Swimming pool cleaning method and apparatus, and electronic device and swimming pool cleaning robot

Abstract

Provided are a swimming pool cleaning method and apparatus, and an electronic device and a swimming pool cleaning robot. The method comprises: controlling a swimming pool cleaning robot to move along each planned path in a basic map of a swimming pool, so as to acquire position information corresponding to each cleaning object in the swimming pool (102); on the basis of the basic map and the position information corresponding to each cleaning object, generating a cleaning map (300) including each cleaning object, and each cleaning path (302, 304, 306, 308) (104); and controlling the swimming pool cleaning robot to move along each cleaning path (302, 304, 306, 308) in the cleaning map (300), so as to clean the swimming pool (106). Therefore, the cleaning efficiency and cleaning effect of a swimming pool are improved.

Description

Swimming pool cleaning method, device, electronic equipment and swimming pool cleaning robot Technical Field

[0001] The present application relates to the field of robot cleaning control, and in particular to a swimming pool cleaning method, device, electronic equipment and swimming pool cleaning robot. Background Art

[0002] The swimming pool cleaning robot is a cleaning robot developed to meet the needs of swimming pool cleaning. It can repeatedly clean the bottom and walls of the swimming pool and filter the water in the swimming pool.

[0003] Unlike traditional land-based cleaning robots, pool cleaning robots perform their cleaning tasks in a three-dimensional space encompassing the pool bottom and walls. Therefore, planning a reasonable cleaning path within this more complex three-dimensional space is crucial to improving pool cleaning efficiency.

[0004] Furthermore, the types and degrees of dirtiness of various cleaning targets within a pool vary. However, current pool cleaning logic cannot perform targeted cleaning for each cleaning target, resulting in poor pool cleaning results.

[0005] Summary of the Invention

[0006] In view of this, an embodiment of the present application provides a swimming pool cleaning solution to at least partially solve the above-mentioned problems.

[0007] According to a first aspect of an embodiment of the present application, a swimming pool cleaning method is provided, which controls a swimming pool cleaning robot to move along each planned path in a basic map of the swimming pool to obtain position information corresponding to each cleaning object in the swimming pool; generates a cleaning map containing each cleaning object and each cleaning path in the cleaning map based on the basic map and the position information corresponding to each cleaning object; and controls the swimming pool cleaning robot to move along each cleaning path in the cleaning map to clean the swimming pool.

[0008] According to a second aspect of an embodiment of the present application, a swimming pool cleaning device is provided, comprising: an acquisition module for controlling a swimming pool cleaning robot to move along each planned path in a basic map of the swimming pool to obtain each position information corresponding to each cleaning object in the swimming pool; a generation module for generating a cleaning map containing each cleaning object and each cleaning path in the cleaning map based on the basic map and the each position information corresponding to each cleaning object; and a cleaning module for controlling the swimming pool cleaning robot to move along each cleaning path in the cleaning map to clean the swimming pool.

[0009] 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 via the communication bus; the memory is used to store at least one executable instruction, and the executable instruction enables the processor to perform operations corresponding to the swimming pool cleaning method described in the first aspect.

[0010] According to a fourth aspect of the embodiments of the present application, a computer storage medium is provided, on which a computer program is stored. When the program is executed by a processor, the swimming pool cleaning method as described in the first aspect is implemented.

[0011] According to a fifth aspect of the embodiments of the present application, a swimming pool cleaning robot is provided, which includes a controller, in which control instructions are stored. When the control instructions are executed, the controller executes the method described in the first aspect.

[0012] According to the swimming pool cleaning solution provided in each embodiment of the present application, a swimming pool cleaning map and cleaning path are generated based on the basic map and the cleaning objects and their location information in the swimming pool. This can not only improve the cleaning efficiency and cleaning effect of the swimming pool, but also improve the success rate of executing the swimming pool cleaning task. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] 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.

[0014] FIG1 is a flow chart of steps of a swimming pool cleaning method according to an exemplary embodiment of the present application;

[0015] 2 and 3 are schematic diagrams of constructing a swimming pool cleaning map according to various embodiments of the present application;

[0016] FIG4 is a flowchart of steps of a swimming pool cleaning method according to another exemplary embodiment of the present application;

[0017] 5 and 6 are schematic diagrams of the application of the swimming pool cleaning robot moving along various preset paths according to various embodiments of the present application;

[0018] FIG7 is a flowchart of a swimming pool cleaning method according to another exemplary embodiment of the present application;

[0019] FIG8 is a schematic diagram of water level cleaning according to an exemplary embodiment of the present application;

[0020] FIG9 is a structural block diagram of a swimming pool cleaning device according to an exemplary embodiment of the present application;

[0021] FIG10 is a schematic structural diagram of an electronic device according to an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0022] 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.

[0023] The specific implementation of the embodiment of the present application is further explained below in conjunction with the accompanying drawings of the embodiment of the present application.

[0024] FIG1 is a schematic diagram showing a swimming pool cleaning method according to an exemplary embodiment of the present application.

[0025] Step 102: Control the swimming pool cleaning robot to move along each planned path in the basic map of the swimming pool to obtain each position information corresponding to each cleaning object in the swimming pool.

[0026] In some embodiments, the pool cleaning robot is equipped with a roller brush and a crawler track, and a differential chassis solution combining the roller brush and the crawler track can be used to control the pool cleaning robot to move along a planned path in the swimming pool.

[0027] Specifically, when a pool cleaning robot moves underwater, the buoyancy of the water and fluctuations in water flow can affect the robot's control accuracy. Furthermore, when turning underwater, the robot can easily encounter inertia due to factors such as underwater friction and buoyancy, preventing it from accurately following its intended path.

[0028] In view of this, the present application can significantly improve the underwater motion control accuracy of the swimming pool cleaning robot through a differential chassis control scheme combining roller brushes and tracks, as well as a unique waterway structure design inside the swimming pool cleaning robot.

[0029] Specifically, water can be quickly sucked in from the water inlet at the bottom of the pool cleaning robot, thereby forming a negative pressure effect locally, so that the pool cleaning robot can be firmly adsorbed on the surface of the pool wall of various materials.

[0030] Furthermore, water entering the pool cleaning robot from the water inlet flows through its internal waterway structure and is ejected from the water outlet located above it, thereby generating thrust for the pool cleaning robot, allowing it to easily climb slopes and pool walls of various angles. Simultaneously, a gyroscope can be used to detect the pool cleaning robot's posture in real time, adjusting the operating parameters of the drive motor and water pump motor accordingly, thereby achieving the purpose of adjusting the pool cleaning robot's travel speed and / or direction. Furthermore, the suction and thrust of the water flow can drive the pool cleaning robot to move precisely along a planned path, thereby improving pool cleaning efficiency and effectiveness.

[0031] In some embodiments, the pool cleaning robot may include a camera, a radar sensor, a sonar sensor, or an inertial measurement sensor.

[0032] In the process of controlling the pool cleaning robot to move along each planned path, image data of the swimming pool can be collected through at least one of the camera, radar sensor, sonar sensor, and inertial measurement sensor, and by detecting the image data, the position information of each cleaning object in the swimming pool and each cleaning object can be obtained.

[0033] Specifically, the sonar sensor can detect the distance information of obstacles around the pool cleaning robot through ultrasonic technology; the camera can be used to obtain underwater images of the swimming pool; the inertial measurement sensor can record the posture information and position information of the pool cleaning robot, and integrate the feedback information of each sensor through a fusion algorithm to obtain the position information corresponding to each cleaning object in the swimming pool.

[0034] In some embodiments, the radar sensor includes but is not limited to visual radar, panoramic visual radar, etc.

[0035] For example, if the radar sensor includes a visual radar, the radar sensor is pivotally connected to the pool cleaning robot (for example, the radar sensor can be pivotally connected to the pool cleaning robot via a stomp mechanism) so that the radar sensor can rotate relative to the pool cleaning robot. In this way, the radar sensor can be controlled to rotate relative to the pool cleaning robot to obtain panoramic image data of the pool cleaning robot's surroundings without the pool cleaning robot having to perform a steering operation.

[0036] For example, a panoramic visual radar may be installed on the pool cleaning robot to directly obtain panoramic image data around the pool cleaning robot.

[0037] In some embodiments, before performing the pool cleaning task, a pool mapping task may be performed to generate a basic map of the pool.

[0038] Specifically, the position of each facility object in the swimming pool and the position of each pool wall can be detected, and a three-dimensional basic map and each planned path in the basic map can be generated accordingly.

[0039] In this embodiment, the shape of the swimming pool can be a regular shape (rectangular, circular, oval, etc.) or an irregular shape (peanut-shaped, gourd-shaped, etc.).

[0040] In this embodiment, the facility objects in the swimming pool may include but are not limited to: steps, slopes, handrails, water inlets, water outlets, etc.

[0041] In some embodiments, while controlling the pool cleaning robot to move along each planned path, image data of the swimming pool can be collected through at least one of a camera, a radar sensor, a sonar sensor, and an inertial measurement sensor, and by detecting the image data, the location information of each facility object in the swimming pool and each facility object can be obtained.

[0042] In some embodiments, while controlling the pool cleaning robot's movement along each planned path on the base map, the location information corresponding to each facility object in the pool can be obtained, and the base map can be updated using this location information. Through this mechanism, during the construction of the cleaning map, the solution can update and optimize the existing facility objects and their location information in the base map based on the latest acquired facility objects and their location information. This not only further improves the accuracy of the base map, but also supplements any missing information in the base map, helping to improve the accuracy of subsequent cleaning path planning.

[0043] Step 104: Generate a cleaning map including each cleaning object and each cleaning path in the cleaning map based on the basic map and the location information corresponding to each cleaning object.

[0044] In this embodiment, the sensing data of various sensors (e.g., cameras, radar sensors, sonar sensors, inertial measurement sensors, etc.) can be fused through a fusion algorithm to draw a three-dimensional swimming pool space 200 (see Figure 2) including a pool bottom 202 and a pool wall 204. By identifying each facility object and marking the position of each facility object in the three-dimensional swimming pool space 200, a cleaning map 300 as shown in Figure 3 can be constructed.

[0045] In some embodiments, each cleaning path 302 to 308 in the cleaning map 300 (see FIG. 3 ) may be planned based on a preset underwater path planning algorithm and the structural features of the swimming pool in the base map.

[0046] In some embodiments, a cleaning map including each facility object and each cleaning object can be generated based on the location information corresponding to each facility object in the basic map and combined with the location information corresponding to each cleaning object detected in real time in step 102, and each facility object in the cleaning map can be identified to determine the obstacle avoidance objects in each facility object; based on the cleaning map, the location information corresponding to each obstacle avoidance object, and the location information corresponding to each cleaning object, cleaning paths that avoid each obstacle avoidance object and cover each cleaning object are generated.

[0047] Specifically, for each facility object in the swimming pool, it can be determined whether these facility objects will affect the movement of the swimming pool cleaning robot, and these facility objects can be further divided into obstacle avoidance objects and non-obstacle avoidance objects.

[0048] For example, for the floor drain at the bottom of the pool, if the floor drain is flush with the surface of the pool bottom or slightly higher than the surface of the pool bottom, it will not affect the movement of the pool cleaning robot and can be classified as a non-obstacle avoidance object; on the contrary, if the height difference between the floor drain and the pool wall surface exceeds a certain range and hinders the movement route of the pool cleaning robot, it will be classified as an obstacle avoidance object.

[0049] Step 106: Control the swimming pool cleaning robot to move along each cleaning path in the cleaning map to clean the swimming pool.

[0050] 3 , the pool cleaning robot may be controlled to traverse each cleaning path 302 to 308 in a cleaning map 300 to perform a pool cleaning task.

[0051] In some embodiments, the cleaning map can be divided into multiple cleaning areas according to the swimming pool zoning conditions, and the cleaning paths and / or cleaning parameters corresponding to each cleaning area can be determined to control the swimming pool cleaning robot to clean the swimming pool according to the cleaning areas in the cleaning map, the cleaning paths and / or cleaning parameters corresponding to each cleaning area.

[0052] In some embodiments, the pool zoning condition is determined based on at least one of the following identification results:

[0053] The identification results of the dirt type of each cleaning object in the swimming pool, the identification results of the dirtiness of each cleaning object in the swimming pool, the identification results of the water depth of the swimming pool, and the identification results of each pool facility in the swimming pool.

[0054] For example, the cleaning map can be divided into deep cleaning areas, medium cleaning areas, and light cleaning areas based on the dirt type and / or dirt level identification results for each cleaning object in the pool. For example, the dirt type can be used to determine the difficulty of cleaning the cleaning object. Areas with difficult cleaning objects can be divided into deep cleaning areas, while areas with easier cleaning objects can be divided into light cleaning areas. For another example, based on the dirt level, areas with more severe dirtiness can be divided into deep cleaning areas, while areas with less severe dirtiness can be divided into light cleaning areas.

[0055] For example, the cleaning map may be divided into shallow water areas, deep water areas, slope areas, step areas, etc. according to the identification results of the water depth of the swimming pool and / or the identification results of the various swimming pool facilities in the swimming pool.

[0056] In this embodiment, corresponding cleaning paths and / or cleaning parameters may be set for each cleaning area divided in the cleaning map.

[0057] In some embodiments, the cleaning path may include, but is not limited to, a serpentine cleaning path, a meandering cleaning path, a zigzag cleaning path, etc. For example, referring to Figures 2 and 3 , a serpentine cleaning path (see cleaning paths 302, 304, and 306) or a meandering cleaning path (not shown) may be generally used to clean the pool bottom 202; a zigzag cleaning path 308 may be used to clean the pool wall 204.

[0058] In this embodiment, the cleaning parameters include at least one of a cleaning times parameter, a water pump speed parameter, and a water pump start / stop parameter.

[0059] For example, for deep cleaning areas, cleaning can be performed by increasing the number of cleaning times and / or speeding up the water pump to improve the cleaning effect of the deep cleaning area.

[0060] For example, for the filter cleaning area in the cleaning map, the switch, speed and steering parameters of the water pump motor can be controlled to guide the water flow to repeatedly impact the filter to prevent the filter from being blocked.

[0061] It should be noted that in this application, the mapping schemes implemented for the basic map and cleaning map of the swimming pool are roughly the same. The main difference is that the basic map can be constructed in one go, and only the various facility objects fixed in the swimming pool (for example, floor drains, handrails, water inlets, water outlets, etc.) are included in the basic map; the cleaning map should be constructed in real time each time the swimming pool cleaning task is performed, and the cleaning map contains not only the various facility objects fixed in the swimming pool, but also the various cleaning objects in the swimming pool (for example, leaves, etc.). In some application scenarios, it is also possible to choose to synchronously collect the facility objects in the swimming pool during the construction of the cleaning map, and iteratively update the basic map based on this to ensure the accuracy of the basic map.

[0062] In summary, the swimming pool cleaning method of this embodiment generates a cleaning map and a cleaning path based on a basic map and the location information of each cleaning object, which can improve the cleaning efficiency and cleaning effect of the swimming pool and increase the success rate of executing the swimming pool cleaning task.

[0063] The swimming pool cleaning method of this embodiment combines the sensing data of multiple sensors to accurately construct the map data of the swimming pool, and helps to improve the accuracy of the swimming pool cleaning path planning results.

[0064] Specifically, swimming pools include obstacles such as the pool bottom, walls, slopes, steps, and inlets / outlets. This application uses a multi-sensor fusion detection method to detect various target objects in the pool (e.g., facility objects, cleaning objects), thereby accurately constructing a three-dimensional map (base map or cleaning map) of the pool's underwater space.

[0065] The swimming pool cleaning method provided in this embodiment can divide the swimming pool into different cleaning areas based on zoning conditions such as the degree of dirtiness or type of dirtiness of the cleaning object, the water depth of the swimming pool, and the objects of the swimming pool facilities, so as to perform targeted zoning cleaning based on different cleaning paths and / or cleaning parameters, thereby improving the swimming pool cleaning effect.

[0066] FIG4 is a flow chart of a swimming pool cleaning method according to another embodiment of the present application, which shows a scheme for constructing a basic map. As shown in the figure, this embodiment includes:

[0067] Step 402: Control the pool cleaning machine to move along each preset path within the pool area of ​​the pool, and obtain the position information corresponding to each facility object in the pool, and the starting position and ending position of each preset path.

[0068] In some embodiments, the pool area of ​​the swimming pool is determined according to the pool boundary of the swimming pool. For example, the pool area of ​​the swimming pool can be defined according to all the pool walls surrounding the swimming pool.

[0069] In some embodiments, the facility object in the swimming pool includes at least one of a step, a ramp, a handrail, a water inlet, and a water outlet.

[0070] In some embodiments, while controlling the pool cleaning robot to move along each preset path, at least one of a camera, a radar sensor, a sonar sensor, and an inertial measurement sensor may be used to collect pool data of the pool. By detecting the pool data, information about each facility object in the pool and its location can be obtained. For a detailed description of using multiple sensors to collect pool data, please refer to the above description of collecting pool data for the cleaning map, which is not elaborated here.

[0071] In some embodiments, the end position of each preset path can be obtained by:

[0072] The pool cleaning robot is controlled to perform a wall detection operation during movement along each preset path, and the end position of each preset path is determined according to the result of the wall detection operation of each preset path.

[0073] For example, referring to Figures 5 and 6, when the pool cleaning robot is driven along a preset path A toward a first pool wall, a sonar sensor, radar, camera, etc. may be used to perform a wall detection operation on the first pool wall. When the pool cleaning robot is detected to have touched the first pool wall or when the distance between the pool cleaning robot and the first pool wall meets a preset distance threshold, it can be determined that the pool cleaning robot has reached end position A2 of preset path A. Similarly, when the pool cleaning robot is driven along a preset path B toward a second pool wall, various sensors may be used to perform a wall detection operation on the second pool wall. When the pool cleaning robot is detected to have touched the second pool wall or when the distance between the pool cleaning robot and the second pool wall meets a preset distance threshold, it can be determined that the pool cleaning robot has reached end position B2 of preset path B, and so on.

[0074] In some embodiments, the starting position of each preset path can be obtained by:

[0075] Determine the adjacent previous preset paths and the current preset path in each preset path. When it is identified that the pool cleaning robot has moved to the end position of the previous preset path, based on the path transfer operation, control the pool cleaning robot to transfer from the previous preset path to the current preset path, and obtain the starting position of the current preset path based on the end position of the previous preset path, the steering angle and the moving distance of the pool cleaning robot performing the path transfer operation.

[0076] For example, referring to Figures 5 and 6 , the previous preset path and the current preset path in each preset path can be determined based on the new direction of the pool cleaning robot. For example, if preset path A is used as the previous preset path, preset path B can be used as the current preset path. If preset path B is used as the previous preset path, preset path C can be used as the current preset path.

[0077] When it is recognized that the pool cleaning robot has moved to the end position A2 of preset path A (the previous preset path), the pool cleaning robot can be controlled to perform a path transfer operation based on the path transfer operation to transfer from preset path A (the previous preset path) to preset path B (the current preset path). The starting position B1 of threshold path B (the current preset path) is calculated based on the end position A2, the turning angle of the pool cleaning robot during the path transfer operation, and the travel distance. Similarly, after the pool cleaning robot transfers from preset path B to preset path C, the starting position C1 of threshold path C (the current preset path) can be calculated based on the end position B2 of preset path B, the turning angle performed by the pool cleaning robot, and the travel distance.

[0078] In some embodiments, the steering angle and moving distance of the pool cleaning robot during the path transfer operation can be preset fixed values, or can be obtained by real-time measurement through various sensors (for example, cameras, radars, inertial measurement units (IMUs), etc.) during the pool cleaning robot's path transfer operation.

[0079] Step 404: Generate the base map containing each facility object and each planned path in the base map based on the location information corresponding to each facility object and the starting and ending locations of each preset path;

[0080] For example, the boundary range of the basic map can be determined according to the starting and ending positions of each preset path, and the sensing data of each sensor (for example, camera, radar sensor, sonar sensor, inertial measurement sensor, etc.) can be combined to draw a three-dimensional swimming pool space including the pool bottom and pool wall. Then, according to each facility object and the relative position of each facility object in the three-dimensional swimming pool space, a basic map including each facility object of the swimming pool is constructed.

[0081] In addition, each planned path in the base map can be generated based on a preset underwater path planning algorithm and the swimming pool structure features in the base map.

[0082] To sum up, this embodiment combines the sensor data of multiple sensors to accurately construct the map data of the swimming pool, which can accurately plan the movement path of the swimming pool, improve the movement efficiency of the swimming pool cleaning robot, avoid cleaning dead corners, and achieve full coverage of swimming pool cleaning.

[0083] FIG7 is a flow chart of a swimming pool cleaning method according to another exemplary embodiment of the present application.

[0084] In this embodiment, the pool cleaning map also includes water level markings on the pool wall. The pool cleaning method of this embodiment can also control the pool cleaning robot to move along a zigzag cleaning route relative to the pool wall based on the water level markings on the cleaning map to clean the water level markings on the pool wall, as follows:

[0085] Step 702: According to the current waterline cleaning section among the waterline cleaning sections, a waterline cleaning section among the waterline cleaning sections that is subsequent to the current waterline cleaning section is determined as a subsequent waterline cleaning section.

[0086] In this embodiment, the zigzag cleaning route includes a plurality of consecutive waterline cleaning sections 802a, 802b, 802c, etc. The current waterline cleaning section among the waterline cleaning sections can be determined based on the current position of the pool cleaning robot. For example, when the pool cleaning robot is currently located at waterline cleaning section 802a, waterline cleaning section 802a is the current waterline cleaning section, and waterline cleaning section 802b is the subsequent waterline cleaning section.

[0087] Step 704: Control the swimming pool cleaning robot to move along the current waterline cleaning section, and repeatedly obtain the sonar echo intensity value of the sonar sensor during the movement.

[0088] For example, the sonar echo intensity value of the sonar sensor can be obtained in real time during the process of driving the swimming pool cleaning robot to move along the waterline cleaning section 802a.

[0089] Step 706 , determining whether the pool cleaning robot has emerged from underwater or submerged from the water surface; if so, proceed to step 708 and return to step 704 .

[0090] Specifically, since the sonar echo intensity values ​​of the sonar sensor underwater and in the air are significantly different (the sonar echo intensity value in the air is higher, and the sonar echo intensity value underwater is lower), when the sonar echo intensity value of the sonar sensor is identified to have changed significantly, it can be determined that the current environmental medium of the pool cleaning robot has changed, that is, it has emerged from underwater or submerged from the water surface.

[0091] In some embodiments, when the sonar echo intensity value falls from the first intensity range to the second intensity range, or from the second intensity range to the first intensity range, a determination result of whether the pool cleaning robot has surfaced from underwater or submerged from the water surface can be obtained.

[0092] In some embodiments, when the first intensity range is smaller than the second intensity range, when the sonar echo intensity value falls within the first intensity range, it indicates that the pool cleaning robot is below the water surface of the pool; when the sonar echo intensity value falls within the second intensity range, it indicates that the pool cleaning robot is above the water surface of the pool.

[0093] For example, while controlling the pool cleaning robot to move along waterline cleaning section 802a, if the sonar echo intensity value falls from a first intensity range to a second intensity range, the pool cleaning robot can be determined to have emerged from underwater. For another example, while controlling the pool cleaning robot to move along waterline cleaning section 802b, if the sonar echo intensity value falls from a second intensity range to a first intensity range, the pool cleaning robot can be determined to have emerged from underwater.

[0094] Step 708: Control the swimming pool cleaning robot to rotate by a preset angle to move from the current waterline cleaning section to the subsequent waterline cleaning section.

[0095] In some embodiments, when it is recognized that the pool cleaning robot emerges from underwater or submerges from the water surface, the pool cleaning robot can be controlled to continue moving a preset distance and then rotate a preset angle to move from the current water line cleaning section (e.g., water line cleaning section 802a) to the subsequent water line cleaning section (e.g., water line cleaning section 802b).

[0096] In some embodiments, the preset distance and the preset angle may be determined according to the moving speed of the pool cleaning robot.

[0097] In this embodiment, the preset angle of rotation of the swimming pool cleaning robot can be between 0° and 90°. By default, the preset angle can be set to 45°.

[0098] In some embodiments, when the pool cleaning robot is identified as emerging from underwater or submerged from the water surface, the pool cleaning robot can be controlled to continue moving for a preset time and then rotate by a preset angle to move from the current waterline cleaning section to the subsequent waterline cleaning section.

[0099] Exemplarily, the preset time may be set to 1 second.

[0100] Step 710 , updating the subsequent waterline cleaning section to the new current waterline cleaning section, and returning to step 702 .

[0101] For example, after the pool cleaning robot moves to the water line cleaning section 802 b , the water line cleaning section 802 b may be updated as the new current water line cleaning section, and the process returns to step 702 .

[0102] In summary, the swimming pool cleaning solution of this embodiment utilizes a zigzag cleaning route design to control the swimming pool cleaning robot to perform the task of cleaning the swimming pool water level line, which can improve the cleaning efficiency and cleaning effect of the swimming pool water level line.

[0103] FIG9 is a block diagram of a swimming pool cleaning device 900 according to an exemplary embodiment of the present application. As shown in the figure, the swimming pool cleaning device 900 of this embodiment includes:

[0104] An acquisition module 902 is configured to control the pool cleaning robot to move along each planned path in the basic map of the pool to obtain position information corresponding to each cleaning object in the pool;

[0105] A generation module 904 is configured to generate a cleaning map including each cleaning object and each cleaning path in the cleaning map based on the basic map and the location information corresponding to each cleaning object;

[0106] The cleaning module 906 is configured to control the swimming pool cleaning robot to move along each cleaning path in the cleaning map to clean the swimming pool.

[0107] In some embodiments, the pool cleaning device 900 also includes a mapping module (not shown) for controlling the pool cleaning machine to move along each preset path within the pool area of ​​the pool, and obtaining the location information corresponding to each facility object in the pool, the starting position and the ending position of each preset path; based on the location information corresponding to each facility object, the starting position and the ending position of each preset path, the basic map containing each facility object and the planned paths in the basic map are generated.

[0108] In some embodiments, the pool area of ​​the swimming pool is determined according to the pool boundary of the swimming pool; and the facility object includes at least one of a step, a ramp, a handrail, a water inlet, and a water outlet.

[0109] In some embodiments, the mapping module is further configured to obtain the end position of each preset path by:

[0110] Controlling the pool cleaning robot to perform a wall detection operation during movement along each preset path, and determining an end position of each preset path based on a result of the wall detection operation;

[0111] In some embodiments, the mapping module is further configured to obtain the starting position of each preset path by:

[0112] Determine a previous preset path and a current preset path that are adjacent to each preset path; when identifying that the pool cleaning robot has moved to an end position of the previous preset path, control the pool cleaning robot to perform a path transfer operation to transfer from the previous preset path to the current preset path, and obtain a starting position of the current preset path based on the end position of the previous preset path, a steering angle, and a movement distance of the pool cleaning robot during the path transfer operation.

[0113] In some embodiments, the mapping module is also used to: obtain the location information corresponding to each facility object in the swimming pool while controlling the swimming pool cleaning robot to move along the planned paths of the basic map; and update the basic map using the obtained location information corresponding to each facility object.

[0114] In some embodiments, the pool cleaning robot includes a camera, a radar sensor, a sonar sensor, and an inertial measurement sensor.

[0115] In some embodiments, the mapping module is further used to: collect pool data of the swimming pool through at least one of the camera, the radar sensor, the sonar sensor, and the inertial measurement sensor during the process of controlling the pool cleaning robot to move along each planned path or along each preset path; detect the pool data to obtain each target object in the swimming pool and the location information of each target object; wherein the target object includes at least one of a facility object and a cleaning object.

[0116] In some embodiments, the radar sensor includes one of a visible radar and a panoramic visible radar; wherein, when the radar sensor includes a visible radar, the radar sensor is pivotally connected to the pool cleaning robot.

[0117] In some embodiments, the generation module 904 is also used to: generate a cleaning map containing each facility object and each cleaning object based on the location information corresponding to each facility object in the basic map and the location information corresponding to each cleaning object; identify each facility object in the cleaning map and determine the obstacle avoidance objects in each facility object; generate cleaning paths that avoid each obstacle avoidance object and cover each cleaning object based on the cleaning map, the location information corresponding to each obstacle avoidance object and the location information corresponding to each cleaning object.

[0118] In some embodiments, the generation module 904 is further used to: divide the cleaning map into multiple cleaning areas according to the swimming pool zoning conditions, and determine the cleaning paths and / or cleaning parameters corresponding to each cleaning area; control the swimming pool cleaning robot to clean the swimming pool according to the cleaning areas in the cleaning map, the cleaning paths and / or cleaning parameters corresponding to each cleaning area.

[0119] In some embodiments, the generation module 904 is also used to determine the swimming pool zoning conditions based on at least one of the identification results of the dirtiness type of each cleaning object in the swimming pool, the identification results of the dirtiness degree of each cleaning object in the swimming pool, the identification results of the water depth of the swimming pool, and the identification results of each facility object in the swimming pool.

[0120] In some embodiments, the cleaning path includes one of a serpentine cleaning path, a zigzag cleaning path, and a zigzag cleaning path.

[0121] In some embodiments, the cleaning parameters include at least one of a cleaning times parameter, a water pump speed parameter, and a water pump start / stop parameter.

[0122] In some embodiments, the cleaning map also includes a water level mark.

[0123] In some embodiments, the cleaning module 906 is further configured to control the swimming pool cleaning robot to move relative to the pool wall along a zigzag cleaning route according to the water level mark on the cleaning map, so as to clean the water level on the pool wall.

[0124] In some embodiments, the zigzag cleaning route includes a plurality of continuous waterline cleaning sections, the pool cleaning robot includes a sonar sensor, and the cleaning module 906 is further configured to: execute a section determination step, and determine, based on a current waterline cleaning section in each waterline cleaning section, a waterline cleaning section in each waterline cleaning section that is subsequent to the current waterline cleaning section as a subsequent waterline cleaning section; control the pool cleaning robot to move along the current waterline cleaning section, and repeatedly obtain sonar echo intensity values ​​from the sonar sensor during the movement; when it is determined that the sonar echo intensity value falls from a first intensity range to a second intensity range, or from the second intensity range to the first intensity range, control the pool cleaning robot to rotate by a preset angle to move from the current waterline cleaning section to the subsequent waterline cleaning section; update the subsequent waterline cleaning section as a new current waterline cleaning section, and return to the section determination step.

[0125] In some embodiments, the cleaning module 906 is further configured to: upon recognizing that the sonar echo intensity value falls from the first intensity range to the second intensity range, or from the second intensity range to the first intensity range, control the pool cleaning robot to continue moving a preset distance and then rotate the preset angle to move from the current waterline cleaning section to the subsequent waterline cleaning section.

[0126] In some embodiments, the preset distance and the preset angle are determined according to a moving speed of the pool cleaning robot.

[0127] In some embodiments, the first intensity range is smaller than the second intensity range; the cleaning module 906 is further configured to:

[0128] When the sonar echo intensity value falls within the first intensity range, it indicates that the pool cleaning robot is located below the water surface of the pool; when the sonar echo intensity value falls within the second intensity range, it indicates that the pool cleaning robot is located above the water surface of the pool.

[0129] In some embodiments, the cleaning map and the base map include three-dimensional maps.

[0130] The pool cleaning device of this embodiment is used to implement the corresponding pool cleaning methods of the aforementioned multiple method embodiments and has the beneficial effects of the corresponding method embodiments, which will not be described in detail here. In addition, the functional implementation of each module in the pool cleaning device of this embodiment can refer to the corresponding description of the aforementioned method embodiments and will not be described in detail here.

[0131] 10 , a schematic structural diagram of an electronic device according to an exemplary embodiment of the present application is shown. The specific embodiment of the present application does not limit the specific implementation of the electronic device.

[0132] As shown in FIG. 10 , the electronic device may include a processor 1002 , a communications interface 1004 , a memory 1006 , and a communication bus 1008 .

[0133] in:

[0134] The processor 1002 , the communication interface 1004 , and the memory 1006 communicate with each other via a communication bus 1008 .

[0135] The communication interface 1004 is used to communicate with other electronic devices or servers.

[0136] The processor 1002 is configured to execute the program 1010 , and specifically to execute the relevant steps in the above-mentioned swimming pool cleaning method embodiment.

[0137] Specifically, the program 1010 may include program codes, which include computer operation instructions.

[0138] Processor 1002 may be a central processing unit (CPU), 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, or may be processors of different types, such as one or more CPUs and one or more ASICs.

[0139] The memory 1006 is used to store the program 1010. The memory 1006 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.

[0140] The program 1010 may be specifically configured to cause the processor 1002 to perform the following operations:

[0141] The pool cleaning robot is controlled to move along each planned path in the basic map of the pool to obtain each position information corresponding to each cleaning object in the pool; a cleaning map including each cleaning object and each cleaning path in the cleaning map is generated according to the basic map and the each position information corresponding to each cleaning object; the pool cleaning robot is controlled to move along each cleaning path in the cleaning map to clean the pool.

[0142] The specific implementation of each step in program 1010 can be found in the corresponding descriptions of the corresponding steps and units in the above-mentioned swimming pool cleaning method embodiment, and will not be repeated here. Those skilled in the art will clearly understand that for the convenience and brevity of description, the specific working processes of the above-described devices and modules can refer to the corresponding process descriptions in the above-mentioned method embodiment, and will not be repeated here.

[0143] Through the electronic device of this embodiment, the swimming pool cleaning robot can be controlled to move accurately along each cleaning path in the cleaning map to perform the swimming pool cleaning task, thereby improving the swimming pool cleaning efficiency and cleaning effect.

[0144] An embodiment of the present application further provides a computer program product, including computer instructions, which instruct a computing device to perform operations corresponding to any swimming pool cleaning method in the above-mentioned multiple method embodiments.

[0145] 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.

[0146] An embodiment of the present application further provides a swimming pool cleaning robot, which includes a controller having control instructions stored therein. When the control instructions are executed, the controller performs operations corresponding to any swimming pool cleaning method.

[0147] 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 cleaning method described herein is implemented. Furthermore, when a general-purpose computer accesses the code for implementing the pool cleaning method described herein, the execution of the code transforms the general-purpose computer into a dedicated computer for executing the pool cleaning method described herein.

[0148] 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.

[0149] 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 cleaning method comprising: Controlling the pool cleaning robot to move along each planned path in the basic map of the pool to obtain each position information corresponding to each cleaning object in the pool; Generate a cleaning map including each cleaning object and each cleaning path in the cleaning map according to the basic map and the location information corresponding to each cleaning object; The swimming pool cleaning robot is controlled to move along each cleaning path in the cleaning map to clean the swimming pool.

2. The method according to claim 1, wherein The base map is obtained by: Controlling the pool cleaning machine to move along each preset path within the pool area of ​​the pool, obtaining position information corresponding to each facility object in the pool, and a starting position and an ending position of each preset path; Generate the basic map containing each facility object and each planned path in the basic map according to the location information corresponding to each facility object and the starting position and ending position of each preset path; wherein the pool area of ​​the swimming pool is determined according to the pool boundary of the swimming pool; The facility object includes at least one of a step, a slope, a handrail, a water inlet, and a water outlet.

3. The method according to claim 2, wherein: The end position of each preset path is obtained by: Controlling the pool cleaning robot to perform a wall detection operation during movement along each preset path, and determining an end position of each preset path based on a result of the wall detection operation; The starting position of each preset path is obtained by: Determine the adjacent preceding preset paths and the current preset path in each preset path; When it is identified that the pool cleaning robot has moved to the end position of the previous preset path, the pool cleaning robot is controlled to perform a path transfer operation to transfer from the previous preset path to the current preset path, and the starting position of the current preset path is obtained based on the end position of the previous preset path, the steering angle and the movement distance of the pool cleaning robot during the path transfer operation.

4. The method according to claim 2, wherein: The method further comprises: In the process of controlling the swimming pool cleaning robot to move along each planned path of the basic map, obtaining each location information corresponding to each facility object in the swimming pool; The basic map is updated using the acquired location information corresponding to each facility object.

5. The method according to claim 2, wherein: The swimming pool cleaning robot includes a camera, a radar sensor, a sonar sensor, and an inertial measurement sensor; And wherein, the method further comprises: In the process of controlling the swimming pool cleaning robot to move along each planned path or along each preset path, At least one of the camera, the radar sensor, the sonar sensor, and the inertial measurement sensor collects pool data of the swimming pool; Detecting the swimming pool data to obtain target objects in the swimming pool and location information of the target objects; The target object includes at least one of a facility object and a cleaning object.

6. The method according to claim 5, wherein: The radar sensor includes one of a visual radar and a panoramic visual radar; Wherein, in the case where the radar sensor includes a visual radar, the radar sensor is pivotally connected to the swimming pool cleaning robot.

7. The method according to claim 1, wherein The step of generating a cleaning map including each cleaning object and each cleaning path in the cleaning map according to the basic map and the location information corresponding to each cleaning object includes: generating a cleaning map including each facility object and each cleaning object according to each location information corresponding to each facility object and each location information corresponding to each cleaning object in the basic map; Identifying each facility object in the cleaning map and determining an obstacle avoidance object in each facility object; Based on the cleaning map, the position information corresponding to each obstacle avoidance object, and the position information corresponding to each cleaning object, cleaning paths that avoid each obstacle avoidance object and cover each cleaning object are generated.

8. The method according to claim 1 or 7, wherein The method further comprises: Divide the cleaning map into a plurality of cleaning areas according to the pool zoning conditions, and determine cleaning paths and / or cleaning parameters corresponding to each cleaning area; The swimming pool cleaning robot is controlled to clean the swimming pool according to the cleaning areas, the cleaning paths and / or the cleaning parameters corresponding to the cleaning areas in the cleaning map.

9. The method according to claim 8, wherein The pool partition condition is determined based on at least one of the following recognition results: The identification results of the dirt type of each cleaning object in the swimming pool, the identification results of the dirt degree of each cleaning object in the swimming pool, the identification results of the water depth of the swimming pool, and the identification results of each facility object in the swimming pool.

10. The method according to claim 8, wherein The cleaning path includes one of a serpentine cleaning path, a meandering cleaning path, and a zigzag cleaning path.

11. The method according to claim 8, wherein The cleaning parameters include at least one of a cleaning times parameter, a water pump speed parameter, and a water pump start / stop parameter.

12. The method according to claim 1, wherein The cleaning map also includes a water level mark; And wherein, the method further comprises: According to the water level mark on the cleaning map, the swimming pool cleaning robot is controlled to move relative to the pool wall along a zigzag cleaning route to clean the water level on the pool wall.

13. The method according to claim 12, wherein: The zigzag cleaning route includes a plurality of continuous waterline cleaning sections, and the pool cleaning robot includes a sonar sensor; And wherein, controlling the swimming pool cleaning robot to move along a zigzag cleaning route relative to the pool wall to clean the water level line on the pool wall includes: a section determination step of, based on a current waterline cleaning section among the waterline cleaning sections, determining a waterline cleaning section among the waterline cleaning sections that is subsequent to the current waterline cleaning section as a subsequent waterline cleaning section; Controlling the swimming pool cleaning robot to move along the current waterline cleaning section, and repeatedly obtaining the sonar echo intensity value of the sonar sensor during the movement; When it is determined that the sonar echo intensity value falls from the first intensity range to the second intensity range, or from the second intensity range to the first intensity range, the swimming pool cleaning robot is controlled to rotate by a preset angle to move from the current waterline cleaning section to the subsequent waterline cleaning section; The subsequent waterline cleaning section is updated as the new current waterline cleaning section, and the process returns to the section determination step.

14. The method according to claim 12, wherein: The method further comprises: When it is identified that the sonar echo intensity value falls from the first intensity range to the second intensity range, or from the second intensity range to the first intensity range, the pool cleaning robot is controlled to continue moving the preset distance and then rotate the preset angle to move from the current waterline cleaning section to the subsequent waterline cleaning section.

15. The method according to claim 13 or 14, wherein: The preset distance and the preset angle are determined according to the moving speed of the pool cleaning robot.

16. The method according to claim 13 or 14, wherein: The first intensity range is smaller than the second intensity range; When the sonar echo intensity value falls within the first intensity range, it indicates that the swimming pool cleaning robot is located below the water surface of the swimming pool; When the sonar echo intensity value falls within the second intensity range, it indicates that the swimming pool cleaning robot is located above the water surface of the swimming pool.

17. The method according to claim 1, wherein The cleaning map and the base map include three-dimensional maps.

18. A swimming pool cleaning device comprising: The acquisition module is used to control the pool cleaning robot to move along each planned path in the basic map of the pool to obtain Obtaining location information corresponding to each cleaning object in the swimming pool; A generation module, configured to generate a cleaning map including each cleaning object and each cleaning path in the cleaning map according to the basic map and the location information corresponding to each cleaning object; The cleaning module is used to control the swimming pool cleaning robot to move along each cleaning path in the cleaning map to clean the swimming pool.

19. An electronic device 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 via the communication bus; The memory is used to store at least one executable instruction, and the executable instruction enables the processor to perform operations corresponding to the swimming pool cleaning method according to any one of claims 1 to 17.

20. A computer storage medium having a computer program stored thereon, wherein when the program is executed by a processor, the swimming pool cleaning method according to any one of claims 1 to 17 is implemented.

21. A computer program product comprising computer instructions, wherein the computer instructions instruct a computing device to execute operations corresponding to the swimming pool cleaning method according to any one of claims 1 to 17.

22. A swimming pool cleaning robot, comprising a controller, wherein control instructions are stored in the controller, and when the control instructions are executed, the controller executes the method according to any one of claims 1 to 17.

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