Swimming pool step cleaning method, swimming pool step cleaning device and electronic equipment

Abstract

The embodiment of the invention provides a swimming pool step cleaning method, a swimming pool step cleaning device and electronic equipment, the method is applied to self-moving cleaning equipment, and the method comprises the steps that swimming pool steps are detected; when the swimming pool steps are detected and the cleaning task indicates the self-moving cleaning equipment to clean the swimming pool steps, the self-moving cleaning equipment is controlled to move along a plurality of step cleaning routes so as to clean the swimming pool steps, and the step cleaning routes pass through all the steps of the swimming pool steps. The multiple step cleaning routes are distributed and covered in the width direction of the swimming pool steps. According to the swimming pool step cleaning method provided by the embodiment of the invention, the self-moving cleaning equipment can be controlled to automatically clean the swimming pool steps, so that the labor intensity of workers is reduced.

Description

Technical Field

[0001] The embodiments of the present application relate to the technical field of cleaning robots, and in particular to a swimming pool step cleaning method, a swimming pool step cleaning device, and an electronic 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, swimming pools are cleaned manually or by pool robots.

[0004] However, existing pool robots can only clean the pool bottom or pool walls. These cleaning solutions are difficult to adapt to multi-step areas, which can easily cause the pool robot to get stuck while cleaning the steps. To avoid reducing the overall cleaning efficiency of the pool robot due to cleaning a specific area, manual cleaning is still required for the steps, resulting in a low level of automation in the pool cleaning solution. Summary of the Invention

[0005] In view of this, embodiments of the present application provide a swimming pool step cleaning method, a swimming pool step cleaning device, and an electronic device to at least partially solve the above-mentioned problems.

[0006] According to a first aspect of an embodiment of the present application, a swimming pool step cleaning method is provided, which is applied to a self-moving cleaning device. The method includes: detecting swimming pool steps; when the swimming pool steps are detected and a cleaning task instructs the self-moving cleaning device to perform pool step cleaning, controlling the self-moving cleaning device to move along multiple step cleaning routes to clean the swimming pool steps, wherein the step cleaning routes pass through each level of the swimming pool steps, and the multiple step cleaning routes are distributed and covered along the width direction of the swimming pool steps.

[0007] In a possible implementation, the detecting the swimming pool steps includes: detecting the swimming pool steps when the self-moving cleaning device is cleaning the bottom of the swimming pool or when the self-moving cleaning device is cleaning the walls of the swimming pool.

[0008] In one possible implementation, detecting the swimming pool steps includes: detecting the swimming pool steps based on parameters fed back by an inertial sensor when the self-mobile cleaning device moves, wherein the self-mobile cleaning device is provided with the inertial sensor; or detecting the swimming pool steps based on an identification image of the travel direction of the self-mobile cleaning device captured by an image sensor when the self-mobile cleaning device moves, wherein the self-mobile cleaning device is provided with the image sensor.

[0009] In one possible implementation, detecting the swimming pool step based on parameters fed back by an inertial sensor when the self-mobile cleaning device moves includes: determining that the swimming pool step is detected if the parameters fed back by the inertial sensor when the self-mobile cleaning device moves indicate that a pitch angle of the self-mobile cleaning device continuously changes.

[0010] In one possible implementation, the controlling the self-moving cleaning device to move along multiple step cleaning routes includes: controlling the self-moving cleaning device to move to a first area, wherein the first area is one of a top platform area of the uppermost step of the swimming pool steps and a pool bottom area near the bottom of the lowermost step; cleaning from a starting position of the i-th step cleaning route in the first area, along the i-th step cleaning route to an end position of the i-th step cleaning route in a second area, wherein the second area is the other of a top platform area of the uppermost step of the swimming pool steps and a pool bottom area near the bottom of the lowermost step, and i is an integer greater than or equal to 1; and moving from the end position of the i-th step cleaning route to the starting position of the i+1-th step cleaning route until the cleaning of the swimming pool steps is completed.

[0011] In one possible implementation, moving from the end position of the i-th step cleaning route to the starting position of the i+1-th step cleaning route includes: retreating from the end position of the i-th step cleaning route along the i-th step cleaning route to the starting position of the i-th step cleaning route, and moving from the starting position of the i-th step cleaning route to the starting position of the i+1-th step cleaning route, wherein the starting positions of the multiple swimming pool steps are all set in the same area in the first area or the second area; or, moving from the end position of the i-th step cleaning route located in the second area to the starting position of the i+1-th step cleaning route located in the second area.

[0012] In one possible implementation, the displacement from the starting position of the i-th step cleaning route to the starting position of the i+1-th step cleaning route includes: rotating a first angle at the starting position of the i-th step cleaning route in the direction of the starting position of the i+1-th step cleaning route; moving to the starting position of the i+1-th step cleaning route, and rotating to the forward direction of the i+1-th step cleaning route.

[0013] In a possible implementation, the method further includes: when the swimming pool steps are detected and the cleaning task indicates not to clean the swimming pool steps, controlling the self-moving cleaning device to perform an avoidance operation to avoid the swimming pool steps.

[0014] According to a second aspect of an embodiment of the present application, a swimming pool step cleaning device is provided, comprising: a detection unit for detecting swimming pool steps; a control unit for controlling the self-moving cleaning device to move along multiple step cleaning routes to clean the swimming pool steps when the swimming pool steps are detected and the cleaning task instructs the self-moving cleaning device to perform pool step cleaning, wherein the step cleaning routes pass through each level of the swimming pool steps, and the multiple step cleaning routes are distributed and covered along the width direction of the swimming pool steps.

[0015] 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.

[0016] According to the pool step cleaning solution provided by the embodiments of the present application, this solution can detect pool steps. When pool steps are detected and a cleaning task instructs the self-mobile cleaning device to clean the pool steps, the self-mobile cleaning device is controlled to move along multiple step cleaning routes to clean the pool steps. This enables the self-mobile cleaning device to automatically clean the pool steps. The cleaning route design minimizes the lack of footholds for the self-mobile cleaning device when ascending and descending steps, which can easily cause the self-mobile cleaning device to fall off the steps when cleaning along a single step. Each step is cleaned in sections along the width of the step, ensuring smooth movement of the self-mobile cleaning device, allowing the self-mobile cleaning device to automatically and efficiently remove dirt from the step area. Compared with the existing technology, manual cleaning of pool steps is unnecessary, resulting in lower labor intensity. The self-mobile cleaning device is controlled to clean the pool steps only when a cleaning task instructs it to do so. Users can choose whether to clean the pool steps in the pool cleaning scenario based on their actual cleaning habits, and can personalize step cleaning with cleaning of common areas such as the pool bottom, walls, and waterline. This provides users with greater freedom and a better user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] 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.

[0018] Figure 1 This is a flow chart of a swimming pool step cleaning method provided in an embodiment of the present application;

[0019] Figure 2 This is a schematic diagram of a self-moving cleaning device going up and down stairs provided in an embodiment of the present application;

[0020] Figure 3 This is a flow chart of a method for controlling a self-moving device provided in an embodiment of the present application;

[0021] Figure 4 This is a schematic diagram of a step cleaning route provided in an embodiment of the present application;

[0022] Figure 5 This is a schematic diagram of another step cleaning route provided in an embodiment of the present application;

[0023] Figure 6 This is a schematic diagram of another step cleaning route provided in an embodiment of the present application;

[0024] Figure 7is a schematic diagram of a swimming pool step cleaning device provided in an embodiment of the present application;

[0025] Figure 8 This is a structural diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0026] 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.

[0027] 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.

[0028] It should be understood that although the terms first, second, third, 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".

[0029] As mentioned above, with the improvement of living standards, more and more home swimming pools are appearing in people's courtyards, and the hygiene of the swimming pool is greatly related to the health of swimmers. Therefore, the swimming pool needs to be cleaned regularly to ensure a healthy swimming environment. However, the swimming pool is large in area and has a certain depth, and manual cleaning is very troublesome, so people's demand for swimming pool cleaning products is also increasing. At present, swimming pools are cleaned manually or by swimming pool robots. However, existing swimming pool robots can only clean the bottom or walls of the swimming pool, and the cleaning solutions for the bottom and walls of the pool are difficult to adapt to the multi-step shape of the step area, which can easily cause the swimming pool robot to get stuck when cleaning the steps. In order to avoid reducing the overall mobile cleaning efficiency of the swimming pool robot due to cleaning local areas, the steps of the swimming pool still need to be cleaned manually, resulting in a poor degree of automation of the swimming pool cleaning solution.

[0030] The present invention provides a pool step cleaning solution that detects pool steps. When a pool step is detected and a cleaning task instructs a self-moving cleaning device to clean the pool steps, the self-moving cleaning device is controlled to move along multiple step cleaning routes to clean the pool steps. This allows the self-moving cleaning device to automatically clean the pool steps. The cleaning routes are designed to minimize the lack of footholds for the self-moving cleaning device when ascending and descending the steps, which can easily lead to falls when cleaning along a single step. Each step is cleaned in sections along the width of the step, ensuring smooth movement of the self-moving cleaning device, allowing the self-moving cleaning device to automatically and efficiently remove dirt from the step area. Compared to existing technologies, this solution eliminates the need for manual cleaning of pool steps, resulting in lower labor intensity. The self-moving cleaning device is controlled to clean the pool steps only when a cleaning task instructs it to do so. Users can choose whether to clean the pool steps within the pool cleaning scenario based on their actual cleaning habits, allowing for personalized integration of step cleaning with cleaning of common areas such as the pool bottom, walls, and waterline. This provides greater user flexibility and a better user experience.

[0031] The following examples illustrate the swimming pool step cleaning method provided by this application.

[0032] Figure 1 This is a flow chart of a swimming pool step cleaning method provided in an embodiment of the present application, which is applied to a self-moving cleaning device, such as Figure 1 As shown, the swimming pool step cleaning method includes the following steps 101 to 102:

[0033] Step 101: Detect swimming pool steps.

[0034] Step 102: When swimming pool steps are detected and the cleaning task instructs the self-moving cleaning device to clean the swimming pool steps, the self-moving cleaning device is controlled to move along multiple step cleaning routes to clean the swimming pool steps.

[0035] The step cleaning route passes through each level of the swimming pool steps, and multiple step cleaning routes are distributed and covered along the width of the swimming pool steps.

[0036] The identification / sensing device provided in the self-moving cleaning device can detect and identify swimming pool steps. When the swimming pool steps are detected and the self-moving cleaning device needs to perform the swimming pool step cleaning task, the self-moving cleaning device is controlled to clean the swimming pool steps. The self-moving cleaning device can move along multiple step cleaning routes when cleaning the swimming pool steps. In one example, the memory of the self-moving cleaning device can store multiple preset step cleaning routes. In another example, the self-moving cleaning device can plan the cleaning route for the swimming pool steps according to the route planning algorithm when cleaning the swimming pool for the first time. It should be understood that a swimming pool generally includes multiple steps, and the step cleaning route passes through each level of the swimming pool steps. Optionally, the multiple step cleaning routes in the embodiment of the present application are distributed and covered along the width direction of the swimming pool steps, and the angle between the step cleaning route and the width direction of the swimming pool steps is greater than 0°, that is, each swimming pool step cleaning route passes through each level of the swimming pool steps.

[0037] Optionally, the user can set whether the pool steps need to be cleaned in the control program of a mobile phone or other device. When the user sets it to clean the pool steps, the cleaning task instructs the self-mobile cleaning device to perform the pool step cleaning. The user can also add or modify the pool step cleaning route in the control program.

[0038] In an embodiment of the present application, pool steps are detected. When a pool step is detected and a cleaning task instructs the self-mobile cleaning device to clean the pool steps, the self-mobile cleaning device is controlled to move along multiple step cleaning routes to clean the pool steps. This enables the self-mobile cleaning device to automatically clean the pool steps. The cleaning route design minimizes the lack of footholds for the self-mobile cleaning device when ascending and descending the steps, which can easily cause the self-mobile cleaning device to fall off the steps when cleaning along a single step. Each step is cleaned in sections along the width of the step, ensuring smooth movement of the self-mobile cleaning device, allowing the self-mobile cleaning device to automatically and efficiently remove dirt from the step area. Compared to the existing technology, manual cleaning of the pool steps is unnecessary, resulting in lower labor intensity. The self-mobile cleaning device is only controlled to clean the pool steps when a cleaning task instructs it to do so. Users can choose whether to clean the pool steps in the pool cleaning scenario based on their actual cleaning habits, customizing step cleaning with cleaning of common areas such as the pool bottom, walls, and waterline. This provides users with greater freedom and a better user experience.

[0039] In a possible implementation, when detecting the swimming pool steps, the swimming pool steps may be detected when the self-mobile cleaning device is performing cleaning of the swimming pool bottom, or when the self-mobile cleaning device is performing cleaning of the swimming pool walls.

[0040] In one example, while a self-mobile cleaning device is cleaning the bottom or walls of a swimming pool, if a pool step is detected, the device switches to the pool step cleaning task. For example, during the cleaning of the pool bottom or walls, if a step is detected while the device is moving into the step area, the device can pause the cleaning path of the pool bottom or walls after reaching the step location, and then move to the step to execute the step cleaning path. After all the step cleaning paths are completed, the device can resume the cleaning path of the pool bottom or walls. Alternatively, the current pool wall / bottom cleaning task and the pool step cleaning task can be combined. Specifically, during the cleaning path of the pool bottom or walls, the cleaning path of the step area and the cleaning path of the pool bottom / wall can be connected in series and combined, and the path endpoint of the pool bottom / wall cleaning path adjacent to the step area can be set close to or overlapped with the path endpoint of the step cleaning path, so that the pool cleaning robot can cover the pool area with steps and alternately execute the pool bottom / wall cleaning path and the step cleaning path, cleaning the pool bottom / wall and steps simultaneously.

[0041] In another example, when the self-mobile cleaning device is performing a swimming pool bottom cleaning task to the end of the task (when cleaning is about to be completed), or when the self-mobile cleaning device is performing a swimming pool wall cleaning task to the end of the task (when cleaning is about to be completed), the pool steps can be detected. If pool steps are detected, the task is switched to the pool step cleaning task.

[0042] In an embodiment of the present application, the self-mobile cleaning device can detect the pool steps while cleaning the pool bottom or the pool walls. This allows the self-mobile cleaning device to detect the pool steps in real time while performing the cleaning task, or detect the pool steps when the self-mobile cleaning device is about to complete the cleaning task. The self-mobile cleaning device can detect the pool steps when the self-mobile cleaning device is about to complete the cleaning task, thereby preventing the self-mobile cleaning device from switching to the step cleaning task before completing the corresponding task. By embedding the step cleaning task in the pool bottom or pool wall cleaning task, the pool's cleaning coverage rate is improved, and the overall pool cleaning effect is optimized.

[0043] It should be noted that whether the above-mentioned step detection and cleaning are combined in the overall pool cleaning program and at which cleaning period they are combined can be determined by obtaining user configuration or factory configuration. For example, in the user configuration scenario, a pool cleaning program including step cleaning can be set based on user-defined setting parameters obtained from the external control terminal of the self-mobile cleaning device (such as an external communication terminal independent of the self-mobile cleaning device, such as a smart gateway or remote control) or the self-mobile cleaning device control APP of the mobile terminal. Alternatively, in the factory configuration scenario, step cleaning can be selectively combined with pool bottom / pool wall cleaning at different times to configure a variety of cleaning modes, such as a conventional pool cleaning mode without step cleaning, a partitioned cleaning mode with step cleaning, a multi-zone fusion cleaning mode with step cleaning, etc., so that different users can directly select according to their actual cleaning habits.

[0044] In one possible implementation, when detecting swimming pool steps, the swimming pool steps can be detected based on parameters fed back by an inertial sensor when the self-mobile cleaning device moves, wherein the self-mobile cleaning device is provided with an inertial sensor, or the swimming pool steps can be detected based on an identification image of the direction of travel of the self-mobile cleaning device captured by an image sensor when the self-mobile cleaning device moves, wherein the self-mobile cleaning device is provided with an image sensor.

[0045] The self-propelled cleaning device may be equipped with an inertial sensor and / or an image sensor. The inertial sensor may be an inertial measurement unit (IMU). The controller in the self-propelled cleaning device may receive parameters fed back by the inertial sensor, which may indicate the current posture parameters and acceleration parameters of the self-propelled cleaning device. The controller may detect the presence of pool steps based on the real-time parameters fed back by the inertial sensor. The image sensor may be a camera, which may capture images of the environment within the visual range of the self-propelled cleaning device. The images may be image frames captured by the image sensor or video frames from a video transmitted by the image sensor. The processing unit may perform object feature recognition on the environmental images to detect the presence of pool steps.

[0046] Optionally, when swimming pool steps are detected and the cleaning task instructs the self-moving cleaning device to perform swimming pool step cleaning, the controller can control the self-moving cleaning device to approach the step area. At this time, the swimming pool steps can be continuously identified through the environmental image collected by the image sensor. By determining the pixel area or pixel position corresponding to the steps on the overall environmental image, the movement of the self-moving cleaning device relative to the swimming pool steps can be determined, such as whether the pool cleaning robot is moving towards the steps or whether the pool cleaning robot is approaching the steps.

[0047] In another possible implementation, when detecting pool steps based on parameters fed back by an inertial sensor when the self-mobile cleaning device moves, if the parameters fed back by the inertial sensor when the self-mobile cleaning device moves indicate that the pitch angle of the self-mobile cleaning device continuously changes, it is determined that pool steps are detected.

[0048] It should be understood that when the self-mobile cleaning device moves to the step area, the pitch angle of the self-mobile cleaning device (the angle between the horizontal vector of the self-mobile cleaning device's head facing forward and the horizontal plane of the pool bottom / step represents its pitch angle) will continue to change when the self-mobile cleaning device climbs up or down the steps. Figure 2 This is a schematic diagram of a self-moving cleaning device going up and down stairs provided in an embodiment of the present application. Figure 2 As shown by the solid and dotted lines in the figure, when the self-mobile cleaning device 200 moves from the top platform area of the steps (area A) to the pool bottom area near the bottom of the lowest step (area B), it changes from a horizontal posture to an inclined posture, and then changes to a nearly horizontal posture on the next step, and so on. Therefore, when detecting the swimming pool steps through the parameters fed back by the inertial sensor when the self-mobile cleaning device 200 moves, if the parameters fed back by the inertial sensor when the self-mobile cleaning device 200 moves indicate that the pitch angle of the self-mobile cleaning device 200 continuously changes, it can be determined that the pool cleaning robot is currently moving on multiple step-shaped objects, thereby determining that the swimming pool steps are detected.

[0049] In an embodiment of the present application, when detecting swimming pool steps based on parameters fed back by an inertial sensor when the self-mobile cleaning device moves, if the parameters fed back by the inertial sensor when the self-mobile cleaning device moves indicate that the pitch angle of the self-mobile cleaning device continuously changes, it is determined that the swimming pool steps are detected, thereby realizing the detection of swimming pool steps by the inertial sensor.

[0050] In the various embodiments of the present application described above, pool step detection can be achieved by detecting pool steps based on parameters fed back by inertial sensors during the movement of the self-mobile cleaning device, or by detecting pool steps based on images of the environment within the mobile cleaning device's visual range captured by image sensors during the movement of the self-mobile cleaning device. Because pool step detection can be achieved through different methods, it is applicable to self-mobile cleaning devices equipped with different sensors, thus achieving high applicability. Of course, it is also possible to combine image recognition and IMU parameter determination to determine the movement of the pool cleaning robot relative to the steps, thereby improving the accuracy of step detection.

[0051] Figure 3 This is a flow chart of a method for controlling a mobile device provided by an embodiment of the present application. Figure 3 As shown, when controlling the self-moving cleaning device to move along multiple step cleaning routes, the following steps 301 to 303 may be performed:

[0052] Step 301: Control the self-movable cleaning device to move to a first area.

[0053] The first area is the top landing area of the uppermost step of the swimming pool steps (for example: Figure 2 Area A in the middle) and the pool floor area near the bottom of the lowest step (e.g. Figure 2 In one of the areas B), in the solution of this embodiment, the step cleaning route passes through each level of the swimming pool steps, and multiple step cleaning routes are distributed and covered along the width direction of the swimming pool steps. Therefore, when performing swimming pool step cleaning, it is necessary to first control the self-moving cleaning device to move to the top of the step or the bottom of the step.

[0054] Step 302 : Clean from the starting position of the i-th step cleaning route in the first area along the i-th step cleaning route to the ending position of the i-th step cleaning route in the second area.

[0055] The second area is the other of the top platform area of the uppermost step of the swimming pool steps and the pool bottom area near the bottom of the lowermost step, i is an integer greater than or equal to 1, specifically, Figure 4 This is an example of a step cleaning path provided in an embodiment of the present application, such as Figure 4 As shown, multiple horizontally arranged rectangles represent the steps of the stairs, and the first horizontal rectangle from the top and the first horizontal rectangle from the bottom represent the above-mentioned first area and second area respectively. Vertical lines 1 to i (i can take values of 1, 2, 3...N) represent multiple cleaning routes 1 to i that pass through all the steps. Routes 1 to i are arranged at intervals along the width direction of the steps. The distance between each two adjacent routes matches the width of the cleaning device of the swimming pool cleaning robot, and the starting and ending points of routes 1 to i are both located in the first area and the second area. During the step cleaning process, the self-moving cleaning device is controlled from the starting position of the cleaning route of the first step in the first area, along the cleaning route of the first step to the end position of the cleaning route of the first step in the second area, and then the self-moving cleaning device is controlled from the starting position of the cleaning route of the second step in the first area, along the cleaning route of the second step to the end position of the cleaning route of the second step in the second area, and so on, until the self-moving cleaning device is controlled from the starting position of the cleaning route of the Nth step in the first area, along the cleaning route of the Nth step to the end position of the cleaning route of the Nth step in the second area. The first step cleaning route and the Nth step cleaning route are step edge cleaning routes located on opposite sides of the step width direction.

[0056] Step 303: Move from the end position of the i-th step cleaning route to the starting position of the i+1-th step cleaning route until the cleaning of the swimming pool steps is completed.

[0057] After controlling the self-moving cleaning device to move from the starting position of the i-th step cleaning route along the i-th step cleaning route to the end position of the i-th step cleaning route, controlling the self-moving cleaning device to move from the end position of the i-th step cleaning route to the starting position of the i+1-th step cleaning route, Figure 4 Taking the cleaning routes in as an example, the self-moving cleaning device can be controlled to move from the starting position of the 1st step cleaning route along the 1st step cleaning route to the end position of the 1st step cleaning route, and then the self-moving cleaning device can be controlled to move from the end position of the 1st step cleaning route to the starting position of the 2nd step cleaning route, and then the self-moving cleaning device can be controlled to move along the 2nd step cleaning route to the end position of the 2nd step cleaning route, and then the self-moving cleaning device can be controlled to move from the end position of the 2nd step cleaning route to the starting position of the 3rd step cleaning route, until it moves to the end position of the Nth step cleaning route to complete the cleaning task.

[0058] In an embodiment of the present application, after controlling the self-moving cleaning device to move to the first area, the self-moving device is controlled to clean from the starting position of the i-th step cleaning route in the first area, along the i-th step cleaning route to the end position of the i-th step cleaning route in the second area, and then the self-moving device is controlled to move from the end position of the i-th step cleaning route to the starting position of the i+1-th step cleaning route. In this way, the self-moving device can be controlled to move along multiple step cleaning routes to complete the cleaning task of all areas of the swimming pool steps, thereby realizing automatic cleaning of the swimming pool steps by the self-moving cleaning device.

[0059] In one possible implementation, when moving from the end position of the i-th step cleaning route to the starting position of the i+1-th step cleaning route, the cleaning route can be retreated from the end position of the i-th step cleaning route along the i-th step cleaning route to the starting position of the i-th step cleaning route, and moved from the starting position of the i-th step cleaning route to the starting position of the i+1-th step cleaning route, wherein the starting positions of multiple swimming pool steps are all set in the same area in the first area or the second area, or, from the end position of the i-th step cleaning route located in the second area, the cleaning route can be moved to the starting position of the i+1-th step cleaning route located in the second area.

[0060] When cleaning the swimming pool steps, the self-moving cleaning device can be controlled to move from the starting position of the step cleaning route along the step cleaning route to the end position of the step cleaning route, and then controlled to move back to the starting position of the step cleaning route along the step cleaning route, and then move to the starting position of the next step cleaning route until the cleaning of the swimming pool steps is completed, that is, the starting position of each step cleaning route is located in the same area, and the end position of each step cleaning route is located in the same area.

[0061] The following is an example to illustrate: Figure 5 This is a schematic diagram of another step cleaning route provided in an embodiment of the present application. Figure 5 As shown, the self-moving cleaning device moves from the starting position A of the first step cleaning route along the first step cleaning route to the ending position B of the first step cleaning route (as shown in FIG. Figure 5 ), and then moves from the end position B of the first step cleaning route to the starting position A of the first step cleaning route (as shown by the solid arrow in Figure 5 ), and then moves from the starting position A of the first step cleaning route to the starting position C of the second step cleaning route, and then repeats the above process until it moves to the end position of the Nth step cleaning route.

[0062] In addition to adopting the above scheme, the self-moving cleaning equipment can also be controlled to clean the swimming pool steps through an S-shaped route, moving from the starting position of the step cleaning route along the step cleaning route to the end position of the step cleaning route, and then moving to the starting position of the next step cleaning route, that is, the end position of the step cleaning route and the starting position of the adjacent step cleaning route are located in the same area.

[0063] The following is an example to illustrate: Figure 6 This is a schematic diagram of another step cleaning route provided in an embodiment of the present application. Figure 6 As shown, the self-moving cleaning device moves from the starting position A of the first step cleaning route along the first step cleaning route to the ending position B of the first step cleaning route (as shown in FIG. Figure 6 ), and then moves from the end position B of the first step cleaning route to the starting position C of the second step cleaning route (as shown by the solid arrow in Figure 6 ), and then moves from the starting position C of the second step cleaning route to the ending position D of the second step cleaning route, and then repeats the above process until it moves to the ending position of the Nth step cleaning route.

[0064] In an embodiment of the present application, after moving from the starting position of the step cleaning route along the step cleaning route to the end position of the step cleaning route, it can move along the step cleaning route to the starting position of the step cleaning route, and then move to the starting position of the next step cleaning route until the cleaning of the swimming pool steps is completed. Alternatively, after moving from the starting position of the step cleaning route along the step cleaning route to the end position of the step cleaning route, it can move to the starting position of the next step cleaning route, thereby realizing route planning of the self-moving cleaning equipment, and the self-moving cleaning equipment can be controlled to automatically clean various areas included in the swimming pool steps according to the planned route.

[0065] In one possible implementation, when moving from the starting position of the i-th step cleaning route to the starting position of the i+1-th step cleaning route, the starting position of the i-th step cleaning route can be rotated by a first angle in the direction of the starting position of the i+1-th step cleaning route, moved to the starting position of the i+1-th step cleaning route, and rotated to the forward direction of the i+1-th step cleaning route.

[0066] The following is a specific example. Figure 5 In the example shown in , after the self-mobile cleaning device moves from the end position B of the first step cleaning route to the starting position A of the first step cleaning route, it rotates by a first angle (such as Figure 5 The first angle of the scheme shown is 90 degrees) the head position is directed toward the second step cleaning route, then the head position is displaced to the starting position C of the second step cleaning route, and then rotated to the forward direction of the second step cleaning route, that is, the head of the self-mobile cleaning device is directed toward the end position D of the second step cleaning route.

[0067] In an embodiment of the present application, the starting position of the i-th step cleaning route can be rotated by a first angle in the direction of the starting position of the i+1-th step cleaning route, moved to the starting position of the i+1-th step cleaning route, and rotated to the forward direction of the i+1-th step cleaning route, thereby controlling the self-moving cleaning device to move between adjacent step cleaning routes, so that the self-moving cleaning device can complete the cleaning of the swimming pool steps according to the planned multiple step cleaning routes.

[0068] In the above embodiment, when the starting points of all step cleaning paths are located in the same area and the end points are located in another area, based on the method of returning along the currently completed cleaning path and moving to the next cleaning path, the step areas covered by each cleaning path can be cleaned back and forth, and when all cleaning paths are completed, the cleaning effect of the steps is better. When the swimming pool cleaning robot executes all step cleaning paths based on the above S-shaped path, the swimming pool cleaning robot can complete the path switching action most efficiently, and the time consumed to execute all step cleaning paths is shorter. Based on the advantages of the above two embodiments, those skilled in the art can choose a specific route according to actual cleaning needs, or combine visual dirt recognition technology to automatically match the corresponding cleaning route according to the actual contamination level of the steps, such as executing all step cleaning paths by returning along the same path when the step contamination level is high, and switching the step cleaning path through the S-shaped route when the step contamination level is low.

[0069] It should be understood that while the above embodiments are described with reference to a linear step cleaning path perpendicular to the step width, this is not limiting. In practice, any step cleaning path can be configured to pass through multiple steps and, after arrangement, cover a majority of the cleanable area of the step. For example, the step cleaning path can be configured to be curved or wavy to match the specific shape of the step, or the angle between the step cleaning path and the step width can be acute.

[0070] In one possible implementation, when swimming pool steps are detected and the cleaning task indicates not to clean the swimming pool steps, the self-moving cleaning device is controlled to perform an avoidance operation to avoid the swimming pool steps.

[0071] In an embodiment of the present application, when the swimming pool step cleaning task is not required, if the swimming pool steps are detected, an avoidance operation is performed to continue to perform the docking task, the swimming pool bottom cleaning task, the swimming pool wall cleaning task, etc., and the swimming pool can be cleaned according to the user's needs.

[0072] Figure 7 Schematic diagram of a swimming pool step cleaning device provided in an embodiment of the present application. Figure 7 As shown, the apparatus 700 includes:

[0073] Detection unit 701, for detecting swimming pool steps;

[0074] The control unit 702 is used to control the self-moving cleaning device to move along multiple step cleaning routes to clean the pool steps when the pool steps are detected and the cleaning task instructs the self-moving cleaning device to perform pool step cleaning. The step cleaning routes pass through each level of the pool steps, and the multiple step cleaning routes are distributed and covered along the width direction of the pool steps.

[0075] In the embodiment of the present application, the detection 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.

[0076] In a possible implementation, the detection unit 701 may also detect swimming pool steps when the self-mobile cleaning device cleans the swimming pool bottom or the self-mobile cleaning device cleans the swimming pool wall.

[0077] In one possible implementation, the detection unit 701 may also detect the swimming pool steps based on parameters fed back by an inertial sensor when the self-mobile cleaning device moves, wherein the self-mobile cleaning device is provided with an inertial sensor; or, detect the swimming pool steps based on an identification image of the direction of travel of the self-mobile cleaning device captured by an image sensor when the self-mobile cleaning device moves, wherein the self-mobile cleaning device is provided with an image sensor.

[0078] In a possible implementation, the detection unit 701 may further determine that a swimming pool step is detected if a parameter fed back by an inertial sensor indicates that a pitch angle of the self-mobile cleaning device continuously changes when the self-mobile cleaning device moves.

[0079] In one possible implementation, the control unit 702 can also control the self-mobile cleaning device to move to a first area, wherein the first area is one of the top platform area of the uppermost step of the swimming pool steps and the pool bottom area near the bottom of the lowermost step; from the starting position of the i-th step cleaning route in the first area, clean along the i-th step cleaning route to the end position of the i-th step cleaning route in the second area, wherein the second area is the other of the top platform area of the uppermost step of the swimming pool steps and the pool bottom area near the bottom of the lowermost step, and i is an integer greater than or equal to 1; from the end position of the i-th step cleaning route, move to the starting position of the i+1-th step cleaning route until the cleaning of the swimming pool steps is completed.

[0080] In one possible implementation, the control unit 702 can also retreat from the end position of the i-th step cleaning route along the i-th step cleaning route to the starting position of the i-th step cleaning route, and move from the starting position of the i-th step cleaning route to the starting position of the i+1-th step cleaning route, wherein the starting positions of multiple swimming pool steps are all set in the same area in the first area or the second area; or, move from the end position of the i-th step cleaning route located in the second area to the starting position of the i+1-th step cleaning route located in the second area.

[0081] In one possible implementation, the control unit 702 can also rotate a first angle from the starting position of the i-th step cleaning route toward the starting position of the i+1-th step cleaning route; move to the starting position of the i+1-th step cleaning route, and rotate to the forward direction of the i+1-th step cleaning route.

[0082] In a possible implementation, the control unit 702 may further control the self-moving cleaning device to perform an avoidance operation to avoid the swimming pool steps when the swimming pool steps are detected and the cleaning task indicates not to perform the cleaning of the swimming pool steps.

[0083] 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.

[0084] like Figure 8As 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 .

[0085] in:

[0086] The processor 802 , the communication interface 804 , and the memory 806 communicate with each other via a communication bus 808 .

[0087] The communication interface 804 is used to communicate with other electronic devices or servers.

[0088] The processor 802 is configured to execute the program 810 , and specifically to execute the relevant steps in the above-mentioned embodiment of the swimming pool step cleaning method.

[0089] Specifically, the program 810 may include program codes, which include computer operation instructions.

[0090] 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.

[0091] 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.

[0092] The program 810 may be specifically configured to enable the processor 802 to execute the swimming pool step cleaning method in any of the aforementioned embodiments.

[0093] The specific implementation of each step in program 810 can be found in the corresponding descriptions of the corresponding steps and units in any of the aforementioned pool step cleaning method embodiments, and will not be repeated here. Those skilled in the art will clearly understand that for ease and brevity of description, the specific operating processes of the above-described devices and modules can be referenced to the corresponding process descriptions in the aforementioned method embodiments, and will not be repeated here.

[0094] In an embodiment of the present application, pool steps are detected. When a pool step is detected and a cleaning task instructs the self-mobile cleaning device to clean the pool steps, the self-mobile cleaning device is controlled to move along multiple step cleaning routes to clean the pool steps. This enables the self-mobile cleaning device to automatically clean the pool steps. The cleaning route design minimizes the lack of footholds for the self-mobile cleaning device when ascending and descending the steps, which can easily cause the self-mobile cleaning device to fall off the steps when cleaning along a single step. Each step is cleaned in sections along the width of the step, ensuring smooth movement of the self-mobile cleaning device, allowing the self-mobile cleaning device to automatically and efficiently remove dirt from the step area. Compared to the existing technology, manual cleaning of the pool steps is unnecessary, resulting in lower labor intensity. The self-mobile cleaning device is only controlled to clean the pool steps when a cleaning task instructs it to do so. Users can choose whether to clean the pool steps in the pool cleaning scenario based on their actual cleaning habits, customizing step cleaning with cleaning of common areas such as the pool bottom, walls, and waterline. This provides users with greater freedom and a better user experience.

[0095] 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.

[0096] 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.

[0097] The methods described above according to the embodiments of the present application can be implemented in hardware, firmware, or as software or computer code that can be stored on a recording medium (such as a CD ROM, RAM, floppy disk, hard disk, or magneto-optical disk), or as computer code originally stored on a remote recording medium or non-transitory machine-readable medium downloaded over a network and then stored on a local recording medium. Thus, the methods described herein can be processed by such software stored on a recording medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware (such as an ASIC or FPGA). It will be understood that a 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 pool step cleaning method described herein is implemented. Furthermore, when a general-purpose computer accesses the code for implementing the pool step cleaning method described herein, the execution of the code transforms the general-purpose computer into a dedicated computer for executing the pool step cleaning method described herein.

[0098] 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.

[0099] 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 swimming pool step cleaning method, applied to a self-propelled cleaning device, characterized in that: The method comprises: Inspecting swimming pool steps; When the swimming pool steps are detected and the cleaning task instructs the self-moving cleaning device to perform swimming pool step cleaning, the self-moving cleaning device is controlled to move along multiple step cleaning routes to clean the swimming pool steps, wherein the step cleaning routes pass through each level of the swimming pool steps, and the multiple step cleaning routes are distributed and covered along the width direction of the swimming pool steps.

2. The method according to claim 1, characterized in that The detection of swimming pool steps includes: When the self-moving cleaning device cleans the bottom of the swimming pool or cleans the walls of the swimming pool, the swimming pool steps are detected.

3. The method according to claim 1, characterized in that The detection of swimming pool steps includes: detecting the pool step according to parameters fed back by an inertial sensor when the self-moving cleaning device moves, wherein the self-moving cleaning device is provided with the inertial sensor; Alternatively, the swimming pool steps are detected based on an identification image of the moving direction of the self-moving cleaning device captured by an image sensor when the self-moving cleaning device moves, wherein the self-moving cleaning device is provided with the image sensor.

4. The method according to claim 3, characterized in that The detecting the swimming pool steps according to parameters fed back by an inertial sensor when the mobile cleaning device moves includes: If the parameter fed back by the inertial sensor indicates that the pitch angle of the self-moving cleaning device continuously changes when the self-moving cleaning device moves, it is determined that the swimming pool step is detected.

5. The method according to claim 1, wherein The controlling the self-moving cleaning device to move along a plurality of step cleaning routes comprises: Controlling the self-moving cleaning device to move to a first area, wherein the first area is one of a top platform area of an uppermost step of the swimming pool steps and a pool bottom area near a bottom of a lowermost step; Clean from the starting position of the i-th step cleaning route in the first area, along the i-th step cleaning route to the ending position of the i-th step cleaning route in the second area, wherein the second area is the other of the top platform area of the uppermost step of the swimming pool steps and the pool bottom area near the bottom of the lowermost step, and i is an integer greater than or equal to 1; Move from the end position of the i-th step cleaning route to the starting position of the i+1-th step cleaning route until the cleaning of the swimming pool steps is completed.

6. The method according to claim 5, characterized in that The step of moving from the end position of the i-th step cleaning route to the starting position of the i+1-th step cleaning route comprises: Retracting from the end position of the i-th step cleaning route along the i-th step cleaning route to the starting position of the i-th step cleaning route, and moving from the starting position of the i-th step cleaning route to the starting position of the (i+1)-th step cleaning route, wherein the starting positions of the plurality of swimming pool steps are all set in the same area of the first area or the second area; Alternatively, the cleaning route moves from the end position of the i-th step cleaning route in the second area to the start position of the (i+1)-th step cleaning route in the second area.

7. The method according to claim 6, characterized in that The moving from the starting position of the i-th step cleaning route to the starting position of the i+1-th step cleaning route includes: Rotate the starting position of the i-th step cleaning route toward the starting position of the (i+1)-th step cleaning route by a first angle; Move to the starting position of the (i+1)th step cleaning route, and rotate to the forward direction of the (i+1)th step cleaning route.

8. The method according to claim 1, characterized in that The method further comprises: When the swimming pool steps are detected and the cleaning task indicates not to clean the swimming pool steps, the self-moving cleaning device is controlled to perform an avoidance operation to avoid the swimming pool steps.

9. A swimming pool step cleaning device, characterized in that: include: A detection unit for detecting swimming pool steps; A control unit is configured to control the self-moving cleaning device to move along a plurality of step cleaning routes to clean the pool steps when the pool steps are detected and the cleaning task instructs the self-moving cleaning device to clean the pool steps, wherein the step cleaning routes pass through each level of the pool steps, and the plurality of step cleaning routes are distributed and covered along the width direction of the pool steps.

10. 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 swimming pool step cleaning method according to any one of claims 1-8.

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