Automatic pool cleaning device, control method and computer storage medium thereof

Abstract

The invention provides an automatic pool cleaning device, a control method and a computer storage medium, the automatic pool cleaning device comprises a laser radar, the sensing area of the laser radar comprises the side area and the front area of the automatic pool cleaning device, and the control method comprises the steps that the automatic pool cleaning device is controlled to move in a pool; in the moving process of the automatic pool cleaning device, point cloud data detected by the laser radar are obtained; based on the point cloud data, the moving path of the automatic pool cleaning device is controlled.

Description

Technical Field

[0001] This application relates to the technical field of cleaning devices, and particularly to an automatic pool cleaning device, a control method therefor, and a computer storage medium thereof. Background Art

[0002] With the popularization of swimming pools and the remarkable progress of robot technology, more and more consumers tend to use automated pool cleaning robots to perform pool cleaning tasks. Currently, pool cleaning robots perform cleaning tasks in underwater and water surface environments, mainly relying on ultrasonic sensors to detect the distance between the robot and the pool wall or obstacles to maintain a stable movement trajectory. For example, in the edge cleaning task, the sensors in front of the robot are used to detect the corners or obstacles of the pool, while the sensors on the sides are used to judge the distance between the robot and the pool wall. However, this multi-sensor layout has many problems: on the one hand, it requires more space to install sensor modules, increasing the complexity of the robot's structural design; on the other hand, in order to connect and manage these sensors, additional electronic components (such as wire harnesses and cables, etc.) need to be added, which not only increases the cost and weight of the robot, but also increases the failure risk of the robot. Especially in the underwater environment, the sensor module is easily interfered, and the failure of any one sensor may affect the overall working state of the robot. In addition, the sensing range and sensing angle of traditional sensors are limited, and it is difficult to accurately judge the situation of the side pool wall and the front obstacle simultaneously in a complex environment, which easily leads to path planning errors or collisions of the robot. Therefore, there is an urgent need to develop a new implementation method to avoid the above problems and ensure that the pool cleaning robot can perform cleaning tasks efficiently and stably. Summary of the Invention

[0003] In view of the above deficiencies of the prior art, this application provides a control method for an automatic pool cleaning device, where the automatic pool cleaning device includes a lidar, and the sensing area of the lidar includes: the side and front areas of the automatic pool cleaning device. The control method includes: controlling the automatic pool cleaning device to move in the pool; during the movement of the automatic pool cleaning device, obtaining the point cloud data detected by the lidar; and controlling the movement path of the automatic pool cleaning device based on the point cloud data.

[0004] This application also discloses an automatic pool cleaning device, including: a main body; a lidar, which is arranged on the main body, and the sensing area of the lidar includes: the side and front areas of the main body; and a controller for executing the control method of any embodiment of this application.

[0005] The present application also discloses a computer storage medium, in which a computer program is stored. When the computer program is executed by a processor, the control method described in any embodiment of the present application is implemented.

[0006] The embodiments described in the present application have the following beneficial effects:

[0007] The control method for the automatic pool cleaning device provided by the present application can obtain the point cloud data corresponding to the side area and the front area of the automatic pool cleaning device during movement through a lidar, and based on this point cloud data, adjust the movement path of the automatic pool cleaning device. By using the lidar that performs stably in the underwater environment to obtain the point cloud data of the side area and the front area of the automatic pool cleaning device, information such as the shape of the pool and the position of obstacles can be accurately obtained, optimizing the movement path of the automatic pool cleaning device, improving the cleaning efficiency of the automatic pool cleaning device, reducing the collision risk between the automatic pool cleaning device and the pool wall or obstacles, and further enhancing the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] In order to more clearly illustrate the technical solutions of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. The drawings in the following description are only exemplary embodiments of the present application.

[0009] Figure 1 is a schematic diagram showing an automatic pool cleaning device according to an embodiment of the present application;

[0010] Figure 2 is a schematic diagram showing the installation position of a lidar on an automatic pool cleaning device according to an embodiment of the present application Figure 1 ;

[0011] Figure 3 is a schematic diagram showing the installation position of a lidar on an automatic pool cleaning device according to an embodiment of the present application Figure 2 ;

[0012] Figure 4 is a schematic diagram showing the installation position of a lidar on an automatic pool cleaning device according to an embodiment of the present application Figure 3 ;

[0013] Figure 5 is a schematic diagram showing the laser beam emitted by a lidar according to an embodiment of the present application Figure 1 ;

[0014] Figure 6 is a schematic diagram showing the installation position of a lidar on an automatic pool cleaning device according to an embodiment of the present application Figure 4 ;

[0015] Figure 7Schematic diagram showing the laser beam emitted by the lidar according to an embodiment of the present application Figure 2 ;

[0016] Figure 8 Schematic diagram showing the installation position of the lidar in the automatic pool cleaning device according to an embodiment of the present application Figure 5 ;

[0017] Figure 9 Schematic diagram showing the laser beam emitted by the lidar according to an embodiment of the present application Figure 3 ;

[0018] Figure 10 Schematic diagram showing the installation position of the lidar in the automatic pool cleaning device according to an embodiment of the present application Figure 6 ;

[0019] Figure 11 Schematic diagram showing the laser beam emitted by the lidar according to an embodiment of the present application Figure 4 ;

[0020] Figure 12 Schematic diagram showing the laser beam emitted by the lidar according to an embodiment of the present application Figure 5 ;

[0021] Figure 13 Flowchart showing the control method of the automatic pool cleaning device according to an embodiment of the present application;

[0022] Figure 14 Schematic diagram showing the arc-shaped area according to an embodiment of the present application.

[0023] Reference numerals: 100 - automatic pool cleaning device; 101 - main body; 102 - lidar. Detailed implementation manners

[0024] The technical solutions in the present application will be clearly and completely described below. Apparently, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application. It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments may be combined with each other.

[0025] The present application provides a control method for a pool automatic cleaning device, a pool automatic cleaning device applying the control method, and a computer storage medium. The pool automatic cleaning device of the present application can clean a pool. The pool is, for example, a pool-shaped building. The pool-shaped building can be a swimming pool, a water storage tank, a spa pool, a water storage tank, a water storage trough, etc. The pool automatic cleaning device can be a device such as an automatic cleaning device, a pool cleaning robot, etc., which can clean the pool-shaped building. The present application does not limit the specific presentation forms of the pool automatic cleaning device and the pool-shaped building, as long as the principle of the present application can be realized. In the following, if not otherwise specified, the robot will be used as an example of the pool automatic cleaning device for description, and the swimming pool will be used as an example of the pool or the pool-shaped building for description. In the following, if not otherwise specified, the terms "pool bottom", "swimming pool bottom surface", and "swimming pool bottom" all refer to the bottom surface of the swimming pool.

[0026] The following will be combined with Figures 1 to 12 The pool automatic cleaning device 100 will be described. The pool automatic cleaning device 100 includes: a main body 101; a lidar 102, the lidar 102 is arranged on the main body 101, and the sensing area of the lidar 102 includes: the side and front areas of the main body 101; a controller for executing the control method according to any embodiment of the present application.

[0027] For example, Figure 1 shows a schematic diagram of a pool automatic cleaning device 100 according to an embodiment of the present application. As Figure 1 shown, the main body 101 is the core structural part of the robot, which is used to carry and integrate other functional modules, can provide mechanical support and installation interfaces to ensure the stable installation of each component; it can also integrate cleaning functions, for example, sewage suction, filtration, water flow circulation, etc. The lidar 102 is a laser-based environmental sensing sensor for detecting objects and environmental information around the robot. The lidar 102 can be arranged on the main body 101 of the robot, and the sensing area can cover the side area and the front area of the robot. The lidar 102 can emit laser beams (for example, single-line laser beams or multi-line laser beams, etc.) and receive reflected signals, and can obtain the point cloud data of the side area and the front area of the robot in real time, so as to ensure that the robot can simultaneously monitor the spatial information on the side and the front, thereby providing accurate data support for path planning, obstacle detection, and boundary recognition during the movement of the robot. The controller is the "brain" of the robot, responsible for receiving the point cloud data of the lidar 102 and processing the point cloud data to plan the movement path of the robot.

[0028] It should be noted that in this application, if there is no additional special description, the terms "lateral side" and "lateral side area" refer to the areas on both sides of the robot and away from the robot body. In the lateral side area, there may be pool walls, obstacles, etc.; the terms "front" and "front area" refer to the areas in the forward direction of the robot and away from the robot body. In the front area, there may be pool walls, obstacles, etc.; the terms "front bottom" and "front bottom area" refer to the areas at the bottom of the pool in the forward direction of the robot. In the front bottom area, there may be pool bottoms, obstacles, etc.

[0029] The lidar 102 can be arranged at the head or side of the main body 101.

[0030] For example, the head of the main body 101 refers to the front end part of the robot body, that is, the foremost end in the moving direction of the robot, and also includes the front end part of the top of the robot. The side of the main body 101 refers to the side part of the robot body.

[0031] Specifically, the lidar 102 can be arranged at the head of the main body 101 to scan the front area of the robot in advance, provide the environmental information of the front area for the robot, facilitate the robot to plan the path and avoid obstacles in advance, and at the same time take into account the detection of obstacles in the lateral side area of the robot. The lidar 102 can also be arranged at the side of the main body 101, so that the lidar 102 can better cover the lateral side area of the robot, reduce the collision risk between the robot and the lateral side obstacles, and at the same time take into account the detection of obstacles in front of the robot.

[0032] Specifically, the lidar 102 can be arranged at a position close to the side (left or right) of the head of the main body 101, that is, the lidar 102 can be arranged in the area where the head of the main body 101 is connected to the side. Figure 2 The scene where the lidar 102 is arranged at a position close to the side (right side) of the head of the main body 101 is schematically shown. As Figure 2 shown, the lidar 102 can be arranged at a position where the head of the robot is biased towards the right side (or left side), so that the lidar 102 can simultaneously sense the lateral side and front areas of the machine, avoiding the occlusion of part of the scanning area due to the structure of the robot itself (for example, cleaning brush, water inlet, etc.), thereby expanding the scanning range of the lidar 102 (the lateral side area and front area of the robot). In addition, the lidar 102 can also be arranged at a position close to the head at the side (left or right) of the main body 101. Figure 3 The scene where the lidar 102 is arranged at a position close to the head at the side (right side) of the main body 101 is schematically shown in Figure 3As shown, the lidar 102 can be set at the front end of the side of the main body 101, rather than the middle or the rear end of the side, so that the lidar 102 can simultaneously sense the environmental information on the side and in front of the robot during the movement of the robot. At the same time, it can avoid the interference of other components (such as cleaning brushes, filtration systems, etc.) at the middle or the rear end of the side of the robot to the scanning of the lidar 102.

[0033] The lidar 102 is a single-line lidar or a multi-line lidar.

[0034] Among them, the single-line lidar only contains one laser emitter and one receiver, and can only send and receive laser pulses in one direction at a time, and the scanned data is two-dimensional (2D) data. The multi-line lidar contains multiple laser emitters and multiple receivers, and can simultaneously emit and receive multiple laser beams, and the scanned data is three-dimensional (3D) data.

[0035] The laser beam emitted by the lidar 102 satisfies any one of the following conditions: the laser beam emitted by the lidar 102 is parallel to the horizontal plane; the laser beam emitted by the lidar 102 is inclined at a first angle value to the lower left or lower right with respect to the horizontal plane; the laser beam emitted by the lidar 102 is inclined downward along the vertical direction at a second angle value; after the laser beam emitted by the lidar 102 is inclined downward along the vertical direction at a third angle value, it rotates clockwise or counterclockwise at a fourth angle value. The angle of the laser beam of the lidar 102 can be set by means of the installation angle of the lidar 102 or the emission angle of the laser beam emitted by the emitter of the lidar 102. Among them, the specific inclination angle value of the laser beam can be set according to the actually required sensing area, for example: it can be 1 degree - 50 degrees.

[0036] Specifically, Figure 4 shows a top view of the lidar 102 set parallel to the horizontal plane at the front left of the main body 101, as Figure 4 shown, the laser beam emitted by the lidar 102 is parallel to the horizontal plane, and the lidar 102 is set at the front left of the main body 101, so that the lidar 102 can not only sense the obstacles in the front area of the robot but also sense the obstacles in the side area of the robot (as Figure 5 shown), and thus can assist the robot to optimize the travel path.

[0037] The laser beam emitted by the lidar 102 can also have a certain inclination downward, for example: inclined to the lower left or lower right with respect to the horizontal plane or directly downward, Figure 6 shows a top view of the lidar 102 set at the front left of the main body 101 and inclined at a first angle value to the lower left with respect to the horizontal plane. As Figure 6 and Figure 7As shown, the laser beam emitted by the lidar 102 can be inclined at a first angle value downward to the left relative to the horizontal plane, so that the lidar 102 can sense obstacles with a closer distance on the side and lower obstacles in the front. If the laser beam emitted by the lidar 102 is inclined at a certain angle downward to the right relative to the horizontal plane, then the obstacle information at a lower position in front of the machine can be sensed. Figure 8 Figure Figure 8 shows a side view of the lidar 102 arranged at the left front of the main body 101 and inclined downward at a second angle value along the vertical direction, as Figure 8 and Figure 9 shown. In this way, the obstacle information in the front bottom area and the side bottom area of the robot can also be obtained, which is beneficial for the robot to avoid obstacles in advance. For example, during the movement of the robot, the laser beam inclined downward at a second angle value along the vertical direction can detect whether there are obstacles or steps at the bottom of the pool, which helps the robot avoid collisions.

[0038] After the lidar 102 is also inclined at a third angle value downward, it can rotate clockwise or counterclockwise at a fourth angle value. Figure 10 Figure Figure 10 shows a side view of the lidar 102 arranged in the right corner area of the head and side of the main body 101, inclined downward at a third angle value and then rotated clockwise at a fourth angle value, as Figure 10 shown. In this way, the lidar 102 can also scan the environmental information at the bottom of the pool. For example, steps, floor lamps or other low obstacles. At the same time, Figure 11 Figure Figure 11 schematically shows a diagram of the laser beam emitted by the lidar 102 on the arc-shaped pool bottom inclined downward at a third angle value and then rotated counterclockwise at a fourth angle value; Figure 12 Figure Figure 12 schematically shows a diagram of the laser beam emitted by the lidar 102 on the arc-shaped pool bottom inclined downward at a third angle value and then rotated clockwise at a fourth angle value. As Figure 11 and Figure 12 shown, the black triangular area is the sensing range of the lidar 102 at the bottom of the pool. In this way, the lidar 102 can detect different height positions of the bottom obstacles, not only can sense the distance between the bottom obstacles and the machine, but also can better sense the inclination or bending state of the obstacles in the height direction, so as to sense whether it encounters a special-shaped pool bottom, such as: arc-shaped pool bottom, bowl-shaped pool bottom or slope, etc., and more accurately identify the type of obstacles, and timely adjust the walking strategy of the robot.

[0039] It should be noted that the above description of the installation position of the lidar 102 and the robot and the type of the lidar 102 is only exemplary. Those skilled in the art can adjust the installation position of the lidar 102 and the robot according to the actual situation or select the type of the lidar 102 that meets the requirements, as long as the technical principle of the present application can be realized.

[0040] The control method 200 of the automatic pool cleaning device of the present application will be described in detail below with reference to the accompanying drawings. Figure 13 The flowchart shows the control method of the automatic pool cleaning device according to an embodiment of the present application. Figure 14 The schematic diagram shows an arc-shaped area according to an embodiment of the present application. The control method 200 includes steps S201 to S203. The following will be described in combination with Figure 13 and Figure 14 Steps S201 to S203 will be described.

[0041] In step S201, control the automatic pool cleaning device 100 to move in the pool.

[0042] For example, the robot can be controlled by a control system to move in the pool according to paths such as a "bow" - shaped path, a "square - return" path, a "Y" - shaped path, a "U" - shaped path, etc. The control system can include: a sensing module, a control module, and an execution module, etc. The sensing module can include: a flow velocity sensor, a pressure sensor, an image sensor, etc., for real - time monitoring of the water flow condition in the pool, the distribution of dirt, and the motion state of the robot. The control module can be composed of a control chip and related circuits, responsible for receiving sensor data, processing signals, and generating corresponding control commands according to a preset control strategy. The execution module can include: a motor drive system and a cleaning mechanism, etc. The motor drive system can adjust the rotation speed and direction of the motor according to the control command to control the moving speed and moving path of the robot; the cleaning mechanism (such as a sewage suction port, a belt conveyor, a rotary brush, etc.) can remove dirt during the movement of the robot.

[0043] It should be noted that the terms "path planning", "bow" - shaped path, "square - return" path, "Y" - shaped path, "U" - shaped path, or other paths do not necessarily require the robot to pre - plan a moving trajectory and store the information corresponding to the moving trajectory in the memory of the robot. In the art, so - called path planning usually means planning a fixed moving rule, and the robot can use a path - planning algorithm to obtain the moving path of the robot; it can also obtain the moving path of the robot through the update and iteration of the historical path; the moving path of the robot can also be provided or set by the user; the moving path of the robot can also be pre - stored in the memory of the robot. The above description of the acquisition method of the moving path of the robot is only exemplary, and those skilled in the art can select the moving path of the robot according to the actual situation as long as the technical principle of the present application can be realized.

[0044] Next, enter step S202. In step S202, while the pool automatic cleaning device 100 is moving, obtain the point cloud data detected by the lidar 102.

[0045] For example, while the robot is moving, the lidar 102 continuously emits laser beams (e.g., single-line laser beams or multi-line laser beams, etc.) and receives the signals returned by the robot in the lateral area and the front area. The lidar 102 processes these signals into point cloud data and transmits the point cloud data to the control system of the robot. The point cloud data consists of a large number of points. Through the point cloud data, the environmental information of the robot in the lateral area and the front area can be accurately perceived, such as the outlines of obstacles like the boundary of the pool, steps, and decorations.

[0046] Finally, enter step S203. In step S203, based on the point cloud data, control the moving path of the pool automatic cleaning device 100.

[0047] For example, the point cloud data is a two-dimensional data set or a three-dimensional data set generated by the lidar 102 scanning the front area and the lateral area of the robot, reflecting the environmental information inside the pool, such as the boundary of the pool, the position of obstacles, the outline of obstacles, the terrain of the bottom of the pool, etc. The outline information of the pool wall can be quickly extracted from the point cloud data, and based on the outline information of the pool wall, the distance between the robot and the pool wall can be calculated, and then it can be determined whether the robot needs to adjust its own position and moving path to maintain a stable distance between the robot and the pool wall. It can also be determined from the point cloud data whether there are obstacles in the front area and the lateral area of the robot, as well as the position, size, and shape of the obstacles, or whether the robot is currently located at a pool corner, etc., and then it can be determined whether the robot needs to adjust its own position and moving path for obstacle avoidance or turning, etc.

[0048] In step S203, the laser beam emitted by the lidar 102 is inclined downward by a predetermined angle. The controlling the moving path of the pool automatic cleaning device 100 based on the point cloud data includes: when it is determined based on the point cloud data that there is an obstacle at the bottom in front of the moving direction of the pool automatic cleaning device 100, controlling the pool automatic cleaning device 100 to retreat, turn, or increase the pump power to cross the obstacle.

[0049] For example, the laser beam emitted by the lidar 102 can be tilted downward by a predetermined angle, so that the lidar 102 can scan the point cloud data at the bottom in front of the robot's travel direction. By analyzing the point cloud data (for example, clustering algorithm analysis, segmentation algorithm analysis, etc.), it can be determined whether there are obstacles such as floor lights, steps, cliff edges, etc. at the bottom in front of the robot's travel direction. When an obstacle is detected at the bottom in front of the robot's travel direction, the robot can be controlled to perform a backward operation based on information such as the position, size, and shape of the obstacle to avoid the robot being collided or damaged; the robot can also be controlled to turn, that is, change the travel direction of the robot to bypass the obstacle and continue to move; for some small obstacles (such as small stones or low steps, etc.), the robot can also be controlled to increase the power of the water pump to provide greater power to cross the obstacle.

[0050] In step S203, the laser beam emitted by the lidar 102 is tilted downward by a predetermined angle. The controlling the moving path of the pool automatic cleaning device 100 based on the point cloud data includes: obtaining the contour information of the objects in front of and on the side of the pool automatic cleaning device 100 based on the point cloud data at multiple moments; when it is determined that there is an arc-shaped area at the bottom in front of the travel direction of the pool automatic cleaning device 100 based on the contour information, controlling the pool automatic cleaning device 100 to turn after traveling for a preset time; or controlling the pool automatic cleaning device 100 to turn after traveling a preset distance; or controlling the pool automatic cleaning device 100 to turn when it is at a specified distance from the obstacle in front; wherein, when turning, the distance between the pool automatic cleaning device 100 and the obstacle in front is greater than the distance between the pool automatic cleaning device 100 and the obstacle in front when there is no such arc-shaped area at the bottom in front of the travel direction.

[0051] For example, during the movement of the robot, the lidar 102 continuously emits laser beams tilted downward by a predetermined angle, so that the lidar 102 can scan the point cloud data at the bottom in front of the robot's travel direction and at the bottom on the side of the robot at multiple moments. By performing operations such as filtering, noise reduction, and feature extraction on the above point cloud data, the environmental change trend and contour information of the objects in front and on the side can be accurately extracted. For example, the shape and position information of the obstacle in front, the shape of the pool wall, the terrain change of the pool bottom (such as arc-shaped area or low-lying area, etc.) and other information, and based on the above contour information, the moving path of the robot is determined. Specifically, Figure 14 is a schematic diagram showing an arc-shaped area according to an embodiment of the present application, as Figure 14As shown, there is an arc-shaped area (also known as "transition area", "bowl-shaped area") between the pool bottom and the pool wall, and the arc-shaped area has an inclined surface. When it is determined based on the above contour information that there is an arc-shaped area at the bottom in front of the robot's traveling direction, the robot can be controlled to continue traveling at the current speed for a period of time (i.e., the preset time) and then turn, or continue traveling at the current speed for a fixed distance (i.e., the preset distance) and then turn, or turn when it is at a specified distance from the obstacle in front (i.e., the bottom arc-shaped area). Among them, when it is determined that there is an arc-shaped area at the bottom in front of the robot's traveling direction, since the arc-shaped area may mean a more complex environment (for example, it is easier for the robot to slip when moving on the arc-shaped area), therefore, the safety distance between the robot and the obstacle in front needs to be greater, that is, the distance between the robot and the obstacle in front is greater than the distance between the robot and the obstacle in front when there is no arc-shaped area at the bottom in front of the traveling direction, to ensure the safety of the robot.

[0052] In step S203, the laser beam emitted by the lidar 102 is inclined downward by a predetermined angle. Based on the point cloud data, controlling the moving path of the pool automatic cleaning device 100 includes: based on the point cloud data at multiple moments, when it is determined that the decreasing speed of the distance between the pool automatic cleaning device 100 and the obstacle at the front bottom becomes smaller, then control the pool automatic cleaning device 100 to turn immediately or turn after traveling for a preset time or turn after traveling for a preset distance.

[0053] For example, during the movement of the robot, the lidar 102 continuously emits laser beams inclined downward by a predetermined angle. Based on the point cloud data collected by the lidar 102, the change trend and contour information of the obstacle at the front bottom can be accurately extracted, and the change speed of the distance between the robot and the obstacle at the front bottom can be calculated. When the robot moves at a relatively stable speed on the pool bottom, if the front of the robot's traveling direction is the pool bottom, the decreasing speed of the distance between the robot and the obstacle at the front bottom (i.e., the pool bottom) remains relatively stable; when the robot moves from the pool bottom to the arc-shaped area (for example, the arc-shaped corner of the wall), due to the inclined angle of the arc-shaped area, the decreasing speed of the distance between the robot and the obstacle at the front bottom becomes smaller. Therefore, when it is detected that the decreasing speed of the distance between the robot and the obstacle at the front bottom becomes smaller, it indicates that the front area of the robot gradually transitions from the pool bottom to the arc-shaped area, and then the robot can be controlled to immediately perform a turning operation to avoid the arc-shaped area, or control the robot to continue moving in the current traveling direction for a preset time or a preset distance, and then perform a turning operation to avoid the arc-shaped area. Among them, after detecting the arc-shaped pool bottom, the time or distance of continued travel can be determined according to the inclination angle of the laser beam of the lidar 102, the size of the robot, and the traveling speed of the robot, etc., as long as it turns in time before the robot moves onto the arc-shaped pool bottom.

[0054] As described above, the laser beam emitted by the lidar 102 is inclined downward at a predetermined angle, which may include: the lidar 102 emits a laser beam inclined downward at a predetermined angle, the laser beam emitted by the lidar 102 is inclined leftward or rightward downward at a predetermined angle with respect to the horizontal plane, or the laser beam emitted by the lidar 102 may also be inclined downward by a certain angle value and then rotated clockwise or counterclockwise by a certain angle value, so that the lidar 102 can simultaneously scan the point cloud data at the bottom in front of the robot's travel direction and the point cloud data in the side area, and based on the above point cloud data, when it is determined that there is an obstacle at the bottom in front of the robot's travel direction, control the robot to retreat, turn, or increase the pump power to cross the obstacle, etc. Specifically, by adjusting the scanning direction of the lidar 102 by the above angles, the laser beam can cover the side bottom area and the front bottom area in the robot's travel direction, enhancing the robot's detection ability for bottom obstacles, and further enabling the robot to more comprehensively perceive the environment in the front area and the side area, optimizing the robot's movement path, and improving the cleaning efficiency and safety of the robot.

[0055] In step S203, controlling the movement path of the pool automatic cleaning device 100 based on the point cloud data includes: based on the point cloud data, when it is determined that there are obstacles on both the side and the front within a certain time or a certain distance of the travel of the pool automatic cleaning device 100, controlling the pool automatic cleaning device 100 to turn when it is at a predetermined distance from the front obstacle.

[0056] For example, during the movement of the robot, the lidar 102 continuously emits a laser beam inclined downward at a predetermined angle, so that the lidar 102 can scan the point cloud data at the bottom in front of the robot's travel direction and at multiple moments on the side of the robot. Based on the above point cloud data, the environmental change trend and contour information of the objects in the front and on the side can be accurately extracted. When it is determined based on the above contour information that there are obstacles on both the side and the front of the robot within a certain time or a certain distance of the travel (for example, when the robot reaches the corner of the pool, there are pool walls on both the side and the front of the robot), the robot can be controlled to turn when it is at a predetermined distance from the front obstacle. Among them, the predetermined distance is determined according to the size, turning radius, and safety requirements of the robot to ensure that the robot will not collide with the obstacles on the side and in the front when turning.

[0057] In step S203, controlling the movement path of the pool automatic cleaning device 100 based on the point cloud data includes: when walking along the edge, according to the point cloud data, determining the distance between the pool automatic cleaning device 100 and the side pool wall, and controlling the pool automatic cleaning device 100 to maintain within a specified distance range from the side pool wall during the edge walking process.

[0058] For example, when the machine is mapping along the edge, the robot needs to walk at least one circle along the pool wall of the swimming pool. When the robot is moving along the edge, the lidar 102 can obtain the point cloud data of the area in front of and on the side of the robot in real time. Based on the point cloud data, the contour information and position information of the pool wall can be accurately extracted. According to the extracted contour information and position information of the pool wall, the real-time distance between the robot and the side pool wall is calculated, and then the distance between the robot and the pool wall is adjusted in real time to maintain the specified distance range between the robot and the side pool wall. The specific distance from the pool wall can be set according to actual needs. Generally, it is controlled within the range of the lidar (e.g., 1 meter - 1.5 meters) to ensure that the lidar can sense the pool wall, which can not only achieve mapping but also avoid collisions between the machine and the pool wall, shortening the mapping time. Of course, when cleaning along the edge, the specific distance between the robot and the pool wall can be shortened, which can be determined according to actual needs.

[0059] The control method 200 of the automatic pool cleaning device provided in this application can obtain the point cloud data corresponding to the side area and the front area of the automatic pool cleaning device 100 during the movement through the lidar 102, and based on this point cloud data, adjust the movement path of the automatic pool cleaning device 100. By using the lidar 102 that performs stably in the underwater environment to obtain the point cloud data of the side area and the front area of the automatic pool cleaning device 100, information such as the shape of the pool and the position of obstacles can be accurately obtained, optimizing the movement path of the automatic pool cleaning device 100, improving the cleaning efficiency of the automatic pool cleaning device 100, reducing the collision risk between the automatic pool cleaning device 100 and the pool wall or obstacles, and further enhancing the user experience.

[0060] This application also discloses a computer storage medium, in which a computer program is stored. When the computer program is executed by a processor, it implements the control method described in any embodiment of this application.

[0061] It should be understood that in this embodiment, the above computer storage medium can be located in at least one of multiple network servers in a computer network. Optionally, in this embodiment, the above storage medium may include, but is not limited to: USB flash drives, read-only memories (ROMs), random access memories (RAMs), mobile hard disks, magnetic disks, or optical discs and other media that can store program codes.

[0062] It should be noted that the above sequence of embodiments of this application is only for description and does not represent the superiority or inferiority of the embodiments.

[0063] In the description of this specification, the descriptions referring to terms such as "one embodiment", "some embodiments", "example", "specific example" or "some examples" etc. mean that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of this application. Moreover, the specific features, structures, materials or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0064] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of this application, "a plurality of" means two or more unless otherwise specifically defined.

[0065] In this application, unless otherwise stated, the orientation terms such as "upper" and "lower" are usually in the direction shown in the drawings, or in the vertical, perpendicular or gravitational direction; similarly, for the convenience of understanding and description, "left" and "right" are usually the left and right shown in the drawings; "inner" and "outer" refer to the inner and outer of the contour of each component itself, but the above orientation terms do not limit this application.

[0066] As mentioned above, it is only the exemplary embodiment of this application, but the protection scope of this application is not limited thereto. Any person skilled in the art within the technical scope recorded in this application can easily think of various changes or substitutions, and these should all be covered within the protection scope of this application. Therefore, the protection scope of this application should be subject to the protection scope of the claims.

Claims

1. A control method for an automatic pool cleaning device, the automatic pool cleaning device including a lidar, the sensing area of the lidar including: In the lateral and front regions of the automatic pool cleaning device, the control method includes: Controlling the automatic pool cleaning device to move in the pool; During the movement of the automatic pool cleaning device, acquiring the point cloud data detected by the lidar; Based on the point cloud data, controlling the movement path of the automatic pool cleaning device.

2. The control method according to claim 1, wherein The laser beam emitted by the lidar is inclined downward at a predetermined angle. Based on the point cloud data, controlling the movement path of the automatic pool cleaning device includes: Based on the point cloud data, when it is determined that there is an obstacle at the bottom in front of the moving direction of the automatic pool cleaning device, controlling the automatic pool cleaning device to retreat, turn, or increase the pump power to cross the obstacle.

3. The control method according to claim 1, wherein, The laser beam emitted by the lidar is inclined downward at a predetermined angle. Based on the point cloud data, controlling the movement path of the automatic pool cleaning device includes: Based on the point cloud data at multiple moments, acquiring the contour information of the objects in front of and on the side of the automatic pool cleaning device; Based on the contour information, when it is determined that there is an arc-shaped area at the bottom in front of the moving direction of the automatic pool cleaning device, then Controlling the automatic pool cleaning device to turn after traveling for a preset time; or Controlling the automatic pool cleaning device to turn after traveling a preset distance; or Controlling the automatic pool cleaning device to turn when it is at a specified distance from the obstacle in front; Wherein, when turning, the distance between the automatic pool cleaning device and the obstacle in front is greater than the distance between the automatic pool cleaning device and the obstacle in front when there is no such arc-shaped area at the bottom in front of the moving direction.

4. The control method according to claim 1, wherein, The laser beam emitted by the lidar is inclined downward at a predetermined angle. Based on the point cloud data, controlling the movement path of the automatic pool cleaning device includes: Based on the point cloud data at multiple moments, when it is determined that the decreasing speed of the distance between the automatic pool cleaning device and the obstacle at the bottom in front becomes smaller, controlling the automatic pool cleaning device to turn immediately, or turn after traveling for a preset time, or turn after traveling a preset distance.

5. The control method according to claim 1, wherein, Based on the point cloud data, controlling the movement path of the automatic pool cleaning device includes: Based on the point cloud data, when it is determined that there are obstacles on both the side and the front of the automatic pool cleaning device within a certain time or a certain distance of traveling, controlling the automatic pool cleaning device to turn when it is at a predetermined distance from the obstacle in front.

6. The control method according to claim 1, wherein Based on the point cloud data, controlling the movement path of the automatic pool cleaning device includes: When walking along the edge, according to the point cloud data, determining the distance between the automatic pool cleaning device and the side pool wall, and controlling the automatic pool cleaning device to maintain within a specified distance range from the side pool wall during the edge-following process.

7. An automatic pool cleaning device, comprising: A main body; A lidar, which is arranged on the main body, and the sensing area of the lidar includes: the lateral and front regions of the main body; A controller for executing the control method according to any one of claims 1-6.

8. The automatic pool cleaning device according to claim 7, wherein the lidar is arranged at the head or side of the main body.

9. The automatic pool cleaning device according to claim 7, wherein, The lidar is a single-line lidar or a multi-line lidar.

10. The automatic pool cleaning device according to claim 7, wherein, The laser beam emitted by the lidar satisfies any one of the following conditions: The laser beam emitted by the lidar is parallel to the horizontal plane; The laser beam emitted by the lidar is inclined at a first angle value downward and to the left or downward and to the right with respect to the horizontal plane; The laser beam emitted by the lidar is inclined downward at a second angle value along the vertical direction; After the laser beam emitted by the lidar is inclined downward at a third angle value along the vertical direction, it rotates clockwise or counterclockwise by a fourth angle value.

11. A computer storage medium, wherein a computer program is stored in the storage medium, and when the computer program is executed by a processor, the control method according to any one of claims 1-6 is implemented.

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