Swimming pool robot positioning device and method

Abstract

The invention discloses a swimming pool robot positioning device and method, the swimming pool robot positioning device comprises a body, and a controller and a first positioning module which are arranged in the body, and the controller is electrically connected with the first positioning module; wherein when the body floats on the water surface of the swimming pool, the first positioning module is used for scanning the pool bottom of the swimming pool and obtaining topographic data of the pool bottom, and the controller calculates the relative position of the swimming pool robot and the body according to the topographic data. The swimming pool robot positioning device provided by the invention is higher in positioning precision, and an operator can more timely and accurately obtain the real-time position of the swimming pool robot through the swimming pool robot positioning device.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater equipment, and in particular to a swimming pool robot positioning device and a positioning method. Background Art

[0002] The swimming pool is a place where people swim and needs to be cleaned regularly. Now people often use swimming pool robots to clean the swimming pool, which frees up labor and improves the quality of life. The swimming pool robot needs to sink to the bottom of the swimming pool to perform cleaning operations, and the swimming pool robot needs to be positioned during the operation.

[0003] However, the inventors have discovered that existing swimming pool robots usually achieve their positioning functions through cameras, laser sensors or acoustic wave sensors installed on the outside of the swimming pool robots. Since the communication delay between the swimming pool robots and the onshore equipment is high when the swimming pool robots are operating underwater, the operators are unable to obtain the real-time positioning of the swimming pool robots in a timely and accurate manner. In addition, since the swimming pool robots are equipped with multiple sensor modules, the power load of the swimming pool robots is large, which affects the endurance of the swimming pool robots. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a swimming pool robot positioning device and a positioning method to solve the problems that operators cannot accurately and timely obtain the swimming pool robot positioning information and the swimming pool robot has a large power load and poor endurance.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is: a swimming pool robot positioning device, comprising a main body and a controller and a first positioning module arranged in the main body, and the controller is electrically connected to the first positioning module; wherein, when the main body floats on the water surface of the swimming pool, the first positioning module is used to scan the bottom of the swimming pool and obtain the terrain data of the bottom of the pool, and the controller calculates the relative position of the swimming pool robot and the main body according to the terrain data.

[0006] Furthermore, the first positioning module includes: at least one of a laser radar, an acoustic laser radar, an ultrasonic phased array laser radar, and a camera.

[0007] Furthermore, the first positioning module is arranged at the bottom of the main body, and when the main body floats on the water surface of the swimming pool, the first positioning module is located below the water surface.

[0008] Furthermore, it also includes a solar panel and a battery, wherein the solar panel is arranged on the main body, the battery is arranged in the main body, the solar panel is electrically connected to the battery, and the battery is electrically connected to the controller.

[0009] Furthermore, it also includes a communication module, which is arranged in the body and electrically connected to the controller.

[0010] Furthermore, it also includes a driving module, and the driving module is arranged on the main body.

[0011] Furthermore, it also includes a second positioning module, which is arranged on the top of the main body and is electrically connected to the controller. When the main body floats on the water, the second positioning module is used to obtain the position coordinates of the main body projected to the bottom of the swimming pool in the vertical direction.

[0012] Another object of the present invention is to provide a swimming pool robot positioning method, which is applied to the above-mentioned swimming pool robot positioning device, comprising the following steps:

[0013] Scan the pool floor topography;

[0014] Acquire corresponding terrain data according to the pool bottom terrain;

[0015] The relative position of the swimming pool robot and the body is calculated according to the terrain data and the corresponding relative position information is output.

[0016] Furthermore, the relative position of the swimming pool robot and the main body is calculated according to the terrain data and the corresponding relative position information is output, specifically:

[0017] Identify areas in the terrain data where the terrain height suddenly changes;

[0018] The relative position between the region and the body is calculated and the relative position information is output.

[0019] Furthermore, the method further comprises the following steps:

[0020] Acquire or preset the position coordinates of the body projected to the pool bottom in the vertical direction as the body position coordinates;

[0021] The position coordinates of the swimming pool robot at the pool bottom are calculated according to the body position coordinates and the relative position information.

[0022] The beneficial effects of the present invention are as follows: the swimming pool robot positioning device provided by the present invention has a main body that can float on the surface of the swimming pool. When the main body floats on the surface of the water, the wireless communication signal between the main body and the shore device can be transmitted only in the air, so that the main body and the shore device can establish a stable wireless communication connection, and the communication delay between the main body and the shore device is low;

[0023] The swimming pool robot positioning device can scan the bottom of the swimming pool through the first positioning module and generate corresponding pool bottom terrain data. Because the terrain of the swimming pool bottom is usually flat, the controller can determine that the area where the pool bottom terrain suddenly changes in the terrain data is the area where the swimming pool robot is located. The controller calculates the relative position of the swimming pool robot and the main body according to the terrain data. The controller then combines the relative position of the swimming pool robot and the main body with the position coordinates of the main body projected onto the pool bottom in the vertical direction to obtain the position coordinates of the swimming pool robot at the pool bottom. The swimming pool robot positioning device can achieve accurate positioning effects, and the positioning results of the swimming pool robot can be sent to the operator's user-end device more promptly, so that the operator can monitor the positioning information of the swimming pool robot during underwater operation in real time.

[0024] In addition, the swimming pool robot positioning device is an independent positioning device. When the swimming pool robot positioning device is used for positioning, the load of the swimming pool robot itself used for positioning can be reduced accordingly, thereby improving the endurance of the swimming pool robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a schematic diagram of an application scenario of a swimming pool robot positioning device according to an embodiment of the present invention;

[0026] Figure 2 This is a schematic diagram of an application scenario of the swimming pool robot positioning device of the present invention in another embodiment.

[0027] Description of labels:

[0028] 1. Main body; 2. Controller; 3. First positioning module; 4. Swimming pool robot; 5. Solar panel; 6. Battery; 7. Communication module; 8. Second positioning module; 9. Gateway device; 10. User end; 11. Cloud server; 12. Swimming pool. DETAILED DESCRIPTION

[0029] In order to explain the technical content, achieved objectives and effects of the present invention in detail, the following is an explanation in combination with the implementation modes and the accompanying drawings.

[0030] Please refer to Figure 1 as well as Figure 2 A swimming pool robot positioning device comprises a main body 1 and a controller 2 and a first positioning module 3 arranged in the main body 1, wherein the controller 2 is electrically connected to the first positioning module 3, wherein when the main body 1 floats on the water surface of a swimming pool 12, the first positioning module 3 is used to scan the bottom of the swimming pool 12 and obtain the topographic data of the bottom of the pool, and the controller 2 calculates the relative position of the swimming pool robot 4 and the main body 1 according to the topographic data.

[0031] The working principle of the present invention is briefly described as follows: the main body 1 of the swimming pool robot positioning device provided by the present invention can be put into the swimming pool 12 and float on the water surface of the swimming pool 12. When the main body 1 floats on the water surface, the first positioning device will scan the bottom terrain of the swimming pool 12 and obtain corresponding terrain data according to the bottom terrain of the swimming pool;

[0032] Because the bottom of the swimming pool 12 is usually flat, when the swimming pool robot 4 moves to a certain position on the bottom of the pool, there will be a high-low mutation area in the terrain at that position in the terrain data, and the range of the high-low mutation area is larger than the range of dirt in the water displayed in the terrain data. Therefore, the controller 2 can determine the position of the swimming pool robot 4 in the terrain data by identifying the high-low mutation area within a reasonable range in the terrain data, and can calculate and output the relative position information of the swimming pool robot 4 and the body 1;

[0033] Since the body 1 floats on the water surface of the swimming pool 12, the operator can observe the relative position of the body 1 from the shore from the shore, and combined with the relative position information output by the controller 2, the operator can determine the position of the cleaning robot at the bottom of the pool.

[0034] In addition, the swimming pool robot 4 uses the swimming pool robot positioning device for positioning, so there is no need to configure various positioning sensors in the swimming pool robot 4, which correspondingly reduces the power load of the swimming pool robot 4, thereby improving the endurance of the swimming pool robot 4.

[0035] In addition, when the main body 1 floats on the water, the wireless communication signals it transmits and receives propagate in the water. Therefore, the main body 1 can more easily establish a stable wireless communication connection with the onshore equipment and reduce its communication delay.

[0036] In some preferred embodiments of the present invention, a protrusion structure may be provided on the swimming pool robot 4, and the protrusion structure may be easily identified from the terrain data to improve the efficiency and accuracy of the controller 2 in positioning the swimming pool robot 4 according to the terrain data.

[0037] The most critical concept of the present invention is that compared with the traditional swimming pool robot positioning module, the swimming pool robot positioning device provided by the present invention is a traditional swimming pool robot that is positioned by a sensor module or a camera arranged on the swimming pool robot, wherein dirt in the water may block the sensor module or the camera, resulting in inaccurate positioning results of the swimming pool robot or failure of the positioning function; in addition, the communication quality of the traditional swimming pool robot is low when operating underwater, which results in the traditional swimming pool robot being unable to timely feedback its real-time positioning information to the user end. The swimming pool robot positioning device provided by the present invention determines the position of the swimming pool robot 4 according to the area of ​​high and low sudden changes in the terrain data, and the probability of the existence of dirt similar in size to the swimming pool robot 4 underwater in the swimming pool 12 is very small, so the underwater dirt has little interference effect on the positioning result of the swimming pool robot positioning device, and the swimming pool robot positioning device has higher accuracy and stability and lower probability of positioning failure. In addition, the body 1 floats on the water surface, and when it establishes a wireless communication connection with the shore equipment, the wireless communication signal does not need to be transmitted in the water body, and the wireless communication capability of the swimming pool robot positioning device is better, and the real-time positioning information of the swimming pool robot 4 can be sent to the user end 10 device of the operator more timely.

[0038] In some preferred embodiments of the present invention, the first positioning module 3 may specifically be any detector capable of detecting underwater terrain, such as a sonar detector, a multi-beam detector, or a radar detector.

[0039] From the above description, it can be seen that the beneficial effects of the present invention are: the swimming pool robot positioning device provided by the present invention can play a more accurate and reliable positioning role for the swimming pool robot 4 that sinks to the bottom of the swimming pool 12 for operation; in addition, the wireless communication effect between the main body 1 and the user end 10 is stable and reliable, and the main body 1 can send the position of the swimming pool robot 4 to the user end 10 in time, so that the operator can understand the position of the swimming pool robot 4 in time and accurately; in addition, when using the swimming pool robot positioning device to position the swimming pool robot 4, the swimming pool robot 4 does not need to power each positioning sensor module or camera, which can correspondingly improve the endurance of the swimming pool robot 4.

[0040] Furthermore, the first positioning module 3 includes: at least one of a laser radar, an acoustic laser radar, an ultrasonic phased array laser radar, and a camera.

[0041] From the above description, it can be seen that the first positioning module 3 can use radar to scan the pool bottom terrain and generate corresponding terrain data. Compared with the sensor or camera installed on the swimming pool robot, the radar can more accurately detect the relative direction, relative height and relative distance between the target and the radar. The radar has better anti-interference ability and stronger reliability. Therefore, the swimming pool robot positioning device can achieve a more accurate and reliable positioning effect for the swimming pool robot 4.

[0042] In some preferred embodiments of the present invention, the first positioning module 3 can specifically select an ultrasonic phased array laser radar, wherein the ultrasonic phased array laser radar is provided with a mechanical structure capable of realizing phase rotation, the ultrasonic phased array laser radar has a small size and high precision, and the ultrasonic phased array laser radar has strong penetration into water bodies, so the first positioning module 3 is an ultrasonic phased array laser radar which can obtain a more accurate positioning result.

[0043] In some other preferred embodiments of the present invention, the first positioning module 3 can also specifically use a camera, and the swimming pool robot positioning device uses the camera to shoot and obtain underwater image information, the controller 2 receives the underwater image information and identifies the terrain of the pool bottom and the color, shape or marker of the swimming pool robot 4 according to the underwater image information, and the controller 2 calculates and outputs the relative position information of the main body 1 and the swimming pool robot 4. Therefore, the swimming pool robot positioning device can also use visual positioning technology to position the swimming pool robot 4.

[0044] Furthermore, the first positioning module 3 is disposed at the bottom of the body 1 . When the body 1 floats on the water surface of the swimming pool 12 , the first positioning module 3 is located below the water surface.

[0045] From the above description, it can be seen that in actual application, the first positioning module 3 is set underwater, and the scanning wave emitted by the first positioning module 3 can only propagate in the water body to avoid energy loss caused by the scanning wave entering the water from the air medium, thereby ensuring the effective working distance of the first positioning module 3.

[0046] Furthermore, it also includes a solar panel 5 and a battery 6, wherein the solar panel 5 is arranged on the main body 1, and the battery 6 is arranged in the main body 1, the solar panel 5 is electrically connected to the battery 6, and the battery 6 is electrically connected to the controller 2.

[0047] From the above description, it can be seen that the swimming pool robot positioning device stores electricity and supplies power through the battery 6, and the solar panel 5 can convert solar radiation heat energy into electrical energy and store it in the battery 6, thereby reducing the frequency with which the swimming pool robot positioning device needs to be charged by the operator.

[0048] Furthermore, it also includes a communication module 7, which is arranged in the body 1 and is electrically connected to the controller 2.

[0049] In some preferred embodiments of the present invention, when the main body 1 floats on the water surface of the swimming pool 12, the communication module 7 is vertically higher than the water surface of the swimming pool 12, so that the communication module 7 can send and receive wireless communication signals only in the air medium, thereby reducing the loss of the wireless communication signals sent and received by the communication module 7, thereby ensuring that the communication module 7 establishes a stable and reliable wireless communication connection with the shore equipment.

[0050] In some other preferred embodiments of the present invention, a gateway device 9 and a cloud server 11 are provided on the shore of the swimming pool 12, and the communication module 7 and the gateway device 9 may not need to be communicated with each other. The gateway device 9 and the cloud server 11 are communicated with each other. In actual application, when the swimming pool robot positioning device calculates the relative position of the swimming pool robot 4 and the main body 1 through the terrain data, it outputs the relative position information to the communication module 7, and the communication module 7 transmits the relative position information to the gateway device 9, and the gateway device 9 uploads the relative position information to the cloud server 11. The cloud server 11 can push the relative position information to the user terminal 10 device of the operator, so that the operator can monitor the relative position of the swimming pool robot 4 and the main body 1 in real time.

[0051] Furthermore, it also includes a driving module, which is arranged on the main body 1.

[0052] It can be seen from the above description that the driving module can drive the body 1 to move on the water surface of the swimming pool 12 .

[0053] In some preferred embodiments of the present invention, before the pool robot 4 is placed on the bottom of the swimming pool 12, the driving module can be controlled to drive the main body 1 to move to a fixed position of the swimming pool 12. At this time, the first positioning module 3 scans the topography of the pool bottom and stores the original topographic data of the fixed point. When the pool robot positioning device positions the pool robot 4, the pool robot positioning device moves to the corresponding fixed position through the driving module, and the first positioning module 3 scans the topography of the pool bottom to obtain the topographic data. The topographic data can be compared with the original topographic data and the data can be calculated, so that the positioning result of the pool robot positioning device is more accurate.

[0054] In some other preferred embodiments of the present invention, the driving module can also drive the body 1 to move to the shore and realize the automatic landing function.

[0055] The above-mentioned driving module may be selected from, but not limited to, power devices such as a water jet pump and an impeller.

[0056] Furthermore, it also includes a second positioning module 8, which is arranged on the top of the main body 1. The second positioning module 8 is electrically connected to the controller 2. When the main body 1 floats on the water, the second positioning module 8 is used to obtain the position coordinates of the main body 1 projected to the bottom of the swimming pool 12 in the vertical direction.

[0057] From the above description, it can be seen that the second positioning module 8 can determine the position of the main body 1 in the swimming pool 12 by detecting the distance from the main body 1 to the wall of the swimming pool 12, wherein the wall of the swimming pool 12 is usually perpendicular to the bottom of the pool in the vertical direction. The second positioning module 8 can detect the distance from the main body 1 to the wall of the swimming pool 12, and accordingly obtain the position coordinates of the main body 1 projected to the bottom of the pool in the vertical direction.

[0058] In some preferred embodiments of the present invention, the second positioning module 8 may be a laser radar, an acoustic radar or an ultrasonic phased array radar, and the second positioning module 8 measures the distance from the body 1 to the wall of the swimming pool 12 through radar waves.

[0059] In some other preferred embodiments of the present invention, the second positioning module 8 can be a camera. In actual applications, a mark can be set on the wall of the swimming pool 12, and the camera shoots the mark and generates a picture. The controller 2 calculates the position of the main body 1 in the swimming pool 12 and the distance between the main body 1 and the pool wall through the size and position of the mark in the picture, thereby obtaining the position coordinates of the main body 1 projected to the bottom of the swimming pool 12 in the vertical direction.

[0060] The present invention also discloses a swimming pool robot positioning method, which is applied to the above-mentioned swimming pool robot positioning device, and comprises the following steps:

[0061] Scanning the pool bottom topography of the swimming pool 12;

[0062] Acquire corresponding terrain data according to the pool bottom terrain;

[0063] The relative positions of the swimming pool robot 4 and the body 1 are calculated according to the terrain data and the corresponding relative position information is output.

[0064] From the above description, it can be seen that the beneficial effects of the present invention are: the swimming pool robot positioning device provided by the present invention determines the position of the swimming pool robot 4 according to the area of ​​sudden high and low changes within a reasonable range in the terrain data, and the probability that there is dirt of a similar size to the swimming pool robot 4 underwater in the swimming pool 12 is very small. Therefore, the underwater dirt has little interference effect on the positioning result of the swimming pool robot positioning device, and the swimming pool robot positioning device has higher accuracy and stability and lower probability of positioning failure.

[0065] Furthermore, the relative position of the swimming pool robot 4 and the body 1 is calculated according to the terrain data and the corresponding relative position information is output, specifically:

[0066] Identify areas in the terrain data where the terrain height suddenly changes;

[0067] The relative position between the region and the body 1 is calculated and the relative position information is output.

[0068] Furthermore, the method further comprises the following steps:

[0069] Obtain or preset the position coordinates of the main body 1 projected to the pool bottom in the vertical direction as the position coordinates of the main body 1;

[0070] The position coordinates of the swimming pool robot 4 at the pool bottom are calculated according to the position coordinates of the body 1 and the relative position information.

[0071] Embodiment 1

[0072] Please refer to Figure 1 , Figure 1 Schematic diagram of application scenario of the swimming pool robot positioning device of embodiment 1. In embodiment 1 of the present invention: a swimming pool robot positioning device comprises a main body 1, a controller 2, a first positioning module 3 and a driving module. The controller 2 and the first positioning module 3 are arranged in the main body 1. The controller 2 and the first positioning module 3 are electrically connected. The driving module is arranged on the main body 1. When the main body 1 floats on the water surface of the swimming pool 12, the first positioning module 3 is used to scan the bottom of the swimming pool 12 and obtain the terrain data of the bottom of the swimming pool. The controller 2 calculates the relative position of the swimming pool robot 4 and the main body 1 according to the terrain data. The driving module drives the main body 1 to move on the water surface of the swimming pool 12.

[0073] In the first embodiment, the first positioning module 3 specifically selects an ultrasonic phased array laser radar. The ultrasonic phased array laser radar is provided with a mechanical structure capable of realizing phase rotation. In order to prevent the radar wave from entering the water from the air medium and causing power loss, thereby affecting the positioning effect, the ultrasonic phased array laser radar is arranged at the bottom of the main body 1, and when the main body 1 floats on the water surface, the ultrasonic phased array laser radar is located below the water surface.

[0074] In the first embodiment, a solar panel 5 and a battery 6 are also included, wherein the solar panel 5 is arranged on the top of the main body 1, and the battery 6 is arranged inside the main body 1, the battery 6 is electrically connected to the solar panel 5, and the battery 6 is electrically connected to the controller 2. The solar panel 5 absorbs the sun's radiant heat and converts it into electrical energy and stores it in the battery 6. Arranging the solar panel 5 on the main body 1 can reduce the frequency with which the operator needs to charge the swimming pool robot positioning device, thereby reducing the workload of the operator.

[0075] In the first embodiment, a communication module 7 is provided in the main body 1, the communication module 7 is electrically connected to the controller 2, and a gateway device 9 is provided on the shore of the swimming pool 12, the communication module 7 is wirelessly connected to the gateway device 9, and the gateway device 9 is also communicatively connected to the cloud server 11.

[0076] In practical applications, the steps of positioning the swimming pool robot 4 in the first embodiment are as follows:

[0077] The position coordinates of the main body 1 projected to the bottom of the pool in the vertical direction are preset as the position coordinates of the main body 1;

[0078] Scanning the pool bottom topography of the swimming pool 12;

[0079] Acquire corresponding terrain data according to the pool bottom terrain;

[0080] Identify areas in the terrain data where the terrain height suddenly changes;

[0081] Calculating the relative position between the region and the body 1 and outputting the relative position information;

[0082] The position coordinates of the swimming pool robot 4 at the pool bottom are calculated according to the position coordinates of the body 1 and the relative position information.

[0083] Embodiment 2

[0084] Please refer to Figure 2 , Figure 2 Schematic diagram of application scenario of the swimming pool robot positioning device of the second embodiment. The second embodiment is a further improvement made on the basis of the first embodiment. The difference between the second embodiment and the first embodiment is that: in the second embodiment, it also includes a second positioning module 8, the second positioning module 8 is arranged on the top of the body 1, and the second positioning module 8 is electrically connected to the controller 2;

[0085] Among them, in the second embodiment, the second positioning module 8 is specifically a camera, and a mark is set on the wall of the swimming pool 12. The camera shoots the mark and generates a picture. The controller 2 calculates the position of the main body 1 in the swimming pool 12 and the distance between the main body 1 and the pool wall through the size and position of the mark in the picture, thereby obtaining the position coordinates of the main body 1 projected to the bottom of the swimming pool 12 in the vertical direction.

[0086] In practical application, the steps of positioning the swimming pool robot 4 in the second embodiment are as follows:

[0087] Scanning the pool bottom topography of the swimming pool 12;

[0088] Acquire corresponding terrain data according to the pool bottom terrain;

[0089] Identify areas in the terrain data where the terrain height suddenly changes;

[0090] Calculating the relative position between the region and the body 1 and outputting the relative position information;

[0091] Obtaining the position coordinates of the main body 1 projected to the pool bottom in the vertical direction as the position coordinates of the main body 1;

[0092] The position coordinates of the swimming pool robot 4 at the pool bottom are calculated according to the position coordinates of the body 1 and the relative position information.

[0093] Embodiment 3

[0094] The third embodiment is a further improvement on the second positioning module 8 in the second embodiment. The difference between the third embodiment and the second embodiment is that in the third embodiment, the second positioning module 8 is specifically an ultrasonic phased array radar. The second positioning module 8 measures the distance from the main body 1 to the wall of the swimming pool 12 through radar waves, thereby obtaining the position coordinates of the main body 1 projected to the bottom of the swimming pool 12 in the vertical direction.

[0095] Embodiment 4

[0096] The fourth embodiment is a further improvement on the first positioning module 3 in the first embodiment. The difference between the fourth embodiment and the first embodiment is that in the fourth embodiment, the first positioning module 3 is specifically a camera, which obtains underwater image information. The controller 2 recognizes the color, shape or marker of the swimming pool robot 4 in the image according to the underwater image information to calculate and output the relative position information of the swimming pool robot 4 and the main body 1.

[0097] To sum up, the swimming pool robot positioning device provided by the present invention has high positioning accuracy, strong anti-interference ability, and more accurate positioning results. The swimming pool robot positioning device can also establish a stable and reliable wireless communication connection with the communication equipment on the shore, so that the real-time positioning information of the swimming pool robot 4 can be sent to the user end 10 device of the operator. The swimming pool robot 4 uses the swimming pool robot positioning device for positioning, which can reduce the power load of the swimming pool robot 4, thereby improving the endurance of the swimming pool robot 4.

[0098] In addition, the swimming pool robot positioning device does not require excessive operator intervention in daily use. It can replenish electrical energy through the solar panel 5, and can also drive the main body 1 to move in the swimming pool 12 through the driving module. When the battery 6 of the swimming pool robot positioning device is low, the driving module can drive the main body 1 to move to the shore of the swimming pool 12, thereby reducing the difficulty for the operator to salvage the swimming pool robot positioning device in the middle of the swimming pool 12.

[0099] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent transformations made using the contents of the present invention's specification and drawings, or directly or indirectly applied in related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A swimming pool robot positioning device, characterized in that: It includes a main body, a controller and a first positioning module arranged in the main body, and the controller is electrically connected to the first positioning module; wherein, when the main body floats on the water surface of the swimming pool, the first positioning module is used to scan the bottom of the swimming pool and obtain the terrain data of the bottom of the pool, and the controller calculates the relative position of the swimming pool robot and the main body according to the terrain data.

2. The swimming pool robot positioning device according to claim 1, characterized in that: The first positioning module includes: at least one of a laser radar, an acoustic laser radar, an ultrasonic phased array laser radar, and a camera.

3. The swimming pool robot positioning device according to claim 1 or 2, characterized in that: The first positioning module is arranged at the bottom of the main body. When the main body floats on the water surface of the swimming pool, the first positioning module is located below the water surface.

4. The swimming pool robot positioning device according to claim 1, characterized in that: It also includes a solar panel and a battery. The solar panel is arranged on the main body, and the battery is arranged in the main body. The solar panel is electrically connected to the battery, and the battery is electrically connected to the controller.

5. The swimming pool robot positioning device according to claim 1, characterized in that: It also includes a communication module, which is arranged in the body and electrically connected to the controller.

6. The swimming pool robot positioning device according to claim 1, characterized in that: It also includes a driving module, which is arranged on the main body.

7. The swimming pool robot positioning device according to claim 1, characterized in that: It also includes a second positioning module, which is arranged on the top of the body and is electrically connected to the controller. When the body floats on the water, the second positioning module is used to obtain the position coordinates of the body projected to the bottom of the swimming pool in the vertical direction.

8. A swimming pool robot positioning method, applied to the swimming pool robot positioning device according to any one of claims 1 to 7, characterized in that: The following steps are involved: Scan the pool floor topography; Acquire corresponding terrain data according to the pool bottom terrain; The relative position of the swimming pool robot and the body is calculated according to the terrain data and the corresponding relative position information is output.

9. The swimming pool robot positioning method according to claim 8, characterized in that: The relative position between the swimming pool robot and the main body is calculated according to the terrain data and the corresponding relative position information is output, specifically: Identify areas in the terrain data where the terrain height suddenly changes; The relative position between the region and the body is calculated and the relative position information is output.

10. The swimming pool robot positioning method according to claim 8, characterized in that: The following steps are also included: Acquire or preset the position coordinates of the body projected to the pool bottom in the vertical direction as the body position coordinates; The position coordinates of the swimming pool robot at the pool bottom are calculated according to the body position coordinates and the relative position information.

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