Automatic pool cleaning device and control method thereof

Abstract

The present application provides an automatic pool cleaning device and a control method thereof, the method comprising: controlling the automatic pool cleaning device to move from a first position on the bottom surface of a pool to a second position on the bottom surface, and positioning at the second position to obtain first positioning information, wherein at least a first portion of a moving path from the first position to the second position is a path along which the automatic pool cleaning device moves along an edge of the pool; controlling the automatic pool cleaning device to move from the second position to a third position on the bottom surface, and performing a cleaning operation on the bottom surface; controlling the automatic pool cleaning device to move from the third position to a fourth position on the bottom surface, and positioning at the fourth position to obtain second positioning information; and controlling the automatic pool cleaning device to move from the fourth position to the first position based on the first positioning information and the second positioning information.

Description

Technical Field

[0001] The present application relates to the field of automation, and in particular to an automatic pool cleaning device and a control method thereof. Background Art

[0002] When the pool robot first enters the water, it has no global positioning data of the earth coordinate system and cannot know the location of the entry point in the map. After completing the task or receiving a recall command, it will only choose to go ashore at the nearest pool or return to the vicinity of the entry point according to the local positioning data in the relative coordinate system. However, there are errors in the local positioning data, and the robot cannot accurately find the entry point through the local positioning data. This results in the landing position being unstable and inconsistent with the entry point, resulting in a poor user experience. Similarly, when a pool robot equipped with a charging dock completes a task or is low on power, it does not know the location of the charging dock in the map because it has no positioning data and does not know the location of the charging dock. Most of them rely on some kind of traversal method to find the location of the charging dock, which is inefficient. Summary of the invention

[0003] The embodiments of the present application provide an automatic cleaning device and a control method thereof, which are intended to control a swimming pool robot to quickly and accurately return to a water entry point or a charging dock.

[0004] According to one aspect of the present application, a control method for an automatic pool cleaning device is provided, comprising: controlling the automatic pool cleaning device to move from a first position on the bottom surface of a pool to a second position on the bottom surface, and positioning at the second position to obtain first positioning information, wherein at least a first portion of a moving path from the first position to the second position is a path for the automatic pool cleaning device to move along an edge of the pool; controlling the automatic pool cleaning device to move from the second position to a third position on the bottom surface, and performing a cleaning operation on the bottom surface; controlling the automatic pool cleaning device to move from the third position to a fourth position on the bottom surface, and positioning at the fourth position to obtain second positioning information, wherein at least a second portion of a moving path from the third position to the fourth position is a path for the automatic pool cleaning device to move along an edge of the pool; and controlling the automatic pool cleaning device to move from the fourth position to the first position based on the first positioning information and the second positioning information.

[0005] In one example, before controlling the automatic pool cleaning device to move from the first position to the second position, the method further includes: acquiring map data of the pool.

[0006] In one example, the automatic pool cleaning device includes a sensor, and obtaining map data of the pool includes: moving at least a predetermined distance along the edge of the pool; using the sensor to obtain the distance from the automatic pool cleaning device to the edge of the pool in real time; and obtaining contour information of the pool based on the distance.

[0007] In one example, the first positioning includes: obtaining contour information of the first partial path; matching the contour information of the first partial path with the map data to determine the position and posture information of the second position relative to the map data, wherein the first positioning information includes the position and posture information of the second position relative to the map data.

[0008] In one example, the second positioning includes: obtaining contour information of the second partial path; matching the contour information of the second partial path with the map data to determine the posture information of the fourth position relative to the map data, wherein the second positioning information includes the posture information of the fourth position relative to the map data.

[0009] In one example, based on the first positioning information and the second positioning information, controlling the automatic pool cleaning device to move from the fourth position to the first position includes: determining the posture information of the first position relative to the map data; and based on the posture information of the first position relative to the map data and the posture information of the fourth position relative to the map data, determining the posture information of the fourth position relative to the first position; and based on the posture information of the fourth position relative to the first position, controlling the automatic pool cleaning device to move from the fourth position to the first position.

[0010] In one example, determining the posture information of the first position relative to the map data includes: obtaining path information of the automatic pool cleaning device from the first position to the second position; and determining the posture information of the first position relative to the map data based on the path information and the posture information of the second position relative to the map data.

[0011] In one example, the automatic pool cleaning device includes an odometer and an inertial measurement unit (IMU), and the path information includes a moving distance acquired in real time by the odometer and posture information corresponding to the moving distance.

[0012] In one example, controlling the automatic pool cleaning device to move from the second position to the third position of the bottom surface includes controlling the automatic pool cleaning device to move along a preset cleaning path.

[0013] In one example, the map is a map in a relative coordinate system.

[0014] In one example, the first position includes an entry position or a charging position of the automatic pool cleaning device.

[0015] According to another aspect of the present application, an automatic pool cleaning device is also provided, comprising: a processor, wherein the processor is configured to: control the automatic pool cleaning device to move from a first position on the bottom surface of the pool to a second position on the bottom surface, and to position at the second position to obtain first positioning information, wherein at least a first portion of the moving path from the first position to the second position is a path for the automatic pool cleaning device to move along the edge of the pool; control the automatic pool cleaning device to move from the second position to a third position on the bottom surface, and to perform a cleaning operation on the bottom surface; control the automatic pool cleaning device to move from the third position to a fourth position on the bottom surface, and to position at the fourth position to obtain second positioning information, wherein at least a second portion of the moving path from the third position to the fourth position is a path for the automatic pool cleaning device to move along the edge of the pool; and control the automatic pool cleaning device to move from the fourth position to the first position based on the first positioning information and the second positioning information.

[0016] According to another aspect of the present application, a computer-readable non-volatile storage medium is provided for storing computer program instructions. When the instructions are executed by a processor, the method described in the foregoing embodiments or examples is executed.

[0017] The automatic pool cleaning device and control method of the present application can accurately determine the position of the water inlet or charging dock based on the positioning information by locating part of the position in the path during the cleaning operation, thereby solving the technical problem in the prior art that it is impossible to accurately find the water inlet point and charging dock through local positioning data, thereby improving the user experience.

[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] In the accompanying drawings, unless otherwise specified, the same reference numerals throughout the multiple drawings represent the same or similar parts or elements. These drawings are not necessarily drawn to scale. It should be understood that these drawings only depict some embodiments according to the present application and should not be regarded as limiting the scope of the present application.

[0020] Figure 1A flow chart of a method for controlling an automatic pool cleaning device according to an embodiment of the present application is shown;

[0021] Figure 2 A schematic diagram of the movement path of the automatic pool cleaning device according to an embodiment of the present application is shown;

[0022] Figure 3 A schematic structural diagram of an automatic pool cleaning device according to an embodiment of the present application is shown. DETAILED DESCRIPTION

[0023] In the following, only some exemplary embodiments are briefly described. As those skilled in the art will appreciate, the described embodiments may be modified in various ways without departing from the concept or scope of the present application. Therefore, the drawings and descriptions are considered to be exemplary in nature and not restrictive.

[0024] To facilitate understanding of the technical solutions of the embodiments of the present application, the following describes the related technologies of the embodiments of the present application. The following related technologies can be combined with the technical solutions of the embodiments of the present application as optional solutions, and they all belong to the protection scope of the embodiments of the present application.

[0025] Figure 1 A flow chart of a method for controlling an automatic pool cleaning device according to an embodiment of the present application is shown. Figure 2 The schematic diagram of the moving path of the automatic pool cleaning device according to the embodiment of the present application is shown below. Figure 1 and Figure 2 The control method of the automatic pool cleaning device of the present application is described.

[0026] See also Figure 1 The control method of the automatic pool cleaning device includes steps S101 to S104.

[0027] In step S101, the automatic pool cleaning device is controlled to move from a first position on the bottom surface of the pool to a second position on the bottom surface, and is positioned at the second position to obtain first positioning information, wherein at least a first portion of the moving path from the first position to the second position is a path along which the automatic pool cleaning device moves along the edge of the pool.

[0028] See also Figure 2, where point A is the first position, and point A may be the position of the bottom surface of the pool that the automatic pool cleaning device first reaches after entering the water from the water surface. In the subsequent description, point A is the water entry point. Those skilled in the art will appreciate that in other examples, the first position may also be the position where the automatic pool cleaning device enters the water from the water surface or the position where it enters the water from the pool wall, or may be the position of a charging dock for charging the automatic pool cleaning device. This application is only described by taking the first position as the position of the bottom surface of the pool that the automatic pool cleaning device reaches after entering the water as an example.

[0029] See also Figure 2 , where point B can be the second position, the automatic pool cleaning device can move from point A to point B, and at least the first part of the moving path from point A to point B is the path of the automatic pool cleaning device moving along the edge of the pool. In other words, the path of the automatic pool cleaning device moving from point A to point B can be a path where part of the path moves along the bottom edge of the pool wall. For example, a section of the path from point A to point B near point B moves along the bottom edge of the pool wall, and the other parts of the path may not move along the bottom edge of the pool wall. It can also be moving completely along the bottom edge of the pool wall, for example Figure 2 As shown, it moves from point A along the arrow direction along the bottom edge of the pool wall to point E, and then moves from point E along the bottom edge of the pool wall to point B. In this way, the automatic pool cleaning device can locate at point B, that is, determine the position of point B in the map under the relative coordinate system.

[0030] Here, the map in the relative coordinate system can be an existing map stored in the memory of the automatic pool cleaning device before the automatic pool cleaning device moves from the first position to the second position, or it can also be a contour map of the pool obtained by the automatic pool cleaning device through detection of the pool before the automatic pool cleaning device moves from the first position to the second position. Since there is no underwater base station in the pool, when the automatic pool cleaning device obtains the contour map of the pool, it cannot establish a map in the absolute coordinate system. The absolute coordinate system can also be called the earth coordinate system, and its coordinate origin is the center of mass of the earth, that is, the point on the earth with longitude 0 and latitude 0. When the automatic pool cleaning device generates a map underwater, its coordinate origin is randomly generated, so it is called a map in the relative coordinate system.

[0031] In one example, the automatic pool cleaning device may include a sensor. In order to obtain a map of the pool in a relative coordinate system, the automatic pool cleaning device may move at least a predetermined distance along the bottom edge of the pool wall after entering the water, and use the sensor to obtain the distance from the automatic pool cleaning device to the edge of the pool in real time; and obtain the contour information of the pool based on the obtained distance. Among them, moving at least a predetermined distance along the bottom edge of the pool wall of the pool may be, for example, moving along the bottom edge of the pool wall for one circle, thereby obtaining the distance of all the collection points on the edge of the pool wall. For another example, it may be moving more than one circle along the bottom edge of the pool wall. Since the starting point and end point of the map may not completely match when constructing the map, the portion exceeding one circle can be used to correct the positions of the starting point and end point of the map. For another example, it may be moving less than one circle along the bottom edge of the pool wall. The distance measuring sensor is generally installed on the side of the automatic pool cleaning device. Since the distance measuring sensor can not only sense the distance of objects on the front side, but also sense the distance of objects on the front side or rear side, as long as the automatic pool cleaning device can obtain the distance data of all the bottom edges of the pool wall, it can move less than one circle along the bottom edge of the pool wall to measure the distance of part of the bottom edge of the pool wall. The remaining bottom edge of the pool wall, such as the bottom edge of the pool wall on the front side or rear side of the distance measuring sensor, can also obtain the distance through the distance measuring sensor. After obtaining the distance of the bottom edge of the pool wall, the contour information of the pool can be constructed based on the distance information of multiple points on the bottom edge of the pool wall collected, so that a map in a relative coordinate system can be constructed based on the contour information of the pool.

[0032] Figure 2 Schematic diagram of the movement path of the automatic pool cleaning device according to an embodiment of the present application is shown. Figure 2 , reference numeral 220 represents the pool wall, reference numeral 210 represents the map of the pool in the relative coordinate system obtained by the automatic pool cleaning device, and the coordinate origin of the map in the relative coordinate system is Figure 2 It should be noted that the actual bottom edge of the pool wall and the outline of the pool relative to the map in the coordinate system may be somewhat irregular and not necessarily an absolute rectangular shape. Figure 2 The outlines of map 210 and pool wall 220 are schematic only.

[0033] In one example, in order to implement positioning at the second position to obtain first positioning information in step S101, contour information of the first partial path can be first obtained; then the contour information of the first partial path is matched with the map data to determine the position and posture information of the second position relative to the map data, wherein the first positioning information includes the position and posture information of the second position relative to the map data.

[0034] Here, since it is the pool edge information collected by the robot in the process of following the path along the edge, the "path contour information" can be the pool edge contour information corresponding to the path, for example, including the "pool wall bottom edge contour" corresponding to the path. In addition, in addition to the bottom edge contour, it can also include some special marker information, such as pool bottom obstacle information, bottom water inlet, bottom water outlet, pool corner and other information with certain characteristics. The "posture information" here can include position information, that is, coordinate point information in a relative coordinate system, and direction information, such as the robot's orientation. In addition, since the map obtained by the automatic pool cleaning device is a map in a relative coordinate system, not a map in an absolute coordinate system, the automatic pool cleaning device can often do "positioning" when using the map in a relative coordinate system to obtain positioning information, so that other information can be obtained based on the positioning information, and the path can be adjusted based on the positioning information to ensure that the position does not deviate from the predetermined track. The "positioning" technology in this application is also commonly referred to as "repositioning" in the art.

[0035] See also Figure 2 In one example, at least the first part of the moving path from the first position to the second position is the path from point A to point B along the arrow direction, that is, the automatic pool cleaning device moves along the bottom edge of the pool wall and turns and then continues to move along the bottom edge of the pool wall to point B. In order to locate point B, you can first obtain Figure 2 The contour information of the path from A to B in the image is obtained, for example, the contour information of the edge of the pool from point A to point B along the direction of the arrow. The contour information of the path from A to B is then matched with the map data in the relative coordinate system previously obtained to determine the coordinates and direction of point B relative to the previously obtained map 210. In one example, when matching the contour information of the first part of the path with the map data, a point cloud registration algorithm can be used. For example, at least a portion of the point cloud on the first part of the path is obtained, and then a portion of the point cloud in the map data is obtained. For example, the point cloud data of at least three points can be obtained respectively to form a point cloud pair, and then each point cloud pair is matched. When the matching degree is greater than a preset matching threshold, it can be determined that the match is successful. The matching degree is, for example, 80%. When the match is unsuccessful, more point cloud pairs can be selected for matching until multiple points are successfully matched. In this way, it is possible to determine which section of the path on the map corresponds to the first part of the path, and further determine the position and posture of point B in the map, thereby obtaining the first positioning information.

[0036] In one example, the automatic pool cleaning device may include an odometer, the odometer includes a motion sensor, and data obtained from the motion sensor may be used to estimate the distance moved by the automatic pool cleaning device relative to an initial position or a previous position sensed. The first portion of the path may include the odometer obtaining the movement distance of multiple displacement points in real time.

[0037] In one example, the automatic pool cleaning device may include a radar sensor. The radar antenna is directional and can emit or receive electromagnetic waves in a specific direction. By using the antenna's directional pattern, the antenna's gain in different directions can be determined, thereby measuring the direction of the target. Using a combination of a radar sensor and an odometer, the moving distances of multiple displacement points and the attitude information corresponding to the moving distances can be obtained in real time. The attitude information may include, for example, the current orientation and inclination of the head of the automatic pool cleaning device. The pose of each displacement point can be used to describe the pose of the displacement point at the next moment, so that after accumulation, the pose matrix T of the current point B relative to point A can be finally obtained. AB .

[0038] In one example, the automatic pool cleaning device may also include an inertial measurement unit (IMU), which may be used to determine the attitude information of the automatic pool cleaning device at each displacement point. Therefore, the first part of the path may include the moving distance of multiple displacement points obtained in real time by the odometer and the attitude information corresponding to the moving distance obtained by the IMU. The attitude information may include, for example, the current orientation and inclination of the head of the automatic pool cleaning device. The position and posture of each displacement point can be used to describe the position and posture of the displacement point at the next moment, so that after accumulation, the current position and posture matrix T of point B relative to point A can be finally obtained. AB .

[0039] Additionally, in one example, the inertial measurement unit can also be used to perform real-time calibration of the odometer.

[0040] The above introduces embodiments and examples of an automatic pool cleaning device positioning itself at a second position to obtain first positioning information. By positioning the second position, the position of the second position on a map in a relative coordinate system constructed by the automatic pool cleaning device can be determined, so that subsequent positioning and calculation can be performed to monitor the position of the automatic pool cleaning device and avoid movement deviation.

[0041] In step S102, the automatic pool cleaning device is controlled to move from the second position to the third position on the bottom surface, and perform a cleaning operation on the bottom surface.

[0042] In one example, the automatic pool cleaning device may be controlled to move from the second position to the third position according to a preset cleaning path. Figure 2 In the figure, the second position is point B and the third position is point C. Figure 2Point C in the figure can represent the position where the automatic pool cleaning device stops cleaning. Normally, the pool cleaning device can stop cleaning when the cleaning task is completed, the battery is low, or a recall instruction is received. After locating point B in the previous step, in this step, the pool can be cleaned according to a preset cleaning path. The preset cleaning path can be a preset moving trajectory or a preset moving rule. The preset moving trajectory can, for example, select a trajectory with strong underwater positioning capability and small walking deviation, such as an S-shaped or U-shaped trajectory. The preset moving rule can be a "bow"-shaped moving rule. For example, Figure 2 As shown, from Figure 2 It starts to go straight from the lower left corner of the pool as shown, turns 90 degrees after encountering an obstacle, goes straight for a certain distance or time, then turns 90 degrees again, and goes straight again, and so on, until the cleaning operation of the automatic pool cleaning device is completed or the automatic pool cleaning device is recalled, or needs to be charged and returned.

[0043] In step S103, the automatic pool cleaning device is controlled to move from the third position to a fourth position on the bottom surface, and is positioned at the fourth position to obtain second positioning information, wherein at least a second portion of the moving path from the third position to the fourth position is a path along which the automatic pool cleaning device moves along the edge of the pool.

[0044] See also Figure 2 , where point D can be the fourth position, and the way of positioning at the fourth position is similar to the way of positioning the second position in the aforementioned step S101. The automatic pool cleaning device can move from point C to point D, and at least the second part of the moving path from point C to point D is the path of the automatic pool cleaning device moving along the edge of the pool. That is to say, the path of the automatic pool cleaning device moving from point C to point D can be completely moving along the bottom edge of the pool wall, or part of the path can be moving along the bottom edge of the pool wall. For example, a section of the path from point C to point D near point D moves along the bottom edge of the pool wall, and the other part of the path can be non-moving along the bottom edge of the pool wall. For example, after stopping the cleaning operation at point C, the automatic pool cleaning device can reach the nearest bottom edge of the pool wall from point C along the preset cleaning path, and then move a predetermined distance along the bottom edge of the pool wall to point D, and the path along the bottom edge of the pool wall to reach point D or a part of the path can be used as the second part of the path. In this way, the automatic pool cleaning device can be positioned at point D, that is, determine the position of point D in the map under the relative coordinate system.

[0045] In one example, in order to implement positioning at the fourth position to obtain the second positioning information in step S103, the contour information of the second partial path can be first obtained; then the contour information of the second partial path is matched with the map data to determine the posture information of the fourth position relative to the map data, wherein the second positioning information includes the posture information of the fourth position relative to the map data.

[0046] Similar to the above example, since the robot collects the pool edge information in the process of following the path along the edge, the "path contour information" can be the pool edge contour information corresponding to the path, for example, including the "pool wall bottom edge contour" corresponding to the path. In addition, in addition to the bottom edge contour, it can also include some special marker information, such as pool bottom obstacle information, bottom water inlet, bottom water outlet, pool corners and other information with certain characteristics. The "posture information" here can include position information, that is, coordinate point information in a relative coordinate system, and direction information. In addition, since the map obtained by the automatic pool cleaning device is a map in a relative coordinate system, not a map in an absolute coordinate system, the automatic pool cleaning device can often perform "positioning" when using the map in the relative coordinate system to ensure that the position does not deviate from the predetermined track. The "positioning" technology in this application is also commonly referred to as "repositioning" in the field.

[0047] See also Figure 2 In one example, at least the second part of the moving path from the third position to the fourth position is a path from the bottom edge F of the pool wall closest to point C to point D along the arrow direction. In order to locate point D, you can first obtain Figure 2 The contour information of the path from F to D in the second part of the path is obtained, such as the contour information of the edge of the pool from point F to point D along the arrow direction. The contour information of the second part of the path is then matched with the map data in the relative coordinate system previously obtained to determine the coordinates and direction of point D relative to the map 210. In one example, when matching the contour information of the second part of the path with the map data, a point cloud registration algorithm can be used. For example, at least a portion of the point cloud on the second part of the path is obtained, and then a portion of the point cloud in the map data is obtained. For example, the point cloud data of at least three points can be obtained separately to form a point cloud pair, and then each point cloud pair is matched. When the matching degree is greater than a preset matching threshold, it can be determined that the match is successful. The matching degree is, for example, 80%. When the match is unsuccessful, more point cloud pairs can be selected for matching until multiple points are successfully matched. In this way, it is possible to determine which section of the path on the map corresponds to the first part of the path, and further determine the position and direction of point B in the map, thereby obtaining the first positioning information.

[0048] In one example, the automatic pool cleaning device may include an odometer, which may use data obtained from a motion sensor to estimate the distance the automatic pool cleaning device has moved relative to an initial position or a previous position. The second portion of the path may include the odometer obtaining the moving distances of multiple displacement points in real time.

[0049] In one example, the automatic pool cleaning device may include a radar sensor. The radar antenna is directional and can emit or receive electromagnetic waves in a specific direction. By using the antenna's directional diagram, the antenna's gain in different directions can be determined, thereby measuring the direction of the target. Using a combination of a radar sensor and an odometer, the moving distances of multiple displacement points and the attitude information corresponding to the moving distances can be obtained in real time. The attitude information may include, for example, the current orientation of the head of the automatic pool cleaning device. The position and posture of each displacement point in the second part of the path can be used to describe the position and posture of the displacement point at the next moment, so that after accumulation, the current position and posture matrix T of point F relative to point D can be finally obtained. FD .

[0050] In one example, the automatic pool cleaning device includes an inertial measurement unit (IMU), which can be used to determine the attitude information of the automatic pool cleaning device at each displacement point. Therefore, the second part of the path can include the moving distances of multiple displacement points acquired in real time by the odometer and the attitude information corresponding to the moving distances acquired by the IMU. The attitude information can include, for example, the current orientation and inclination of the head of the automatic pool cleaning device. The position and posture of each displacement point can be used to describe the position and posture of the displacement point at the next moment, so that after accumulation, the current position and posture matrix T of point F relative to point D can be finally obtained. FD .

[0051] The above introduces an embodiment and example of positioning the automatic pool cleaning device at the fourth position to obtain the second positioning information. By positioning the fourth position, the position of the fourth position on the map in the relative coordinate system constructed by the automatic pool cleaning device can be determined, so that subsequent positioning and calculation can be further performed, and the status of the automatic pool cleaning device can be detected in real time to avoid movement deviation.

[0052] In step S104, based on the first positioning information and the second positioning information, the automatic pool cleaning device is controlled to move from the fourth position to the first position.

[0053] In one example, based on the first positioning information and the second positioning information, the automatic pool cleaning device is controlled to move from a fourth position to a first position. The position information of the first position relative to the map data can be first determined; based on the position information of the first position relative to the map data and the position information of the fourth position relative to the map data, the position information of the fourth position relative to the first position is determined; and based on the position information of the fourth position relative to the first position, the automatic pool cleaning device is controlled to move from the fourth position to the first position.

[0054] In one example, determining the posture information of the first position relative to the map data includes: obtaining path information of the automatic pool cleaning device from the first position to the second position; and determining the posture information of the first position relative to the map data based on the path information and the posture information of the second position relative to the map data.

[0055] See also Figure 2 , point A represents the first position, point B represents the second position, and point D represents the fourth position. According to the description of the previous example, after the path from point A to point B is determined, the position matrix T of point B relative to point A can be obtained. AB After locating the second position, we can get the pose matrix T of point B relative to the origin O of the relative coordinate system. OB , through the formula T OA =T OB T AB -1 The pose matrix T of point A in the relative coordinate system can be obtained OA , where T AB -1 Indicates T AB The inverse matrix of .

[0056] Determine the pose matrix T of point A in the relative coordinate system OA After that, after locating the fourth position, the pose matrix T of point D relative to the coordinate origin O of the relative coordinate system can be obtained. OD , through the formula T DA =T OD -1 T OA The relative position T of A and D can be obtained DA , where T OD -1 Indicates T OD The inverse matrix of DA The robot can then navigate from point D to the water entry point A at the bottom of the pool or location A where the charging dock is located, and then go ashore.

[0057] The embodiment of the present application locates some points in the moving path of the automatic pool cleaning device and calculates the position of the water entry point through the positioning data, thereby solving the problem in the prior art that the map in a relative coordinate system cannot remember the position of the water entry point and the charging dock without positioning.

[0058] Figure 3 Schematic diagram of the structure of the automatic pool cleaning device according to an embodiment of the present application is shown. Figure 3 , the automatic pool cleaning device 300 includes a processor 310, and the processor 310 is configured to:

[0059] Control the automatic pool cleaning device to move from a first position on the bottom surface of the pool to a second position on the bottom surface, and position at the second position to obtain first positioning information, wherein at least a first portion of the moving path from the first position to the second position is a path for the automatic pool cleaning device to move along the edge of the pool; control the automatic pool cleaning device to move from the second position to a third position on the bottom surface, and perform cleaning operations on the bottom surface; control the automatic pool cleaning device to move from the third position to a fourth position on the bottom surface, and position at the fourth position to obtain second positioning information, wherein at least a second portion of the moving path from the third position to the fourth position is a path for the automatic pool cleaning device to move along the edge of the pool; and based on the first positioning information and the second positioning information, control the automatic pool cleaning device to move from the fourth position to the first position.

[0060] The above functions of the processor 310 are similar to the various steps of the control method of the automatic pool cleaning device in the aforementioned embodiment. For details, please refer to the aforementioned embodiments and examples, and will not be repeated here.

[0061] According to another embodiment of the present application, a computer-readable non-volatile storage medium is provided for storing computer program instructions. When the instructions are executed by a processor, the method of the aforementioned embodiment or example is executed.

[0062] 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.

[0063] 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.

[0064] 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 for an automatic pool cleaning device, comprising: Controlling the automatic pool cleaning device to move from a first position on the bottom surface of the pool to a second position on the bottom surface, and positioning at the second position to obtain first positioning information, wherein at least a first portion of a moving path from the first position to the second position is a path along which the automatic pool cleaning device moves along an edge of the pool; Controlling the automatic pool cleaning device to move from the second position to a third position on the bottom surface, and to move along a preset cleaning path on the bottom surface to perform a cleaning operation; Controlling the automatic pool cleaning device to move from the third position to a fourth position on the bottom surface, and positioning at the fourth position to obtain second positioning information, wherein at least a second portion of the moving path from the third position to the fourth position is a path along which the automatic pool cleaning device moves along an edge of the pool; and Based on the first positioning information and the second positioning information, the automatic pool cleaning device is controlled to move from the fourth position to the first position.

2. The method according to claim 1, wherein: Before controlling the automatic pool cleaning device to move from the first position to the second position, the method further includes: acquiring map data of the pool.

3. The method according to claim 2, wherein: The automatic pool cleaning device includes a sensor, and the obtaining of map data of the pool includes: moving at least a predetermined distance along an edge of the pool; Using the sensor to obtain in real time the distance between the automatic pool cleaning device and the edge of the pool; and Contour information of the pool is acquired based on the distance.

4. The method according to any one of claims 2 to 3, wherein: The first positioning includes: Obtaining contour information of the first partial path; The contour information of the first partial path is matched with the map data to determine the position and posture information of the second position relative to the map data, wherein the first positioning information includes the position and posture information of the second position relative to the map data.

5. The method according to claim 4, wherein: The second positioning includes: Obtaining contour information of the second partial path; The contour information of the second partial path is matched with the map data to determine the position and posture information of the fourth position relative to the map data, wherein the second positioning information includes the position and posture information of the fourth position relative to the map data.

6. The method according to claim 5, wherein: The controlling the automatic pool cleaning device to move from the fourth position to the first position based on the first positioning information and the second positioning information comprises: Determining position information of the first position relative to the map data; and determining, based on the pose information of the first position relative to the map data and the pose information of the fourth position relative to the map data, the pose information of the fourth position relative to the first position; and Based on the position information of the fourth position relative to the first position, the automatic pool cleaning device is controlled to move from the fourth position to the first position.

7. The method according to claim 6, wherein: The determining of the position information of the first position relative to the map data comprises: Acquiring path information of the automatic pool cleaning device from the first position to the second position; and Based on the path information and the position and posture information of the second position relative to the map data, the position and posture information of the first position relative to the map data is determined.

8. The method according to claim 7, wherein: The automatic pool cleaning device includes an odometer and an inertial measurement unit (IMU), and the path information includes a moving distance acquired in real time by the odometer and posture information corresponding to the moving distance.

9. The method according to claim 2, wherein: The map is a map in a relative coordinate system.

10. The method according to claim 1, wherein: The first position includes a water entry position or a charging position of the automatic pool cleaning device.

11. An automatic pool cleaning device, comprising: A processor configured to: Controlling the automatic pool cleaning device to move from a first position on the bottom surface of the pool to a second position on the bottom surface, and positioning at the second position to obtain first positioning information, wherein at least a first portion of a moving path from the first position to the second position is a path along which the automatic pool cleaning device moves along an edge of the pool; Controlling the automatic pool cleaning device to move from the second position to a third position on the bottom surface, and to move along a preset cleaning path on the bottom surface to perform a cleaning operation; Controlling the automatic pool cleaning device to move from the third position to a fourth position on the bottom surface, and positioning at the fourth position to obtain second positioning information, wherein at least a second portion of the moving path from the third position to the fourth position is a path along which the automatic pool cleaning device moves along an edge of the pool; and Based on the first positioning information and the second positioning information, the automatic pool cleaning device is controlled to move from the fourth position to the first position.

12. A computer-readable non-volatile storage medium for storing computer program instructions, wherein when the instructions are executed by a processor, the method according to any one of claims 1 to 10 is performed.

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