Stopping method of intelligent cleaning equipment, intelligent cleaning equipment and computer storage medium

Abstract

The invention provides a parking method of intelligent cleaning equipment, the intelligent cleaning equipment and a computer storage medium, the intelligent cleaning equipment is applied to pool cleaning, a pool at least comprises a shallow water area and a deep water area, and the parking method comprises the steps that when equipment parking conditions are met, the intelligent cleaning equipment is controlled to execute mobile path finding, the moving direction of moving into the shallow water area of the pool is determined; based on the moving direction, the intelligent cleaning equipment is controlled to move to a target stopping position of the shallow water area. Therefore, the intelligent cleaning equipment is stopped in the shallow water area, so that the intelligent cleaning equipment can be conveniently recycled from the shallow water area with relatively small water depth.

Description

Technical Field

[0001] The present application relates to the field of electromechanical control technology, and more specifically to a docking method for an intelligent cleaning device, an intelligent cleaning device, and a computer storage medium. Background Art

[0002] Smart cleaning equipment is a smart cleaning equipment developed to meet the needs of swimming pool cleaning. It can clean the bottom and walls of the swimming pool by moving while cleaning and collecting dirt in the bottom and walls of the swimming pool.

[0003] In current technology, after the smart cleaning device performs a pool mapping task and / or a pool cleaning task, or when it needs to stop performing a task during the execution of a task, the smart cleaning device may remain in the central water area of ​​the swimming pool and find it difficult to accurately return to the shallow water area, making it inconvenient for the user to recover the device.

[0004] Therefore, a docking technology for an intelligent cleaning device is needed to facilitate users to recycle the intelligent cleaning device. Summary of the invention

[0005] The present application provides a docking method for an intelligent cleaning device, an intelligent cleaning device and a computer storage medium. The docking method for the intelligent cleaning device can enable the intelligent cleaning device to dock in a shallow water area with the highest probability, so that the user can recover the intelligent cleaning device.

[0006] In a first aspect, the present application provides a docking method for an intelligent cleaning device, wherein the intelligent cleaning device is used for pool cleaning, and the pool includes at least a shallow water area and a deep water area, and the docking method includes:

[0007] When the equipment docking conditions are met, controlling the intelligent cleaning equipment to perform mobile pathfinding so as to determine the moving direction of moving into the shallow water area of ​​the pool;

[0008] Based on the moving direction, the intelligent cleaning device is controlled to move to a target docking position in the shallow water area.

[0009] In a possible embodiment, the pool also includes a slope connected between the shallow water area and the deep water area, and controlling the intelligent cleaning device to perform mobile pathfinding to determine the moving direction into the shallow water area includes: controlling the intelligent cleaning device to perform mobile pathfinding, moving from the current position to the slope, to determine the moving direction from the slope into the shallow water area.

[0010] In a possible embodiment, controlling the intelligent cleaning device to perform mobile pathfinding, moving from a current position to the slope to determine a moving direction from the slope into the shallow water area, includes:

[0011] Controlling the intelligent cleaning device to move along a preset pathfinding path and monitoring the real-time posture parameters of the intelligent cleaning device, wherein the preset pathfinding path includes a plurality of straight sections moving toward the pool wall, and a preset turning angle is provided between each two adjacent straight sections;

[0012] If the acquired real-time posture parameter indicates that the intelligent cleaning device has reached the slope, the execution of the preset pathfinding path is stopped, and the moving direction is determined according to the slope direction indicated by the real-time posture parameter.

[0013] In a possible embodiment, controlling the intelligent cleaning device to move to a target docking position in the shallow water area based on the moving direction includes:

[0014] Based on the moving direction, the intelligent cleaning device is controlled to move to and dock at the bottom of the pool against the wall in the shallow water area, or to move to and dock at the waterline position of the pool wall in the shallow water area, or to move to and dock on the water entry platform in the shallow water area.

[0015] In a possible embodiment, the controlling the intelligent cleaning device to move to and dock at a pool bottom position close to a wall in the shallow water area based on the moving direction includes:

[0016] Control the intelligent cleaning device to move along the moving direction, and monitor the real-time posture parameters of the intelligent cleaning device. If the real-time posture parameters indicate that the posture of the intelligent cleaning device has a tendency to climb a wall, control the intelligent cleaning device to stop moving; or,

[0017] The intelligent cleaning device is controlled to move along the moving direction, and a front ranging parameter of the intelligent cleaning device is monitored. If the front ranging parameter indicates that the distance between the intelligent cleaning device and the pool wall is less than a threshold, the intelligent cleaning device is controlled to stop moving.

[0018] In a possible embodiment, the method further includes:

[0019] When the intelligent cleaning device moves to the pool bottom position close to the wall in the shallow water area, and the pool bottom position close to the wall in the shallow water area is the target docking position, obtaining a device recall instruction;

[0020] In response to the equipment recall instruction, the intelligent cleaning device is controlled to climb from a position on the bottom of the pool against the wall in the shallow water area to a waterline position on the pool wall in the shallow water area.

[0021] In a possible embodiment, the intelligent cleaning device includes a visual module, and the device recall instruction is a set action recall instruction; and obtaining the device recall instruction includes: the visual module identifying the set action recall instruction.

[0022] In a possible embodiment, the visual module is installed toward the front of the intelligent cleaning device; and the visual module identifying the set action recall instruction further includes:

[0023] The intelligent cleaning device is controlled to climb along the pool wall of the shallow water area to a front end tilted posture, so that the recognition range of the visual module covers a part of the pool shore area corresponding to the target docking position.

[0024] In a second aspect, the present application further provides an intelligent cleaning device, which is used for pool cleaning, wherein the pool includes at least a shallow water area and a deep water area, and the intelligent cleaning device includes a judgment module and a mobile control module connected in communication, wherein the judgment module is used to judge whether the device docking conditions are met.

[0025] The mobile control module is used to control the intelligent cleaning device to perform mobile exploration when the equipment docking conditions are met to determine the moving direction into the shallow water area, and based on the moving direction, control the intelligent cleaning device to move to the target docking position in the shallow water area.

[0026] In a third aspect, the present application provides a computer storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps in the docking method of the above-mentioned intelligent cleaning device are implemented.

[0027] Through the technical solution of the embodiment of the present application, when the equipment docking conditions are met, the intelligent cleaning equipment can be controlled to stop cleaning first, and then the moving direction of the intelligent cleaning equipment into the shallow water area of ​​the pool can be determined by mobile pathfinding, so that the intelligent cleaning equipment can be moved to the target docking position in the shallow water area based on the determined moving direction, so that the intelligent cleaning equipment can be docked at the target docking position in the shallow water area. In this way, the intelligent cleaning equipment is docked in the shallow water area with the highest probability, which is convenient for users to recycle the intelligent cleaning equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following is a brief introduction to the drawings required for use in the embodiments or the prior art description. By reading the detailed description of the following implementation, the advantages and benefits of the solutions become clear to those skilled in the art. The drawings are only used to illustrate the preferred implementation and are not considered to be limitations of the present application. In the drawings:

[0029] Figure 1 A flow chart of a docking method for an intelligent cleaning device provided in some embodiments of the present application is shown.

[0030] Figure 2A schematic diagram of a path for controlling an intelligent cleaning device to move along a preset pathfinding path in a docking method for an intelligent cleaning device provided in some embodiments of the present application is shown.

[0031] Figure 3 A schematic diagram of the structure of an intelligent cleaning device provided in some embodiments of the present application is shown.

[0032] Figure 4 A schematic diagram of the structure of the intelligent cleaning device provided in some other embodiments of the present application is shown. DETAILED DESCRIPTION

[0033] The technical solution in this application will be described below in conjunction with the accompanying drawings.

[0034] 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.

[0035] When using the smart cleaning device to clean the pool, the bottom and walls of the pool can be cleaned by moving around the bottom and walls of the pool while cleaning and collecting dirt. In the current technology, after the smart cleaning device completes the pool mapping task and / or the pool cleaning task, or when it needs to stop performing the task during the execution of the task, the smart cleaning device may stay in the central water area of ​​the pool, making it difficult to accurately return to the shallow water area, making it inconvenient for the user to recycle the device.

[0036] Therefore, the present application provides a docking method for an intelligent cleaning device, wherein the intelligent cleaning device is applied to a pool for cleaning, and the pool includes at least a shallow water area and a deep water area. Figure 1 , the docking methods include:

[0037] S100, when the equipment docking conditions are met, controlling the intelligent cleaning equipment to perform mobile pathfinding to determine the moving direction of moving into the shallow water area of ​​the pool;

[0038] S200, based on the moving direction, controlling the intelligent cleaning device to move to a target docking position in the shallow water area.

[0039] As can be seen from the above, when the equipment docking conditions are met, the intelligent cleaning equipment can be controlled to determine the moving direction of the intelligent cleaning equipment from its area to the shallow water area of ​​the pool through mobile pathfinding, so that the intelligent cleaning equipment can move to the target docking position in the shallow water area based on the determined moving direction, so that the intelligent cleaning equipment can dock at the target docking position in the shallow water area. In this way, the intelligent cleaning equipment is docked in the shallow water area with the highest probability, and the water depth in the shallow water area is relatively small, so it is convenient for users to recycle the intelligent cleaning equipment.

[0040] Among them, the equipment docking conditions may include any one or more scenarios in which the smart cleaning equipment needs to be docked, such as when cleaning is completed, when the power is lower than a preset value, etc.

[0041] In one possible implementation, in view of the structural feature of setting a connecting slope between the shallow water area and the deep water area of ​​the partitioned pool, step S100, controlling the intelligent cleaning device to perform mobile pathfinding to determine the moving direction into the shallow water area, including: step S101, controlling the intelligent cleaning device to perform mobile pathfinding, moving from the current position to the slope, to determine the moving direction from the slope into the shallow water area.

[0042] As can be seen from the above, when the equipment docking conditions are met, the intelligent cleaning equipment can be controlled to perform a mobile pathfinding path to find the slope area before entering the shallow water area, so that the intelligent cleaning equipment can move to the slope, and then determine the moving direction into the shallow water area based on the slope direction. Then, the intelligent cleaning equipment can move from the slope to the shallow water area along the determined moving direction.

[0043] In a possible embodiment, step S101, controlling the intelligent cleaning device to perform mobile pathfinding, moving from the current position to the slope to determine the moving direction from the slope into the shallow water area, includes:

[0044] Control the intelligent cleaning device to move along a preset pathfinding path, and monitor the real-time posture parameters of the intelligent cleaning device, wherein the preset pathfinding path includes multiple straight sections moving toward the pool wall, and there is a preset turning angle between each two adjacent straight sections; if the acquired real-time posture parameters indicate that the intelligent cleaning device has reached a slope, stop executing the preset pathfinding path, and determine the moving direction according to the slope direction indicated by the real-time posture parameters.

[0045] In one example, an inertial measurement unit (IMU) may be installed on the smart cleaning device, and the real-time attitude parameters of the smart cleaning device may be obtained through the inertial measurement unit. Specifically, the inertial measurement unit includes an accelerometer, a gyroscope, and a magnetometer. The accelerometer can measure the linear acceleration of the smart cleaning device along the three axes of x, y, and z; the gyroscope can measure the angular velocity of the smart cleaning device around the three axes of x, y, and z; the magnetometer can measure the magnetic field strength and direction of the smart cleaning device in the earth's magnetic field, so that the position, direction, and speed of the smart cleaning device in space can be calculated. Therefore, the current forward direction and current tilt posture of the smart cleaning device can be judged based on the real-time attitude parameters, so as to determine whether the smart cleaning device is exploring the slope and controlling the uphill movement of the smart cleaning device. Specifically, according to the slope setting range of the slope, it can be determined whether the smart cleaning device indicated by the real-time attitude parameter moves a set time / set distance on a surface whose inclination matches the slope of the slope. If so, it is determined that the smart cleaning device is exploring the slope.

[0046] In the above steps, by making the intelligent cleaning device execute multiple sections of pathfinding sections that turn and connect in the pool wall area, the pathfinding range of the intelligent cleaning device can be quickly expanded and extended, and at the same time, in conjunction with the change in the device posture, it is determined whether the intelligent cleaning device has moved to the slope area, thereby efficiently determining the entrance and direction of moving into the shallow water area. In specific implementation, those skilled in the art can set the corresponding conditions between the slope direction and the moving direction into the shallow water area according to needs. For example, the moving direction can be set to move up a straight slope, or an angle can be set for moving up along the slope, as long as the moving direction is set to go up the slope and pass through the slope.

[0047] Preferably, after finding the slope, the step of determining the moving direction may further include:

[0048] The intelligent cleaning device is controlled to turn on the slope to face the sloped pool wall, and after moving toward the pool wall, it returns to the original path for a set distance, and then takes the end point of the return path as the starting point, and takes the direction upward toward the slope as the moving direction.

[0049] Through the above scheme, after finding the slope, the sloped pool wall can be used as a reference position, and the width area of ​​the slope where the equipment is located can be determined by returning to move a set distance, and then the equipment can be controlled to move uphill. The moving direction thus determined can adapt to the passing requirements of various special-shaped slopes such as uneven pool walls or gradually changing slope widths, further ensuring that the intelligent cleaning equipment can be reliably moved into shallow water areas.

[0050] From the above, it can be seen that when the equipment docking conditions are met, the intelligent cleaning equipment can be controlled to stop cleaning first, and then the intelligent cleaning equipment can be controlled to move along the preset pathfinding path from the position where cleaning is stopped, and based on the real-time posture parameters, it is judged whether the intelligent cleaning equipment has reached the slope. When it is judged that the slope has been reached, the slope direction is determined according to the real-time posture parameters, so that the direction of movement can be determined.

[0051] In one example, the shape of the preset pathfinding path can be a sawtooth shape, a five-pointed star shape, etc., and these preset pathfinding paths include at least one path turning point near the pool wall. For example, when the preset pathfinding path is a five-pointed star shape, refer to Figure 2 The pool includes a shallow water area CC, a slope BB and a deep water area AA. First, the intelligent cleaning device is controlled to move from the position S where cleaning is stopped toward the pool wall along a straight section. When the pool wall is touched or about to be touched, the intelligent cleaning device turns left 144 degrees and then continues to move toward the pool wall along the next straight section. When the pool wall is touched again or about to be touched, the intelligent cleaning device turns left 144 degrees again and then continues to move toward the pool wall along the next straight section. Repeating the wall touch and turn can obtain a five-pointed star-shaped preset pathfinding path, and the preset turning angle between each two adjacent straight sections is 144 degrees. During the movement along the five-pointed star-shaped preset pathfinding path, if the real-time posture parameter indicates that the intelligent cleaning device has reached the slope, for example, when the intelligent cleaning device moves to the T position of the slope area, the real-time posture parameter indicates that the intelligent cleaning device has reached the slope, then the movement stops, that is, the execution of the preset pathfinding path stops.

[0052] In one example, the smart cleaning device may be equipped with at least one distance measuring sensor such as a sonar sensor, a radar, or a laser sensor, and the distance between the smart cleaning device and the pool wall in front may be measured by the distance measuring sensor, so as to determine whether the smart cleaning device is about to touch the pool wall, so as to determine when the smart cleaning device turns from the current pathfinding path segment to the next pathfinding path segment. Alternatively, the smart cleaning device may be equipped with a pressure sensor, and the pressure sensor may be used to determine whether the smart cleaning device has completed the current pathfinding path segment.

[0053] In another example, it is also possible to determine whether the smart cleaning device has a tendency to climb a wall based on the real-time posture parameters fed back by the IMU sensor. If the posture of the smart cleaning device shows that the nose gradually tilts upward and has a tendency to climb a wall, it means that the smart cleaning device has touched the pool wall and can turn to the next path exploration segment.

[0054] In one example, when controlling the intelligent cleaning device to move along a preset pathfinding path from a position where cleaning is stopped, the intelligent cleaning device can be controlled to move along the cleaning forward direction when cleaning is stopped and start to enter the preset pathfinding path; or the cleaning forward direction of the intelligent cleaning device when cleaning is stopped can be determined based on real-time posture parameters, and then the intelligent cleaning device can be controlled to rotate based on the cleaning forward direction to adjust the moving direction of the intelligent cleaning device, so that the adjusted moving direction of the intelligent cleaning device enters the preset pathfinding path.

[0055] In one possible implementation, step S200, based on the moving direction, controls the intelligent cleaning device to move to a target docking position in a shallow water area, including: based on the moving direction, controls the intelligent cleaning device to move to and dock at a pool bottom position against a wall in a shallow water area, or moves to and docks at a waterline position on a pool wall in a shallow water area, or moves to and docks on a water entry platform in a shallow water area.

[0056] As can be seen from the above, the target docking position of the intelligent cleaning device in the shallow water area can be the bottom position of the pool near the wall in the shallow water area, that is, the intersection position of the bottom and the wall of the pool in the shallow water area, or the waterline position of the pool wall in the shallow water area, or the entry platform in the shallow water area. The intelligent cleaning device can be controlled along the determined moving direction into the shallow water area of ​​the pool to move to one of the positions.

[0057] It should be understood that the direction in which the intelligent cleaning device moves from the current position on the slope toward the shallow water area can be a range, and the range of this moving direction is associated with the slope direction of the slope. The intelligent cleaning device can reach the bottom of the shallow water pool by moving in any direction within this direction range. When the target docking position is the wall-to-wall pool bottom position in the shallow water area, you can select any direction in the range of moving directions determined based on the slope direction, and control the intelligent cleaning device to move along this direction, so that the intelligent cleaning device can be docked to the wall-to-wall pool bottom position in the shallow water area, that is, docked to the target docking position. When the target docking position is the waterline position of the pool wall, you can first control the intelligent cleaning device to move along the determined moving direction to the wall-to-wall pool bottom position in the shallow water area, and then control the intelligent cleaning device to climb along the pool wall to the waterline position. When the target docking position is the entry platform in the shallow water area, you can select a moving direction that matches the known entry platform position from the range of moving directions, and then control the intelligent cleaning device to move along the moving direction toward the entry platform in the shallow water area. For example, after moving into a shallow water area according to the moving direction, the visual sensor is used to identify the location of the water entry platform, and the direction of moving to the target docking position is further adjusted to control the intelligent cleaning device to move toward the water entry platform.

[0058] In a possible embodiment, based on the moving direction, controlling the intelligent cleaning device to move to and dock at a pool bottom position close to a wall in a shallow water area includes:

[0059] The intelligent cleaning device is controlled to move along the moving direction, and the real-time posture parameters of the intelligent cleaning device are monitored. If the real-time posture parameters indicate that the posture of the intelligent cleaning device has a tendency to climb the wall, the intelligent cleaning device is controlled to move along the moving direction, and the real-time posture parameters of the intelligent cleaning device are monitored.

[0060] [SMOCN20241016][HS2411381CCN]Prepare to stop moving; or,

[0061] The intelligent cleaning device is controlled to move along the moving direction, and the front distance measurement parameter of the intelligent cleaning device is monitored; if the front distance measurement parameter indicates that the distance between the intelligent cleaning device and the pool wall is less than a threshold value, the intelligent cleaning device is controlled to stop moving.

[0062] From the above, it can be seen that by judging the positional relationship between the intelligent cleaning device and the pool wall in front of the moving direction, it can be judged whether the intelligent cleaning device has reached the pool bottom position against the wall, so that the intelligent cleaning device can be controlled to stop moving in time.

[0063] Among them, at least one of a sonar sensor, a radar, and a laser sensor can be installed on the intelligent cleaning device, and at least one of them can be used to obtain a front ranging parameter, that is, to obtain the distance between the intelligent cleaning device and the pool wall in front of the moving direction.

[0064] In addition, when the real-time posture parameters indicate that the posture of the smart cleaning device has a tendency to climb a wall, after controlling the smart cleaning device to stop moving, the smart cleaning device can maintain the current posture; or, if the smart cleaning device already has a wall-climbing posture, the smart cleaning device can also be controlled to retreat, leave the pool wall and completely dock at the bottom of the pool.

[0065] In a possible implementation, the method further includes:

[0066] When the intelligent cleaning device moves to the bottom of the pool against the wall in the shallow water area, and the bottom of the pool against the wall in the shallow water area is the target docking position, an equipment recall instruction is obtained; in response to the equipment recall instruction, the intelligent cleaning device is controlled to climb from the bottom of the pool against the wall in the shallow water area to the waterline position of the pool wall in the shallow water area.

[0067] In this way, the device recall command can be used to make the smart cleaning device climb to the waterline position of the pool wall in the shallow water area, making it easier for the user to recover the smart cleaning device from the pool.

[0068] In one embodiment, the intelligent cleaning device includes a visual module 33, and the device recall instruction is a set action recall instruction; obtaining the device recall instruction includes: the visual module 33 identifies the set action recall instruction. That is, after the visual module 33 identifies the set action recall instruction, the device recall instruction is obtained.

[0069] Among them, the set action recall instruction can be a preset recall action, such as waving. The user can show the preset recall action to the visual module 33. The visual module 33 recognizes the preset recall action and determines whether the device recall instruction is obtained.

[0070] Furthermore, the visual module 33 may be installed toward the front of the intelligent cleaning device; the visual module recognizes the set action recall instruction and further includes:

[0071] The intelligent cleaning device is controlled to climb along the pool wall in the shallow water area to a front end tilted posture, so that the recognition range of the visual module covers the pool shore area corresponding to the target docking position.

[0072] For example, when the intelligent cleaning device moves to a position at the bottom of the pool against the wall in a shallow water area, and the position at the bottom of the pool against the wall in the shallow water area is the target docking position, the intelligent cleaning device is controlled to climb to a front end tilted posture so that the recognition range of the visual module 33 covers a portion of the pool shore area corresponding to the target docking position. In this way, by tilting the front end of the intelligent cleaning device, it is convenient for the recognition range of the visual module 33 to cover a portion of the pool shore area corresponding to the target docking position, thereby facilitating the user to issue a recognition setting action recall instruction toward the visual module 33.

[0073] The present application also provides an intelligent cleaning device, which is used for cleaning a pool, wherein the pool includes at least a shallow water area and a deep water area. Figure 3 The intelligent cleaning device includes a judgment module 31 and a mobile control module 32 which are communicatively connected. The judgment module 31 is used to judge whether the device docking conditions are met. The mobile control module 32 is used to control the intelligent cleaning device to perform mobile pathfinding when the device docking conditions are met to determine the moving direction into the shallow water area, and based on the moving direction, control the intelligent cleaning device to move to the target docking position in the shallow water area.

[0074] As can be seen from the above, when the equipment docking conditions are met, the mobile control module can be used to first control the intelligent cleaning equipment to determine the moving direction of the intelligent cleaning equipment into the shallow water area of ​​the pool, so that the intelligent cleaning equipment can be controlled to move to the target docking position in the shallow water area based on the determined moving direction, so that the intelligent cleaning equipment can dock at the target docking position in the shallow water area. In this way, the intelligent cleaning equipment provided by the present application can dock in the shallow water area with the highest probability, and the water depth in the shallow water area is relatively small, so it is convenient for users to recycle the intelligent cleaning equipment.

[0075] Among them, the equipment docking conditions may include any one or more scenarios in which the smart cleaning equipment needs to be docked, such as when cleaning is completed, when the power is lower than a preset value, etc.

[0076] In one possible implementation, the pool also includes a slope connecting the shallow water area and the deep water area, and the mobile control module 32 is specifically used to control the intelligent cleaning device to perform mobile pathfinding, moving from the current position to the slope to determine the moving direction from the slope into the shallow water area.

[0077] As can be seen from the above, when the equipment docking conditions are met, the mobile control module can be used to control the intelligent cleaning equipment to perform a mobile pathfinding path, so as to find the slope area before entering the shallow water area, so that the intelligent cleaning equipment can move to the slope, and then the moving direction of moving into the shallow water area can be determined based on the slope direction. Then, the intelligent cleaning equipment can move from the slope to the shallow water area along the determined moving direction.

[0078] In a possible embodiment, the mobile control module 32 is specifically used to: control the intelligent cleaning device to move along a preset pathfinding path, and monitor the real-time posture parameters of the intelligent cleaning device, wherein the preset pathfinding path includes multiple straight sections moving toward the pool wall, and there is a preset turning angle between each two adjacent straight sections; if the acquired real-time posture parameters indicate that the intelligent cleaning device has reached a slope, the execution of the preset pathfinding path is stopped, and the moving direction is determined according to the slope direction indicated by the real-time posture parameters.

[0079] In one example, an inertial measurement unit (IMU) may be installed on the smart cleaning device, and the real-time attitude parameters of the smart cleaning device may be obtained through the inertial measurement unit. Specifically, the inertial measurement unit includes an accelerometer, a gyroscope, and a magnetometer. The accelerometer can measure the linear acceleration of the smart cleaning device along the three axes of x, y, and z; the gyroscope can measure the angular velocity of the smart cleaning device around the three axes of x, y, and z; the magnetometer can measure the magnetic field strength and direction of the smart cleaning device in the earth's magnetic field, so that the position, direction, and speed of the smart cleaning device in space can be calculated. Therefore, the current forward direction and current tilt posture of the smart cleaning device can be judged based on the real-time attitude parameters, so as to determine whether the smart cleaning device is exploring the slope and controlling the uphill movement of the smart cleaning device. Specifically, according to the slope setting range of the slope, it can be determined whether the smart cleaning device indicated by the real-time attitude parameter moves a set time / set distance on a surface whose inclination matches the slope of the slope. If so, it is determined that the smart cleaning device is exploring the slope.

[0080] In the above steps, by making the intelligent cleaning device execute multiple sections of pathfinding sections that turn and connect in the pool wall area, the pathfinding range of the intelligent cleaning device can be quickly expanded and extended, and at the same time, in conjunction with the change in the device posture, it is determined whether the intelligent cleaning device has moved to the slope area, thereby efficiently determining the entrance and direction of moving into the shallow water area. In specific implementation, those skilled in the art can set the corresponding conditions between the slope direction and the moving direction into the shallow water area according to needs. For example, the moving direction can be set to move up a straight slope, or an angle can be set for moving up along the slope, as long as the moving direction is set to go up the slope and pass through the slope.

[0081] Preferably, after finding the slope, the step of determining the moving direction may further include:

[0082] The intelligent cleaning device is controlled to turn on the slope to face the sloped pool wall, and after moving toward the pool wall, it returns to the original path for a set distance, and then takes the end point of the return path as the starting point, and takes the direction upward toward the slope as the moving direction.

[0083] Through the above scheme, after finding the slope, the sloped pool wall can be used as a reference position, and the width area of ​​the slope where the equipment is located can be determined by returning to move a set distance, and then the equipment can be controlled to move uphill. The moving direction thus determined can adapt to the passing requirements of various special-shaped slopes such as uneven pool walls or gradually changing slope widths, further ensuring that the intelligent cleaning equipment can be reliably moved into shallow water areas.

[0084] From the above, it can be seen that the mobile control module 32 can control the intelligent cleaning device to move along the preset pathfinding path starting from the position where cleaning is stopped, and judge whether the intelligent cleaning device has reached the slope based on the real-time posture parameters. When it is judged that the slope has been reached, the slope direction is determined according to the real-time posture parameters, so that the moving direction can be determined.

[0085] In one example, the shape of the preset pathfinding path can be a sawtooth shape, a five-pointed star shape, etc., and these preset pathfinding paths include at least one path turning point near the pool wall. For example, when the preset pathfinding path is a five-pointed star shape, refer to Figure 2The pool includes a shallow water area CC, a slope BB, and a deep water area AA. First, the intelligent cleaning device is controlled to move toward the pool wall along a straight section. When it touches the pool wall or is about to touch the pool wall, the intelligent cleaning device turns left 144 degrees and then continues to move toward the pool wall along the next straight section. When it touches the pool wall again or is about to touch the pool wall, the intelligent cleaning device turns left 144 degrees again and then continues to move toward the pool wall along the next straight section. Repeating the wall touch and turn can obtain a five-pointed star-shaped preset pathfinding path, and the preset turning angle between each two adjacent straight sections is 144 degrees. During the movement along the five-pointed star-shaped preset pathfinding path, if the real-time posture parameter indicates that the intelligent cleaning device has reached the slope, it stops moving, that is, stops executing the preset pathfinding path.

[0086] In one example, the smart cleaning device may be equipped with at least one distance measuring sensor such as a sonar sensor, a radar, or a laser sensor, and the distance between the smart cleaning device and the pool wall in front may be measured by the distance measuring sensor, so as to determine whether the smart cleaning device is about to touch the pool wall, so as to determine when the smart cleaning device turns from the current pathfinding path segment to the next pathfinding path segment. Alternatively, the smart cleaning device may be equipped with a pressure sensor, and the pressure sensor may be used to determine whether the smart cleaning device has completed the current pathfinding path segment.

[0087] In one example, it is also possible to determine whether the smart cleaning device has a tendency to climb a wall based on the real-time posture parameters fed back by the IMU sensor. If the posture of the smart cleaning device shows that the nose gradually tilts upward and has a tendency to climb a wall, it means that the smart cleaning device has touched the pool wall and can turn to the next path exploration segment.

[0088] In another example, the real-time posture parameters and the distance between the smart cleaning device and the pool wall in front can be combined to accurately determine whether the smart cleaning device has a tendency to climb the wall. If it has a tendency to climb the wall, it means that the smart cleaning device has touched the pool wall.

[0089] In one example, when controlling the intelligent cleaning device to move along a preset pathfinding path from a position where cleaning is stopped, the intelligent cleaning device can be controlled to move along the cleaning forward direction when cleaning is stopped and start to enter the preset pathfinding path; or the cleaning forward direction of the intelligent cleaning device when cleaning is stopped can be determined based on real-time posture parameters, and then the intelligent cleaning device can be controlled to rotate based on the cleaning forward direction to adjust the moving direction of the intelligent cleaning device, so that the adjusted moving direction of the intelligent cleaning device enters the preset pathfinding path.

[0090] In one possible implementation, the mobile control module 32 is also specifically used to: based on the moving direction, control the intelligent cleaning device to move to and dock at the bottom of the pool against the wall in the shallow water area, or to move to and dock at the waterline position of the pool wall in the shallow water area, or to move to and dock on the water entry platform in the shallow water area.

[0091] As can be seen from the above, the target docking position of the intelligent cleaning device in the shallow water area can be the bottom position of the pool near the wall in the shallow water area, that is, the intersection position of the bottom and the wall of the pool in the shallow water area, or the waterline position of the pool wall in the shallow water area, or the entry platform in the shallow water area. The intelligent cleaning device can be controlled along the determined moving direction into the shallow water area of ​​the pool to move to one of the positions.

[0092] It should be understood that the direction in which the intelligent cleaning device moves from the current position on the slope toward the shallow water area can be a range, and the range of this moving direction is associated with the slope direction of the slope. The intelligent cleaning device can reach the bottom of the shallow water pool by moving in any direction within this direction range. When the target docking position is the wall-to-wall pool bottom position in the shallow water area, you can select any direction in the range of moving directions determined based on the slope direction, and control the intelligent cleaning device to move along this direction, so that the intelligent cleaning device can be docked to the wall-to-wall pool bottom position in the shallow water area, that is, docked to the target docking position. When the target docking position is the waterline position of the pool wall, you can first control the intelligent cleaning device to move along the determined moving direction to the wall-to-wall pool bottom position in the shallow water area, and then control the intelligent cleaning device to climb along the pool wall to the waterline position. When the target docking position is the entry platform in the shallow water area, you can select a moving direction that matches the known entry platform position from the range of moving directions, and then control the intelligent cleaning device to move along the moving direction toward the entry platform in the shallow water area. For example, after moving into a shallow water area according to the moving direction, the visual sensor is used to identify the location of the water entry platform, and the direction of moving to the target docking position is further adjusted to control the intelligent cleaning device to move toward the water entry platform.

[0093] In a possible embodiment, the movement control module 32 is further specifically configured to:

[0094] The intelligent cleaning device is controlled to move along the moving direction, and the real-time posture parameters of the intelligent cleaning device are monitored. If the real-time posture parameters indicate that the posture of the intelligent cleaning device has a tendency to climb a wall, the intelligent cleaning device is controlled to stop moving.

[0095] In another possible embodiment, the movement control module 32 is further specifically configured to:

[0096] The intelligent cleaning device is controlled to move along the moving direction, and the front distance measurement parameter of the intelligent cleaning device is monitored; if the front distance measurement parameter indicates that the distance between the intelligent cleaning device and the pool wall is less than a threshold value, the intelligent cleaning device is controlled to stop moving.

[0097] From the above, it can be seen that by judging the positional relationship between the intelligent cleaning device and the pool wall in front of the moving direction, it can be judged whether the intelligent cleaning device has reached the pool bottom position against the wall, so that the intelligent cleaning device can be controlled to stop moving in time.

[0098] Among them, at least one of a sonar sensor, a radar, and a laser sensor can be installed on the intelligent cleaning device, and at least one of them can be used to obtain a front ranging parameter, that is, to obtain the distance between the intelligent cleaning device and the pool wall in front of the moving direction.

[0099] In addition, when the real-time posture parameters indicate that the posture of the smart cleaning device has a tendency to climb a wall, after controlling the smart cleaning device to stop moving, the smart cleaning device can maintain the current posture; or, if the smart cleaning device already has a wall-climbing posture, the smart cleaning device can also be controlled to retreat, leave the pool wall and completely dock at the bottom of the pool.

[0100] In a possible implementation, the movement control module 32 is further specifically configured to:

[0101] When the intelligent cleaning device moves to the bottom of the pool against the wall in the shallow water area, and the bottom of the pool against the wall in the shallow water area is the target docking position, an equipment recall instruction is obtained; in response to the equipment recall instruction, the intelligent cleaning device is controlled to climb from the bottom of the pool against the wall in the shallow water area to the waterline position of the pool wall in the shallow water area.

[0102] In this way, the device recall command can be used to make the smart cleaning device climb to the waterline position of the pool wall in the shallow water area, so that the user can directly recover the smart cleaning device from the pool with less effort.

[0103] In one embodiment, the intelligent cleaning device includes a visual module 33, which is in communication with the mobile control module 32, and the device recall instruction is a set action recall instruction; the visual module 33 can obtain the device recall instruction by identifying the set action recall instruction. The mobile control module 32 can respond to the device recall instruction and control the intelligent cleaning device to climb from the bottom of the pool near the wall in the shallow water area to the waterline position of the pool wall in the shallow water area.

[0104] Among them, the set action recall instruction can be a preset recall action, such as waving. The user can show the preset recall action to the visual module 33. The visual module 33 recognizes the preset recall action and determines whether the device recall instruction is obtained.

[0105] Furthermore, the visual module 33 can be installed toward the front of the intelligent cleaning device; the mobile control module 32 is also used to control the intelligent cleaning device to climb along the pool wall in the shallow water area to a front end raised posture, so that the recognition range of the visual module covers the pool shore area corresponding to the target docking position.

[0106] For example, when the intelligent cleaning device moves to a position at the bottom of the pool against the wall in a shallow water area, and the position at the bottom of the pool against the wall in the shallow water area is the target docking position, the intelligent cleaning device is controlled to climb to a front end tilted posture so that the recognition range of the visual module 33 covers a portion of the pool shore area corresponding to the target docking position. In this way, by tilting the front end of the intelligent cleaning device, it is convenient for the recognition range of the visual module 33 to cover a portion of the pool shore area corresponding to the target docking position, thereby facilitating the user to issue a recognition setting action recall instruction toward the visual module 33.

[0107] The present application also provides a computer storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps in the docking method of the above-mentioned intelligent cleaning device are implemented.

[0108] It should be understood that the specific implementation of each module in the intelligent cleaning device can refer to the corresponding description of the corresponding steps in the above-mentioned docking method embodiment, and has corresponding beneficial effects, 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-mentioned intelligent cleaning device and module can refer to the corresponding process description in the above-mentioned docking method embodiment, which will not be repeated here.

[0109] Reference Figure 4 , shows a schematic structural diagram of an intelligent cleaning device according to another embodiment of the present invention. The specific embodiment of the present invention does not limit the specific implementation of the intelligent cleaning device.

[0110] like Figure 4 As shown, the intelligent cleaning device may include: a processor 402 for executing a program 410 , a communications interface 404 , a memory 406 , and a communication bus 408 .

[0111] The processor, the communication interface, and the memory communicate with each other via a communication bus.

[0112] Communication interface, used to communicate with other electronic devices or servers.

[0113] The processor is used to execute the program, and specifically can execute the relevant steps in the embodiment of the docking method of the above-mentioned intelligent cleaning device.

[0114] Specifically, the program may include program codes including computer operation instructions.

[0115] The processor 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 invention. 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.

[0116] The memory is used to store programs. The memory may include a high-speed RAM memory, and may also include a non-volatile memory, such as at least one disk memory.

[0117] The program may include multiple computer instructions. Specifically, the program may enable the processor to execute the aforementioned docking method of the intelligent cleaning device through the multiple computer instructions.

[0118] 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.

[0119] 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.

[0120] 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.

[0121] 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 an application-specific integrated circuit (ASIC) or a 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., a random access memory (RAM), a read-only memory (ROM), a 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.

[0122] 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 invention.

[0123] 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 docking method for an intelligent cleaning device, characterized in that: The intelligent cleaning device is applied to cleaning a pool, wherein the pool includes at least a shallow water area and a deep water area, and the docking method includes: When the equipment docking conditions are met, controlling the intelligent cleaning equipment to perform mobile pathfinding to determine the moving direction of moving into the shallow water area of ​​the pool; Based on the moving direction, the intelligent cleaning device is controlled to move to a target docking position in the shallow water area.

2. The method according to claim 1, characterized in that The pool also includes a slope connecting the shallow water area and the deep water area. The controlling the intelligent cleaning device to perform mobile pathfinding to determine the moving direction into the shallow water area includes: controlling the intelligent cleaning device to perform mobile pathfinding, moving from the current position to the slope, to determine the moving direction from the slope into the shallow water area.

3. The method according to claim 2, characterized in that The controlling the intelligent cleaning device to perform mobile pathfinding, moving from the current position to the slope to determine the moving direction from the slope into the shallow water area, comprises: Controlling the intelligent cleaning device to move along a preset pathfinding path and monitoring the real-time posture parameters of the intelligent cleaning device, wherein the preset pathfinding path includes a plurality of straight sections moving toward the pool wall, and a preset turning angle is provided between each two adjacent straight sections; If the acquired real-time posture parameter indicates that the intelligent cleaning device has reached the slope, the execution of the preset pathfinding path is stopped, and the moving direction is determined according to the slope direction indicated by the real-time posture parameter.

4. The method according to claim 1, characterized in that: The step of controlling the intelligent cleaning device to move to a target docking position in the shallow water area based on the moving direction includes: Based on the moving direction, the intelligent cleaning device is controlled to move to and dock at the bottom of the pool against the wall in the shallow water area, or to move to and dock at the waterline position of the pool wall in the shallow water area, or to move to and dock on the water entry platform in the shallow water area.

5. The method according to claim 4, characterized in that The step of controlling the intelligent cleaning device to move to and dock at a position at the bottom of a pool near a wall in the shallow water area based on the moving direction includes: Control the intelligent cleaning device to move along the moving direction, and monitor the real-time posture parameters of the intelligent cleaning device. If the real-time posture parameters indicate that the posture of the intelligent cleaning device has a tendency to climb a wall, control the intelligent cleaning device to stop moving; or, The intelligent cleaning device is controlled to move along the moving direction, and a front ranging parameter of the intelligent cleaning device is monitored. If the front ranging parameter indicates that the distance between the intelligent cleaning device and the pool wall is less than a threshold, the intelligent cleaning device is controlled to stop moving.

6. The method according to claim 1, characterized in that The method further comprises: When the intelligent cleaning device moves to the pool bottom position close to the wall in the shallow water area, and the pool bottom position close to the wall in the shallow water area is the target docking position, obtaining a device recall instruction; In response to the equipment recall instruction, the intelligent cleaning device is controlled to climb from a position on the bottom of the pool against the wall in the shallow water area to a waterline position on the pool wall in the shallow water area.

7. The method according to claim 6, characterized in that The intelligent cleaning device includes a visual module, and the device recall instruction is a set action recall instruction; The obtaining of the device recall instruction comprises: [SMOCN20241016][HS2411381CCN]The visual module recognizes the set action recall instruction.

8. The method according to claim 7, characterized in that The visual module is installed toward the front of the intelligent cleaning device; the visual module recognizes the set action recall instruction and further includes: The intelligent cleaning device is controlled to climb along the pool wall in the shallow water area to a front end tilted posture, so that the recognition range of the visual module covers the pool shore area corresponding to the target docking position.

9. An intelligent cleaning device, characterized in that: The intelligent cleaning device is applied to cleaning a pool, wherein the pool comprises at least a shallow water area and a deep water area, and the intelligent cleaning device comprises a judgment module (31) and a movement control module (32) which are in communication connection. The judging module (31) is used to judge whether the equipment docking condition is met. The mobile control module (32) is used to control the intelligent cleaning device to perform mobile pathfinding when the device docking conditions are met, so as to determine the moving direction of moving into the shallow water area, and based on the moving direction, control the intelligent cleaning device to move to a target docking position in the shallow water area.

10. A computer storage medium, characterized in that: The computer storage medium stores a computer program, and when the computer program is executed by the processor, the steps in the docking method of the intelligent cleaning device according to any one of claims 1 to 8 are implemented.

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