CN116300875A - Water line information acquisition method and device and swimming pool cleaning robot - Google Patents

Abstract

The application discloses a method and device for acquiring water level information and a swimming pool cleaning robot, which belong to the technical field of robots. Through the technical solutions provided by the embodiments of the present application, the water level information of the swimming pool cleaning robot is obtained through the water level detection sensor, and the water level information can indicate the distance between the swimming pool cleaning robot and the water level of the swimming pool. Based on the water level information, the distance between the pool cleaning robot and the water level can be determined. Based on the distance between the swimming pool cleaning robot and the water level, the swimming pool cleaning robot can be controlled, that is, the swimming pool cleaning robot can be continuously controlled with the water level as a reference, so as to realize the identification of the water level.

Description

Method and device for obtaining water level information, and swimming pool cleaning robot

technical field

The present application relates to the field of robot technology, in particular to a method and device for acquiring water level information and a swimming pool cleaning robot.

Background technique

With the development of computer technology, robot technology has also developed rapidly. For example, users use sweeping robots to clean the floor of houses, use window cleaning robots to clean house windows, and use swimming pool cleaning robots to clean swimming pools.

When using a swimming pool cleaning robot to clean the pool wall, the water level of the swimming pool is an important reference position, and how to identify the water level is a research hotspot.

Contents of the invention

The embodiment of the present application provides a method and device for obtaining water level information and a swimming pool cleaning robot, which can obtain water level information and control the swimming pool cleaning robot based on the water level information. The technical solution is as follows:

In one aspect, a method for obtaining water level information is provided, the method comprising:

The water level information is obtained by the water level detection sensor of the swimming pool cleaning robot. The swimming pool cleaning robot moves on the pool wall or the bottom of the swimming pool. The water level information is used to indicate the distance between the swimming pool cleaning robot and the water level. relative position;

determining a distance between the swimming pool cleaning robot and the water level based on the water level information;

The pool cleaning robot is controlled based on the distance between the pool cleaning robot and the water line.

In a possible implementation manner, the acquiring the water level information through the water level detection sensor of the swimming pool cleaning robot includes any of the following:

Obtaining the water level information through the distance sensor of the swimming pool cleaning robot;

Obtain the water level information through the liquid depth sensor of the swimming pool cleaning robot;

The water level information is acquired through the signal receiving sensor of the swimming pool cleaning robot.

In a possible implementation manner, the acquiring the water level information through the distance sensor of the swimming pool cleaning robot includes:

sending a detection signal above or below the swimming pool cleaning robot through the distance sensor;

receiving a reflection signal corresponding to the detection signal, where the reflection signal is a part reflected after the detection signal touches the water level line;

Based on the detection signal and the reflection signal, determine the water level information, the water level information includes the propagation speed of the detection signal in water, and the time between sending the detection signal and receiving the reflection signal Any one of a time difference, a phase difference between the detection signal and the reflection signal, and an angle difference between the detection signal and the reflection signal.

In a possible implementation manner, the determining the distance between the swimming pool cleaning robot and the water level based on the water level information includes:

Based on any of the time difference between sending the detection signal and receiving the reflection signal, the phase difference between the detection signal and the reflection signal, and the angle difference between the detection signal and the reflection signal One term, and the propagation speed of the detection signal in the water, determine the distance between the swimming pool cleaning robot and the water level.

In a possible implementation manner, the acquiring the water level information through the distance sensor of the swimming pool cleaning robot includes:

collecting images above or below the swimming pool cleaning robot through the distance sensor;

Image recognition is performed on the image to obtain the water level information, and the water level information includes the position of the water level in the image.

In a possible implementation manner, the determining the distance between the swimming pool cleaning robot and the water level based on the water level information includes:

Coordinate transformation is performed on the position of the water level in the image by using the principle of pinhole imaging to determine the distance between the swimming pool cleaning robot and the water level.

In a possible implementation manner, the acquiring the water level information through the liquid depth sensor of the swimming pool cleaning robot includes:

collecting the pressure around the swimming pool cleaning robot through the liquid depth sensor;

The water level information is determined based on pressure around the pool cleaning robot, the water level information including a depth of the pool cleaning robot in the pool.

In a possible implementation manner, the determining the distance between the swimming pool cleaning robot and the water level based on the water level information includes:

A distance between the pool cleaning robot and the water line is determined based on the depth of the pool cleaning robot in the pool.

In a possible implementation manner, the acquiring the water level information through the signal receiving sensor of the swimming pool cleaning robot includes:

receiving a target signal through the signal receiving sensor, the signal strength of the target signal is negatively correlated with the depth of the swimming pool cleaning robot in the swimming pool;

Based on the target signal, the water level information is determined, the water level information including the signal strength of the target signal.

In a possible implementation manner, the determining the distance between the swimming pool cleaning robot and the water level based on the water level information includes:

Based on the signal strength of the target signal, the distance between the swimming pool cleaning robot and the water level is determined.

In a possible implementation manner, the controlling the swimming pool cleaning robot based on the distance between the swimming pool cleaning robot and the water level line includes any of the following:

controlling the swimming pool cleaning robot to move to the water level based on the distance between the swimming pool cleaning robot and the water level;

Based on the distance between the swimming pool cleaning robot and the water level, the swimming pool cleaning robot is controlled to move to a target position above or below the water level.

In a possible implementation manner, the controlling the swimming pool cleaning robot to move to the water level based on the distance between the swimming pool cleaning robot and the water level includes:

controlling the swimming pool cleaning robot to move upward or downward based on the distance between the swimming pool cleaning robot and the water level;

If the water level information re-detected by the water level detection sensor meets the target condition, it is determined that the swimming pool cleaning robot moves to the water level;

Control the swimming pool cleaning robot to stop moving.

In a possible implementation manner, the water level information re-detected by the water level detection sensor meets the target condition refers to any of the following:

The re-detected water level information indicates that the distance between the swimming pool cleaning robot and the water level is less than or equal to a first distance threshold;

The re-detected water level information indicates that the pressure around the swimming pool cleaning robot is less than or equal to a pressure threshold;

The re-detected water level information indicates that the signal strength of the received target signal is greater than or equal to a signal strength threshold, and the signal strength of the target signal is negatively correlated with the depth of the swimming pool cleaning robot in the swimming pool.

In a possible implementation manner, the controlling the swimming pool cleaning robot to move to a target position above or below the water level based on the distance between the swimming pool cleaning robot and the water level line includes:

determining a distance between the pool cleaning robot and the target location based on a distance between the pool cleaning robot and the water line;

controlling the pool cleaning robot to move up or down based on the distance between the pool cleaning robot and the target location;

determining that the pool cleaning robot is moving to the target location if the distance between the pool cleaning robot and the target location is less than or equal to a second distance threshold;

Control the swimming pool cleaning robot to stop moving.

In one aspect, a device for acquiring water level information is provided, the device comprising:

The water level information acquisition module is used to acquire water level information through the water level detection sensor of the swimming pool cleaning robot. The swimming pool cleaning robot moves on the pool wall or the pool bottom of the swimming pool. The water level information is used to represent the The relative position of the cleaning robot to the water level;

A distance determination module, configured to determine the distance between the swimming pool cleaning robot and the water level based on the water level information;

A control module for controlling the swimming pool cleaning robot based on the distance between the swimming pool cleaning robot and the water level.

In a possible implementation manner, the water level information acquisition module is configured to perform any of the following:

Obtaining the water level information through the distance sensor of the swimming pool cleaning robot;

Obtain the water level information through the liquid depth sensor of the swimming pool cleaning robot;

The water level information is acquired through the signal receiving sensor of the swimming pool cleaning robot.

In a possible implementation manner, the water level information acquisition module is configured to send a detection signal above or below the swimming pool cleaning robot through the distance sensor; receive a reflection signal corresponding to the detection signal, and the The reflection signal is the part reflected after the detection signal touches the water level; based on the detection signal and the reflection signal, the water level information is determined, and the water level information includes the detection signal in the water. Propagation speed, and the time difference between sending the detection signal and receiving the reflection signal, the phase difference between the detection signal and the reflection signal, and the angle difference between the detection signal and the reflection signal any of the .

In a possible implementation manner, the distance determination module is configured to be based on a time difference between sending the detection signal and receiving the reflection signal, a phase difference between the detection signal and the reflection signal, and Either of the angle difference between the detection signal and the reflection signal, and the propagation speed of the detection signal in the water, determine the distance between the swimming pool cleaning robot and the water level.

In a possible implementation manner, the water level information acquisition module is configured to collect an image above or below the swimming pool cleaning robot through the distance sensor; perform image recognition on the image to obtain the water level information , the water level information includes the position of the water level in the image.

In a possible implementation manner, the distance determination module is configured to perform coordinate transformation on the position of the water level line in the image using the principle of pinhole imaging, and determine the distance between the swimming pool cleaning robot and the water level line. distance.

In a possible implementation manner, the water level information acquisition module is configured to collect the pressure around the swimming pool cleaning robot through the liquid depth sensor; determine the water level based on the pressure around the swimming pool cleaning robot Information, the water level information includes the depth of the swimming pool cleaning robot in the swimming pool.

In a possible implementation manner, the distance determination module is configured to determine the distance between the swimming pool cleaning robot and the water level line based on the depth of the swimming pool cleaning robot in the swimming pool.

In a possible implementation manner, the water level information acquisition module is configured to receive a target signal through the signal receiving sensor, and the signal strength of the target signal is negatively related to the depth of the swimming pool cleaning robot in the swimming pool. Correlating: determining the water level information based on the target signal, the water level information including the signal strength of the target signal.

In a possible implementation manner, the distance determining module is configured to determine the distance between the swimming pool cleaning robot and the water level line based on the signal strength of the target signal.

In a possible implementation manner, the control module is configured to perform any of the following:

controlling the swimming pool cleaning robot to move to the water level based on the distance between the swimming pool cleaning robot and the water level;

Based on the distance between the swimming pool cleaning robot and the water level, the swimming pool cleaning robot is controlled to move to a target position above or below the water level.

In a possible implementation manner, the control module is configured to control the swimming pool cleaning robot to move upward or downward based on the distance between the swimming pool cleaning robot and the water level;

If the water level information re-detected by the water level detection sensor meets the target condition, it is determined that the swimming pool cleaning robot moves to the water level;

Control the swimming pool cleaning robot to stop moving.

In a possible implementation manner, the water level information re-detected by the water level detection sensor meets the target condition refers to any of the following:

The re-detected water level information indicates that the distance between the swimming pool cleaning robot and the water level is less than or equal to a first distance threshold;

The re-detected water level information indicates that the pressure around the swimming pool cleaning robot is less than or equal to a pressure threshold;

The re-detected water level information indicates that the signal strength of the received target signal is greater than or equal to a signal strength threshold, and the signal strength of the target signal is negatively correlated with the depth of the swimming pool cleaning robot in the swimming pool.

In a possible implementation manner, the control module is configured to determine the distance between the swimming pool cleaning robot and the target position based on the distance between the swimming pool cleaning robot and the water level line; the distance between the swimming pool cleaning robot and the target position, and control the swimming pool cleaning robot to move upward or downward; when the distance between the swimming pool cleaning robot and the target position is less than or equal to the second distance threshold Next, it is determined that the swimming pool cleaning robot moves to the target position; and the swimming pool cleaning robot is controlled to stop moving.

In one aspect, a swimming pool cleaning robot is provided that includes a robot controller that includes one or more processors and one or more memories, the one or more memories storing At least one computer program, the computer program is loaded and executed by the one or more processors to implement the method for obtaining the water level information.

In one aspect, a computer-readable storage medium is provided, wherein at least one computer program is stored in the computer-readable storage medium, and the computer program is loaded and executed by a processor to realize the method for obtaining the water level information.

In one aspect, a computer program product or computer program is provided, the computer program product or computer program includes program code stored in a computer-readable storage medium, from which a processor of a robot controller reads The program code is fetched, and the processor executes the program code, so that the robot controller executes the above-mentioned method for obtaining water level information.

Through the technical solutions provided by the embodiments of the present application, the water level information of the swimming pool cleaning robot is obtained through the water level detection sensor, and the water level information can indicate the distance between the swimming pool cleaning robot and the water level of the swimming pool. Based on the water level information, the distance between the pool cleaning robot and the water level can be determined. Based on the distance between the swimming pool cleaning robot and the water level, the swimming pool cleaning robot can be controlled, that is, the swimming pool cleaning robot can be continuously controlled with the water level as a reference, so as to realize the identification of the water level.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings that need to be used in the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application. For those skilled in the art, other drawings can also be obtained based on these drawings without creative effort.

Fig. 1 is a schematic diagram of a swimming pool cleaning robot on a swimming pool wall provided by an embodiment of the present application;

FIG. 2 is a flow chart of a method for obtaining water level information provided in an embodiment of the present application;

3 is a flow chart of a method for obtaining water level information provided in an embodiment of the present application;

Fig. 4 is a schematic structural diagram of a device for acquiring water level information provided by an embodiment of the present application;

Fig. 5 is a schematic structural diagram of a robot controller provided by an embodiment of the present application.

Detailed ways

In order to make the purpose, technical solution and advantages of the present application clearer, the implementation manners of the present application will be further described in detail below in conjunction with the accompanying drawings.

In this application, the terms "first" and "second" are used to distinguish the same or similar items with basically the same function and function. It should be understood that "first", "second" and "nth" There are no logical or timing dependencies, nor are there restrictions on quantity or order of execution.

Path planning: Path planning is one of the main research contents of motion planning. Motion planning consists of path planning and trajectory planning. The sequence of points or curves connecting the starting point and the end point is called a path, and the strategy that forms the path is called path planning. In the embodiment of the present application, the path planning of the swimming pool cleaning robot is planning the cleaning path of the swimming pool cleaning robot.

Pool cleaning robot: a robot for cleaning a pool, wherein cleaning the pool includes cleaning the bottom of the pool and cleaning the walls of the pool.

The technical solution provided by the embodiment of the present application can be applied in the scenario of controlling a swimming pool cleaning robot to clean the pool wall of the swimming pool. Referring to FIG. 1 , the swimming pool cleaning robot 100 has a wall climbing function and can be attached to the pool wall 101 of the swimming pool. The swimming pool cleaning machine 100 can move on the pool wall 101 of the swimming pool under the control of the robot controller. For example, the swimming pool cleaning robot 100 can move upward along the pool wall 101 of the swimming pool, can also move downward along the pool wall 101 of the swimming pool, and can also move along the pool wall 101 of the swimming pool. The pool wall moves left or right, and can also rotate on the pool wall 101 of the swimming pool. The embodiment of the present application does not limit the movement mode of the swimming pool cleaning robot on the pool wall 101 . In the embodiment of the present application, the swimming pool cleaning robot 100 is located below the water level 102 of the swimming pool.

Or, the swimming pool cleaning robot can also be located at the bottom of the swimming pool, so as to clean the bottom of the swimming pool. The embodiment of the present application does not limit the location of the swimming pool cleaning robot.

The technical solution provided by the embodiment of the present application is described below. Fig. 2 is a flowchart of a method for obtaining water level information provided by the embodiment of the present application. Referring to Fig. 2, taking the execution subject as a robot controller as an example, the method includes the following steps described above.

201. The robot controller obtains the water level information through the water level detection sensor of the swimming pool cleaning robot. The swimming pool cleaning robot moves on the pool wall or the bottom of the swimming pool. The water level information is used to indicate the relationship between the swimming pool cleaning robot and the water level line. relative position.

Wherein, taking the swimming pool cleaning robot moving on the pool wall as an example, the swimming pool cleaning robot is adsorbed on the pool wall of the swimming pool, and the swimming pool cleaning robot can move on the pool wall of the swimming pool. A water level detection sensor is installed on the swimming pool cleaning robot, and the water level detection sensor is used to collect information related to the water level of the swimming pool. The robot controller can acquire water level information through the water level detection sensor, and the water level information can reflect the relative position of the swimming pool cleaning robot and the water level. The water level detection sensor can be installed at different positions of the swimming pool cleaning robot according to different types, and details will not be repeated here. The swimming pool cleaning robot is located below the water level of the swimming pool means that the swimming pool cleaning robot is in the liquid of the swimming pool.

202. The robot controller determines the distance between the swimming pool cleaning robot and the water level based on the water level information.

Wherein, since the water level information can indicate the relative position between the swimming pool cleaning robot and the water level, the robot controller can further determine the distance between the swimming pool cleaning robot and the water level according to the water level information.

203. The robot controller controls the swimming pool cleaning robot based on the distance between the swimming pool cleaning robot and the water level.

Wherein, the bottom of the swimming pool cleaning robot is equipped with a walking unit, and the robot controller can control the swimming pool cleaning robot to move and rotate on the pool wall of the swimming pool by driving the walking unit. In step 203, the robot controller can control the swimming pool cleaning robot through the walking unit. Controlling the swimming pool cleaning robot includes controlling the swimming pool cleaning robot to move to the water level and controlling the swimming pool cleaning robot to move to a target position above or below the water level.

In some embodiments, the bottom of the swimming pool cleaning robot is further equipped with a cleaning unit, through which the pool wall of the swimming pool can be cleaned. In some embodiments, the cleaning unit includes a roller brush, and the pool wall can be cleaned by rotating the roller brush. Alternatively, in the case that the cleaning unit does not include a rolling brush, the swimming pool cleaning machine uses an internal driving device and a filtering device to filter the pool water and discharge it to clean the pool wall. Certainly, the cleaning unit may also include a rolling brush and a water spray port at the same time, which is not limited in this embodiment of the present application.

In addition, the cleaning function of the swimming pool cleaning robot can be started or not started during the moving process, the cleaning function of the swimming pool cleaning robot is started during the moving process means that the swimming pool cleaning robot can start the cleaning function during the moving process, In this way, the passing position on the pool wall is cleaned.

Through the technical solutions provided by the embodiments of the present application, the water level information of the swimming pool cleaning robot is obtained through the water level detection sensor, and the water level information can indicate the distance between the swimming pool cleaning robot and the water level of the swimming pool. Based on the water level information, the distance between the pool cleaning robot and the water level can be determined. Based on the distance between the swimming pool cleaning robot and the water level, the swimming pool cleaning robot can be controlled, that is, the swimming pool cleaning robot can be continuously controlled with the water level as a reference, so as to realize the identification of the water level.

It should be noted that the above-mentioned steps 201-203 are a brief introduction to the technical solution provided by the embodiment of the present application. The technical solution provided by the embodiment of the present application will be described in more detail below in conjunction with some examples. See Figure 3 to execute the main body Taking a robot controller as an example, the method includes the following steps.

301. The robot controller obtains the water level information through the water level detection sensor of the swimming pool cleaning robot. The swimming pool cleaning robot moves on the pool wall or the bottom of the swimming pool. The water level information is used to indicate the relationship between the swimming pool cleaning robot and the water level line. relative position.

Wherein, taking the swimming pool cleaning robot moving on the pool wall as an example, the swimming pool cleaning robot is adsorbed on the pool wall of the swimming pool, and the swimming pool cleaning robot can move on the pool wall of the swimming pool. A water level detection sensor is installed on the swimming pool cleaning robot, and the water level detection sensor is used to collect information related to the water level of the swimming pool. The robot controller can acquire water level information through the water level detection sensor, and the water level information can reflect the relative position of the swimming pool cleaning robot and the water level. The water level detection sensor can be installed at different positions of the swimming pool cleaning robot according to different types, and details will not be repeated here. The swimming pool cleaning robot is located below the water level of the swimming pool means that the swimming pool cleaning robot is in the liquid of the swimming pool.

In the following, the above embodiments will be described by taking the water level detection sensor as a sensor of different cold temperatures, and firstly, the water level detection sensor will be described as a distance sensor as an example.

In a possible implementation manner, the robot controller acquires the water level information through a distance sensor of the swimming pool cleaning robot.

Wherein, the distance sensor is installed in front of or above the swimming pool cleaning robot, wherein the front refers to the side wall in the forward direction of the swimming pool cleaning robot, and the upper refers to the top of the swimming pool cleaning robot. Certainly, in other possible implementation manners, the distance sensor may also be installed at other positions of the swimming pool cleaning robot, which is not limited in this embodiment of the present application.

In this embodiment, the robot can directly obtain the distance between the swimming pool cleaning robot and the water level through the distance sensor, so that the swimming pool cleaning robot can be subsequently controlled based on the distance, and the effect of controlling based on the distance is more intuitive. Higher accuracy.

As the name implies, the distance sensor is used to measure the distance, in the embodiment of the present application, it is used to measure the distance between the swimming pool cleaning robot and the water level line of the swimming pool, and the distance between the swimming pool cleaning robot and the water level line of the swimming pool The distance is the water level information. The distance sensor includes two types. The first type is a sensor that determines the distance through the propagation speed and propagation time of waves in water, and the second type is a sensor that determines the distance through images. The following will use the distance sensor as These two types of sensors are described as examples.

Example 1. The robot controller sends detection signals above or below the swimming pool cleaning robot through the distance sensor. The robot controller receives a reflection signal corresponding to the detection signal, and the reflection signal is a part reflected after the detection signal touches the water level line. The robot controller determines the water level information based on the detection signal and the reflection signal, the water level information includes the propagation speed of the detection signal in water, and the time difference between sending the detection signal and receiving the reflection signal, the detection Any of a phase difference between the signal and the reflected signal and an angular difference between the detection signal and the reflected signal.

Wherein, the distance sensor is the above-mentioned first type of sensor, and the distance sensor is any one of optical distance sensor (infrared sensor or laser sensor), acoustic distance sensor and radar, and correspondingly, the detection signal is light wave (infrared sensor or laser sensor). light or laser), sound waves (ultrasonic waves), and radar signals. Certainly, in other possible implementation manners, the distance sensor may also be another type of TOF (Time of Flight, time of flight) sensor, which is not limited in this embodiment of the present application. The distance sensor sends a detection signal above or below the swimming pool cleaning robot depending on whether the swimming pool cleaning robot is above the water level or below the water level. A detection signal is sent from above the cleaning robot; when the swimming pool cleaning robot is above the water level, the distance sensor sends a detection signal to the bottom of the swimming pool cleaning robot. In some embodiments, determining whether the pool cleaning robot is above or below the water line may be accomplished by determining whether the pool cleaning robot is in the water, and if the pool cleaning robot is in the water, the pool cleaning robot is below the water line ; where the pool cleaning robot is outside the water, the pool cleaning robot is above the water line.

In a possible implementation, taking the swimming pool cleaning robot below the water level as an example, the robot controller adjusts the orientation of the swimming pool cleaning robot so that the signal transmission direction of the distance sensor on the swimming pool cleaning robot becomes along the pool. wall up. The robot controller sends a detection signal sending instruction to the distance sensor, and the detection signal sending instruction is used to instruct the distance sensor to send a detection signal. Or, in the case where the signal emission direction of the distance sensor can be adjusted, the robot controller can also send a direction adjustment instruction to the distance sensor, and the direction adjustment instruction is used to instruct the distance sensor to adjust the sending direction of the detection signal to be along the pool. wall up. When the distance sensor adjusts the sending direction of the detection signal to be upward along the pool wall, the robot controller sends a detection signal sending instruction to the distance sensor, and the detection signal sending instruction is used to instruct the distance sensor to send the detection signal. The distance sensor receives the detection signal sending instruction, and in response to the detection signal sending instruction, the distance sensor sends a detection signal. The distance sensor receives the reflection signal corresponding to the detection signal. The reflection signal is the part reflected after the detection signal touches the water level line. The principle of emission signal is that the water level line is the junction position between liquid and gas, and the detection signal reaches the water level In the case of a line, one part will be refracted and the other part will be reflected, and the reflected signal is also the part that should be reflected. The robot controller determines the water level information based on the detection signal and the detection signal, the water level information includes the propagation speed of the detection signal in water, and the time difference between sending the detection signal and receiving the reflected signal, the detection Any of a phase difference between the signal and the reflected signal and an angular difference between the detection signal and the reflected signal.

Example 2. The robot controller collects images above or below the swimming pool cleaning robot through the distance sensor. The robot controller performs image recognition on the image to obtain the water level information, and the water level information includes the position of the water level in the image.

Wherein, the distance sensor is the above-mentioned second type of sensor, and the distance sensor is a monocular camera or a binocular camera, which is not limited in this embodiment of the present application. Similar to the above-mentioned example 1, whether the image above or below the swimming pool cleaning robot is collected depends on whether the swimming pool cleaning robot is located above or below the water level.

In a possible implementation, taking the swimming pool cleaning robot below the water level as an example, the robot controller adjusts the orientation of the swimming pool cleaning robot so that the image collection direction of the distance sensor on the swimming pool cleaning robot becomes along the pool. wall up. The robot controller sends an image acquisition instruction to the distance sensor, and the image acquisition instruction is used to instruct the distance sensor to acquire an image. Or, in the case that the image acquisition direction of the distance sensor can be adjusted, the robot controller can also send a direction adjustment instruction to the distance sensor, and the direction adjustment instruction is used to instruct the distance sensor to adjust the image acquisition direction to be upward along the pool wall . When the distance sensor adjusts the image collection direction to be upward along the pool wall, the robot controller sends an image collection instruction to the distance sensor, and the image collection instruction is used to instruct the distance sensor to collect images. In the case that the distance sensor is a monocular camera, the robot controller performs coordinate transformation on the position of the water level in the image by using the principle of pinhole imaging to determine the distance between the swimming pool cleaning robot and the water level. Among them, the method of coordinate transformation of the position of the water level line in the image using the principle of pinhole imaging is to convert the pixel coordinates of the water level line in the image into the camera coordinates in the camera coordinate system, and then convert the camera coordinates into world coordinates , the world coordinate of the water level can represent the position of the water level, and the world coordinate of the water level is also the information of the water level. The above-mentioned coordinate conversion process depends on the calibration of the monocular camera, and the process of calibrating the monocular camera can be completed in advance by technicians. In the case that the distance sensor is a binocular camera, the distance sensor can capture two images of the water level at the same time, and the two images are taken at different angles. The robot sensor is based on the two images and the binocular The relative position between the two cameras of the camera can determine the position of the water level, that is, determine the information of the water level.

After taking the water level detection sensor as a distance sensor as an example for description, the following description will be made by taking the water level detection sensor as a liquid depth sensor as an example.

In a possible implementation manner, the robot controller obtains the water level information through the liquid depth sensor of the swimming pool cleaning robot.

Wherein, the liquid depth sensor can be installed at any position on the swimming pool cleaning robot, which is not limited in this embodiment of the present application.

In this embodiment, the robot controller can obtain the depth of the swimming pool cleaning robot in the liquid through the liquid depth sensor, and the obtained water level information can also indicate the depth of the swimming pool cleaning robot in the liquid. The pool cleaning robot is controlled by the depth in the liquid.

For example, the robot controller collects the pressure around the swimming pool cleaning robot through the liquid depth sensor. The robot controller determines the water level information including the depth of the pool cleaning robot in the swimming pool based on the pressure around the pool cleaning robot. Wherein, the pressure around the swimming pool cleaning robot may be water pressure, or the sum of water pressure and atmospheric pressure, which is not limited in this embodiment of the present application. The principle of collecting the pressure around the swimming pool cleaning robot by the liquid depth sensor is that the liquid depth sensor can convert the received pressure into an electrical signal, and the received pressure can be reversed through the electrical signal. The principle of determining the depth by pressure is that the pressure on an object in a liquid is positively correlated with the depth in the liquid. The deeper the object is in the liquid, the greater the pressure on the object. According to the pressure formula, p= ρgh, p is the pressure, ρ is the density of the liquid, g is the acceleration of gravity, and h is the depth. There is also a relationship between pressure and pressure f=ps, where f is pressure, p is pressure, and s is the force-bearing area (the area of the liquid depth sensor, known quantity), which can reverse the depth by measuring the pressure.

After taking the water level detection sensor as a liquid depth sensor as an example for description, the following description will be made by taking the water level detection sensor as a signal receiving sensor as an example.

In a possible implementation manner, the robot controller acquires the water level information through a signal receiving sensor of the swimming pool cleaning robot.

Wherein, the signal receiving sensor is used to receive a target signal of a specific frequency, and the frequency of the target signal is set by technicians according to actual conditions, which is not limited in this embodiment of the present application. The signal receiving sensor can be installed at any position on the swimming pool cleaning robot, which is not limited in this embodiment of the present application.

For example, the robot controller receives a target signal through the signal receiving sensor, and the signal strength of the target signal is negatively correlated with the depth of the swimming pool cleaning robot in the swimming pool. The robot controller determines the water level information based on the target signal, and the water level information includes the signal strength of the target signal. Wherein, the sending device of the target signal is located above the swimming pool. The negative correlation between the signal strength of the target signal and the depth of the swimming pool cleaning robot in the swimming pool means that the deeper the swimming pool cleaning robot is in the swimming pool, the signal receiving sensor receives the target signal. The signal strength is also weaker; the shallower the depth of the swimming pool cleaning robot in the swimming pool, the stronger the signal strength of the target signal received by the signal receiving sensor. The depth of the swimming pool cleaning robot in the liquid can be deduced from the strength of the target signal. In some embodiments, the signal strength of the target signal may also become zero after the pool cleaning robot enters the liquid.

302. The robot controller determines the distance between the swimming pool cleaning robot and the water level based on the water level information.

Wherein, since the water level information can indicate the relative position between the swimming pool cleaning robot and the water level, the robot controller can further determine the distance between the swimming pool cleaning robot and the water level according to the water level information.

In a possible implementation, when the water level detection sensor is a distance sensor, the robot controller is based on the time difference between sending the detection signal and receiving the reflection signal, and the time difference between the detection signal and the reflection signal. Any one of the phase difference of , the angle difference between the detection signal and the reflection signal, and the propagation speed of the detection signal in the water determine the distance between the swimming pool cleaning robot and the water level.

The above implementation manner will be described below through three examples.

Example 1. In the case where the water level detection sensor is a distance sensor, the robot controller determines the distance between the swimming pool cleaning robot and the distance sensor based on the time difference between sending the detection signal and receiving the reflected signal and the propagation speed of the detection signal in water. The distance between the waterlines.

For example, when the water level detection sensor is a distance sensor, the detection signal transmitting device and the reflected signal receiving device of the distance sensor are arranged side by side and adjacent to each other. The robot controller multiplies the time difference by the propagation speed and divides it by two to obtain the distance between the swimming pool cleaning robot and the water level.

Example 2. In the case where the water level detection sensor is a distance sensor, the robot controller determines the distance between the swimming pool cleaning robot and the water level based on the phase difference between the detection signal and the reflected signal and the propagation speed of the detection signal in water. distance between lines.

For example, when the water level detection sensor is a distance sensor, the detection signal transmitting device and the reflected signal receiving device of the distance sensor are arranged side by side and adjacent to each other. The robot controller determines a time difference between sending the detection signal and receiving the reflection signal based on the phase difference between the detection signal and the reflection signal and the angular frequency of the detection signal. The robot controller multiplies the time difference by the propagation speed and divides it by two to obtain the distance between the swimming pool cleaning robot and the water level.

Example 3. In the case where the water level detection sensor is a distance sensor, the robot controller determines the distance between the swimming pool cleaning robot and the water level based on the angle difference between the detection signal and the reflected signal and the propagation speed of the detection signal in water. distance between lines.

For example, when the water level detection sensor is a distance sensor, the detection signal transmitting device and the reflection signal receiving device of the distance sensor are arranged side by side and at a certain distance. The detection signal transmitting device is a laser radar, and the reflection signal receiving device is a camera, and the laser emitted by the laser radar forms a certain angle with the water level line. The detection signal transmitting device, the reflection signal receiving device and the detection points on the water level form a triangle. The robot controller determines the distance between the swimming pool cleaning robot and the water level line by using the angle difference and the propagation speed of the detection signal in water based on the principle of triangulation distance measurement.

In a possible implementation, when the water level detection sensor is a liquid depth sensor, the robot controller determines the distance between the swimming pool cleaning robot and the water level based on the depth of the swimming pool cleaning robot in the swimming pool. distance.

Wherein, the depth of the swimming pool cleaning robot in the swimming pool is also the distance between the swimming pool cleaning robot and the water level.

In a possible implementation, when the water level detection sensor is a signal receiving sensor, the robot controller determines the distance between the swimming pool cleaning robot and the water level based on the signal strength of the target signal.

For example, when the water level detection sensor is a signal receiving sensor, the robot controller determines the depth of the swimming pool cleaning robot in the swimming pool based on the signal strength of the target signal. A robot controller determines a distance between the pool cleaning robot and the water line based on the depth of the pool cleaning robot in the pool.

Since the signal strength of the target signal is negatively correlated with the depth of the swimming pool cleaning robot in the swimming pool, the depth of the swimming pool cleaning robot can be deduced based on the signal strength of the target signal, and then the relationship between the swimming pool cleaning robot and the water level can be determined. distance between lines.

Or, in some embodiments, the signal receiving sensor cannot receive the target signal underwater, and when the signal receiving sensor cannot receive the target signal, it is determined that the swimming pool cleaning robot is located below the water level, and subsequently can Control the pool cleaning robot to move up. When the swimming pool cleaning robot reaches the water level, the signal receiving sensor can receive the target signal.

Optionally, after step 302, the robot controller can execute the following steps 303-305, and can also execute the following step 306, which is not limited in this embodiment of the present application.

303. The robot controller controls the swimming pool cleaning robot to move upward or downward based on the distance between the swimming pool cleaning robot and the water level.

Wherein, the bottom of the swimming pool cleaning robot is equipped with a walking unit, and the robot controller can control the swimming pool cleaning robot to move and rotate on the pool wall of the swimming pool by driving the walking unit. In step 303, the robot controller can control the swimming pool cleaning robot to move to the water level through the walking unit. In some embodiments, the swimming pool cleaning robot also includes a driving unit, the driving unit is connected with the robot controller and the walking unit, the driving unit is controlled by the robot controller, and the driving unit can provide power for the walking unit to The swimming pool cleaning robot can move and rotate on the pool wall of the swimming pool through the walking unit. In some embodiments, the walking unit is a universal wheel. During the movement of the swimming pool cleaning robot, the swimming pool cleaning robot is always located on the pool wall of the swimming pool. Controlling the swimming pool cleaning robot to move upwards or downwards depends on whether the swimming pool cleaning robot is located above or below the water level, and when the swimming pool cleaning robot is located above the water level, it means controlling the swimming pool cleaning robot to move downward; When the swimming pool cleaning robot is located below the water level, the swimming pool cleaning robot is controlled to move upward.

In some embodiments, the swimming pool cleaning robot is powered by an external power supply, which can ensure that the swimming pool cleaning robot can complete tasks when cleaning a large area such as a swimming pool. Alternatively, the pool cleaning robot is powered by a built-in battery, freeing it from the constraints of connecting wires and being able to perform cleaning tasks over a larger area. Alternatively, the swimming pool cleaning robot is powered by a solar panel, thereby reducing energy costs when using the swimming pool cleaning robot for cleaning. The embodiment of the present application does not limit the power supply mode of the swimming pool cleaning robot. In some embodiments, the pool cleaning robot further includes a gyroscope by which it can determine its own orientation.

In some embodiments, the bottom of the swimming pool cleaning robot is further equipped with a cleaning unit, through which the pool wall of the swimming pool can be cleaned. In some embodiments, the cleaning unit includes a roller brush, and the pool wall can be cleaned by rotating the roller brush. Alternatively, in the case that the cleaning unit does not include a rolling brush, the swimming pool cleaning machine uses an internal driving device and a filtering device to filter the pool water and discharge it to clean the pool wall. Certainly, the cleaning unit may also include a rolling brush and a water spray port at the same time, which is not limited in this embodiment of the present application.

In addition, the cleaning function of the swimming pool cleaning robot can be started or not started during the moving process, the cleaning function of the swimming pool cleaning robot is started during the moving process means that the swimming pool cleaning robot can start the cleaning function during the moving process, In this way, the passing position on the pool wall is cleaned.

In a possible implementation manner, the robot controller performs path planning based on the distance between the swimming pool cleaning robot and the water level to obtain a target path. The robot controller controls the swimming pool cleaning robot to move upward or downward based on the target path.

For example, the robot controller performs path planning based on the distance between the swimming pool cleaning robot and the water level to obtain a target path. The robot controller determines the direction of the swimming pool cleaning robot through a gyroscope. The robot controller sends a driving instruction to the driving unit of the swimming pool cleaning robot based on the direction of the swimming pool cleaning robot, and the driving instruction is used to instruct the driving unit to drive the walking unit of the swimming pool cleaning robot so that the swimming pool cleaning robot follows the target The path travels up the pool wall. In response to the driving instruction, the driving unit of the swimming pool cleaning robot controls the swimming pool cleaning robot to move.

In some embodiments, when the swimming pool cleaning robot detects an obstacle, the robot controller controls the swimming pool cleaning robot to avoid the obstacle and return to the target path.

For example, when the water level detection sensor of the swimming pool cleaning robot detects that there is an obstacle ahead of the moving direction, the robot controller sets an obstacle avoidance route for the swimming pool cleaning robot, for example, through simulated annealing algorithm, artificial potential Field method, fuzzy logic algorithm, tabu search algorithm and other algorithms to set up obstacle avoidance routes. The robot controller controls the swimming pool cleaning robot to move according to the obstacle avoidance route, thereby avoiding the obstacle. In the case of avoiding the obstacle, the robot controller controls the swimming pool cleaning robot to return to the target path to continue cleaning.

304 . If the water level information re-detected by the water level detection sensor meets the target condition, the robot controller determines that the swimming pool cleaning robot moves to the water level.

Wherein, during the moving process of the swimming pool cleaning robot, the robot controller will also obtain the water level information through the water level detection sensor, so that the robot controller can control the swimming pool cleaning robot, and the re-detected water level information is also is the water level information detected during the movement of the swimming pool cleaning robot.

In a possible implementation manner, the water level information meeting the target condition refers to any of the following:

The re-detected water level information indicates that the distance between the swimming pool cleaning robot and the water level is less than or equal to a first distance threshold. Wherein, the distance between the swimming pool cleaning robot and the water level is less than or equal to the first distance threshold means that the distance between the swimming pool cleaning robot and the water level is small enough, and the swimming pool cleaning robot moves to the water level. The first distance threshold is set by technicians according to actual conditions, which is not limited in this embodiment of the present application.

The re-detected water level information indicates that the pressure around the pool cleaning robot is less than or equal to a pressure threshold. Wherein, since the pressure around the swimming pool cleaning robot will continue to decrease as the swimming pool cleaning robot moves upward, the pressure around the swimming pool cleaning robot is less than or equal to the pressure threshold, which means that the swimming pool cleaning robot and the water level line The distance is small enough that the pool cleaning robot moves to the water line. The pressure threshold is set by technicians according to actual conditions, which is not limited in this embodiment of the present application.

The re-detected water level information indicates that the fluctuation range of the pressure around the swimming pool cleaning robot is within the target fluctuation range. Wherein, since the pressure around the swimming pool cleaning robot will continue to decrease as the swimming pool cleaning robot moves upwards, after the swimming pool cleaning robot reaches the water level, the pressure on the swimming pool cleaning robot moving upwards will be determined by the water pressure Change into air pressure, the change of pressure is small, so it can be determined that the swimming pool cleaning robot has reached the water level through the fluctuation range of the pressure.

The re-detected water level information indicates that the signal strength of the received target signal is greater than or equal to a signal strength threshold, and the signal strength of the target signal is negatively correlated with the depth of the swimming pool cleaning robot in the swimming pool. Wherein, since the signal strength of the target signal will continue to increase as the swimming pool cleaning robot moves upward, the signal strength of the target signal greater than or equal to the signal strength threshold indicates that the distance between the swimming pool cleaning robot and the water level is sufficient Small, the pool cleaning robot moves to the water line. The signal strength threshold is set by technicians according to actual conditions, which is not limited in this embodiment of the present application.

305. The robot controller controls the swimming pool cleaning robot to stop moving.

In a possible implementation manner, the robot controller sends a stop instruction to the driving unit of the swimming pool cleaning robot, and the stopping instruction is used to instruct the driving unit to stop driving the swimming pool cleaning robot, thereby controlling the swimming pool cleaning robot to stop moving.

The still position of the swimming pool cleaning robot is on the water level, then the swimming pool cleaning robot can be controlled from the water level as a starting point, such as controlling the swimming pool cleaning robot to clean the pool wall along the water level. This is not limited.

306. Based on the distance between the swimming pool cleaning robot and the water level, the robot controller controls the swimming pool cleaning robot to move to a target position above or below the water level.

Wherein, the target position is a position whose distance from the water level is the target distance, and the target distance is set by technicians according to actual conditions, which is not limited in this embodiment of the present application.

In a possible implementation manner, the robot controller determines the distance between the swimming pool cleaning robot and the target position based on the distance between the swimming pool cleaning robot and the water level. The robot controller controls the swimming pool cleaning robot to move upward or downward based on the distance between the swimming pool cleaning robot and the target position. The robot controller determines that the swimming pool cleaning robot moves to the target position when the distance between the swimming pool cleaning robot and the target position is less than or equal to a second distance threshold. The robot controller controls the swimming pool cleaning robot to stop moving. Wherein, the second distance threshold may be the same as or different from the first distance threshold, and the second distance threshold is set by a technician according to actual conditions, which is not limited in this embodiment of the present application.

All the above optional technical solutions may be combined in any way to form optional embodiments of the present application, which will not be repeated here.

Through the technical solutions provided by the embodiments of the present application, the water level information of the swimming pool cleaning robot is obtained through the water level detection sensor, and the water level information can indicate the distance between the swimming pool cleaning robot and the water level of the swimming pool. Based on the water level information, the distance between the pool cleaning robot and the water level can be determined. Based on the distance between the swimming pool cleaning robot and the water level, the swimming pool cleaning robot can be controlled, that is, the swimming pool cleaning robot can be continuously controlled with the water level as a reference, so as to realize the identification of the water level.

FIG. 4 is a schematic structural diagram of a device for acquiring water level information provided by an embodiment of the present application. Referring to FIG. 4 , the device includes: a water level information acquiring module 401 , a distance determining module 402 and a control module 403 .

The water level information acquisition module 401 is used to acquire the water level information through the water level detection sensor of the swimming pool cleaning robot. The swimming pool cleaning robot moves on the pool wall or the bottom of the swimming pool. The water level information is used to indicate the The relative position to the water mark.

The distance determination module 402 is configured to determine the distance between the swimming pool cleaning robot and the water level based on the water level information.

The control module 403 is used for controlling the swimming pool cleaning robot based on the distance between the swimming pool cleaning robot and the water level.

In a possible implementation manner, the water level information acquisition module 401 is configured to perform any of the following:

The water level information is obtained through the distance sensor of the swimming pool cleaning robot.

The water level information is obtained through the liquid depth sensor of the swimming pool cleaning robot.

The water level information is obtained through the signal receiving sensor of the swimming pool cleaning robot.

In a possible implementation manner, the water level information acquisition module 401 is configured to send detection signals above or below the swimming pool cleaning robot through the distance sensor. A reflection signal corresponding to the detection signal is received, and the reflection signal is a part reflected after the detection signal touches the water level line. Based on the detection signal and the reflection signal, determine the water level information, the water level information includes the propagation speed of the detection signal in water, and the time difference between sending the detection signal and receiving the reflection signal, the detection signal and the Any of a phase difference between reflected signals and an angle difference between the detection signal and the reflected signal.

In a possible implementation manner, the distance determining module 402 is configured to, based on the time difference between sending the detection signal and receiving the reflection signal, the phase difference between the detection signal and the reflection signal, and the detection signal and Either of the angular difference between the reflected signals, and the propagation speed of the detected signal in the water, determine the distance between the pool cleaning robot and the water level.

In a possible implementation manner, the water level information acquisition module 401 is configured to acquire images above or below the swimming pool cleaning robot through the distance sensor. Image recognition is performed on the image to obtain the water level information, and the water level information includes the position of the water level in the image.

In a possible implementation manner, the distance determination module 402 is configured to perform coordinate transformation on the position of the water level in the image by using the pinhole imaging principle to determine the distance between the swimming pool cleaning robot and the water level.

In a possible implementation manner, the water level information acquisition module 401 is configured to acquire the pressure around the swimming pool cleaning robot through the liquid depth sensor. The water level information is determined based on the pressure around the pool cleaning robot, the water level information including the depth of the pool cleaning robot in the pool.

In a possible implementation manner, the distance determination module 402 is configured to determine the distance between the swimming pool cleaning robot and the water level based on the depth of the swimming pool cleaning robot in the swimming pool.

In a possible implementation manner, the water level information acquisition module 401 is configured to receive a target signal through the signal receiving sensor, and the signal strength of the target signal is negatively correlated with the depth of the swimming pool cleaning robot in the swimming pool. Based on the target signal, the water level information is determined, the water level information including the signal strength of the target signal.

In a possible implementation manner, the distance determination module 402 is configured to determine the distance between the swimming pool cleaning robot and the water level based on the signal strength of the target signal.

In a possible implementation manner, the control module 403 is configured to perform any of the following:

Based on the distance between the swimming pool cleaning robot and the water level, the swimming pool cleaning robot is controlled to move to the water level.

Based on the distance between the swimming pool cleaning robot and the water level, the swimming pool cleaning robot is controlled to move to a target position above or below the water level.

In a possible implementation manner, the control module 403 is configured to control the swimming pool cleaning robot to move upward or downward based on the distance between the swimming pool cleaning robot and the water level.

When the water level information re-detected by the water level detection sensor meets the target condition, it is determined that the swimming pool cleaning robot moves to the water level.

Control the swimming pool cleaning robot to stop moving.

In a possible implementation manner, the water level information re-detected by the water level detection sensor meets the target condition refers to any of the following:

The re-detected water level information indicates that the distance between the swimming pool cleaning robot and the water level is less than or equal to a first distance threshold.

The re-detected water level information indicates that the pressure around the pool cleaning robot is less than or equal to a pressure threshold.

The re-detected water level information indicates that the signal strength of the received target signal is greater than or equal to a signal strength threshold, and the signal strength of the target signal is negatively correlated with the depth of the swimming pool cleaning robot in the swimming pool.

In a possible implementation manner, the control module 403 is configured to determine the distance between the swimming pool cleaning robot and the target position based on the distance between the swimming pool cleaning robot and the water level. Based on the distance between the swimming pool cleaning robot and the target position, the swimming pool cleaning robot is controlled to move up or down. If the distance between the swimming pool cleaning robot and the target position is less than or equal to a second distance threshold, it is determined that the swimming pool cleaning robot moves to the target position. Control the swimming pool cleaning robot to stop moving.

It should be noted that: when the water level information acquisition device provided by the above embodiment acquires the water level information, it only uses the division of the above-mentioned functional modules as an example for illustration. In practical applications, the above-mentioned functions can be assigned by different Completion of functional modules means that the internal structure of the robot controller is divided into different functional modules to complete all or part of the functions described above. In addition, the device for acquiring water level information provided by the above embodiments and the embodiment of the method for acquiring water level information belong to the same concept, and the specific implementation process thereof is detailed in the method embodiment, and will not be repeated here.

Through the technical solutions provided by the embodiments of the present application, the water level information of the swimming pool cleaning robot is obtained through the water level detection sensor, and the water level information can indicate the distance between the swimming pool cleaning robot and the water level of the swimming pool. Based on the water level information, the distance between the pool cleaning robot and the water level can be determined. Based on the distance between the swimming pool cleaning robot and the water level, the swimming pool cleaning robot can be controlled, that is, the swimming pool cleaning robot can be continuously controlled with the water level as a reference, so as to realize the identification of the water level.

The embodiment of the present application also provides a swimming pool cleaning robot, which includes a robot controller. FIG. 5 is a schematic structural diagram of the robot controller provided in the embodiment of the present application. The robot controller 500 can be: a smart phone, a tablet computer, a notebook computer or a desktop computer.

Generally, the robot controller 500 includes: one or more processors 501 and one or more memories 502 .

The processor 501 may include one or more processing cores, such as a 4-core processor, an 8-core processor, and the like. The processor 501 can adopt at least one hardware form in DSP (Digital Signal Processing, digital signal processing), FPGA (Field-Programmable Gate Array, field programmable gate array), PLA (Programmable Logic Array, programmable logic array) accomplish. The processor 501 may also include a main processor and a coprocessor, the main processor is a processor for processing data in the wake-up state, and is also called a CPU (Central Processing Unit, central processing unit); the coprocessor is used to Low-power processor for processing data in standby state. In some embodiments, the processor 501 may be integrated with a GPU (Graphics Processing Unit, image processor), and the GPU is used to render and draw the content to be displayed on the display screen. In some embodiments, the processor 501 may further include an AI (Artificial Intelligence, artificial intelligence) processor, where the AI processor is configured to process computing operations related to machine learning.

Memory 502 may include one or more computer-readable storage media, which may be non-transitory. The memory 502 may also include high-speed random access memory and non-volatile memory, such as one or more magnetic disk storage devices and flash memory storage devices. In some embodiments, the non-transitory computer-readable storage medium in the memory 502 is used to store at least one computer program, and the at least one computer program is used to be executed by the processor 501 to implement the methods provided by the method embodiments in this application. How to obtain water level information.

In some embodiments, the robot controller 500 may optionally further include: a peripheral device interface 503 and at least one peripheral device. The processor 501, the memory 502, and the peripheral device interface 503 may be connected through buses or signal lines. Each peripheral device can be connected to the peripheral device interface 503 through a bus, a signal line or a circuit board. Specifically, the peripheral device includes: at least one of a radio frequency circuit 504 , a display screen 505 , a camera assembly 506 , an audio circuit 507 and a power supply 508 .

The peripheral device interface 503 may be used to connect at least one peripheral device related to I/O (Input/Output, input/output) to the processor 501 and the memory 502 . In some embodiments, the processor 501, memory 502 and peripheral device interface 503 are integrated on the same chip or circuit board; in some other embodiments, any one of the processor 501, memory 502 and peripheral device interface 503 or The two can be implemented on a separate chip or circuit board, which is not limited in this embodiment.

The radio frequency circuit 504 is configured to receive and transmit RF (Radio Frequency, radio frequency) signals, also called electromagnetic signals. The radio frequency circuit 504 communicates with the communication network and other communication devices through electromagnetic signals. The radio frequency circuit 504 converts electrical signals into electromagnetic signals for transmission, or converts received electromagnetic signals into electrical signals. Optionally, the radio frequency circuit 504 includes: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a subscriber identity module card, and the like.

The display screen 505 is used to display a UI (User Interface, user interface). The UI can include graphics, text, icons, video, and any combination thereof. When the display screen 505 is a touch display screen, the display screen 505 also has the ability to collect touch signals on or above the surface of the display screen 505 . The touch signal can be input to the processor 501 as a control signal for processing. At this time, the display screen 505 can also be used to provide virtual buttons and/or virtual keyboards, also called soft buttons and/or soft keyboards.

The camera assembly 506 is used to capture images or videos. Optionally, the camera component 506 includes a front camera and a rear camera. Usually, the front camera is set on the front panel of the robot controller, and the rear camera is set on the back of the robot controller.

Audio circuitry 507 may include a microphone and speakers. The microphone is used to collect sound waves of the user and the environment, and convert the sound waves into electrical signals and input them to the processor 501 for processing, or input them to the radio frequency circuit 504 to realize voice communication.

The power supply 508 is used to supply power to various components in the robot controller 500 . Power source 508 may be alternating current, direct current, disposable batteries, or rechargeable batteries.

In some embodiments, the robot controller 500 also includes one or more sensors 509 . The one or more sensors 509 include, but are not limited to: an acceleration sensor 510 , a gyro sensor 511 , a pressure sensor 512 , an optical sensor 513 and a proximity sensor 514 .

The acceleration sensor 510 can detect the acceleration on the three coordinate axes of the coordinate system established by the robot controller 500 .

The gyro sensor 511 can control the body direction and rotation angle of the robot controller 500 , and the gyro sensor 511 can cooperate with the acceleration sensor 510 to collect the 3D motion of the user on the robot controller 500 .

The pressure sensor 512 may be disposed on a side frame of the robot controller 500 and/or a lower layer of the display screen 505 . When the pressure sensor 512 is set on the side frame of the robot controller 500 , it can detect the user's grip signal on the robot controller 500 , and the processor 501 can perform left and right hand recognition or shortcut operations according to the grip signal collected by the pressure sensor 512 . When the pressure sensor 512 is arranged on the lower layer of the display screen 505, the processor 501 controls the operable controls on the UI interface according to the user's pressure operation on the display screen 505.

The optical sensor 513 is used to collect ambient light intensity. In one embodiment, the processor 501 may control the display brightness of the display screen 505 according to the ambient light intensity collected by the optical sensor 513 .

The proximity sensor 514 is used to collect the distance between the user and the front of the robot controller 500 .

Those skilled in the art can understand that the structure shown in FIG. 5 does not constitute a limitation to the robot controller 500, and may include more or less components than shown in the illustration, or combine certain components, or adopt different component arrangements. .

In an exemplary embodiment, there is also provided a computer-readable storage medium, such as a memory including a computer program, and the above computer program can be executed by a processor to complete the method for obtaining water level information in the above embodiment. For example, the computer-readable storage medium may be a read-only memory (Read-Only Memory, ROM), a random access memory (Random Access Memory, RAM), a read-only optical disc (Compact Disc Read-Only Memory, CD-ROM), Magnetic tapes, floppy disks, and optical data storage devices, etc.

In an exemplary embodiment, a computer program product or computer program is also provided, the computer program product or computer program includes program code, the program code is stored in a computer-readable storage medium, the processor of the robot controller reads from the computer The readable storage medium reads the program code, and the processor executes the program code, so that the robot controller executes the above-mentioned method for obtaining water level information.

In some embodiments, the computer programs involved in the embodiments of the present application can be deployed and executed on one robot controller, or executed on multiple robot controllers located at one location, or distributed in multiple locations and Executed on multiple robot controllers interconnected through a communication network, multiple robot controllers distributed in multiple locations and interconnected through a communication network can form a blockchain system.

Those of ordinary skill in the art can understand that all or part of the steps for implementing the above-mentioned embodiments can be completed by hardware, and can also be completed by instructing related hardware through a program. The program can be stored in a computer-readable storage medium. The above-mentioned The storage medium can be read-only memory, magnetic disk or optical disk and so on.

The above are only optional embodiments of the application, and are not intended to limit the application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the application shall be included in the protection scope of the application. within.

Claims (10)

1. A method for obtaining water line information, the method comprising:

the method comprises the steps that water level line information is obtained through a water level line detection sensor of a swimming pool cleaning robot, the swimming pool cleaning robot moves on a pool wall or a pool bottom of a swimming pool, and the water level line information is used for indicating the relative positions of the swimming pool cleaning robot and the water level line;

Determining a distance between the pool cleaning robot and the water line based on the water line information;

the pool cleaning robot is controlled based on a distance between the pool cleaning robot and the water line.

2. The method of claim 1, wherein the acquiring of the water line information by the water line detection sensor of the pool cleaning robot comprises any one of:

acquiring the water line information through a distance sensor of the swimming pool cleaning robot;

acquiring the water level line information through a liquid depth sensor of the swimming pool cleaning robot;

and acquiring the water level line information through a signal receiving sensor of the swimming pool cleaning robot.

3. The method of claim 2, wherein the acquiring the water line information by a distance sensor of the pool cleaning robot comprises:

sending a detection signal to the upper part or the lower part of the swimming pool cleaning robot through the distance sensor;

receiving a reflection signal corresponding to the detection signal, wherein the reflection signal is a part of the detection signal which is reflected after contacting the water level line;

determining the water line information based on the detection signal and the reflection signal, the water line information including any one of a propagation speed of the detection signal in water, and a time difference between transmission of the detection signal and reception of the reflection signal, a phase difference between the detection signal and the reflection signal, and an angle difference between the detection signal and the reflection signal.

4. A method according to claim 3, wherein said determining a distance between said pool cleaning robot and said water line based on said water line information comprises:

a distance between the pool cleaning robot and the water line is determined based on any one of a time difference between transmitting the detection signal and receiving the reflected signal, a phase difference between the detection signal and the reflected signal, and an angle difference between the detection signal and the reflected signal, and a propagation speed of the detection signal in water.

5. The method of claim 2, wherein the acquiring the water line information by a distance sensor of the pool cleaning robot comprises:

acquiring an image above or below the pool cleaning robot by the distance sensor;

and carrying out image recognition on the image to obtain the water line information, wherein the water line information comprises the position of the water line in the image.

6. The method of claim 5, wherein the determining a distance between the pool cleaning robot and the water line based on the water line information comprises:

And performing coordinate transformation on the position of the water level line in the image by using a small-hole imaging principle, and determining the distance between the swimming pool cleaning robot and the water level line.

7. The method of claim 2, wherein the acquiring the water line information by a liquid depth sensor of the pool cleaning robot comprises:

collecting pressure around the pool cleaning robot by the liquid depth sensor;

the water line information is determined based on pressure surrounding the pool cleaning robot, the water line information including a depth of the pool cleaning robot in the pool.

8. The method of claim 7, wherein the determining a distance between the pool cleaning robot and the water line based on the water line information comprises:

a distance between the pool cleaning robot and the water line is determined based on a depth of the pool cleaning robot in the pool.

9. A water line information acquisition device, the device comprising:

the water level line information acquisition module is used for acquiring water level line information through a water level line detection sensor of the swimming pool cleaning robot, the swimming pool cleaning robot moves on the pool wall or the pool bottom of the swimming pool, and the water level line information is used for indicating the relative positions of the swimming pool cleaning robot and the water level line;

A distance determination module for determining a distance between the pool cleaning robot and the water line based on the water line information;

and the control module is used for controlling the swimming pool cleaning robot based on the distance between the swimming pool cleaning robot and the water level line.

10. A pool cleaning robot comprising a robot controller, wherein the robot controller comprises one or more processors and one or more memories, the one or more memories having at least one computer program stored therein, the computer program being loaded and executed by the one or more processors to implement the method of acquiring water line information as claimed in any of claims 1 to 8.

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