Charging base station searching method and pool automatic cleaning device and system

Abstract

The invention provides a searching method of a charging base station, and an automatic pool cleaning device and system. The charging base station is used for charging the automatic pool cleaning device; the pool automatic cleaning device comprises an image acquisition device, the charging base station comprises a stroboscope lamp, and the searching method comprises the steps that under the condition that the pool automatic cleaning device meets a preset condition, a first image in at least one direction of multiple directions around the pool automatic cleaning device is acquired through the image acquisition device; identifying the stroboscopic lamp through the first image, and determining the direction of the stroboscopic lamp; and based on the determined direction of the stroboscope lamp, controlling the automatic pool cleaning device to move towards the charging base station. According to the method, the direction of the charging base station can be accurately recognized through the stroboscope lamp on the charging base station in a dark night environment, so that the robot is controlled to return to the charging base station, and the problem that the robot is difficult to return to the charging base station in the dark environment is solved.

Description

Technical Field

[0001] The embodiments of the present application relate to the technical field of cleaning devices, and in particular, to a method for finding a charging base station, an automatic pool cleaning device, and a system. Background Art

[0002] With the development of computer technology, robot technology has also developed rapidly. Currently, underwater robots are increasingly widely used in various fields and can assist people in performing operations in water, including underwater cleaning, underwater exploration, underwater sightseeing, etc.

[0003] A robot for pool cleaning, such as an automatic pool cleaning device, needs to return to the base station for charging when the cleaning task is completed or the battery power is insufficient. When returning to the base station for charging, the base station can be roughly located by a vision-based method to control the robot to return to the base station. However, in a relatively dark night environment, it is difficult for the vision-based method to effectively detect the position of the base station, resulting in difficulties for the robot to return. Summary of the Invention

[0004] According to the first aspect of the present application, there is provided a method for finding a charging base station, where the charging base station is used to charge an automatic pool cleaning device; the automatic pool cleaning device includes an image acquisition device, and the charging base station includes a stroboscopic lamp. The finding method includes:

[0005] When the automatic pool cleaning device meets a predetermined condition, at least one first image in multiple directions around the automatic pool cleaning device is acquired through the image acquisition device;

[0006] The stroboscopic lamp is recognized through the first image, and the direction of the stroboscopic lamp is determined;

[0007] Based on the determined direction of the stroboscopic lamp, the automatic pool cleaning device is controlled to move towards the charging base station.

[0008] According to a finding method provided by the present disclosure, wherein the predetermined condition includes at least one of the following conditions:

[0009] The battery power of the automatic pool cleaning device is lower than a preset power threshold;

[0010] The current cleaning task of the automatic pool cleaning device is completed;

[0011] The automatic pool cleaning device receives a recall instruction;

[0012] The automatic pool cleaning device fails; and,

[0013] The degree of dirt collection in the trash basket of the automatic pool cleaning device reaches a predetermined level.

[0014] According to a searching method provided by the present disclosure, wherein, collecting the first image in at least one direction among multiple directions around the automatic pool cleaning device by the image acquisition device includes:

[0015] Controlling the automatic pool cleaning device or the image acquisition device to rotate;

[0016] During the rotation of the automatic pool cleaning device or the image acquisition device, when rotating a predetermined angle each time, controlling the image acquisition device to collect a predetermined number of first images.

[0017] According to a searching method provided by the present disclosure, wherein, there are multiple first images corresponding to one direction, and the minimum acquisition time interval of the multiple first images is less than or equal to the flashing frequency of the strobe light.

[0018] According to a searching method provided by the present disclosure, wherein, identifying the strobe light through the first image and determining the direction of the strobe light includes: identifying the strobe light through the first image, and determining the direction of the strobe light based on the yaw angle of the automatic pool cleaning device corresponding to the first image in which the strobe light is identified.

[0019] According to a searching method provided by the present disclosure, wherein, the shape of the light-emitting area of the strobe light is different from the shape of the light-emitting area of the wall lamp in the pool.

[0020] According to a searching method provided by the present disclosure, it further includes:

[0021] During the process of moving towards the charging base station, collecting the second image in the traveling direction of the automatic pool cleaning device by the image acquisition device. If the number of pixel points corresponding to the strobe light in the second image is greater than a predetermined number or greater than the number of pixel points corresponding to the strobe light in the first image, controlling the automatic pool cleaning device to continue moving, otherwise controlling the automatic pool cleaning device to turn or reverse.

[0022] According to a searching method provided by the present disclosure, wherein, the image acquisition device includes a monocular image acquisition device, a binocular image acquisition device or a panoramic image acquisition device.

[0023] According to a second aspect of the present disclosure, there is provided an automatic pool cleaning device, wherein, the automatic pool cleaning device can execute any one of the above control methods.

[0024] According to a third aspect of the present disclosure, an automatic pool cleaning system is provided, wherein the automatic pool cleaning system includes a charging base station and any one of the above-mentioned pool automatic cleaning devices; the pool automatic cleaning device includes an image acquisition device, and the charging base station includes a stroboscopic lamp.

[0025] The embodiments described in this application have the following beneficial effects:

[0026] When the pool automatic cleaning device needs to return to the charging base station under a predetermined condition, a first image in at least one direction among multiple directions around the pool automatic cleaning device is acquired through the image acquisition device, and the stroboscopic lamp provided on the charging base station is identified through the first image, so as to determine the direction of the charging base station by identifying the direction of the stroboscopic lamp on the charging base station, and then control the pool automatic cleaning device to move towards the charging base station. This method can accurately identify the direction of the charging base station through the stroboscopic lamp on the charging base station in a relatively dark night environment to control the robot to return to the charging base station, overcoming the problem that it is difficult for the robot to return to the charging base station in a dark environment. Description of the Drawings

[0027] In order to more clearly illustrate the technical solutions of the embodiments of the present application, 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 application.

[0028] Figure 1 is a schematic flowchart of the control method of the pool automatic cleaning device provided by the present application; and

[0029] Figure 2 is a schematic diagram of the installation position of the charging base station provided by the present application. Detailed Embodiments

[0030] To make the objectives, technical solutions, and advantages of the present application clearer, the technical solutions in the present application will be clearly and completely described below in conjunction with the drawings in the present application. Obviously, the described embodiments are some, but not all, of the embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the protection scope of the present application.

[0031] The present application provides a method for finding a charging base station. It can be understood that the charging base station is used to charge the automatic pool cleaning device, and the charging base station includes a stroboscopic lamp, which can flash at a predetermined frequency; the automatic pool cleaning device includes an image acquisition device, and the automatic pool cleaning device can clean the pool, and the image acquisition device can perform image acquisition. 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 can be a device such as an automatic cleaning device, a pool cleaning robot, etc., which can clean the pool-shaped building. The present application does not limit the specific presentation forms of the automatic pool cleaning device and the pool-shaped building, as long as the principle of the present application can be realized.

[0032] In the following, if not otherwise specified, the robot will be used as an example of the automatic pool cleaning device for elaboration, and the swimming pool will be used as an example of the pool or the pool-shaped building for elaboration.

[0033] The control method 100 of the automatic pool cleaning device will be described in detail below with reference to the accompanying drawings.

[0034] Figure 1 It is a schematic flow chart of the method for finding the charging base station provided by the present application. As Figure 1 shown, the control method 100 includes step 101 to step 103. Step 101 to step 103 will be described in detail below.

[0035] In step 101, when the automatic pool cleaning device meets a predetermined condition, a first image in at least one direction among multiple directions around the automatic pool cleaning device is acquired through the image acquisition device.

[0036] Specifically, the above-mentioned predetermined condition is the condition that the robot needs to meet when returning to the charging base station. When the robot meets the predetermined condition, it means that the robot needs to be controlled to return to the charging base station. When it is necessary to control the robot to return to the charging base station, first, the image acquisition device can be controlled to acquire a first image in at least one direction among multiple directions around the robot.

[0037] Exemplarily, when collecting the first image through an image acquisition device, for the collected first image, a learning model can be used to identify the stroboscopic light of the charging base in real time. If the stroboscopic light is identified, the collection of the first image will no longer be performed. Alternatively, for one direction, the first image in that direction can be identified after the collection of the first image in that direction is completed. If the stroboscopic light is identified, the collection of the first image in other directions will no longer be performed. For example, the first image can be collected and identified in the first direction first. If the stroboscopic light of the charging base is identified through the first image corresponding to the first direction, there is no need to collect the first image in other directions; if the stroboscopic light is not identified, the first image needs to be collected and identified in the second direction until the stroboscopic light is identified through the first image collected in a certain direction, and then the collection and identification of the first image can be stopped.

[0038] The term "multiple directions" can represent multiple directions preset around the robot. In other words, the term "multiple directions" takes the robot as a reference object. For example, the direction pointed by the current head of the robot is used as one of the multiple directions (such as the first direction), the direction obtained by rotating 90 degrees clockwise from the direction pointed by the current head of the robot is used as another direction of the multiple directions (such as the second direction), and the direction obtained by rotating 180 degrees clockwise from the direction pointed by the current head of the robot is used as another direction of the multiple directions (such as the third direction). The above descriptions of the rotation angle and direction are only exemplary, and the rotation angle and direction can be set according to actual needs.

[0039] The term "multiple directions" can also represent multiple directions of the pool where the robot is located. In other words, the term "multiple directions" takes the pool as a reference object. For example, during the mobile cleaning of the pool by the robot, a map of the pool can be obtained, and multiple directions of the pool can be obtained through the calculation of the map, such as the length direction, width direction, diagonal direction, etc. of the pool. For example, when the robot meets a predetermined condition, the first image in at least one of the length direction, width direction, and diagonal direction of the pool can be collected through the image acquisition device.

[0040] The "at least one direction among multiple directions" will be described below in combination with specific examples.

[0041] The stroboscopic lamp can emit light quickly and intermittently. In other words, the stroboscopic lamp can flash at a specific frequency. By setting the stroboscopic lamp on or near the base station, the robot can use the flashing of the stroboscopic lamp as a reference to find the base station. The technical principle will be described in detail below. The stroboscopic lamp can emit visible light. The stroboscopic lamp can also emit infrared light so that the robot can still collect the infrared light emitted by the stroboscopic lamp on cloudy days, at night, and in foggy weather.

[0042] Exemplarily, when collecting the first image through the image acquisition device, multiple first images in multiple directions can be collected first. After the collection of the first images in multiple directions is completed, the first images in multiple directions are then identified. Here, the specific number of directions for which the first image needs to be collected by the image acquisition device is related to the field of view angle of the image acquisition device, and this embodiment does not make specific limitations here.

[0043] Among them, when collecting the first image, the robot can collect the first image around the robot through the image acquisition device on or under the water. Figure 2 It is a schematic diagram of the installation position of the charging base station provided by this application. As Figure 2 shown, the charging base station is usually installed at the water line position on the pool wall of the swimming pool (such as Figure 2 base station 1) or at a position on the pool wall close to the bottom of the pool (such as Figure 2 base station 2). Exemplarily, when the charging base station is underwater, the robot can collect the first image around the robot through the image acquisition device underwater to search for or identify the charging base station. Exemplarily, when the charging base station is above the water surface, the robot can collect the first image around the robot through the image acquisition device on or under the water, that is, the image acquisition device can be located above the water surface or underwater at this time.

[0044] In step 101, the predetermined conditions include at least one of the following conditions: the power of the pool automatic cleaning device is lower than the preset power threshold; the current cleaning task of the pool automatic cleaning device is completed; the pool automatic cleaning device receives a recall instruction; the pool automatic cleaning device fails; and the degree of dirt collection in the trash basket of the pool automatic cleaning device reaches a predetermined level.

[0045] Specifically, the predetermined condition may be that the power of the robot is lower than a preset power threshold. For example, when the power of the robot is exhausted, it is difficult for the robot to continue moving. Therefore, when the power of the robot is low before the power is exhausted, it is necessary to control the robot to return to the charging base for charging. So when the power of the robot is lower than the preset power threshold, it is necessary to control the robot to return to the charging base. The size of the preset power threshold may be related to the power of the robot when moving and the size of the pool. The setting of the preset power threshold is designed to enable the robot to return to the charging base before the power is exhausted. In this embodiment, the size of the preset power threshold is not specifically limited.

[0046] The predetermined condition may also be that the current cleaning task of the robot is completed. For example, when the robot receives a cleaning instruction and completes the partial or full cleaning of the pool based on the requirements of the cleaning instruction, at this time, the robot needs to return to the charging base for charging, garbage collection or docking. Therefore, after the robot completes the current cleaning task, it is necessary to control the robot to return to the charging base.

[0047] The predetermined condition may also be that the robot receives a recall instruction. For example, during the process of controlling the robot to clean the pool, when a recall instruction sent by the user based on the remote control or the charging base is received, it means that the user recalls the robot. At this time, it is necessary to control the robot to return to the charging base.

[0048] The predetermined condition may also be that the robot malfunctions. For example, when the robot has a malfunction such as a sensor failure, making it difficult for the robot to receive sensor data and thus difficult to continue the normal pool cleaning work, it is necessary to control the robot to return to the charging base and wait for repair.

[0049] The predetermined condition may also be that the degree of dirt collection in the trash basket of the robot reaches a predetermined level. The degree of dirt collection in the trash basket affects the cleaning efficiency of the robot for the pool. The degree of dirt collection may include the number of dirt in the trash basket or the degree of blockage of the trash basket. In the case of a blocked trash basket or a large amount of dirt in the trash basket, the cleaning efficiency of the robot will be greatly reduced. At this time, it is necessary to control the robot to return to the charging base to recycle the dirt in the robot's trash basket.

[0050] In step 101, the collecting, by the image acquisition device, of the first images in at least one direction among multiple directions around the automatic pool cleaning device includes: controlling the automatic pool cleaning device or the image acquisition device to rotate; and during the rotation of the automatic pool cleaning device or the image acquisition device, controlling the image acquisition device to collect a predetermined number of first images every time a predetermined angle is rotated.

[0051] Specifically, when collecting the first images in two or more directions around the robot through the image acquisition device, the robot or the image acquisition device can be controlled to rotate. The purpose of controlling the rotation of the robot or the image acquisition device is to enable the image acquisition device to collect the first images in two or more directions respectively. During the process of controlling the rotation of the robot or the image acquisition device, each time it rotates a predetermined angle, the image acquisition device can be controlled to collect a predetermined number of first images. Among them, the size of the predetermined angle is related to the field of view angle of the image acquisition device. The larger the field of view angle of the image acquisition device, the larger the angle value of the predetermined angle can be; conversely, the smaller the field of view angle of the image acquisition device, the smaller the angle value of the predetermined angle.

[0052] Among them, based on the setting of the predetermined angle, the acquisition ranges in two adjacent directions of the image acquisition device can be adjacent or partially overlapped to avoid missing the area where the charging base station is located during the acquisition process. For example, based on the size of the field of view angle of the image acquisition device, when the predetermined angle is 90 degrees and the first images in four directions need to be collected, the image acquisition device is controlled to collect a predetermined number of first images in the current direction, and then the robot or the image acquisition device is controlled to rotate 90 degrees and then collect a predetermined number of first images again in the rotated current direction. Repeat this process until the image acquisition device has collected the first images in four directions respectively.

[0053] It can be understood that when only the robot needs to be controlled to collect the first images in one direction, the image acquisition device can be controlled to collect the first images in the current direction when the robot and the image acquisition device are stationary.

[0054] Next, step 102 is executed. In step 102, the strobe light is identified through the first image, and the direction of the strobe light is determined.

[0055] Specifically, after acquiring the first image, the first image acquired can be used to identify the charging base station, so as to identify the strobe light of the charging base station through the first image and determine the direction of the strobe light of the charging base station. When identifying the first image, a deep learning model can be used to identify the strobe light in the first image. The deep learning model includes, but is not limited to: RCNN, Faster R-CNN, SSD or YOLO series models. Among them, before identifying the charging base station, the first image can also be preprocessed first. Image preprocessing is an important step before image analysis (feature extraction, segmentation, matching, recognition, etc.). The purpose is to eliminate irrelevant information in the image, restore useful real information, enhance the detectability of relevant information, simplify the data to the greatest extent, and thus improve the reliability of feature extraction, image segmentation, matching and recognition. Image preprocessing can include, but is not limited to, multiple of the following methods: image denoising, image geometric transformation, image filtering, image enhancement processing, image data normalization processing, and image restoration processing, etc.

[0056] In step 102, the identifying the strobe light through the first image and determining the direction of the strobe light includes: identifying the strobe light through the first image and determining the direction of the strobe light based on the yaw angle of the pool automatic cleaning device corresponding to the first image in which the strobe light is identified.

[0057] Specifically, for each first image, when acquiring the first image, the yaw angle of the robot when acquiring the first image can be recorded. The yaw angle can represent the orientation of the front end / head of the robot when acquiring the first image. When determining the direction of the strobe light through the first image, the strobe light can be identified through the first image first to determine the first image including the strobe light image; then the yaw angle of the robot when acquiring the first image including the strobe light image can be determined, that is, in which direction the front end of the robot is facing when the first image including the strobe light image is acquired. At this time, when the orientation of the image acquisition device is consistent with the orientation of the front end / head of the robot, the direction of the front end / head of the robot is also the direction where the strobe light is located. When the orientation of the image acquisition device is inconsistent with the orientation of the front end / head of the robot, based on the direction of the front end / head of the robot and the angle difference between the direction of the front end / head of the robot and the orientation of the image acquisition device, the direction of the strobe light can be determined. It can be seen from this that the direction of the strobe light can be determined based on the yaw angle of the robot corresponding to the first image in which the strobe light is identified.

[0058] In step 102, among them, there are multiple first images corresponding to one direction, and the minimum acquisition time interval of the multiple first images is less than or equal to the flashing frequency of the strobe light.

[0059] Specifically, since the strobe light flashes at a predetermined frequency, that is, the state of the strobe light is bright and then dark, therefore, based on this characteristic of the strobe light, multiple first images can be collected in one direction by the image acquisition device, and the acquisition time interval of the multiple first images is less than or equal to the flashing frequency of the strobe light, so as to ensure as much as possible that the image acquisition device can collect the corresponding first image when the strobe light is in the bright state. And, since the state of the strobe light is bright and then dark, when the acquisition time interval of the multiple first images is less than the flashing frequency of the strobe light, it is possible to determine whether the first images collected in this direction include the strobe light by identifying whether there are bright and dark alternating areas in the multiple first images in the same direction. For example, if there are bright and dark alternating areas in one or several of the multiple first images, it means that the strobe light is identified on the corresponding first image in this direction.

[0060] In step 102, the shape of the light-emitting area of the strobe light is different from the shape of the light-emitting area of the wall light in the pool.

[0061] Specifically, since there may be wall lights installed in the swimming pool, the light emitted by the wall lights may interfere with the identification of the strobe light. Therefore, the shape of the light-emitting area of the strobe light needs to be different from the shape of the light-emitting area of the wall lights in the swimming pool. In this case, when there are two bright areas in the collected first image, it is possible to determine whether the bright area corresponds to the strobe light or the wall light in the swimming pool according to the shape of the bright area, thereby reducing the interference caused by the light emitted by the wall lights in the swimming pool during the image recognition process.

[0062] Next, enter step 103. In step 103, based on the determined direction of the strobe light, control the automatic pool cleaning device to move towards the charging base station.

[0063] Specifically, determining the direction of the strobe light determines the direction of the charging base station. In this case, the robot can be controlled to move towards the charging base station based on the direction of the charging base station. When controlling the robot to move towards the charging base station, the angle to be rotated by the robot can be determined first according to the direction of the strobe light, and then the robot can be controlled to rotate according to the determined angle to be rotated, so that the traveling direction of the robot (i.e., the front end of the robot) is consistent with the direction of the strobe light (i.e., the charging base station). Next, controlling the robot to move forward in the current traveling direction can make the robot move towards the charging base station. It can be understood that when the current traveling direction of the robot is consistent with the direction of the charging base station, there is no need to adjust the traveling direction of the robot, and the robot can be directly controlled to move forward in the current traveling direction.

[0064] The method for finding the above charging base station further includes: during the process of moving towards the charging base station, the second image in the traveling direction of the automatic pool cleaning device is collected by the image acquisition device. If the number of pixel points corresponding to the strobe light in the second image is greater than a predetermined number or greater than the number of pixel points corresponding to the strobe light in the first image, the automatic pool cleaning device is controlled to continue moving; otherwise, the automatic pool cleaning device is controlled to turn or turn around.

[0065] Specifically, during the process of controlling the robot to move towards the charging base station, the second image in the traveling direction of the robot can be collected by the image acquisition device, and then the number of pixel points corresponding to the strobe light in the second image can be analyzed. When the number of pixel points corresponding to the strobe light is greater than the predetermined number or greater than the number of pixel points corresponding to the strobe light in the first image, it indicates that the current moving direction of the robot is towards or generally towards the charging base station, and the robot is controlled to continue moving in the current traveling direction. When the number of pixel points corresponding to the strobe light is less than the predetermined number or less than the number of pixel points corresponding to the strobe light in the first image, it indicates that the current traveling direction of the robot is deviated, away from or deviating from the charging base station. At this time, the robot needs to be controlled to turn or turn around so that the robot moves towards the charging base station.

[0066] Further, during the process of controlling the robot to move towards the charging base station, when the number of pixel points corresponding to the strobe light is greater than the first predetermined threshold, or when the distance between the robot and the pool wall where the charging base station is located detected by the distance sensor is less than the second predetermined threshold, it indicates that the robot has moved to or near the charging base station. At this time, the robot can be controlled to stop moving, where the magnitudes of the first predetermined threshold and the second predetermined threshold can be set as needed, and are not specifically limited in this embodiment.

[0067] Wherein, the image acquisition device includes a monocular image acquisition device, a binocular image acquisition device or a panoramic image acquisition device.

[0068] Specifically, the image acquisition device can include a monocular image acquisition device, a binocular image acquisition device or a panoramic image acquisition device. Among them, the monocular image acquisition device has a low cost but insufficient depth information. The binocular image acquisition device can obtain relatively sufficient depth information, but the cost of the binocular image acquisition device is high and the calibration is relatively complex. The cost of the panoramic image acquisition device is higher than that of the monocular image acquisition device and the binocular image acquisition device. However, in the case of using the panoramic image acquisition device, it is not necessary to control the robot or the image acquisition device to rotate when collecting the first images in multiple directions, which can save the energy consumption of the robot.

[0069] It should be noted that the above description of the type of the image acquisition device is only exemplary, and those skilled in the art can adjust the type of the image acquisition device according to the actual situation as long as the technical principle of the present application can be realized.

[0070] The embodiments described in the present application have the following beneficial effects: when the pool automatic cleaning device needs to return to the charging base station when meeting a predetermined condition, the first image in at least one direction among multiple directions around the pool automatic cleaning device is acquired through the image acquisition device, and the stroboscopic lamp provided on the charging base station is identified through the first image, so as to determine the direction of the charging base station by identifying the direction of the stroboscopic lamp on the charging base station, and then control the pool automatic cleaning device to move towards the charging base station. This method can accurately identify the direction of the charging base station through the stroboscopic lamp on the charging base station in a relatively dark night environment to control the robot to return to the charging base station, overcoming the problem that it is difficult for the robot to return to the charging base station in a dark environment.

[0071] According to the second aspect of the present application, a pool automatic cleaning device is further provided. The pool automatic cleaning device can execute the control method described above with reference to each embodiment. The description of the pool automatic cleaning device executing the control method of each embodiment is omitted here. For the principle and solution of the control method, refer to the control method described above in combination with each embodiment and the drawings, which will not be elaborated here.

[0072] According to the third aspect of the present disclosure, a pool automatic cleaning system is provided, wherein the pool automatic cleaning system includes a charging base station and any one of the above-mentioned pool automatic cleaning devices; the pool automatic cleaning device includes an image acquisition device, and the charging base station includes a stroboscopic lamp. In this pool automatic cleaning system, by setting a stroboscopic component on the charging base station, the orientation of the charging base station can be indicated by the stroboscopic lamp in a relatively dark environment, so that the robot can determine the direction of the charging base station through the stroboscopic lamp and return to the charging base station.

[0073] According to the fourth aspect of the present application, there is also provided a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it is configured to execute the method for finding a charging base provided in the above-mentioned various embodiments. The charging base is used to charge a pool automatic cleaning device; the pool automatic cleaning device includes an image acquisition device, and the charging base includes a stroboscopic lamp. The method for finding includes: when the pool automatic cleaning device meets a predetermined condition, acquiring a first image in at least one direction among multiple directions around the pool automatic cleaning device through the image acquisition device; identifying the stroboscopic lamp through the first image and determining the direction of the stroboscopic lamp; based on the determined direction of the stroboscopic lamp, controlling the pool automatic cleaning device to move towards the charging base. For the principle and solution of the method for finding, refer to the control method described above in combination with various embodiments and the drawings, which will not be elaborated here.

[0074] In a fifth aspect, the present application also provides a computer program product. The computer program product includes a computer program, and the computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer is capable of executing the method for finding a charging base provided in the above-mentioned various methods. The charging base is used to charge a pool automatic cleaning device; the pool automatic cleaning device includes an image acquisition device, and the charging base includes a stroboscopic lamp. The method for finding includes: when the pool automatic cleaning device meets a predetermined condition, acquiring a first image in at least one direction among multiple directions around the pool automatic cleaning device through the image acquisition device; identifying the stroboscopic lamp through the first image and determining the direction of the stroboscopic lamp; based on the determined direction of the stroboscopic lamp, controlling the pool automatic cleaning device to move towards the charging base. For the principle and solution of the method for finding, refer to the control method described above in combination with various embodiments and the drawings, which will not be elaborated here.

[0075] 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 efforts.

[0076] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on such an understanding, the above technical solution, in essence, or the part that contributes to the prior art can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0077] In the description of this specification, the descriptions referring to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. mean 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.

[0078] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" can explicitly or implicitly include at least one of such features. In the description of the present application, the meaning of "a plurality" is two or more, unless otherwise clearly and specifically defined.

[0079] As described above, it is only the exemplary embodiment of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope recorded in the present application can easily think of various changes or substitutions, and these should all be covered by the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A method for finding a charging base station, where the charging base station is used to charge a pool automatic cleaning device; the pool automatic cleaning device includes an image acquisition device, and the charging base station includes a stroboscopic lamp. The finding method includes: When the pool automatic cleaning device meets a predetermined condition, acquiring a first image in at least one direction among multiple directions around the pool automatic cleaning device through the image acquisition device; Identifying the stroboscopic lamp through the first image and determining the direction of the stroboscopic lamp; Based on the determined direction of the stroboscopic lamp, controlling the pool automatic cleaning device to move towards the charging base station.

2. The searching method according to claim 1, wherein, The predetermined condition includes at least one of the following conditions: The battery power of the pool automatic cleaning device is lower than a preset power threshold; The current cleaning task of the pool automatic cleaning device is completed; The pool automatic cleaning device receives a recall instruction; The pool automatic cleaning device fails; and, The degree of dirt collection in the trash basket of the pool automatic cleaning device reaches a predetermined level.

3. The searching method according to claim 1, wherein, The acquiring a first image in at least one direction among multiple directions around the pool automatic cleaning device through the image acquisition device includes: Controlling the pool automatic cleaning device or the image acquisition device to rotate; During the rotation of the pool automatic cleaning device or the image acquisition device, when rotating a predetermined angle each time, controlling the image acquisition device to acquire a predetermined number of first images.

4. The searching method according to claim 1, wherein, There are multiple first images corresponding to one direction, and the minimum acquisition time interval of the multiple first images is less than or equal to the flashing frequency of the stroboscopic lamp.

5. The searching method according to claim 1, wherein, The identifying the stroboscopic lamp through the first image and determining the direction of the stroboscopic lamp includes: identifying the stroboscopic lamp through the first image and determining the direction of the stroboscopic lamp based on the yaw angle of the pool automatic cleaning device corresponding to the first image in which the stroboscopic lamp is identified.

6. The searching method according to claim 1, wherein The shape of the light-emitting area of the stroboscopic lamp is different from the shape of the light-emitting area of the wall lamp in the pool.

7. The finding method according to any one of claims 1-6 further includes: During the movement towards the charging base station, acquiring a second image in the traveling direction of the pool automatic cleaning device through the image acquisition device. If the number of pixel points corresponding to the stroboscopic lamp in the second image is greater than a predetermined number or greater than the number of pixel points corresponding to the stroboscopic lamp in the first image, then controlling the pool automatic cleaning device to continue moving, otherwise controlling the pool automatic cleaning device to turn or turn around.

8. The searching method according to any one of claims 1-6, wherein, The image acquisition device includes a monocular image acquisition device, a binocular image acquisition device or a panoramic image acquisition device.

9. An automatic pool cleaning device, wherein, The pool automatic cleaning device can execute the method according to any one of claims 1-8.

10. An automatic pool cleaning system, wherein, The pool automatic cleaning system includes a charging base station and the pool automatic cleaning device according to claim 9; the pool automatic cleaning device includes an image acquisition device, and the charging base station includes a stroboscopic lamp.

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