Positioning method and device for automatic pool cleaning equipment

Abstract

The invention relates to a positioning method and device for automatic pool cleaning equipment, and the method comprises the steps: collecting image data through a visual sensor when the automatic pool cleaning equipment runs in a pool for cleaning operation; and based on the image data and the map data of the pool, obtaining the current position information of the automatic cleaning equipment for the pool. Therefore, the automatic pool cleaning equipment can be quickly and accurately positioned in time by utilizing the image data of the visual sensor.

Description

Technical Field

[0001] The present disclosure relates to the technical field of underwater robot positioning, and particularly to a positioning method and device for a pool automatic cleaning device. Background Art

[0002] With the development of artificial intelligence technology, underwater robots have gradually been widely used in the fields of home and commercial pool cleaning. Compared with the traditional manual cleaning method, pool robots can autonomously clean the bottom and walls of the pool, with faster cleaning speed, better cleaning effect, and lower cost.

[0003] Since underwater robots need to operate underwater, most current sensors, such as lidar and encoders, are greatly limited in water, resulting in low accuracy when underwater robots perform positioning underwater. Summary of the Invention

[0004] The present disclosure provides a positioning method and device for a pool automatic cleaning device, which are used to position the pool automatic cleaning device in a swimming pool.

[0005] According to the first aspect of the present disclosure, there is provided a positioning method for a pool automatic cleaning device, the method including:

[0006] When the pool automatic cleaning device travels in the pool for cleaning operations, image data is collected by using a vision sensor;

[0007] Based on the image data and the map data of the pool, the current position information of the pool automatic cleaning device is obtained.

[0008] According to the second aspect of the present disclosure, there is provided a positioning device for a pool automatic cleaning device, the device including:

[0009] An image acquisition module, configured to collect image data by using a vision sensor when the pool automatic cleaning device travels in the pool for cleaning operations;

[0010] A position information acquisition module, configured to obtain the current position information of the pool automatic cleaning device based on the image data and the map data of the pool.

[0011] According to the third aspect of the present disclosure, there is provided an electronic device. The electronic device includes: a memory and a processor, and a computer program is stored on the memory, and when the processor executes the program, the method as described above is implemented.

[0012] According to the fourth aspect of the present disclosure, there is provided a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the above method of the present disclosure is implemented.

[0013] According to a fifth aspect of the present disclosure, there is provided a computer program product including a computer program which, when executed by a processor, implements the above-mentioned method of the present disclosure.

[0014] For the positioning method and device of the pool automatic cleaning equipment provided by the embodiments of the present disclosure, when the pool automatic cleaning equipment performs cleaning operations in a swimming pool, image data can be collected by using a vision sensor; based on the image data and the map data of the pool, the current position information of the pool automatic cleaning equipment can be obtained. In this way, by using the image data of the vision sensor, the pool automatic cleaning equipment can be quickly and accurately positioned in a timely manner. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In the following description of exemplary embodiments with reference to the accompanying drawings, more details, features and advantages of the present disclosure are disclosed. In the drawings:

[0016] Figure 1 is a flowchart of a positioning method of a pool automatic cleaning equipment provided by an exemplary embodiment of the present disclosure;

[0017] Figure 2 is a schematic block diagram of functional modules of a positioning device of a pool automatic cleaning equipment provided by an exemplary embodiment of the present disclosure;

[0018] Figure 3 is a block diagram of the structure of an electronic device provided by an exemplary embodiment of the present disclosure;

[0019] Figure 4 is a block diagram of the structure of a computer system provided by an exemplary embodiment of the present disclosure. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0020] Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although some embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. On the contrary, these embodiments are provided to more thoroughly and completely understand the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are only for exemplary purposes and are not used to limit the protection scope of the present disclosure.

[0021] It should be understood that the various steps recorded in the method embodiments of the present disclosure can be executed in a different order and / or in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present disclosure is not limited in this regard.

[0022] As used herein, the term "including" and its variations are open-ended, i.e., "including but not limited to". The term "based on" means "at least partially based on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". The relevant definitions of other terms will be given in the following description. It should be noted that the concepts such as "first", "second", etc. mentioned in this disclosure are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0023] It should be noted that the modifications of "one" and "plural" mentioned in this disclosure are illustrative rather than restrictive. Those skilled in the art should understand that unless otherwise clearly specified in the context, it should be understood as "one or more".

[0024] The names of the messages or information exchanged between multiple devices in the embodiments of this disclosure are only for illustrative purposes and are not used to limit the scope of these messages or information.

[0025] It can be understood that before using the technical solutions disclosed in the embodiments of this disclosure, the types, usage scopes, usage scenarios, etc. of the personal information involved in this disclosure should be informed to the user and the user's authorization should be obtained in an appropriate manner in accordance with relevant laws and regulations.

[0026] For example, when responding to receiving an active request from the user, a prompt message is sent to the user to clearly prompt the user that the operation requested by the user will require obtaining and using the user's personal information. Thus, the user can autonomously choose whether to provide personal information to software or hardware such as an electronic device, an application program, a server, or a storage medium that performs the operations of the technical solutions of this disclosure according to the prompt message.

[0027] As an optional but non-limiting implementation manner, when responding to receiving an active request from the user, the manner of sending a prompt message to the user can be, for example, in the form of a pop-up window, and the prompt message can be presented in text in the pop-up window. In addition, the pop-up window can also carry a selection control for the user to choose "agree" or "disagree" to provide personal information to the electronic device. It can be understood that the above process of notifying and obtaining the user's authorization is only illustrative and does not limit the implementation manner of this disclosure, and other manners that meet relevant laws and regulations can also be applied to the implementation manner of this disclosure.

[0028] Due to the special working environment of the pool automatic cleaning equipment, most current sensors are difficult to work properly underwater, such as lidar, etc., resulting in great difficulty in implementing the positioning system of the pool automatic cleaning equipment. Currently, most SLAM (Simultaneous Localization and Mapping) systems in the industry are based on sensors such as encoders and IMUs (Inertial Measurement Units) that can work properly underwater for robot positioning. However, these sensors have little or very limited perception of the environment, resulting in low positioning accuracy of the pool automatic cleaning equipment in the related technologies. Therefore, it is particularly important to improve the positioning ability of the robot by combining cameras.

[0029] To solve the above technical problems, in the embodiments provided by the present disclosure, when the pool automatic cleaning equipment performs cleaning operations in the pool, image data of the current water can be collected through a vision sensor provided on the pool automatic cleaning equipment. Among them, the vision sensor may include a camera, and the camera may specifically include a monocular camera, a binocular camera, a multi-camera or a panoramic camera, etc., and the embodiments are not limited thereto.

[0030] In the embodiments, the vision sensor may be set at a preset position of the pool automatic cleaning equipment, and the preset position may include the top, the front, the obliquely front or around the pool automatic cleaning equipment, etc., and the embodiments are not limited thereto.

[0031] In the embodiments provided by the present disclosure, image data of the current pool can be collected through a vision sensor provided on the pool automatic cleaning equipment, and the image quality of the image data can be judged to obtain the clarity of the image data to determine the current visibility of the pool. When the visibility is higher, it is better to extract the image features in the image data, which helps with underwater positioning.

[0032] Therefore, when the clarity of the image data is greater than the threshold, it means that the current visibility of the pool is greater than the preset visibility, and the pool automatic cleaning equipment can be positioned by VSLAM (Visual Simultaneous Localization and Mapping). Specifically, the VSLAM positioning system can be used to fuse with the basic VSLAM system to position the pool automatic cleaning equipment.

[0033] It should be noted that if multiple cameras are set at different parts of the pool automatic cleaning device, the image data collected by each camera can be obtained separately. Affected by factors such as light in different directions, the clarity of the image data collected by each camera may be different. At this time, in order to facilitate the positioning of the pool automatic cleaning device through the collected image data, the image data with the highest clarity can be selected from the image data collected by each camera for positioning.

[0034] In the embodiment, the pool automatic cleaning device can analyze the clarity of the above image data through image analysis to obtain the current visibility of the pool. Alternatively, a turbidity detection sensor can also be provided on the pool automatic cleaning device, and the current turbidity of the pool is detected by the turbidity detection sensor to obtain the current visibility of the pool. The embodiment is not limited thereto.

[0035] In the embodiment provided by the present disclosure, since the clarity of the image data obtained through the camera is largely related to the light in the pool water, therefore, a lighting device can also be provided on the pool automatic cleaning device. When the clarity of the image data is lower than the threshold, the lighting device is turned on, and the image data is collected again to improve the clarity of the image data, and thus the positioning accuracy when positioning through VSLAM can be improved.

[0036] Based on the above embodiment, the embodiment of the present disclosure also provides a positioning method for a pool automatic cleaning device, as Figure 1 shown, the method may include the following steps:

[0037] In step S110, when the pool automatic cleaning device travels in the pool for cleaning operations, image data is collected by using a vision sensor.

[0038] In the embodiment, the image data of the current pool can be obtained through the vision sensor provided in the pool automatic cleaning device. The vision sensor may include a camera, and the camera may specifically include a monocular camera, a binocular camera, a multiocular camera, a panoramic camera, etc. The embodiment is not limited thereto. In this way, the clarity of the image data is detected, and the visibility of the current pool of the target pool automatic cleaning device is determined based on the clarity.

[0039] In step S120, the current position information of the pool automatic cleaning device is obtained based on the image data and the map data of the pool.

[0040] In an embodiment, when the pool automatic cleaning device travels in the pool for cleaning operations, image data can be collected using visual sensors such as cameras. At this time, the current position information of the pool automatic cleaning device can be obtained based on the collected image data and the map data of the pool. In this way, by using the image data of the visual sensor, the pool automatic cleaning device can be quickly and accurately positioned in a timely manner.

[0041] Specifically, in the embodiment, the current position information of the cleaning device can be obtained based on the VSLAM positioning technology.

[0042] In the embodiment provided by the present disclosure, the visibility of the current pool can also be obtained. When the visibility is lower than the preset visibility, it is determined whether the image data meets the preset conditions. If the image data meets the preset conditions, the current position information of the automatic cleaning device is obtained based on the image data and the map data of the pool.

[0043] In the embodiment, the preset conditions may include the clarity of the image, the exposure of the image, the presence of specific objects in the image, and the positioning error generated based on the image data and the map data within the preset error range; wherein, the positioning error is obtained by comparing with the positioning information generated based on the data collected by a code disk or the like; or, the image data is collected when the cleaning device travels to a specific area; wherein, the determination of traveling to a specific area is made based on the positioning information obtained by matching the data collected by the code disk, IMU, etc. with the map.

[0044] In the embodiment, image data can be collected by the visual sensor on the pool automatic cleaning device, and the current visibility of the pool can be determined by detecting the clarity of the image data. Additionally, in the embodiment, a turbidity detection sensor can also be provided on the pool automatic cleaning device, and the current visibility of the pool can be obtained by detecting the turbidity of the current pool through the turbidity detection sensor. The embodiment is not limited thereto.

[0045] In the embodiment provided by the present disclosure, when determining whether the image data meets the preset conditions, it can be based on the clarity of the image, the exposure of the image, the presence of specific objects in the image, generating a first positioning information based on the image data and the map data, and generating a second positioning information based on the code disk, IMU, distance sensor, depth gauge, and / or magnetometer on the pool automatic cleaning device and the map data. By comparing the difference between the first positioning information and the second positioning information, the positioning error is obtained. When the positioning error is within the preset error range, it can be determined that the image data meets the preset conditions, otherwise it does not meet the preset conditions. At this time, the current position information of the pool automatic cleaning device can be obtained based on the code disk, IMU, distance sensor, depth gauge, and / or magnetometer of the pool automatic cleaning device and the map data. Among them, the map data may include map data in a relative coordinate system or map data in an absolute coordinate system.

[0046] It should be noted that the clarity of the image, the exposure of the image, and the presence of specific objects in the image can be obtained by analyzing and processing the image data to obtain the clarity and exposure of the image. Additionally, it is also possible to detect whether a specific object is included in the image through image target detection methods, such as through image preprocessing, feature extraction, and feature matching of the image data.

[0047] In the embodiments provided by the present disclosure, when determining whether the image data meets the preset conditions, it is also possible to determine that the image data meets the preset conditions when the image data is collected when the cleaning device travels to a specific area. Otherwise, it does not meet the preset conditions. Among them, in the embodiments, the positioning information obtained based on the encoder, IMU, distance sensor, depth gauge, and / or magnetometer of the pool automatic cleaning device and the map data can be used to determine whether the cleaning device travels to a specific area.

[0048] For example, it is possible to determine whether the pool automatic cleaning device travels to a specific area by matching the data collected by at least one of the sensors based on the encoder, IMU, distance sensor, depth gauge, and magnetometer of the pool automatic cleaning device with the pre-constructed pool map. The specific area can be a certain area of the pool, such as a certain edge or corner, etc., and the embodiments are not limited thereto.

[0049] The positioning method of the pool automatic cleaning device provided by the embodiments of the present disclosure can use a vision sensor to collect image data when the pool automatic cleaning device performs cleaning operations in the pool; and obtain the current position information of the automatic cleaning device based on the image data and the map data of the pool. In this way, by using the vision sensor image data, the pool automatic cleaning device can be quickly and accurately positioned in a timely manner.

[0050] In the case of dividing each function into corresponding function modules, the embodiments of the present disclosure provide a positioning device for a pool automatic cleaning device, and the positioning device for the pool automatic cleaning device can be a server, a terminal, or a chip applied to the server. Figure 2 It is a schematic block diagram of the function modules of the positioning device for the pool automatic cleaning device provided by an exemplary embodiment of the present disclosure. As Figure 2 shown, the positioning device includes:

[0051] An image acquisition module 10, configured to use a vision sensor to collect image data when the pool automatic cleaning device travels in the pool to perform cleaning operations;

[0052] A position information acquisition module 20, configured to obtain the current position information of the pool automatic cleaning device based on the image data and the map data of the pool.

[0053] In another embodiment provided by the present disclosure, the position information acquisition module is specifically configured to:

[0054] Obtain the current visibility of the pool;

[0055] When the visibility is lower than a preset visibility, determine whether the image data meets a preset condition;

[0056] If the image data meets the preset condition, obtain the current position information of the pool automatic cleaning device based on the image data and the map data of the pool.

[0057] In another embodiment provided by the present disclosure, the position information acquisition module is further specifically configured to:

[0058] If the image data does not meet the preset condition, obtain the current position information of the pool automatic cleaning device based on the encoder, IMU, distance sensor, depth gauge and / or magnetometer of the pool automatic cleaning device and the map data.

[0059] In another embodiment provided by the present disclosure, the preset condition includes the clarity of the image, the exposure of the image, the presence of specific objects in the image, the positioning error generated based on the image data and the map data being within a preset error range, or the image data being collected when the cleaning device travels to a specific area.

[0060] In another embodiment provided by the present disclosure, the visibility is obtained through image analysis or by a turbidity detection sensor on the cleaning device.

[0061] In another embodiment provided by the present disclosure, the position information acquisition module is further specifically configured to:

[0062] Obtain the current position information of the cleaning device based on the VSLAM positioning technology.

[0063] In another embodiment provided by the present disclosure, the map data includes map data in a relative coordinate system or map data in an absolute coordinate system.

[0064] The positioning device of the pool automatic cleaning device provided by the embodiments of the present disclosure can collect image data by using a vision sensor when the pool automatic cleaning device performs a cleaning operation in the pool; and obtain the current position information of the pool automatic cleaning device based on the image data and the map data of the pool. In this way, by using the vision sensor image data, the pool automatic cleaning device can be quickly and accurately positioned in a timely manner.

[0065] An embodiment of the present disclosure further provides an electronic device, including: at least one processor; a memory for storing instructions executable by the at least one processor; wherein the at least one processor is configured to execute the instructions to implement the above method disclosed in the embodiments of the present disclosure.

[0066] Figure 3 FIG. is a schematic structural diagram of an electronic device provided by an exemplary embodiment of the present disclosure. As Figure 3 shown, the electronic device 1800 includes at least one processor 1801 and a memory 1802 coupled to the processor 1801. The processor 1801 may execute the corresponding steps in the above method disclosed in the embodiments of the present disclosure.

[0067] The above processor 1801 may also be referred to as a central processing unit (CPU). It may be an integrated circuit chip with signal processing capabilities. Each step in the above method disclosed in the embodiments of the present disclosure may be completed by the integrated logic circuit in the hardware of the processor 1801 or by instructions in software form. The above processor 1801 may be a general-purpose processor, a digital signal processor (DSP), an ASIC (Application Specific Integrated Circuit), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc. The steps of the method disclosed in combination with the embodiments of the present disclosure may be directly embodied as being executed and completed by the hardware decoding processor, or executed and completed by a combination of the hardware and software modules in the decoding processor. The software module may be located in the memory 1802, such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, and other mature storage media in the art. The processor 1801 reads the information in the memory 1802 and combines its hardware to complete the steps of the above method.

[0068] In addition, when various operations / processes according to the present disclosure are implemented by software and / or firmware, a program constituting the software may be installed from a storage medium or a network into a computer system having a dedicated hardware structure, such as Figure 4 the computer system 1900 shown. When various programs are installed in the computer system, it can execute various functions, including functions such as those described above. Figure 4 FIG. is a block diagram of a computer system provided by an exemplary embodiment of the present disclosure.

[0069] The computer system 1900 is intended to represent computer devices of various forms of digital electronics, such as, laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic devices can also represent various forms of mobile devices, such as, personal digital processors, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are only examples and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0070] As Figure 4 shown, the computer system 1900 includes a computing unit 1901, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 1902 or a computer program loaded from a storage unit 1908 into a random access memory (RAM) 1903. In the RAM 1903, various programs and data required for the operation of the computer system 1900 can also be stored. The computing unit 1901, the ROM 1902, and the RAM 1903 are connected to each other through a bus 1904. An input / output (I / O) interface 1905 is also connected to the bus 1904.

[0071] A plurality of components in the computer system 1900 are connected to the I / O interface 1905, including: an input unit 1906, an output unit 1907, a storage unit 1908, and a communication unit 1909. The input unit 1906 can be any type of device capable of inputting information into the computer system 1900. The input unit 1906 can receive input digital or character information and generate key signal inputs related to the user settings and / or function controls of the electronic device. The output unit 1907 can be any type of device capable of presenting information and can include, but is not limited to, a display, a speaker, a video / audio output terminal, a vibrator, and / or a printer. The storage unit 1908 can include, but is not limited to, magnetic disks, optical disks. The communication unit 1909 allows the computer system 1900 to exchange information / data with other devices through a network such as the Internet and can include, but is not limited to, a modem, a network card, an infrared communication device, a wireless communication transceiver, and / or a chipset, such as a Bluetooth™ device, a WiFi device, a WiMax device, a cellular communication device, and / or the like.

[0072] The computing unit 1901 may be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 1901 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 1901 executes the various methods and processes described above. For example, in some embodiments, the above-described methods disclosed in the embodiments of the present disclosure may be implemented as a computer software program tangibly embodied in a machine-readable medium, such as the storage unit 1908. In some embodiments, part or all of the computer program may be loaded and / or installed onto the electronic device via the ROM 1902 and / or the communication unit 1909. In some embodiments, the computing unit 1901 may be configured to execute the above-described methods disclosed in the embodiments of the present disclosure in any other suitable manner (e.g., by means of firmware).

[0073] The embodiments of the present disclosure also provide a computer-readable storage medium, wherein when the instructions in the computer-readable storage medium are executed by a processor of an electronic device, the electronic device is enabled to execute the above-described methods disclosed in the embodiments of the present disclosure.

[0074] The computer-readable storage medium in the embodiments of the present disclosure may be a tangible medium that may contain or store a program for use by or in connection with an instruction execution system, apparatus, or device. The above computer-readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specifically, the above computer-readable storage medium may include an electrical connection based on one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0075] The above computer-readable medium may be included in the above electronic device; or may exist separately without being assembled into the electronic device.

[0076] The embodiments of the present disclosure also provide a computer program product, including a computer program, wherein when the computer program is executed by a processor, the above-described methods disclosed in the embodiments of the present disclosure are implemented.

[0077] In embodiments of the present disclosure, computer program code for performing the operations of the present disclosure may be written in one or more programming languages or combinations thereof. The foregoing programming languages include, but are not limited to, object-oriented programming languages such as Java, Smalltalk, C++, and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, executed as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer through any type of network (including a local area network (LAN) or a wide area network (WAN)), or may be connected to an external computer.

[0078] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagram may represent a module, a program segment, or a portion of code that contains one or more executable instructions for implementing a specified logical function. It should also be noted that, in some alternative implementations, the functions noted in the blocks may occur in a different order than noted in the accompanying drawings. For example, two consecutive blocks shown may actually be executed substantially in parallel, or they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and combinations of blocks in the block diagram and / or flowchart, may be implemented by a dedicated hardware-based system for performing the specified functions or operations, or may be implemented by a combination of dedicated hardware and computer instructions.

[0079] The modules, components, or units described in the embodiments of the present disclosure may be implemented in software or in hardware. Among them, the names of the modules, components, or units do not, in some cases, constitute a limitation on the modules, components, or units themselves.

[0080] The functions described above herein may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary hardware logic components that may be used include: field programmable gate arrays (FPGA), application specific integrated circuits (ASIC), application specific standard products (ASSP), system on a chip (SOC), complex programmable logic devices (CPLD), and so on.

[0081] The above description is only some embodiments of the present disclosure and an explanation of the applied technical principles. Those skilled in the art should understand that the scope of disclosure involved in the present disclosure is not limited to the technical solutions formed by the specific combination of the above technical features, and should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above disclosure concept. For example, the technical solutions formed by mutually replacing the above features with the technical features (but not limited to) having similar functions disclosed in the present disclosure.

[0082] Although some specific embodiments of the present disclosure have been described in detail by way of examples, those skilled in the art should understand that the above examples are only for illustration and not for limiting the scope of the present disclosure. Those skilled in the art should understand that the above embodiments can be modified without departing from the scope and spirit of the present disclosure. The scope of the present disclosure is defined by the appended claims.

Claims

1. A method for positioning an automatic pool cleaning device, characterized in that: The method comprises: When the automatic pool cleaning device drives in the pool to perform cleaning operations, the visual sensor is used to collect image data; The current position information of the automatic pool cleaning device is obtained based on the image data and the map data of the pool.

2. The method according to claim 1, characterized in that The method of obtaining the current position information of the automatic pool cleaning device based on the image data and the map data of the pool includes: Get the current visibility of the pool; When the visibility is lower than a preset visibility, determining whether the image data meets a preset condition; If the image data meets a preset condition, the current position information of the automatic pool cleaning device is acquired based on the image data and the map data of the pool.

3. The method according to claim 2, characterized in that The method further comprises: If the image data does not meet the preset conditions, the current position information of the automatic pool cleaning device is obtained based on the code disk, IMU, distance sensor, depth meter and / or magnetometer of the automatic pool cleaning device and the map data.

4. The method according to claim 2 or 3, characterized in that: The preset conditions include image clarity, image exposure, the image contains specific objects, the positioning error generated based on image data and map data is within a preset error range, or the image data is collected when the cleaning device travels to a specific area.

5. The method according to claim 2 or 3, characterized in that: The visibility is obtained through image analysis or acquired through a turbidity detection sensor on the cleaning device.

6. The method according to claim 2, characterized in that The obtaining the current position information of the automatic pool cleaning device based on the image data and the map data of the pool includes: The current position information of the cleaning device is obtained based on VSLAM positioning technology.

7. The method according to claim 1, characterized in that The map data includes map data in a relative coordinate system or map data in an absolute coordinate system.

8. A positioning device for an automatic pool cleaning device, characterized in that: The device comprises: An image acquisition module, used to collect image data using a visual sensor when the automatic pool cleaning device is driving in the pool to perform cleaning operations; A position information acquisition module is used to acquire current position information of the automatic pool cleaning device based on the image data and the map data of the pool.

9. An electronic device, characterized in that: include: at least one processor; a memory for storing the at least one processor-executable instruction; The at least one processor is configured to execute the instructions to implement the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: When the instructions in the computer-readable storage medium are executed by a processor of an electronic device, the electronic device is enabled to perform the method as claimed in any one of claims 1 to 7.

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