Automatic pool cleaning device and control method thereof

Abstract

The invention provides a control method of an automatic pool cleaning device (20), the control method is used for controlling the automatic pool cleaning device (20) to be docked with a base station (10), at least one part of the base station (10) is arranged on a pool wall, the automatic pool cleaning device (20) comprises an image acquisition assembly (201), the image acquisition assembly (201) can acquire an image in front of the automatic pool cleaning device (20), and the image acquisition assembly (201) can acquire the image in front of the automatic pool cleaning device (20). The control method comprises the following steps: controlling the automatic pool cleaning device (20) to move towards the base station (10) and enabling at least one part of the automatic pool cleaning device (20) to climb on the pool wall; controlling the pool automatic cleaning device (20) to steer on the pool wall, and acquiring a first image of the base station (10) through an image acquisition assembly (201) in the steering process; determining position information of the base station (10) on the basis of the first image; and controlling the pool automatic cleaning device (20) to move towards the base station (10) based on the position information of the base station (10).

Description

Technical Field

[0001] The present application relates to the technical field of automatic pool cleaning devices, and particularly to an automatic pool cleaning device and a control method therefor. Background Art

[0002] With the increasing application scenarios of pool cleaning robots, the functions of pool cleaning robots are also increasing day by day, and the frequency of users performing various operations on the robots to achieve different purposes is also increasing. The body of the pool cleaning robot is relatively heavy. The traditional operation method requires users to take the robot out of the pool and then perform corresponding operations, which not only increases the workload but also reduces the convenience. More and more pool robots are equipped with corresponding base stations. The base stations can complete steps such as charging, cleaning the trash basket, and detecting the pool water quality that used to require manual operation by users. Moreover, the robot has the function of automatically returning to the base station, reducing the workload of users. However, the previous pool cleaning robots' automatic return to the base station relied on simple ultrasonic sensors or magnetic induction sensors. This method requires both the pool robot and the base station to be equipped with corresponding sensors. This method is prone to problems of insufficient accuracy due to the occlusion or reflection of ultrasonic waves, thus reducing the stability and reliability of the docking between the robot and the base station and completing various tasks, and increasing the manufacturing cost of the robot. Summary of the Invention

[0003] In view of the above deficiencies in the prior art, the present application provides a control method for an automatic pool cleaning device, which is used to control the docking of the automatic pool cleaning device with a base station. At least a part of the base station is provided on the pool wall. The automatic pool cleaning device includes an image acquisition component, and the image acquisition component can acquire an image in front of the automatic pool cleaning device. Wherein, the control method includes: controlling the automatic pool cleaning device to move towards the base station and enabling at least a part of the automatic pool cleaning device to climb onto the pool wall; controlling the automatic pool cleaning device to turn on the pool wall and acquiring a first image of the base station through the image acquisition component during the turning process; determining the position information of the base station based on the first image; and controlling the automatic pool cleaning device to move towards the base station based on the position information of the base station.

[0004] Further, during the process of controlling the automatic pool cleaning device to move towards the base station based on the position information of the base station, the automatic pool cleaning device is controlled to dock with the base station based on the alignment marks provided on the base station.

[0005] Further, controlling the automatic pool cleaning device to move towards the base station and enabling at least a part of the automatic pool cleaning device to climb onto the pool wall includes: searching for the base station based on the ultrasonic sensor or the image acquisition component on the automatic pool cleaning device to obtain the initial information of the base station, and controlling the cleaning device to move towards the base station based on the initial information until the cleaning device climbs onto the pool wall.

[0006] Further, controlling the automatic pool cleaning device to turn on the pool wall includes determining whether the image acquisition component can find the base station. If not, controlling the cleaning device to perform the turning on the pool wall. If so, continuing to control the cleaning device to approach the base station.

[0007] Further, the turning includes first turning towards the first side of the cleaning device. If the image acquisition component acquires the first image of the base station, stop turning. If the first image of the base station is not acquired, continue to turn towards the other side of the cleaning device.

[0008] Further, the turning is less than or equal to 90 degrees.

[0009] Further, controlling the automatic pool cleaning device to rotate is achieved by controlling the traveling component and / or the drainage component of the automatic pool cleaning device.

[0010] Further, the base station includes a charging device, a garbage collection device or a water quality detection device

[0011] Further, controlling the automatic pool cleaning device to dock with the base station based on the alignment marks provided on the base station includes: adjusting the attitude of the automatic pool cleaning device to dock with the base station.

[0012] Further, controlling the automatic pool cleaning device to move towards the base station based on the position information of the base station includes: controlling the automatic pool cleaning device to move towards the base station on the pool wall based on the position information of the base station; or controlling the automatic pool cleaning device to move to the rear side of the pool bottom and then move to the inflection point position and move towards the base station again after climbing the wall.

[0013] The present application also provides an automatic pool cleaning device, wherein the automatic pool cleaning device can execute the method of any one of the above.

[0014] The embodiments described in the present application have the following beneficial effects:

[0015] The control method of the pool automatic cleaning device provided by this application enables the pool automatic cleaning device to accurately locate the base station when docking with the base station, avoiding the deviation of the pool automatic cleaning device or the collision between the pool automatic cleaning device and the base station during the movement of the pool automatic cleaning device towards the base station and docking with the base station due to the occlusion of ultrasonic waves, and improving the stability and reliability of the automatic docking of the pool automatic cleaning device with the base station and the completion of various tasks. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings required for use in the description of the embodiments will be briefly introduced below. The drawings in the following description are only exemplary embodiments of the present disclosure.

[0017] Figure 1 is a flowchart showing the control method of the pool automatic cleaning device of this application;

[0018] Figures 2A to 2D is a schematic diagram showing the alignment of the pool automatic cleaning device of this application with the base station during the movement.

[0019] LABEL DESCRIPTION

[0020] 10. Base station; 101. Alignment mark; 20. Pool automatic cleaning device; 201. Image acquisition component. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0021] The embodiments of the present disclosure will be described below with reference to the drawings. The described embodiments are only a part of the embodiments of this application, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in this application without creative efforts shall fall within the protection scope of this application. It should be noted that, without conflict, the embodiments in this application and the features in the embodiments may be combined with each other.

[0022] First, refer to Figure 1 and Figures 2A to 2D for an exemplary description of the pool automatic cleaning device and its control method provided by this application. Figure 1 is a flowchart showing the control method 100 of the pool automatic cleaning device 20 of this application. Figures 2A to 2D is a schematic diagram showing the alignment of the pool automatic cleaning device of this application with the base station during the movement.

[0023] The automatic pool cleaning device 20 disclosed in this application can clean the pool. The pool is, for example, a pool-shaped building. The pool-shaped building can be a swimming pool, a water storage tank, a spa pool, a water storage tank, a water storage trough, etc. The automatic pool cleaning device 20 can be a device such as an automatic cleaning device, a pool cleaning robot, etc., which can clean the pool-shaped building. This application does not limit the specific presentation forms of the automatic pool cleaning device 20 and the pool-shaped building, as long as the principle of this application can be realized. In the following text, if not otherwise specified, the robot will be used as an example of the automatic pool cleaning device 20 for explanation, and the swimming pool will be used as an example of the pool or the pool-shaped building for explanation.

[0024] The base station 10 includes a charging device, a garbage collection device, or a water quality detection device.

[0025] Taking the base station 10 including a charging device as an example, the charging device can charge the automatic pool cleaning device 20. The charging device can be connected to the mains power supply, or a storage battery can be pre-set in the charging device. The base station 10 will be further described below in combination with specific examples. If the current battery level of the robot 20 is lower than the predetermined battery level threshold, it indicates that the remaining battery power of the robot 20 cannot support the robot 20 to continue the cleaning operation. Therefore, the robot 20 needs to return to the base station 10 for charging, and the robot 20 needs to reserve a part of the battery power to move from the current position to the base station 10.

[0026] Taking the base station 10 including a garbage collection device as an example, if the degree of dirt collection in the garbage basket of the robot 20 reaches a predetermined level and affects the normal cleaning operation, the robot 20 can return to the base station 10 and dock with the garbage collection device so that the garbage collection device can clean the garbage basket of the automatic pool cleaning device 20.

[0027] Taking the base station 10 including a water quality detection device as an example, the robot 20 can return to the base station 10 and obtain the water sample to be detected from the robot 20 through the water quality detection device, and perform water quality detection on the water sample, so as to obtain the data of the water quality in the pool. The robot 20 can adjust the cleaning strategy according to the water quality detection result, such as extending the cleaning time.

[0028] At least a part of the base station 10 can be arranged on the pool wall. For example, the whole of the base station 10 is arranged on the pool wall, and the outer shell of the base station 10 is located below the water surface. For another example, the lower part of the base station 10 is arranged on the pool wall, and the upper part of the base station 10 is arranged on the pool bank. The above descriptions of the position relationship between the base station 10 and the pool wall are only exemplary. For another example, the charging port of the base station 10 can be arranged on the pool wall. Thus, the robot can dock with the charging port of the base station 10 on the pool wall and complete charging without going ashore. The above description of the position relationship between the base station 10 and the pool wall is only an exemplary explanation.

[0029] As Figure 2A shown, the automatic pool cleaning device 20 may include an image acquisition component 201. The image acquisition component 201 has characteristics such as waterproof, corrosion resistance, and high-precision ranging. The image acquisition component 201 is disposed on the body of the automatic pool cleaning device 20. For example, it may be disposed at the front of the automatic pool cleaning device 20, and the front of the automatic pool cleaning device 20 corresponds to the advancing direction of the automatic pool cleaning device 20.

[0030] The image acquisition component 201 may include, for example, a lidar (such as a laser diode scanning lidar). The lidar can be used to detect or range the targets around the robot. Specifically, the lidar may, for example, emit a light signal (such as a laser) in the moving direction of the automatic pool cleaning device 20. When the light signal encounters a target object (such as an obstacle in front of the automatic pool cleaning device 20), the light signal will be reflected back to the lidar. At this time, the lidar calculates the distance between the automatic pool cleaning device 20 and the target object based on the time difference or phase difference of the light signal from emission to return. The lidar can also measure the deflection angle of the reflected light signal. The controller of the automatic pool cleaning device 20 can convert the measured distance information and angle information into three-dimensional coordinates through the lidar, and further generate a point cloud of the target object. The controller can further analyze the contour information and position information of the obstacle in front of the automatic pool cleaning device 20 based on the collected point cloud data. The lidar can also be disposed on a rotatable base, whereby the lidar can scan and identify the surroundings of the automatic pool cleaning device 20 during rotation.

[0031] The image acquisition component 201 may include, for example, an ultrasonic sensor. The ultrasonic sensor emits ultrasonic waves in the advancing direction of the automatic pool cleaning device 20 and receives the reflected echo. The automatic pool cleaning device 20 can rely on artificial intelligence software to analyze the data collected by the ultrasonic sensor and further generate an image of the target object.

[0032] The image acquisition component 201 may, for example, include at least one camera for acquiring image data in the pool environment to achieve functions such as obstacle recognition, path planning, and cleaning target detection. The camera may adopt one or more of the following types according to actual needs: a visible light camera (RGB camera) for obtaining color images under sufficient lighting conditions; a low light camera (such as a high-sensitivity sensor camera) suitable for image acquisition in low light environments; an infrared camera (IR camera) that can work under turbid water or low visibility conditions with infrared supplementary lighting; a special underwater camera with waterproof, pressure-resistant, and corrosion-resistant characteristics, suitable for long-term underwater operations; a 3D camera or depth camera (such as a binocular vision, structured light, or ToF camera) for obtaining three-dimensional spatial information of obstacles; a multi-spectral or polarization camera for enhancing image recognition capabilities in specific scenarios (such as stain classification or specular reflection suppression); a panoramic camera providing a wider field of view to improve environmental perception capabilities. The cameras described above are only limited examples, and in practice, other types of cameras can be used as long as they can implement the technical concept of this application. It should be noted that the adopted camera should have a sealed waterproof function to ensure its stable operation when immersed in water for a long time. The camera can be set at positions such as the front, upper, side, and / or rear of the robot according to needs to optimize image acquisition requirements in different directions.

[0033] The setting position and type of the image acquisition component 201 described above are only exemplary, and this application does not limit the setting position and type of the image acquisition component 201 as long as it can implement the technical principle of this application.

[0034] Next, refer to Figure 1 A control method 100 for the pool automatic cleaning device 20 provided by this application will be described. The control method 100 includes: controlling the pool automatic cleaning device 20 to move towards the base station 10 and enabling at least a part of the pool automatic cleaning device 20 to climb onto the pool wall; controlling the pool automatic cleaning device 20 to turn on the pool wall and acquiring a first image of the base station 10 through the image acquisition component 201 during the turning process; determining the position information of the base station 10 based on the first image; and controlling the pool automatic cleaning device 20 to move towards the base station 10 based on the position information of the base station 10. Steps S101 to S104 in the control method 100 will be described below.

[0035] First, enter step S101. In step S101, control the pool automatic cleaning device 20 to move towards the base station 10 and enable at least a part of the pool automatic cleaning device 20 to climb onto the pool wall.

[0036] For example, the automatic pool cleaning device 20 starts from the bottom of the pool and moves towards the base station 10 through the pool wall. The automatic pool cleaning device 20 can also directly start from the pool wall and move along the surface of the pool wall towards the base station 10. During the movement, the automatic pool cleaning device 20 can provide power and adjust the direction through devices such as drive wheels, crawlers, and water pumps on the body.

[0037] During the movement of the automatic pool cleaning device 20 towards the base station 10, it can only make the charging interface of the automatic pool cleaning device 20 climb onto the pool wall (i.e., make the charging interface located on the surface of the pool wall), or only make the front or rear part (i.e., the part where the charging interface is located) of the automatic pool cleaning device 20 located on the surface of the pool wall, or make the whole of the automatic pool cleaning device 20 located on the surface of the pool wall.

[0038] Next, step S102 is entered. In step S102, the automatic pool cleaning device 20 is controlled to turn on the pool wall, and the first image of the base station 10 is collected by the image acquisition component 201 during the turning process.

[0039] The robot 20 turns on the pool wall, and the first image of the base station 10 located on the pool wall is collected by the image acquisition component 201 during the turning process. For example, the robot 20 can, during the turning process, collect images by the image acquisition component 201 at regular time intervals and identify the collected images until the image of the base station 10 is collected. The first image is the image collected by the image acquisition component 201 and contains the base station 10. In practice, due to the different positions of the robot 20 (or at least a part of it) when climbing onto the pool wall, the robot 20 may need to turn a large angle during the turning process on the pool wall to collect the image of the base station 10, or may collect the image of the base station 10 when the turning just starts.

[0040] In one example, in step S102, the turning of the robot 20 can be achieved by controlling the walking component and / or the drainage component of the automatic pool cleaning device 20. In other words, the term "turning" means that the automatic pool cleaning device 20 can provide power and adjust the direction through devices such as drive wheels, crawlers, and water pumps on the body.

[0041] Specifically, the traveling assembly of the robot 20 can be, for example, mechanisms such as the crawlers or drive wheels of the robot 20. The crawlers and / or drive wheels are arranged on both sides of the robot 20, and the rotation of the crawlers and / or drive wheels enables the automatic pool cleaning device 20 to overcome the frictional force of the pool bottom or the pool wall and move forward or rotate. The robot 20 can change the course angle by the speed difference between the crawlers on both sides and / or the drive wheels on both sides, so as to make the robot 20 turn. The traveling assembly of the robot 20 can be, for example, paddle blades, which can be arranged on both sides of the rear part of the robot 20 or both sides of the fuselage. The reaction force generated by the rotation of the paddle blades to push the water flow can provide power for the robot 20 to move, and the speed difference between the paddle blades on both sides of the robot 20 can change the direction of the robot 20.

[0042] The drainage assembly of the robot 20 can be, for example, a water pump, and the drainage assembly can be arranged at the rear part of the automatic pool cleaning device 20 or on the top of the robot 20. The drainage assembly can utilize the reaction force of water spraying to provide power for the robot 20 to move. The water spraying mechanism changes the angle of water spraying, thereby changing the moving path and the course angle of the robot 20. The water spraying mechanism described above is only exemplary, and the position and quantity of the water spraying mechanism can be set according to the actual situation, as long as the technical principle of this application can be achieved. Controlling both the traveling assembly and the drainage assembly of the robot 20 can achieve the purpose of controlling the robot to turn, and can jointly control the rotation of the robot 20.

[0043] The turning in step S102 can include, for example, first turning towards the first side of the automatic pool cleaning device 20 (e.g., clockwise). If the image acquisition component 201 acquires the first image of the base station 10, the turning stops. If the first image of the base station 10 is not acquired, then turn towards the other side of the cleaning device (e.g., counterclockwise).

[0044] The turning direction of the robot 20 can be set to be clockwise or counterclockwise. The direction when the robot 20 climbs onto the pool wall is the initial direction, for example Figure 2A the direction of the robot 20 shown in

[0045] In one example, the turning angle is less than or equal to 90 degrees. For example, the robot 20 first rotates a predetermined angle in the clockwise direction (the predetermined angle is, for example, less than or equal to 90 degrees). The first side that the robot 20 turns to first is the first side. In other words, the first side that the robot 20 turns to is the clockwise side. If the image acquisition component 201 acquires the first image of the base station 10, the robot 20 stops turning; if the robot 20 has rotated the predetermined angle in the clockwise direction or the fuselage of the robot has turned to be parallel or nearly parallel to the bottom of the pool, and the image acquisition component 201 still has not acquired the first image of the base station 10, the robot 20 can first return to the initial direction and turn in the counterclockwise direction at the initial direction (for example, turn the predetermined angle) until the image acquisition component 201 acquires the first image of the base station 10, and the robot 20 stops turning. The relationship setting between the first side of the above-mentioned robot 20 and clockwise / counterclockwise is only exemplary. The present application does not limit the direction of the first side of the robot 20, as long as the technical principle of the present application can be realized.

[0046] It can be understood that in step S102, the turning angle of the robot 20 may be related to the field of view angle of the image acquisition component 201. If the field of view angle of the image acquisition component 201 is large, the robot 20 can usually rotate a smaller angle to acquire the first image of the base station 20; conversely, if the field of view angle of the image acquisition component 201 is small, the robot 20 needs to rotate a larger angle to acquire the first image of the base station 20.

[0047] Next, step S103 is entered. In step S103, the position information of the base station 10 is determined based on the first image.

[0048] Specifically, during the process of the robot 20 turning on the pool wall, the first image of the base station 10 is acquired through the image acquisition component 201. The robot 20 can, for example, calculate the contour information and relative position information of the base station 10 through the first image. The contour information can represent the contour of the base station 10. Further, the contour information can to a certain extent reflect the distance between the base station 10 and the robot. For example, if the distance between the base station 10 and the robot 20 is large, the contour of the base station 10 reflected by the contour information is small; if the distance between the base station 10 and the robot 20 is small, the contour of the base station 10 reflected by the contour information is large. The relative position information between the base station 10 and the robot 20 can represent the direction and distance of the base station 10 relative to the robot 20. The robot 20 can also calculate the current distance between the robot 20 and the base station 10 through deep learning of the first image. Step S103 will be further described below in combination with specific examples.

[0049] Next, enter step S104. In step S104, based on the position information of the base station 10, control the pool automatic cleaning device 20 to move towards the base station 10.

[0050] Specifically, as described above, the robot 20 has determined the position information of the base station 10. The position information may include the direction and position of the base station relative to the robot 20. The robot 20 can use a path planning algorithm to determine the path for the robot 20 to move towards the base station 10, and the robot 20 moves along this path. For example, the robot 20 can move towards the base station 10 in a straight line; the robot 20 can also move towards the base station 10 through paths such as a zigzag path or an arc path.

[0051] In step S101, controlling the pool automatic cleaning device 20 to move towards the base station 10 and enabling at least a part of the pool automatic cleaning device 20 to climb onto the pool wall includes: searching for the base station 10 based on the ultrasonic sensor on the pool automatic cleaning device 20 or the image acquisition component 201 to obtain the initial information of the base station 10, and controlling the cleaning device 20 to move towards the base station 10 based on the initial information until the cleaning device 20 climbs onto the pool wall.

[0052] For example, if the robot 20 is at the bottom of the pool and the robot 20 needs to be charged, the robot 20 can collect the initial information of the base station 10 (determine which pool wall the base station 10 is on or the general direction of the base station 10) through the ultrasonic sensor or the image acquisition component 201. The method of determining the position of the base station 10 through the ultrasonic sensor or the image acquisition component 201 has been described in detail above and will not be elaborated here. After the robot obtains the initial information of the base station 10, it can use a path planning algorithm to obtain the path for the robot 20 to move towards the base station 10. For example, the moving path can be the moving path with the shortest straight-line distance from the current position of the robot 20 to the pool wall where the base station 10 is located. The movement can also be that the robot 20 moves towards the pool wall where the base station 10 is located along the determined direction. In step S101, the robot 20 should finally move to the pool wall where the base station 10 is located (for example, the intersection position of the pool walls), and at least a part of the robot 20 (for example, the part where the image acquisition component 201 is located) should climb onto the pool wall where the base station 10 is located, so that the robot 20 can further collect the first image of the base station 10 on the pool wall, move towards the base station 10, and dock with the base station 10 next.

[0053] The moving path of the robot 20 in step S101 may vary according to the actual position of the base station 10, the current working mode of the robot 20, and the docking method between the robot 20 and the base station 10, as long as the technical principle of the present application can be achieved.

[0054] Such as Figure 2A andFigure 2B As shown, in step S104, during the process of controlling the automatic pool cleaning device 20 to move towards the base station 10 based on the position information of the base station 10, the automatic pool cleaning device 20 can be controlled to dock with the base station 10 based on the alignment mark 101 set on the base station 10.

[0055] The alignment mark 101 set on the base station 10 can be, for example, a QR code, an area with a specific mark (such as a luminous mark), an area with a specific shape (such as a circle, a square, etc.). Specifically, in step S104, during the process of the robot 20 moving towards the base station 10, the image acquisition component 201 can further acquire the image of the alignment mark 101 on the base station 10, and analyze the image of the alignment mark 101 (such as performing deep learning on the image), so as to obtain the direction and position of the robot 20 relative to the base station 10, and further adjust the moving path of the robot 20 according to the direction and position. For example, analyzing the image of the alignment mark 101 can obtain the coordinates of the alignment mark 101, and the robot 20 can plan or adjust the parameters (such as the heading angle, speed, etc.) during the moving process of the robot 20 according to the coordinates of the alignment mark 101, so that the robot 20 moves towards the base station 10, ensuring that the robot 20 aligns with the base station 10 during the moving process (such as always moving towards the base station 10) until the robot 20 docks with the base station 10. Thus, it can be seen that the role of the alignment mark 101 is to help the robot 20 calibrate the moving direction during the process of moving towards the base station 10, so as to facilitate the docking of the robot 20 with the base station 10.

[0056] In step S104, the robot 20 continuously moves towards the base station 10, and finally the robot 20 will dock with the base station 10. For example, as Figure 2C shown, in step S104, the robot 20 first moves to below the base station 10 or a predetermined distance below the base station 10, and then, the image acquisition component 201 further acquires the image of the alignment mark 101 on the base station 10, and further calibrates the moving direction and / or path of the robot 20 towards the base station 10 through the image of the alignment mark 101, and continues to move towards the base station 10 until the robot 20 docks with the base station 10.

[0057] As can be seen from the above steps, during the docking process of the robot 20 with the base station 10, it includes both the process of the robot 20 climbing up the pool wall and moving towards the base station 10 by using the first image of the base station 10. During this process, the robot 20 moves towards or generally towards the base station 10 (i.e., rough alignment), and also includes the robot 20 using the alignment mark 101 on the base station 10 to further precisely align the robot 20 with the base station 10 during the above-mentioned rough alignment movement process (i.e., fine alignment), thereby finally realizing the docking of the robot 20 with the base station 10. Thus, during the process of the robot 20 moving towards the base station 10, it is possible to avoid the situation where the robot 20 deviates from the direction where the base station 10 is located due to factors such as water flow and wind force, resulting in the failure of the docking between the robot 20 and the base station 10. The above control method improves the stability and reliability of the recharging function of the robot 20. It should be noted that the terms "alignment" and "docking" complement each other. The robot 20 needs to be aligned with the base station 10 during the movement towards the base station 10 to create conditions for subsequent docking. The term "docking" means that the robot 20 and the base station 10 are joined through a certain component or element. For example, the charging interface on the robot 20 is docked with the charging base on the base station 10.

[0058] In step S102, controlling the automatic pool cleaning device 20 to turn on the pool wall includes: determining whether the image acquisition component 201 can find the base station 10. If not, controlling the cleaning device to perform the turning on the pool wall. If so, continuing to control the cleaning device to approach the base station 10.

[0059] The robot 20 on the pool wall surface can first determine whether the image acquisition component 201 can find the base station 10. For example, the robot 20 can collect an image in a predetermined direction (such as the direction pointed by the front or head of the robot) through the image acquisition component 201 and analyze the collected image to determine whether the base station 10 exists in the image. As Figure 2A shown, when the base station 10 is within the detection range of the image acquisition component 201 ( Figure 2A the range shown by the dotted line in the figure), the image acquisition component 201 can collect an image of the base station 10, thereby discovering the base station 10. Then, as Figure 2BAs shown, the robot 20 can determine the orientation of the base station 10 relative to the robot 20 based on the collected image of the base station 10, and control the robot 20 to approach the base station 10 according to this orientation. In another scenario, during the process of the robot 20 approaching the base station 10, the image acquisition component 201 continues to collect the image of the base station 10 and analyze the image, so as to further determine the orientation of the base station 10 relative to the robot 20, thereby facilitating the robot 20 to adjust the moving direction or moving path according to the further determined orientation of the base station 10. If the base station 10 is outside the detection range of the image acquisition component 201, it indicates that currently, the image acquisition component 201 is not aligned or generally aligned with the base station 10, that is, the image acquisition component cannot find the base station 10. Therefore, the robot 20 can be controlled to perform a turning action on the pool wall to search for the base station 10. The principle of the robot 20 performing the turning action can refer to the description of step S102 above and will not be elaborated here.

[0060] It should be noted that Figure 2A the base station 10 and the automatic pool cleaning device 20 shown in Figure 2A are only exemplary and not drawn to scale. The detection range of the image acquisition component 201 in

[0061] Controlling the docking of the automatic pool cleaning device 20 with the base station 10 based on the alignment mark 101 provided on the base station 10 includes: adjusting the attitude of the automatic pool cleaning device 20 to dock with the base station 10.

[0062] Such as Figure 2CAs shown, when the robot 20 moves on the pool wall surface to below the base station 10 or the distance between the robot 20 and the base station 10 is less than a predetermined threshold, the robot 20 needs to be precisely aligned with the base station 10 (i.e., the fine alignment described above) in order to complete the docking. Therefore, the robot 20 can adjust its attitude by means of the alignment mark 101 provided on the base station 10 so that the robot 20 can dock with the base station 10. For example, the attitude of the robot 20 can be adjusted so that the alignment mark 101 on the base station 10 is always located at the center position of the image collected by the image acquisition component 201. For example, the robot 20 can calculate the relative position of the alignment mark 101 collected by the image acquisition component 201 in the overall image. If the alignment mark 101 is in the left - hand position in the image, it means that the robot 20 is in a left - hand position relative to the base station 10, and the attitude of the robot 20 can be adjusted to make the robot 20 move leftward or make a fine adjustment; if the alignment mark 101 is in the right - hand position in the image, it means that the robot 20 is in a right - hand position relative to the base station 10, and the attitude of the robot 20 can be adjusted to make the robot 20 move rightward or make a fine adjustment. The robot 20 can measure its attitude through an inertial measurement unit and achieve this through the walking component and / or the drainage component described above.

[0063] For example, if the alignment mark 101 of the base station 10 is on the current moving path of the robot 20, it means that the robot 20 and the base station 10 are already aligned. The robot 20 can continue to move in this direction in order to attempt to dock with the base station 10. If the alignment mark 101 of the base station 10 is on the right side of the moving direction of the robot 20, it is determined that the robot 20 and the base station 10 are not aligned. In this case, the degree by which the heading angle of the robot 20 should be adjusted can be determined according to the position of the alignment mark 101 in the image collected by the image acquisition component 201, so that the robot 20 deflects to the right by the said degree until it is detected that the alignment mark 101 of the base station 10 is on the moving direction of the robot 20, and then control the robot 20 to continue moving towards the base station 10 until the robot 20 docks with the base station 10.

[0064] In step S104, the controlling the automatic pool cleaning device 20 to move towards the base station 10 based on the position information of the base station 10 includes: controlling the automatic pool cleaning device 20 to move on the pool wall towards the base station 10 based on the position information of the base station 10; or controlling the automatic pool cleaning device 20 to move to the rear of the pool bottom and then move to the inflection point position and move up the wall again towards the base station 10 based on the position information of the base station 10.

[0065] As Figure 2B shown, the robot 20 can directly move from the pool wall surface towards the base station 10 Figure 2BThe arrow in [the figure] indicates the moving direction of the robot 20, and the robot shown by the dashed line represents the moving trajectory of the robot 20. As Figure 2D shown, the robot 20 can also return from the wall-climbing state to the bottom of the pool ( Figure 2D as indicated by the long arrow pointing to the bottom of the pool in [the figure]), the robot 20 moves laterally to the position where the extension line of the vertical direction of the base station 10 intersects the bottom of the pool ( Figure 2D as indicated by the short arrow in [the figure]), the robot 20 climbs the wall from here and moves towards the base station 10 ( Figure 2D as indicated by the long arrow on the pool wall in [the figure]), and the robot shown by the dashed line represents the moving trajectory of the robot 20.

[0066] This application also provides a pool automatic cleaning device 20, wherein the pool automatic cleaning device 20 can execute the method of any one of the above.

[0067] The pool automatic cleaning device 20 can be, for example, a cleaning device such as a pool automatic cleaning robot or a pool automatic sweeping robot. The pool automatic cleaning device 20 includes an image acquisition component 201. The pool automatic cleaning device 20 can execute the above control program, which has been described in detail above and will not be elaborated here.

[0068] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art can understand and implement it without creative labor.

[0069] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0070] In addition, the terms "first" and "second" are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In the description of this application, "a plurality of" means two or more unless otherwise specifically defined.

[0071] In this application, unless otherwise stated, directional terms such as "upper" and "lower" generally refer to the directions shown in the drawings, or to the vertical, perpendicular or gravitational directions; similarly, for ease of understanding and description, "left" and "right" generally refer to the left and right shown in the drawings; "inner" and "outer" refer to the inner and outer of the contour of each component itself, but the above directional terms are not used to limit this application.

[0072] The above is only an exemplary embodiment of this application, but the protection scope of this application is not limited thereto. Any person skilled in the art within the technical scope recorded in this application can easily think of various changes or substitutions, which should all be covered by the protection scope of this application. Therefore, the protection scope of this application shall be subject to the protection scope of the claims.

Claims

1. A control method for an automatic pool cleaning device (20) for controlling the docking of the automatic pool cleaning device (20) with a base station (10), at least a part of the base station (10) being provided on the pool wall, the automatic pool cleaning device (20) including an image acquisition component (201) capable of acquiring an image in front of the automatic pool cleaning device (20), wherein, The control method includes: Controlling the automatic pool cleaning device (20) to move towards the base station (10) and enabling at least a part of the automatic pool cleaning device (20) to climb onto the pool wall; Controlling the automatic pool cleaning device (20) to turn on the pool wall, and collecting a first image of the base station (10) through the image acquisition component (201) during the turning process; Determining the position information of the base station (10) based on the first image; and Controlling the automatic pool cleaning device (20) to move towards the base station (10) based on the position information of the base station (10).

2. The control method according to claim 1, wherein, During the process of controlling the automatic pool cleaning device (20) to move towards the base station (10) based on the position information of the base station (10), docking the automatic pool cleaning device (20) with the base station (10) based on the alignment mark (101) provided on the base station (10).

3. The control method according to claim 1, wherein, Controlling the automatic pool cleaning device (20) to move towards the base station (10) and enabling at least a part of the automatic pool cleaning device (20) to climb onto the pool wall includes: Searching for the base station (10) based on the ultrasonic sensor or the image acquisition component (201) on the automatic pool cleaning device (20) to obtain the initial information of the base station (10), and controlling the cleaning device to move towards the base station (10) based on the initial information until the cleaning device climbs onto the pool wall.

4. The control method according to claim 1, wherein, Controlling the automatic pool cleaning device (20) to turn on the pool wall includes: judging whether the image acquisition component (201) can find the base station (10). If not, controlling the cleaning device to perform the turning on the pool wall. If so, continue to control the cleaning device to approach the base station (10).

5. The control method according to claim 1, wherein, The turning includes first turning towards the first side of the cleaning device. If the image acquisition component (201) acquires the first image of the base station (10), stop turning. If the first image of the base station (10) is not acquired, continue to turn towards the other side of the cleaning device.

6. The control method according to claim 1, wherein, The turning is less than or equal to 90 degrees.

7. The control method according to claim 3, wherein, Controlling the automatic pool cleaning device (20) to rotate is achieved by controlling the traveling component and / or the drainage component of the automatic pool cleaning device (20).

8. The control method according to claim 1, wherein The base station (10) includes a charging device, a garbage collection device, or a water quality detection device.

9. The control method according to claim 2, wherein, Docking the automatic pool cleaning device (20) with the base station (10) based on the alignment mark (101) provided on the base station (10) includes: Adjusting the posture of the automatic pool cleaning device (20) to dock with the base station (10).

10. The control method according to claim 1, wherein, Based on the position information of the base station (10), Controlling the automatic pool cleaning device (20) to move towards the base station (10) includes: Based on the position information of the base station (10), control the automatic pool cleaning device (20) to move on the pool wall towards the base station (10); or based on the position information of the base station (10), control the automatic pool cleaning device (20) to move to the rear side of the pool bottom to the inflection point position, and then move up the wall and move towards the base station (10).

11. An automatic pool cleaning device (20), wherein, The automatic pool cleaning device (20) is capable of performing the method according to any one of claims 1-10.

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