Swimming pool map boundary construction method and device, swimming pool cleaning method and device and electronic equipment

Abstract

According to the swimming pool map boundary construction method and device, the swimming pool cleaning method and device and the electronic equipment, the swimming pool cleaning robot is controlled to advance and retreat relative to each preset path in the swimming pool map completely covering the swimming pool in the working area defined by the swimming pool, so that the two path end points of each preset path are determined; therefore, the map boundary of the swimming pool map is constructed according to the two path end points of each preset path determined in the swimming pool map, so that the construction of the boundary of the swimming pool map is more efficient, reasonable and accurate. Moreover, according to the swimming pool cleaning task executed based on the swimming pool map constructed by the method, comprehensive cleaning of the swimming pool can be achieved, and omission is avoided.

Description

Technical Field

[0001] The embodiments of the present application relate to the technical field of swimming pool cleaning robot control, and in particular to a swimming pool map boundary construction and swimming pool cleaning method, device, electronic device and storage medium. Background Art

[0002] The pool cleaning robot is a pool cleaning robot developed to meet the needs of pool cleaning. It can be used to perform pool map boundary construction tasks and pool cleaning tasks based on the constructed pool map.

[0003] When performing the task of constructing a pool map boundary, the existing pool cleaning robot has an inaccurate constructed pool map boundary due to the inefficient and unreasonable method of constructing the pool map boundary, which has an adverse impact on the pool cleaning task performed based on the constructed cleaning map.

[0004] Therefore, a swimming pool map boundary construction method is needed to make the swimming pool map boundary construction more efficient, reasonable and accurate, so as to complete the swimming pool cleaning task more comprehensively. Summary of the invention

[0005] In order to solve the above problems, an embodiment of the present application provides a method for constructing a swimming pool map boundary, including: controlling the swimming pool cleaning robot to move forward and backward within a working area defined by the swimming pool relative to each preset path in a swimming pool map that completely covers the swimming pool, so as to determine two path endpoints of each preset path; and constructing a map boundary of the swimming pool map according to the two path endpoints of each preset path determined in the swimming pool map.

[0006] Optionally, the swimming pool map is generated by the following steps: based on the initial position and initial orientation of the swimming pool cleaning robot, generating a swimming pool map that completely covers the working area of ​​the swimming pool; wherein each preset path in the swimming pool map is parallel to the initial orientation of the swimming pool cleaning robot.

[0007] Optionally, the initial position and initial orientation of the pool cleaning robot can be determined in the following ways: determining the initial position and initial orientation of the pool cleaning robot based on the position and orientation of the pool cleaning robot when it freely sinks to the bottom of the pool; or, controlling the pool cleaning robot to move to a specified position and specified orientation relative to the bottom of the pool according to a movement instruction, and determining the specified position and specified orientation as the initial position and initial orientation of the pool cleaning robot.

[0008] Optionally, controlling the pool cleaning robot to move forward and backward along each preset path in the pool map within a working area defined by the pool to determine two path endpoints of each preset path includes: determining a preset path in the pool map where the pool cleaning robot is currently located as the current path; controlling the pool cleaning robot to move backward and forward relative to the current path within the working area defined by the pool based on a preset orientation parallel to the current path until the robot collides with side walls of the pool at opposite ends of the current path, respectively, to determine the two path endpoints of the current path; controlling the pool cleaning robot to move from the current path to a preset path adjacent to the current path and whose two path endpoints have not been determined according to a preset movement algorithm; and returning to the step of determining a preset path in the pool map where the pool cleaning robot is currently located as the current path and continuing to execute until the two path endpoints of each preset path in the pool map are determined.

[0009] Optionally, the pool cleaning robot is controlled to move backward and forward relative to the current path within a working area defined by the swimming pool based on a preset orientation parallel to the current path until it respectively collides with two side walls of the swimming pool at opposite ends of the current path to determine two path endpoints of the current path, including: controlling the pool cleaning robot to move backward relative to the current path based on a preset orientation until it collides with a side wall of the swimming pool located at a first end of the current path, and determining the first path endpoint of the current path based on the current position of the pool cleaning robot relative to the current path; controlling the pool cleaning robot to move forward relative to the current path based on a preset orientation until it collides with a side wall of the swimming pool located at a second end of the current path, and determining the second path endpoint of the current path based on the current position of the pool cleaning robot relative to the current path.

[0010] Optionally, controlling the pool cleaning robot to move from a current path to a preset path adjacent to the current path and whose two path endpoints are not determined according to a preset movement algorithm includes: determining, according to the current path, a preset path adjacent to the current path in a pool map whose two path endpoints are not determined as a target path; and controlling the pool cleaning robot to perform a U-turn according to the preset movement algorithm, so that the pool cleaning robot moves from the current path to the target path, and the turning direction of the pool cleaning robot after the U-turn is opposite to the preset direction.

[0011] Optionally, returning to the step of determining a preset path in the pool map where the pool cleaning robot is currently located as the current path and continuing to execute, includes: updating the turning direction of the pool cleaning robot after turning around to a preset direction, and returning to the step of determining a preset path in the pool map where the pool cleaning robot is currently located as the current path and continuing to execute.

[0012] Optionally, according to a preset movement algorithm, controlling the swimming pool cleaning robot to perform a U-turn includes: controlling the swimming pool cleaning robot to perform a U-turn based on a right-angle turn or an arc turn, so that the turning direction of the swimming pool cleaning robot after the U-turn is opposite to the preset direction.

[0013] Optionally, the method also includes: if there is no preset path in the pool map that has not determined two path endpoints and is adjacent to the current path, then each preset path in the pool map that has not determined two path endpoints is determined as a candidate path; based on the current path and each candidate path, based on a preset pathfinding algorithm, the candidate path with the shortest moving distance to the current path is determined as the target path; based on the preset pathfinding algorithm, the pool cleaning robot is controlled to move from the current path to the target path, and the step of returning to determine a preset path where the pool cleaning robot is currently located in the pool map as the current path continues.

[0014] Optionally, each preset path in the pool map includes at least one grid block; the method further includes: for each preset path in the pool map, according to two path endpoints of the preset path, determining each grid block in the preset path located between the two path endpoints as a cleaning block.

[0015] According to another aspect of the present application, a swimming pool cleaning method is provided, comprising: controlling a swimming pool cleaning robot to traverse each cleaning path to clean the swimming pool according to two path endpoints of each cleaning path in a cleaning map corresponding to the swimming pool; wherein the two path endpoints of each cleaning path in the cleaning map are determined using the swimming pool map boundary construction method as described in any one of claims 1-10.

[0016] According to another aspect of the present application, a swimming pool map boundary construction device is provided, comprising: an endpoint determination module, used to control the swimming pool cleaning robot to advance and retreat within a working area defined by the swimming pool relative to each preset path in the swimming pool map that completely covers the swimming pool, so as to determine two path endpoints of each preset path; and a boundary construction module, used to construct a map boundary of the swimming pool map according to the two path endpoints of each preset path determined in the swimming pool map.

[0017] According to another aspect of the present application, a swimming pool cleaning device is provided, which is used to control a swimming pool cleaning robot to traverse each cleaning path to clean the swimming pool according to the two path endpoints of each cleaning path in a cleaning map corresponding to the swimming pool; wherein the two path endpoints of each cleaning path in the cleaning map are determined using the above-mentioned swimming pool map boundary construction device.

[0018] According to another aspect of the present application, an electronic device is provided, comprising: a processor; and a memory storing a program, wherein the program comprises instructions, and when the instructions are executed by the processor, the processor executes the method of the above aspect.

[0019] According to another aspect of the present application, a non-transitory computer-readable storage medium storing computer instructions is provided, wherein the computer instructions are used to enable a computer to execute the method of the above aspect.

[0020] The present application provides a method, device, electronic device and swimming pool cleaning method for constructing a swimming pool map boundary. The swimming pool cleaning robot is controlled to move forward and backward within a working area defined by the swimming pool relative to each preset path in a swimming pool map that completely covers the swimming pool, so as to determine the two path endpoints of each preset path. Thus, the map boundary of the swimming pool map is constructed according to the two path endpoints of each preset path determined in the swimming pool map, so that the construction of the swimming pool map boundary is more efficient, reasonable and accurate.

[0021] Furthermore, the swimming pool cleaning task performed by the present application based on the swimming pool map constructed by the above method can achieve comprehensive cleaning of the swimming pool and avoid omissions. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The following drawings are intended only to illustrate and explain the present application, and do not limit the scope of the present application.

[0023] Figure 1 is a flow chart of a method for constructing a pool map boundary according to an exemplary embodiment of the present application;

[0024] Figure 2 is a flow chart of a method for constructing a pool map boundary according to another exemplary embodiment of the present application;

[0025] Figure 3 is a flow chart of a method for constructing a pool map boundary according to another exemplary embodiment of the present application;

[0026] Figure 4 is a flow chart of a method for constructing a pool map boundary according to another exemplary embodiment of the present application;

[0027] Figure 5 is a flow chart of a method for constructing a pool map boundary according to another exemplary embodiment of the present application;

[0028] Figure 6 is a flow chart of a swimming pool cleaning method according to an exemplary embodiment of the present application;

[0029] Figure 7 A structural block diagram of a swimming pool map boundary construction device according to an exemplary embodiment of the present application;

[0030] Figure 8 A structural block diagram of an electronic device according to an exemplary embodiment of the present application;

[0031] FIG. 9A to FIG. 9G It is a schematic diagram of a scenario application of a swimming pool map boundary construction method according to an exemplary embodiment of the present application.

[0032] Description of reference numerals:

[0033] 700, swimming pool map boundary construction device; 702, endpoint determination module; 704, boundary construction module; 800, electronic device; 801, computing unit; 802, ROM; 803, RAM; 804, bus; 805, input and output interface; 806, input unit; 807, output unit; 808, storage unit; 809, communication unit. DETAILED DESCRIPTION

[0034] In order to have a clearer understanding of the technical features, purposes and effects of the embodiments of the present application, the specific implementation methods of the embodiments of the present application are now described with reference to the accompanying drawings.

[0035] In this document, “exemplary” means “serving as an example, instance or illustration”, and any diagram or implementation described in this document as “exemplary” should not be interpreted as a more preferred or more advantageous technical solution.

[0036] In order to simplify the drawings, only the parts related to the present application are schematically shown in each figure, and they do not represent the actual structure of the product. In addition, in order to simplify the drawings and facilitate understanding, in some figures, only one or more of the parts with the same structure or function are schematically drawn or only one or more of them are marked.

[0037] When the existing swimming pool cleaning robot performs the task of constructing the pool map boundary, the constructed pool map boundary is inaccurate due to the inefficient and unreasonable method of constructing the pool map boundary, which has an adverse effect on the pool cleaning task performed based on the constructed cleaning map. In view of this, the present application proposes a method, device, electronic device and swimming pool cleaning method for constructing a pool map boundary, which can solve the various problems existing in the above-mentioned prior art.

[0038] The specific embodiments of each application will be described in detail below in conjunction with the accompanying drawings.

[0039] Figure 1 FIG. 1 is a flow chart of a method for constructing a pool map boundary according to an exemplary embodiment of the present application. As shown in the figure, this embodiment mainly includes the following steps:

[0040] Step S102, controlling the swimming pool cleaning robot to move forward and backward within a working area defined by the swimming pool relative to each preset path in a swimming pool map that completely covers the swimming pool, so as to determine two path endpoints of each preset path.

[0041] Optionally, the swimming pool map may be generated by the following steps: generating a swimming pool map that completely covers the working area of ​​the swimming pool according to the initial position and initial orientation of the swimming pool cleaning robot.

[0042] Among them, each preset path in the swimming pool map is parallel to the initial orientation of the swimming pool cleaning robot.

[0043] In this embodiment, two adjacent preset paths in the swimming pool map may border each other or partially overlap. In order to efficiently construct the swimming pool boundary, it is preferred that the preset paths may border each other, and multiple adjacent rows of preset paths are generated to completely cover the entire swimming pool map. In addition, the width of each preset path may be determined based on the body size of the robot, so that the swimming pool cleaning robot can cover each preset path when performing a cleaning task.

[0044] Optionally, the initial position and initial orientation of the swimming pool cleaning robot can be determined by:

[0045] In one embodiment, the initial position and initial orientation of the pool cleaning robot can be determined according to the position and orientation of the pool cleaning robot when it freely sinks to the bottom of the pool. Specifically, after the pool cleaning robot is placed in the pool, the position and orientation of the pool cleaning robot when it freely sinks to the bottom of the pool can be determined as the initial position and initial orientation of the pool cleaning robot.

[0046] In another embodiment, the pool cleaning robot is also controlled to move to a specified position and a specified orientation relative to the pool according to the movement instruction, and the specified position and the specified orientation are determined as the initial position and initial orientation of the pool cleaning robot. Specifically, after the pool cleaning robot sinks to the bottom of the pool, the pool cleaning robot can be controlled to move relative to the bottom of the pool according to the movement instruction until the expected specified position and specified orientation are met, and the initial position and initial orientation of the pool cleaning robot are determined accordingly.

[0047] Step S104: constructing a map boundary of the swimming pool map according to two path endpoints of each preset path determined in the swimming pool map.

[0048] Optionally, a preset movement algorithm and a preset path-finding algorithm may be combined to control the swimming pool cleaning robot to traverse each preset path in the swimming pool map to determine two path endpoints of each preset path, thereby constructing a map boundary of the swimming pool map.

[0049] In summary, the method for constructing a swimming pool map boundary of the present embodiment controls the swimming pool cleaning robot to move forward and backward within the working area defined by the swimming pool relative to each preset path in the swimming pool map that completely covers the swimming pool, so as to determine the two path endpoints of each preset path; based on the two path endpoints of each preset path determined in the swimming pool map, the map boundary of the swimming pool map is constructed, so that the construction of the swimming pool map boundary is more efficient, reasonable and accurate.

[0050] Figure 2 FIG. 1 is a flow chart of a method for constructing a pool map boundary according to another exemplary embodiment of the present application. This embodiment mainly shows a specific implementation scheme of the above step S102. As shown in the figure, this embodiment mainly includes the following steps:

[0051] Step S202: determine a preset path where the swimming pool cleaning robot is currently located in the swimming pool map as the current path.

[0052] In this embodiment, the preset path where the pool cleaning robot initially located when it falls to the bottom of the pool can first be determined as the current path, and in the subsequent process of constructing the map boundary of the pool map, the current path in the pool map can be updated according to the preset path where the pool cleaning robot is actually currently located.

[0053] For example, reference Fig. 9A In the swimming pool map shown, assuming that the initial position of the swimming pool cleaning robot when it falls into the bottom of the swimming pool is at 0, the preset path at the initial position O of the swimming pool cleaning robot is determined as the current path.

[0054] Step S204, controlling the pool cleaning robot to move backward and forward relative to the current path within the working area defined by the pool based on a preset orientation parallel to the current path, until it collides with the side walls of the pool at opposite ends of the current path, so as to determine the two path endpoints of the current path.

[0055] For example, it is assumed that the preset path at the initial position O of the pool cleaning robot is determined to be the current path, and the preset direction of the pool cleaning robot is the positive direction of the X axis. The pool cleaning robot can move backward and forward along the current path, and during the movement, it will collide with the side wall of the pool at point A and point B, respectively, so as to determine point A and point B as the two end points of the current path.

[0056] Step S206: Determine whether both path endpoints of each preset path in the swimming pool map are completed.

[0057] Step S208: If yes, the process ends; if not, the swimming pool cleaning robot is controlled to move from the current path to a preset path adjacent to the current path and with two undetermined path endpoints according to a preset movement algorithm.

[0058] Specifically, if both path endpoints of the preset path in the swimming pool map have been determined, the task of constructing the boundary of the swimming pool map is completed, and the process ends; if there are still undetermined path endpoints, the swimming pool cleaning robot is controlled to move from the current path to a preset path adjacent to the current path and whose two path endpoints have not been determined, and return to step 202 to continue execution until both path endpoints of the preset path in the swimming pool map have been determined.

[0059] Figure 3 The following is a flow chart of a method for constructing a pool map boundary according to another exemplary embodiment of the present application. This embodiment is a specific implementation of the above step S204. As shown in the figure, this embodiment mainly includes the following steps:

[0060] Step S302, controlling the swimming pool cleaning robot to move backward relative to the current path based on a preset direction until it collides with a side wall of the swimming pool located at a first end of the current path, and determining a first path endpoint of the current path according to a current position of the swimming pool cleaning robot relative to the current path;

[0061] Step S304, controlling the pool cleaning robot to move forward relative to the current path based on a preset direction until it collides with the side wall of the pool located at the second end of the current path, and determining the second path endpoint of the current path according to the current position of the pool cleaning robot relative to the current path.

[0062] For example, reference Fig. 9A In the pool map shown, assuming that the pool cleaning robot is currently located at position 0 in a preset path in the pool map (i.e., the initial position of the pool cleaning robot when it falls to the bottom of the pool), the preset path where the initial position O of the pool cleaning robot is located is determined as the current path. At this time, the preset direction of the pool cleaning robot is the positive direction of the X axis.

[0063] Based on the above-determined preset orientation and current path of the swimming pool cleaning robot, the process of determining the two path endpoints of the current path is as follows:

[0064] Reference Fig. 9A The pool cleaning robot can be controlled to move backward relative to the current path based on the positive direction of the X-axis (i.e., the negative direction of the X-axis) until it collides with the side wall A of the pool located at the first end of the current path. According to the position of the pool cleaning robot relative to the current path, the first path endpoint point A of the current path can be determined.

[0065] Reference Fig. 9B , and then control the pool cleaning robot to move forward relative to the current path based on the positive direction of the X-axis (i.e., the positive direction of the X-axis) until it collides with the side wall B of the pool located at the second end of the current path. According to the current position of the pool cleaning robot relative to the current path, the second path endpoint point B of the current path can be determined.

[0066] According to the method of this embodiment, the two path endpoints of the current path can be determined quickly and accurately, and the accuracy of the construction result of the swimming pool map boundary can be improved.

[0067] Figure 4 The following is a flow chart of a method for constructing a pool map boundary according to another exemplary embodiment of the present application. This embodiment is a specific implementation scheme of the above step S208. As shown in the figure, this embodiment mainly includes the following steps:

[0068] Step S402: According to the current path, a preset path that has not determined two path endpoints and is adjacent to the current path is searched in the swimming pool map.

[0069] Specifically, when the swimming pool cleaning robot has completed the determination of the path endpoints of the current path, it is necessary to query the swimming pool map for preset paths adjacent to the current path, as well as the determination of the path endpoints of the preset paths.

[0070] Step S404, determine whether there is a matching preset path, if so, execute step S406, if not, execute step S410.

[0071] Specifically, it is determined whether there is a preset path whose path endpoints have not been determined among the preset paths adjacent to the current path in the swimming pool map.

[0072] Step S406: determine the queried preset path as the target path.

[0073] Specifically, if there is a preset path whose two path endpoints are not determined and is adjacent to the current path, the preset path is used as the target path.

[0074] Step S408: According to the preset movement algorithm, the swimming pool cleaning robot is controlled to perform a U-turn, so that the swimming pool cleaning robot moves from the current path to the target path, and the U-turn direction of the swimming pool cleaning robot after the U-turn is opposite to the preset direction, and step S202 is continued after the U-turn.

[0075] Optionally, the swimming pool cleaning robot is controlled to perform a U-turn based on a right-angle turn or an arc turn, so that the turning direction of the swimming pool cleaning robot after the U-turn is opposite to a preset direction.

[0076] Specifically, the right-angle turn method can be that when the pool cleaning robot collides with the side wall of the pool at one end of the current path, it can make two consecutive clockwise turns of 90 degrees, or two consecutive counterclockwise turns of 90 degrees to complete a 180-degree turn, and the turning direction after the turn is opposite to the preset direction.

[0077] For example, refer to Fig. 9C After the pool cleaning robot determines the second endpoint B of the current path (the preset direction is the positive direction of the X-axis), it determines that the two path endpoints of the adjacent preset path (for example, the CD path) have not been determined, and then uses the preset path as the target path.

[0078] Specifically, if the swimming pool cleaning robot performs a U-turn by making a right-angle turn, the swimming pool cleaning robot can be controlled to turn 90° clockwise at point B so that it faces the CD path (for example, the negative direction of the Y axis), and the swimming pool cleaning robot can be controlled to move forward, so as to enter the CD path from the AB path, and then turn 90° clockwise so that the swimming pool cleaning robot turns in the opposite direction to the preset direction (for example, the positive direction of the X axis), thereby completing the movement from the current path (for example, the AB path) to the target path (for example, the CD path).

[0079] Specifically, if the pool cleaning robot performs a U-turn by making an arc turn, the pool cleaning robot can be controlled to make a clockwise or counterclockwise arc turn by performing differential motion (i.e., when turning, there is a speed difference between the rotational speed of the inner wheel and the rotational speed of the outer wheel, and the rotational speed of the inner wheel is less than the rotational speed of the outer wheel) when it collides with the side wall of the pool at one end of the current path, thereby completing the movement from the current path to the target path.

[0080] For example, refer to Fig.9F After the pool cleaning robot determines the second endpoint D of the current path (CD path, the preset direction is the negative direction of the X axis), it determines that the two endpoints of the adjacent preset path (EF path) have not been determined, and then uses the preset path as the target path. The pool cleaning robot is controlled at point D to perform counterclockwise differential motion to move toward the EF path until the pool cleaning robot turns in the opposite direction to the preset direction (for example, the positive direction of the X axis), and the pool cleaning robot completely moves from the CD path to the EF path.

[0081] Optionally, the turning direction of the swimming pool cleaning robot after turning around is updated to a preset direction, and then step S202 is continued.

[0082] For example, refer to FIG. 9C to FIG. 9EThe preset direction of the pool cleaning robot is the positive direction of the X axis. After turning around and moving to the CD path, the direction of the pool cleaning robot is the negative direction of the X axis. This direction (the negative direction of the X axis) is updated to the preset direction. Then, step S202 is executed to determine a preset path (the CD path) where the pool cleaning robot is currently located as the current path. The pool cleaning robot moves backward and forward respectively, and the two path endpoints C and D of the current path can be determined.

[0083] Step S410: Determine whether there is a preset path in the swimming pool map whose two path endpoints are not determined.

[0084] Specifically, if there is no preset path adjacent to the current path whose two path endpoints are not determined, that is, the preset paths adjacent to the current path have all completed the determination of the path endpoints, then it is determined whether there is a preset path in the pool map whose two path endpoints are not determined and which is not adjacent to the current path.

[0085] Step S412: If so, each preset path in the pool map that does not have two path endpoints determined is determined as a candidate path; if not, the process ends.

[0086] Specifically, if there is no preset path in the pool map with two undetermined path endpoints and adjacent to the current path, that is, only the endpoints of the preset paths that are not adjacent to the current path are undetermined in the pool map, then the preset paths of all undetermined path endpoints in the pool map are queried, and each queried preset path is determined as a candidate path; if there is no preset path with two undetermined path endpoints in the pool map, that is, the path endpoints of all preset paths have been determined, then this process ends.

[0087] Step S414: According to the current path and each candidate path, based on a preset path-finding algorithm, determine the candidate path with the shortest moving distance to the current path as the target path.

[0088] Optionally, the preset pathfinding algorithm may be an A-STAR algorithm, but is not limited thereto. Other pathfinding algorithms may also be used, and this application does not impose any limitation thereto.

[0089] Specifically, according to the moving distance of the swimming pool cleaning robot from the current path to each candidate path, based on a preset path-finding algorithm, a candidate path with the shortest moving distance is selected as the target path.

[0090] Step S416: Based on a preset path-finding algorithm, control the swimming pool cleaning robot to move from the current path to the target path, and make the orientation of the swimming pool cleaning robot consistent with the preset orientation, and then continue to execute step S202.

[0091] Specifically, the pool cleaning robot is controlled to move from the current path to the target path, and the orientation of the pool cleaning robot is made consistent with the preset orientation, and then step S202 is executed, a preset path where the pool cleaning robot is currently located is determined as the current path, and the pool cleaning robot is controlled to move backward and forward respectively to determine the two path endpoints of the next preset path.

[0092] Figure 5 The following is a flow chart of a method for constructing a pool map boundary according to another exemplary embodiment of the present application. This embodiment is a subsequent optional implementation scheme of the above step S104. As shown in the figure, this embodiment mainly includes the following steps:

[0093] Step S502: for each preset path in the swimming pool map, according to two path endpoints of the preset path, each grid block in the preset path between the two path endpoints is determined as a cleaning block.

[0094] Optionally, each preset path in the swimming pool map includes at least one grid block.

[0095] In a specific embodiment, for each preset path in the swimming pool map, according to two path endpoints of the preset path, each grid block in the preset path between the two path endpoints is determined as a cleaning block.

[0096] In this embodiment, the size of each grid block in the preset path (ie, the length and width of the grid block) may be determined based on a preset stepping distance of the swimming pool cleaning robot.

[0097] In this embodiment, the preset stepping distance of the swimming pool cleaning robot may be generated based on the size of the swimming pool cleaning robot (eg, the length and width of the swimming pool cleaning robot).

[0098] Step S504: construct a complete cleaning map according to the two path endpoints of each preset path and each cleaning block in each preset path.

[0099] In summary, the cleaning map constructed by the two path endpoints of each preset path and each cleaning block in each preset path has more accurate map boundaries and a more complete map, so that the cleaning task performed according to the cleaning map is more effective.

[0100] The exemplary embodiment of the present application also provides a swimming pool cleaning method, which can control the swimming pool cleaning robot to traverse each cleaning path according to the two path endpoints of each cleaning path in the cleaning map corresponding to the swimming pool to clean the swimming pool.

[0101] In this embodiment, the two path endpoints of each cleaning path in the cleaning map can be determined using the swimming pool map boundary construction method described in the above embodiments.

[0102] Figure 6 : is a flow chart of a swimming pool cleaning method according to an exemplary embodiment of the present application. As shown in the figure, this embodiment specifically includes the following steps:

[0103] Step S602: Based on a preset path-finding algorithm, control the swimming pool cleaning robot to move between different cleaning paths.

[0104] Optionally, based on the path endpoints in the cleaning path where the pool cleaning robot is currently located and the two path endpoints of each cleaning path that has not been completed in the cleaning map, based on a preset pathfinding algorithm, the path endpoint closest to the moving distance of the pool cleaning robot can be determined as the target endpoint, and the cleaning path containing the target endpoint can be determined as the cleaning path to be cleaned.

[0105] Optionally, the preset path-finding algorithm may include an A-STAR algorithm, but is not limited thereto. Other path-finding algorithms may also be used, and this application does not impose any limitation on this.

[0106] For example, if the pool cleaning robot is currently in Fig. 9B The cleaning path corresponding to the AB path shown is based on the two path endpoints of each cleaning path that has not been completed in the cleaning map, and based on the preset pathfinding algorithm, the path endpoint with the closest moving distance is found to be the cleaning path CD, then the path endpoint point C of the cleaning path CD is determined as the target endpoint, and the cleaning path CD is determined as the cleaning path to be cleaned by the swimming pool cleaning robot.

[0107] Optionally, based on a preset path-finding algorithm, the swimming pool cleaning robot can be controlled to move toward a target endpoint so as to move from a current cleaning path to a cleaning path to be cleaned.

[0108] Specifically, based on the moving path generated by a preset path-finding algorithm (such as the A-STAR algorithm), the pool cleaning robot can be controlled to move toward a target endpoint so as to move from a current cleaning path to a cleaning path to be cleaned.

[0109] Step S604: Based on a preset cleaning movement algorithm, control the swimming pool cleaning robot to move in each cleaning path.

[0110] Optionally, one of the two path endpoints of the current cleaning path that coincides with the target endpoint can be determined as the starting endpoint, and the other of the two path endpoints can be determined as the ending endpoint, and the pool cleaning robot can be controlled to move from the starting endpoint to the ending endpoint to traverse the current cleaning path.

[0111] For example, according to Figure 9G The two regional endpoints of the cleaning path of the EF path shown in the figure, namely the path endpoint E and the path endpoint F, determine the path endpoint E that matches the target endpoint as the starting endpoint, and determine the path endpoint F as the ending endpoint, so as to drive the swimming pool cleaning robot to move from the path endpoint E to the path endpoint F, thereby traversing the current cleaning path EF.

[0112] Step S606: determine whether the pool cleaning robot has traversed every cleaning path in the cleaning map. If yes, the process ends; if no, return to step S602 to continue execution.

[0113] It should be noted that, in this embodiment, there is no strict order of execution between step S602 and step S604, that is, step S604 may be executed first and then step S602, and these two steps may be repeated alternately until the pool cleaning robot traverses every cleaning path in the cleaning map.

[0114] For example, after generating each row of cleaning paths in the cleaning map, step S604 is first executed to determine, based on the two path endpoints of the cleaning path currently located by the swimming pool cleaning robot, the one of the two path endpoints that is closer to the moving distance of the swimming pool cleaning robot as the starting endpoint, and the other of the two path endpoints is determined as the ending endpoint, so as to drive the swimming pool cleaning robot to perform the cleaning task within the current cleaning path, and after completing the cleaning, continue to execute step S602.

[0115] Figure 7 A structural block diagram of a swimming pool map boundary construction device according to an exemplary embodiment of the present application is shown.

[0116] The swimming pool map boundary construction device 700 of this embodiment may be installed in a swimming pool cleaning robot, wherein the swimming pool cleaning robot may be suitable for performing a swimming pool map boundary construction task.

[0117] As shown in the figure, the swimming pool map boundary construction device 700 of this embodiment mainly includes an endpoint determination module 702 and a boundary construction module 704 .

[0118] The endpoint determination module 702 is used to control the swimming pool cleaning robot to move forward and backward within the working area defined by the swimming pool relative to each preset path in the swimming pool map that completely covers the swimming pool, so as to determine two path endpoints of each preset path.

[0119] The boundary construction module 704 is used to construct a map boundary of the swimming pool map according to two path endpoints of each preset path determined in the swimming pool map.

[0120] Optionally, the swimming pool map boundary construction device 700 also includes a map generation module, which is used to generate the swimming pool map that completely covers the working area of ​​the swimming pool according to the initial position and initial orientation of the swimming pool cleaning robot; wherein each preset path in the swimming pool map is parallel to the initial orientation of the swimming pool cleaning robot.

[0121] Optionally, the initial position and initial orientation of the pool cleaning robot may be determined in the following manner: determining the initial position and initial orientation of the pool cleaning robot based on the position and orientation of the pool cleaning robot when it freely sinks to the bottom of the pool; or controlling the pool cleaning robot to move to a specified position and specified orientation relative to the bottom of the pool according to a movement instruction, and determining the specified position and the specified orientation as the initial position and initial orientation of the pool cleaning robot.

[0122] Optionally, the endpoint determination module 702 is further used to: determine a preset path in which the pool cleaning robot is currently located in the pool map as the current path; control the pool cleaning robot to move backward and forward relative to the current path within the working area defined by the swimming pool based on a preset orientation parallel to the current path until it collides with the side walls of the swimming pool at opposite ends of the current path, so as to determine two path endpoints of the current path; control the pool cleaning robot to move from the current path to a preset path adjacent to the current path and where the two path endpoints have not been determined according to a preset movement algorithm; return to the step of determining a preset path in which the pool cleaning robot is currently located in the pool map as the current path and continue to execute until the two path endpoints of each preset path in the pool map are determined.

[0123] Optionally, the endpoint determination module 702 is also used to: control the pool cleaning robot to move backward relative to the current path based on the preset direction until it collides with the side wall of the pool located at the first end of the current path, and determine a first path endpoint of the current path based on the current position of the pool cleaning robot relative to the current path; control the pool cleaning robot to move forward relative to the current path based on the preset direction until it collides with the side wall of the pool located at the second end of the current path, and determine a second path endpoint of the current path based on the current position of the pool cleaning robot relative to the current path.

[0124] Optionally, the endpoint determination module 702 is further used to: determine, according to the current path, a preset path in the swimming pool map that has not determined the two path endpoints and is adjacent to the current path as a target path; and control the swimming pool cleaning robot to perform a U-turn according to the preset movement algorithm, so that the swimming pool cleaning robot moves from the current path to the target path, and the turning direction of the swimming pool cleaning robot after the U-turn is opposite to the preset direction.

[0125] Optionally, the endpoint determination module 702 is further used to: update the turning direction of the swimming pool cleaning robot after turning around to the preset direction, and return to the step of determining a preset path where the swimming pool cleaning robot is currently located in the swimming pool map as the current path to continue execution.

[0126] Optionally, the endpoint determination module 702 is further used to: control the swimming pool cleaning robot to perform a U-turn based on a right-angle turn or an arc turn, so that the turning direction of the swimming pool cleaning robot after the U-turn is opposite to the preset direction.

[0127] Optionally, the endpoint determination module 702 is also used to: determine, according to the current path and each candidate path, based on a preset pathfinding algorithm, the candidate path with the shortest moving distance from the current path as the target path; based on the preset pathfinding algorithm, control the swimming pool cleaning robot to move from the current path to the target path, and return to the step of determining a preset path where the swimming pool cleaning robot is currently located in the swimming pool map as the current path to continue execution.

[0128] Optionally, the swimming pool map boundary construction device 700 further includes, for each preset path in the swimming pool map, according to two path endpoints of the preset path, determining each grid block in the preset path located between the two path endpoints as a cleaning block.

[0129] In addition, the swimming pool map boundary construction device 700 of the embodiment of the present application can also be used to implement other steps in the aforementioned swimming pool map boundary construction method embodiments, and has the beneficial effects of the corresponding method step embodiments, which will not be repeated here.

[0130] An exemplary embodiment of the present application further provides a swimming pool cleaning device, which is loaded into a swimming pool cleaning robot, wherein the swimming pool cleaning robot is suitable for performing swimming pool cleaning tasks.

[0131] The swimming pool cleaning device of this embodiment is used to control the swimming pool cleaning robot to traverse each cleaning path to clean the swimming pool according to the two path endpoints of each cleaning path in the cleaning map corresponding to the swimming pool; wherein the two path endpoints of each cleaning path in the cleaning map are determined by using the swimming pool map boundary construction device of the above embodiment.

[0132] The exemplary embodiment of the present application also provides an electronic device, comprising: at least one processor; and a memory connected to the at least one processor in communication. The memory stores a computer program that can be executed by the at least one processor, and the computer program is used to cause the electronic device to perform the method according to the embodiment of the present application when executed by the at least one processor.

[0133] The exemplary embodiments of the present application also provide a non-transitory computer-readable storage medium storing computer instructions, wherein the computer program, when executed by a processor of a computer, is used to cause the computer to perform the method according to each embodiment of the present application.

[0134] The exemplary embodiments of the present application further provide a computer program product, including a computer program, wherein when the computer program is executed by a processor of a computer, it is used to enable the computer to execute the method according to each embodiment of the present application.

[0135] refer to Figure 8 , the structural block diagram of the electronic device 800 that can be used as the server or client of the present application will now be described, which is an example of the hardware device that can be applied to various aspects of the present application. The electronic device is intended to represent various forms of digital electronic computer equipment, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices and other similar computing devices. The components shown herein, their connections and relationships, and their functions are only examples, and are not intended to limit the implementation of the present application described and / or required herein.

[0136] like Figure 8 As shown, the electronic device 800 includes a computing unit 801, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 802 or a computer program loaded from a storage unit 808 into a random access memory (RAM) 803. In the RAM 803, various programs and data required for the operation of the device 800 can also be stored. The computing unit 801, the ROM 802, and the RAM 803 are connected to each other via a bus 804. An input / output (I / O) interface 805 is also connected to the bus 804.

[0137] A plurality of components in the electronic device 800 are connected to the I / O interface 805, including: an input unit 806, an output unit 807, a storage unit 808, and a communication unit 809. The input unit 806 may be any type of device capable of inputting information to the electronic device 800, and the input unit 806 may receive input digital or character information, and generate key signal inputs related to user settings and / or function control of the electronic device. The output unit 807 may be any type of device capable of presenting information, and may include, but is not limited to, a display, a speaker, a video / audio output terminal, a vibrator, and / or a printer. The storage unit 804 may include, but is not limited to, a disk, an optical disk. The communication unit 809 allows the electronic device 800 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks, and may include, but is not limited to, a modem, a network card, an infrared communication device, a wireless communication transceiver, and / or a chipset, such as a Bluetooth™ device, a WiFi device, a WiMax device, a cellular communication device, and / or the like.

[0138] The computing unit 801 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the computing unit 801 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. The computing unit 801 performs the various methods and processes described above. For example, in some embodiments, the pool cleaning method of the aforementioned embodiments may be implemented as a computer software program, which is tangibly included in a machine-readable medium, such as a storage unit 808. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 800 via the ROM 802 and / or the communication unit 809. In some embodiments, the computing unit 801 may be configured to perform the pool cleaning method in any other appropriate manner (e.g., by means of firmware).

[0139] The program code for implementing the method of the present application can be written in any combination of one or more programming languages. These program codes can be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that the program code, when executed by the processor or controller, implements the functions / operations specified in the flow chart and / or block diagram. The program code can be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0140] In the context of the present application, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0141] As used herein, the terms "machine-readable medium" and "computer-readable medium" refer to any computer program product, apparatus, and / or device (e.g., disk, optical disk, memory, programmable logic device (PLD)) for providing machine instructions and / or data to a programmable processor, including a machine-readable medium that receives machine instructions as a machine-readable signal. The term "machine-readable signal" refers to any signal for providing machine instructions and / or data to a programmable processor.

[0142] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0143] The systems and techniques described herein may be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), and the Internet.

[0144] A computer system may include clients and servers. Clients and servers are generally remote from each other and usually interact through a communication network. The relationship of client and server is generated by computer programs running on respective computers and having a client-server relationship to each other.

[0145] It should be understood that although this specification is described according to various embodiments, not every embodiment contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0146] The above description is only an illustrative specific implementation of the embodiment of the present application, and is not intended to limit the scope of the embodiment of the present application. Any equivalent changes, modifications and combinations made by any technician in this field without departing from the concept and principle of the embodiment of the present application should fall within the scope of protection of the embodiment of the present application.

Claims

1. A method for constructing a pool map boundary, comprising: Controlling the pool cleaning robot to move forward and backward within a working area defined by the pool relative to each preset path in a pool map that completely covers the pool to determine two path endpoints of each preset path; A map boundary of the swimming pool map is constructed according to two path endpoints of each preset path determined in the swimming pool map.

2. The method according to claim 1, characterized in that The pool map is generated by the following steps: generating the swimming pool map that completely covers the working area of ​​the swimming pool according to the initial position and initial orientation of the swimming pool cleaning robot; Wherein, each preset path in the swimming pool map is parallel to the initial orientation of the swimming pool cleaning robot.

3. The method according to claim 2, characterized in that The initial position and initial orientation of the swimming pool cleaning robot can be determined by: Determining an initial position and an initial orientation of the swimming pool cleaning robot according to the position and orientation of the swimming pool cleaning robot when the swimming pool cleaning robot freely sinks to the bottom of the swimming pool; or, The swimming pool cleaning robot is controlled to move to a designated position and a designated orientation relative to the bottom of the swimming pool according to a movement instruction, and the designated position and the designated orientation are determined as an initial position and an initial orientation of the swimming pool cleaning robot.

4. The method according to claim 1, characterized in that: The controlling the swimming pool cleaning robot to move forward and backward along each preset path in the swimming pool map within the working area defined by the swimming pool to determine two path endpoints of each preset path includes: Determine a preset path in which the swimming pool cleaning robot is currently located in the swimming pool map as a current path; Controlling the pool cleaning robot to move backward and forward relative to the current path in a working area defined by the pool based on a preset orientation parallel to the current path until the robot collides with side walls of the pool at opposite ends of the current path, so as to determine two path endpoints of the current path; Controlling the swimming pool cleaning robot to move from the current path to a preset path adjacent to the current path and where the two path endpoints are not determined according to a preset movement algorithm; Return to the step of determining a preset path in the swimming pool map where the swimming pool cleaning robot is currently located as the current path and continue to execute until both path endpoints of each preset path in the swimming pool map are determined.

5. The method according to claim 4, characterized in that The controlling the swimming pool cleaning robot to move backward and forward relative to the current path in a working area defined by the swimming pool based on a preset orientation parallel to the current path until colliding with two swimming pool side walls at opposite ends of the current path, respectively, to determine two path endpoints of the current path, includes: Controlling the pool cleaning robot to move backward relative to the current path based on the preset orientation until it collides with a side wall of the pool located at a first end of the current path, and determining a first path endpoint of the current path according to a current position of the pool cleaning robot relative to the current path; The pool cleaning robot is controlled to move forward relative to the current path based on the preset orientation until it collides with a side wall of the pool located at a second end of the current path, and a second path endpoint of the current path is determined according to a current position of the pool cleaning robot relative to the current path.

6. The method according to claim 5, characterized in that The controlling the swimming pool cleaning robot to move from the current path to a preset path adjacent to the current path and without determining the two path endpoints according to a preset movement algorithm comprises: According to the current path, a preset path in the swimming pool map that does not determine the two path endpoints and is adjacent to the current path is determined as a target path; According to the preset movement algorithm, the swimming pool cleaning robot is controlled to perform a U-turn, so that the swimming pool cleaning robot moves from the current path to the target path, and the turning direction of the swimming pool cleaning robot after the U-turn is opposite to the preset direction.

7. The method according to claim 6, characterized in that The step of returning to the step of determining a preset path in the swimming pool map where the swimming pool cleaning robot is currently located as the current path continues to be executed, including: The turning direction of the swimming pool cleaning robot after turning around is updated to the preset direction, and the step of returning to the step of determining a preset path where the swimming pool cleaning robot is currently located in the swimming pool map as the current path is continued.

8. The method according to claim 6, characterized in that The step of controlling the swimming pool cleaning robot to perform a U-turn according to the preset movement algorithm includes: The swimming pool cleaning robot is controlled to perform a U-turn based on a right-angle turn or an arc turn, so that the U-turn direction of the swimming pool cleaning robot after the U-turn is opposite to the preset direction.

9. The method according to claim 6, characterized in that The method further comprises: If there is no preset path in the pool map that does not determine the two path endpoints and is adjacent to the current path, each preset path in the pool map that does not determine the two path endpoints is determined as a candidate path; According to the current path and each candidate path, based on a preset path-finding algorithm, determining the candidate path with the shortest moving distance from the current path as the target path; Based on the preset path-finding algorithm, the swimming pool cleaning robot is controlled to move from the current path to the target path, and the step of returning to the step of determining a preset path in the swimming pool map where the swimming pool cleaning robot is currently located as the current path is continued.

10. The method according to claim 1, characterized in that Each preset path in the swimming pool map includes at least one grid block; the method further includes: For each preset path in the swimming pool map, according to two path endpoints of the preset path, each grid block in the preset path between the two path endpoints is determined as a cleaning block.

11. A swimming pool cleaning method, comprising: According to two path endpoints of each cleaning path in the cleaning map corresponding to the swimming pool, control the swimming pool cleaning robot to traverse each cleaning path to clean the swimming pool; Wherein, the two path endpoints of each cleaning path in the cleaning map are determined by using the swimming pool map boundary construction method according to any one of claims 1-10.

12. The method according to claim 11, characterized in that The method of controlling the swimming pool cleaning robot to traverse each cleaning path according to two path endpoints of each cleaning path in the cleaning map corresponding to the swimming pool includes: The path-to-path movement step controls the swimming pool cleaning robot to move between different cleaning paths based on a preset path-finding algorithm; A path movement step, based on a preset cleaning movement algorithm, controls the swimming pool cleaning robot to move in each cleaning path; The inter-path moving step and the intra-path moving step are performed alternately until the swimming pool cleaning robot traverses each cleaning path in the cleaning map.

13. The method according to claim 12, characterized in that The step of moving between paths comprises: According to the path endpoint in the cleaning path currently located by the swimming pool cleaning robot and the two path endpoints of each cleaning path that has not been cleaned in the cleaning map, based on a preset path-finding algorithm, the path endpoint closest to the moving distance of the swimming pool cleaning robot is determined as the target endpoint, and the cleaning path containing the target endpoint is determined as the cleaning path to be cleaned; Based on the preset path-finding algorithm, the swimming pool cleaning robot is controlled to move toward the target endpoint so as to move from the current cleaning area to the cleaning path to be cleaned, and after the cleaning path to be cleaned is updated to the current cleaning path, the moving step within the path is continued.

14. The method according to claim 13, characterized in that The step of moving within the path comprises: One of the two path endpoints of the current cleaning path that matches the target endpoint is determined as the starting endpoint, and the other of the two path endpoints is determined as the ending endpoint; The swimming pool cleaning robot is controlled to move from the starting end point to the ending end point to traverse the current cleaning path and continue to execute the inter-path movement step.

15. The method according to claim 11, characterized in that The method further comprises: According to the cleaning path in the cleaning map where the swimming pool cleaning robot is currently located and the two path endpoints of each cleaning path that has not been cleaned in the cleaning map, based on the preset path-finding algorithm, the path endpoint closest to the moving distance of the swimming pool cleaning robot is determined as the target endpoint, and the cleaning path containing the target endpoint is determined as the cleaning path to be cleaned; Based on the preset path-finding algorithm, the swimming pool cleaning robot is controlled to move toward the target endpoint, and after arriving at the target endpoint, the cleaning path to be cleaned is updated to the current cleaning path, and the moving step within the path is continued.

16. A swimming pool map boundary construction device, comprising: an endpoint determination module, for controlling the swimming pool cleaning robot to move forward and backward within a working area defined by the swimming pool relative to each preset path in a swimming pool map that completely covers the swimming pool, so as to determine two path endpoints of each preset path; The boundary construction module is used to construct a map boundary of the swimming pool map according to two path endpoints of each preset path determined in the swimming pool map.

17. A swimming pool cleaning device, used to control a swimming pool cleaning robot to traverse each cleaning path according to two path endpoints of each cleaning path in a cleaning map corresponding to the swimming pool, so as to clean the swimming pool; in, The two path endpoints of each cleaning path in the cleaning map are determined by using the swimming pool map boundary construction device as claimed in claim 16.

18. An electronic device, comprising: processor; as well as A memory for storing programs; The program includes instructions, which, when executed by the processor, cause the processor to perform the method according to any one of claims 1-10 or the method according to any one of claims 11-15.

19. A non-transitory computer-readable storage medium storing computer instructions, wherein: The computer instructions are used to make a computer execute the method according to any one of claims 1-10 or execute the method according to any one of claims 11-15.

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