Underwater navigation system and underwater navigation method for swimming pool robot

Abstract

The underwater navigation system comprises a marker arranged in a swimming pool and the swimming pool robot advancing in the swimming pool, the swimming pool robot comprises a visual sensor and a control device, and the visual sensor is connected with the control device. The vision sensor is used for collecting swimming pool image information, and the control device is used for receiving the swimming pool image information and identifying markers in images according to the swimming pool image information so as to calculate position information of the swimming pool robot and / or navigate the swimming pool robot according to the markers in the images. Correspondingly, the invention further discloses an underwater positioning method for the swimming pool robot, the underwater positioning method is implemented based on the underwater navigation system, and the underwater navigation system has better anti-interference capability on the positioning effect of the swimming pool robot and higher positioning accuracy and reliability.

Description

Technical Field

[0001] The present invention relates to the technical field of swimming pool cleaning equipment, and in particular to an underwater navigation system and an underwater navigation method for a swimming pool robot. Background Art

[0002] Swimming pools are places where people swim and need to be cleaned regularly. Nowadays, people often use swimming pool robots to clean swimming pools, which frees up labor and improves the quality of life. In order to achieve underwater navigation, existing swimming pool robots are usually equipped with laser radars and other methods for identification and positioning.

[0003] However, the inventors have found that the existing swimming pool robot positioning through laser radar is easily disturbed by dirt floating in the swimming pool. When the ultrasonic wave emitted by the laser radar is blocked by dirt, the laser radar will misjudge the positioning information of the swimming pool robot, resulting in unstable and inaccurate positioning of the swimming pool robot. Therefore, it is urgent to design a new underwater navigation system to solve the above technical problems. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide an underwater navigation system and an underwater navigation method for a swimming pool robot, so as to solve the problem that the positioning effect of the existing swimming pool robot is unstable and inaccurate.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is: an underwater navigation system for a swimming pool robot, including a marker arranged in a swimming pool and a swimming pool robot moving in the swimming pool, the swimming pool robot including a visual sensor and a control device, the visual sensor being connected to the control device, the visual sensor being used to collect swimming pool image information, the control device being used to receive the swimming pool image information, and identifying the marker in the image according to the swimming pool image information, so as to calculate the position information of the swimming pool robot and / or navigate the swimming pool robot according to the marker in the image.

[0006] Furthermore, the visual sensor includes a camera.

[0007] Furthermore, the visual sensor also includes a rotation module, which is disposed on the swimming pool robot and connected to the camera, and is used to drive the camera to rotate.

[0008] Furthermore, the camera is a wide-angle camera.

[0009] Furthermore, the swimming pool robot also includes a lighting device, and the lighting device is used to illuminate the marker.

[0010] Furthermore, the swimming pool robot is also provided with a brightness sensor, which is connected to the lighting device and is used to detect the brightness of the external environment.

[0011] Furthermore, the marker is a reflective marker or a fluorescent marker.

[0012] Furthermore, at least two of the markers are provided in the swimming pool; wherein, at least two of the markers are provided with at least two colors respectively; or, at least two of the markers are provided with at least two shapes respectively; or, at least two of the markers are provided with at least two patterns respectively; or, at least two of the markers are provided with at least two QR codes respectively.

[0013] Furthermore, it also includes a base station, which is arranged on the bottom, wall or shore of the swimming pool, and the base station is used to perform wired or wireless charging on the swimming pool robot. At least one of the markers is arranged in the area of ​​the swimming pool close to the base station or on the base station.

[0014] Furthermore, the marker is arranged on the pool wall or the pool bottom, and the marker is arranged directly below the base station.

[0015] Another object of the present invention is to provide an underwater navigation method for a swimming pool robot, which is applied to the above-mentioned underwater navigation system and comprises the following steps:

[0016] collecting swimming pool image information about the first marker;

[0017] Identify features of a first marker in the image based on the swimming pool image information;

[0018] The position information of the swimming pool robot is calculated according to the characteristics and the preset relationship and / or navigation is performed according to the characteristics.

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

[0020] Detect the brightness of the external environment;

[0021] Determine whether the external environment brightness is greater than a preset threshold;

[0022] When the external environment brightness is greater than a preset threshold, the lighting device is turned off;

[0023] When the external environment brightness is less than a preset threshold, the lighting device is turned on.

[0024] Further, the position information of the swimming pool robot is calculated according to the characteristics and the preset relationship and / or navigation is performed according to the characteristics, specifically:

[0025] Calculate the position information of the swimming pool robot according to the characteristics and the preset relationship;

[0026] Planning route information according to the location information and the preset location;

[0027] The swimming pool robot navigates to the preset position according to the route information;

[0028] Pool image information about the second marker is collected.

[0029] Further, the position information of the swimming pool robot is calculated according to the characteristics and the preset relationship and / or navigation is performed according to the characteristics, specifically:

[0030] Calculate the position information of the swimming pool robot according to the characteristics and the preset relationship;

[0031] Planning route information according to the location information and a preset base station location;

[0032] The swimming pool robot navigates to the base station location according to the route information;

[0033] The base station charges the pool robot via wired or wireless charging.

[0034] The beneficial effects of the present invention are as follows: in the underwater navigation system provided by the present invention, the operator can pre-place markers at preset positions in the swimming pool, the swimming pool robot collects swimming pool image information through visual sensors, the main control device receives the swimming pool image information and identifies the markers in the image based on the swimming pool image information, so as to achieve the positioning effect of the swimming pool robot through visual positioning technology. In actual application, the markers are usually set with bright colors, special shapes or patterns, and the markers in the image are very different from the dirt in the image. Therefore, the underwater navigation system can effectively avoid being disturbed by dirt floating in the swimming pool and affecting its positioning effect, and the positioning effect of the underwater navigation system has better accuracy and stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 A schematic diagram of a usage scenario of the present invention in one embodiment;

[0036] Figure 2 A schematic diagram of a swimming pool robot and a marker in one embodiment of the present invention;

[0037] Description of labels:

[0038] 1. Marker; 11. First marker; 12. Second marker; 2. Swimming pool robot; 3. Visual sensor; 4. Control device; 5. Lighting device; 6. Brightness sensor; 7. Base station; 8. Swimming pool. DETAILED DESCRIPTION

[0039] 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.

[0040] An underwater navigation system for a swimming pool robot includes a marker 1 arranged in a swimming pool 8 and a swimming pool robot 2 moving in the swimming pool 8, the swimming pool robot 2 includes a visual sensor 3 and a control device 4, the visual sensor 3 is connected to the control device 4, the visual sensor 3 is used to collect swimming pool image information, the control device 4 is used to receive the swimming pool image information, and identify the marker 1 in the image according to the swimming pool image information, so as to calculate the position information of the swimming pool robot 2 and / or navigate the swimming pool robot 2 according to the marker 1 in the image.

[0041] The working principle of the present invention is briefly described as follows: In actual application of the underwater navigation system provided by the present invention, the operator can first place the marker 1 at a specific position, the pool robot 2 travels in the water of the swimming pool 8, and the visual sensor 3 collects swimming pool image information, the control device 4 receives the swimming pool image information, and identifies the marker 1 in the image according to the swimming pool image information. The control device 4 can calculate the relative position information between the swimming pool robot 2 and the marker 1 based on the size, position and other data of the marker 1 in the image. Since the marker 1 is placed at a specific position in the swimming pool 8, the position coordinates of the marker 1 in the swimming pool 8 can be determined (the position coordinates can be the three-dimensional position coordinates of the marker 1 in the swimming pool 8). Combined with the above-mentioned relative position information and the position coordinates of the marker 1, the control device 4 can further calculate the position coordinates of the swimming pool robot 2 in the swimming pool 8, thereby determining the position information of the swimming pool robot 2.

[0042] In addition, marker 1 can also be used as a navigation mark: the visual sensor 3 collects swimming pool image information, and the control device 4 identifies the marker 1 in the image of the swimming pool image information, and can determine the relative direction information between the marker 1 in the swimming pool and the swimming pool robot 2. The swimming pool robot 2 can then move in the direction close to marker 1, and the function of the swimming pool robot 2 navigating to marker 1 can be realized.

[0043] In some preferred embodiments of the present invention, the swimming pool robot 2 can also move to a preset position (the preset position is a coordinate point in the three-dimensional coordinate system of the swimming pool) after identifying the marker 1. The control device 4 can then plan route information based on the position coordinates of the swimming pool robot 2 and the position coordinates of the preset position. The swimming pool robot 2 can then move along the route of the route information to reach the marker 1, thereby achieving the navigation effect of the marker 1.

[0044] In some other preferred embodiments of the present invention, a plurality of markers 1 may be provided in the swimming pool 8, and different identifications (e.g., color, pattern, arrow, etc.) may be provided on each marker 1. The swimming pool robot 2 may preset different travel programs corresponding to different identifications. When the swimming pool robot 2 recognizes the identification of the marker 1, it may execute the corresponding travel program and move to the corresponding preset position.

[0045] For example, a marker 1 is provided in an area below the water level on the wall of the swimming pool 8, and an upward arrow mark is provided on the marker 1. After the swimming pool robot 2 recognizes the marker 1, it first moves close to the marker 1, and based on the recognized upward arrow mark, the swimming pool robot 2 floats upward to a preset position by climbing the wall or adjusting the buoyancy of the body.

[0046] The most critical concept of the present invention is that the underwater navigation system provided by the present invention collects swimming pool image information including the marker 1 in the image through the visual sensor 3, and identifies the features of the marker 1 in the image of the swimming pool image information, such as the size, position and other information of the marker 1 in the image, so as to calculate the relative position information of the swimming pool robot 2 and the marker 1, and combines the position coordinates of the marker 1 in the swimming pool 8 with the relative position information of the swimming pool robot 2 and the marker 1, so as to calculate and measure the position coordinates of the swimming pool robot 2 in the swimming pool 8, so as to obtain the position information of the swimming pool robot 2;

[0047] In order to play the role of identification for easy recognition by the control device 4, the marker 1 is usually provided with bright colors, special shapes, patterns or arrows. Therefore, the marker 1 is very different from the dirt floating in the water. Even if there is dirt floating in the water, it is difficult for the controller to recognize the dirt as the marker 1. Therefore, the navigation system reduces the probability that the positioning of the swimming pool robot 2 is disturbed by the dirt.

[0048] In addition, the underwater navigation system provided by the present invention can also play a navigation role for the swimming pool robot 2. After the visual sensor recognizes the marker 1, the swimming pool robot 2 moves close to the marker 1 or executes a corresponding moving program to move.

[0049] From the above description, it can be seen that the beneficial effects of the present invention are: the underwater navigation system provided by the present invention, in which the swimming pool robot 2 and the marker 1 realize the positioning of the swimming pool robot 2 through visual positioning technology. Compared with the laser radar provided on the swimming pool robot 2, the underwater navigation system provided by the present invention has better anti-interference ability. The underwater navigation system will not be affected by the dirt floating in the swimming pool 8 and its positioning effect is more stable and more accurate.

[0050] Furthermore, the visual sensor 3 includes a camera.

[0051] It can be seen from the above description that the visual sensor 3 collects swimming pool image information through a camera.

[0052] Furthermore, the visual sensor 3 also includes a rotation module, which is disposed on the swimming pool robot 2 and connected to the camera, and is used to drive the camera to rotate.

[0053] It can be seen from the above description that the rotating module can drive the camera to rotate, which can increase the angle at which the camera collects swimming pool image information.

[0054] Furthermore, the camera is a wide-angle camera.

[0055] It can be seen from the above description that the wide-angle camera has a wider and larger viewing angle, and it can capture images of a larger range of the swimming pool 8.

[0056] Furthermore, the swimming pool robot 2 also includes a lighting device 5 , and the lighting device 5 is used to illuminate the marker 1 .

[0057] It can be seen from the above description that when the light in the water of the swimming pool 8 is poor, turning on the lighting device 5 can illuminate the marker 1 so that the visual sensor 3 can capture an image of the marker 1 .

[0058] Furthermore, the swimming pool robot 2 is also provided with a brightness sensor 6 , which is connected to the lighting device 5 , and is used to detect the brightness of the external environment.

[0059] As can be seen from the above description, the brightness sensor 6 detects the brightness of the external environment. When the brightness of the external environment is sufficient for the visual sensor 3 to clearly capture the image of the marker 1, the lighting device 5 can be turned off to save the battery power of the swimming pool robot 2 and improve the endurance of the swimming pool robot 2; when the brightness of the external environment is not sufficient to support the visual module to clearly capture the image of the marker 1, the lighting device 5 can be turned on to illuminate the marker 1;

[0060] The brightness sensor 6 may specifically set a brightness threshold to determine whether the brightness of the external environment detected by the brightness sensor 6 is higher or lower than the brightness threshold and to turn off or on the lighting device 5 .

[0061] Furthermore, the marker 1 is a reflective marker 1 or a fluorescent marker 1 .

[0062] From the above description, it can be seen that when the light of the lighting device 5 shines on the reflective marker or the fluorescent marker, the reflective marker or the fluorescent marker will reflect the light, and the reflective marker and the fluorescent marker will glow as a whole. In the image of the swimming pool image information, the contrast between the glowing marker 1 and the surrounding environment of the swimming pool 8 is very large, so the control device 4 can more easily identify the marker 1 in the image from the swimming pool image information.

[0063] In some preferred embodiments of the present invention, a graphic with an identification function is provided on the marker 1, and the control device 4 recognizes the graphic of the marker 1 and executes a preset travel program, wherein the graphic is a reflective graphic or a fluorescent graphic. When the light of the lighting device 5 shines on the reflective graphic or the fluorescent graphic, the reflective graphic or the fluorescent graphic will light up, and at this time, the control device 4 can more easily recognize the graphic identification on the marker 1.

[0064] Furthermore, at least two of the markers 1 are provided in the swimming pool 8; wherein, at least two of the markers 1 are provided with at least two colors respectively; or, at least two of the markers 1 are provided with at least two shapes respectively; or, at least two of the markers 1 are provided with at least two patterns respectively; or, at least two of the markers 1 are provided with at least two QR codes respectively.

[0065] In some preferred embodiments of the present invention, the swimming pool robot 2 can preset at least two travel programs corresponding to at least two markers 1, the visual sensor 3 collects swimming pool image information, the control device 4 identifies the color, shape or pattern of the marker 1 in the image of the swimming pool image information, and the swimming pool robot 2 executes the corresponding travel program according to the color, shape or pattern of the marker 1.

[0066] In addition, in some other preferred embodiments of the present invention, the marker 1 can also be specifically set to a picture containing a QR code, and the swimming pool robot 2 can preset at least two travel programs corresponding to at least two QR codes. When the visual sensor 3 captures an image of the QR code, the control device 4 recognizes and reads the QR code information, and the swimming pool robot 2 can execute the corresponding travel program according to the read QR code information.

[0067] Furthermore, it also includes a base station 7, which is arranged on the bottom, wall or shore of the swimming pool 8. The base station 7 is used to perform wired or wireless charging on the swimming pool robot 2. At least one marker 1 is arranged in the area of ​​the swimming pool 8 close to the base station 7 or on the base station 7.

[0068] It can be seen from the above description that the swimming pool robot 2 can move to the base station 7 under the navigation of the marker 1, and the swimming pool robot 2 can be docked with the base station 7, and the base station 7 can perform wired or wireless charging on the swimming pool robot 2.

[0069] In some preferred embodiments of the present invention, the swimming pool robot 2 can be set with a corresponding power threshold, and at least two markers can be set in the swimming pool 8 to navigate the swimming pool robot 2 to the base station 7. For example, when the power of the swimming pool robot 2 is less than 15%, the swimming pool robot 2 moves to the base station 7 under the navigation of the marker 1, and the swimming pool robot 2 is charged after docking with the base station 7; therefore, the swimming pool robot 2 can be charged autonomously without the need for the operator to salvage the swimming pool robot 2 from the swimming pool 8 and then charge it, which eliminates the need for the operator to monitor the power of the swimming pool robot 2 and charge it after salvaging the swimming pool robot 2, and reduces the cost of manual management of the swimming pool robot 2.

[0070] Furthermore, the marker 1 is arranged on the pool wall or the pool bottom, and the marker 1 is arranged directly below the base station 7 .

[0071] From the above description, it can be seen that the marker 1 is set directly below the base station 7. When the swimming pool robot 2 moves to the marker 1 and then climbs the wall or floats on the water surface of the swimming pool 8, it can dock with the base station 7.

[0072] In some preferred embodiments of the present invention, wireless charging coils are respectively provided on the base station 7 and the pool robot 2, and magnetic parts are respectively provided on the base station 7, the swimming pool 8 and the pool robot 2. Then, when the pool robot 2 moves to the water surface of the swimming pool 8, the pool robot 2 and the base station 7 can be magnetically adsorbed, and the base station 7 can wirelessly charge the pool robot 2.

[0073] The present invention also discloses an underwater navigation method for a swimming pool robot 2, which is applicable to the above-mentioned underwater navigation system and includes the following steps:

[0074] Collecting swimming pool image information about the first marker 11;

[0075] Identify features of a first marker 11 in the image according to the swimming pool image information;

[0076] The position information of the swimming pool robot 2 and / or the features are calculated according to the features and the preset relationship to perform navigation.

[0077] In some preferred embodiments of the present invention, the features of the first marker 11 in the image may include, but are not limited to: at least one data item or a combination of multiple data items of the position, size, and shape of the first marker 11 in the image;

[0078] The preset relationship may be: before being put into use, the swimming pool robot 2 may first record the relative position information of the swimming pool robot 2 and the first marker 11 at various relative positions, and record the data of the features of the first marker 11 in the swimming pool image information of the first marker 11 collected by the visual sensor at each relative position, and the relative position information and the corresponding feature data may be stored in the control device 4;

[0079] In actual application, the characteristics of the first marker 11 in the image are matched with the preset relationship, and the relative position information of the swimming pool robot 2 and the first marker 11 can be calculated; when the position coordinates of the first marker 11 in the swimming pool 8 are determined, the control device 4 can calculate the position coordinates of the swimming pool robot 2 in the swimming pool 8 accordingly by combining the position coordinates of the first marker 11 with the relative position information of the swimming pool robot 2 and the first marker 11.

[0080] In addition, in some other preferred embodiments of the present invention, the control device 4 may be preset with the condition that the swimming pool robot 2 needs to move to a preset position in the swimming pool after identifying the first marker 11. Then, after calculating the position coordinates of the swimming pool robot 2, the control device 4 plans route information according to the position coordinates of the swimming pool robot 2 and the position coordinates of the preset position. The swimming pool robot moves along the route of the route information and reaches the preset position to achieve a navigation effect.

[0081] In addition, in some other preferred embodiments of the present invention, the control device 4 can also determine the relative direction information between the first marker 11 and the swimming pool robot 2 in the swimming pool by identifying the characteristics of the first marker 11 in the image, thereby controlling the swimming pool robot 2 to move in the direction close to the first marker 11. In this embodiment, the control device 4 does not need to plan precise route information based on the position coordinates of the swimming pool robot 2. The control device 4 can determine the moving direction of the swimming pool robot based on the relative direction information, and continuously collect swimming pool image information about the first marker 11 and correct the moving direction during the movement of the swimming pool robot 2, which can also achieve a navigation effect.

[0082] Furthermore, the method further comprises the following steps:

[0083] Detect the brightness of the external environment;

[0084] Determine whether the external environment brightness is greater than a preset threshold;

[0085] When the external environment brightness is greater than a preset threshold, the lighting device 5 is turned off;

[0086] When the external environment brightness is less than a preset threshold, the lighting device 5 is turned on.

[0087] From the above description, it can be seen that the underwater navigation method can prevent the swimming pool robot 2 from being affected by insufficient light and affecting its positioning effect, and the method can turn on or off the lighting device 5 by detecting the brightness of the external environment, which further improves the reliability and stability of the positioning and navigation effect of the underwater navigation system and the underwater navigation method.

[0088] Further, the position information of the swimming pool robot 2 is calculated according to the characteristics and the preset relationship and / or navigation is performed according to the characteristics, specifically:

[0089] Calculate the position information of the swimming pool robot 2 according to the characteristics and the preset relationship;

[0090] Planning route information according to the location information and the preset location;

[0091] The swimming pool robot 2 navigates to the preset position according to the route information;

[0092] The swimming pool image information about the second marker 12 is collected.

[0093] From the above description, it can be seen that the swimming pool robot 2 calculates the position information of the swimming pool robot 2 through the swimming pool image information of the first marker 11, and when the control module recognizes the first marker 11 in the swimming pool image information, the swimming pool robot 2 will move to the preset position. Then, the control module plans the route information according to the position information of the swimming pool robot 2 and the preset position. The swimming pool robot 2 moves to the preset position and collects the swimming pool image information of the second marker 12 at the preset position.

[0094] In some preferred embodiments of the present invention, at least two markers 1 are provided in the swimming pool 8, and the visual sensor collects swimming pool image information, and the control device 4 identifies the marker 1 closer to the swimming pool robot 2 as the first marker 11, and the swimming pool robot 2 navigates to the first preset position corresponding to the first marker 11, and then collects swimming pool image information about the second marker 12 at the preset position, and finally navigates to the second preset position corresponding to the second marker 12;

[0095] The above-mentioned preset position can be either a marker 1 or a certain position coordinate of the swimming pool.

[0096] Further, the position information of the swimming pool robot 2 is calculated according to the characteristics and the preset relationship, and the swimming pool robot 2 navigates according to the position information and the preset position, specifically:

[0097] Calculate the position information of the swimming pool robot 2 according to the characteristics and the preset relationship;

[0098] Planning route information according to the location information and the preset location of the base station 7;

[0099] The swimming pool robot 2 navigates to the location of the base station 7 according to the route information;

[0100] The swimming pool robot 2 is docked with the base station 7 .

[0101] In some preferred embodiments of the present invention, the swimming pool robot 2 navigates to the location of the base station 7 through the first marker 11 and docks with the base station 7, so that the swimming pool robot 2 has the ability to return autonomously, and in actual application, there is no need for an operator to perform salvage operations on the swimming pool robot 2.

[0102] Furthermore, it also includes: the base station 7 performs wired charging or wireless charging on the swimming pool robot 2.

[0103] It can be seen from the above description that the swimming pool robot 2 can charge itself after docking with the base station 7, which is more convenient to use and can reduce the management cost of the swimming pool robot 2.

[0104] Embodiment 1:

[0105] Please refer to Figure 1 to Figure 2 , in the first embodiment of the present invention: an underwater navigation system for a swimming pool robot 2, comprising a marker 1 arranged in a swimming pool 8 and a swimming pool robot 2 traveling in the swimming pool 8, the swimming pool robot 2 comprising a visual sensor 3 and a control device 4;

[0106] In the first embodiment, the visual sensor 3 is a wide-angle camera, and the wide-angle camera is connected to the control device 4. The wide-angle camera is used to collect swimming pool image information. The control device 4 is used to receive the swimming pool image information and identify the marker 1 in the image based on the swimming pool image information to calculate the position information of the swimming pool robot 2 and navigate the swimming pool robot 2 based on the marker 1 in the image.

[0107] like Figure 2 As shown, in the first embodiment, the marker 1 includes a first marker 11 and a second marker 12, and the first marker 11 and the second marker 12 are respectively provided with two patterns, and the patterns of the first marker 11 and the second marker 12 are reflective patterns. The swimming pool robot 2 is provided with an illumination device 5 and a brightness sensor 6, wherein the illumination device 5 is used to illuminate the reflective marker 1, and the brightness sensor 6 is used to detect the brightness of the external environment; when the light of the illumination device 5 is irradiated onto the reflective pattern of the first marker 11 or the second marker 12, the reflective pattern reflects the light to achieve the effect of pattern luminescence, and the control device 4 is more likely to identify the luminous pattern in the image of the swimming pool image information.

[0108] like Figure 1 In the first embodiment, a base station 7 is also included. The base station 7 is arranged on the wall of the swimming pool 8. The base station 7 is used to wirelessly charge the swimming pool robot 2. Figure 1 As can be seen in FIG. 1 , the second marker 12 is located near the base station 7 .

[0109] In the first embodiment, in actual application, the swimming pool robot 2 performs cleaning operations in the water of the swimming pool 8. When the power of the swimming pool 8 cleaning robot is less than 15%, the swimming pool robot 2 executes the navigation program. In the first embodiment, the underwater navigation method of the underwater navigation system includes the following steps:

[0110] Detect the brightness of the external environment;

[0111] Determine whether the external environment brightness is greater than a preset threshold;

[0112] When the external environment brightness is greater than a preset threshold, the lighting device 5 is turned off;

[0113] When the external environment brightness is less than a preset threshold, the lighting device 5 is turned on;

[0114] Collecting swimming pool image information about the first marker 11;

[0115] Identify features of a first marker 11 in the image according to the swimming pool image information;

[0116] Calculate the first position information of the swimming pool robot 2 according to the characteristics of the first marker 11 and the preset relationship;

[0117] planning first route information according to the first location information and the preset location;

[0118] The swimming pool robot 2 navigates to a preset position according to the first route information;

[0119] Collecting swimming pool image information about the second marker 12;

[0120] Calculate the second position information of the swimming pool robot 2 according to the characteristics of the second marker 12 and the preset relationship;

[0121] Planning second route information according to the second location information and a preset base station location;

[0122] The swimming pool robot 2 navigates to the base station location according to the second route information;

[0123] The base station 7 wirelessly charges the swimming pool robot 2 .

[0124] Embodiment 2

[0125] Embodiment 2 of the present invention is a further improvement on the markers in Embodiment 1. Embodiment 2 differs from Embodiment 1 in that: the first marker 11 and the second marker 12 are respectively provided with a first two-dimensional code and a second two-dimensional code, and the swimming pool robot is respectively provided with a first moving program and a second moving program corresponding to the first two-dimensional code and the second two-dimensional code;

[0126] In the second embodiment, in actual application, the swimming pool robot 2 performs cleaning operations in the water of the swimming pool 8. When the circuit of the swimming pool 8 cleaning battery is lower than 15%, the swimming pool robot 2 executes the navigation program. In the second embodiment, the underwater navigation method of the underwater navigation system includes the following steps:

[0127] Detect the brightness of the external environment;

[0128] Determine whether the external environment brightness is greater than a preset threshold;

[0129] When the external environment brightness is greater than a preset threshold, the lighting device 5 is turned off;

[0130] When the external environment brightness is less than a preset threshold, the lighting device 5 is turned on;

[0131] Collect swimming pool image information about the first QR code;

[0132] Identify and read the QR code information of the first QR code in the image according to the swimming pool image information;

[0133] The swimming pool robot 2 executes the first moving program and navigates to a preset position;

[0134] Collecting swimming pool image information about the second QR code;

[0135] Identify and read the QR code information of the second QR code in the image according to the swimming pool image information;

[0136] The pool robot 2 executes the second travel program and navigates to the base station position;

[0137] The base station 7 wirelessly charges the swimming pool robot 2 .

[0138] In summary, the underwater navigation system and underwater navigation method for the swimming pool robot 2 provided by the present invention, the swimming pool robot 2 and the marker 1 realize the positioning of the swimming pool robot 2 through visual positioning technology. Compared with the laser radar provided on the swimming pool robot 2, the navigation system provided by the present invention has better anti-interference ability, and the navigation system will not be affected by the dirt floating in the swimming pool 8. In order to avoid the positioning effect caused by insufficient light, the swimming pool robot 2 is also provided with a lighting device 5 and a brightness sensor 6. When the external environment is dark, turning on the lighting device 5 can illuminate the reflective marker 1, so that the reflective marker 1 reflects light, and the control device 4 can more easily identify the reflective marker 1 in the image of the swimming pool image information, and the positioning effect is more stable and more accurate.

[0139] In addition, by arranging multiple markers 1 in the swimming pool 8, the navigation route of the swimming pool robot 2 can be regulated. After the swimming pool robot 2 recognizes the marker 1, it moves to the preset position corresponding to the marker 1, and can also automatically move to the base station 7 and be charged by the base station 7. It has a high degree of automation, which reduces the cost of manual management of the swimming pool robot 2.

[0140] 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. An underwater navigation system for a swimming pool robot, characterized in that: The invention comprises a marker arranged in a swimming pool and a swimming pool robot moving in the swimming pool, wherein the swimming pool robot comprises a visual sensor and a control device, wherein the visual sensor is connected to the control device, the visual sensor is used to collect swimming pool image information, the control device is used to receive the swimming pool image information and identify the marker in the image according to the swimming pool image information, so as to calculate the position information of the swimming pool robot and / or navigate the swimming pool robot according to the marker in the image.

2. The underwater navigation system according to claim 1, characterized in that: The visual sensor includes a camera.

3. The underwater navigation system according to claim 2, characterized in that: The visual sensor further comprises a rotation module, which is disposed on the swimming pool robot and connected to the camera. The rotation module is used to drive the camera to rotate.

4. The underwater navigation system according to claim 2, characterized in that: The camera is a wide-angle camera.

5. The underwater navigation system according to claim 1, characterized in that: The swimming pool robot further comprises a lighting device, and the lighting device is used for illuminating the marker.

6. The underwater navigation system according to claim 5, characterized in that: The swimming pool robot is also provided with a brightness sensor, which is connected to the lighting device and is used to detect the brightness of the external environment.

7. The underwater navigation system according to claim 1, characterized in that: The marker is a reflective marker or a fluorescent marker.

8. The underwater navigation system according to claim 1, characterized in that: At least two of the markers are provided in the swimming pool; wherein, at least two of the markers are provided with at least two colors respectively; or, at least two of the markers are provided with at least two shapes respectively; or, at least two of the markers are provided with at least two patterns respectively; or, at least two of the markers are provided with at least two QR codes respectively.

9. The underwater navigation system according to any one of claims 1 to 8, characterized in that: It also includes a base station, which is arranged on the bottom, wall or shore of the swimming pool. The base station is used to perform wired or wireless charging on the swimming pool robot. At least one of the markers is arranged in an area of ​​the swimming pool close to the base station or on the base station.

10. The underwater navigation system according to claim 9, characterized in that: The marker is arranged on the pool wall or the pool bottom, and the marker is arranged directly below the base station.

11. An underwater navigation method for a swimming pool robot, applied to the underwater navigation system according to any one of claims 1 to 10, characterized in that: The following steps are involved: collecting swimming pool image information about the first marker; Identify features of a first marker in the image based on the swimming pool image information; The position information of the swimming pool robot is calculated according to the characteristics and the preset relationship and / or navigation is performed according to the characteristics.

12. The underwater navigation method according to claim 11, characterized in that: The following steps are also included: Detect the brightness of the external environment; Determine whether the external environment brightness is greater than a preset threshold; When the external environment brightness is greater than a preset threshold, the lighting device is turned off; When the external environment brightness is less than a preset threshold, the lighting device is turned on.

13. The underwater navigation method according to claim 11, characterized in that: Calculating the position information of the swimming pool robot according to the characteristics and the preset relationship and / or navigating according to the characteristics is specifically as follows: Calculate the position information of the swimming pool robot according to the characteristics and the preset relationship; Planning route information according to the location information and the preset location; The swimming pool robot navigates to the preset position according to the route information; Pool image information about the second marker is collected.

14. The underwater navigation method according to claim 11, characterized in that: Calculating the position information of the swimming pool robot according to the characteristics and the preset relationship and / or navigating according to the characteristics is specifically as follows: Calculate the position information of the swimming pool robot according to the characteristics and the preset relationship; Planning route information according to the location information and a preset base station location; The swimming pool robot navigates to the base station location according to the route information; The base station charges the pool robot via wired or wireless charging.

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