Shore landing method and device of self-moving cleaning equipment, electronic equipment and storage medium

Abstract

The embodiment of the invention provides a landing method and device of self-moving cleaning equipment, electronic equipment and a storage medium, the self-moving cleaning equipment is used for cleaning a swimming pool, and the landing method of the self-moving cleaning equipment comprises the steps that when the self-moving cleaning equipment executes a landing task in the swimming pool, landing facilities are identified; and if the ashore facility is identified, controlling the self-moving cleaning equipment to climb the ashore facility so as to execute an ashore program. According to the landing method of the self-moving cleaning equipment, manual participation is not needed in the landing process of the self-moving cleaning equipment, and the user experience can be improved.

Description

Technical Field

[0001] The embodiments of the present application relate to the technical field of cleaning robots, and in particular to a method, device, electronic device and storage medium for landing a self-moving cleaning device. Background Art

[0002] With rising living standards, home swimming pools are increasingly appearing in people's homes. Pool hygiene is crucial to swimmers' health, so regular pool cleaning is essential to ensure a healthy swimming environment. However, large pools and a certain depth make manual cleaning difficult, leading to a growing demand for pool cleaning products.

[0003] Currently, automated pool cleaning with pool cleaning robots is a user-friendly cleaning solution that frees up manpower. However, existing pool cleaning robots generally require users to retrieve the pool robot from the pool and bring it to shore. Users need to pay attention to the robot's operating status while it is running, and sometimes even use tools such as a fishing rod to retrieve the pool cleaning robot. This cumbersome and labor-intensive operation results in a low level of automation and a poor user experience. Summary of the Invention

[0004] In view of this, embodiments of the present application provide a method, device, electronic device and storage medium for disembarking a self-moving cleaning device to at least partially solve the above-mentioned problems.

[0005] According to a first aspect of an embodiment of the present application, a method for disembarking a self-mobile cleaning device is provided, wherein the self-mobile cleaning device is used to clean a swimming pool. The method comprises: when the self-mobile cleaning device performs a disembarking task in the swimming pool, identifying a disembarking facility; if the disembarking facility is identified, controlling the self-mobile cleaning device to climb the disembarking facility in order to perform the disembarking procedure.

[0006] In a possible implementation, the identifying the landing facility includes: collecting an environmental image of the area where the self-moving cleaning device is located; and identifying the landing facility from the environmental image.

[0007] In one possible implementation, controlling the self-mobile cleaning device to climb the disembarkation facility in order to execute the disembarkation procedure includes: determining the disembarkation movement direction of the self-mobile cleaning device based on the environmental image, wherein the disembarkation movement direction is the direction in which the self-mobile cleaning device moves toward the disembarkation facility; controlling the self-mobile cleaning device to reach the disembarkation facility along the disembarkation movement direction; and controlling the self-mobile cleaning device to climb the disembarkation facility in order to execute the disembarkation procedure.

[0008] In one possible implementation, determining the shore movement direction of the self-moving cleaning device based on the environmental image includes: identifying the central area of the image of the landing facility in the environmental image; determining the deviation distance between the central area and the central axis in the vertical direction of the environmental image; and determining the shore movement direction of the self-moving cleaning device based on the deviation distance.

[0009] In one possible implementation, determining the shore movement direction of the self-mobile cleaning device based on the deviation distance includes: determining the deviation angle of the self-mobile cleaning device relative to the shore facility based on the offset distance, the horizontal field of view angle of the self-mobile cleaning device, and the total pixel length of the environmental image in the horizontal direction; and determining the orientation of the self-mobile cleaning device after rotating by the deviation angle toward the shore facility as the shore movement direction.

[0010] In one possible implementation, the method further includes: if the landing facility is not identified, controlling the self-moving cleaning device to rotate at least once according to a preset angle, and collecting the environmental image after each rotation until the landing facility is identified in the collected environmental image.

[0011] In one possible implementation, the swimming pool is a partitioned swimming pool including a shallow water area and a deep water area, and the method further includes: if the landing facility is not identified, controlling the self-moving cleaning device to move along the search path to find the pool bottom slope of the swimming pool; if the pool bottom slope is found, controlling the self-moving cleaning device to move from the first area of the swimming pool through the pool bottom slope to the second area of the swimming pool, and after the self-moving cleaning device moves to the second area, identifying the landing facility again, wherein the area where the self-moving cleaning device is located is the first area, the landing facility is arranged on the shore of the second area, and the pool bottom slope connects the pool bottom surfaces of the shallow water area and the deep water area.

[0012] In one possible implementation, controlling the self-moving cleaning device to move along a search path to find the bottom slope of the swimming pool includes: controlling the self-moving cleaning device to execute at least one wall-hitting turning path, and obtaining posture parameters of the self-moving cleaning device during the movement; if the posture parameters indicate that the pitch angle of the self-moving cleaning device is within a preset range and lasts for a duration greater than a duration threshold, it is determined that the bottom slope of the swimming pool has been found.

[0013] In one possible implementation, controlling the self-moving cleaning device to move from the first area of the swimming pool to the second area through the pool bottom slope includes: controlling the self-moving cleaning device to find the midpoint of the slope width of the pool bottom slope; controlling the self-moving cleaning device to move from the first area to the second area along the slope direction of the pool bottom slope from the midpoint of the slope width.

[0014] In one possible implementation, the executing the landing procedure includes: obtaining the posture parameters and water entry and exit state parameters of the self-mobile cleaning device; if the posture parameters indicate that the self-mobile cleaning device is in a flat position, and the water entry and exit state parameters indicate that the self-mobile cleaning device is in an out-of-water state, then controlling the self-mobile cleaning device to dock at the landing target position, wherein the landing target position includes at least one of a set docking position on the shore and a base station of the self-mobile cleaning device.

[0015] In one possible implementation, the executing the landing procedure further includes: if the posture parameter indicates that the self-moving cleaning device is in a climbing posture, and the water entry and exit state parameter indicates that the self-moving cleaning device is in an out-of-water state, then controlling the self-moving cleaning device to dock at an underwater target position, wherein the underwater target position includes at least one of the top and waterline of the landing facility.

[0016] In one possible implementation, the executing the disembarkation procedure includes: collecting an environmental image of the swimming pool shore area; identifying a disembarkation feature in the environmental image; determining whether the self-mobile cleaning device has successfully disembarked based on the identification result of the disembarkation feature; if the self-mobile cleaning device has successfully disembarked, controlling the self-mobile cleaning device to dock at a disembarkation target position, wherein the disembarkation target position includes at least one of a set docking position on the shore and a base station of the self-mobile cleaning device.

[0017] According to the second aspect of an embodiment of the present application, a disembarking device for a self-moving cleaning equipment is provided, comprising: an identification unit for identifying a disembarking facility when the self-moving cleaning equipment performs a disembarking task in the swimming pool; and a control unit for controlling the self-moving cleaning equipment to climb the disembarking facility if the disembarking facility is identified, so as to perform the disembarking procedure.

[0018] According to a third aspect of an embodiment of the present application, an electronic device is provided, comprising: a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface communicate with each other through the communication bus; the memory is used to store at least one executable instruction, and the executable instruction enables the processor to perform an operation corresponding to the method described in the first aspect.

[0019] According to a fourth aspect of the embodiments of the present application, a computer storage medium is provided, on which a computer program is stored. When the program is executed by a processor, the method described in the first aspect is implemented.

[0020] According to the disembarkation scheme for the self-mobile cleaning equipment provided in the embodiment of the present application, the disembarkation facilities are identified. If the disembarkation facilities are identified, the self-mobile cleaning equipment is controlled to climb the disembarkation facilities to execute the disembarkation procedure, thereby realizing the control of the self-mobile cleaning equipment to automatically go ashore. The scheme in the embodiment of the present application can control the self-mobile equipment to automatically perform the disembarkation task through the disembarkation facilities. Compared with the existing technology, there is no need to manually retrieve the self-mobile cleaning equipment from the inside of the swimming pool to the shore, that is, no human participation is required during the disembarkation process of the self-mobile cleaning equipment, and the automatic return of the self-mobile cleaning equipment is realized. The self-mobile cleaning equipment is automatically recalled offline at the end of operation, which can improve the intelligence level of the overall swimming pool cleaning scheme of the self-mobile cleaning equipment, reduce the degree of user intervention during the use of the equipment, and improve the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments recorded in the embodiments of the present application. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0022] Figure 1 This is a flow chart of a method for disembarking a self-moving cleaning device provided in an embodiment of the present application;

[0023] Figure 2 is a schematic diagram of an environment image provided by an embodiment of the present application;

[0024] Figure 3 is a schematic diagram of another environment image provided by an embodiment of the present application;

[0025] Figure 4 This is a schematic diagram of the field of view of a self-moving cleaning device provided in an embodiment of the present application;

[0026] Figure 5 This is a schematic diagram of a path search provided by an embodiment of the present application;

[0027] Figure 6 This is a schematic diagram of a pool bottom slope travel mode of a self-moving cleaning device provided in an embodiment of the present application;

[0028] Figure 7 This is a schematic diagram of a landing device for a self-moving cleaning device provided in an embodiment of the present application;

[0029] Figure 8This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0030] In order to enable those skilled in the art to better understand the technical solutions in the embodiments of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the embodiments of the present application, all other embodiments obtained by ordinary technicians in this field should fall within the scope of protection of the embodiments of the present application.

[0031] The terms used in this application are for the purpose of describing specific embodiments only and are not intended to limit this application. As used in this application and the appended claims, the singular forms "a," "an," "the," and "the" are intended to include the plural forms, unless the context clearly indicates otherwise. It should also be understood that the term "and / or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

[0032] It should be understood that although the terms first, second, etc. may be used in this application to describe various information, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other. For example, without departing from the scope of this application, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0033] The following examples illustrate the method for disembarking the self-moving cleaning equipment provided by the present application.

[0034] Figure 1 This is a flow chart of a method for landing a self-moving cleaning device provided in an embodiment of the present application. Figure 1 As shown, the landing method of the self-moving cleaning device includes the following steps 101 to 102:

[0035] Step 101: When the self-propelled cleaning device performs a landing task in a swimming pool, identify landing facilities.

[0036] Step 102: If a landing facility is identified, the self-moving cleaning device is controlled to climb the landing facility to perform a landing procedure.

[0037] The self-mobile cleaning device can clean the swimming pool. When the self-mobile cleaning device performs the landing task in the swimming pool, it can identify the landing facility through the identification / sensing device set on the self-mobile cleaning device. It should be understood that the base station of the self-mobile cleaning device is generally set at the shore of the swimming pool. The self-mobile cleaning device can be charged and / or filter basket garbage cleaned at the base station. In one example, the self-mobile cleaning device can perform the landing task when the battery is low, the pool cleaning task is completed, the filter basket garbage is full, etc., so as to automatically move into the base station for charging and / or filter basket garbage cleaning. Alternatively, the self-mobile cleaning device can also be docked at a designated location on the shore, such as the top of the landing facility, the waterline of the pool wall in the shore area, and other easy-to-retrieve locations on the shore. Optionally, the landing facility can include the original swimming pool entry and exit facilities on the shore of the swimming pool (such as swimming pool steps, shallow water platform, etc.), a special climbing structure for the self-mobile cleaning device set on the pool wall of the shore (such as a self-mobile cleaning device landing bridge or similar equipment), and a combination of the two. After identifying the landing facilities, the self-moving cleaning equipment is controlled to climb the landing facilities, execute the landing procedures, and then move to the designated docking position on the shore.

[0038] In an embodiment of the present application, a disembarkation facility is identified. If a disembarkation facility is identified, the self-mobile cleaning device is controlled to climb the disembarkation facility to execute the disembarkation procedure, thereby realizing the control of the self-mobile cleaning device to automatically go ashore. The solution in the embodiment of the present application can control the self-mobile device to automatically perform the disembarkation task through the disembarkation facility. Compared with the existing technology, there is no need to manually retrieve the self-mobile cleaning device from the inside of the swimming pool to the shore, that is, no human participation is required during the disembarkation process of the self-mobile cleaning device, and the automatic return of the self-mobile cleaning device is realized. At the end of the operation, the self-mobile cleaning device is autonomously recalled offline, which can improve the intelligence level of the overall swimming pool cleaning solution of the self-mobile cleaning device, reduce the degree of user intervention during the use of the equipment, and improve the user experience.

[0039] In a possible implementation, when identifying the landing facilities, an environmental image of the area where the mobile cleaning device is located may be collected, and the landing facilities may be identified from the environmental image.

[0040] The self-propelled cleaning device is provided with an image sensor, which may be a camera. The image sensor can capture an image of the environment in the area where the self-propelled cleaning device is located. The image image can be an image frame captured by the image sensor, or a video frame from a video transmitted by the image sensor. The processing unit can perform image recognition on the recognition image to detect the presence of landing facilities. Optionally, the image sensor of the self-propelled cleaning device can be located in front of the self-propelled cleaning device to capture an image of the environment in the direction of travel of the self-propelled cleaning device.

[0041] Taking the swimming pool steps as an example, the environmental image collected by the self-mobile cleaning equipment can be subjected to image recognition to determine whether there are any landing facilities with matching shape features in the environmental image. Taking the swimming pool steps as an example, the image recognition scheme can be: using pre-trained convolutional neural networks (CNN) to automatically identify the swimming pool steps, or using an edge detection algorithm to extract the shape features of the swimming pool steps (for example, right-angled edges, continuous horizontal lines, etc.). If an image area with features matching the swimming pool steps is detected, the landing facility is detected. Among them, the two types of image recognition schemes listed above are the same as existing image recognition technologies and will not be described in detail in this application.

[0042] In an embodiment of the present application, environmental images of the area where the self-mobile cleaning equipment is located are collected, and shore facilities are identified based on the collected environmental images. This allows the self-mobile cleaning equipment to automatically identify whether there are shore facilities within the visible range through its visual perception capability, determine the relative position of the self-mobile cleaning equipment and the shore facilities, enable the self-mobile cleaning equipment to quickly locate the shore facilities, and then determine a plan for approaching the shore facilities.

[0043] In one possible implementation, when controlling the self-mobile cleaning equipment to climb the shore facility in order to execute the shore procedure, the shore movement direction of the self-mobile cleaning equipment can be determined based on the environmental image, wherein the shore movement direction is the direction in which the self-mobile cleaning equipment moves toward the shore facility, and the self-mobile cleaning equipment is controlled to reach the shore facility along the shore movement direction, and the self-mobile cleaning equipment is controlled to climb the shore facility in order to execute the shore procedure.

[0044] Based on the environmental image of the landing facility identified, the direction of the self-moving cleaning device moving ashore is determined. It should be understood that when the landing facility is identified, the orientation of the image acquisition device on the self-moving cleaning device and the orientation of the self-moving cleaning device can be set to be the same, that is, the optical axis of the lens of the image acquisition device and the central axis of the head of the self-moving cleaning device completely coincide with each other, or they can be set to be different, that is, the optical axis of the lens of the image acquisition device and the projection line of the central axis of the head of the self-moving cleaning device on the ground plane are parallel and do not coincide with each other, or there is an angle between them. Therefore, even if the landing facility is identified from the collected environmental image, it does not mean that the landing facility is necessarily located in the forward direction of the self-moving cleaning device. In view of this, processing the environmental image and further determining the direction in which the self-moving cleaning device moves towards the landing facility is the key to further improving the movement efficiency when reaching the landing facility.

[0045] Optionally, while controlling the self-mobile cleaning device to reach the landing facility along the shore movement direction, environmental images can be continuously captured. Based on the results of identifying the landing facility in the environmental images, the self-mobile cleaning device's movement direction can be adjusted multiple times during movement to ensure that the self-mobile cleaning device moves in a direction closer to the landing facility. Optionally, the conditions for determining that the self-mobile cleaning device has reached the landing facility can include at least one of the following: Inertial Measurement Unit (IMU) parameters indicating that the self-mobile cleaning device has changed from a state of moving on the pool bottom to a state of climbing the landing facility. Taking swimming pool steps as an example, the arrival of swimming pool steps can be determined by the change in the self-mobile cleaning device's IMU parameters from a flat posture to at least one large-angle continuous pitch change during movement. Alternatively, the determination of whether the self-mobile cleaning device has reached the landing facility can be based solely on environmental images captured during movement. For example, the self-mobile cleaning device can be determined to have reached the landing facility when the image features of the landing facility in the captured environmental images meet a preset recognition result of a change from small to large, or when an identification mark on the landing facility is recognized in the captured environmental images.

[0046] In an embodiment of the present application, the landing direction of the self-mobile cleaning device is determined based on the environmental image, and the self-mobile cleaning device is controlled to move toward the landing facility based on the landing direction so that it can climb the landing facility and automatically land on the shore. Determining the landing direction of the self-mobile cleaning device based on the environmental image can prevent the self-mobile cleaning device from moving away from the landing facility, avoid fruitless movement of the self-mobile cleaning device, reduce the travel distance and travel time between the end of the cleaning operation and the arrival at the landing facility, and improve the automatic homing efficiency of the self-mobile cleaning device.

[0047] When determining the landing direction of the self-mobile cleaning device based on the environmental image, in one possible implementation, the landing direction can be determined based on feedback from the landing facility identification results of the environmental image. Specifically, when the landing facility is within a preset frame of the environmental image, the self-mobile cleaning device is controlled to move a set distance. The landing facility is then again captured and identified. If the landing facility is still within the preset frame, the movement and image acquisition and identification steps are repeated until the landing facility is reached. If the environmental image recognition results indicate that the landing facility is outside the preset frame, the distance to the side of the landing facility relative to the preset frame is determined, and the self-mobile cleaning device is controlled to turn left or right by a set angle toward the side of the landing facility until the landing facility is again within the preset image. The movement and image acquisition and identification steps are then repeated. The preset frame is a rectangular frame extending from the center of the image and concentric with the image. The preset distances and angles are preset values set by those skilled in the art based on the size and shape of the swimming pool and experience, and are suitable for scenarios where the self-mobile cleaning device requires multiple staged movements toward the landing facility. For example, the preset distance is set to 50 cm, and the preset angle is set to 15°.

[0048] Preferably, in a scheme for determining the direction of landing with higher movement efficiency and more accurate movement direction, the central area of the image part of the landing facility in the environmental image can be identified first, and then the deviation distance between the central area and the vertical center axis of the environmental image can be determined. Then, based on the deviation distance, the degree of deviation of the landing facility compared to the forward direction of the self-moving cleaning equipment can be determined, and then the landing facility can be accurately located and the direction of landing of the self-moving cleaning equipment can be determined.

[0049] In the above technical solution, the central area of the image of the landing facility in the environmental image is a central area of any shape that is symmetrically and evenly extended in the horizontal direction of the image with the central pixel point of the landing facility image as the center base point. For example, the above central area includes a circle with a diameter of at least one pixel width with the central pixel point of the landing facility image as the center point, or the above central area is a vertical pixel column with a width of at least one pixel where the central pixel point of the landing facility image is located. After identifying the central area of the image of the landing facility, the offset distance between the central area and the central axis of the environmental image in the vertical direction is determined. In one example, the offset distance can be the shortest distance between the center point of the central area and the above central axis in the horizontal direction of the image, or the offset distance can also be the shortest distance between the non-center point part of the central area and the above central axis in the horizontal direction of the image. Figure 2 is a schematic diagram of an environment image provided by an embodiment of the present application, such as Figure 2 As shown, Figure 2 The solid rectangular box in the figure indicates the edge of the collected image. Figure 2The dotted rectangle in the figure indicates the image area of the landing facility, the area O is the central area of the image of the landing facility, the straight line N is the central axis in the vertical direction, and the deviation distance K is the shortest distance between the central area O and the central axis N in the horizontal direction of the image. It should be understood that the vertical direction is parallel to Figure 2 The width direction D of the environment image in the horizontal direction is parallel to Figure 2 In another example, Figure 3 is a schematic diagram of another environment image provided by an embodiment of the present application, such as Figure 3 As shown, the central axis N is the central axis in the vertical direction. Figure 3 The environment image shown is vertically parallel to Figure 3 The length direction L of the environment image in the horizontal direction is parallel to Figure 3 The width direction D of the environment image in the image is determined. The landing direction of the self-moving cleaning device is determined according to the deviation distance K. The self-moving cleaning device is controlled to move toward the shore facility according to the landing direction.

[0050] In an embodiment of the present application, the shore movement direction of the self-mobile cleaning device is determined based on the offset distance between the central area of the image of the shore facility in the environmental image and the vertical center axis of the environmental image. Therefore, when controlling the self-mobile cleaning device to move in the shore movement direction, it can ensure that the self-mobile cleaning device can accurately position and move the shore facility over a long distance, prevent the self-mobile cleaning device from always or gradually moving away from the shore facility in the process of moving close to the shore facility, minimize the shortest moving distance between the self-mobile cleaning device and the shore facility, autonomously plan the optimal shore movement route, and significantly reduce the time required for the self-mobile cleaning device to perform the shore task.

[0051] In one possible implementation, when determining the shore movement direction of the self-mobile cleaning equipment based on the deviation distance, the deviation angle of the self-mobile cleaning equipment relative to the shore facility can be determined based on the offset distance, the horizontal field of view angle of the self-mobile cleaning equipment, and the total pixel length in the horizontal direction L of the environmental image, and the direction of the self-mobile cleaning equipment after rotating toward the shore facility by the deviation angle is determined as the shore movement direction.

[0052] For example, consider a scenario where the optical axis of the lens of the image capture device of a self-propelled cleaning device coincides with the central axis of the self-propelled cleaning device's head. When the image capture device of the self-propelled cleaning device is installed in the direction of travel of the self-propelled cleaning device, the image captured by the image capture device is an image of the environment in the direction of travel of the self-propelled cleaning device. Figure 4 This is a schematic diagram of the field of view of a self-moving cleaning device provided in an embodiment of the present application. Figure 4 As shown, Figure 4401 in the figure is a self-moving cleaning device. Figure 4 The rectangle 402 is the environment image, FOV h is the horizontal field of view of the image acquisition device, FOV v is the vertical field of view of the image acquisition device. The internal parameters of the image acquisition device (e.g., camera) indicate that the endpoints of the environmental image are located on the extension lines of the field of view. Based on this, the deviation angle θ of the self-propelled cleaning device relative to the landing facility can be calculated using the following formula based on the offset distance between the landing facility in the image and the vertical center axis of the image, the horizontal field of view parameter of the self-propelled cleaning device, and the total horizontal pixel length of the environmental image:

[0053]

[0054] θ is used to characterize the deviation angle of the self-moving cleaning device relative to the landing facility, K is used to characterize the deviation distance between the central area of the image of the landing facility in the environment image and the central axis in the vertical direction of the environment image, w is used to characterize the total pixel length in the horizontal direction of the environment image, and FOV h Used to characterize the horizontal field of view of a self-propelled cleaning device.

[0055] It should be understood that since the offset distance is the distance between the central area and the vertical axis, the line between the vertical axis of the environmental image and the image acquisition device of the self-moving cleaning device is the FOV h And according to the internal parameters of the image acquisition device, when the image acquisition device is set in front of the self-moving cleaning device, the moving direction of the self-moving cleaning device is FOV h The direction of the angle bisector of the image, that is, the extension direction of the line between the vertical center axis of the environmental image and the image acquisition device of the self-mobile cleaning device is the movement direction of the self-mobile cleaning device. Therefore, the deviation coefficient between the self-mobile cleaning device and the landing facility can be determined according to the ratio between the offset distance and half of the total pixel length. The product between them can determine the deviation angle between the traveling direction of the self-propelled cleaning device and the landing facility.

[0056] It should be understood that the above is only an example to illustrate the implementation principle. Any formula that can determine the horizontal deviation distance between the landing facility and the self-moving cleaning device and determine the deflection angle of the self-moving cleaning device based on the deviation degree corresponding to the deviation distance parameter can be used to determine the above-mentioned landing direction. For example, multiple sets of deflection angle numerical range mappings are preset, [a1, a2] corresponds to the deflection angle θ1, [a3, a4] corresponds to the deflection angle θ2, ..., after calculating the deviation distance K and w / 2, the numerical range into which the result falls is determined, and the mapping angle corresponding to the numerical range into which it falls is used as the angle at which the self-moving cleaning device should be deflected toward the landing facility. Alternatively, when the image acquisition device is set at a different position of the self-moving cleaning device, such as the lens of the image acquisition device is deflected to the left / right by a certain installation angle compared to the direction of travel of the self-moving cleaning device, it is necessary to perform an angle increase / decrease compensation conversion based on the above calculation formula using the installation angle parameter to obtain the actual deviation angle of the direction of travel of the self-moving cleaning device relative to the landing facility. The specific calculation formula is not limited in this embodiment of the application. In addition, the deflection angle θ can be 0. When the deflection angle θ is 0, it means that the landing facility is basically located in front of the nose of the self-propelled cleaning device, and the current direction of the self-propelled cleaning device can be used as the landing direction without rotation.

[0057] In an embodiment of the present application, the deviation angle of the self-mobile cleaning device relative to the shore facility is determined based on the offset distance, the field of view of the self-mobile cleaning device in the horizontal direction, and the total pixel length of the environmental image in the horizontal direction, and the orientation of the self-mobile cleaning device after being rotated toward the shore facility by the deviation angle is determined as the shore movement direction, thereby achieving accurate determination of the shore movement direction, so that the self-mobile cleaning device generates an efficient movement path to the shore facility by first deflecting before approaching, ensuring that the self-mobile cleaning device moves accurately in the direction approaching the shore facility, preventing the self-mobile cleaning device from deviating from the shore facility during movement, and increasing the overall time taken for docking ashore.

[0058] Due to limitations such as the shape of the pool edge, the location or orientation of the self-propelled cleaning device at the end of its cleaning run, and the number and orientation of image acquisition devices, in some cases, the landing facilities may not be within the self-propelled cleaning device's field of view. In this case, in one possible implementation, if the landing facilities are not recognized in the environmental image, the self-propelled cleaning device is controlled to rotate at least once according to a preset angle, and an environmental image is captured after each rotation until the landing facilities are recognized in the captured environmental image.

[0059] When no landing facilities are identified based on the environmental image, the self-mobile cleaning device is controlled to rotate in place. When the self-mobile cleaning device is controlled to rotate, the self-mobile cleaning device can be controlled to rotate at least once according to a preset angle. Optionally, the preset angle is less than or equal to the horizontal field of view angle of the self-mobile cleaning device, so that environmental images in multiple circumferential directions of the self-mobile cleaning device can be obtained after completing the preset number of rotations.

[0060] Specifically, if no landing facilities are identified in the environmental image, the self-propelled cleaning device is controlled to rotate left or right by a preset angle, then the environmental image is captured again and the landing facilities are identified. If a landing facility is identified, the rotation stops, and the deflection angle between the landing facility and the self-propelled cleaning device is calculated to determine the landing direction. If no landing facility is identified, the self-propelled cleaning device continues to rotate by the preset angle and repeats the image acquisition and recognition steps until a landing facility is identified, the total rotation angle reaches 360 degrees, or the number of rotations reaches the set number, at which point the landing facility search process ends.

[0061] In an embodiment of the present application, if the landing facilities are not identified, the self-moving cleaning device is controlled to rotate at least once according to a preset angle, and an environmental image is collected after each rotation is completed, until the landing facilities are identified based on the collected environmental image. Therefore, when the landing facilities are not identified, environmental images in different directions around the self-moving cleaning device can be collected by rotating the self-moving cleaning device to achieve the search for the landing facilities. Based on this setting, for search scenarios where the distance between the landing facilities and the self-moving cleaning device is close, but the self-moving cleaning device is seriously deviated from or even away from the landing facilities and cannot visually locate the landing facilities, the self-moving cleaning device can perform operations of quickly turning its head and efficiently searching for the landing facilities, thereby improving the success rate of locating the landing facilities.

[0062] In another possible implementation, if the landing facility is not identified, the self-moving cleaning device is controlled to move along the search path to find the slope of the bottom of the swimming pool. If the bottom slope is found, the self-moving cleaning device is controlled to move from the first area where it is located through the bottom slope to the second area where the landing facility is located, and after the self-moving cleaning device moves to the second area, the landing facility is identified again, wherein the first area and the second area can be the same area, or two areas with different pool bottom depths.

[0063] Swimming pools have a variety of terrain types. In addition to flat-bottom pools, some pools include multiple areas with different bottom depths, such as: Figure 5The swimming pool shown in the figure includes a shallow water area 503, a pool bottom slope 502, a deep water area 501, etc. The pool has different depths in different areas, and the pool bottom of the deep water area and the shallow water area are connected by a slope structure. The reason why the self-moving cleaning device fails to identify the landing facilities may also be that it is too far away from the landing facilities, exceeding the visual acquisition range of the self-moving cleaning device, such as the self-moving cleaning device is not in the same swimming pool area as the landing facilities, or the landing facilities are blocked by a special-shaped pool wall. In this case, the self-moving cleaning device can be controlled to move according to the search path to find the pool bottom slope, and then move through the pool bottom slope to the shallow water area where the landing facilities are located, and then identify the landing facilities again in this area.

[0064] In the above technical solution, the above operation enables the self-mobile cleaning device to switch from the area where it is located to another area where the shore facilities are located through the pool bottom slope, or to re-enter the area through the pool bottom slope from a remote location in the area where the shore facilities are located. For example, when the shore facilities are set at the shore of the shallow water area (or deep water area), if the self-mobile cleaning device cannot identify the shore facilities because it is in the deep water area (or shallow water area), or cannot identify the shore facilities because it is blocked by special-shaped walls, obstacles, etc. (the position may be in any of the shallow water area, deep water area, and pool bottom slope), then, after determining the position of the pool bottom slope through the above path search, the self-mobile cleaning device can enter or re-enter the shallow water area (or deep water area) through the pool bottom slope. This operation can ensure that the self-mobile cleaning device is in the area of the swimming pool where it can go ashore, provide an execution basis for successfully locating the shore facilities, and based on the execution logic of first locating the area where the shore facilities are located and then locating the shore facilities, improve the probability of successful landing and docking. Optionally, controlling the self-mobile cleaning device to move according to the search path and controlling the self-mobile cleaning device to rotate at least once according to a preset angle in the aforementioned embodiment can be performed sequentially. In one example, when the environmental image collected by the self-mobile cleaning device does not identify the shore facilities, the above-mentioned program of rotating in situ at least once and re-visually identifying the shore facilities can be executed first. If the shore facilities are still not identified after the execution of this program, the self-mobile cleaning device is controlled to execute the search program for the pool bottom slope, and vice versa. In other words, the above-mentioned two search programs after the shore facilities cannot be identified and located can be used alone or in combination in a sequential order. Furthermore, whether it is rotating in situ to search for the shore facilities directly, or searching the pool bottom slope first and entering the shallow water area before searching for the shore facilities, if the shore facilities are still not identified after all the set search programs are executed, the self-mobile cleaning device is controlled to send an alarm signal, or, while sending an alarm signal, stop close to the pool wall to wait for manual processing.

[0065] In one possible implementation, when controlling the self-moving cleaning device to move along the search path and search for the bottom slope of the swimming pool, the self-moving cleaning device can be controlled to execute at least one wall-hitting turning path, and the posture parameters of the self-moving cleaning device can be obtained during the movement. If the posture parameters indicate that the pitch angle of the self-moving cleaning device is within a preset range and the duration is greater than the duration threshold, it is determined that the bottom slope of the swimming pool has been found.

[0066] The path search may include at least one path that hits a wall and turns, such as a V-shaped path, a W-shaped path, a bow-shaped path, a zigzag path, etc. Preferably, the path that hits a wall and turns is a star-shaped path.

[0067] In the above steps, the "wall collision" of the wall collision turning path is not limited to the position where the self-cleaning mobile device moves to the collision pool wall, but can also include the situation where the self-cleaning mobile device moves close to but does not touch the pool wall and the distance between it and the pool wall is less than the set distance.

[0068] The above implementation method is described in detail below, taking into account the situation where the landing facilities are located on the shore in a shallow water area and the search path is a star-shaped path:

[0069] Figure 5 This is a schematic diagram of a path search provided by an embodiment of the present application, such as Figure 5 As shown, the self-mobile cleaning device 401 is located in a deep water area 501 where no landing facilities are provided. When controlling the self-mobile cleaning device 401 to move in a star-shaped path, the self-mobile cleaning device 401 can be first controlled to move in a straight line at the bottom of the pool in the deep water area 501, and after reaching the wall position near the pool wall, the self-mobile cleaning device 401 is controlled to rotate a certain angle, and then the self-mobile cleaning device 401 after the rotation is controlled to continue to move in a straight line to perform the next wall turning action. Optionally, each time after the self-mobile cleaning device 401 arrives at the pool wall position, the self-mobile cleaning device 401 is controlled to rotate 144 degrees to the right and then move in a straight line to perform a path search similar to a five-pointed star. In the execution process of the above-mentioned path search, the posture parameters of the self-mobile cleaning device are continuously obtained until the posture parameters of the self-mobile cleaning device are detected in motion to indicate that the self-mobile cleaning device has moved from the flat position of the pool bottom to the slope position that meets the slope of the pool bottom slope. Then, the self-mobile cleaning device is controlled to move uphill and move to the shallow water area 503 through the pool bottom slope 502.

[0070] In addition, if all the star-shaped wall-hitting and turning path segments are executed, or the number of star-shaped path search executions reaches a set number, and the pool bottom slope 502 is still not detected during the movement, the self-moving cleaning device 401 can be controlled to stop moving according to the search path.

[0071] In one example, IMU parameters can be used to detect that the self-propelled cleaning device has reached the pool wall. When the IMU parameters indicate that the self-propelled cleaning device is climbing a wall, the self-propelled cleaning device can be controlled to perform a U-turn. In another example, a distance detection sensor, such as a sonar radar or infrared sensor, can be used to detect the relative position of the self-propelled cleaning device and the pool wall. When the distance between the self-propelled cleaning device and the pool wall is less than a certain value, the self-propelled cleaning device can be controlled to rotate.

[0072] In the above embodiment, the aforementioned posture parameters are IMU parameters, and the posture changes of the self-propelled cleaning device are determined based on the IMU parameters. It should be understood that when the self-propelled cleaning device is located on a sloped pool bottom, the pitch / elevation angles of the self-propelled cleaning device are significantly larger than when it is moving on the pool bottom in deep / shallow water. Based on this, if the posture parameters indicate that the pitch angle of the self-propelled cleaning device is within a preset range and persists for a duration greater than a threshold, it is determined that the pool bottom slope has been found. The preset range of pitch angle change is set based on the slope of the pool bottom. For example, if the slope of the pool bottom slope is between 15° and 30°, and the self-mobile cleaning device is moving from the deep water area 501 to the shallow water area 503 and the detected posture of the pool bottom slope is an uphill posture, if the posture parameter indicates that the pitch angle of the self-mobile cleaning device changes from a flat posture of 0 to 10° to an inclined posture of 15° to 30°, and the duration of this inclined posture is greater than the preset duration threshold, then it is determined that the pool bottom slope 502 has been found. Alternatively, in the opposite case, if the self-mobile cleaning device is moving from the shallow water area to the deep water area and the detected posture of the pool bottom slope is a downhill posture, if the posture parameter indicates that the pitch angle of the self-mobile cleaning device changes from a flat posture of 0 to 10° to an inclined posture of 15° to 30°, and the duration of the inclined posture is greater than the duration threshold, then it is determined that the pool bottom slope has been found.

[0073] In an embodiment of the present application, the self-moving cleaning device is controlled to execute at least one wall-hitting turning path, and the posture parameters of the self-moving cleaning device are obtained during the movement. If the posture parameters indicate that the pitch angle of the self-moving cleaning device is within a preset range and the duration is greater than a duration threshold, it is determined that the bottom slope of the swimming pool is found, thereby realizing the identification of the bottom slope of the swimming pool. By controlling the self-moving cleaning device to execute at least one wall-hitting turning path, the self-moving cleaning device can be controlled to move over a large range inside the swimming pool to realize the search for the bottom slope of the pool. When the pitch angle is within the preset range and the duration is greater than the duration threshold, it is determined that the bottom slope of the swimming pool is found. Therefore, based on the posture characteristics of the self-moving cleaning device on the bottom slope of the pool, it can be determined whether the self-moving cleaning device is on the bottom slope of the pool, thereby preventing the occurrence of false detection and improving the accuracy of the pool bottom slope detection.

[0074] In one possible implementation, when controlling the self-moving cleaning device to move from a first area of the swimming pool to a second area through the pool bottom slope, the self-moving cleaning device can be controlled to find the midpoint of the slope width of the pool bottom slope, and the self-moving cleaning device can be controlled to move from the midpoint of the slope width along the slope direction of the pool bottom slope from the first area to the second area.

[0075] When controlling the self-moving cleaning device to find the midpoint of the width of the pool bottom slope, the self-moving cleaning device can be controlled to move against the wall along the width direction of the pool bottom slope to determine the width of the pool bottom slope, and then the midpoint of the width of the pool bottom slope is determined according to the width of the pool bottom slope. Figure 6 Schematic diagram of a pool bottom slope travel mode of a self-moving cleaning device provided in an embodiment of the present application, such as Figure 6 As shown, after the self-mobile cleaning device 401 finds the pool bottom slope 502, it moves along the width of the pool bottom slope 502 against the wall. In one example, the distance traveled by the self-mobile cleaning device 401 between two wall collisions can be detected, and the distance traveled between the two wall collisions can be determined as the width of the pool bottom slope 502. After determining the width of the pool bottom slope, the self-mobile cleaning device 401 is controlled to move along the width of the pool bottom slope 502 by a distance of half the width of the slope to reach the midpoint A of the width of the pool bottom slope. The self-mobile cleaning device is then controlled to move from the midpoint A along the slope direction of the pool bottom slope. Alternatively, the self-mobile cleaning device can be controlled to move from the midpoint A along the absolute slope direction perpendicular to the pool bottom slope 502 from the first area to the second area.

[0076] In an embodiment of the present application, the direction of movement into the second area is determined based on the midpoint of the slope width and the slope direction of the pool bottom slope. On the one hand, it can ensure that the self-cleaning equipment uses the approximate middle of the pool bottom slope as the starting point of movement and moves toward the top of the slope, thereby preventing the self-cleaning equipment from hitting the wall due to the inclination of the moving route on the slope during uphill and downhill movement, and can make both sides of the equipment evenly stressed, preventing the self-cleaning equipment from skidding sideways, and improving the stability of the uphill and downhill movement of the self-cleaning equipment; on the other hand, it can enable the self-cleaning mobile device to enter the second area from the middle of the entrance of the second area, reducing the difficulty of the self-cleaning mobile device moving to the center area of the second area, so that the self-cleaning mobile device can be more easily positioned and moved to the shore facilities, further improving the success rate of autonomous shore docking.

[0077] In one possible implementation, when the self-cleaning mobile device climbs the shore facility and executes the shore procedure, the posture parameters and water entry and exit status parameters of the self-mobile cleaning device can be obtained. If the posture parameters indicate that the self-mobile cleaning device is in a flat position, and the water entry and exit status parameters indicate that the self-mobile cleaning device is in the water exit state, it means that the self-cleaning mobile device has climbed the shore facility and moved to the shore ground. At this time, the self-mobile cleaning device is controlled to dock at the shore target position, wherein the shore target position includes at least one of a set docking position on the shore and a base station of the self-mobile cleaning device. The shore target position can be determined by a factory preset method, such as docking at a base station by default, or it can be set by a user-defined method, such as the user setting the self-cleaning mobile device to move and dock at a certain area on the shore after landing.

[0078] The posture parameters and water entry and exit status parameters of the self-mobile cleaning device are obtained. The posture parameters can indicate the posture of the self-mobile cleaning device and distinguish the status of the self-mobile cleaning device climbing the wall, climbing the shore facilities and moving to the shore area. The water entry and exit status parameters can indicate whether the self-mobile cleaning device is located in the water or outside the water. In one example, the IMU parameters can be obtained as the above-mentioned posture parameters, and the sonar sensor parameters can be obtained as the water entry and exit status parameters of the self-mobile cleaning device. It should be understood that, taking the sonar sensor as an example, since the sonar echo intensity values of the sonar sensor underwater and in the air have obvious differences, the sonar echo intensity value in the air is higher and the sonar echo intensity value underwater is lower. Therefore, when the sonar echo intensity value of the sonar sensor changes significantly, it can be determined that the environmental medium in which the self-mobile cleaning device is currently located has changed, that is, it has moved out of the water from underwater or submerged from the water surface, that is, the self-mobile cleaning device is located in the water or outside the water. Optionally, when the sonar echo intensity value falls from the first intensity range into the second intensity range, it is determined that the self-propelled cleaning device has surfaced from underwater or submerged from the surface. Optionally, when the first intensity range is smaller than the second intensity range, when the sonar echo intensity value falls into the first intensity range, it indicates that the self-propelled cleaning device is underwater, and when the sonar echo intensity value falls into the second intensity range, it indicates that the self-propelled cleaning device is above water.

[0079] If the posture parameters indicate that the self-mobile cleaning device is in a flat position, and the water entry and exit state parameters indicate that the self-mobile cleaning device is in an out-of-water state, it can be determined that the self-mobile cleaning device has come ashore, and the self-mobile cleaning device can be controlled to dock at the target landing position. In one example, when the IMU parameters indicate that the pitch angle of the self-mobile cleaning device is within the flat angle range, it is determined that the self-mobile cleaning device is in a flat position. For example: when the IMU parameters indicate that the pitch angle of the self-mobile cleaning device is within the range of 0° to 5°, it is determined that the self-mobile cleaning device is in a flat position.

[0080] As an alternative embodiment, the self-mobile cleaning device can also be used to determine whether it has landed on shore based on image information captured by an image acquisition device within the self-mobile cleaning device. Specifically, the image acquisition device performs image recognition on the environmental image of the pool shore area. If landed features, such as shore buildings or environmental facilities, or pre-set signs, are identified, the self-mobile cleaning device has successfully landed on shore. At this point, the self-mobile cleaning device can be controlled to dock at the target landed location.

[0081] Optionally, taking the base station of the self-mobile cleaning device as an example, when the self-mobile cleaning device that is controlled to go ashore docks at the target landing position, an environmental image can be collected, and the characteristics of the base station can be identified based on the environmental image. The characteristics of the base station can include at least one of the base station shape characteristics, base station specific patterns, or base station light sources. The moving direction of the self-mobile cleaning device on the shore is determined based on the base station characteristics. The specific movement scheme can adopt a similar scheme to the execution of the landing procedure in the aforementioned embodiment, or adopt other schemes, which are not limited here. In addition to the visual scheme, the self-mobile cleaning device can also receive wireless signals transmitted by the base station (for example: RFID signals, Bluetooth signals, etc.). The self-mobile cleaning device can adjust the moving direction according to the signal strength of the received signal to achieve docking at the target landing position.

[0082] In an embodiment of the present application, the posture parameters and water entry and exit status parameters of the self-mobile cleaning device are obtained. If the posture parameters indicate that the self-mobile cleaning device is in a flat position, and the water entry and exit status parameters indicate that the self-mobile cleaning device is in an out-of-water state, the self-mobile cleaning device is controlled to dock at the target landing position, thereby realizing the control of the self-mobile device to perform the landing task. Since the self-mobile cleaning device is automatically docked at the target landing position when it is detected that the self-mobile cleaning device has successfully landed, the self-mobile cleaning device can automatically complete tasks such as charging and filter basket garbage cleaning without human participation in the landing process, thereby improving the user experience.

[0083] In one possible implementation, if the posture parameter indicates that the self-moving cleaning device is in a climbing posture, and the water entry and exit state parameter indicates that the self-moving cleaning device is in an out-of-water state, the self-moving cleaning device is controlled to dock at an underwater target position, wherein the underwater target position includes at least one of the top of the shore facility and the waterline position of the swimming pool wall.

[0084] If the self-mobile cleaning device is in a climbing posture and the water entry and exit status parameters indicate that the self-mobile cleaning device is in an out-of-water state, it proves that the self-mobile cleaning device is above the water surface at this time, but has not successfully landed. At this time, the self-mobile cleaning device can be controlled to dock to the underwater target position. It should be understood that if the height difference between the top of the landing facility and the shore of the swimming pool is large, the self-mobile cleaning device may be unable to land. At this time, since the self-mobile cleaning device is in a forward state, the self-mobile cleaning device will continue to climb in a vertical posture that is close to the swimming pool wall above the top surface of the landing facility, that is, the self-mobile cleaning device is in a climbing posture and is outside the water surface. In the above situation, the self-mobile cleaning device can be controlled to dock to the underwater target position, so that the self-mobile cleaning device is docked at an easy-to-retrieve position on the shore inside the swimming pool, at least completing part of the landing action, so that the user can take out the self-mobile cleaning device without retrieval tools, reducing the difficulty for the user to retrieve it. Optionally, when the self-mobile cleaning device is in a climbing posture and the water entry and exit state parameters indicate that the self-mobile cleaning device has been in the water exit state for a duration that satisfies a set duration, the self-mobile cleaning device can be controlled to dock at the underwater target position. In one example, when the IMU parameters indicate that the pitch angle of the self-mobile cleaning device is within the climbing angle range, the self-mobile cleaning device is determined to be in a climbing posture. For example, when the IMU parameters indicate that the pitch angle of the self-mobile cleaning device is within the range of 45° to 90°, the self-mobile cleaning device is determined to be in a climbing posture. The climbing angle can be set according to the slope of the landing facilities and the slope of the pool wall area passed by the landing climb.

[0085] In an embodiment of the present application, if the posture parameter indicates that the self-mobile cleaning equipment is in a climbing posture, and the water entry and exit state parameter indicates that the self-mobile cleaning equipment is in an out-of-water state, the self-mobile cleaning equipment is controlled to dock at the underwater target position, thereby improving the degree of automation of equipment docking when the shore layout environment is not suitable for the self-mobile cleaning equipment to move to the shore area, and enhancing the scenario universality of the self-mobile cleaning equipment autonomous shore docking solution of the present application.

[0086] Figure 7 This is a schematic diagram of a landing device for a self-moving cleaning device provided in an embodiment of the present application. Figure 7 As shown, the apparatus 700 includes:

[0087] The identification unit 701 is used to identify the landing facility when the self-propelled cleaning device performs the landing task in the swimming pool;

[0088] The control unit 702 is configured to control the self-moving cleaning device to climb the landing facility if a landing facility is identified, so as to perform a landing procedure.

[0089] In the embodiment of the present application, the identification unit 701 may be used to execute step 101 in the above method embodiment, and the control unit 702 may be used to execute step 102 in the above method embodiment.

[0090] In a possible implementation, the identification unit 701 may also collect an environmental image of the area where the mobile cleaning device is located, and identify the landing facilities from the environmental image.

[0091] In one possible implementation, the control unit 702 can also determine the shore movement direction of the self-mobile cleaning equipment based on the environmental image, wherein the shore movement direction is the direction in which the self-mobile cleaning equipment moves toward the shore facility; control the self-mobile cleaning equipment to reach the shore facility along the shore movement direction; and control the self-mobile cleaning equipment to climb the shore facility in order to execute the shore procedure.

[0092] In one possible implementation, the control unit 702 can also identify the central area of the image of the landing facility in the environmental image; determine the deviation distance between the central area and the central axis in the vertical direction of the environmental image; and determine the landing direction of the self-moving cleaning equipment based on the deviation distance.

[0093] In one possible implementation, the control unit 702 can also determine the deviation angle of the self-mobile cleaning equipment relative to the shore facility based on the offset distance, the horizontal field of view angle of the self-mobile cleaning equipment, and the total pixel length of the environmental image in the horizontal direction; and determine the direction of the self-mobile cleaning equipment after it is rotated toward the shore facility by the deviation angle as the shore movement direction.

[0094] In one possible implementation, if the landing facility is not identified, the control unit 702 can also control the self-moving cleaning device to rotate at least once according to a preset angle, and collect environmental images after each rotation until the landing facility is identified in the collected environmental image.

[0095] In one possible implementation, the swimming pool is a partitioned swimming pool including a shallow water area and a deep water area. The control unit 702 can also control the self-moving cleaning device to move along the search path to find the pool bottom slope if no landing facilities are identified; if the pool bottom slope is found, the self-moving cleaning device is controlled to move from the first area of the swimming pool to the second area of the swimming pool through the pool bottom slope, and after the self-moving cleaning device moves to the second area, the landing facilities are identified again, wherein the area where the self-moving cleaning device is located is the first area, the landing facilities are arranged on the shore of the second area, and the pool bottom slope connects the pool bottom surfaces of the shallow water area and the deep water area.

[0096] In one possible implementation, the control unit 702 can also control the self-moving cleaning device to execute at least one wall-hitting turning path, and obtain the posture parameters of the self-moving cleaning device during the movement; if the posture parameters indicate that the pitch angle of the self-moving cleaning device is within a preset range and the duration is greater than the duration threshold, it is determined that the bottom slope of the swimming pool is found.

[0097] In one possible implementation, the control unit 702 can also control the self-moving cleaning device to find the midpoint of the slope width of the pool bottom slope; control the self-moving cleaning device to move from the first area to the second area along the slope direction of the pool bottom slope from the midpoint of the slope width.

[0098] In one possible implementation, the control unit 702 can also obtain the posture parameters and water entry and exit status parameters of the self-mobile cleaning device; if the posture parameters indicate that the self-mobile cleaning device is in a flat position, and the water entry and exit status parameters indicate that the self-mobile cleaning device is in an out-of-water state, the self-mobile cleaning device is controlled to dock to the target landing position, wherein the target landing position includes a set docking position on the shore and at least one of the base stations of the self-mobile cleaning device.

[0099] In one possible implementation, the control unit 702 can also control the self-moving cleaning device to dock at an underwater target position if the posture parameter indicates that the self-moving cleaning device is in a climbing posture and the water entry and exit state parameter indicates that the self-moving cleaning device is in an out-of-water state, wherein the underwater target position includes at least one of the top and waterline of the landing facility.

[0100] In one possible implementation, the control unit 702 may also capture an environmental image of the pool shore area; identify landing features in the environmental image; determine whether the self-mobile cleaning device has successfully landed based on the identification results of the landing features; if the self-mobile cleaning device has successfully landed, control the self-mobile cleaning device to dock at the landing target position, wherein the landing target position includes at least one of a set docking position on the shore and a base station of the self-mobile cleaning device.

[0101] Reference Figure 8 , shows a structural diagram of an electronic device according to an embodiment of the present application. The specific embodiment of the present application does not limit the specific implementation of the electronic device.

[0102] like Figure 8 As shown, the electronic device may include: a processor (processor) 802 , a communication interface (Communications Interface) 804 , a memory (memory) 806 , and a communication bus 808 .

[0103] in:

[0104] The processor 802 , the communication interface 804 , and the memory 806 communicate with each other via a communication bus 808 .

[0105] The communication interface 804 is used to communicate with other electronic devices or servers.

[0106] The processor 802 is configured to execute the program 810, and specifically to execute the relevant steps in the above-mentioned embodiment of the method for landing the self-moving cleaning device.

[0107] Specifically, the program 810 may include program codes, which include computer operation instructions.

[0108] The processor 802 may be a central processing unit (CPU), a graphics processing unit (GPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application. The one or more processors included in the smart device may be processors of the same type, such as one or more CPUs; one or more GPUs; or different types of processors, such as one or more CPUs, one or more GPUs, and one or more ASICs.

[0109] The memory 806 is used to store the program 810. The memory 806 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0110] The program 810 may be specifically configured to enable the processor 802 to execute the method for disembarking a self-moving cleaning device in any of the aforementioned embodiments.

[0111] The specific implementation of each step in procedure 810 can be found in the corresponding descriptions of the corresponding steps and units in any of the aforementioned embodiments of the method for disembarking a self-propelled cleaning device, and will not be repeated here. Those skilled in the art will clearly understand that for the sake of convenience and brevity, the specific working processes of the above-described devices and modules can refer to the corresponding process descriptions in the aforementioned method embodiments, and will not be repeated here.

[0112] In an embodiment of the present application, a disembarkation facility is identified. If a disembarkation facility is identified, the self-mobile cleaning device is controlled to climb the disembarkation facility to execute the disembarkation procedure, thereby realizing the control of the self-mobile cleaning device to automatically go ashore. The scheme in the embodiment of the present application can control the self-mobile device to automatically perform the disembarkation task through the disembarkation facility. Compared with the existing technology, there is no need to manually retrieve the self-mobile cleaning device from the inside of the swimming pool to the shore, that is, there is no need for human participation in the disembarkation process of the self-mobile cleaning device, the manual labor intensity is low, and the user experience can be improved.

[0113] An embodiment of the present application also provides a computer program product, including computer instructions, which instruct a computing device to execute operations corresponding to any one of the above-mentioned multiple method embodiments.

[0114] It should be pointed out that, according to the needs of implementation, the various components / steps described in the embodiments of the present application can be split into more components / steps, or two or more components / steps or partial operations of components / steps can be combined into new components / steps to achieve the purpose of the embodiments of the present application.

[0115] The above-described method according to the embodiment of the present application can be implemented in hardware, firmware, or as software or computer code that can be stored in a recording medium (such as a CD ROM, RAM, floppy disk, hard disk or magneto-optical disk), or as computer code that is originally stored in a remote recording medium or a non-temporary machine-readable medium and is to be stored in a local recording medium, which is downloaded via a network, so that the method described herein can be stored in such software processing on a recording medium using a general-purpose computer, a dedicated processor or programmable or dedicated hardware (such as an ASIC or FPGA). It is understood that the computer, processor, microprocessor controller or programmable hardware includes a storage component (e.g., RAM, ROM, flash memory, etc.) that can store or receive software or computer code. When the software or computer code is accessed and executed by the computer, processor or hardware, the method for disembarking the self-mobile cleaning device described herein is implemented. In addition, when a general-purpose computer accesses the code for implementing the method for disembarking the self-mobile cleaning device shown herein, the execution of the code converts the general-purpose computer into a dedicated computer for executing the method for disembarking the self-mobile cleaning device shown herein.

[0116] Those skilled in the art will appreciate that the units and method steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the embodiments of this application.

[0117] The above implementation methods are only used to illustrate the embodiments of the present application, and are not intended to limit the embodiments of the present application. Ordinary technicians in the relevant technical field can make various changes and modifications without departing from the spirit and scope of the embodiments of the present application. Therefore, all equivalent technical solutions also fall within the scope of the embodiments of the present application, and the scope of patent protection of the embodiments of the present application should be defined by the claims.

Claims

1. A method for disembarking a self-propelled cleaning device, wherein the self-propelled cleaning device is used to clean a swimming pool, characterized in that: The method comprises: When the self-propelled cleaning device performs a landing task in the swimming pool, identifying a landing facility; If the landing facility is identified, the self-moving cleaning device is controlled to climb the landing facility so as to perform a landing procedure.

2. The method according to claim 1, characterized in that The identification of landing facilities includes: Collecting an environmental image of the area where the self-mobile cleaning device is located; The landing facility is identified from the environment image.

3. The method according to claim 2, characterized in that The step of controlling the self-moving cleaning device to climb the landing facility so as to perform the landing procedure comprises: Determining a landing direction of the self-propelled cleaning device according to the environmental image, wherein the landing direction is a direction in which the self-propelled cleaning device moves toward the landing facility; Controlling the self-moving cleaning device to reach the landing facility along the landing movement direction; The self-moving cleaning device is controlled to climb the landing facility so as to perform the landing procedure.

4. The method according to claim 3, characterized in that Determining the landing direction of the self-propelled cleaning device according to the environmental image includes: identifying a central area of the image of the landing facility in the environment image; determining a deviation distance between the central area and a central axis in a vertical direction of the environment image; The shoreward moving direction of the self-propelled cleaning device is determined according to the deviation distance.

5. The method according to claim 4, characterized in that Determining the landing direction of the self-propelled cleaning device according to the deviation distance includes: determining a deviation angle of the self-propelled cleaning device relative to the landing facility based on the offset distance, the horizontal field of view of the self-propelled cleaning device, and the total pixel length of the environment image in the horizontal direction; The direction of the self-moving cleaning device after rotating the deviation angle toward the landing facility is determined as the landing moving direction.

6. The method according to claim 2, characterized in that The method further comprises: If the landing facility is not identified, the self-moving cleaning device is controlled to rotate at least once according to a preset angle, and the environmental image is collected after each rotation is completed until the landing facility is identified in the collected environmental image.

7. The method according to claim 1, characterized in that The swimming pool is a zoned swimming pool including a shallow water area and a deep water area, and the method further comprises: If the landing facility is not identified, controlling the self-moving cleaning device to move along the search path to find the pool bottom slope; If the pool bottom slope is found, the self-moving cleaning device is controlled to move from the first area of the swimming pool to the second area of the swimming pool through the pool bottom slope, and after the self-moving cleaning device moves to the second area, the landing facility is identified again, wherein, The area where the self-moving cleaning equipment is located is the first area, the landing facilities are arranged on the shore of the second area, and the pool bottom slope connects the pool bottom surfaces of the shallow water area and the deep water area.

8. The method according to claim 7, characterized in that The controlling the self-moving cleaning device to move according to the search path to search for the bottom slope of the swimming pool includes: Controlling the self-moving cleaning device to execute at least one wall-impacting turning path, and obtaining posture parameters of the self-moving cleaning device during the movement; If the posture parameter indicates that the pitch angle of the self-moving cleaning device is within a preset range and the duration is greater than a duration threshold, it is determined that the pool bottom slope of the swimming pool is found.

9. The method according to claim 8, characterized in that The controlling the self-moving cleaning device to move from the first area of the swimming pool to the second area of the swimming pool via the pool bottom slope comprises: Controlling the self-moving cleaning device to find the midpoint of the width of the pool bottom slope; The self-moving cleaning device is controlled to move from the midpoint of the slope width along the slope direction of the pool bottom slope from the first area to the second area.

10. The method according to any one of claims 1 to 9, characterized in that: The implementation of the landing procedures includes: Obtaining the posture parameters and water inlet and outlet state parameters of the self-moving cleaning device; If the posture parameter indicates that the self-moving cleaning device is in a flat position, and the water entry and exit state parameter indicates that the self-moving cleaning device is in a water exit state, the self-moving cleaning device is controlled to dock at a landing target position, wherein, The landing target location includes at least one of a set docking location on the shore and a base station of the self-moving cleaning device.

11. The method according to claim 10, characterized in that The implementation of the landing procedure also includes: If the posture parameter indicates that the self-moving cleaning device is in a climbing posture, and the water entry and exit state parameter indicates that the self-moving cleaning device is in a water exit state, the self-moving cleaning device is controlled to dock at an underwater target position, wherein, The underwater target location includes at least one of the top of the landing facility and the waterline of the swimming pool.

12. The method according to any one of claims 1 to 9, characterized in that: The implementation of the landing procedures includes: Collect environmental images of the pool shore area; identifying a landing feature in the environmental image; determining whether the self-propelled cleaning device has successfully landed according to the identification result of the landing feature; If the self-moving cleaning device successfully lands on the shore, the self-moving cleaning device is controlled to dock at the landing target location, wherein: The landing target location includes at least one of a set docking location on the shore and a base station of the self-moving cleaning device.

13. A landing device for a self-propelled cleaning device, characterized in that: include: an identification unit, configured to identify a landing facility when the self-propelled cleaning device performs a landing task in a swimming pool; The control unit is configured to control the self-moving cleaning device to climb the landing facility if the landing facility is identified, so as to perform a landing procedure.

14. An electronic device, characterized in that: include: A processor, a memory, a communication interface, and a communication bus, wherein the processor, the memory, and the communication interface communicate with each other via the communication bus; The memory is used to store at least one executable instruction, and the executable instruction enables the processor to execute the method for disembarking a self-moving cleaning device as described in any one of claims 1-12.

15. A computer storage medium, characterized in that A computer program is stored thereon, and when the program is executed by a processor, the method for landing a self-moving cleaning device according to any one of claims 1 to 12 is implemented.

Images