cleaning equipment, the pool cleaning equipment can be freed from the current operational failure state.

[0079] If the status information includes second status information for characterizing that the pool cleaning device has entered an infinite loop, it can reflect that the pool cleaning device may encounter an obstacle but cannot overcome the obstacle and enter an infinite loop. At this time, the control unit can send a prompt or alarm message to the outside, and then through the guidance of the water function equipment or other appropriate operations, such as adjusting the driving path of the pool cleaning device, the pool cleaning device can get rid of the infinite loop state caused by the obstacle.

[0080] If the status information includes third status information for characterizing that an abnormality in the filtering function of the pool cleaning device has occurred, it may reflect that the filtering effect of the pool cleaning device is not good. At this time, the control unit may send a prompt or alarm message to the outside, and then through the guidance of the water function equipment or other appropriate operations, such as adjusting the path planning of the pool cleaning device or replacing the corresponding filtering components, etc., the pool cleaning device may get rid of the abnormal state of the filtering function.

[0081] In the above embodiment, the perception information is configured to include the status information of the pool cleaning device, so that the control unit can issue an alarm or prompt based on the status information, thereby facilitating timely corresponding status adjustment operations and improving the working reliability and efficiency of the equipment.

[0082] In some embodiments of the present application, a storage unit (not shown) is further included for storing pool edge information.

[0083] Optionally, the cleaning system further includes a storage unit, which can be disposed in the pool cleaning device or in the water function device. The pool edge information of the water surface is stored by the storage unit. The storage unit can be connected to the control unit for communication, so that when the control unit needs the pool edge information, the pool edge information can be directly obtained from the storage unit without repeatedly calculating and establishing the pool edge information. Thus, the amount of calculation for obtaining the pool edge information is reduced, and the working efficiency of the pool cleaning device is improved.

[0084] In some embodiments of the present application, when the sensing range of the sensor does not meet a preset condition, the control unit controls the pool cleaning device to move.

[0085] Optionally, the preset condition may include a preset relationship between the sensing range of the sensor and the edge size of the pool in the corresponding area. As an example only, the preset relationship may include a size relationship between the sensing range of the sensor and the edge size of the pool in the corresponding area, a proportional relationship between the sensing range of the sensor and the ratio of the pool size in the corresponding area, etc. Specifically and exemplarily, when the edge size of the pool in the corresponding area (e.g., 10 meters) is larger than the sensing range of the sensor (e.g., 2 meters), it can be determined that the sensing range of the sensor does not meet the preset condition. In another specific example, when the ratio of the edge size of the pool in the corresponding area to the sensing range of the sensor is greater than 1, it can be determined that the sensing range of the sensor does not meet the preset condition.

[0086] When it is determined that the sensing range of the sensor does not meet the preset conditions, the control unit can control the pool cleaning device to move, and the pool cleaning device can drive the water function device to move together through the soft wire, so that the water function device can be close to the edge of the pool in the corresponding area, so that the sensing range of the sensor can meet the preset conditions. Therefore, by controlling the pool cleaning device to move under the preset conditions related to the sensing range of the sensor, the water function device can be driven to move together, so that the sensing range of the sensor after the movement can meet the preset conditions, which is convenient for the cleaning system to smoothly carry out subsequent work, thereby reducing the dependence on sensors with a large sensing range and further reducing equipment costs.

[0087] In some embodiments of the present application, the water function equipment may include a suspension component capable of floating on the water surface. Exemplarily, the suspension component may include but is not limited to a suitable component whose buoyancy is greater than gravity.

[0088] In some embodiments of the present application, the sensor may include a first sensor and a second sensor that are separately arranged.

[0089] The first sensor may be disposed on the upper part of the water function device. For example, the first sensor is disposed at one or more positions such as at least one side, top, etc. of the water function device. In practical applications, if the water function device floats on the water surface, the first sensor is disposed at a first position on the water function device located above the water surface, and the first position may be at least one side, top, etc. of the water function device. Figure 3 In the figure, the first sensor 321 is located on the left side of the water function equipment 320.

[0090] The second sensor can be set at one or more positions on the side or bottom of the water function equipment. In practical applications, if the water function equipment floats on the water surface, the second sensor can be set at a second position on the water function equipment below the water surface, and the collection direction of the second sensor is toward the pool cleaning equipment. The second sensor can be a suitable position such as the side or bottom of the water function equipment that can collect environmental images or videos of the target area where the pool cleaning equipment is located. Figure 3 In the embodiment, the second sensor 322 is located at the bottom near the left side of the water function equipment 320. The second sensor 322 located at the second position can be completely located under the water surface of the pool 340, so as to obtain underwater perception information of the corresponding area.

[0091] In some embodiments of the present application, the corresponding area includes an underwater area at a preset distance from the pool cleaning device in the direction of travel of the pool cleaning device. Figure 3As shown, the pool cleaning device 310 is connected to the water function device 320 by a connector 330 such as a cable, and the second sensor 322 obtains the underwater perception information of the corresponding area. The corresponding area is an underwater area at a preset distance d from the pool cleaning device 310 in the direction of travel of the pool cleaning device 310, that is, an underwater area 350 (such as a dotted area) within the preset distance d range in front of the pool cleaning device 310. The preset distance d can be configured according to the travel speed of the pool cleaning device 310. As an example only, the preset distance d can be, but is not limited to, any value in the range of 1m to 5m. In this way, since the corresponding area is an underwater area at a preset distance from the pool cleaning device, only a small range of underwater environmental data needs to be obtained, which reduces the amount of underwater environmental data obtained, and helps to reduce the amount of subsequent calculations. In addition, the underwater perception information of the corresponding area can be obtained by using a second sensor with a small perception range, without using a second sensor with a large perception range, which can reduce the performance dependence on the sensor and the equipment cost.

[0092] It should be noted that the number of the first sensor and the second sensor is not limited to one, but may be multiple.

[0093] The present application also provides a control method, which is applied to the cleaning system of any of the above embodiments, wherein the cleaning system includes a pool cleaning device, a control unit, a positioning unit and a water function device, the pool cleaning device is connected to the water function device via a soft wire, and the water function device includes a sensor. The control method includes the following steps:

[0094] Acquire the pool edge information on the water surface acquired by the sensor when the water functional equipment floats, and acquire the underwater perception information of the corresponding area acquired by the sensor;

[0095] Obtaining positioning information of a device where a positioning unit is located, the positioning unit being located in a pool cleaning device or in a water function device;

[0096] Based on the pool edge information, positioning information and perception information, the pool cleaning equipment is guided to perform cleaning operations underwater.

[0097] It should be noted that the specific details and related contents of the control method in this embodiment can be found in the above embodiments and will not be repeated here.

[0098] The present application also provides a computer-readable storage medium, in which at least one instruction or at least one program is stored, and the at least one instruction or at least one program is loaded and executed by a processor to implement any of the control methods described above.

[0099] The present application also provides a control device, which includes a processor and a memory, wherein the memory stores at least one instruction or at least one program, and the at least one instruction or at least one program is loaded and executed by the processor to implement any of the control methods described above.

[0100] In some embodiments, the control device (not shown) may include a processor, a memory, and a network interface connected via a system bus. The processor of the control device is used to provide computing and control capabilities. The memory of the control device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the control device is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor, a control method is implemented.

[0101] It should be noted that the above-mentioned sequence of the embodiments of the present application is for description only and does not represent the advantages and disadvantages of the embodiments. The above-mentioned specific embodiments of this specification are described. Other embodiments are within the scope of the attached claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0102] The various embodiments in the present application are described in a progressive manner, and the same or similar parts between the various embodiments can be referenced to each other, and each embodiment focuses on the differences from other embodiments.

[0103] A person skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware or by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a disk or an optical disk, etc.

[0104] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0105] The above embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention.

Claims

1. A cleaning system, characterized in that: Includes pool cleaning equipment, control unit, positioning unit and water function equipment; The pool cleaning device is connected to the water function device via a soft wire, and the water function device includes a sensor, which can obtain pool edge information on the water surface when the water function device floats, and the sensor can also obtain underwater perception information of the corresponding area; The positioning unit is located in the pool cleaning device or in the water function device, and is used to obtain positioning information of the device; The control unit is located in the pool cleaning device or in the water function device, and is used to guide the pool cleaning device to perform cleaning operations underwater based on the pool edge information, the positioning information and the perception information.

2. The cleaning system according to claim 1, characterized in that The sensor includes a collection device capable of collecting first relative position relationship information between the water function equipment and the edge of the pool; If the positioning unit is located in the pool cleaning device, the sensing information includes second relative position relationship information between the water function device and the pool cleaning device, and the sensor can obtain the pool edge information based on the first relative position relationship information, the second relative position relationship information and the positioning information; If the positioning unit is located in the water function equipment, the sensor can obtain the pool edge information based on the first relative position relationship and the positioning information.

3. The cleaning system according to claim 2, characterized in that: If the positioning unit is located in the water function equipment, the perception information includes the second relative position relationship information, and the pool cleaning equipment obtains its own positioning information based on the positioning information and the second relative position relationship information.

4. The cleaning system according to claim 1, characterized in that: The flexible wire has a communication function.

5. The cleaning system according to any one of claims 1 to 4, characterized in that: The sensor includes one or more of a camera, an ultrasonic sensor and a radar, and the positioning unit includes an IMU or a GPS.

6. The cleaning system according to any one of claims 1 to 4, characterized in that: The perception information includes underwater environmental information or underwater pollutant information, and the control unit guides the pool cleaning device to perform path planning based on the underwater environmental information or to perform directional cleaning based on the underwater pollutant information.

7. The cleaning system according to any one of claims 1 to 4, characterized in that: A wireless communication unit is also included, and the wireless communication unit is capable of sending the pool edge information and / or the location information of the pool cleaning device to a user.

8. The cleaning system according to any one of claims 1 to 4, characterized in that: The perception information includes status information of the pool cleaning device, and the control unit can issue an alarm or prompt based on the status information.

9. The cleaning system according to any one of claims 1 to 4, characterized in that: The device also includes a storage unit for storing the pool edge information.

10. The cleaning system according to any one of claims 1 to 4, characterized in that: When the sensing range of the sensor does not meet a preset condition, the control unit controls the pool cleaning device to move.

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