Pool bottom cleaning method and device

Abstract

The invention provides a pool bottom cleaning method and device.The method comprises the steps that in the process that a cleaning machine executes a pool bottom basic cleaning path, floating pollutants in the set range of the cleaning machine are visually recognized; after the floating pollutants are recognized, the deviation direction of the floating pollutants relative to the sweeping machine is determined; based on the deviation direction, the current position of the basic cleaning path where the sweeping machine is located serves as a branch starting point, the sweeping machine is controlled to deviate from the branch starting point, and the pollutant cleaning path is executed; and after the pollutant cleaning path is completed, returning to the branch starting point, and continuing to execute the basic cleaning path, the method can sweep the floating pollutants in a targeted manner, and can prevent part of the floating pollutants from escaping from sweeping of a sweeping machine.

Description

Technical Field

[0001] The embodiments of the present application relate to the technical field of cleaning robots, and in particular to a pool bottom cleaning method and device. Background Art

[0002] There are many pollutants in swimming pools, such as fallen leaves, gravel and algae. Different pollutants have different distribution characteristics in swimming pools. Among them, pollutants such as fallen leaves and light household garbage that fall into swimming pools are difficult to clean and collect because they easily float with the water flow.

[0003] At present, cleaning robots that can clean the surface of swimming pools can clean light pollutants such as fallen leaves that have sunk to the bottom of the pool during the process of covering and cleaning the bottom of the pool. However, these pollutants are extremely small and easily drift with the water flow. They are easily pushed away from their original positions by the water flow caused by the cleaning robot, escaping the collection and cleaning of the cleaning robot, thereby reducing the cleaning effect of the swimming pool.

[0004] Therefore, the existing cleaning robot's method of cleaning the pool bottom cannot effectively collect such pollutants that are extremely small and easily float with the water flow. Summary of the invention

[0005] In view of this, an embodiment of the present application provides a pool bottom cleaning method and device to at least solve or alleviate the above-mentioned problems.

[0006] According to one aspect of an embodiment of the present application, a pool bottom cleaning method is provided, the method comprising:

[0007] visually identifying floating contaminants within a set range of the cleaning machine as the cleaning machine performs a basic pool bottom cleaning path;

[0008] After identifying the floating contaminant, determining the deviation direction of the floating contaminant relative to the cleaning machine;

[0009] Based on the deviation direction, taking the current position of the basic cleaning path where the cleaning machine is located as the starting point of the fork in the road, controlling the cleaning machine to deviate from the starting point of the fork in the road and execute the pollutant cleaning path;

[0010] After completing the pollutant cleaning path, return to the starting point of the fork and continue to execute the basic cleaning path.

[0011] According to another aspect of the embodiments of the present application, a pool bottom cleaning device is provided, the device comprising:

[0012] an identification module for visually identifying floating contaminants within a set range of the cleaning machine while the cleaning machine is performing a basic pool bottom cleaning path;

[0013] A determination module, for determining a deviation direction of the floating pollutant compared to the cleaning machine after identifying the floating pollutant;

[0014] A cleaning module is used to control the cleaning machine to deviate from the starting point of the basic cleaning path based on the deviation direction and the current position of the cleaning machine as the starting point of the fork in the road to execute the pollutant cleaning path; after completing the pollutant cleaning path, return to the starting point of the fork in the road and continue to execute the basic cleaning path.

[0015] According to another aspect of an embodiment of the present application, an electronic device is provided, comprising: a processor; and a memory for storing a program; wherein the program comprises instructions, which, when executed by the processor, cause the processor to execute the pool bottom cleaning method provided in one aspect above.

[0016] According to another aspect of an embodiment of the present application, a non-transitory computer-readable storage medium is provided, wherein the storage medium stores computer instructions, and when the computer instructions are executed by a computer device, the pool bottom cleaning method described in the above aspect is implemented.

[0017] According to another aspect of an embodiment of the present application, a computer program product is provided, wherein the computer program product includes computer instructions, and the computer instructions instruct a computing device to execute the pool bottom cleaning method described in one aspect above.

[0018] According to the pool bottom cleaning solution provided by the embodiment of the present application, during the process of the cleaning machine executing the basic cleaning path of the pool bottom and performing the cleaning operation, the floating pollutants within its set range are visually identified. If floating pollutants are identified, the deviation direction of the floating pollutants relative to the cleaning machine is determined. Based on the deviation direction, the current position of the basic cleaning path where the cleaning machine is located is used as the starting point of the fork in the road, and the cleaning machine is controlled to deviate from the starting point of the fork in the road and execute the pollutant cleaning path to clean the floating pollutants in a targeted manner. After completing the pollutant cleaning path, the cleaning machine returns to the starting point of the fork in the road and continues to execute the basic cleaning path. By integrating the fork cleaning path for easily drifting pollutants into the basic cleaning path of the pool bottom cleaning, on the one hand, from the execution effect of the local cleaning path, it is possible to supplement and collect pollutants that escape from the basic cleaning path to the front of the machine, greatly improving the cleaning effect after a single pool bottom cleaning. In addition, from the perspective of the execution effect of the global cleaning of the pool bottom, it is possible to use the basic cleaning paths on the pool bottom as the central route, and repeatedly capture and collect the easily drifting pollutants in the areas near each section of the central route in a targeted manner, so as to prevent such easily drifting light pollutants from escaping the cleaning of the cleaning machine.

[0019] For example, floating pollutants such as leaves that easily drift with the water flow are very easy to escape during cleaning, and they may also drift back to the cleaned area. Using this pool bottom cleaning method, the pollutant cleaning path will be implemented for floating pollutants such as leaves that easily drift with the water flow, which can ensure that the floating pollutants are cleaned while also ensuring the cleaning effect of the cleaned area. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] 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.

[0021] Figure 1 is a flow chart of a pool bottom cleaning method according to one embodiment of the present application;

[0022] Figure 2 is a schematic diagram of floating pollutant identification according to an embodiment of the present application;

[0023] Figure 3 is a schematic diagram of a cleaning fork section according to an embodiment of the present application;

[0024] Figure 4 is a schematic diagram of a cleaning fork section according to an embodiment of the present application;

[0025] Figure 5 is a schematic diagram of a cleaning fork section according to an embodiment of the present application;

[0026] Figure 6 is a schematic diagram of a straight section of an embodiment of the present application;

[0027] Figure 7 is a schematic diagram of a basic cleaning path of an embodiment of the present application;

[0028] Figure 8 is a flow chart of a method for cleaning fallen leaves at the bottom of a pool according to an embodiment of the present application;

[0029] Fig. 9 is a schematic diagram of a pool bottom cleaning device according to an embodiment of the present application;

[0030] Fig.10 It is a schematic diagram of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0031] The present application is described below based on embodiments, but the present application is not limited to these embodiments. In the detailed description of the present application below, some specific details are described in detail. It is possible for a person skilled in the art to fully understand the present application without the description of these details. In order to avoid confusing the essence of the present application, known methods, processes, and flows are not described in detail. In addition, the drawings are not necessarily drawn to scale.

[0032] A cleaning machine, that is, an underwater automatic cleaning machine, is a robot that can automatically complete underwater cleaning tasks. The cleaning machine can autonomously sense the surrounding environment through built-in sensors and intelligent algorithms, and autonomously perform cleaning and other operations according to a pre-set cleaning path or a cleaning path planned on the spot. The present application embodiment provides a pool bottom cleaning method, which can be performed by a cleaning machine. The following is a detailed description of the pool bottom cleaning method through multiple embodiments.

[0033] Figure 1 1 is a flow chart of a pool bottom cleaning method according to an embodiment of the present application. Figure 1 As shown, the pool bottom cleaning method comprises the following steps:

[0034] Step 110 , while the cleaning machine is executing a basic cleaning path for the pool bottom, visually identifying floating contaminants within a set range of the cleaning machine.

[0035] The pool bottom can have a regular shape, such as a square, rectangle, circle, etc., or an irregular shape. The pool bottom can be the bottom of a swimming pool, the bottom of an ornamental pool in a square, etc. The above-mentioned pool bottom basic cleaning path is a pre-set path that can perform global cleaning on the pool bottom or the expected cleaning area of ​​the pool bottom.

[0036] The cleaning machine is provided with a sensor for visually identifying pollutants, which can be specifically used for visually identifying floating pollutants, or can be used for visually identifying multiple categories of pollutants. The number of the sensor can be one or more, arranged toward the cleaning demand area of ​​the easily drifting pollutants. For example, when it is necessary to clean the easily drifting pollutants in front of the cleaning machine, the above-mentioned visual recognition sensor can be a camera fixed forward on the cleaning machine, so that the image acquisition range of the camera covers the visible range of the left, middle and right sides in front of the cleaning machine, and the visible range matches the set range of the cleaning machine expected to clean floating pollutants. Those skilled in the art can match the visual range with a suitable visual sensor according to the cleaning requirements of pollutants within a set distance in certain directions around the cleaning machine, so as to meet the purpose of capturing and identifying pollutant images. In the process of performing the basic cleaning path at the bottom of the pool, the cleaning machine identifies pollutants within a set range through a visual sensor, such as collecting an image of the bottom area of ​​the pool near the cleaning machine through an identification sensor, and identifying whether there are floating pollutants in the image.

[0037] If the cleaning machine identifies floating pollutants within a set range through a visual sensor, step 220 is executed. Pollutants include various types, including those that are heavy and easy to precipitate, such as gravel; those that have strong adhesion and dense local coverage, such as algae; and those that are small in mass and easy to drift with the water flow, such as fallen leaves. Floating pollutants include those that are small in mass and easy to drift with the water flow. Exemplarily, the cleaning machine identifies pollutants within a set range through a visual sensor and identifies the type of pollutants. If the identified pollutants are floating pollutants, step 220 is executed.

[0038] An image recognition model is set in the cleaning machine, or the cleaning machine can be connected to a recognition device or server equipped with an image recognition model for data transmission, so as to support the matching and identification of pollutants. The setting or linkage between the image recognition model and the cleaning machine is not limited. As long as it can receive the environmental image obtained by the cleaning machine and perform feature matching and identification of pollutants on the environmental image, those skilled in the art can perform deep training on the above-mentioned image recognition model according to the common types of pollutants in the cleaning area to achieve the corresponding functions. The deep training method of the image recognition model involved is a prior art and will not be repeated here. The image recognition model includes but is not limited to at least one of the following: deep convolutional neural networks (CNNs); recurrent neural networks (RRNs); long short-term memory networks (LSTMs), and generative adversarial networks (GANs).

[0039] Step 120, after the floating contaminant is identified, the deviation direction of the floating contaminant relative to the cleaning machine is determined.

[0040] After the cleaning machine identifies the floating pollutants in the image captured by the visual sensor, the deviation direction of the floating pollutants compared to the cleaning machine is determined according to the position of the floating pollutants in the image.

[0041] In the case where pollutants existing in the environmental image are identified based on the image recognition model, the above steps may be performed in the following manner: the above deviation direction includes the deviation direction of the floating pollutants compared to the cleaning machine, such as the floating pollutants are located on the left or right side of the forward direction of the cleaning machine. Exemplarily, after the cleaning machine identifies the floating pollutants, it determines the lateral deviation of the feature recognition frame of the floating pollutants on the captured image. The lateral deviation is the deviation of the feature recognition frame from the vertical separation position corresponding to the forward direction of the basic cleaning on the environmental image. For example, refer to Figure 2 , when the camera 11 is facing directly in front of the cleaning machine 10 and the axis 12 of the camera 11 lens is located in the middle of the equipment, the middle of the collected environmental image 13 corresponds to the position indicated by the forward direction of the cleaning machine 10. At this time, when the cleaning machine 10 is located at a certain section of the basic cleaning path, the vertical separation area 14 located in the middle of the environmental image 13 corresponds to the forward direction of the basic cleaning path. If the feature identification box of the pollutant is located on the left side of the vertical separation area 14, it means that the lateral deviation indicates that the feature identification box of the floating pollutant is located on the left side of the forward direction of the basic cleaning; or, if the feature identification box of the pollutant is located on the right side of the vertical separation area 14, the lateral deviation indicates that the feature identification box of the floating pollutant is located on the right side of the forward direction of the basic cleaning. Figure 2 , the characteristic identification frame 15 is located on the right side of the vertical partition 14; or, if the characteristic identification frame of the pollutant overlaps with the vertical partition, it means that the floating pollutant is roughly located on the basic cleaning path and has not deviated from the basic cleaning forward direction. The basic cleaning forward direction is the forward direction of the downstream section of the current position of the basic cleaning path.

[0042] Furthermore, a pollutant identification area 16 is set by selecting a frame on the environmental image 13. After the cleaning machine 10 acquires the environmental image 13, as the cleaning machine 10 moves, if the feature identification frame of the pollutant is above the pollutant identification area 16 and has not entered the pollutant identification area 16, it is determined that the pollutant is too far away from the current cleaning machine 10, and the pollutant cleaning path is not executed temporarily. If the pollutant feature identification frame on the acquired environmental image enters the frame selection range of the pollutant identification area 16, the corresponding cleaning operation is performed for it. The pollutant identification area 16 is used to divide the range of floating pollutants that need to be cleaned when the cleaning machine 10 is in the current position, and the execution timing of the pollutant cleaning path is refined, so that the cleaning range of the pollutant accurately coincides with the location of the pollutant, thereby increasing the success rate of pollutant cleaning.

[0043] If the deviation direction also includes the deviation angle of the floating pollutant compared to the cleaning machine, the cleaning machine can also estimate the deviation angle. Exemplarily, after the cleaning machine determines the lateral deviation of the feature recognition frame of the floating pollutant on the collected image, it also matches the corresponding mapping deflection angle according to the lateral deviation of the feature recognition frame of the floating pollutant on the collected image; and determines the deviation direction according to the determined deviation direction and mapping deflection angle.

[0044] For example, a corresponding relationship between the number of pixels and the deviation angle is set in the cleaning machine; after the cleaning machine identifies the floating pollutants, it determines the number of pixels on the vertical line segment between the floating pollutants and the reference axis in the image, and the reference axis is a straight line passing through the current position in the basic cleaning forward direction; according to the above corresponding relationship, the deviation angle corresponding to the number of pixels is used to determine the deviation angle of the floating pollutants relative to the cleaning machine. The above corresponding relationship can be a corresponding relationship between the value range of the number of pixels and the deviation angle, or a linear relationship between the number of pixels and the deviation angle.

[0045] For another example, the cleaning machine is provided with an image division rule, according to which the image can be divided into a plurality of deviation grids, each deviation grid corresponding to its own deviation angle; after identifying the floating pollutants, the cleaning machine determines the deviation grid where the floating pollutants are located in the image, and determines the deviation angle corresponding to the deviation grid where the floating pollutants are located as the deviation angle of the floating pollutants compared to the cleaning machine.

[0046] Optionally, a correspondence between a deviation grid and a deviation direction may be set, where the deviation direction includes the direction and deviation angle of the floating pollutant relative to the cleaning machine. After the cleaning machine identifies the floating pollutant, it divides the image into a plurality of deviation grids according to the division rule, determines the deviation grid where the floating pollutant is located in the image, and determines the deviation direction corresponding to the deviation grid where the floating pollutant is located as the deviation direction of the floating pollutant relative to the cleaning machine.

[0047] Step 130, based on the deviation direction, taking the current position of the basic cleaning path where the cleaning machine is located as the starting point of the fork in the road, controlling the cleaning machine to deviate from the starting point of the fork in the road and execute the pollutant cleaning path.

[0048] The cleaning machine is pre-set with a cleaning path for floating pollutants. The cleaning machine determines the execution direction of the pollutant cleaning path according to the determined deviation direction, directly uses the starting point of the fork road as the starting point of the pollutant cleaning path, and controls the cleaning machine to execute the pollutant cleaning path.

[0049] Optionally, the pollutant cleaning path includes at least one targeted cleaning branch section, and the targeted cleaning branch section is oriented toward the deviation direction; the cleaning machine performs targeted cleaning of the branch section, and the steps include: controlling the cleaning machine to take the branch starting point as the starting point, and move from the basic cleaning forward direction toward the deviation direction at a first preset deviation angle to perform targeted cleaning of the branch section, wherein the basic cleaning forward direction is the forward direction of the downstream section of the current position of the basic cleaning path; returning to the branch starting point; controlling the cleaning machine to repeat the above steps until all targeted cleaning branch sections are executed.

[0050] If the pollutant cleaning path includes a targeted cleaning fork section, the cleaning machine performs the targeted cleaning fork section once or repeatedly performs the targeted cleaning fork section according to the first preset deflection angle. Figure 3 , the cleaning machine 20 visually identifies floating contaminants during the execution of the basic cleaning path 21, and then takes the fork starting point 22 as the starting point and the forward direction of the basic cleaning path 21 as the reference, moves toward the deviation direction 23 (the deviation direction 23 can at least indicate that the contaminants are located in the right front of the cleaning machine) and deviates from the first preset deflection angle 24 to perform targeted cleaning of the fork section 25. In addition to the first preset deflection angle 24, the above-mentioned targeted cleaning fork section can also include a set length of the path section. For example, by setting the moving time and moving speed when the cleaning machine executes the targeted cleaning fork section, the above-mentioned targeted cleaning fork section can have an expected path length, so as to meet the needs of cleaning the contaminants within the set range of the cleaning machine while avoiding the cleaning machine from reducing the overall cleaning efficiency due to deviating too far from the basic cleaning path of the pool bottom.

[0051] If the pollutant cleaning path includes multiple targeted cleaning forks, each targeted cleaning fork corresponds to its own first preset deflection angle; the cleaning machine sequentially executes each targeted cleaning fork according to the corresponding first preset deflection angle. Figure 4 , the cleaning machine 30 visually identifies floating pollutants during the execution of the basic cleaning path 31, and then takes the fork starting point 32 as the starting point, takes the forward direction of the basic cleaning path 31 as the reference, moves toward the deviation direction 33 deviating from the first preset angle 34, and executes the first targeted cleaning fork section 35; after completing the cleaning on the first targeted cleaning fork section 35, it returns to the fork starting point 32, and again takes the forward direction of the basic cleaning path 31 as the reference, moves toward the deviation direction 33 deviating from the first preset angle 36, and executes the second targeted cleaning fork section 37. Among them, there is an angle difference between the first preset angle 36 and the first preset angle 34. The above-mentioned multiple targeted cleaning fork sections can more comprehensively cover the range that floating pollutants can drift, more effectively prevent floating pollutants from escaping the cleaning of the cleaning machine, and can achieve a stronger cleaning force for floating pollutants, thereby improving the overall cleaning effect.

[0052] Optionally, the pollutant cleaning path includes at least one targeted cleaning branch section and at least one supplementary cleaning branch section, and the supplementary cleaning branch section is a branch section in the direction away from the deviation direction; after the cleaning machine executes all targeted cleaning branch sections, it also executes a supplementary cleaning branch section, and its steps include: controlling the cleaning machine to take the starting point of the branch as the starting point, and the forward direction of the basic cleaning path as the reference, away from the pollutant direction indicated by the deviation direction, deviating from the second preset deviation angle, and executing the supplementary cleaning branch section, if the deviation direction indicates that the pollutant is in front of the left of the cleaning machine, then it moves to the right front deviating from the forward direction, otherwise it moves to the left front deviating from the forward direction; return to the starting point of the branch; control the cleaning machine to repeat the above steps until all supplementary cleaning branch sections are executed.

[0053] If the pollutant cleaning path includes a supplementary cleaning branch section, the cleaning machine performs the supplementary cleaning branch section once or repeatedly performs the supplementary cleaning branch section at the second preset deflection angle. Figure 5 , the cleaning machine 40 visually identifies floating pollutants during the execution of the basic cleaning path 41, and then takes the fork starting point 42 as the starting point, takes the basic cleaning forward direction as the reference, moves toward the deviation direction 43 deviating from the first preset angle 44, and performs targeted cleaning of the fork section 45; after completing the targeted cleaning of the fork section 45, it returns to the fork starting point 42, continues to take the fork starting point 42 as the starting point, takes the basic cleaning forward direction as the reference, moves away from the deviation direction 43 deviating from the second preset deviation angle 46, and performs supplementary cleaning of the fork section 47.

[0054] If the pollutant cleaning path includes multiple supplementary cleaning branch sections, each supplementary cleaning branch section corresponds to its own second preset deflection angle; the cleaning machine executes each supplementary cleaning branch section in turn according to the corresponding second preset deflection angle.

[0055] In addition to the second preset deflection angle, the supplementary cleaning branch section may also include a set length of the path section. For example, by setting the movement time and movement speed of the cleaning machine when executing the supplementary cleaning branch section, the supplementary cleaning branch section can have a desired path length, so as to meet the need to clean pollutants within the set range of the cleaning machine while avoiding the cleaning machine from deviating too far from the basic cleaning path of the pool bottom, thereby reducing the overall cleaning efficiency.

[0056] Optionally, if the pollutant cleaning path includes one targeted cleaning branch section and one supplementary branch section, the first preset deviation angle is equal to the second preset deviation angle; if the pollutant cleaning path includes N targeted cleaning branch sections and N supplementary branch sections, the N first preset deviation angles are equal to the N second preset deviation angles in a one-to-one correspondence, and N is a positive integer greater than 1; if the pollutant cleaning path includes N1 targeted cleaning branch sections and N2 supplementary cleaning branch sections, some of the first preset deviation angles are equal to some of the second preset deviation angles, the values ​​of N1 and N2 are different, and N1 and N2 are both positive integers greater than 1.

[0057] Optionally, the first preset deflection angle is not equal to the second preset deflection angle.

[0058] The above-mentioned supplementary cleaning branch section enables the cleaning machine to perform supplementary cleaning in the direction where the floating pollutants may escape. Even if the floating pollutants drift from their original position to a farther place, the cleaning machine can still effectively clean them, more effectively preventing the escape of floating pollutants and improving the cleaning effect of the cleaning machine on floating pollutants.

[0059] Optionally, the cleaning machine executes the pollutant cleaning path, cleans the pollutants at a lower driving speed and / or a stronger suction force, reduces the probability and range of pollutant escape, and improves the success rate of pollutant collection. Specifically, the first driving speed of the cleaning machine is switched to the second driving speed, and the machine moves along the pollutant cleaning path at the second driving speed; and / or, the first suction force of the cleaning machine is switched to the second suction force, and floating pollutants are cleaned along the pollutant cleaning path with the second suction force. The first driving speed is the speed at which the cleaning machine travels on the basic cleaning path, and the second driving speed is less than the first driving speed; the first suction force is the suction force used by the cleaning machine when cleaning on the basic cleaning path, and the second suction force is greater than the first suction force.

[0060] The preset deflection angle (including the first preset deflection angle and / or the second preset deflection angle) of each cleaning fork section (including the targeted cleaning fork section and / or the supplementary cleaning fork section) is preset. Alternatively, if the deviation angle of the floating contaminants is included in the deviation orientation, the preset deflection angle of each cleaning fork section is determined based on the deviation angle in the deviation orientation; for example, the deviation angle is directly determined as the preset deflection angle of the cleaning fork section; for another example, different angle ranges correspond to their own preset deflection angles, and the preset deflection angle corresponding to the angle range to which the deviation angle belongs is determined as the preset deflection angle of the cleaning fork section. Each angle range can be set with one or more preset deflections.

[0061] If the deviation angle of the floating pollutant is not included in the deviation orientation, the cleaning machine needs to determine the lateral deviation of the feature identification frame of the floating pollutant on the acquired image; match the corresponding mapping deviation angle according to the lateral deviation of the feature identification frame of the floating pollutant on the acquired image, and determine the mapping deviation angle as the first preset deviation angle; based on the determined first preset deviation angle, control the cleaning machine to complete the targeted cleaning of the fork section.

[0062] After completing the targeted cleaning of the fork section, the second preset angle can be determined based on the mapping angle, such as by directly determining the angle value of the mapping angle as the angle value of the second preset angle; based on the determined second preset angle, the cleaning machine is controlled to complete the supplementary cleaning of the fork section.

[0063] Optionally, the pool bottom is divided into a cleaned area and an uncleaned area, with the basic cleaning path currently executed by the cleaning machine as the boundary. The side covered by the executed basic cleaning path is the cleaned area, and the side covered by the basic cleaning path to be executed is the uncleaned area. If the floating pollutants are located in different areas, there are different corresponding plans for executing cleaning branch sections. Specifically, if the deviation direction indicates that the floating pollutants are located in the cleaned area, supplementary cleaning branch sections are executed; and / or, if the deviation direction indicates that the floating pollutants are located in the uncleaned area, only targeted cleaning branch sections are executed.

[0064] That is, if the deviation direction indicates that the floating contaminants are located in the cleaned area, the cleaning machine executes the targeted cleaning fork section and then executes the supplementary cleaning fork section; if the deviation direction indicates that the floating contaminants are located in the uncleaned area, the cleaning machine only executes the targeted cleaning fork section.

[0065] Step 140 , after completing the pollutant cleaning path, return to the starting point of the fork and continue to execute the basic cleaning path.

[0066] After moving along the pollutant cleaning path and performing the cleaning operation, the cleaning machine starts from the starting point of the branch road and continues to move along the basic cleaning path and perform the cleaning operation.

[0067] After the cleaning machine moves along the pollutant cleaning path and performs the cleaning operation, the second driving speed is switched to the first driving speed, and the second suction force is switched to the first suction force, and the machine continues to move along the basic cleaning path at the first driving speed and performs the cleaning operation with the first suction force.

[0068] Optionally, after the cleaning machine completes the pollutant cleaning path and returns to the starting point of the fork in the road, it continues to move along the basic cleaning path at a second driving speed; and / or, performs cleaning operations along the basic cleaning path with a second suction force; after controlling the cleaning machine to travel a preset distance, the second driving speed is switched back to the first driving speed, and the cleaning machine moves along the basic cleaning path at the first driving speed; and / or, the second suction force of the cleaning machine is switched back to the first suction force, and cleaning operations are performed along the basic cleaning path with the first suction force.

[0069] In another possible implementation, the cleaning machine may identify that the floating contaminants are located in the forward direction of the cleaning machine on the basic cleaning path. If so, the first driving speed of the cleaning machine is switched to the second driving speed, and the cleaning machine moves along the basic cleaning path at the second driving speed; and / or, the first suction force of the cleaning machine is switched to the second suction force, and the floating contaminants are cleaned along the basic cleaning path with the second suction force. After the cleaning machine is controlled to travel a preset distance, the second driving speed is switched back to the first driving speed, and the cleaning machine continues to move along the basic cleaning path at the first driving speed; and / or, the second suction force of the cleaning machine is switched back to the first suction force, and the cleaning operation continues to be performed along the basic cleaning path with the first suction force.

[0070] For example, Figure 6 , the cleaning machine 50 identifies floating contaminants during the execution of the basic cleaning path 51, determines that the floating contaminants are located in the forward direction of the cleaning machine 50 on the basic cleaning path 51, and takes the position 52 where the floating contaminants are identified as the starting point, switches the first driving speed of the cleaning machine to the second driving speed, moves along the basic cleaning path at the second driving speed, and switches the first suction force of the cleaning machine to the second suction force, and cleans the floating contaminants along the basic cleaning path with the second suction force. Control the cleaning machine 50 to travel a preset distance 53 to a position 54, switches the second driving speed back to the first driving speed, continues to move along the basic cleaning path at the first driving speed, and switches the second suction force of the cleaning machine back to the first suction force, and continues to perform cleaning operations along the basic cleaning path with the first suction force.

[0071] In summary, the pool bottom cleaning method provided in this embodiment is that during the process of the cleaning machine executing the basic cleaning path of the pool bottom and performing the cleaning operation, the floating pollutants within the set range are visually identified. If floating pollutants are identified, the deviation direction of the floating pollutants compared to the cleaning machine is determined. Based on the deviation direction, the current position of the basic cleaning path where the cleaning machine is located is used as the starting point of the fork in the road, and the cleaning machine is controlled to deviate from the starting point of the fork in the road and execute the pollutant cleaning path. The floating pollutants are cleaned in a targeted manner, and then after completing the pollutant cleaning path, it returns to the starting point of the fork in the road and continues to execute the basic cleaning path, which can prevent some pollutants from escaping the cleaning of the cleaning machine. For example, floating pollutants such as leaves that are easy to drift with the water flow are very easy to escape during cleaning, and they may also drift back to the cleaned area. Using this pool bottom cleaning method, the pollutant cleaning path will be executed for floating pollutants such as leaves that are easy to drift with the water flow, which can ensure that the floating pollutants are cleaned, and at the same time, the cleaning effect of the cleaned area can be guaranteed.

[0072] Secondly, the pollutant cleaning path in this method is pre-set. If the cleaning machine identifies floating pollutants, it can directly execute the pollutant cleaning path corresponding to the deviation direction of the floating pollutants, saving the pollutant cleaning path planning process and improving the execution efficiency of the pollutant cleaning path.

[0073] When the cleaning machine executes the pollutant cleaning path, it can also reduce the driving speed and increase the suction force during cleaning, which can increase the possibility of collecting floating pollutants and ensure the cleaning effect. In addition, after returning to the basic cleaning path, it still moves at the second driving speed for a certain distance and performs the cleaning operation with the second suction force, which can clean up the floating pollutants that escape to the basic cleaning path again, further improving the cleaning strength of floating pollutants.

[0074] In another possible implementation, while the cleaning machine is executing the basic cleaning path of the pool bottom, floating contaminants within the set range of the cleaning machine are visually identified; after the floating contaminants are identified, the deviation direction of the floating contaminants relative to the cleaning machine is determined; based on the deviation direction, the current position of the basic cleaning path where the cleaning machine is located is used as the starting point of the fork in the road, and the cleaning machine is controlled to deviate from the starting point of the fork in the road to execute the contaminant cleaning path.

[0075] When the pollutant cleaning path is completed and the method returns to the starting point of the fork in the road, the floating pollutants are identified again; if the floating pollutants are identified again, the deviation direction of the floating pollutants compared to the cleaning machine is re-determined, and the corresponding pollutant cleaning path is executed; after completing the corresponding pollutant cleaning path, the method returns to the starting point of the fork in the road and continues to execute the basic cleaning path.

[0076] When the pollutant cleaning path is completed and the vehicle returns to the starting point of the fork, the floating pollutants are identified again; if the floating pollutants are not identified again, the basic cleaning path is continued.

[0077] That is, after executing step 120 and step 130 once, the cleaning machine returns to the starting point of the fork in the road, and after identifying the floating pollutants again at the starting point of the fork in the road, it executes step 120 and step 130 again. This cleaning method, after completing the cleaning process of floating pollutants once, ensures that the identified floating pollutants are cleaned up through a second inspection, thereby improving the cleaning effect of the cleaning machine on floating pollutants.

[0078] In another possible implementation, the cleaning machine divides the pool bottom into a cleaned area and an uncleaned area, with the basic cleaning path currently executed by the cleaning machine as the boundary, the side covered by the executed basic cleaning path is the cleaned area, and the side covered by the to-be-executed basic cleaning path is the uncleaned area; if the deviation direction indicates that the floating pollutant is located in the cleaned area, the cleaning machine is controlled to execute the pollutant cleaning path from the starting point of the fork in the road along the deviation direction. If the deviation direction indicates that the floating pollutant is located in the uncleaned area, the basic cleaning path is directly continued to be executed. That is, if the deviation direction indicates that the floating pollutant is located in the cleaned area, steps 120 to 140 are executed; if the deviation direction indicates that the floating pollutant is located in the uncleaned area, the basic cleaning path is continued to be executed, and the cleaning operation is not performed on the floating pollutant. This cleaning method cleans the floating pollutants in the cleaned area, avoids the re-contamination of the cleaned area, and ensures the cleaning effect of the cleaned area; secondly, the cleaning of the floating pollutants in the uncleaned area can be realized on the subsequent basic cleaning path, so there is no need to branch out from the basic cleaning path to complete the cleaning of the floating pollutants.

[0079] In another possible implementation, if the deviation direction indicates that the floating contaminants are located in the cleaned area, the cleaning machine is controlled to move from the starting point of the fork in the direction toward the deviation direction to execute at least one targeted cleaning fork section; after the cleaning machine has executed all targeted cleaning fork sections, the cleaning machine is controlled to move from the starting point of the fork in the direction away from the deviation direction to execute at least one supplementary cleaning fork section. If the deviation direction indicates that the floating contaminants are located in the uncleaned area, the cleaning machine is controlled to move from the starting point of the fork in the direction toward the deviation direction to execute at least one targeted cleaning fork section. For the execution process of targeted cleaning fork sections and supplementary cleaning fork sections, please refer to Figure 3The description in the illustrated embodiment will not be repeated here. In this method, different cleaning areas have different cleaning branch sections. When floating objects are located in unclean areas, only targeted cleaning paths are executed for unclean areas; when floating pollutants are located in cleaned areas, the cleaning range of the cleaning machine is expanded, and not only targeted cleaning branch sections are executed for cleaned areas, but also supplementary cleaning branch sections are executed for unclean areas to enhance the cleaning strength of floating pollutants.

[0080] Exemplary, reference Figure 7 and Figure 8 Taking the cleaning of fallen leaves at the bottom of a swimming pool as an example, a possible implementation method of a cleaning machine performing a pool bottom cleaning method is described. Figure 7 As shown, a basic cleaning path between the first pool wall and the second pool wall at the bottom of the swimming pool is pre-set in the cleaning machine. The basic cleaning path includes multiple parallel sections such as section A, section B, section C, ..., section N, and the driving direction of the cleaning machine is opposite between adjacent sections. If the first section traveled by the cleaning machine is section A, and its driving direction is from the first pool wall toward the second pool wall; then its driving direction on the adjacent section B is from the second pool wall toward the first pool wall.

[0081] The cleaning machine can determine whether the fallen leaves are in the cleaned area or the area to be cleaned according to the odd or even number of the line to which the road section belongs, the driving direction on the road section, and whether the fallen leaves are on the left or right side of the machine. Figure 7 The basic cleaning path for the cleaning machine in the figure starts with the downward driving direction of the starting section A. The 0th row, the 2nd row, ..., and the 2Nth row starting from section A all have downward driving directions. The right side of these even-numbered rows is the cleaned area, and the left side is the area to be cleaned. The 1st row, the 3rd row, ..., and the 2N+1th row starting from section B all have upward driving directions. The left side of these odd-numbered rows is the cleaned area, and the right side is the area to be cleaned. The cleaning machine is driving on section B, which belongs to the even-numbered rows. The left side of the cleaning machine is the cleaned area, and the right side of the cleaning machine is the area to be cleaned; it is driving on section C, which belongs to the odd-numbered rows. The right side of the cleaning machine is the cleaned area, and the left side of the cleaning machine is the area to be cleaned. Based on this, the cleaning machine's recognition and cleaning logic for fallen leaves is as follows: Fig. 9 As shown, the steps are as follows:

[0082] Step 601, determine whether it is an even row.

[0083] The cleaning machine determines whether the target road section for the cleaning machine to travel is an even-numbered road section, and if so, executes step 602 ; if not, the target road section for the cleaning machine to travel is an odd-numbered road section, and executes step 609 .

[0084] Step 602, determine whether there are fallen leaves on the left side.

[0085] The cleaning machine determines whether there are fallen leaves on the left side of the cleaning machine. If fallen leaves are identified on the left side, step 603 is executed; if fallen leaves are not identified on the left side, step 604 is executed.

[0086] Step 603, first clean the fork section on the left side in a targeted manner, then clean the fork section on the right side in a supplementary manner, and then return to the middle.

[0087] Fallen leaves are identified on the left side, indicating that there are fallen leaves in the cleaned area. The current position of the target road section where the cleaning machine is located is taken as the starting point of the fork in the road. The cleaning machine is controlled to start from the starting point of the fork in the road, first shift to the left, and perform targeted cleaning of the fork section; then shift to the right, and perform supplementary cleaning of the fork section; and then return to the middle target road section to travel. From the starting point of the fork in the road, the cleaning machine switches the first driving speed to the second driving speed, and switches the first suction force to the second suction force, travels on the cleaning fork section at the second driving speed, and performs cleaning operations on the cleaning fork section with the second suction force. After returning to the middle target road section, it still moves on the target road section at the second driving speed, and performs cleaning operations with the second suction force. After controlling the cleaning machine to travel a preset distance, the second driving speed is switched back to the first driving speed, and the second suction force of the cleaning machine is switched back to the first suction force. It continues to move along the target road section at the first driving speed, and performs cleaning operations with the first suction force.

[0088] Step 604, determine whether there are fallen leaves on the right side.

[0089] The cleaning machine determines whether there are fallen leaves on the right side of the cleaning machine. If fallen leaves are identified on the right side, step 605 is executed; if fallen leaves are not identified on the right side, step 606 is executed.

[0090] Step 605, first clean the fork section on the right side, then go back to the middle and go straight.

[0091] Fallen leaves are identified on the right side, indicating that there are fallen leaves in the uncleaned area. The current position of the target road section where the cleaning machine is located is taken as the starting point of the fork in the road. The cleaning machine is controlled to start from the starting point of the fork in the road, first shift to the right, and perform targeted cleaning of the fork section; then return to the middle target road section to drive. From the starting point of the fork in the road, the cleaning machine switches the first driving speed to the second driving speed, and switches the first suction force to the second suction force, drives on the targeted cleaning fork section at the second driving speed, and performs cleaning operations on the targeted cleaning fork section with the second suction force. After returning to the middle target road section, it still moves on the target road section at the second driving speed, and performs cleaning operations with the second suction force. After controlling the cleaning machine to travel a preset distance, the second driving speed is switched back to the first driving speed, and the second suction force of the cleaning machine is switched back to the first suction force. It continues to move along the target road section at the first driving speed, and performs cleaning operations with the first suction force.

[0092] Step 606, determine whether there are fallen leaves in the middle.

[0093] The cleaning machine determines whether there are fallen leaves directly in front of it when driving on the target road section. If fallen leaves are identified directly in front of it, step 607 is executed; if no fallen leaves are identified directly in front of it, step 608 is executed.

[0094] Step 607, go straight in the middle.

[0095] If there are fallen leaves in the forward direction of the cleaning machine, the current position of the target road section where the cleaning machine is located is taken as the starting point, and the first driving speed is switched to the second driving speed at the starting point, and the first suction force is switched to the second suction force, and the cleaning machine is controlled to travel a preset distance on the target road section at the second driving speed, and the cleaning operation is performed with the second suction force; then the second driving speed is switched back to the first driving speed, and the second suction force of the cleaning machine is switched back to the first suction force, and the cleaning machine continues to move along the target road section at the first driving speed, and the cleaning operation is performed with the first suction force.

[0096] Step 608, original path.

[0097] The cleaning machine continues to move along the target road section and performs the cleaning operation.

[0098] Step 609, determine whether there are fallen leaves on the right side.

[0099] The cleaning machine determines whether there are fallen leaves on the right side of the cleaning machine. If fallen leaves are identified on the right side, step 610 is executed; if no fallen leaves are identified on the right side, step 611 is executed.

[0100] Step 610, first clean the fork section on the right side in a targeted manner, then clean the fork section on the left side in a supplementary manner, and then go back to the middle and go straight.

[0101] Fallen leaves are identified on the right side, indicating that there are fallen leaves in the cleaned area. The current position of the target road section where the cleaning machine is located is taken as the starting point of the fork in the road. The cleaning machine is controlled to start from the starting point of the fork in the road, first shift to the right, and perform targeted cleaning of the fork section; then shift to the left, and perform supplementary cleaning of the fork section; and then return to the middle target road section to travel. From the starting point of the fork in the road, the cleaning machine switches the first driving speed to the second driving speed, and switches the first suction force to the second suction force, travels on the cleaning fork section at the second driving speed, and performs cleaning operations on the cleaning fork section with the second suction force. After returning to the middle target road section, it still moves on the target road section at the second driving speed, and performs cleaning operations with the second suction force. After controlling the cleaning machine to travel a preset distance, the second driving speed is switched back to the first driving speed, and the second suction force of the cleaning machine is switched back to the first suction force. It continues to move along the target road section at the first driving speed, and performs cleaning operations with the first suction force.

[0102] Step 611, determine whether there are fallen leaves on the left side.

[0103] The cleaning machine determines whether there are fallen leaves on the left side of the cleaning machine. If fallen leaves are identified on the left side, step 612 is executed; if fallen leaves are not identified on the left side, step 606 is executed.

[0104] Step 612, first clean the fork section on the left side, then go back to the middle and go straight.

[0105] Fallen leaves are identified on the left side, indicating that there are fallen leaves in the uncleaned area. The current position of the target road section where the cleaning machine is located is taken as the starting point of the fork in the road. The cleaning machine is controlled to start from the starting point of the fork in the road, first shift to the left, and perform targeted cleaning of the fork section; then return to the middle target road section to travel. From the starting point of the fork in the road, the cleaning machine switches the first driving speed to the second driving speed, and switches the first suction force to the second suction force, travels on the targeted cleaning fork section at the second driving speed, and performs cleaning operations on the targeted cleaning fork section with the second suction force. After returning to the middle target road section, it still moves on the target road section at the second driving speed, and performs cleaning operations with the second suction force. After controlling the cleaning machine to travel a preset distance, the second driving speed is switched back to the first driving speed, and the second suction force of the cleaning machine is switched back to the first suction force. It continues to move along the target road section at the first driving speed, and performs cleaning operations with the first suction force.

[0106] To sum up, the pool bottom cleaning method provided in this embodiment has different schemes for executing cleaning branch sections in the cleaned area and the uncleaned area. If the floating pollutants are located in the uncleaned area, the cleaning machine will only execute the cleaning branch section in the uncleaned area. If the floating pollutants are located in the cleaned area, the cleaning machine will expand the cleaning range of the floating pollutants and execute the cleaning branch section in both the cleaned area and the area to be cleaned to ensure that the floating pollutants can be cleaned more thoroughly.

[0107] Fig. 9 A schematic diagram of a pool bottom cleaning device is shown. Fig. 9 As shown, the pool bottom cleaning device comprises:

[0108] An identification module 710 is used to visually identify floating contaminants within a set range of the cleaning machine while the cleaning machine is performing a basic cleaning path of the pool bottom;

[0109] A determination module 720, for determining the deviation of the floating contaminant from the cleaning machine after identifying the floating contaminant;

[0110] The cleaning module 730 is used to control the cleaning machine to deviate from the starting point of the fork in the road based on the deviation direction and take the current position of the basic cleaning path where the cleaning machine is located as the starting point of the fork in the road to execute the pollutant cleaning path; after completing the pollutant cleaning path, return to the starting point of the fork in the road and continue to execute the basic cleaning path.

[0111] In a possible implementation, the pollutant cleaning path includes at least one targeted cleaning branch section, and the targeted cleaning branch section is oriented toward a deviation direction;

[0112] The cleaning module 730 controls the cleaning machine to deviate from the starting point of the fork in the road and execute the pollutant cleaning path, including:

[0113] Targeted cleaning of forked sections is performed as follows: the cleaning machine is controlled to take the starting point of the fork as the starting point, and moves from the basic cleaning forward direction toward the deviation direction by a first preset deviation angle to perform targeted cleaning of the forked section, wherein the basic cleaning forward direction is the forward direction of the downstream section of the current position of the basic cleaning path; return to the starting point of the fork; control the cleaning machine to repeat the above steps until all targeted cleaning forked sections are completed.

[0114] In a possible implementation, the pollutant cleaning path further includes at least one supplementary cleaning fork section, and the supplementary cleaning fork section is a fork section in a direction away from the deviation direction;

[0115] After the cleaning machine has completed all targeted cleaning of the forked road sections, the cleaning module 730 controls the cleaning machine to deviate from the starting point of the forked road and execute the pollutant cleaning path, and also includes:

[0116] The execution of supplementary cleaning of the branch road section is as follows: control the cleaning machine to take the starting point of the branch road as the starting point, move away from the deviation direction of the basic cleaning by a second preset deviation angle, and execute the supplementary cleaning of the branch road section; return to the starting point of the branch road; control the cleaning machine to repeat the above steps until all supplementary cleaning branch road sections are executed.

[0117] In a possible implementation, the basic cleaning path currently executed by the cleaning machine is used as a boundary, the side covered by the executed basic cleaning path is the cleaned area, and the side covered by the basic cleaning path to be executed is the uncleaned area;

[0118] The cleaning module 730 performs a supplementary cleaning fork segment, including: if the deviation orientation indicates that the floating contaminant is located in the cleaned area, then the supplementary cleaning fork segment is performed;

[0119] and / or,

[0120] The cleaning module 730 performs targeted cleaning of the branch road section, including: if the deviation orientation indicates that the floating contaminant is located in the uncleaned area, only performing targeted cleaning of the branch road section.

[0121] In a possible implementation, after the cleaning module 730 completes the pollutant cleaning path, it returns to the starting point of the fork and continues to execute the basic cleaning path, including:

[0122] After completing the pollutant cleaning path and returning to the starting point of the fork, the floating pollutant is identified again;

[0123] If the floating contaminant is identified again, the deviation direction of the floating contaminant relative to the cleaning machine is re-determined, and the corresponding contaminant cleaning path is executed;

[0124] After completing the corresponding pollutant cleaning path, return to the starting point of the fork and continue to execute the basic cleaning path.

[0125] In a possible implementation, the basic cleaning path currently executed by the cleaning machine is used as a boundary, the side covered by the executed basic cleaning path is the cleaned area, and the side covered by the basic cleaning path to be executed is the uncleaned area;

[0126] The cleaning module 730 controls the cleaning machine to deviate from the starting point of the fork in the road based on the deviation direction and takes the current position of the basic cleaning path where the cleaning machine is located as the starting point of the fork in the road to execute the pollutant cleaning path, including:

[0127] If the deviation direction indicates that the floating pollutants are located in the cleaned area, the cleaning machine is controlled to execute the pollutant cleaning path along the deviation direction from the starting point of the fork.

[0128] In a possible implementation, the cleaning module 730 is further configured to directly continue to execute the basic cleaning path if the offset orientation indicates that the floating contaminant is located in an uncleaned area.

[0129] In a possible implementation, the determination module 720 controls the cleaning machine to take the fork road starting point as the starting point, move from the basic cleaning forward direction toward the deviation direction by a first preset deviation angle, and perform targeted cleaning of the fork road section, including:

[0130] Determine the lateral deviation of the feature recognition frame of the floating pollutant on the acquired image;

[0131] According to the lateral deviation of the feature recognition frame of the floating pollutant on the collected image, the corresponding mapping deflection angle is matched, and the mapping deflection angle is determined as a first preset deflection angle;

[0132] Based on the determined first preset deflection angle, the cleaning machine is controlled to complete targeted cleaning of the branch road section.

[0133] In one possible implementation, the cleaning module 730 executes a pollutant cleaning path, including:

[0134] Switching the first driving speed of the cleaning machine to a second driving speed, wherein the first driving speed is the speed at which the cleaning machine travels on the basic cleaning path, and the second driving speed is less than the first driving speed; moving along the pollutant cleaning path at the second driving speed; and / or,

[0135] The first suction force of the cleaning machine is switched to the second suction force, wherein the first suction force is the suction force used by the cleaning machine when cleaning on the basic cleaning path, and the second suction force is greater than the first suction force; the floating pollutants are cleaned along the pollutant cleaning path with the second suction force.

[0136] In one possible implementation, the cleaning module 730 continues to execute the basic cleaning path, including:

[0137] Continue to move along the basic cleaning path at a second driving speed; and / or, perform a cleaning operation along the basic cleaning path at a second suction force;

[0138] After controlling the cleaning machine to travel a preset distance, the second driving speed is switched back to the first driving speed, and the machine moves along the basic cleaning path at the first driving speed; and / or, the second suction force of the cleaning machine is switched back to the first suction force, and the cleaning operation is performed along the basic cleaning path at the first suction force.

[0139] In a possible implementation, the cleaning module 730 is further configured to:

[0140] If it is identified that the floating contaminants are located in the forward direction of the cleaning machine on the basic cleaning path, the first driving speed of the cleaning machine is switched to the second driving speed, and the cleaning machine moves along the basic cleaning path at the second driving speed; and / or the first suction force of the cleaning machine is switched to the second suction force, and the floating contaminants are cleaned along the basic cleaning path with the second suction force;

[0141] Among them, the first driving speed is the speed at which the cleaning machine travels on the basic cleaning path, and the second driving speed is less than the first driving speed; the first suction force is the suction force used by the cleaning machine when cleaning on the basic cleaning path, and the second suction force is greater than the first suction force.

[0142] It should be noted that the pool bottom cleaning device of this embodiment is used to implement the corresponding pool bottom cleaning method in the aforementioned method embodiment, and has the beneficial effects of the corresponding method embodiment, which will not be repeated here.

[0143] Fig.10It is a schematic block diagram of a kind of electronic device provided by the embodiment of the present application, and the specific embodiment of the present application does not limit the specific implementation of the electronic device. The structural block diagram of the electronic device 800 that can be used as the server or client of the present application will now be described, which is an example of hardware equipment that can be applied to various aspects of the present application. The electronic device is intended to represent various forms of digital electronic computer equipment, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, cleaning robots and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices and other similar computing devices. The components shown herein, their connections and relationships, and their functions are only used as examples, and are not intended to limit the implementation of the present application described herein and / or required.

[0144] like Fig.10 As shown, the electronic device 800 includes a computing unit 801, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 802 or a computer program loaded from a storage unit 808 to a random access memory (RAM) 803. In RAM 803, various programs and data required for the operation of the device 800 can also be stored. The computing unit 801, ROM 802 and RAM 803 are connected to each other via a bus 804. An input / output (I / O) interface 805 is also connected to the bus 804.

[0145] Multiple components in the electronic device 800 are connected to the I / O interface 805, including: an input unit 806, an output unit 807, a storage unit 808, and a communication unit 809. The input unit 806 can be any type of device that can input information to the electronic device 800, and the input unit 806 can receive input digital or character information, and generate key signal input related to the user settings and / or function control of the electronic device. The output unit 807 can be any type of device that can present information, and can include but is not limited to a display, a speaker, a video / audio output terminal, a vibrator, and / or a printer. The storage unit 804 can include but is not limited to a disk, an optical disk. The communication unit 809 allows the electronic device 800 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks, and can include but is not limited to a modem, a network card, an infrared communication device, a wireless communication transceiver and / or a chipset, such as a Bluetooth TM device, a wireless fidelity (WIreless Fidelity, WiFi) device, a global microwave interconnection access (Worldwide Interoperability for Microwave Access, WiMax) device, a cellular communication device and / or the like.

[0146] The computing unit 801 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the computing unit 801 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated AI computing chips, various computing units running machine learning model algorithms, digital signal processors (DSP), and any appropriate processors, controllers, microcontrollers, etc. The computing unit 801 performs the various methods and processes described above. For example, in some embodiments, the pool bottom cleaning method of the aforementioned embodiments may be implemented as a computer software program, which is tangibly included in a machine-readable medium, such as a storage unit 808. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 800 via ROM 802 and / or a communication unit 809. In some embodiments, the computing unit 801 may be configured to perform the pool bottom cleaning method by any other appropriate means (e.g., by means of firmware).

[0147] The program code for implementing the method of the present application can be written in any combination of one or more programming languages. These program codes can be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that the program code, when executed by the processor or controller, implements the functions / operations specified in the flow chart and / or block diagram. The program code can be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0148] In the context of the present application, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM) or a flash memory, an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0149] As used herein, the terms "machine-readable medium" and "computer-readable medium" refer to any computer program product, device, and / or means (e.g., disk, optical disk, memory, programmable logic device (PLD)) for providing machine instructions and / or data to a programmable processor, including a machine-readable medium that receives machine instructions as a machine-readable signal. The term "machine-readable signal" refers to any signal for providing machine instructions and / or data to a programmable processor.

[0150] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a cathode ray tube (CRT) or a liquid crystal display (LCD) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0151] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: Local Area Networks (LANs), Wide Area Networks (WANs), and the Internet.

[0152] A computer system may include clients and servers. Clients and servers are generally remote from each other and usually interact through a communication network. The relationship of client and server is generated by computer programs running on respective computers and having a client-server relationship to each other.

[0153] The present application also provides a computer-readable storage medium storing instructions for causing a machine to execute the pool bottom 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 microprocessor unit (MPU)) of the system or device is enabled to read and execute the program code stored in the storage medium.

[0154] 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.

[0155] Examples of storage media for providing program code include floppy disks, hard disks, magneto-optical disks, optical disks (such as CD-ROM, Compact Disk-Recordable (CD-R), Compact Disk-ReWritable (CD-RW), Digital Video Disk-Random Access Memory (DVD-ROM), Digital Video Disk-Random Access Memory (DVD-RAM), Digital Video Disk-ReWritable (DVD-RW), DVD+RW), magnetic tapes, non-volatile memory cards, and ROMs. Alternatively, the program code may be downloaded from a server computer via a communications network.

[0156] An embodiment of the present application also provides a computer program product, including computer instructions, which instruct a computing device to perform any corresponding operation in the above-mentioned multiple method embodiments.

[0157] 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.

[0158] 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 a 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 dedicated processor or programmable or dedicated hardware (such as a professional integrated circuit (Application Specific Integrated Circuit, ASIC) or a field programmable gate array (Field Programmable Gate Array, FPGA)). It can be understood that a computer, a processor, a microprocessor controller or programmable hardware includes a storage component (e.g., 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 dedicated computer for executing the method shown here.

[0159] Those of ordinary skill in the art will appreciate that the units and method steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the embodiments of the present application.

[0160] The above implementation methods are only used to illustrate the embodiments of the present application, and are not limitations on the embodiments of the present application. Ordinary technicians in the relevant technical field can make various changes and modifications without departing from the spirit and scope of the embodiments of the present application. Therefore, all equivalent technical solutions also belong to the scope of the embodiments of the present application. The scope of patent protection of the embodiments of the present application should be limited by the claims.

Claims

1. A pool bottom cleaning method, characterized in that: Applied to a cleaning machine, the method comprises: visually identifying floating contaminants within a set range of the cleaning machine as the cleaning machine performs a basic pool bottom cleaning path; After identifying the floating contaminant, determining the deviation direction of the floating contaminant relative to the cleaning machine; Based on the deviation direction, taking the current position of the basic cleaning path where the cleaning machine is located as the starting point of the fork in the road, controlling the cleaning machine to deviate from the starting point of the fork in the road and execute the pollutant cleaning path; After completing the pollutant cleaning path, return to the starting point of the fork and continue to execute the basic cleaning path.

2. The method according to claim 1, characterized in that The pollutant cleaning path includes at least one targeted cleaning branch section, and the targeted cleaning branch section is oriented toward the deviation direction; The step of controlling the cleaning machine to deviate from the starting point of the fork in the road and execute the pollutant cleaning path includes: The targeted cleaning of the branch section is performed by: controlling the cleaning machine to take the branch starting point as the starting point, and moving from the basic cleaning forward direction toward the deviation direction with a first preset deviation angle to perform the targeted cleaning of the branch section, wherein the basic cleaning forward direction is the forward direction of the downstream section of the current position of the basic cleaning path; returning to the branch starting point; controlling the cleaning machine to repeat the above steps until all the targeted cleaning branch sections are executed.

3. The method according to claim 2, characterized in that The pollutant cleaning path further comprises at least one supplementary cleaning branch section, wherein the supplementary cleaning branch section is a branch section in a direction away from the deviation orientation; After the cleaning machine has completed the targeted cleaning of all the branch road sections, the cleaning machine is controlled to deviate from the starting point of the branch road to execute the pollutant cleaning path, and further includes: Executing the supplementary cleaning fork section includes: controlling the cleaning machine to take the fork starting point as the starting point, moving away from the deviation direction by a second preset deviation angle from the basic cleaning forward direction, and executing the supplementary cleaning fork section; Return to the starting point of the fork in the road; control the cleaning machine to cycle the above steps until all the supplementary cleaning fork sections are completed.

4. The method according to claim 3, characterized in that Taking the basic cleaning path currently executed by the cleaning machine as the boundary, the side covered by the executed basic cleaning path is the cleaned area, and the side covered by the basic cleaning path to be executed is the uncleaned area; The performing of the supplementary cleaning fork section comprises: if the deviation orientation indicates that the floating contaminant is located in the cleaned area, then performing the supplementary cleaning fork section; and / or, The executing the targeted cleaning fork section includes: if the deviation orientation indicates that the floating contaminant is located in the uncleaned area, only executing the targeted cleaning fork section.

5. The method according to claim 1, characterized in that After completing the pollutant cleaning path, returning to the starting point of the fork and continuing to execute the basic cleaning path includes: When the pollutant cleaning path is completed and the vehicle returns to the starting point of the fork, the floating pollutant is identified again; If the floating contaminant is identified again, the deviation position of the floating contaminant relative to the cleaning machine is re-determined, and a corresponding contaminant cleaning path is executed; After completing the corresponding pollutant cleaning path, return to the starting point of the fork and continue to execute the basic cleaning path.

6. The method according to claim 1, characterized in that Taking the basic cleaning path currently executed by the cleaning machine as the boundary, the side covered by the executed basic cleaning path is the cleaned area, and the side covered by the basic cleaning path to be executed is the uncleaned area; Based on the deviation orientation, taking the current position of the basic cleaning path where the cleaning machine is located as the starting point of the fork in the road, controlling the cleaning machine to deviate from the starting point of the fork in the road and execute the pollutant cleaning path, comprises: If the deviated orientation indicates that the floating contaminant is located in the cleaned area, the cleaning machine is controlled to execute the contaminant cleaning path along the deviated orientation from the branch starting point.

7. The method according to claim 6, characterized in that The method further comprises: If the offset position indicates that the floating contaminant is located in the uncleaned area, the basic cleaning path is directly continued.

8. The method according to claim 2, characterized in that: The controlling the cleaning machine to take the fork road starting point as the starting point, move from the basic cleaning forward direction toward the deviation direction deviating from the first preset deviation angle, and perform the targeted cleaning of the fork road section, comprises: Determining the lateral deviation of the feature recognition frame of the floating pollutant on the acquired image; According to the lateral deviation of the feature recognition frame of the floating pollutant on the collected image, matching the corresponding mapping deflection angle, and determining the mapping deflection angle as the first preset deflection angle; Based on the determined first preset deflection angle, the cleaning machine is controlled to complete the targeted cleaning of the branch road section.

9. The method according to claim 1, characterized in that: The execution of the pollutant cleaning path includes: Switching the first driving speed of the cleaning machine to a second driving speed, wherein the first driving speed is the speed at which the cleaning machine travels on the basic cleaning path, and the second driving speed is less than the first driving speed; moving along the pollutant cleaning path at the second driving speed; and / or, The first suction force of the cleaning machine is switched to the second suction force, wherein the first suction force is the suction force used by the cleaning machine when cleaning on the basic cleaning path, and the second suction force is greater than the first suction force; the floating contaminants are cleaned along the contaminant cleaning path with the second suction force.

10. The method according to claim 1, characterized in that The method further comprises: If it is identified that the floating contaminants are located in the forward direction of the cleaning machine on the basic cleaning path, the first driving speed of the cleaning machine is switched to a second driving speed, and the cleaning machine moves along the basic cleaning path at the second driving speed; and / or the first suction force of the cleaning machine is switched to a second suction force, and the floating contaminants are cleaned along the basic cleaning path at the second suction force; Among them, the first driving speed is the speed at which the cleaning machine travels on the basic cleaning path, and the second driving speed is less than the first driving speed; the first suction force is the suction force used by the cleaning machine when cleaning on the basic cleaning path, and the second suction force is greater than the first suction force.

11. A pool bottom cleaning device, characterized in that: The device comprises: an identification module for visually identifying floating contaminants within a set range of the cleaning machine while the cleaning machine is performing a basic pool bottom cleaning path; A determination module, for determining a deviation direction of the floating pollutant compared to the cleaning machine after identifying the floating pollutant; A cleaning module is used to control the cleaning machine to deviate from the starting point of the basic cleaning path based on the deviation direction and the current position of the cleaning machine as the starting point of the fork in the road to execute the pollutant cleaning path; after completing the pollutant cleaning path, return to the starting point of the fork in the road and continue to execute the basic cleaning path.

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