Pool bottom edge cleaning method and device, electronic equipment and computer storage medium

Abstract

The invention discloses a pool bottom edge cleaning method and device, electronic equipment and a computer storage medium, and the method comprises the steps: collecting an environment image in front of a self-moving cleaning device in the advancing direction when the self-moving cleaning device moves along a current pool bottom cleaning road section; identifying the environment image to obtain an identification result; when the identification result indicates that the target pollutant exists on the pool bottom edge, controlling the self-moving cleaning device to move to the corresponding pool bottom edge area along the current pool bottom cleaning road section, and cleaning the target pollutant in the area; and controlling the self-moving cleaning device to continuously execute the current pool bottom cleaning road section or the next pool bottom cleaning road section from the corresponding pool bottom edge area. When it is found that the target pollutants exist on the pool bottom edge, the self-moving cleaning device is controlled to move to the corresponding pool bottom edge area along the current pool bottom cleaning road section, the target pollutants in the area are cleaned, the pool bottom edge cleaning effect can be improved, and the swimming pool cleaning degree is improved.

Description

Technical Field

[0001] The present application relates to the technical field of pool cleaning, and in particular to a pool bottom edge cleaning method, device, electronic equipment and computer storage medium. Background Art

[0002] In swimming pool cleaning scenarios, pollutants in the pool usually include solid particles that are easy to deposit, such as gravel. The current method of cleaning the pool bottom mainly controls the cleaning robot to adsorb and scrub the gravel on the bottom of the pool, and clean the gravel while moving.

[0003] However, solid particles such as sand and gravel that are easy to settle tend to aggregate and settle at the edge of the pool bottom which is difficult to clean, and ordinary cleaning methods have poor cleaning effects on pollutants at the edge of the pool bottom. Summary of the invention

[0004] In view of this, the present application provides a pool bottom edge cleaning method, device, electronic device and computer storage medium to at least partially solve the technical problems in the conventional art.

[0005] In a first aspect, the present application provides a pool bottom edge cleaning method, comprising: when a self-moving cleaning device moves along a current pool bottom cleaning section, collecting an environmental image in front of the self-moving cleaning device in the direction of travel; identifying the environmental image to obtain an identification result; when the identification result indicates that target pollutants exist at the pool bottom edge, controlling the self-moving cleaning device to move along the current pool bottom cleaning section to a corresponding pool bottom edge area, and cleaning the target pollutants in the area; controlling the self-moving cleaning device to continue executing the current pool bottom cleaning section or executing the next pool bottom cleaning section from the corresponding pool bottom edge area, wherein the pool bottom edge area is the boundary area between the pool bottom and the pool wall, and at least a portion of the boundary area intersects with the moving paths of multiple pool bottom cleaning sections.

[0006] Optionally, a water suction port is arranged on the chassis of the self-moving cleaning device in a manner offset to the center, and correspondingly, the process of controlling the self-moving cleaning device to clean the target pollutants in the area may also include: controlling the self-moving cleaning device to clean the corresponding pool bottom edge area in a preset direction, wherein the preset direction is that the self-moving cleaning device points its side end close to the water suction port toward the pool bottom edge area.

[0007] Optionally, in the traveling direction of the self-moving cleaning device, the water suction port is arranged near the tail of the self-moving cleaning device. Correspondingly, the process of controlling the self-moving cleaning device to clean the corresponding pool bottom edge area in a preset direction may also include: controlling the self-moving cleaning device to turn so that the tail of the self-moving cleaning device faces the pool wall indicated by the corresponding pool bottom edge, and controlling the self-moving cleaning device to move in a direction close to the pool wall, so that the self-moving cleaning device cleans the corresponding pool bottom edge area.

[0008] Optionally, the process of controlling the self-moving cleaning device to move toward the direction close to the pool wall so that the self-moving cleaning device cleans the corresponding pool bottom edge area may also include: after controlling the self-moving cleaning device to move for a preset time period, or after the self-moving cleaning device reaches the end position, controlling the self-moving cleaning device to move toward a subsequent section of the current pool bottom cleaning section or the next pool bottom cleaning section.

[0009] Optionally, the process of controlling the self-moving cleaning device to move toward the direction approaching the pool wall so that the self-moving cleaning device cleans the corresponding pool bottom edge area may also include: obtaining the distance between the self-moving cleaning device and the pool wall corresponding to the pool bottom edge area according to a sensor, and when the distance is equal to a preset distance threshold, controlling the self-moving cleaning device to move toward a subsequent section of the current pool bottom cleaning section or a next pool bottom cleaning section; or, obtaining a posture change parameter of the self-moving cleaning device according to an inertial sensor, and when the posture change parameter indicates that the self-moving cleaning device has acceleration in a direction perpendicular to the pool bottom, controlling the self-moving cleaning device to move toward a subsequent section of the current pool bottom cleaning section or a next pool bottom cleaning section.

[0010] Optionally, during the movement of the self-moving cleaning device, multiple pool bottom cleaning sections are parallel to each other, and the movement directions of the self-moving cleaning device on adjacent pool bottom cleaning sections among the multiple pool bottom cleaning sections are opposite. Correspondingly, the process of controlling the self-moving cleaning device to execute the next pool bottom cleaning section from the corresponding pool bottom edge area may also include: after the self-moving cleaning device completes cleaning the corresponding pool bottom edge area, controlling the self-moving cleaning device to turn from the end point of the current pool bottom cleaning path to move in a direction parallel to the pool wall, and controlling the self-moving cleaning device to move to the starting point of the next pool bottom cleaning section, so that the self-moving cleaning device starts from the starting point and moves along the next pool bottom cleaning section adjacent to the current pool bottom cleaning path.

[0011] Optionally, the process of controlling the self-moving cleaning device to clean the target pollutants in the area may also include: controlling the water pump included in the self-moving cleaning device to suck the water suction port with a first suction force, wherein the first suction force is greater than a second suction force, and the second suction force is the suction force of the water pump when the self-moving cleaning device moves along the current pool bottom cleaning section to the corresponding pool bottom edge area; and / or, when the suction area of ​​the water suction port of the self-moving cleaning device covers the location of the target pollutants, controlling the self-moving cleaning device to move at a first moving speed, wherein the first moving speed is less than the second moving speed, and the second moving speed is the speed of the self-moving cleaning device when it moves along the current pool bottom cleaning section to the corresponding pool bottom edge area.

[0012] A second aspect of the present application provides a pool bottom edge cleaning device, comprising: a collection module, for collecting an environmental image in front of the self-moving cleaning device in the direction of travel when the self-moving cleaning device moves along a current pool bottom cleaning section; an identification module, for identifying the environmental image to obtain an identification result; and a control module, for controlling the self-moving cleaning device to move along the current pool bottom cleaning section to a corresponding pool bottom edge area and clean the target pollutants in the area when the identification result indicates that there are target pollutants at the pool bottom edge, and controlling the self-moving cleaning device to continue to execute the current pool bottom cleaning section or execute the next pool bottom cleaning section from the corresponding pool bottom edge area, wherein the pool bottom edge area is the boundary area between the pool bottom and the pool wall, and at least a portion of the boundary area intersects with the moving paths of multiple pool bottom cleaning sections.

[0013] According to a third aspect of an embodiment of the present application, there is provided an electronic device comprising: a processor, a communication interface, a memory and a communication bus, wherein the processor, the memory and the communication interface communicate with each other via the communication bus; the memory is used to store at least one executable instruction, and the executable instruction enables the processor to perform an operation corresponding to the method described in the first aspect of the embodiment.

[0014] According to a fourth aspect of an embodiment of the present application, a computer storage medium is provided, on which a computer program is stored. When the program is executed by a processor, the method described in the first aspect of the embodiment is implemented.

[0015] The present application collects environmental images on the moving path of the self-moving cleaning device while it is cleaning the pool bottom. It can determine whether there are target pollutants at the edge of the pool bottom by identifying the image, and then, when target pollutants are found at the edge of the pool bottom, control the self-moving cleaning device to move along the current pool bottom cleaning section to the corresponding pool bottom edge area, and clean the target pollutants in the area. This can improve the cleaning effect of the pool bottom edge, solve the problem that conventional swimming pool cleaning robots are difficult to cover the intersection area of ​​the pool bottom and the pool wall when cleaning the pool bottom, and deepen the cleaning level of the swimming pool. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present application or the technical solutions in 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 recorded in the embodiments of the present application. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0017] Figure 1 is a flow chart of steps of a pool bottom edge cleaning method according to an embodiment of the present application;

[0018] Figure 2 is a schematic diagram of a pool bottom edge cleaning scene according to an embodiment of the present application;

[0019] Figure 3 is a schematic diagram of a pool bottom edge cleaning scene according to another embodiment of the present application;

[0020] Figure 4 is a schematic diagram of a pool bottom edge cleaning device according to an embodiment of the present application;

[0021] Figure 5 It is a schematic diagram of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0022] In order to enable those skilled in the art to better understand the technical solutions in the embodiments of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments in the embodiments of the present application should fall within the scope of protection of the embodiments of the present application.

[0023] The terms used in this application are for the purpose of describing specific embodiments only and are not intended to limit this application. The singular forms of "a", "said" and "the" used in this application and the appended claims are also intended to include plural forms unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0024] It should be understood that although the terms first, second, third, etc. may be used in the present application to describe various information, these information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0025] The technical solutions in the embodiments of the present application are clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application. In the absence of conflict, the following embodiments and their technical features can be combined with each other.

[0026] Figure 1 : is a flow chart of the steps of a pool bottom edge cleaning method according to an embodiment of the present application. Figure 1 As shown, the pool bottom edge cleaning method includes the following steps:

[0027] Step 101: When the self-propelled cleaning device moves along the current pool bottom cleaning section, an environmental image in front of the self-propelled cleaning device in the moving direction is collected.

[0028] Step 102: Identify the environment image to obtain a recognition result.

[0029] Step 103: When the identification result indicates that the target pollutants exist at the edge of the pool bottom, the self-moving cleaning device is controlled to move along the current pool bottom cleaning section to the corresponding pool bottom edge area, and clean the target pollutants in the area.

[0030] Step 104: Control the self-moving cleaning device to continue to execute the current pool bottom cleaning section or execute the next pool bottom cleaning section from the corresponding pool bottom edge area.

[0031] In order to clean the pool bottom, a self-moving cleaning device, such as a cleaning robot, is usually placed in the pool. An image acquisition device, such as a conventional camera or an industrial camera such as a monocular camera or a binocular camera, can be provided on the self-moving cleaning device. When the self-moving cleaning device is cleaning the pool bottom, the image acquisition device is used to collect environmental images on the moving path of the self-moving cleaning device to collect real-time data on the environmental conditions of the pool bottom. For example, when the image acquisition device is set forward in the moving direction, and the acquisition area is a set shooting area 30 cm in front of the moving direction of the self-moving cleaning device, the collected environmental image is an image of the swimming pool environment 30 cm in front of the moving direction of the self-moving cleaning device. Based on this image, it can be identified whether there are pollutants such as gravel, seaweed, and fallen leaves in this area.

[0032] The self-mobile cleaning device will move along the cleaning route at the bottom of the pool. The cleaning route can be understood as consisting of multiple pool bottom cleaning path segments. When the self-mobile cleaning device moves along the current pool bottom cleaning section, the environmental image in front of the self-mobile cleaning device in the direction of travel will be collected by the above method. After obtaining the environmental image, the collected environmental image is identified, such as pollutant matching identification, etc., to obtain a situation that can reflect the type or distribution density of pollutants on the moving path of the self-mobile cleaning device. When the recognition result indicates that there are target pollutants in the pool bottom edge area in front of the current pool bottom cleaning section, the self-mobile cleaning device is controlled to move along the current pool bottom cleaning section to the corresponding pool bottom edge area, and clean the target pollutants in the area. Among them, for the pool bottom edge area at the junction of the pool bottom and the pool wall of the pool, at least a part of the junction area intersects with the moving paths of multiple pool bottom cleaning sections. The target pollutant is a solid particle pollutant that is easy to deposit, such as gravel. After cleaning the target pollutants in the area, the self-mobile cleaning device is controlled to continue to execute the current pool bottom cleaning section or the next pool bottom cleaning section from the corresponding pool bottom edge area. For example, if the self-moving cleaning device starts to move toward the pool wall from the position in the current pool bottom cleaning section, the self-moving cleaning device can be controlled to continue to execute the current pool bottom cleaning section after cleaning the pool bottom edge area, and move along the unexecuted section of the current pool bottom cleaning section to complete the cleaning of the entire current pool bottom cleaning section. If the end point of the current pool bottom cleaning section is located near the pool bottom edge, then after the self-moving cleaning device moves along the current pool bottom cleaning section and cleans the pool bottom edge area, it can move to the starting point of the next pool bottom cleaning section to continue cleaning the pool bottom.

[0033] In the embodiment of the present application, by collecting the environmental image on the moving path of the self-mobile cleaning device during the process of cleaning the pool bottom by the self-mobile cleaning device, it is possible to determine whether there are target pollutants on the edge of the pool bottom by identifying the image, and then when the target pollutants are found on the edge of the pool bottom, the self-mobile cleaning device is controlled to move along the current pool bottom cleaning section to the corresponding pool bottom edge area, and clean the target pollutants in the area, and the cleaning work of the pool bottom edge area can be divided into the wall end of multiple sections of the pool bottom basic cleaning section, and the pool bottom edge cleaning and the pool bottom basic cleaning path are highly integrated. Compared with the conventional pool bottom cleaning scheme, the above scheme can achieve or improve the cleaning effect of the pool bottom edge and deepen the degree of swimming pool cleaning. Compared with the conventional scheme of moving and cleaning along the edge of the pool bottom in a whole circle, the above scheme does not need to determine the shape of the entire edge contour of the swimming pool and then plan the cleaning path in a targeted manner, nor does it need to be designed for the swimming pool cleaning equipment, so that the equipment can achieve the high-difficulty driving requirements of fitting the movement of the pool bottom edge. While not increasing the difficulty of equipment design and cleaning path planning, it adapts to the edge contours of various conventional or special-shaped swimming pools, and achieves a high degree of completion cleaning effect of the pool bottom floor and edge with a low execution difficulty scheme.

[0034] In one possible implementation, a water suction port is arranged on the chassis of the self-moving cleaning device in a manner offset to the center, and correspondingly, the process of controlling the self-moving cleaning device to clean the target pollutants in the area may also include: controlling the self-moving cleaning device to clean the corresponding pool bottom edge area in a preset direction, wherein the preset direction is that the self-moving cleaning device directs its side end close to the water suction port toward the pool bottom edge area.

[0035] The water suction port of the self-moving cleaning device can be set on the chassis and offset to the center. For example, the water suction port can be set in front of the self-moving cleaning device in the moving direction of the self-moving cleaning device, or can be set behind the self-moving cleaning device in the moving direction of the self-moving cleaning device. At this time, in order to efficiently complete the absorption and collection of target pollutants, the movement of the self-moving cleaning device is controlled to move the side end of the self-moving cleaning device close to the water suction port toward the edge area of ​​the pool bottom, which can increase the collection speed of pollutants when cleaning accumulated gravel and other pollutants.

[0036] Specifically, the water suction port is arranged on the chassis of the self-moving cleaning device in a manner offset from the center. In this scenario, correspondingly, the process of controlling the self-moving cleaning device to clean the target pollutants in the area may also include: controlling the self-moving cleaning device to clean the corresponding pool bottom edge area in a preset direction, wherein the preset direction is that the self-moving cleaning device directs its side end close to the water suction port toward the pool bottom edge area.

[0037] For example, when the water suction port is arranged on the chassis of the self-moving cleaning device in a manner offset from the center, it can be arranged on the head of the self-moving cleaning device. At this time, when the self-moving cleaning device approaches the edge area of ​​the pool bottom, the water suction port naturally approaches the edge area of ​​the pool bottom and can directly perform cleaning. Alternatively, the water suction port can also be arranged at the tail of the self-moving cleaning device, that is, in the direction of travel of the self-moving cleaning device, the water suction port is set close to the tail of the self-moving cleaning device. At this time, since the moving direction of the self-moving cleaning device is close to the edge area of ​​the pool bottom, when the target pollutants are found at the edge of the pool bottom, the self-moving cleaning device needs to turn the body so that the water suction port arranged at the tail of the self-moving cleaning device faces the pool wall indicated by the corresponding pool bottom edge, and at the same time, the self-moving cleaning device can be controlled to move in the direction close to the pool wall, that is, the self-moving cleaning device is controlled to move backward in a reversing posture, so that the water suction port of the self-moving cleaning device can be closer to the edge of the pool bottom when reversing and moving backward, and as the approaching process continues, the target pollutants in the edge area are efficiently collected with gradually increasing suction, the process of moving close to the pool bottom and the process of sucking and collecting pollutants are integrated, thereby improving the execution efficiency of the pool bottom edge cleaning work.

[0038] Specifically, the process of controlling the self-moving cleaning device to continue executing the current pool bottom cleaning section or executing the next pool bottom cleaning section from the corresponding pool bottom edge area may also include: controlling the self-moving cleaning device to move toward the subsequent section of the current pool bottom cleaning section or the next pool bottom cleaning section after the self-moving cleaning device has moved for a preset time period, or after the self-moving cleaning device has reached the end position.

[0039] In the above steps, the preset duration and the end position can be set according to the distance between the pool bottom cleaning section and the edge of the pool bottom, the moving speed of the self-cleaning mobile device, etc., so as to reduce the avoidance and turning time of the self-cleaning mobile device near the pool wall, so that the self-cleaning mobile device can quickly continue the pool bottom cleaning work after completing the edge cleaning work. Specifically, the self-moving cleaning device can be controlled to move toward the subsequent section of the current pool bottom cleaning section or the next pool bottom cleaning section after moving for a preset time, and the product of the preset time and the speed of the self-moving cleaning device in the process of moving in the direction close to the pool wall is less than or equal to the distance between the starting point of the self-moving cleaning device moving in the direction close to the pool wall and the pool wall in the direction of the pool bottom cleaning section.

[0040] In addition, the process of controlling the self-moving cleaning device to continue executing the current pool bottom cleaning section or executing the next pool bottom cleaning section from the corresponding pool bottom edge area may also include: obtaining the distance between the self-moving cleaning device and the pool wall corresponding to the pool bottom edge area according to the sensor, and when the distance is reduced to a preset distance threshold, controlling the self-moving cleaning device to move toward a subsequent section of the current pool bottom cleaning section or the next pool bottom cleaning section; or, obtaining the posture change parameters of the self-moving cleaning device according to the inertial sensor, and when the posture change parameters indicate that the self-moving cleaning device is climbing from the pool bottom to the pool wall, controlling the self-moving cleaning device to move toward a subsequent section of the current pool bottom cleaning section or the next pool bottom cleaning section.

[0041] The method of controlling the process of the self-moving cleaning device moving toward the direction close to the pool wall is to obtain the distance between the self-moving cleaning device and the pool wall corresponding to the pool bottom edge area through the sensor, and then directly obtain the distance between the self-moving cleaning device and the pool wall through a laser ranging sensor, a sonar sensor, etc., and then when the distance between the self-moving cleaning device and the pool wall is equal to a preset distance threshold, such as when the distance between the self-moving cleaning device and the pool wall is equal to 5cm, the self-moving cleaning device is controlled to move toward the subsequent section of the current pool bottom cleaning section or the next pool bottom cleaning section. Alternatively, an inertial sensor (Inertial Measurement Unit, IMU) can also be integrated into the self-moving cleaning device. Through the inertial sensor, the acceleration and angular velocity of the self-moving cleaning device in the three directions of the x-axis, y-axis and z-axis of the world coordinate system can be obtained, and then the posture change parameters of the self-moving cleaning device can be determined. When the posture change parameters indicate that the self-moving cleaning device has acceleration in a direction perpendicular to the pool bottom, that is, when the acceleration of the self-moving cleaning device in the z-axis direction of the world coordinate system is not 0, it can be judged that the self-moving cleaning device is about to climb to the pool wall. Therefore, at this time, the self-moving cleaning device needs to be controlled to move toward the subsequent section of the current pool bottom cleaning section or the next pool bottom cleaning section.

[0042] Specifically, a plurality of pool bottom cleaning sections are arranged between two opposite pool walls, and the ends of a plurality of groups of adjacent pool bottom cleaning sections are arranged in an area close to the pool wall, so that the ends of the pool bottom cleaning sections intersect with the pool bottom edge area. Correspondingly, the process of controlling the self-moving cleaning device to execute the next pool bottom cleaning section from the corresponding pool bottom edge area may also include: after the self-moving cleaning device completes cleaning the corresponding pool bottom edge area, controlling the self-moving cleaning device to turn from the end point of the current pool bottom cleaning path to move in a direction parallel to the pool wall, and controlling the self-moving cleaning device to move to the starting point of the next pool bottom cleaning section, so that the self-moving cleaning device starts from the starting point and moves along the next pool bottom cleaning section adjacent to the current pool bottom cleaning path.

[0043] The self-moving cleaning device can reciprocate along multiple parallel preset paths when cleaning the pool bottom. Two adjacent preset paths and the portion of the self-moving cleaning device passing the edge of the pool bottom can form a U-shaped path. For example, the pool bottom edge cleaning scene can be as follows: Figure 2 As shown, multiple pool bottom cleaning sections are parallel to each other, and the movement directions of the self-moving cleaning device on adjacent pool bottom cleaning sections among the multiple pool bottom cleaning sections are opposite. The self-moving cleaning device starts out and moves along the current preset path to the pool bottom edge area. After the self-moving cleaning device completes cleaning the corresponding pool bottom edge area, the self-moving cleaning device is controlled to move from the end point of the current pool bottom cleaning path to the starting point of the next pool bottom cleaning section, and then continues to execute the next pool bottom cleaning section and moves toward the edge of the pool wall in the forward direction of the next pool bottom cleaning section. While cleaning the pool bottom, the self-moving cleaning device selectively cleans the pool bottom edge according to the pollutant identification situation of this part of the pool bottom edge area, so that the self-moving cleaning device can move back and forth between the two pool walls for multiple times to clean the pool bottom ground and the pool bottom edge.

[0044] For example, the pool bottom edge cleaning scene can also be Figure 3 As shown, at this time, the first pool wall and the second pool wall are not necessarily opposite pool walls. When the self-moving cleaning device starts to move, the first pool wall and the second pool wall are adjacent pool walls. After the cleaning of the pool bottom edge corresponding to one of the pool walls is completed, the first pool wall and the second pool wall are opposite pool walls. It is only necessary to repeat the cleaning method without rotating the overall path to complete the cleaning of the pool bottom.

[0045] Specifically, the process of controlling the self-moving cleaning device to clean the target pollutants in the area may also include: controlling the water pump included in the self-moving cleaning device to suck the water suction port with a first suction force, wherein the first suction force is greater than the second suction force, and the second suction force is the suction force of the water pump in the process of the self-moving cleaning device moving along the current pool bottom cleaning section to the corresponding pool bottom edge area; and / or, when the suction area of ​​the water suction port of the self-moving cleaning device covers the location of the target pollutants, controlling the self-moving cleaning device to move at a first moving speed, wherein the first moving speed is less than the second moving speed, and the second moving speed is the speed of the self-moving cleaning device in the process of moving along the current pool bottom cleaning section to the corresponding pool bottom edge area.

[0046] For example, when the self-moving cleaning device moves along the current pool bottom cleaning section to the corresponding pool bottom edge area, the suction force of the water pump included in the self-moving cleaning device is 15KPa, and because the target pollutants at the pool bottom edge have a large weight, the suction force of the water pump can be increased to 25KPa when the self-moving cleaning device cleans the target pollutants in this area. And / or, in this process, the moving speed of the self-moving cleaning device can also be reduced. For example, when the self-moving cleaning device moves on the pool bottom cleaning section, the moving speed of the self-moving cleaning device can be 0.5m / s. When the self-moving cleaning device cleans the target pollutants in this area, the moving speed of the self-moving cleaning device can be reduced to 0.2m / s, so that the water suction port of the self-moving cleaning device can suck the target pollutants for a longer time.

[0047] In the embodiment of the present application, by increasing the suction force of the water pump included in the self-moving cleaning device when the self-moving cleaning device cleans the target pollutants in the area, the cleaning effect on the target pollutants in the edge area of ​​the pool bottom can be improved. By reducing the moving speed of the self-moving cleaning device when the self-moving cleaning device cleans the target pollutants in the area, the suction time of the water suction port of the self-moving cleaning device for the target pollutants in the edge area of ​​the pool bottom can be increased, thereby improving the cleaning effect on the target pollutants in the edge area of ​​the pool bottom.

[0048] Figure 4 Schematic diagram of a pool bottom edge cleaning device according to an embodiment of the present application. Figure 4 As shown, the pool bottom edge cleaning device 400 includes: a collection module 401 , an identification module 402 and a control module 403 .

[0049] The acquisition module 401 is used to acquire an environmental image in front of the self-moving cleaning device in the moving direction when the self-moving cleaning device moves along the current pool bottom cleaning section.

[0050] The recognition module 402 is used to recognize the environment image and obtain a recognition result.

[0051] The control module 403 is used to control the self-moving cleaning device to move along the current pool bottom cleaning section to the corresponding pool bottom edge area and clean the target pollutants in the area when the identification result indicates that the target pollutants exist at the edge of the pool bottom, and control the self-moving cleaning device to continue to execute the current pool bottom cleaning section or execute the next pool bottom cleaning section from the corresponding pool bottom edge area, wherein the pool bottom edge area is the boundary area between the pool bottom and the pool wall, and at least a part of the boundary area intersects with the moving paths of multiple pool bottom cleaning sections.

[0052] The self-moving cleaning device will move along the cleaning route at the bottom of the pool. The cleaning route can be understood as consisting of multiple pool bottom cleaning path segments. When the self-moving cleaning device moves along the current pool bottom cleaning section, the environmental image in front of the self-moving cleaning device in the direction of travel will be collected in the above method. After the acquisition module 401 obtains the environmental image, the recognition module 402 recognizes the collected environmental image, such as pollutant matching recognition, etc., to obtain a situation that can reflect the type or distribution density of pollutants on the moving path of the self-moving cleaning device. When the recognition result indicates that there are target pollutants in the pool bottom edge area, the control module 403 controls the self-moving cleaning device to move along the current pool bottom cleaning section to the corresponding pool bottom edge area, and clean the target pollutants in the area. The pool bottom edge area is the boundary area between the pool bottom and the pool wall, and at least a part of the boundary area intersects with the moving paths of multiple pool bottom cleaning sections. The target pollutants are solid particles such as gravel that are easy to deposit and have a large weight. After cleaning the target pollutants in the area, the self-moving cleaning device is controlled to continue to execute the current pool bottom cleaning section or the next pool bottom cleaning section from the corresponding pool bottom edge area. For example, if the self-moving cleaning device starts to move toward the pool wall from a position in the current pool bottom cleaning section, the self-moving cleaning device can be controlled to clean the pool bottom edge area and then continue to execute the current pool bottom cleaning section and move to the other end of the current pool bottom cleaning section to complete the cleaning of the entire current pool bottom cleaning section. If the self-moving cleaning device starts to move from the end point of the current pool bottom cleaning section, then after the self-moving cleaning device cleans the pool bottom edge area, it can move to the next pool bottom cleaning section to continue cleaning the pool bottom.

[0053] In an embodiment of the present application, by collecting environmental images on the moving path of the self-mobile cleaning device while the self-mobile cleaning device is cleaning the pool bottom, it is possible to determine whether there are target pollutants at the edge of the pool bottom by identifying the image. Further, when target pollutants are found at the edge of the pool bottom, the self-mobile cleaning device is controlled to move along the current pool bottom cleaning section to the corresponding pool bottom edge area, and clean the target pollutants in the area, which can improve the cleaning effect of the pool bottom edge and deepen the cleaning level of the swimming pool.

[0054] It should be noted that, since the information interaction, execution process, etc. between the acquisition module 401, the identification module 402 and the control module 403 in the above-mentioned pool bottom edge cleaning device 400 are based on the same concept as the aforementioned pool bottom edge cleaning method embodiment, the specific contents can be found in the description in the aforementioned pool bottom edge cleaning method embodiment and will not be repeated here.

[0055] In this embodiment, an electronic device 500 is provided, such as Figure 5As shown, the electronic device 500 may include: a processor 501, a communication interface 502, a memory 503, and a communication bus 504. Among them:

[0056] The processor 501 , the communication interface 502 , and the memory 503 communicate with each other via the communication bus 404 .

[0057] The communication interface 502 is used to communicate with other electronic devices or servers.

[0058] The processor 501 is used to execute the program 505, and specifically can execute the relevant steps in the aforementioned pool bottom edge cleaning method embodiment.

[0059] Specifically, the program 505 may include program codes, which include computer operation instructions.

[0060] [SMOCN20241013][HS2411378CCN]

[0061] The processor 501 may be a CPU, or an application specific integrated circuit ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiments of the present application. The one or more processors included in the smart device may be processors of the same type, such as one or more CPUs; or processors of different types, such as one or more CPUs and one or more ASICs.

[0062] The memory 503 is used to store the program 505. The memory 503 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0063] The program 505 can be specifically used to enable the processor 501 to execute the pool bottom edge cleaning method in the aforementioned embodiment.

[0064] The specific implementation of each step in program 505 can refer to the corresponding description of the corresponding steps and units in the above-mentioned pool bottom edge cleaning method embodiment, which will not be repeated here. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working process of the above-described equipment and modules can refer to the corresponding process description in the above-mentioned method embodiment, which will not be repeated here.

[0065] The electronic device of the embodiment of the present application can determine whether there are target pollutants at the edge of the pool bottom by identifying the image, by collecting environmental images on the moving path of the self-moving cleaning device during the process of the self-moving cleaning device cleaning the pool bottom. Then, when the target pollutants are found at the edge of the pool bottom, the self-moving cleaning device is controlled to move along the current pool bottom cleaning section to the corresponding pool bottom edge area, and clean the target pollutants in the area, which can improve the cleaning effect of the pool bottom edge and deepen the cleaning level of the swimming pool.

[0066] In this embodiment, a computer-readable storage medium is provided, storing instructions for causing a machine to execute the pool bottom edge cleaning method as described herein. Specifically, a system or device equipped with a storage medium can be provided, on which a software program code for implementing the functions of any of the above embodiments is stored, and a computer (or CPU or MPU) of the system or device is enabled to read and execute the program code stored in the storage medium.

[0067] In this case, the program code read from the storage medium itself can implement the function of any one of the above embodiments, so the program code and the storage medium storing the program code constitute part of the present application.

[0068] The storage medium embodiments for providing the program code include a floppy disk, a hard disk, a magneto-optical disk, an optical disk (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD+RW), a magnetic tape, a non-volatile memory card, and a ROM. Alternatively, the program code can be downloaded from a server computer by a communication network.

[0069] In this embodiment, a computer program product is provided, including computer instructions, which instruct a computing device to perform any corresponding operation in the above-mentioned multiple method embodiments.

[0070] It should be pointed out that, according to the needs of implementation, the various components / steps described in the embodiments of the present application can be split into more components / steps, or two or more components / steps or partial operations of components / steps can be combined into new components / steps to achieve the purpose of the embodiments of the present application.

[0071] The above-mentioned method according to the embodiment of the present application can be implemented in hardware, firmware, or implemented as software or computer code that can be stored in a recording medium (such as CD ROM, RAM, floppy disk, hard disk or magneto-optical disk), or implemented as a computer code originally stored in a remote recording medium or a non-temporary machine-readable medium downloaded through a network and stored in a local recording medium, so that the method described herein can be stored in such software processing on a recording medium using a general-purpose computer, a special-purpose processor or programmable or special-purpose hardware (such as ASIC or FPGA). It can be understood that a computer, a processor, a microprocessor controller or programmable hardware includes a storage component (for example, RAM, ROM, flash memory, etc.) that can store or receive software or computer code, and when the software or computer code is accessed and executed by a computer, a processor or hardware, the method described herein is implemented. In addition, when a general-purpose computer accesses the code for implementing the method shown here, the execution of the code converts the general-purpose computer into a special-purpose computer for executing the method shown here. Although the present application has been shown and described with respect to one or more implementations, those skilled in the art will think of equivalent variations and modifications based on the reading and understanding of this specification and the accompanying drawings. The present application includes all such modifications and variations, and is limited only by the scope of the appended claims. In particular, with respect to the various functions performed by the above-described components, the terms used to describe such components are intended to correspond to any component that performs the specified function of the component (e.g., which is functionally equivalent) (unless otherwise indicated), even if not structurally equivalent to the disclosed structure that performs the function in the exemplary implementation of the present specification shown herein.

[0072] That is, the above description is only an embodiment of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the specification and drawings of the present application, such as the mutual combination of technical features between the embodiments, or direct or indirect application in other related technical fields, are also included in the patent protection scope of the present application.

[0073] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0074] In order to enable any technician in the field to implement and use the application, the application provides the above description. In the above description, various details are listed for the purpose of explanation. It should be understood that those of ordinary skill in the art can recognize that the application can also be implemented without using these specific details. In other embodiments, the well-known process will not be elaborated in detail to avoid unnecessary details that make the description of the application obscure. Therefore, the application is not intended to be limited to the embodiments shown, but is consistent with the widest range of principles and features disclosed in the application.

[0075] It should be noted that, under the premise of no conflict, the various embodiments described in this application and / or the technical features in each embodiment can be arbitrarily combined with each other, and the technical solution obtained after the combination should also fall within the protection scope of this application.

[0076] It should be understood that the specific examples in the embodiments of the present application are only to help those skilled in the art to better understand the embodiments of the present application, rather than to limit the scope of the embodiments of the present application. Those skilled in the art can make various improvements and modifications based on the above embodiments, and these improvements or modifications all fall within the scope of protection of the present application.

[0077] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A method for cleaning the edge of a pool bottom, characterized in that: include: When the self-moving cleaning device moves along the current pool bottom cleaning section, an environmental image in front of the self-moving cleaning device in the moving direction is collected; Recognize the environment image to obtain a recognition result; When the identification result indicates that there are target pollutants at the edge of the pool bottom, the self-moving cleaning device is controlled to move along the current pool bottom cleaning section to the corresponding pool bottom edge area, and clean the target pollutants in the area; The self-moving cleaning device is controlled to continue to perform the current pool bottom cleaning section or the next pool bottom cleaning section from the corresponding pool bottom edge area, wherein: The pool bottom edge area is the boundary area between the pool bottom and the pool wall, and at least a portion of the boundary area intersects with the moving paths of the plurality of pool bottom cleaning sections.

2. The method according to claim 1, characterized in that: The self-moving cleaning device is provided with a water suction port on the chassis in a manner offset from the center. Accordingly, the self-moving cleaning device is controlled to clean the target pollutants in the area, including: The self-moving cleaning device is controlled to clean the corresponding pool bottom edge area in a preset direction, wherein the preset direction is that the self-moving cleaning device directs its side end close to the water suction port toward the pool bottom edge area.

3. The method according to claim 2, characterized in that In the traveling direction of the self-moving cleaning device, the water suction port is arranged near the tail of the self-moving cleaning device, and correspondingly, the self-moving cleaning device is controlled to clean the corresponding pool bottom edge area in a preset direction, including: The self-moving cleaning device is controlled to turn so that the tail of the self-moving cleaning device faces the pool wall indicated by the corresponding pool bottom edge, and the self-moving cleaning device is controlled to move in a direction close to the pool wall so that the self-moving cleaning device cleans the corresponding pool bottom edge area.

4. The method according to claim 1, characterized in that: The controlling the self-moving cleaning device to continue to perform the current pool bottom cleaning section or the next pool bottom cleaning section from the corresponding pool bottom edge area includes: After the self-moving cleaning device is controlled to move for a preset time period, or after the self-moving cleaning device reaches an end position, the self-moving cleaning device is controlled to move toward a subsequent section of the current pool bottom cleaning section or a next pool bottom cleaning section.

5. The method according to claim 1, characterized in that The controlling the self-moving cleaning device to continue to perform the current pool bottom cleaning section or the next pool bottom cleaning section from the corresponding pool bottom edge area includes: The distance between the self-moving cleaning device and the pool wall corresponding to the pool bottom edge area is obtained according to a sensor, and when the distance is equal to a preset distance threshold, the self-moving cleaning device is controlled to move toward a subsequent section of the current pool bottom cleaning section or a next pool bottom cleaning section; or, the posture change parameters of the self-moving cleaning device are obtained according to an inertial sensor, and when the posture change parameters indicate that the self-moving cleaning device has acceleration in a direction perpendicular to the pool bottom, the self-moving cleaning device is controlled to move toward a subsequent section of the current pool bottom cleaning section or a next pool bottom cleaning section.

6. The method according to claim 1, characterized in that The multiple pool bottom cleaning sections moved by the self-moving cleaning device are arranged in an arranged manner, and at least two ends of a part of the continuous pool bottom cleaning sections intersect with two pool walls respectively. Correspondingly, the self-moving cleaning device is controlled to execute the next pool bottom cleaning section from the corresponding pool bottom edge area, including: When the self-moving cleaning device completes cleaning the corresponding pool bottom edge area, the self-moving cleaning device is controlled to move from the end point of the current pool bottom cleaning path to the starting point of the next pool bottom cleaning section, so that the self-moving cleaning device moves along the next pool bottom cleaning section adjacent to the current pool bottom cleaning path.

7. The method according to any one of claims 1 to 6, characterized in that: Controlling the self-moving cleaning device to clean the target pollutants in the area includes: Controlling the water pump included in the self-moving cleaning device to suck the water suction port with a first suction force, wherein the first suction force is greater than a second suction force, and the second suction force is the suction force of the water pump when the self-moving cleaning device moves along the current pool bottom cleaning section to the corresponding pool bottom edge area; and / or, When the suction area of ​​the water suction port of the self-moving cleaning device covers the position where the target pollutants are located, the self-moving cleaning device is controlled to move at a first moving speed, wherein the first moving speed is less than a second moving speed, and the second moving speed is the speed of the self-moving cleaning device in the process of moving along the current pool bottom cleaning section to the corresponding pool bottom edge area.

8. A pool bottom edge cleaning device, characterized in that: include: A collection module, used to collect an environmental image in front of the self-moving cleaning device in the direction of travel when the self-moving cleaning device moves along the current pool bottom cleaning section; A recognition module, used to recognize the environment image and obtain a recognition result; A control module is used to control the self-moving cleaning device to move along the current pool bottom cleaning section to a corresponding pool bottom edge area and clean the target pollutants in the area when the identification result indicates that target pollutants exist at the pool bottom edge, and to control the self-moving cleaning device to continue to execute the current pool bottom cleaning section or execute the next pool bottom cleaning section from the corresponding pool bottom edge area, wherein the pool bottom edge area is the boundary area between the pool bottom and the pool wall, and at least a portion of the boundary area intersects with the moving paths of multiple pool bottom cleaning sections.

9. An electronic device, characterized in that: include: A processor, a communication interface, a memory and a communication bus, wherein the processor, the memory and the communication interface communicate with each other via the communication bus; The memory is used to store at least one executable instruction, and the executable instruction enables the processor to execute an operation corresponding to the method according to any one of claims 1 to 7.

10. A computer storage medium having a computer program stored thereon, wherein when the program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

Images