Positioning method of swimming pool cleaning robot and swimming pool cleaning robot

Abstract

The invention relates to a positioning method of a swimming pool cleaning robot and the swimming pool cleaning robot, the swimming pool cleaning robot can be in communication connection with at least one independent image sensor, and the method comprises the following steps: obtaining image data of a swimming pool collected by the image sensor; controlling the swimming pool cleaning robot to walk in the swimming pool, and adding position information of the swimming pool cleaning robot in the walking process to the image data to obtain a swimming pool map; and in the operation mode, the swimming pool cleaning robot is controlled to determine the real-time position of the swimming pool cleaning robot in the swimming pool based on a swimming pool map according to the current position, obtained by the image sensor, of the swimming pool cleaning robot. The positioning method is realized based on image data processing of the image sensor, the image sensor is independent of the swimming pool cleaning robot, each feature of the swimming pool in the image data is unique, the problem of difficult positioning in similar features can be solved, and the effect of rapid and accurate positioning is achieved.

Description

Technical Field

[0001] The present application relates to the field of automatic control technology, and in particular to a positioning method of a swimming pool cleaning robot and the swimming pool cleaning robot. Background Art

[0002] At present, when a pool cleaning robot operates in a regularly shaped swimming pool, it is difficult to locate itself due to the repetitiveness of feature matching. When faced with similar features, it is unable to locate itself accurately. The low positioning accuracy makes it impossible for the robot to accurately judge its position in the swimming pool, thus affecting the cleaning effect. Summary of the invention

[0003] In order to solve at least one of the technical problems mentioned above, the present application proposes a positioning method for a swimming pool cleaning robot and a swimming pool cleaning robot.

[0004] According to some embodiments of the present application, a positioning method for a swimming pool cleaning robot is provided, wherein the swimming pool cleaning robot can be communicatively connected with at least one independent image sensor, and the method includes:

[0005] Acquire image data of the swimming pool collected by the image sensor;

[0006] Controlling the swimming pool cleaning robot to walk in the swimming pool and adding position information of the swimming pool cleaning robot during the walking process to the image data to obtain a swimming pool map;

[0007] In the operation mode, the swimming pool cleaning robot is controlled to determine the real-time position of the swimming pool cleaning robot in the swimming pool based on the swimming pool map according to the current position of the swimming pool cleaning robot acquired by the image sensor.

[0008] In some possible implementations, the image sensor is a wide-angle camera, and the image data includes a wide-angle image of the swimming pool taken by the wide-angle camera.

[0009] In some possible implementations, the pool cleaning robot is controlled to walk in the pool and position information of the pool cleaning robot during the walking process is added to the image data to obtain a pool map, and the pool cleaning robot walks along the edge of the pool.

[0010] In some possible implementations, controlling the pool cleaning robot to walk in the swimming pool and adding the position information of the pool cleaning robot during the walking process to the image data to obtain a pool map further includes: transmitting the acquired image data to the pool cleaning robot, and the pool cleaning robot adding the position information to the image data.

[0011] In some possible implementations, the location information includes location information obtained based on data collected by a ranging sensor, IMU, or odometer.

[0012] In some possible implementations, the swimming pool map includes a coordinate label of the swimming pool cleaning robot in a coordinate system of the image sensor, and the coordinate label is obtained by conversion according to position information of the swimming pool cleaning robot.

[0013] In some possible implementations, the swimming pool cleaning robot may convert the current position into a coordinate label in the image sensor coordinate system, and match it with a saved swimming pool map to obtain the position information of the swimming pool cleaning robot in the swimming pool.

[0014] In some possible implementations, the image sensor may generate a coordinate label of the swimming pool cleaning robot in the image sensor coordinate system according to the captured image data, and the swimming pool cleaning robot acquires the coordinate label to determine the position information in the swimming pool.

[0015] According to some other embodiments of the present application, a swimming pool cleaning robot is provided, and the swimming pool cleaning robot is used in the positioning method of the swimming pool cleaning robot described in any one of the above embodiments.

[0016] According to some other embodiments of the present application, a positioning system is provided, comprising the swimming pool cleaning robot described in the above embodiments and at least one independent image sensor, wherein the image sensor is used to obtain image information of the swimming pool.

[0017] According to some other embodiments of the present application, an electronic device is provided, which includes a processor and a memory, wherein at least one instruction or at least one program is stored in the memory, and the at least one instruction or at least one program is loaded and executed by the processor to implement the positioning method of the swimming pool cleaning robot as described above.

[0018] According to some other embodiments of the present application, a storage medium is provided, in which at least one instruction or at least one program is stored, and the at least one instruction or at least one program is loaded and executed by a processor to implement the positioning method of the swimming pool cleaning robot as described above.

[0019] According to some other embodiments of the present application, a computer program product is provided, including computer instructions, which, when executed by a processor, implement the positioning method of the swimming pool cleaning robot as described above.

[0020] Implementing the embodiments of the present application has the following beneficial effects:

[0021] The present application sets up an independent image sensor to obtain image data of the swimming pool, and establishes and saves a swimming pool map in combination with the position information of the swimming pool cleaning robot during its walking process in the swimming pool. In the operation mode, the image sensor obtains image data containing the current position of the swimming pool cleaning robot, and the swimming pool cleaning robot matches the saved swimming pool map according to the image data, thereby determining the real-time position of the swimming pool cleaning robot in the swimming pool. The positioning method of the present application is implemented based on the image data processing of the image sensor. Since the image sensor is set independently of the swimming pool cleaning robot, each feature of the swimming pool in the image data is unique, which can solve the problem of difficult positioning in similar features and achieve the effect of fast and accurate positioning.

[0022] Other features and aspects of the present application will become apparent from the following detailed description of exemplary embodiments with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions and advantages in the embodiments of this specification or the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of this specification. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0024] Figure 1 A flowchart showing a method for positioning a swimming pool cleaning robot according to an embodiment of the present application is shown;

[0025] Figure 2 A schematic diagram showing a swimming pool cleaning robot walking along the edge of a square swimming pool and mapping and positioning according to an embodiment of the present application;

[0026] Figure 3 A schematic diagram showing a process of converting position information into coordinate labels by a swimming pool cleaning robot according to an embodiment of the present application;

[0027] Figure 4 A schematic diagram showing a process of converting image data into coordinate labels by an image sensor according to an embodiment of the present application;

[0028] Figure 5 A system block diagram of an electronic device according to an embodiment of the present application is shown. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of this specification to clearly and completely describe the technical solutions in the embodiments of this specification. Obviously, the described embodiments are only part of the embodiments of this specification, not all of the embodiments. Based on the embodiments in this specification, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] The present application embodiment provides a positioning method for a swimming pool cleaning robot, wherein the swimming pool cleaning robot can be connected to at least one independent image sensor for communication. Figure 1 A flowchart of a method for positioning a swimming pool cleaning robot according to an embodiment of the present application is shown, the method comprising:

[0031] Step S101: Acquire image data of a swimming pool collected by an image sensor.

[0032] In the embodiment of the present application, the image sensor is independently provided from the pool cleaning robot, and the image sensor can obtain all the image information in the pool, that is, the image information should include the pool and the pool cleaning robot in the pool, so as to accurately obtain the position of the pool cleaning robot in the pool. It is understandable that the number of image sensors can be one, and the image information of the pool can be directly collected by the image sensor, or it can be obtained by combining multiple image information collected by one image sensor at multiple angles. It is understandable that the number of image sensors can also be multiple, and multiple sensors can be combined to obtain the image information of the pool.

[0033] In some embodiments, the image sensor may be a wide-angle camera, and correspondingly, the image data includes a wide-angle image of the swimming pool taken by the wide-angle camera, and the wide-angle image of the swimming pool can contain all the image information of the swimming pool. This embodiment does not limit the installation position of the image sensor (wide-angle camera), that is, the image sensor (wide-angle camera) can be set in the swimming pool or outside the swimming pool. In some specific implementations, the wide-angle camera is set in the middle of the swimming pool water surface, or in the middle of the swimming pool floor.

[0034] Step S102: Control the swimming pool cleaning robot to walk in the swimming pool and add the position information of the swimming pool cleaning robot during the walking process to the image data to obtain a swimming pool map.

[0035] In the embodiment of the present application, the walking path of the pool cleaning robot in the pool is: walking along the edge of the pool, that is, the pool cleaning robot walks along the edge of the pool. The pool cleaning robot will obtain position information based on the detection device carried by itself during the walking process, and the pool cleaning robot will send the position information to the analysis and processing module in real time. The analysis and processing module adds the position information to the image data to obtain a pool map, wherein the analysis and processing module can be communicatively connected to the image sensor, or can be integrated with the image sensor.

[0036] In the embodiment of the present application, the above-mentioned analysis and processing module is used to process the image data. Specifically, the processing includes: performing distortion correction on the wide-angle image of the swimming pool taken by the wide-angle camera, identifying and identifying the swimming pool cleaning robot based on the image data, and obtaining the running trajectory of the swimming pool cleaning robot based on the image. Among them, the purpose of adding the position information of the swimming pool cleaning robot to the image data is to establish a matching relationship between the actual position and the position in the image, so as to establish an accurate and effective swimming pool map, so as to facilitate the subsequent determination of the actual position based on the position in the image.

[0037] It should be understood that the embodiments of the present application do not limit the above-mentioned analysis and processing module to be set only on the image sensor side. In some embodiments, the analysis and processing module can also be set on the swimming pool cleaning robot. In this case, the processing of image data and the establishment of the swimming pool map can be completed based on the swimming pool cleaning robot, that is, the above-mentioned data transmission processing process includes: the image sensor transmits the acquired image data to the swimming pool cleaning robot, and the swimming pool cleaning robot adds the location information to the image data.

[0038] In some possible embodiments, the above-mentioned analysis and processing modules are provided on both sides of the pool cleaning robot and the image sensor. Based on this configuration, the effect of cloud-edge collaboration can be achieved, that is, the analysis and processing module carried by the pool cleaning robot serves as an edge server, and the analysis and processing module connected to the image sensor serves as a cloud processor. The analysis and processing modules on both sides are responsible for processing image data and establishing a pool map. For example, in some cases, the analysis and processing module on the pool cleaning robot is used to obtain image data and add location information to the image data, and the analysis and processing module on the image sensor side is used to generate a pool map based on the image data with added location information. Through the division of labor configuration, the efficiency of map building can be improved; in other possible cases, the analysis and processing modules on both sides of the pool cleaning robot and the image sensor perform the two tasks of processing image data and establishing a pool map. Finally, the two pool maps obtained are matched to verify each other, thereby improving the accuracy of map building.

[0039] In an embodiment of the present application, the pool cleaning robot is equipped with detection devices such as a ranging sensor, an IMU (Inertial Measurement Unit) or an odometer. Correspondingly, the position information includes position information obtained based on data collected by the ranging sensor, IMU or odometer.

[0040] Furthermore, in some possible implementations, the swimming pool cleaning robot is also equipped with a visual device, and the position information includes position information obtained by analyzing images taken by the visual device.

[0041] Step S103: In the operation mode, the swimming pool cleaning robot is controlled to determine the real-time position of the swimming pool cleaning robot in the swimming pool based on the swimming pool map according to the current position of the swimming pool cleaning robot acquired by the image sensor.

[0042] In the embodiment of the present application, the swimming pool map includes coordinate labels of the swimming pool cleaning robot in the coordinate system of the image sensor, and the coordinate labels are obtained by converting the position information of the swimming pool cleaning robot.

[0043] In a specific implementation, please refer to Figure 2 , Figure 2 A square regular swimming pool is shown. An image sensor (wide-angle camera) is set at the center point of the bottom of the swimming pool. The coordinate system of the image sensor is as follows: Figure 2 As shown, the pool cleaning robot obtains feature data of the edge of the pool while walking along the edge, and establishes a pool map based on the feature data. In the pool map, each surface of the pool (the bottom surface and four walls) can be represented by coordinates, and the position information of the pool cleaning robot can be used to determine the distance of the pool cleaning robot from each surface and the direction of travel. Since the coordinates of each surface are known, the coordinate label of the pool cleaning robot in the coordinate system of the image sensor can also be calculated.

[0044] Based on the above coordinate tags, when the pool cleaning robot faces similar features, it can directly confirm the real-time position through the coordinate tags. For example, Figure 2 The bottom surface of the pool map corresponding to the swimming pool shown is a rectangle, and the four corners of the rectangular bottom surface are similar features. Since the position of each corner is fixed in the coordinate system of the image sensor and is located in four different quadrants of the XY axis coordinate plane, when the pool cleaning robot drives near a corner, the position information is directly converted into a coordinate label, which can quickly confirm the real-time position without the need for additional feature recognition process, and the positioning process is efficient and accurate.

[0045] In the embodiment of the present application, the execution entity of the process of converting the above-mentioned position information into coordinate labels is not limited. That is to say, the above-mentioned execution entity can be a swimming pool cleaning robot, an image sensor, or other independently set processing terminals, such as a cloud server.

[0046] Please refer to Figure 3 Figure 4 , where vertical bars represent independent terminals and arrows represent signal transmission.

[0047] In some embodiments, the above-mentioned execution subject is a swimming pool cleaning robot. Figure 3 ,The pool cleaning robot can convert the current position into a coordinate label in the image sensor coordinate system and match it with the saved pool map to obtain the real-time position information of the pool cleaning robot in the pool.

[0048] In the embodiment of the present application, the position information of the swimming pool cleaning robot can also be directly determined by the image sensor. Figure 4 ,The image sensor can generate a coordinate label of the pool cleaning robot in the image sensor coordinate system based on the image data. The pool cleaning robot obtains the coordinate label and matches it with the saved pool map to determine the real-time position information of the pool cleaning robot in the swimming pool.

[0049] An embodiment of the present application further provides a swimming pool cleaning robot, which is used to execute the positioning method of the swimming pool cleaning robot described in any one of the above embodiments.

[0050] An embodiment of the present application further provides a positioning system, comprising the swimming pool cleaning robot described in the above embodiment and at least one independent image sensor, wherein the above image sensor is used to obtain image information of the swimming pool.

[0051] An embodiment of the present application also provides an electronic device, which includes a processor and a memory, wherein the memory stores at least one instruction or at least one program, and the at least one instruction or at least one program is loaded and executed by the processor to implement the positioning method of the swimming pool cleaning robot as described above.

[0052] The memory can be used to store software programs and modules. The processor executes various functional applications and data processing by running the software programs and modules stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, application programs required for functions, etc.; the data storage area can store data created according to the use of the device, etc. In addition, the memory can include a high-speed random access memory and can also include a non-volatile memory, such as at least one hard disk storage device, a flash memory device or other volatile solid-state storage device. Accordingly, the memory can also include a memory controller to provide the processor with access to the memory.

[0053] Figure 5 is an electronic device provided in an embodiment of the present application. Figure 5 As shown, the electronic device 900 may have relatively large differences due to different configurations or performances, and may include one or more central processing units (CPU) 910 (the processor 910 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA), a memory 930 for storing data, and one or more storage media 920 (such as one or more mass storage devices) for storing application programs 923 or data 922. Among them, the memory 930 and the storage medium 920 can be short-term storage or permanent storage. The program stored in the storage medium 920 may include one or more modules, each of which may include a series of instruction operations in the electronic device. Furthermore, the central processing unit 910 may be configured to communicate with the storage medium 920 to execute a series of instruction operations in the storage medium 920 on the electronic device 900. The electronic device 900 may also include one or more power supplies 960, one or more wired or wireless network interfaces 950, one or more input and output interfaces 940, and / or one or more operating systems 921, such as Wi ndows ServerTM, Mac OSXTM, UnixTM, LinuxTM, FreeBSDTM, etc.

[0054] The input / output interface 940 may be used to receive or send data via a network. The specific example of the network may include a wireless network provided by a communication provider of the electronic device 900. In one example, the input / output interface 940 includes a network adapter (NIC), which may be connected to other network devices via a base station so as to communicate with the Internet. In one example, the input / output interface 940 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0055] It can be understood by those skilled in the art that Figure 5 The structure shown is only for illustration and does not limit the structure of the above electronic device. Figure 5 More or fewer components as shown, or with Figure 5 Different configurations are shown.

[0056] An embodiment of the present application further provides a storage medium, in which at least one instruction or at least one program is stored, and the at least one instruction or at least one program is loaded and executed by a processor to implement the positioning method of the swimming pool cleaning robot as described above.

[0057] An embodiment of the present application further provides a computer program product, including computer instructions, which, when executed by a processor, implement the positioning method of the swimming pool cleaning robot as described above.

[0058] The embodiments of the present application have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or technical improvements in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A positioning method for a swimming pool cleaning robot, characterized in that: The swimming pool cleaning robot is capable of communicating with at least one independent image sensor, and the method includes: Acquire image data of the swimming pool collected by the image sensor; Controlling the swimming pool cleaning robot to walk in the swimming pool and adding position information of the swimming pool cleaning robot during the walking process to the image data to obtain a swimming pool map; In the operation mode, the swimming pool cleaning robot is controlled to determine the real-time position of the swimming pool cleaning robot in the swimming pool based on the swimming pool map according to the current position of the swimming pool cleaning robot acquired by the image sensor.

2. The method according to claim 1, characterized in that: The image sensor is a wide-angle camera, and the image data includes a wide-angle image of the swimming pool taken by the wide-angle camera.

3. The method according to claim 1, characterized in that The swimming pool cleaning robot is controlled to walk in the swimming pool and the position information of the swimming pool cleaning robot during the walking process is added to the image data to obtain a swimming pool map, and the swimming pool cleaning robot walks along the edge of the swimming pool.

4. The method according to claim 3, characterized in that The controlling the pool cleaning robot to walk in the pool and adding the position information of the pool cleaning robot during the walking process to the image data to obtain a pool map also includes: transmitting the acquired image data to the pool cleaning robot, and the pool cleaning robot adding the position information to the image data.

5. The method according to claim 4, characterized in that The location information includes location information obtained based on data collected by a ranging sensor, IMU or odometer.

6. The method according to any one of claims 1 to 5, characterized in that: The swimming pool map includes a coordinate label of the swimming pool cleaning robot in a coordinate system of the image sensor, and the coordinate label is obtained by conversion according to position information of the swimming pool cleaning robot.

7. The method according to claim 6, characterized in that The swimming pool cleaning robot may convert the current position into a coordinate label in the image sensor coordinate system, and match it with a saved swimming pool map to obtain the position information of the swimming pool cleaning robot in the swimming pool.

8. The method according to claim 6, characterized in that The image sensor may generate a coordinate label of the swimming pool cleaning robot in the image sensor coordinate system according to the captured image data, and the swimming pool cleaning robot acquires the coordinate label to determine the position information in the swimming pool.

9. A swimming pool cleaning robot, characterized in that: The swimming pool cleaning robot is used to execute the positioning method of the swimming pool cleaning robot according to any one of claims 1-8.

10. A positioning system, characterized in that: The swimming pool cleaning robot comprises the swimming pool cleaning robot as claimed in claim 9 and at least one independent image sensor, wherein the image sensor is used to obtain image information of the swimming pool.

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