Control method of automatic pool cleaning device, electronic equipment and computer storage medium

Abstract

The embodiment of the invention provides a control method of an automatic pool cleaning device, electronic equipment and a computer storage medium. The automatic pool cleaning device comprises a buoyancy adjusting mechanism, and the control method comprises the steps that the automatic pool cleaning device is controlled to move at the bottom of a pool, and objects around the automatic pool cleaning device are detected; under the condition that steps around the automatic pool cleaning device meet preset conditions, buoyancy borne by the automatic pool cleaning device is increased and / or the weight of the automatic pool cleaning device is reduced through the buoyancy adjusting mechanism, and the automatic pool cleaning device is controlled to move to the steps; and the step is cleaned.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of cleaning, in particular to a control method of a pool automatic cleaning device, an electronic device and a computer storage medium. BACKGROUND

[0002] The bottom of a pool is often designed with steps of different heights (such as a convenient cleaning step, a flower pool platform, etc.), which will bring the needs of crossing, climbing or cleaning perspective diversification when the pool automatic cleaning device performs cleaning tasks. Generally, due to the limited movement ability of the pool automatic cleaning device, it is difficult to climb and clean the steps, so the cleaning of the steps is a big technical difficulty in cleaning the pool with the pool automatic cleaning device.

[0003] How to clean the steps in the pool is a problem to be solved in the field. SUMMARY

[0004] Therefore, the present application provides a control method of a pool automatic cleaning device, an electronic device and a computer storage medium.

[0005] According to a first aspect of the present application, a control method of a pool automatic cleaning device is provided, the pool automatic cleaning device comprising a buoyancy adjusting mechanism, the method comprising: controlling the pool automatic cleaning device to move on the bottom of the pool; In the process of moving, if the steps around the pool automatic cleaning device meet predetermined conditions, increasing the buoyancy received by the pool automatic cleaning device and / or reducing the weight of the pool automatic cleaning device through the buoyancy adjusting mechanism, and controlling the pool automatic cleaning device to move onto the steps and clean the steps.

[0006] According to a second aspect of the present application, an electronic device is provided, comprising a processor, a memory and an executable program stored on the memory and capable of being run by the processor, when the processor runs the executable program, the steps of the control method of the pool automatic cleaning device according to the first aspect are implemented.

[0007] According to a third aspect of the present application, a storage medium is provided, which stores an executable program, when the executable program is executed by a processor, the steps of the control method of the pool automatic cleaning device according to the first aspect are implemented.

[0008] The embodiment provides a control method of a pool automatic cleaning device, an electronic device and a computer storage medium, the pool automatic cleaning device comprises a buoyancy adjusting mechanism, when the pool automatic cleaning device cleans the pool, the step in the pool satisfies a predetermined adjustment condition, the buoyancy adjusting mechanism is used for increasing the buoyancy received by the machine or reducing the weight of the machine, the movement ability of the machine when cleaning the step is improved, so that the machine can more easily move on the step, the cleaning of the step in the pool is realized, and the success rate and cleaning efficiency of the step cleaning are improved. BRIEF DESCRIPTION OF DRAWINGS

[0009] Figure 1 is a structural schematic diagram of a pool automatic cleaning device according to an embodiment; Figure 2 is one of control method flowcharts of a pool automatic cleaning device according to an embodiment; Figure 3 is one of walking schematic diagrams of a pool automatic cleaning device according to an embodiment; Figure 4 is another walking schematic diagram of a pool automatic cleaning device according to an embodiment; Figure 5 is a third walking schematic diagram of a pool automatic cleaning device according to an embodiment; Figure 6 is a second control method flowchart of a pool automatic cleaning device according to an embodiment. DETAILED DESCRIPTION

[0010] In order to make the technical solutions and advantages of the present application more obvious and easy to understand, the following will be described in detail by listing specific embodiments. The drawings are not necessarily drawn to scale, and local features can be enlarged or reduced to more clearly show the details of local features; unless otherwise defined, the technical and scientific terms used herein have the same meaning as the technical and scientific terms in the technical field to which the present application belongs.

[0011] The embodiments of the present disclosure are not exhaustive, but only illustrate some embodiments, and are not specific limitations on the protection scope of the present disclosure. In the case of no contradiction, each step in an embodiment can be implemented as an independent embodiment, and the steps can be combined arbitrarily, for example, the scheme after removing part of the steps in an embodiment can also be implemented as an independent embodiment, and the order of the steps in an embodiment can be exchanged arbitrarily, in addition, the optional implementation manners in an embodiment can be combined arbitrarily; in addition, the embodiments can be combined arbitrarily, for example, the steps of different embodiments or part or all of the steps of different embodiments can be combined arbitrarily, an embodiment can be combined with the optional implementation manners of other embodiments.

[0012] In the embodiments of the present disclosure, the terms and / or descriptions among the embodiments are consistent and can be referred to each other if there is no special description and logical conflict, and the technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationship.

[0013] The terms used in the embodiments of the present disclosure are only for the purpose of describing particular embodiments and not as a limitation of the present disclosure.

[0014] In some embodiments, the description modes such as "at least one of A, B", "A and / or B", "A in one case and B in another case", "one case A and another case B", and the like can include the following technical solutions according to the case: A in some embodiments (A is executed regardless of B); B in some embodiments (B is executed regardless of A); A and B are selectively executed in some embodiments (A and B are selected from A and B); A and B in some embodiments (A and B are executed). When there are more branches such as A, B, C, and the like, the above is similar.

[0015] In some embodiments, the description modes such as "A or B" and the like can include the following technical solutions according to the case: A in some embodiments (A is executed regardless of B); B in some embodiments (B is executed regardless of A); A and B are selectively executed in some embodiments (A and B are selected from A and B). When there are more branches such as A, B, C, and the like, the above is similar.

[0016] The embodiments of the present disclosure provide a pool automatic cleaning device. Referring to Figure 1 shown.

[0017] The pool automatic cleaning device can autonomously move and autonomously complete the cleaning task in the pool area under the condition of no external human information input and control. The pool area can include the pool bottom, the pool side wall, and the water surface, etc.

[0018] Specifically, referring to Figure 1 shown, the pool automatic cleaning device 100 at least includes a body 110, a controller (not shown), one or more cleaning components 120, a walking mechanism 130, a buoyancy adjusting mechanism (not shown in Figure 1 ), and a sensing component 140.

[0019] The cleaning component 120 can specifically include one or more of the following: a roller brush, a water filtering device, etc. The water filtering device can include a water inlet, a water outlet, a water pump, a filtering structure, etc.

[0020] The shape of the body can be circular, square, or other shapes. For example, part of the body can be circular, and another part can be square.

[0021] The controller can include a microcontroller unit (MCU). Of course, the controller can also include other devices capable of having a control function.

[0022] In one possible implementation, the water filtering device sucks the target cleaning objects (such as leaves, etc.) from the water inlet, filters the target cleaning objects, and discharges the filtered water from the water outlet.

[0023] Reference Figure 1 The walking mechanism is arranged on the machine body and is used to drive the machine body to walk on the bottom of the pool and / or move in the water. The walking mechanism can include a driving wheel, a track wheel, and a water spraying device.

[0024] In one possible implementation, the water spraying device is used to spray water in the opposite direction of the movement of the pool automatic cleaning device to drive the pool automatic cleaning device to move forward. The water spraying device can include the water outlet of the water filtering device or can be independent of the water filtering device.

[0025] In one possible implementation, the buoyancy adjusting mechanism can adjust the buoyancy received by the pool automatic cleaning device or adjust the weight of the pool automatic cleaning device to adjust the position of the pool automatic cleaning device in the pool, such as controlling the pool automatic cleaning device to be located on the bottom of the pool, in the water, or partially in the water and partially above the water surface, etc.

[0026] The sensing component can obtain obstacle information. The pool automatic cleaning device can detect target cleaning objects and / or obstacles based on the sensing component, and the controller can control the pool automatic cleaning device according to the detected target cleaning objects and / or obstacles. The sensing component can include a laser radar, a line laser sensor, a vision (image) sensor, and can also include a ranging sensor located on the side wall of the machine body, a speed measuring unit, and a mileage sensor.

[0027] It can be understood that the above-mentioned pool automatic cleaning device is only for illustration and does not constitute a limitation on the embodiments of the present disclosure.

[0028] In some scenarios, the bottom of the pool is often designed with steps of different heights, such as a convenient cleaning step or a flower pool platform. The traditional cleaning device faces the challenges of crossing, climbing, and cleaning at various angles when performing tasks.

[0029] The embodiments of the present disclosure provide a control method of a pool automatic cleaning device, as shown in Figure 2 The pool automatic cleaning device includes a buoyancy adjusting mechanism, and the method includes the following steps. Step 201: Control the pool automatic cleaning device to move on the bottom of the pool. Step 202: During the moving process, if the steps around the pool cleaning robot meet the predetermined conditions, the buoyancy adjusting mechanism is used to increase the buoyancy of the pool cleaning robot and / or reduce the weight of the pool cleaning robot, and the pool cleaning robot is controlled to move onto the steps and clean the steps.

[0030] In one possible implementation, the control method of the pool cleaning robot can be performed by a controller of the pool cleaning robot.

[0031] Here, the buoyancy adjusting mechanism refers to a mechanical structure that changes the buoyancy of the pool cleaning robot or its own weight. The buoyancy adjusting mechanism can be used to enable the pool cleaning robot to obtain sufficient lift to cross the steps.

[0032] In one possible implementation, the buoyancy adjusting mechanism can adjust the buoyancy by inflating and deflating the air bag.

[0033] In one possible implementation, the buoyancy adjusting mechanism can adjust its own weight by adjusting the counterweight (such as adjusting the amount of liquid in the counterweight tank).

[0034] In one possible implementation, the air bag is used for both inflation and deflation and storage of counterweight liquid (such as water). For example, a certain amount of counterweight liquid can be stored in the air bag, and when the air bag is inflated, the counterweight liquid can be expelled outward, and at the same time, the air in the air bag is increased, achieving the effect of adjusting the buoyancy and the weight of the pool cleaning robot.

[0035] During the movement of the pool cleaning robot on the bottom of the pool, the sensing component can be used to sense the surrounding environment. For example, the target cleaning object and the surrounding environment can be detected.

[0036] In some embodiments, during the control of the movement of the pool cleaning robot on the bottom of the pool, at least one of the image acquisition assembly, the laser radar, the ultrasonic sensor, and the 3D structured light is used to detect whether there are steps around the pool cleaning robot.

[0037] In one possible implementation, the pool cleaning robot can obtain images, sound wave echoes, 3D point clouds, etc. of the surrounding environment through the sensing component. The pool cleaning robot can determine the steps in the environment based on the images and / or 3D point clouds, etc. and determine the geometric parameters of the steps, such as the step height, the number of steps, etc.

[0038] Of course, based on the map information of the pool, it can be determined whether there are steps at the location of the pool cleaning robot. The map can mark the location of the steps and related parameters of the steps, such as the number of steps, the height, the depth, and the width, etc.

[0039] The predetermined condition refers to a criterion for triggering the buoyancy adjustment or the judgment. The predetermined condition can be determined based on the step crossing ability of the pool automatic cleaning device. The predetermined condition can be used by the pool automatic cleaning device to determine at least one of the following: moving to the step for cleaning by adjusting the buoyancy and / or weight, bypassing the step, and moving in a way around the step.

[0040] Specifically, the pool automatic cleaning device continuously scans the surrounding environment during movement on the pool bottom. When a step is detected and the preset condition is met, the buoyancy adjustment mechanism is started. For example, after the air bag is inflated, the buoyancy of the device increases, and the walking mechanism climbs to the surface of the step. The pool automatic cleaning device moves along the surface of the step and cleans the step. For example, the step side wall and the top surface can be cleaned by a rolling brush, and then the cleaned garbage is sucked into the filter basket by using a water pump.

[0041] The use of the buoyancy adjustment mechanism improves the motion ability of the pool automatic cleaning device to climb the step, so that the pool automatic cleaning device can easily climb the step and clean the step. Avoiding the problem that the machine fails to climb the step or gets stuck at the step due to insufficient motion ability when the machine is cleaning the step, significantly improves the cleaning success rate, cleaning efficiency and coverage rate of the step structure.

[0042] In some embodiments, the step satisfies the predetermined condition, including at least one of the following: There is a step around the pool automatic cleaning device; There is a step around the pool automatic cleaning device, and the height of the step is greater than or equal to a first height threshold, and the height of the step is less than or equal to a second height threshold, the second height threshold being greater than the first height threshold; There is a step around the pool automatic cleaning device, and the step has multiple steps, the number of steps of the step being greater than or equal to a first step number threshold, and the number of steps of the step being less than or equal to a second step number threshold, the second step number threshold being greater than the first step number threshold.

[0043] In one possible implementation, the first height threshold can be the maximum height of the step that the pool automatic cleaning device can climb without assistance. The first height threshold can be calculated based on the power parameters of the walking mechanism of the pool automatic cleaning device, for example, the buoyancy adjustment needs to be triggered when the step height exceeds the limit of the track grip force.

[0044] In one possible implementation, the second height threshold can be the upper limit of the step height that the pool automatic cleaning device can cross with the help of buoyancy adjustment, for example, a bypass strategy needs to be taken when the step height exceeds the maximum buoyancy support range of the air bag.

[0045] In one possible implementation, the first step number threshold can be the maximum number of steps that the pool automatic cleaning device can climb without assistance.

[0046] The second step number threshold can be an upper limit of the number of steps that the pool cleaning robot can handle, for example, when the steps exceed five levels, the cleaning path needs to be re-planned.

[0047] Specifically, when the pool cleaning robot detects a step through a sensor or determines a step based on map information, the parameters of the step can not be evaluated, and the pool cleaning robot can directly climb onto the step with the aid of the buoyancy adjusting mechanism to clean the step. In this way, the control of the pool cleaning robot can be simplified, and a unified control method can be used to climb the steps. In addition, the buoyancy adjusting mechanism can improve the motion ability of the robot to climb the steps and improve the success rate of step cleaning.

[0048] The pool cleaning robot can also use different climbing methods for different step heights, for example, based on the climbing ability of the pool cleaning robot, the step height and / or the number of steps are combined to determine whether to use the buoyancy adjusting mechanism to climb. When the step height is between the first height threshold and the second height threshold, for example, a step with a height of 20 cm is detected, the buoyancy adjusting mechanism needs to be started to assist in climbing the step. When the number of steps is between the first step number threshold and the second step number threshold, for example, 3 steps, the buoyancy adjusting mechanism is started to assist in climbing the steps.

[0049] Generally, for low steps, the pool cleaning robot can directly use the walking mechanism to climb up, and when the steps are high or the number of steps is large, the motion ability of the pool cleaning robot is limited, and at this time, the buoyancy adjusting mechanism is used to assist the robot to climb the steps, which can improve the success rate and cleaning efficiency of the pool cleaning robot to clean the steps. By setting the judgment conditions of height and / or number of steps, the overuse of the buoyancy adjusting mechanism for low and / or small number of steps can be avoided, which can cause energy waste and excessive use of the structure, and at the same time, prevent the equipment from being damaged by forcibly climbing the steps with too high height or too many steps.

[0050] In some embodiments, the buoyancy adjusting mechanism increases the buoyancy experienced by the pool cleaning robot and / or reduces the weight of the pool cleaning robot, and controls the pool cleaning robot to move onto the step, comprising: After the buoyancy adjusting mechanism increases the buoyancy experienced by the pool cleaning robot and / or reduces the weight of the pool cleaning robot, the pool cleaning robot is controlled to climb onto the step through the walking mechanism; Or, after the buoyancy adjusting mechanism increases the buoyancy experienced by the pool cleaning robot and / or reduces the weight of the pool cleaning robot, the pool cleaning robot is controlled to float in the pool and move onto the step.

[0051] Here, gas can be injected into the airbag to increase buoyancy, and / or stored liquid (such as water) can be discharged from the counterweight chamber (such as the airbag) to reduce the weight of the automatic pool cleaning device.

[0052] For example, when a step is detected, the buoyancy adjustment mechanism is activated to increase buoyancy or reduce weight, thereby reducing the frictional resistance between the device and the step contact surface. Figure 3 As shown, if the step height is low or the slope is gentle, the walking mechanism is controlled to climb along the step surface.

[0053] like Figure 4 As shown, if the step is high or has multiple levels, the device is levitated and floats using buoyancy adjustment. Water flow or propulsion (such as nozzles or propellers) is used to control the machine to float directly above the step, for example, directly to the top of the highest step. During this process, buoyancy adjustment and movement mode selection are dynamically adjusted based on the step height, number of steps, and the device's current attitude to ensure stable contact with the step surface and effective cleaning. Different step-climbing methods can be used depending on the step height or number of steps to improve the success rate and efficiency of step cleaning.

[0054] Here, climbing onto the steps or floating and moving onto the steps via a walking mechanism can include climbing or floating and moving to the top surface of any step (such as the top surface of the highest step or the top surface of the first step). Movement between any two steps on the steps can also be achieved by either using a walking mechanism or floating and moving.

[0055] In this way, the problem of movement restriction caused by changes in step height and number of steps is reduced. Through the coordinated control of buoyancy adjustment and multi-mode movement, the adaptability of the device to complex step structures is improved, ensuring the integrity of the cleaning coverage area, while reducing energy loss caused by detours or repeated attempts.

[0056] In some embodiments, controlling the automatic cleaning device of the pool to move onto the steps and clean the steps includes: controlling the automatic cleaning device of the pool to move to the top surface of the highest step of the steps through the buoyancy adjustment mechanism, and cleaning the steps step by step from the top surface of the highest step downwards. Alternatively, the buoyancy adjustment mechanism can be used to control the automatic cleaning device of the pool to move to the top surface of the first step of the steps, and clean the steps one by one from the top surface of the first step upwards.

[0057] In one possible implementation, the buoyancy adjusting mechanism can make the pool cleaning robot float to the top surface of the highest step or the first step of the stairs by increasing the buoyancy or reducing the weight of the pool cleaning robot, or assist the walking mechanism to climb to the top surface of the highest step or the first step of the stairs. The water spraying device of the pool cleaning robot can be used to provide driving force for the movement of the pool cleaning robot in the floating position.

[0058] Specifically, when it is detected that the stairs have multiple steps, the pool cleaning robot first adjusts its buoyancy or lower weight by the buoyancy adjusting mechanism, so that the pool cleaning robot floats to the top surface of the highest step or climbs to the top surface of the highest step by the walking mechanism. After the pool cleaning robot reaches the top surface of the highest step, the cleaning component can be used for cleaning, and the pool cleaning robot naturally sinks along the step levels by its own weight, while the walking mechanism adjusts the moving speed. In this process, the cleaning assembly sweeps the surface of each step, and the pool cleaning robot sweeps each step from top to bottom by its own weight, which can reduce the energy consumption when sweeping the stairs.

[0059] In another implementation, when it is detected that the stairs have multiple steps, the pool cleaning robot first adjusts its buoyancy or lower weight by the buoyancy adjusting mechanism, so that the pool cleaning robot floats to the top surface of the first step or climbs to the top surface of the first step by the walking mechanism. After the pool cleaning robot reaches the top surface of the first step, the cleaning component can be used for cleaning. After the cleaning of the top surface of the current step is completed, the pool cleaning robot can continue to climb to a higher step by the buoyancy adjusting mechanism. The pool cleaning robot performs cleaning operation every time it reaches a step, until all levels are covered.

[0060] In this way, by selecting the cleaning path in two directions, and combining the coordinated control of the buoyancy adjusting mechanism and the walking mechanism, different stair structure characteristics can be adapted, and the path selection flexibility can be improved.

[0061] In some embodiments, the buoyancy adjusting mechanism includes a gas storage chamber, a gas bag, and a gas charging device. When the pool cleaning robot is controlled to move to the top surface of the highest step of the stairs by the buoyancy adjusting mechanism, the method further includes: According to the number of steps of the stairs or the total height of the stairs, the gas charging amount or the gas charging time of the gas bag is controlled by the gas charging device sucking the gas in the gas storage chamber, so as to control the pool cleaning robot to move to the top surface of the highest step of the stairs.

[0062] Here, the gas storage chamber refers to a sealed container for storing compressed gas, which can be made of metal or high-strength plastic, etc., and can be provided with a pressure sensor inside to monitor the gas capacity. Some sealed chambers in the machine can be used as gas storage chambers (e.g., control chamber). The air bag refers to a flexible container that can be inflated, which can be provided at the head or other parts of the pool cleaning device in the direction of travel, and the overall buoyancy of the device can be changed by inflating and deflating. The air bag can be provided with one or more. The inflation device refers to a mechanical device for transferring gas between the gas storage chamber and the air bag, such as a miniature air pump or a solenoid valve, whose working parameters can be adjusted based on the control signal of the controller.

[0063] Specifically, when the pool cleaning device needs to climb multiple steps, the number of steps or the total height is first obtained by the sensor. For example, if it is detected that the steps are 3 steps, the inflation device is controlled to extract gas from the gas storage chamber and inflate the air bag, and the inflation amount or inflation time is dynamically adjusted according to the preset step-inflation amount mapping table or height-inflation time curve. After inflation, the air bag expands to increase the buoyancy of the device, thereby reducing the pressure of the device on the pool bottom.

[0064] In one possible implementation, the air bag can contain water, which can be drained after inflation from the gas storage chamber, thereby adjusting the weight of the pool cleaning device and controlling the machine to float or dive.

[0065] The air bag can make the pool cleaning device float to reach the top surface of the highest step. The buoyancy of the air bag can offset part of the gravity of the pool cleaning device, and / or the water drained from the air bag can reduce the weight of the pool cleaning device, so that the walking mechanism can more easily climb, and the walking mechanism can drive the pool cleaning device to move up step by step along the steps. When the pool cleaning device reaches the top surface of the highest step, the inflation device stops working, and the air bag maintains an appropriate air pressure to maintain the stability of the pool cleaning device.

[0066] In this way, the buoyancy is adaptively adjusted according to the actual structural characteristics of the steps to ensure stable movement of the device in complex step scenarios. For example, for higher steps, the inflation time can be extended or the inflation amount can be appropriately increased to provide greater buoyancy, while for low steps, the inflation amount can be reduced to save energy, thereby improving cleaning coverage while optimizing device operation efficiency.

[0067] In some embodiments, the increasing the buoyancy experienced by the pool cleaning device and / or reducing the weight of the pool cleaning device by the buoyancy adjusting mechanism comprises: controlling the inflation device to suck the gas in the gas storage chamber and inflate the air bag provided at the head of the pool cleaning device to increase the buoyancy experienced by the pool cleaning device and / or reduce the weight of the pool cleaning device.

[0068] Here, the gas can be filled into the air bag to increase the buoyancy, and / or the stored liquid (such as water) can be discharged from the counterweight tank (such as the air bag) to reduce the weight of the pool cleaning robot.

[0069] When the pool cleaning robot climbs the steps by using the walking mechanism, the head of the pool cleaning robot (the front part in the direction of the pool cleaning robot) needs to be lifted first, therefore, increasing the buoyancy of the head and / or reducing the weight of the head can make it easier for the walking mechanism (such as the track) to lift the head of the pool cleaning robot when climbing the steps, thereby increasing the success rate of step climbing.

[0070] For example, as shown in Figure 5 When the step is detected, the inflation device is started and gas is extracted from the gas storage chamber and injected into the head air bag. As the air bag expands, the buoyancy of the head of the pool cleaning robot (indicated by arrow F) increases or the weight of the head decreases, and the pool cleaning robot is more likely to lift its head when climbing the steps, and at this time the walking mechanism is more likely to climb the edge of the steps under the assistance of the buoyancy.

[0071] In one possible implementation, the air bag of the pool cleaning robot has multiple air bags, and the inflation of the air bags can be adjusted based on the posture requirements during climbing.

[0072] For example, the air bag of the head can be inflated before the head is lifted to the top surface of the step, which facilitates the driving of the walking mechanism to climb the head to the top surface, and when the head is already on the top surface, the air bag of the tail can be inflated to make it easier for the tail to reach the top surface level.

[0073] Specifically, when the pool cleaning robot cleans each step, the attitude of the pool cleaning robot on the step is adjusted by the buoyancy adjusting mechanism, so that the bottom of the pool cleaning robot is attached to the cleaning surface of the current cleaning step. The structure of the step is special, and the machine is easy to be unstable when cleaning the step. The bottom of the machine cannot be parallel to the cleaning surface, so that the water inlet and the roller brush cannot be attached to the cleaning surface, which cannot effectively clean the step, or fall from the step, which affects the cleaning efficiency of the step. In this scheme, when the machine cleans each step, the attitude of the machine can be adjusted by the buoyancy adjusting mechanism, such as an air bag, so that the machine is as parallel as possible to the cleaning surface of the current cleaning, and the attitude is stable, so that the step is better cleaned, and the coverage, cleaning efficiency and success rate of the step cleaning are improved. Among them, the way of adjusting the attitude of the machine by using the buoyancy can be adjusted according to the specific needs. The attitude of the machine can be detected by IMU, and the attitude of the machine can be adjusted by the buoyancy adjusting mechanism, so that the machine can be attached to the step stably. For example, if the depth of the step is small, the tail of the machine is outside the step when cleaning the step surface, which may cause the tail of the machine to sink and the head to rise, so that the roller brush and the water inlet cannot be attached to the top surface of the step, or even the machine slides off the step. At this time, the air bag at the tail of the machine can be used to increase the buoyancy of the tail of the machine, or the gas in the air bag at the head of the machine can be discharged to reduce the buoyancy of the head of the machine, so that the tail of the machine does not sink, and the machine can be attached to the top surface of the step.

[0074] When cleaning each step, the machine can be controlled to move laterally on the step to clean the step. If the depth of the step is greater than the width of the machine, the machine can also be controlled to adjust the direction, so that the length direction of the machine body is parallel to the length direction of the step, and the machine advances along the length direction of the step to clean the step. Different cleaning strategies can be set according to different scenes.

[0075] In some embodiments, after the pool cleaning robot is controlled to move to the top surface of the highest step of the step by the buoyancy adjusting mechanism, the method further comprises: controlling the buoyancy adjusting mechanism to reduce the buoyancy of the pool cleaning robot or increase the weight of the pool cleaning robot, so as to control the pool cleaning robot to clean the step from the top surface of the highest step to the next step in turn.

[0076] Here, the gas can be discharged from the air bag to reduce the buoyancy, and / or the liquid (such as water) can be injected into the counterweight tank (such as the air bag) to increase the weight of the pool cleaning robot.

[0077] For example, when the device reaches the top of the highest step, the inflation device initiates an exhaust procedure, partially withdrawing the gas in the airbag into the gas storage chamber, resulting in a decrease in the overall buoyancy of the device. And / or, the water pump in the counterweight chamber can extract surrounding water and inject it into the chamber, further increasing the weight of the device. The combined adjustment of buoyancy and / or weight allows the machine to generate sufficient contact pressure with the step surface, ensuring that the walking mechanism obtains effective friction. Subsequently, the device moves along the edge of the step to the next level through the track or wheel mechanism, and the cleaning assembly continues to work during the movement.

[0078] In this way, the balance between buoyancy and weight is dynamically adjusted according to the step level, reducing the problem of slipping or insufficient pressure during cleaning, maintaining effective cleaning pressure on each step surface, reducing the risk of motion loss due to step height differences, and significantly improving the cleaning coverage and efficiency of complex step structures.

[0079] In some embodiments, the control of the movement of the pool automatic cleaning device on the step includes: Based on the height and / or depth of each step, the attitude of the pool automatic cleaning device and the speed of the walking mechanism are adjusted, wherein the higher the height and / or the greater the depth of the step, the greater the speed of the walking mechanism.

[0080] Here, the height of the step refers to the distance in the vertical direction of the step. The depth of the step refers to the distance in the direction perpendicular to the vertical face of the step. The height and depth can be sensed by the sensing component.

[0081] The attitude adjustment refers to changing the angle between the direction of travel of the pool automatic cleaning device and the vertical face of the step, and / or the relative angle of the contact surface of the pool automatic cleaning device and the step.

[0082] In one possible implementation, the adjustment of the buoyancy and / or the adjustment of the device weight can be achieved by adjusting the suspension system of the walking mechanism and / or by the buoyancy adjustment mechanism, for adapting to the geometric characteristics of different step edges.

[0083] The speed of the walking mechanism can include the speed of the driving motor, the speed of the driving wheel, the speed of the track wheel, and / or the water flow of the water jet device. The adjustment can be achieved by adjusting the power output of the motor of the walking mechanism, for matching the climbing power required by steps of different heights.

[0084] For example, when the presence of the step is detected, the height and depth data of the step are first obtained by the sensing component. The speed of the walking mechanism is adjusted based on the height and / or depth. For example, for steps with greater depth, the pool automatic cleaning device can adopt an angle directly facing the step and a higher walking mechanism speed to climb the step more stably.

[0085] The corresponding relationship between the speed and the step parameter is determined by a preset mapping table. For a multi-step, the current step parameter can be re-acquired and the motion parameter can be adjusted in real time every time the step is raised or lowered, so as to ensure the continuity of the motion of the device on the continuous steps.

[0086] Compared with the fixed speed mode of climbing the steps, the crawler is easy to slip due to insufficient speed or the device is easy to overturn due to excessive speed. The embodiment establishes the dynamic correlation between the step geometric parameter and the motion parameter, for example, the speed is increased to a specific threshold when a step with a high height is encountered, so as to ensure the climbing power requirement and maintain the stability of the device. The adaptability to different steps is improved.

[0087] In some embodiments, the method further comprises at least one of: In the case that there is a step around the pool automatic cleaning device, and the height of the step is less than the first height threshold or the number of steps is less than the first step threshold, the pool automatic cleaning device is controlled to use the walking mechanism of the pool automatic cleaning device to travel to the step and clean the step; In the case that it is detected that there is a step around the pool automatic cleaning device, and the height of the step is greater than the second height threshold or the number of steps is greater than the second step threshold, the pool automatic cleaning device is controlled to bypass the step and / or send indication information.

[0088] For example, when the pool automatic cleaning device detects a step height lower than a preset first height threshold (for example, 5 cm) or a step number less than a first step threshold (for example, 2 steps) through a sensor, the walking mechanism is activated to move along the step surface in a regular climbing mode, and the cleaning assembly is started to perform brushing or suction operation on the step. In this way, the control complexity caused by the activation of the buoyancy adjusting mechanism can be reduced.

[0089] If the step height exceeds the second height threshold (for example, 20 cm) or the step number exceeds the second step threshold (for example, 5 steps), the pool automatic cleaning device will automatically generate a bypass path to avoid climbing failure, and / or send indication information to a user terminal through a wireless signal. The indication information can be used to indicate at least one of the geometric parameters of the step, the position of the step, the inability of the pool automatic cleaning device to clean the step, the blocking of the pool automatic cleaning device by the step, and the handling mode (bypassing) of the pool automatic cleaning device.

[0090] In some possible implementations, the speed of the walking mechanism climbing the step can be dynamically adjusted according to the roughness of the step surface, for example, the torque output is reduced on a smooth ceramic tile surface to prevent slipping.

[0091] In some possible implementations, the generation of the bypass path can be combined with the step geometry parameter and the preset safety distance parameter, for example, according to the width of the step, the machine is controlled to move a distance greater than the width of the step after turning, and the pool bottom or pool wall beside the step is cleaned.

[0092] In some possible implementations, the sending of the indication information can include Bluetooth, Wi-Fi or cellular network transmission, for example, pushing an alarm to a mobile phone application through an MQTT protocol.

[0093] In some embodiments, the method further includes: when cleaning the step, controlling the pool automatic cleaning device to increase the water pump power.

[0094] Here, the water pump is used to suck water from the water inlet of the pool automatic cleaning device. The water inlet can be located at the bottom of the pool automatic cleaning device facing the pool bottom surface (or the step).

[0095] Wherein, the greater the water pump power, the greater the water flow sucked from the water inlet. The greater the water flow, on the one hand, can suck more target cleaning objects (such as debris in the water, moss on the step surface, etc.), on the other hand, the increase of water flow can generate a relative negative pressure between the pool automatic cleaning device and the top surface of the step, so that the pool automatic cleaning device can be adsorbed on the step surface, and the stability of the pool automatic cleaning device on the top surface of the step is improved.

[0096] In some embodiments, the method further includes: acquiring the point cloud of the step by using the image acquisition assembly; correcting the point cloud based on a correction model, the correction model being used to correct errors caused by refraction of the pool water body by the image acquisition assembly; determining the height and / or the number of steps based on the corrected point cloud.

[0097] In one possible implementation, the image acquisition assembly can include a binocular camera, which can acquire a three-dimensional point cloud of the step, so as to more accurately determine the geometric parameters (height and / or number of steps) of the step.

[0098] The steps of specifically determining the step geometric parameters by using the binocular camera include, as shown in Figure 6 Step 601: underwater / semi-underwater binocular depth estimation optimization. Here, the optical distortion and refraction problem of the pool environment can be solved by combining the corrected camera internal and external parameters, and introducing refraction correction based on the water surface model, which can significantly improve the depth matching accuracy.

[0099] Specifically, a pair of calibrated binocular cameras are installed at the front of the pool automatic cleaning device, and the camera internal parameters K1 (left camera internal parameters) and K2 (right camera internal parameters) are obtained. r ​The camera intrinsic parameters, the camera rotation parameters, and the camera translation parameters are denoted as K (a 3x3 matrix), R (a 3x3 rotation matrix), and T (a 3x1 translation vector), respectively. In view of the refraction of the water-air interface of the pool, Snell's law and the normal vector of the water surface are used to estimate a camera light refraction correction model, so that the depth Z recovered by pixel disparity is more accurate.

[0100] Step 602: Automatic segmentation of step region and plane fitting. Through gradient analysis and RANSAC plane fitting of the depth map, the step top surface and the flat ground region are automatically separated, and non-planar noise such as water grass and debris is robustly filtered out.

[0101] Specifically, the depth map and point cloud generation use an improved SGBM algorithm to perform stereo matching on left and right images to obtain a disparity map d(x, y), and the depth map is recovered by Z = (f B) / d(x, y). Wherein, Z represents the vertical distance from the target point to the camera baseline, that is, the depth. F represents the focal length of the camera, B represents the horizontal distance between the two camera optical centers of the binocular camera, and d represents the disparity.

[0102] According to the camera intrinsic parameters, the depth map is converted into a point cloud P = {(X, Y, Z)}, wherein the X and Y coordinates can be expressed by formula (1): (1)

[0103] Wherein, u, v respectively represent the pixel coordinates on the camera image, and respectively represent the principal point coordinates of the binocular camera, and respectively represent the focal length of the binocular camera.

[0104] Step region segmentation: perform normal vector statistics and height gradient analysis on the point cloud P, and use threshold to remove non-planar regions (such as water grass). Perform twice RANSAC plane fitting on the remaining point cloud: once to fit the ground plane G, and once to fit the possible step top surface S, respectively obtaining the respective fitting inlier set Pc_ground (ground plane point set), Pc_step (step plane point set).

[0105] Step 603: Height difference calculation and cleaning strategy mapping. Using the two groups of segmented point clouds, the average height of the ground and the flat step is calculated respectively , and the difference between the two is taken as the step height, and ΔH is mapped as the action parameter of the pool automatic cleaning device to cross or suspend cleaning.

[0106] Step height calculation

[0107] The average height of Pc_ground and Pc_step can be calculated using expression (2): (2)

[0108] wherein P ground represents the number of ground points, used to calculate Y p represents the height of the ground points; P step represents the number of step points, used to calculate Y p represents the height of the step points.

[0109] The step height is .

[0110] Step 604: Strategy adaptation based on height information: based on the measured ΔH, dynamically adjust the hardware parameters of the pool automatic cleaning device, such as track tension, rotation speed, air pump jet intensity, etc., to achieve fine cleaning and safe crossing of different height steps.

[0111] Compare ΔH with preset thresholds H1 (low step) and H2: If ΔH ≤ H1, it means that the step is a low step, and the pool automatic cleaning device directly advances at a regular track speed and increases the suction force for cleaning; If H1 < ΔH ≤ H2, it means that the step is a medium step, and the pool automatic cleaning device starts the air bag lifting or track pressurization mode to slowly cross the step; If ΔH > H2, it means that the step is a high step, and the pool automatic cleaning device detours or issues a warning to avoid forced crossing.

[0112] During the crossing process, the camera continuously monitors the depth map, and when ΔH changes beyond the expected range, the crossing speed and angle are dynamically adjusted to ensure safety.

[0113] The embodiments of the present disclosure also propose an electronic device, which includes a processor, wherein the processor is configured to execute the steps of the control method of the pool automatic cleaning device according to any of the above embodiments.

[0114] In one possible implementation, the electronic device can include a pool automatic cleaning device, etc.

[0115] In one possible implementation, the pool automatic cleaning device is configured to clean at least the water body of the pool.

[0116] The embodiment of the present disclosure further provides a control device of the pool automatic cleaning device, the pool automatic cleaning device comprising a buoyancy adjusting mechanism, the control device comprising a processing module capable of executing the method of the above embodiment, cleaning the steps, such as: The processing module is configured to control the pool automatic cleaning device to move on the pool bottom and detect objects around the pool automatic cleaning device. The processing module is further configured to, in the case that the steps around the pool automatic cleaning device meet predetermined conditions, increase the buoyancy received by the pool automatic cleaning device and / or reduce the weight of the pool automatic cleaning device through the buoyancy adjusting mechanism, and control the pool automatic cleaning device to move onto the steps and clean the steps.

[0117] In the embodiment of the present disclosure, the processor is a circuit with signal processing capability. In one implementation, the processor can be a circuit with instruction reading and running capability, such as a central processing unit (CPU), a microprocessor, a graphics processing unit (GPU) (which can be understood as a kind of microprocessor), or a digital signal processing circuit (digital signal processor, DSP), etc. In another implementation, the processor can realize certain functions through the logical relationship of hardware circuits, and the logical relationship of the above hardware circuits is fixed or can be reconfigured. For example, the processor is a hardware circuit realized by an application-specific integrated circuit (application-specific integrated circuit, ASIC) or a programmable logic device (programmable logic device, PLD), such as an FPGA. In the reconfigurable hardware circuit, the processor loads the configuration document to realize the hardware circuit configuration process, which can be understood as the process of the processor loading instructions to realize the functions of part or all of the above units or modules. In addition, it can also be a hardware circuit designed for artificial intelligence, which can be understood as a kind of ASIC, such as a neural network processing unit (Neural Network Processing Unit, NPU), a tensor processing unit (Tensor Processing Unit, TPU), a deep learning processing unit (Deep learning Processing Unit, DPU), etc.

[0118] The computer readable storage medium provided by the embodiment can execute the control method of the pool automatic cleaning device of the above embodiment, and the implementation principle and technical effects are similar to those of the above embodiment. The embodiment will not be described here.

[0119] The computer readable storage medium described above can be realized by any type of volatile or nonvolatile storage devices or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general or special purpose computer.

[0120] An exemplary readable storage medium is coupled to the processor, so that the processor can read information from the readable storage medium, and can write information to the readable storage medium. Of course, the readable storage medium can also be an integral part of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (ASIC). Of course, the processor and the readable storage medium can also exist as discrete components in an electronic device or a host device.

[0121] Those skilled in the art can understand that all or part of the steps of the above-mentioned method embodiments can be completed by program instruction related hardware. The foregoing program can be stored in a computer readable storage medium. The program executes to perform the steps of the above-mentioned method embodiments; and the foregoing storage medium includes ROM, RAM, magnetic disk or optical disk and various storage media that can store program codes.

[0122] The embodiments or implementations in the specification are described in a progressive manner, and each embodiment focuses on the difference from other embodiments. The same or similar parts between the embodiments can be referred to each other.

[0123] In the description of the specification, the description of "one embodiment", "some embodiments", "exemplary embodiment", "example", "specific example" or "some examples" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the specification, the exemplary description of the above terms does not necessarily mean the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0124] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A control method of a pool automatic cleaning device, characterized by, The pool automatic cleaning device comprises a buoyancy adjusting mechanism, and the method comprises: controlling the pool automatic cleaning device to move on the pool bottom; in the process of moving, if the step around the pool automatic cleaning device meets a predetermined condition, increasing the buoyancy received by the pool automatic cleaning device and / or reducing the weight of the pool automatic cleaning device through the buoyancy adjusting mechanism, and controlling the pool automatic cleaning device to move onto the step and clean the step.

2. The method of claim 1, wherein, The step meets the predetermined condition, which includes at least one of the following: there is a step around the pool automatic cleaning device; there is a step around the pool automatic cleaning device, and the height of the step is greater than or equal to a first height threshold, and the height of the step is less than or equal to a second height threshold, which is greater than the first height threshold; there is a step around the pool automatic cleaning device, and the number of steps of the step is greater than or equal to a first step number threshold, and the number of steps of the step is less than or equal to a second step number threshold, which is greater than the first step number threshold.

3. The method of claim 1, wherein, The control of the pool automatic cleaning device to move onto the step and clean the step comprises: controlling the pool automatic cleaning device to move to the top surface of the highest step of the step through the buoyancy adjusting mechanism, and cleaning the step from the top surface of the highest step to the lower step in turn; or, controlling the pool automatic cleaning device to move to the top surface of the first step of the step through the buoyancy adjusting mechanism, and cleaning the step from the top surface of the first step to the higher step in turn.

4. The method of claim 3, wherein, The buoyancy adjusting mechanism comprises a gas storage chamber, a gas bag and an inflation device, and when the pool automatic cleaning device is controlled to move to the top surface of the highest step of the step through the buoyancy adjusting mechanism, the method further comprises: According to the number of steps or the total height of the step, the inflation amount or inflation time of the gas bag is controlled by the inflation device to control the pool automatic cleaning device to move to the top surface of the highest step of the step.

5. The method of claim 4, wherein, The increase of the buoyancy received by the pool automatic cleaning device and / or the reduction of the weight of the pool automatic cleaning device through the buoyancy adjusting mechanism comprises: controlling the inflation device to suck the gas in the gas storage chamber into the gas bag arranged at the head of the pool automatic cleaning device to increase the buoyancy received by the pool automatic cleaning device and / or reduce the weight of the pool automatic cleaning device.

6. The method of claim 3, wherein, After the pool automatic cleaning device is controlled to move to the top surface of the highest step of the step through the buoyancy adjusting mechanism, the method further comprises: controlling the buoyancy adjusting mechanism to reduce the buoyancy received by the pool automatic cleaning device or increase the weight of the pool automatic cleaning device to control the pool automatic cleaning device to clean the step from the top surface of the highest step to the lower step in turn.

7. The method according to any one of claims 1 to 6, characterized in that, The method further comprises: After increasing the buoyancy of the pool cleaning robot and / or reducing the weight of the pool cleaning robot by the buoyancy adjusting mechanism, the pool cleaning robot is controlled to float up in the pool and move to the step. Or, after increasing the buoyancy of the pool cleaning robot and / or reducing the weight of the pool cleaning robot by the buoyancy adjusting mechanism, the pool cleaning robot is controlled to float up in the pool and move to the step.

8. The method according to any one of claims 1 to 6, characterized in that, The method further comprises: When the pool cleaning robot cleans each step, the posture of the pool cleaning robot on the step is adjusted by the buoyancy adjusting mechanism, so that the bottom of the pool cleaning robot is attached to the cleaning surface of the currently cleaned step.

9. The method of claim 2, wherein, The method further comprises at least one of the following: When there are steps around the pool cleaning robot, and the height of the step is less than the first height threshold or the number of steps is less than the first step number threshold, the pool cleaning robot is controlled to move to the step by the walking mechanism of the pool cleaning robot and clean the step. When there are steps around the pool cleaning robot, and the height of the step is greater than the second height threshold or the number of steps is greater than the second step number threshold, the pool cleaning robot is controlled to bypass the step and / or send an indication information.

10. The method of claim 1, wherein, The method further comprises: When cleaning the step, the pool cleaning robot is controlled to increase the power of the water pump.

11. The method of claim 1, wherein, The method further comprises: During the process of controlling the pool cleaning robot to move on the bottom of the pool, whether there are steps around the pool cleaning robot is detected by at least one of an image acquisition component, a laser radar, an ultrasonic sensor and a 3D structured light.

12. The method of claim 11, wherein, The method further comprises: The point cloud of the step is obtained by using the image acquisition component; The point cloud is corrected based on a correction model, and the correction model is used to correct the error caused by the refraction of the pool water by the image acquisition component; The height and / or number of steps are determined based on the corrected point cloud.

13. An electronic device comprising a processor, a memory, and an executable program stored on the memory and capable of being executed by the processor, wherein, The processor executes the executable program to perform the steps of the control method of the pool cleaning robot as claimed in any one of claims 1 to 12.

14. A storage medium having stored thereon an executable program, characterized in that The executable program is executed by the processor to perform the steps of the control method of the pool cleaning robot as claimed in any one of claims 1 to 12.

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