Robot-based swimming pool cleaning method and device and robot

Abstract

The invention relates to the technical field of machine control, and discloses a robot-based swimming pool cleaning method and device and a robot, and the robot obtains a water entry position, iteratively executes map construction operation until the position of the robot is in the water entry position again, and construction of a swimming pool map is completed. The map building operation comprises the steps that the robot is controlled to walk in the direction parallel to the target pool wall, the vertical distance between the target pool wall and the position of the robot is closest, a swimming pool map is built based on the surrounding swimming pool environment scanned by the sonar device, and the robot conducts swimming pool cleaning based on the built swimming pool map. The robot can conduct cleaning on the basis of the swimming pool map built through sonar and can automatically avoid obstacles in the cleaning process, all corners of the swimming pool can be comprehensively covered, cleaning dead corners are avoided, the cleaning efficiency is improved, various obstacles in the swimming pool can be avoided in time, and it is guaranteed that the cleaning operation succeeds.

Description

Technical Field

[0001] The present invention relates to the technical field of machine control, and particularly to a pool cleaning method, device and robot based on a robot. Background Art

[0002] Existing pool cleaning robots include a housing, two crawlers, two motors with adjustable speeds, an adsorption motor and a filter screen. The motors on the robot drive the blades to rotate, so that the sediment at the bottom of the cleaning robot passes through the filter screen with the water flow and is discharged from its upper part. At the same time, a reverse adsorption force is formed, which can realize the cleaning of the sediment at the bottom of the pool and also make it adsorbed on the pool wall through different buoy ratios.

[0003] When cleaning a pool, the robot generally advances to one side wall of the pool first, and then turns around and returns along a route parallel to the original path. When it reaches the other boundary of the pool, it turns again. However, the shapes of pools vary greatly, and this path may not cover all areas, resulting in cleaning blind spots and the inability to complete the specified tasks. Even when there are large obstacles in the working area, the pool cleaning robot cannot automatically avoid them and report, resulting in the problem of operation failure. Summary of the Invention

[0004] In view of this, the present invention provides a pool cleaning method, device and robot based on a robot to solve the problems of cleaning blind spots when cleaning a pool and the inability to automatically avoid obstacles during operation, resulting in operation failure.

[0005] In a first aspect, the present invention provides a pool cleaning method based on a robot, which is applied to the robot. The robot is equipped with a sonar device, a cleaning device and a machine pose acquisition device. The sonar device is used to scan the pool environment around the robot, and the machine pose acquisition device is used to determine the pose of the robot. The method includes: the robot enters the water and obtains the first entry position, and iteratively performs a map construction operation until the robot is in the first entry position again during the process of walking through the map construction operation, and the pool map is constructed. The map construction operation includes: when the robot detects a target pool wall, controlling the robot to walk along a direction parallel to the target pool wall, where the target pool wall satisfies the following conditions: the robot has not walked along a direction parallel to the target pool wall, and the perpendicular distance between the target pool wall and the position of the robot is the closest; during the process of the robot walking along a direction parallel to the target pool wall, constructing a pool map based on the surrounding environment pool scanned by the sonar device and the walking trajectory of the robot; the robot performs pool cleaning based on the constructed pool map.

[0006] The pool cleaning method based on a robot provided by the present invention involves the robot entering the water and obtaining the first entry position, and iteratively performing map construction operations until the robot is at the first entry position again during the process of walking through the map construction operations, thus completing the construction of the pool map. The map construction operations include: when the robot detects a target pool wall, controlling the robot to walk along a direction parallel to the target pool wall, where the target pool wall meets the following conditions: the robot has not walked along a direction parallel to the target pool wall, and the perpendicular distance between the target pool wall and the position of the robot is the closest. During the process of the robot walking along a direction parallel to the target pool wall, a pool map is constructed based on the surrounding environment of the pool scanned by the sonar device and the walking trajectory of the robot. The robot performs pool cleaning based on the completed pool map, enabling the robot to clean based on the pool map constructed by the sonar and automatically avoid obstacles during the cleaning process, comprehensively cover all corners of the pool, avoid cleaning dead corners, improve the cleaning efficiency, and timely avoid various obstacles in the pool, ensuring the success of the cleaning operation.

[0007] In an alternative embodiment, the robot stores a set of pool maps, which includes multiple pre-recorded pool maps. The robot is equipped with a camera device. Before the robot enters the water, the method further includes: obtaining a first image captured by the camera device, and determining whether there is a pool in the captured first image; if there is a pool in the captured first image, identifying all the pool edges of the pool and determining whether all the pool edges can form a closed curve; if all the pool edges can form a closed curve, obtaining the attribute information of the pool and matching the attribute information of the pool with each pool map in the set of pool maps. The attribute information of the pool includes at least geometric information and obstacle information; if the matching fails for each pool map in the set of pool maps, then execute the steps of the robot entering the water, obtaining the first entry position, and iteratively performing map construction operations until the robot is at the first entry position again during the process of walking through the map construction operations, thus completing the construction of the pool map.

[0008] In an alternative embodiment, if all the pool edges do not form a closed curve, the method further includes: identifying the first direction of the pool edge that is not fully shown in the first image and recording the position of the intersection point between the pool edge and the edge of the first image; rotating the robot by a preset angle in the first direction and controlling the camera device to capture a second image; obtaining the pool edge corresponding to the first direction shown in the second image based on the position of the intersection point and splicing the pool edge corresponding to the first direction shown in the second image to the first image based on the position of the intersection point to obtain an image in which all the pool edges form a closed curve, and then executing the step of obtaining the attribute information of the pool.

[0009] In an alternative embodiment, the robot is equipped with a camera device. The robot performs pool cleaning based on the completed pool map, or, if the attribute information of the pool successfully matches any one of the pool maps in the pool map set, performs pool cleaning based on the successfully matched pool map, including: The robot walks along a preset path and performs cleaning, records the current walking direction of the robot, and acquires a third image through the camera device; Identifies whether there is a first pool garbage in the third image. If there is a first pool garbage, marks the position of the first garbage on the pool map, rotates based on the direction pointing to the first pool garbage, walks to the marked position of the first garbage for garbage cleaning, and accumulates the number of cleaning operations for the first pool garbage; The robot returns to the position where the third image was taken, controls the camera device to take an image again, and determines whether there is still a first pool garbage at the position of the first garbage; If there is still a first pool garbage at the position of the first garbage, and the accumulated number of cleaning operations for the first pool garbage reaches the preset operation times threshold, marks the position of the first pool garbage on the pool map; The robot walks along a preset path and performs cleaning based on the position where the third image was taken and the recorded current walking direction of the robot.

[0010] In an alternative embodiment, if there is still a first pool garbage at the position of the first garbage, but the accumulated number of cleaning operations for the first pool garbage does not reach the preset operation times threshold, returns to execute the step of controlling the robot to rotate based on the direction pointing to the first pool garbage and walking to the marked garbage position for garbage cleaning, and accumulating the number of cleaning operations for the first pool garbage, until there is no first pool garbage at the position of the first garbage, or the accumulated number of cleaning operations for the first pool garbage reaches the preset operation times threshold.

[0011] In an alternative embodiment, during the process of the robot performing cleaning based on the pool map, marks the cleaned area on the pool map.

[0012] In an alternative embodiment, before the robot walks along a preset path and performs cleaning, the method further includes: Acquiring the pool environment around the robot scanned by the sonar device at the current position; Acquiring the pose of the current robot determined by the robot pose acquisition device; Comparing the pool environment around the robot scanned by the sonar device with the pool environment corresponding to the pose of the current robot on the pool map to determine whether the current pose of the robot is accurate; If it is determined that the current pose of the robot is accurate, executes the step of the robot walking along a preset path and performing cleaning.

[0013] In an alternative embodiment, the cleaning device installed on the robot is used to clean the swimming pool in real time during the movement of the robot. The method further includes: during the process of the robot moving and constructing a swimming pool map, controlling the cleaning device to clean and marking the cleaned areas; after the swimming pool map is constructed, the robot performs swimming pool cleaning based on the unmarked areas in the constructed swimming pool map.

[0014] In an alternative embodiment, during the process of the robot moving along a direction parallel to the target pool wall, the method further includes: recording the current moving direction of the robot and acquiring a fourth image through a camera device; identifying whether there is a second pool garbage in the fourth image. If there is a second pool garbage, marking the position of the second garbage in the pool map, controlling the robot to rotate and move to the marked position of the second garbage for garbage cleaning based on the direction pointing to the second pool garbage, and accumulating the operation times of the second pool garbage cleaning operation; the robot returns to the position where the fourth image is taken, and controls the camera device to take an image again to determine whether there is still a second pool garbage; if there is still a second pool garbage at the position of the fourth garbage and the accumulated operation times of the second pool garbage cleaning operation reach a preset operation times threshold, marking the position of the second pool garbage on the constructed pool map; the robot controls the robot to move along a direction parallel to the target pool wall and controls the cleaning device to clean based on the position where the fourth image is taken and the recorded current moving direction of the robot.

[0015] In a second aspect, the present invention provides a swimming pool cleaning device based on a robot, which is applied to the robot. The robot is installed with a sonar device, a cleaning device, and a robot pose acquisition device. The sonar device is used to scan the swimming pool environment around the robot, and the robot pose acquisition device is used to determine the pose of the robot. The device includes: a swimming pool map construction module, which is used for the robot to enter the water and acquire the first water entry position, and iteratively perform map construction operations until the robot is in the first water entry position again during the movement through the map construction operations, and the swimming pool map is constructed. The map construction operation includes: when the robot detects the target pool wall, controlling the robot to move along a direction parallel to the target pool wall, where the target pool wall satisfies the following conditions: the robot has not moved along a direction parallel to the target pool wall, and the perpendicular distance between the target pool wall and the position of the robot is the closest; during the process of the robot moving along a direction parallel to the target pool wall, constructing a swimming pool map based on the surrounding environment of the swimming pool scanned by the sonar device and the moving trajectory of the robot; a swimming pool cleaning module, which is used for the robot to perform swimming pool cleaning based on the constructed swimming pool map.

[0016] In a third aspect, the present invention provides a robot, which includes a controller, a sonar device, a cleaning device, and a machine pose acquisition device. The sonar device is used to scan the pool environment around the robot, and the machine pose acquisition device is used to determine the pose of the robot. The controller includes a memory and a processor, which are communicatively connected to each other. The memory stores computer instructions, and the processor executes the computer instructions to perform the pool cleaning method based on the robot according to the first aspect or any corresponding embodiment thereof. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0018] Figure 1 is a flowchart of the pool cleaning method based on the robot according to an embodiment of the present invention;

[0019] Figure 2 is an example flowchart of the construction of the pool map according to an embodiment of the present invention;

[0020] Figure 3 is a flowchart of another pool cleaning method based on the robot according to an embodiment of the present invention;

[0021] Figure 4 is an example diagram of the running logic of the robot before entering the water according to an embodiment of the present invention;

[0022] Figure 5 is an example flowchart of cleaning based on the pool map according to an embodiment of the present invention;

[0023] Figure 6 is a schematic structural diagram of the robot according to an embodiment of the present invention;

[0024] Figure 7 is a block diagram of the structure of the pool cleaning device based on the robot according to an embodiment of the present invention;

[0025] Figure 8 is a schematic hardware structure diagram of the controller according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0026] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0027] According to an embodiment of the present invention, an embodiment of a pool cleaning method based on a robot is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. And although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than here.

[0028] In this embodiment, a pool cleaning method based on a robot is provided, which is applied to the robot. The robot includes the robot itself and an operation console for controlling the machine. The user can observe the operation state of the robot and control operations such as the robot's walking, rotation, and stop through the operation console. The robot is equipped with a sonar device, a cleaning device, and a machine pose acquisition device. Among them, the sonar device is used to scan the pool environment around the robot, and the machine pose acquisition device is used to determine the pose of the robot. The robot in the embodiment of the present invention can use a sonar device that can be awakened and scanned 360 degrees. The sonar device scans to obtain the pool environment around the robot, and through multiple movements and multi-point scans, a complete map is then established. There is no limitation on the selection of the machine pose acquisition device. For example, devices such as gyroscopes, GPS, and radars can be selected to determine the pose of the robot in the pool. Taking the gyroscope as an example, when the robot moves, the gyroscope can be used to confirm the pose and movement direction of the robot, and then the encoder can be used to determine the movement distance and movement trajectory of the robot. The robot can also walk through the cooperation of motors, gears, and tracks. Among them, two special DC motors and steering gears can be set to facilitate the turning, forward, and backward movements of the robot. The cleaning device can include a pumping motor and a filter screen. The pumping motor pumps water to give the robot a downward pressure. By using the pumping action of the pumping motor, the water at the bottom of the machine passes through the filter screen to achieve the purpose of filtering the dirt at the bottom of the pool. This is only an example and is not limited; Figure 1 is a flowchart of the pool cleaning method based on a robot according to an embodiment of the present invention, as Figure 1 shown, the process includes the following steps:

[0029] Step S101, the robot enters the water and obtains the first entry position, and iteratively executes the map construction operation until the robot is in the first entry position again during the process of walking through the map construction operation, and the pool map is constructed.

[0030] Among them, the map construction operation includes: when the robot detects the target pool wall, controlling the robot to walk along a direction parallel to the target pool wall, where the target pool wall meets the following conditions: the robot has not walked along a direction parallel to the target pool wall, and the perpendicular distance between the target pool wall and the position of the robot is the shortest; during the process of the robot walking along a direction parallel to the target pool wall, a pool map is constructed based on the surrounding environment of the pool scanned by the sonar device and the walking trajectory of the robot.

[0031] As Figure 2 shown, the robot in the embodiment of the present invention enters the pool and is ready to walk and construct a pool map. At this time, the first water entry position of the robot can be obtained in advance through the gyroscope. The robot can obtain the distances between the robot and the opposite pool walls in different rotation directions based on the current position through the sonar device, and then determine the specific rotation direction of the robot through the gyroscope data at the same time. Subsequently, the distances between the robot and the opposite pool walls in different rotation directions based on the current position can be obtained. Among them, generally, the perpendicular distance between the position of the robot and the opposite pool wall is the shortest. Therefore, the pool wall with the shortest perpendicular distance to the position of the robot and that the robot has not walked along can be selected as the target pool wall.

[0032] After the robot in the embodiment of the present invention rotates the machine direction to be parallel to the target pool wall, the robot can be controlled to walk along a direction parallel to the target pool wall. For example, if the pool wall is a straight line and the machine running trajectory is also a straight line, that is, the two straight lines are parallel. Only for example, during the walking process of the robot, the sonar device has its own rotation mechanism (360-degree rotation scan) for scanning the pool environment (including but not limited to the edges of the pool wall and pool obstacles), and then constructing a pool map. The walking trajectory of the robot can also be depicted in the pool map. Different colors can be used to distinguish the pool wall and the walking trajectory of the machine, so as to realize the connection between personal devices such as mobile phones and computers and the robot control by using Internet technology, and achieve the effect that users can clearly obtain the running state of the robot. Among them, the walking trajectory can be determined by calculating the walking distance and direction of the robot. The walking distance is calculated by judging the number of motor rotation circles before and after the movement between two points. When the walking motor is running, there is a signal line FG. The motor shaft rotates one circle and outputs four rising pulses. The MCU will count this pulse, and the walking count value of the machine will change. The walking distance is obtained by multiplying the change amount of the counter by a ratio, and this ratio is determined by the reduction ratio and the gear transmission ratio in the structure; the robot repeats the steps of rotating the robot direction to be parallel to the target pool wall, walking along a direction parallel to the target pool wall, and constructing a pool map through the sonar device until the position of the robot during the map construction process is equal to the first water entry position, then the construction of the pool map is completed.

[0033] Step S102, the robot performs pool cleaning based on the constructed pool map.

[0034] After the robot in the embodiment of the present invention completes the construction of the pool map, it can walk along the preset planned path. During the walking process of the robot, the pool can be cleaned by the cleaning device.

[0035] The pool cleaning method based on a robot provided by the present invention, the robot enters the water and obtains the first entry position, and iteratively performs the map construction operation until the robot is in the first entry position again during the walking process through the map construction operation, and the pool map is constructed. The map construction operation includes: when the robot detects the target pool wall, controlling the robot to walk along the direction parallel to the target pool wall, where the target pool wall satisfies the following conditions: the robot has not walked along the direction parallel to the target pool wall, and the perpendicular distance between the target pool wall and the position of the robot is the closest. During the process of the robot walking along the direction parallel to the target pool wall, the pool map is constructed based on the surrounding environment of the pool scanned by the sonar device and the walking trajectory of the robot. The robot performs pool cleaning based on the constructed pool map, realizing that the robot can clean based on the pool map constructed by the sonar and can automatically avoid obstacles during the cleaning process, can comprehensively cover all corners of the pool, avoid the appearance of cleaning dead corners, improve the cleaning efficiency, and can timely avoid various obstacles in the pool to ensure the success of the cleaning operation.

[0036] In this embodiment, a pool cleaning method based on a robot is provided, which is applied to the robot. Figure 3 It is a flowchart of the pool cleaning method based on a robot according to the embodiment of the present invention, as Figure 3 shown, and the process includes the following steps:

[0037] Step S301, before the robot enters the water, obtain the first image captured by the camera device, and judge whether there is a pool in the captured first image; if there is a pool in the first image, identify all the pool edges of the pool, and judge whether all the pool edges can form a closed curve; if all the pool edges can form a closed curve, obtain the attribute information of the pool, and match the attribute information of the pool with each pool map in the pool map set. The attribute information of the pool includes at least geometric information and obstacle information; if the matching fails with each pool map in the pool map set, then execute the step of the robot entering the water, obtaining the first entry position, and iteratively performing the map construction operation until the robot is in the first entry position again during the walking process through the map construction operation, and the pool map is constructed.

[0038] Among them, the robot stores a pool map set, which includes multiple pre-recorded pool maps, and the robot is equipped with a camera device.

[0039] As Figure 4As shown, before the robot of the embodiment of the present invention enters the water, it can use the camera device to capture a first image, and then analyze the first image to identify whether there is a swimming pool in the first image. If there is no swimming pool in the first image, the robot can perform a moderate angle rotation or walking until the captured image includes a swimming pool. After the captured first image includes a swimming pool, it can identify all the pool edges of the swimming pool and determine whether all the pool edges can form a closed curve (indicating whether the swimming pool in the image is complete). If all the pool edges can form a closed curve, that is, it means the swimming pool in the image is complete, then it can identify and analyze the attribute information of the swimming pool in the image. Among them, the attribute information includes but is not limited to the geometric information of the swimming pool (which can include dimensions, size, and shape), obstacle information. Based on the determined attribute information of the swimming pool, it is matched with each swimming pool map in the set of swimming pool maps stored by the robot (including but not limited to matching information such as swimming pool dimensions, shape, and obstacles). Among them, each swimming pool map in the set of swimming pool maps stored by the robot can be a map constructed by the swimming pool robot historically, or a map compiled by the user through a tool, just for example; if the robot fails to match all the swimming pool maps in the set of swimming pool maps, it can enter the mapless cleaning process, that is, execute the above-mentioned embodiment of swimming pool map construction. If it matches successfully with any swimming pool map in the set of swimming pool maps, the robot performs the swimming pool cleaning operation based on the successfully matched swimming pool map.

[0040] Before the robot of the present invention enters the water, it first captures and identifies the swimming pool through the camera device, and compares the identified swimming pool information with the set of swimming pool maps stored by itself. If it fails to match all the maps in the set of swimming pool maps, it enters the mapless cleaning process. If it matches successfully with a certain swimming pool map, it can directly perform cleaning based on the successfully matched swimming pool map, which broadens the usage scenario of the robot and ensures that the robot can complete the cleaning operation efficiently and stably.

[0041] In an alternative embodiment, if it is determined that all the pool edges do not form a closed curve, the robot identifies the first direction of the pool edge that is not fully shown in the first image and records the position of the intersection point of the pool edge and the edge of the first image; the robot rotates a preset angle in the first direction and controls the camera device to capture a second image; based on the position of the intersection point, the pool edge corresponding to the first direction is obtained from the second image, and the pool edge corresponding to the first direction is spliced into the first image based on the position of the intersection point to obtain an image in which all the pool edges form a closed curve, and then the step of obtaining the attribute information of the swimming pool is executed.

[0042] In the embodiment of the present invention, when the robot recognizes the first image taken and finds that all the pool edges do not form a closed curve, that is, a certain pool edge is not completely shown in the first image, the first direction of the pool edge that is not completely shown in the first image can be determined, and the position of the intersection point between the pool edge and the edge of the first image can be recorded. For example, when the first image is taken and it is found through calculation that the pool edge on the left side of the image is complete and the pool edge on the right side is incomplete, that is, the right pool intersects with the right edge of the image, the position of the intersection point on the right pool edge and the right side of the image can be recorded. Then the robot rotates by a preset angle in the first direction and controls the imaging device to take the second image. At the same time, the position of the intersection point in the second image is determined again. Finally, based on the position of the intersection point, the pool edge corresponding to the first direction in the second image is spliced into the first image to obtain an image in which all the pool edges form a closed curve (the pool is complete). For example, the robot rotates 1 degree to the right to obtain the second image, brings the intersection point position information into the second image, and the pool edge on the right side of the intersection point position is the newly added pool edge. The newly added pool edge is added to the image (which can be the first image) specifically storing the pool edge to obtain an image of a complete pool, only for example.

[0043] After the present invention determines the pool that is not completely shown in the first image, the robot records the position of the intersection point between the pool edge and the edge of the first image, and can rotate by a preset angle in the corresponding direction based on the direction of the pool edge that is not completely shown and recognized, take the second image, and then splice the pool edge corresponding to the first direction in the second image into the first image based on the position of the intersection point to obtain an image of a complete pool, ensuring that the pool image obtained by the robot is complete and avoiding the influence of incorrect pool map matching caused by image missing on subsequent pool operations.

[0044] Step S302: The robot enters the water and obtains the first entry position, and iteratively performs the map construction operation until the robot is at the first entry position again during the process of walking through the map construction operation, and the pool map is constructed.

[0045] Among them, the map construction operation includes: when the robot detects the target pool wall, controlling the robot to walk along the direction parallel to the target pool wall, where the target pool wall meets the following conditions: the robot has not walked along the direction parallel to the target pool wall, and the perpendicular distance between the target pool wall and the position of the robot is the closest; during the process of the robot walking along the direction parallel to the target pool wall, a pool map is constructed based on the surrounding environment pool scanned by the sonar device and the walking trajectory of the robot. For details, please refer to Figure 1 Step S101 of the embodiment shown, which will not be elaborated here.

[0046] Step S303: The robot performs pool cleaning based on the constructed pool map.

[0047] Specifically, the robot is equipped with a camera device. The robot performs pool cleaning based on the completed pool map, or, if the attribute information of the pool successfully matches any pool map in the pool map set, it performs pool cleaning based on the successfully matched pool map, including: the robot walks along a preset path and performs cleaning, records the current walking direction of the robot, and collects a third image through the camera device; identifies whether there is a first pool garbage in the third image. If there is a first pool garbage, marks the position of the first garbage on the pool map, rotates based on the direction pointing to the first pool garbage, walks to the marked position of the first garbage for garbage cleaning, and accumulates the number of cleaning operations for the first pool garbage; the robot returns to the position where the third image was taken, controls the camera device to take an image again, and determines whether there is still a first pool garbage at the position of the first garbage; if there is still a first pool garbage at the position of the first garbage and the accumulated number of cleaning operations for the first pool garbage reaches the preset operation times threshold, marks the position of the first pool garbage on the pool map; the robot walks along a preset path and performs cleaning based on the position where the third image was taken and the recorded current walking direction of the robot.

[0048] As Figure 5 shown, in the embodiment of the present invention, a walking path can be pre-planned for the robot, such as a "return" shape or a "bow" shape. For example, when the robot walks along the preset planned path and performs pool cleaning, it can record the walking path and the current walking direction A1 of the robot in real time, and at the same time collect a third image through the camera device, and identify whether there is a first pool garbage in the third image. If it is determined that there is a first pool garbage in the third image, the first garbage position of the first pool garbage can be marked on the pool map, then rotate based on the direction A2 pointing to the first pool garbage, and walk to the first garbage position for garbage cleaning. At this time, the number of cleaning operations for the first pool garbage can be accumulated. After the cleaning is completed, the robot can return to the position where the third image was taken, control the camera device to take an image again, and then determine whether there is still a first pool garbage at the position of the first garbage, and determine whether the accumulated number of cleaning operations for the first pool garbage reaches the preset operation times threshold. Among them, the preset operation times threshold can be set according to actual needs. For example, the operation times threshold is 3 times; if it is recognized that there is still a first pool garbage at the position of the first garbage and the accumulated number of cleaning operations for the first pool garbage reaches the preset operation times threshold, indicating that the pool garbage is stubborn garbage, a stubborn garbage identification can be marked on the pool map. Finally, the robot continues to walk along the preset planned path and perform pool cleaning based on the position where the third image was taken and the recorded current walking direction of the robot.

[0049] After the present invention determines that there is garbage at a certain location in the pool through the imaging device, it focuses on cleaning the garbage at that location to ensure that the garbage is effectively removed. After cleaning, it can return to its original position and then determine again whether there is still garbage at this garbage location and whether the number of times of cleaning this garbage reaches the number threshold. If it is determined that there is still garbage at this garbage location and the number of times of cleaning this garbage reaches the number threshold, a mark indicating stubborn garbage will be marked on the pool map to facilitate more targeted cleaning measures to be taken subsequently, ensuring the cleanliness of the pool, and continuing to execute the tasks of walking and cleaning along the planned path, avoiding meaningless repeated cleaning, and improving the cleaning efficiency of the robot.

[0050] In an alternative embodiment, if there is still the first pool garbage at the first garbage position, but the accumulated number of first pool garbage cleaning operations does not reach the preset operation number threshold, then return to execute the steps of controlling the robot to rotate in the direction pointing to the first pool garbage and walking to the marked garbage position for garbage cleaning, and accumulating the number of first pool garbage cleaning operations until there is no first pool garbage at the first garbage position, or the accumulated number of first pool garbage cleaning operations reaches the preset operation number threshold.

[0051] After the robot of the embodiment of the present invention returns to the position where the third image was taken and takes an image again, if it is found that there is still the first pool garbage at the first garbage position and the accumulated number of first pool garbage cleaning operations does not reach the preset operation number threshold, the robot can rotate to the direction pointing to the first pool garbage again, walk to the marked garbage position for cleaning, and accumulate the number of first pool garbage cleaning operations. After the cleaning is completed, the robot returns to the position where the third image was taken again to determine whether there is still the first pool garbage at the first garbage position and whether the accumulated number of first pool garbage cleaning operations reaches the preset operation number threshold, and repeat the above steps until there is no first pool garbage at the first garbage position, or the accumulated number of first pool garbage cleaning operations reaches the preset operation number threshold.

[0052] In an alternative embodiment, during the process of the robot cleaning based on the pool map, the areas that have been cleaned are marked on the pool map.

[0053] In the embodiment of the present invention, the uncleaned areas and the cleaned areas in the pool map can be designed to be distinguished by different colors. For example, the whole pool map is represented by black, the pool wall edge is depicted in white. During the process of the robot cleaning based on the pool map, the cleaned areas can be marked with a green identifier. When the areas circled in white all become green, it means that the whole pool has been cleaned. This is only an example.

[0054] By separately marking the uncleaned areas and cleaned areas on the pool map, the present invention ensures a clearer distinction between the cleaned areas and the uncleaned areas, avoiding repeated cleaning and missed cleaning, and improving the cleaning work efficiency.

[0055] In an alternative embodiment, before the robot walks along a preset path and performs cleaning, the pool environment around the robot scanned by the sonar device is obtained at the current position; the pose of the current robot determined by the robot pose acquisition device is obtained; the pool environment around the robot scanned by the sonar device is compared with the corresponding pool environment at the pose of the current robot on the pool map to determine whether the current pose of the robot is accurate; if it is determined that the current pose of the robot is accurate, the steps of the robot walking along the preset path and performing cleaning are executed.

[0056] Before the robot of the embodiment of the present invention enters the water, a pool image is obtained through the imaging device. Generally, the robot will enter the water in a straight line. Based on its position in the pool image, its position after entering the water can be determined, and then the pool cleaning operation can be performed based on the current position. However, a series of special situations may occur. For example, the pool environments corresponding to multiple positions are similar, and inaccurate pose determination may occur. Therefore, before the robot performs the cleaning task, the pool environment around the robot scanned by the sonar device can be obtained at the current position of the robot, and the pose of the current robot determined by the robot pose acquisition device can be obtained. The pool environment around the robot scanned by the sonar device is compared with the corresponding pool environment at the pose of the current robot on the pool map to determine whether the current pose of the robot is accurate. If the pose of the robot is inaccurate, the robot can be controlled to perform appropriate operations such as walking and rotating until the currently compared pose of the robot is accurate. Only after the current pose of the robot is confirmed to be accurate, the steps of the robot walking along the preset path and performing cleaning are executed.

[0057] In an alternative embodiment, the cleaning device installed on the robot is used to perform pool cleaning in real time during the walking process of the robot. During the process of the robot walking and constructing the pool map, the cleaning device is controlled to perform cleaning and mark the cleaned areas; after the pool map is constructed, the robot performs pool cleaning based on the unmarked areas in the constructed pool map.

[0058] During the process of the robot of the embodiment of the present invention walking and constructing the pool map, the cleaning device can be controlled to perform cleaning in real time, that is, wherever the robot walks, the cleaning device will clean there, and the cleaned areas can be marked. The pool map not only includes the environmental map of the pool and the robot's movement trajectory, but also includes the areas that have been cleaned by the robot during the map construction process. After the pool map is constructed, the robot can perform pool cleaning only based on the unmarked areas in the constructed pool map.

[0059] During the process of the robot of the present invention walking to construct a map, cleaning is carried out synchronously, avoiding the time waste of first constructing the map and then cleaning, effectively shortening the overall cleaning time, accurately positioning the uncleaned area, and improving the cleaning operation efficiency.

[0060] In an optional embodiment, during the process of the robot walking along a direction parallel to the target pool wall, the current walking direction of the robot is recorded, and a fourth image is collected by the imaging device; it is identified whether there is second pool garbage in the fourth image. If there is second pool garbage, the position of the second garbage is marked in the pool map, and the robot is controlled to rotate and walk to the marked position of the second garbage for garbage cleaning based on the direction pointing to the second pool garbage, and the operation times of the second pool garbage cleaning operation are accumulated; the robot returns to the position where the fourth image is taken, and the imaging device is controlled to take an image again to determine whether there is still second pool garbage; if there is still second pool garbage at the position of the fourth garbage, and the accumulated operation times of the second pool garbage cleaning operation reach the preset operation times threshold, then the second pool garbage is marked on the constructed pool map; based on the position where the fourth image is taken and the recorded current walking direction of the robot, the robot is controlled to walk along a direction parallel to the target pool wall and the cleaning device is controlled to clean.

[0061] During the process of the robot of the embodiment of the present invention walking to construct a map, not only can basic cleaning operations be performed, but also focused cleaning of pool garbage can be carried out, and the garbage that has not been cleaned after multiple cleanings is marked in the pool map, improving the integrity of the constructed pool map. During the cleaning process after the pool map is constructed, the cleaning of stubborn garbage can be ignored (the stubborn garbage can be focused on by manual cleaning), improving the cleaning efficiency.

[0062] During the process of pool mapping and cleaning by the robot according to the embodiments of the present invention, the walking path and the current walking direction of the robot can be recorded in real time. Meanwhile, the fourth image can be collected through the camera device, and it can be identified whether there is second pool garbage in the fourth image. If it is determined that there is second pool garbage in the fourth image, the second garbage position of the second pool garbage can be marked on the pool map. Then, it can rotate based on the direction pointing to the second pool garbage and walk to the second garbage position for garbage cleaning. At this time, the operation times of cleaning the second pool garbage can be accumulated. After the cleaning is completed, the robot can return to the position where the fourth image was taken, and control the camera device to take an image again, and then judge whether there is still second pool garbage at the second garbage position, and judge whether the accumulated operation times of cleaning the second pool garbage reach the preset operation times threshold, where the preset operation times threshold can be set according to actual needs. For example, the operation times threshold is 3 times. If it is recognized that there is still second pool garbage at the second garbage position and the accumulated operation times of cleaning the second pool garbage reach the preset operation times threshold, indicating that this pool garbage is stubborn garbage, then an identifier indicating that there is stubborn garbage here can be marked on the pool map. Finally, based on the position where the fourth image was taken and the recorded current walking direction of the robot, the robot continues to walk along the direction parallel to the target pool wall and controls the cleaning device to clean. For detailed description, please refer to the above embodiments and will not be repeated here.

[0063] In this embodiment, a robot is also provided, as Figure 6 shown. The robot includes a controller, a sonar device, a cleaning device, and a robot pose acquisition device. The sonar device is used to scan the pool environment around the robot, and the robot pose acquisition device is used to determine the pose of the robot. The controller includes a memory and a processor, which are communicatively connected to each other. The memory stores computer instructions, and the processor executes the above-mentioned pool cleaning method based on the robot by executing the computer instructions. For detailed description, please refer to the above embodiments and will not be repeated here.

[0064] In this embodiment, a pool cleaning device based on a robot is also provided. This device is used to implement the above embodiments and preferred implementation manners, and those that have been described will not be repeated. As used below, the term "module" can be a combination of software and / or hardware that can achieve a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware is also possible and contemplated.

[0065] This embodiment provides a pool cleaning device based on a robot, which is applied to a robot. The robot is equipped with a sonar device, a cleaning device, and a robot pose acquisition device. The sonar device is used to scan the pool environment around the robot, and the robot pose acquisition device is used to determine the pose of the robot, as Figure 7As shown in the figure, it includes: a pool map construction module 701, which is used for the robot to enter the water, obtain the first entry position, and iteratively perform map construction operations until the robot is at the first entry position again during the process of walking through the map construction operations, and complete the construction of the pool map. The map construction operations include: when the robot detects a target pool wall, controlling the robot to walk along a direction parallel to the target pool wall, where the target pool wall meets the following conditions: the robot has not walked along a direction parallel to the target pool wall, and the perpendicular distance between the target pool wall and the position of the robot is the closest; during the process of the robot walking along a direction parallel to the target pool wall, constructing the pool map based on the surrounding environment of the pool scanned by the sonar device and the walking trajectory of the robot; a pool cleaning module 702, which is used for the robot to clean the pool based on the completed pool map.

[0066] In some alternative embodiments, the robot stores a set of pool maps, which includes multiple pre-recorded pool maps. The robot is equipped with a camera device. Before the robot enters the water, the pool cleaning device based on the robot further includes: a pool identification module, which is used to obtain the first image captured by the camera device and determine whether there is a pool in the captured first image; a pool integrity judgment module, which is used to, if there is a pool in the captured first image, identify all the pool edges of the pool and determine whether all the pool edges can form a closed curve; a pool comparison module, which is used to, if all the pool edges can form a closed curve, obtain the attribute information of the pool and match the attribute information of the pool with each pool map in the set of pool maps. The attribute information of the pool includes at least geometric information and obstacle information; a map construction execution module, which is used to, if the matching fails for each pool map in the set of pool maps, execute the step of the robot entering the water, obtaining the first entry position, and iteratively performing map construction operations until the robot is at the first entry position again during the process of walking through the map construction operations, and complete the construction of the pool map.

[0067] In some alternative embodiments, if all the pool edges do not form a closed curve, the pool cleaning device based on the robot further includes: an intersection position identification module, which is used to identify the first direction of the pool edge that is not fully shown in the first image and record the position of the intersection point between the pool edge and the edge of the first image; a second image capturing module, which is used to rotate the robot by a preset angle in the first direction and control the camera device to capture a second image; a pool splicing module, which is used to obtain the pool edge corresponding to the first direction shown in the second image based on the position of the intersection point and splice the pool edge corresponding to the first direction to the first image based on the position of the intersection point to obtain an image in which all the pool edges form a closed curve, and then execute the step of obtaining the attribute information of the pool.

[0068] In some alternative embodiments, the robot is equipped with a camera device. The pool cleaning module includes: a third image capturing unit for the robot to walk and clean along a preset path, record the current walking direction of the robot, and capture a third image through the camera device; a garbage cleaning unit for identifying whether there is a first pool garbage in the third image. If there is a first pool garbage, mark the position of the first garbage on the pool map, rotate based on the direction pointing to the first pool garbage, and walk to the marked position of the first garbage for garbage cleaning, and accumulate the operation times of the first pool garbage cleaning operation; an image re-capturing unit for the robot to return to the position where the third image was captured and control the camera device to capture an image again to determine whether there is still a first pool garbage at the position of the first garbage; a garbage marking unit for, if there is still a first pool garbage at the position of the first garbage and the accumulated operation times of the first pool garbage cleaning operation reach a preset operation times threshold, mark the position of the first pool garbage on the pool map; a robot operation unit for the robot to walk and clean along a preset path based on the position where the third image was captured and the recorded current walking direction of the robot.

[0069] In some alternative embodiments, if there is still a first pool garbage at the position of the first garbage, but the accumulated operation times of the first pool garbage cleaning operation do not reach the preset operation times threshold, then return to execute the steps of controlling the robot to rotate based on the direction pointing to the first pool garbage and walking to the marked garbage position for garbage cleaning, and accumulating the operation times of the first pool garbage cleaning operation, until there is no first pool garbage at the position of the first garbage, or the accumulated operation times of the first pool garbage cleaning operation reach the preset operation times threshold.

[0070] In an alternative embodiment, a pool marking module is used to mark the cleaned area on the pool map during the process of the robot cleaning based on the pool map.

[0071] In an alternative embodiment, before the robot walks and cleans along a preset path, the pool cleaning device based on the robot further includes: a pool environment acquisition module for acquiring the pool environment around the robot scanned by the sonar device at the current position; a robot pose acquisition module for acquiring the current pose of the robot determined by the robot pose acquisition device; an environment comparison module for comparing the pool environment around the robot scanned by the sonar device with the pool environment corresponding to the current pose of the robot on the pool map to determine whether the current pose of the robot is accurate; a cleaning execution module for, if it is determined that the current pose of the robot is accurate, executing the steps of the robot walking and cleaning along a preset path.

[0072] The cleaning device installed on the robot is used to clean the swimming pool in real time during the walking process of the robot. The swimming pool cleaning device based on the robot further includes: a region marking module, which is used to control the cleaning device to clean during the process of the robot walking and constructing the swimming pool map, and mark the cleaned regions; a swimming pool cleaning module, which is used to clean the swimming pool based on the unmarked regions in the constructed swimming pool map after the construction of the swimming pool map is completed.

[0073] In an alternative embodiment, the robot is equipped with a camera device. During the process of the robot walking along a direction parallel to the target pool wall, the swimming pool cleaning device based on the robot further includes: a fourth image capturing module, which is used to record the current walking direction of the robot and capture a fourth image through the camera device; a garbage cleaning module, which is used to identify whether there is a second swimming pool garbage in the fourth image. If there is a second swimming pool garbage, mark the position of the second garbage in the swimming pool map, and control the robot to rotate and walk to the marked position of the second garbage for garbage cleaning based on the direction pointing to the second swimming pool garbage, and accumulate the operation times of the second swimming pool garbage cleaning operation; an image re-capturing module, which is used to control the robot to return to the position where the fourth image was captured and control the camera device to capture an image again to determine whether there is still a second swimming pool garbage; a garbage marking module, which is used to mark the position of the second swimming pool garbage on the constructed swimming pool map if there is still a second swimming pool garbage at the fourth garbage position and the accumulated operation times of the second swimming pool garbage cleaning operation reach the preset operation times threshold; a machine walking module, which is used to control the robot to walk along a direction parallel to the target pool wall and control the cleaning device to clean based on the position where the fourth image was captured and the recorded current walking direction of the robot.

[0074] The further function descriptions of the above-mentioned various modules and units are the same as those in the corresponding above-mentioned embodiments, and will not be elaborated here.

[0075] The swimming pool cleaning device based on the robot in this embodiment is presented in the form of functional units. Here, the unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and a memory that execute one or more software or fixed programs, and / or other devices that can provide the above functions.

[0076] The embodiment of the present invention also provides a controller having the above-mentioned Figure 7 shown swimming pool cleaning device based on the robot.

[0077] Please refer to Figure 8 , Figure 8 which is a schematic structural diagram of a controller provided by an alternative embodiment of the present invention. As Figure 8As shown, the controller includes: one or more processors 10, a memory 20, and interfaces for connecting the various components, including a high-speed interface and a low-speed interface. The various components communicate with each other using different buses and can be mounted on a common motherboard or otherwise mounted as required. The processor can process instructions executed within the controller, including instructions stored in the memory or on the memory for displaying graphical information of a GUI on an external input / output device (such as a display device coupled to the interface). In some alternative embodiments, if needed, multiple processors and / or multiple buses can be used with multiple memories and multiple memories. Similarly, multiple controllers can be connected, with each device providing part of the necessary operations (such as in an array of servers, a set of blade servers, or a multi-processor system). Figure 8 In the figure, a processor 10 is taken as an example.

[0078] The processor 10 can be a central processing unit, a network processor, or a combination thereof. Among them, the processor 10 can further include a hardware chip. The above-mentioned hardware chip can be an application-specific integrated circuit, a programmable logic device, or a combination thereof. The above-mentioned programmable logic device can be a complex programmable logic device, a field-programmable gate array, a generic array logic, or any combination thereof.

[0079] Among them, the memory 20 stores instructions executable by at least one processor 10, so that at least one processor 10 executes the method shown in the above embodiments.

[0080] The memory 20 can include a program storage area and a data storage area. Among them, the program storage area can store an operating system and application programs required for at least one function; the data storage area can store data created according to the use of the controller, etc. In addition, the memory 20 can include a high-speed random access memory, and can also include a non-transitory memory, such as at least one disk storage device, a flash memory device, or other non-transitory solid-state storage devices. In some alternative embodiments, the memory 20 can optionally include a memory remotely set relative to the processor 10, and these remote memories can be connected to the controller through a network. Examples of the above-mentioned network include but are not limited to the Internet, an enterprise intranet, a local area network, a mobile communication network, and combinations thereof.

[0081] The memory 20 can include a volatile memory, such as a random access memory; the memory can also include a non-volatile memory, such as a flash memory, a hard disk, or a solid-state drive; the memory 20 can also include a combination of the above types of memories.

[0082] The controller further includes an input device 30 and an output device 40. The processor 10, the memory 20, the input device 30, and the output device 40 can be connected through a bus or other means. Figure 8Take the bus connection as an example.

[0083] The input device 30 can receive input digital or character information and generate key signal inputs related to the user settings and function controls of the controller, such as a touch screen, a keypad, a mouse, a trackpad, a touchpad, a pointing stick, one or more mouse buttons, a trackball, a joystick, etc. The output device 40 can include a display device, an auxiliary lighting device (e.g., an LED), and a haptic feedback device (e.g., a vibration motor), etc. The above display device includes but is not limited to a liquid crystal display, a light emitting diode, a display, and a plasma display. In some alternative embodiments, the display device can be a touch screen.

[0084] The embodiments of the present invention also provide a computer-readable storage medium. The method according to the embodiments of the present invention can be implemented in hardware, firmware, or be implemented as computer code that can be recorded on a storage medium, or be implemented by downloading through a network and originally stored in a remote storage medium or a non-transitory machine-readable storage medium and will be stored in a local storage medium, so that the method described herein can be stored in such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only memory, a random access memory, a flash memory, a hard disk, or a solid-state drive, etc.; further, the storage medium can also include a combination of the above types of memories. It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component that can store or receive software or computer code, and when the software or computer code is accessed and executed by the computer, the processor, or the hardware, the method shown in the above embodiments is implemented.

[0085] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A swimming pool cleaning method based on a robot, characterized in that: Applied to a robot, the robot is equipped with a sonar device, a cleaning device and a machine posture acquisition device, the sonar device is used to scan the swimming pool environment around the robot, and the machine posture acquisition device is used to determine the robot's posture. The method includes: The robot enters the water and obtains a first water entry position, and iteratively performs a map construction operation until the robot is at the first water entry position again during the process of walking through the map construction operation, and the pool map is constructed. The map construction operation includes: When the robot detects the target pool wall, the robot is controlled to walk in a direction parallel to the target pool wall, wherein the target pool wall satisfies the following conditions: the robot has not walked in a direction parallel to the target pool wall, and the vertical distance between the target pool wall and the position of the robot is the shortest; When the robot walks in a direction parallel to the target pool wall, a pool map is constructed based on the surrounding pool scanned by the sonar device and the robot's walking trajectory; The robot cleans the pool based on the constructed pool map.

2. The method according to claim 1, characterized in that The robot stores a pool map set, wherein the pool map set includes a plurality of pre-recorded pool maps, and the robot is equipped with a camera device. Before the robot enters the water, the method further includes: Acquire a first image captured by a camera device, and determine whether a swimming pool exists in the captured first image; If a swimming pool exists in the captured first image, identifying all pool sides of the swimming pool, and determining whether all pool sides can form a closed curve; If all the pool edges can form a closed curve, obtain attribute information of the pool, and match the attribute information of the pool with each pool map in the pool map set, wherein the attribute information of the pool includes at least geometric information and obstacle information; If the matching with each swimming pool map in the swimming pool map set fails, the robot enters the water and obtains the first water entry position, and the map building operation is iteratively performed until the robot is in the first water entry position again during the walking process through the map building operation, and the step of building the swimming pool map is completed.

3. The method according to claim 2, characterized in that If all the pool edges do not form a closed curve, the method further includes: identifying a first direction of an edge of the pool that is not fully displayed in the first image, and recording a location of an intersection of the edge of the pool with an edge of the first image; The robot rotates a preset angle in the first direction, and controls the camera device to capture a second image; Based on the position of the intersection, the edge of the swimming pool corresponding to the first direction is obtained from the second image, and the edge of the swimming pool corresponding to the first direction is spliced ​​into the first image based on the position of the intersection to obtain an image in which all the edges of the swimming pool form a closed curve, and then the step of obtaining the attribute information of the swimming pool is performed.

4. The method according to claim 1 or 2, characterized in that: The robot is equipped with a camera device, and the robot cleans the swimming pool based on the constructed swimming pool map, or, if the attribute information of the swimming pool successfully matches any swimming pool map in the swimming pool map set, cleans the swimming pool based on the successfully matched swimming pool map, including: The robot walks and cleans according to a preset path, records the current walking direction of the robot, and collects a third image through a camera device; Identify whether there is first swimming pool garbage in the third image, if there is first swimming pool garbage, mark the first garbage location in the swimming pool map, rotate based on the direction pointing to the first swimming pool garbage, walk to the marked first garbage location to clean the garbage, and accumulate the number of first swimming pool garbage cleaning operations; The robot returns to the position where the third image is taken, and controls the camera device to take an image again to determine whether the first swimming pool garbage still exists at the first garbage position; If the first swimming pool garbage still exists at the first garbage location, and the accumulated number of first swimming pool garbage cleaning operations reaches a preset operation number threshold, the first swimming pool garbage location is marked on the swimming pool map; The robot walks and cleans along a preset path based on the location where the third image is taken and the recorded current walking direction of the robot.

5. The method according to claim 4, characterized in that If the first swimming pool garbage still exists at the first garbage location, but the accumulated number of first swimming pool garbage cleaning operations does not reach the preset operation number threshold, the process returns to executing the steps of controlling the robot to rotate based on the direction pointing to the first swimming pool garbage and walk to the marked garbage location to clean the garbage, and accumulating the number of first swimming pool garbage cleaning operations, until the first swimming pool garbage does not exist at the first garbage location, or the accumulated number of first swimming pool garbage cleaning operations reaches the preset operation number threshold.

6. The method according to claim 4, characterized in that When the robot cleans the pool based on the pool map, the cleaned area is marked on the pool map.

7. The method according to claim 4, characterized in that Before the robot walks along the preset path and performs cleaning, the method further includes: Obtain the swimming pool environment around the robot scanned by the sonar device at the current position; Acquire the current robot posture determined by the machine posture acquisition device; Compare the swimming pool environment around the robot scanned by the sonar device with the swimming pool environment corresponding to the current position of the robot on the swimming pool map to determine whether the current position of the robot is accurate; If it is determined that the current posture of the robot is accurate, the steps of the robot walking along a preset path and cleaning are executed.

8. The method according to claim 1, characterized in that: The cleaning device installed on the robot is used to clean the swimming pool in real time while the robot is walking. The method also includes: While the robot is walking and building a pool map, it controls the cleaning device to clean and marks the cleaned area; After the pool map is constructed, the robot cleans the pool based on the unmarked areas in the constructed pool map.

9. The method according to claim 8, characterized in that During the process of the robot walking in a direction parallel to the target pool wall, the method further includes: Recording the current walking direction of the robot, and collecting a fourth image through a camera device; Identify whether there is second swimming pool garbage in the fourth image, if there is second swimming pool garbage, mark the second garbage location in the swimming pool map, and control the robot to rotate and walk to the marked second garbage location based on the direction pointing to the second swimming pool garbage to clean the garbage, and accumulate the number of second swimming pool garbage cleaning operations; The robot returns to the position where the fourth image is taken, and controls the camera device to take another image to determine whether there is still garbage in the second swimming pool; If there is still second swimming pool garbage at the fourth garbage position, and the accumulated second swimming pool garbage cleaning operation times reaches a preset operation times threshold, the second swimming pool garbage location is marked on the constructed swimming pool map; Based on the position where the fourth image is taken and the recorded current walking direction of the robot, the robot is controlled to walk in a direction parallel to the target pool wall and controls the cleaning device to perform cleaning.

10. A robot-based swimming pool cleaning device, characterized in that: Applied to a robot, the robot is equipped with a sonar device, a cleaning device and a machine posture acquisition device, the sonar device is used to scan the swimming pool environment around the robot, the machine posture acquisition device is used to determine the robot's posture, and the device includes: The swimming pool map construction module is used for the robot to enter the water and obtain the first water entry position, and iteratively perform the map construction operation until the robot is at the first water entry position again during the walking process through the map construction operation, and the swimming pool map is constructed. The map construction operation includes: When the robot detects the target pool wall, the robot is controlled to walk in a direction parallel to the target pool wall, wherein the target pool wall satisfies the following conditions: the robot has not walked in a direction parallel to the target pool wall, and the vertical distance between the target pool wall and the position of the robot is the shortest; When the robot walks in a direction parallel to the target pool wall, a pool map is constructed based on the surrounding pool scanned by the sonar device and the robot's walking trajectory; The pool cleaning module is used by the robot to clean the pool based on the constructed pool map.

11. A robot, characterized in that: The robot includes a controller, a sonar device, a cleaning device and a machine posture acquisition device, wherein the sonar device is used to scan the swimming pool environment around the robot, and the machine posture acquisition device is used to determine the robot's posture. The controller includes a memory and a processor, and the memory and the processor are communicatively connected to each other. Computer instructions are stored in the memory, and the processor executes the robot-based swimming pool cleaning method described in any one of claims 1 to 8 by executing the computer instructions.

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