Control method of automatic swimming pool cleaning device, robot and computer storage medium

Abstract

The invention provides a control method of an automatic swimming pool cleaning device, a robot and a computer storage medium, and the method comprises the steps: obtaining the contour information of a swimming pool and the platform information of the swimming pool, enabling the automatic swimming pool cleaning device to determine a moving path of the automatic swimming pool cleaning device in the swimming pool according to the contour information and the platform information, therefore, the number of times that the automatic swimming pool cleaning device crosses the platform during swimming pool cleaning is reduced, on one hand, energy loss can be reduced, on the other hand, the damage risk can be reduced, and the pool cleaning efficiency can be improved.

Description

Technical Field

[0001] The present application relates to the field of robot cleaning technology, and in particular to a control method, a robot, and a computer storage medium for an automatic swimming pool cleaning device. Background Art

[0002] With the popularity of swimming, there are now more and more swimming pools and home swimming pools of various sizes. Swimming pools use a lot of water, so the water is not changed every time. The water quality in the swimming pool is cleaned by circulating filtration, but the swimming pool itself still needs to be cleaned. The traditional cleaning method is to clean it manually with a net, or to clean it after draining the water. Now there is a swimming pool cleaning machine on the market, which is used to clean swimming pools.

[0003] Taking into account the height of adults and children, many swimming pools are usually set to different depths. However, the bottoms of swimming pools of different depths are not on the same plane, that is, there is a platform at the bottom of the swimming pool. This requires the pool cleaner to cross the platform multiple times when cleaning the pool, which seriously consumes energy and may even be damaged due to failure to cross the steps.

[0004] Application Contents

[0005] In view of the above problems, the present application provides a control method, a robot, and a computer storage medium for an automatic swimming pool cleaning device.

[0006] In a first aspect, the present application provides a control method for an automatic swimming pool cleaning device for cleaning a swimming pool, wherein the swimming pool includes a platform, and the control method includes: obtaining contour information of the swimming pool; obtaining platform information of the platform; and determining a moving path of the automatic swimming pool cleaning device in the swimming pool based on the contour information and the platform information.

[0007] Furthermore, before obtaining the contour information of the swimming pool, the control method also includes: obtaining a picture or video of the swimming pool, wherein obtaining the contour information of the swimming pool includes: performing a first processing on the picture or the video to obtain the contour information; and obtaining the platform information of the platform includes: performing a second processing on the picture or the video to obtain the platform information.

[0008] Furthermore, the picture includes multiple pictures, wherein the first processing includes: stitching the multiple pictures.

[0009] Furthermore, the picture or the video includes a platform identifier preset by a user, wherein the second processing includes: identifying the platform identifier.

[0010] Furthermore, the second processing includes performing image recognition on the picture or the video.

[0011] Furthermore, the platform information includes one or more of the number, size, shape, position, and height of the platform.

[0012] Furthermore, the outline information includes one or more of the size, position, and shape of the outline of the swimming pool.

[0013] Further, the profile information and / or the platform information is pre-stored in a memory of the automatic swimming pool cleaning device or pre-stored in a cloud server.

[0014] In a second aspect, the present application provides a control method for an automatic swimming pool cleaning device for cleaning a swimming pool, wherein the swimming pool includes a platform, and the control method includes: capturing an image of the swimming pool; accepting a user's identification of the platform displayed in the image and obtaining identification information; sending the image and the identification information to the automatic swimming pool cleaning device; processing the image and the identification information by the automatic swimming pool cleaning device to obtain contour information of the swimming pool and platform information of the platform; and determining a moving route of the automatic swimming pool cleaning device in the swimming pool based on the contour information and the platform information.

[0015] In a third aspect, the present application provides a computer storage medium, wherein the storage medium stores a computer program, and when the computer program is executed by a processor, any of the methods described above is implemented.

[0016] In a fourth aspect, the present application provides a robot comprising: a memory and a processor, wherein the memory stores computer program instructions, and the processor executes any one of the methods described above when processing the program instructions.

[0017] The technical solution provided in the embodiments of the present application obtains the contour information of the swimming pool and the platform information of the swimming pool, so that the automatic swimming pool cleaning device determines the moving path of the automatic swimming pool cleaning device in the swimming pool according to the contour information and the platform information, thereby reducing the number of times the automatic swimming pool cleaning device crosses the platform when cleaning the swimming pool. On the one hand, it can reduce energy loss, on the other hand, it can reduce the risk of damage, and can also improve the pool cleaning efficiency.

[0018] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present application. Also, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0020] Figure 1 is a schematic diagram of a control method of an automatic swimming pool cleaning device according to a first embodiment of the present application;

[0021] Figure 2 is a schematic diagram of a control method of an automatic swimming pool cleaning device according to a second embodiment of the present application;

[0022] Figure 3 is a schematic diagram of a computer storage medium according to an embodiment of the present application; and

[0023] Figure 4 is a schematic diagram of a robot according to an embodiment of the present application. DETAILED DESCRIPTION

[0024] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present disclosure and to be able to fully convey the scope of the present disclosure to those skilled in the art. In addition, in the following description, descriptions of well-known structures and technologies are omitted to avoid unnecessary confusion of the concepts of the present disclosure.

[0025] Various structural schematic diagrams according to embodiments of the present disclosure are shown in the accompanying drawings. These figures are not drawn to scale, and some details are magnified and some details may be omitted for the purpose of clear expression. The shapes of various regions and layers shown in the figures and the relative sizes and positional relationships therebetween are only exemplary, and may deviate in practice due to manufacturing tolerances or technical limitations, and those skilled in the art may further design regions / layers with different shapes, sizes, and relative positions according to actual needs.

[0026] The present application provides a control method for an automatic swimming pool cleaning device. The automatic swimming pool cleaning device can be mobile and clean in a pool-shaped building, and the pool-shaped building can be, for example, a swimming pool, a water reservoir, a water tank, a water tank, etc. The swimming pool cleaning device can be a device such as an automatic cleaning device, a swimming pool cleaning robot, etc., which can clean the pool-shaped building. The present application does not limit the specific presentation of the automatic swimming pool cleaning device and the pool-shaped building, as long as the principle of the present application can be implemented. In the following, if not otherwise specified, the robot will be used as an example of the automatic swimming pool cleaning device, and the swimming pool will be used as an example of the pool-shaped building.

[0027] With the popularity of swimming, more swimming pools now need to be compatible with people of different heights such as adults and children. Therefore, many swimming pools are usually set to different depths. However, the bottoms of swimming pools of different depths are not on the same plane, that is, there will be one or more platforms at the bottom of the swimming pool (for example, a platform with a water depth of 2 meters and a platform with a water depth of 1 meter). This requires the automatic pool cleaning device to clean different platforms and cross the platforms multiple times when cleaning the pool.

[0028] For example, there is a step between a 2-meter-deep platform and a 1-meter-deep platform. If the automatic pool cleaning device uses a traditional "bow"-shaped route to clean, and the cleaning route is perpendicular to the step, the automatic pool cleaning device needs to cross the platform multiple times (for example, from the 2-meter-deep platform to the 1-meter-deep platform, and from the 1-meter-deep platform to the 2-meter-deep platform, and repeat this cycle), which seriously consumes energy. There is even a possibility that the robot falls from the platform or the side wall when crossing the platform, flips over, or is damaged, affecting the cleaning efficiency. The steps adjacent to different platforms may also hinder the robot's progress, or even force the robot to stop, making it impossible for the robot to clean the area on the platform above the steps, affecting the cleaning efficiency.

[0029] In view of this, the present application provides a control method for an automatic swimming pool cleaning device, which is used to clean a swimming pool, wherein the swimming pool includes a platform, and the control method includes: obtaining contour information of the swimming pool and platform information of the platform, and determining a moving path of the automatic swimming pool cleaning device in the swimming pool according to the contour information and the platform information. Thus, the number of times the automatic swimming pool cleaning device crosses the platform when cleaning the swimming pool is reduced, which can reduce the energy loss of the automatic swimming pool cleaning device on the one hand, reduce the risk of damage to the automatic swimming pool cleaning device on the other hand, and improve the pool cleaning efficiency.

[0030] The control method of the automatic swimming pool cleaning device of the present application is described in detail below with reference to the accompanying drawings.

[0031] First refer to Figure 1The control method 10 of the automatic swimming pool cleaning device of the present application is described in detail. Figure 1 1 is a schematic diagram of a control method 10 for an automatic swimming pool cleaning device according to a first embodiment of the present application. The control method 10 includes the following steps S11 to S13. Steps S11 to S13 will be described in detail below.

[0032] In step S11, the outline information of the swimming pool is obtained.

[0033] As mentioned above, the bottom of the swimming pool has different depths. In other words, the bottom of the swimming pool is not on the same plane (e.g., a platform with a water depth of 2 meters and a platform with a water depth of 1 meter), but a step or a step-like height difference is formed at the junction of different platforms. In the swimming pool, there can be one or more such platforms, and multiple platforms are arranged in a step-like shape to perform a transition between deep and shallow, so that swimmers can have a sense of safety when performing the transition between deep and shallow and avoid drowning.

[0034] The contour information may include, for example, one or more of the size, position, and shape of the contour of the swimming pool. For example, if the swimming pool is square, the contour information may include one or more of the position, length, and height of the four sides of the swimming pool; if the swimming pool is circular, the contour information may include one or more of the position, circumference, and height of the circumference of the swimming pool. The parameters included in the contour information above are merely exemplary and are not intended to limit the types of parameters included in the contour information, as long as the technical principles of the present application can be implemented.

[0035] In one embodiment, the automatic swimming pool cleaning device may obtain a picture or a video of the swimming pool, and perform a first process on the picture or the video to obtain contour information of the swimming pool.

[0036] For example, a user may first use an image acquisition device (such as a mobile phone) to take a picture of a swimming pool, and then send the taken picture from the mobile phone to the automatic swimming pool cleaning device. The automatic swimming pool cleaning device may convert the taken picture of the swimming pool into a grayscale image, and further use a contour recognition algorithm (such as an edge detection algorithm of a Sobel operator) to recognize the contour information of the swimming pool from the grayscale image.

[0037] For another example, a user may first use a mobile phone to shoot a video of a swimming pool, and then send the video from the mobile phone to the automatic swimming pool cleaning device. The automatic swimming pool cleaning device may perform target detection on each frame of the captured video, and splice the detected targets (swimming pool) to obtain the contour information of the swimming pool. Furthermore, in order to reduce the amount of calculation, target detection may be performed on every few target frames in the captured video, and the detected targets may be further spliced ​​to obtain the contour information of the swimming pool.

[0038] In another embodiment of the present application, if the swimming pool is large and a single image is not sufficient to clearly display the outline of the swimming pool, the user can take multiple pictures and then send the multiple pictures to the automatic swimming pool cleaning device, which stitches the multiple pictures together and further recognizes the stitched pictures based on, for example, a contour recognition algorithm to obtain the contour information of the swimming pool. It is understandable that in order to make the stitched pictures able to show the complete outline of the swimming pool, the user can take pictures from different angles, or can use equipment such as drones to take pictures from above the swimming pool.

[0039] It is understandable that the above description describes that a user takes a picture / video, and then the automatic swimming pool cleaning device recognizes the picture / video to obtain the contour information of the swimming pool, but the method of obtaining the contour information is not limited to this. For example, a user can take a picture / video with a mobile phone, and then the mobile phone recognizes the taken picture / video to obtain the contour information of the swimming pool, and then the contour information is sent from the mobile phone to the automatic swimming pool cleaning device, thereby, the automatic swimming pool cleaning device obtains the contour information of the swimming pool.

[0040] Next, the process proceeds to step S12. In step S12, the platform information of the platform is obtained.

[0041] In one embodiment, the picture or the video includes a platform identifier preset by the user. Specifically, as described above, after the user captures the picture or video, the user may further identify the platform in the picture or video.

[0042] For example, in a picture or video, you can use colors to identify the platform. In a scene where there are multiple platforms, you can use different colors to identify different platforms. You can also use highlight colors to identify the platform.

[0043] For another example, in a picture / video, the location of the platform may be marked with an arrow, or the outline of the platform may be marked with a straight line, a curve, a circle, etc.

[0044] In one embodiment, after the automatic pool cleaning device obtains a picture or video of the pool, the picture or video can be subjected to a second processing to identify the platform to obtain the platform information of the platform. The second processing can be a method such as a convolutional neural network, a regional convolutional neural network, an image segmentation algorithm, a feature point matching, etc. that can identify the picture / video. The above picture / video recognition algorithm is only exemplary and is not intended to limit the picture / video recognition method used in this application, as long as the technical principles of this application can be implemented.

[0045] In another embodiment, after taking a picture or video, the user does not need to identify the platform in the picture or video, and directly sends the picture or video to the automatic swimming pool cleaning device. The automatic swimming pool cleaning device uses an image recognition algorithm (such as a target detection algorithm, a contour detection algorithm, etc.) to identify the platform from the picture or video and obtain the platform information of the platform.

[0046] In another embodiment, a laser sensor may be provided on the automatic pool cleaning device, and the laser sensor may be used to detect the contour information and platform information of the pool. In order to improve the detection accuracy, the automatic pool cleaning device may be placed in the pool when the pool is not filled with water, and the laser sensor may be used to measure the distance, thereby detecting the contour information of the pool, and then the automatic pool cleaning device may be moved and detected again, and the contour information detected by multiple measurements may be spliced ​​to obtain the contour information and the platform information.

[0047] Furthermore, the user can also directly store the pool's profile information and / or the platform information in advance in the memory of the automatic pool cleaning device or in advance in the cloud server. For example, the user can manually measure and directly store the measured profile information and / or the platform information in the memory of the automatic pool cleaning device or in advance in the cloud server. Specifically, the user can download an APP to control the automatic pool cleaning device on the mobile phone. The APP provides an information input portal, and the user directly inputs whether the pool at home has a deep or shallow pool, and provides the platform information and profile information of the pool.

[0048] The platform information may include, for example, one or more of the number, size, shape, position, and height of the platform. The parameters included in the platform information above are only exemplary and are not intended to limit the parameter types included in the platform information, as long as the technical principles of the present application can be implemented.

[0049] Next, the process proceeds to step S13. In step S13, a moving path of the automatic swimming pool cleaning device in the swimming pool is determined according to the contour information and the platform information.

[0050] As described above, after determining the contour information and platform information of the swimming pool, the moving path of the automatic swimming pool cleaning device in the swimming pool is determined based on the contour information and the platform information. For example, the cleaning path of the swimming pool can be set to be perpendicular to the steps at the adjacent positions of the two platforms, so that when the automatic swimming pool cleaning device reaches the step position, it turns around / turns around, and does not need to cross the platform, thereby reducing energy consumption and improving cleaning efficiency. After cleaning one platform, the automatic swimming pool cleaning device can cross the steps and clean the other platform. Alternatively, the cleaning path of the swimming pool can be set to be parallel to the steps at the adjacent positions of the two platforms, so that after the automatic swimming pool cleaning device cleans one platform, it crosses the steps to clean the other platform, thereby avoiding the automatic swimming pool cleaning device being forced to stop due to the presence of the platform.

[0051] Refer to the following Figure 2 The control method 20 of the automatic swimming pool cleaning device of the present application is described. Figure 2 2 is a schematic diagram of a control method of an automatic swimming pool cleaning device according to a second embodiment of the present application. The control method 20 includes steps S21 to S25. Steps S21 to S25 are described in detail below.

[0052] In step S21, an image of the swimming pool is acquired.

[0053] In one embodiment, a terminal device (such as a mobile phone) can be used to shoot the swimming pool to collect images of the swimming pool. A terminal device can also be used to shoot a video of the swimming pool, and some frame images can be extracted from the shot video. In another embodiment, a drone can be used to shoot from above the swimming pool to obtain images of the swimming pool. The above method for collecting images of the swimming pool is only exemplary, and those skilled in the art can select the method for collecting images of the swimming pool according to actual needs, as long as the technical principles of the present application can be implemented.

[0054] Next, the process proceeds to step S22. In step S22, the user identifies the platform displayed in the image and obtains identification information.

[0055] For example, the user can use color to identify the platform. In a scenario where there are multiple platforms, different colors can be used to identify different platforms. The platform can also be identified by a highlight color. The user can also use an arrow to identify the location of the platform, or use a straight line, curve, circle, etc. to identify the outline of the platform. The terminal device receives the user's identification of the platform and obtains identification information.

[0056] Next, the process proceeds to step S23. In step S23, the image and the identification information are sent to the automatic swimming pool cleaning device.

[0057] There is a communication connection between the terminal device and the automatic pool cleaning device. For example, the terminal device and the automatic pool cleaning device can be connected via Bluetooth, or can be connected via a wireless communication network such as WiFi, 4G, and 5G. This application does not specifically limit the connection method between the terminal device and the automatic pool cleaning device.

[0058] The user uses the terminal device to send the captured image and the identification information of the platform to the automatic pool cleaning device. It is understandable that the identification information of the platform can be sent to the automatic pool cleaning device together with the image data as the same data packet, or the identification information of the platform can be sent to the automatic pool cleaning device separately as a data packet independent of the image data. The present application does not specifically limit the method for sending the identification information, as long as the technical principle of the present application can be implemented.

[0059] Next, the process proceeds to step S24. In step S24, the automatic swimming pool cleaning device processes the image and the identification information to obtain the contour information of the swimming pool and the platform information of the platform.

[0060] The automatic swimming pool cleaning device processes the image and the identification information using an image recognition algorithm to obtain the contour information of the swimming pool and the platform information of the platform. The acquisition of the contour information and the platform information by image recognition has been described in the control method 10 above and will not be repeated here.

[0061] Next, the process proceeds to step S25. In step S25, a moving route of the automatic swimming pool cleaning device in the swimming pool is determined according to the contour information and the platform information.

[0062] How to determine the moving route of the automatic swimming pool cleaning device according to the profile information and the platform information has been exemplarily described above in conjunction with the accompanying drawings and the control method 10, and will not be repeated here.

[0063] Refer to the following Figure 3 The computer storage medium of the present application is described. Figure 3 3 is a schematic diagram of a computer storage medium according to an embodiment of the present application. The computer storage medium 30 stores a computer program 31 executable by a computer device. When the computer program 31 is executed on the computer device, the computer device executes the steps of the control method of the automatic swimming pool cleaning device.

[0064] The computer program 31 includes program instructions. When the program instructions are executed by a computer device, the computer device executes the steps of the control method of the automatic swimming pool cleaning device.

[0065] It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as methods or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0066] Refer to the following Figure 4 The robot of the present application is described. Figure 4 4 is a schematic diagram of a robot according to an embodiment of the present application. The robot 40 includes at least one processor 41 and a memory 42 connected to the at least one processor 41. The specific connection medium between the processor 41 and the memory 42 is not limited in the embodiment of the present application. Exemplarily, the processor 41 and the memory 42 are connected via a bus, which can be divided into an address bus, a data bus, a control bus, etc.

[0067] In the embodiment of the present application, the memory 42 stores computer program instructions that can be executed by at least one processor 41. The at least one processor 41 can perform the steps of the control method of the above-mentioned automatic swimming pool cleaning device by executing the instructions stored in the memory 42.

[0068] The processor 41 is a computer device such as the control center of a robot, and can use various interfaces and lines to connect various parts of the robot, and can realize the control of the automatic pool cleaning device by running or executing instructions stored in the memory 42 and calling data stored in the memory 42. Optionally, the processor 41 may include one or more processing units, and the processor 41 may integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user interface, and application programs, and the modem processor mainly processes wireless communications. It is understandable that the above-mentioned modem processor may not be integrated into the processor 41.

[0069] In some embodiments, the processor 41 and the memory 42 may be implemented on the same chip. In some embodiments, they may also be implemented on separate chips.

[0070] The processor 41 may be a general-purpose processor, such as a central processing unit (CPU), a digital signal processor, an application-specific integrated circuit (ASIC), a field programmable gate array or other programmable logic device, a discrete gate or transistor logic device, or a discrete hardware component, and may implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of the present application. A general-purpose processor may be a microprocessor or any conventional processor, etc. The steps of the method disclosed in the embodiments of the present application may be directly embodied as being executed by a hardware processor, or may be executed by a combination of hardware and software modules in the processor.

[0071] The memory 42 is a non-volatile computer-readable storage medium that can be used to store non-volatile software programs, non-volatile computer executable programs and modules. The memory 42 may include at least one type of storage medium, such as a flash memory, a hard disk, a multimedia card, a card-type memory, a random access memory (RAM), a static random access memory (SRAM), a programmable read-only memory (PROM), a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), a magnetic memory, a disk, an optical disk, etc. The memory 42 is any other medium that can be used to carry or store a desired program code in the form of an instruction or data structure and can be accessed by a computer device, but is not limited thereto. The memory 42 in the embodiment of the present application can also be a circuit or any other device that can realize a storage function, for storing program instructions and / or data.

[0072] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer device or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1A device that provides the functions specified in a block or multiple blocks.

[0073] These computer program instructions may also be stored in a computer readable memory capable of directing a computer device or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer readable memory produce a manufactured product including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0074] These computer program instructions can also be loaded onto a computer device or other programmable data processing device so that a series of operation steps are executed on the computer device or other programmable device to produce a process implemented by the computer device, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0075] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples, unless they are contradictory.

[0076] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0077] The above is only an exemplary embodiment of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of various changes or substitutions within the technical scope recorded in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A control method of an automatic swimming pool cleaning device for cleaning a swimming pool, wherein the swimming pool includes a platform, and the control method includes: Obtaining outline information of the swimming pool; Obtaining platform information of the platform; as well as A moving path of the automatic swimming pool cleaning device in the swimming pool is determined according to the contour information and the platform information.

2. The control method according to claim 1, wherein: Before obtaining the outline information of the swimming pool, the control method further includes: obtaining a picture or video of the swimming pool, wherein: The obtaining the contour information of the swimming pool includes: performing a first process on the picture or the video to obtain the contour information; and The obtaining the platform information of the platform includes: performing a second process on the picture or the video to obtain the platform information.

3. The control method according to claim 2, wherein: The pictures include multiple pictures, wherein the first processing includes: stitching the multiple pictures.

4. The control method according to claim 2, wherein: The picture or the video includes a platform identifier preset by a user, wherein the second processing includes: identifying the platform identifier.

5. The control method according to claim 2, wherein: The second processing includes performing image recognition on the picture or the video.

6. The control method according to claim 1, wherein: The platform information includes one or more of the number, size, shape, position, and height of the platforms.

7. The control method according to claim 1, wherein: The contour information includes one or more of the size, position, and shape of the contour of the swimming pool.

8. The control method according to claim 1, wherein: The profile information and / or the platform information are pre-stored in a memory of the automatic pool cleaning device or pre-stored in a cloud server.

9. A control method of an automatic swimming pool cleaning device for cleaning a swimming pool, wherein the swimming pool includes a platform, the control method comprising: capturing an image of the swimming pool; Accepting identification of the platform displayed in the image by the user and obtaining identification information; sending the image and the identification information to the automatic pool cleaning device; The automatic swimming pool cleaning device processes the image and the identification information to obtain contour information of the swimming pool and platform information of the platform; as well as A moving route of the automatic swimming pool cleaning device in the swimming pool is determined according to the contour information and the platform information.

10. A computer storage medium storing a computer program, wherein the computer program, when executed by a processor, implements the method according to any one of claims 1 to 9.

11. A robot, comprising a memory and a processor, wherein the memory stores computer program instructions, and the processor executes the method according to any one of claims 1 to 9 when processing the program instructions.

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