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, and the control method comprises the steps that the automatic pool cleaning device is controlled to move in a pool; in the moving process, environment information is collected through a laser radar, and the environment information comprises environment information of side obstacles and / or front obstacles of the automatic pool cleaning device; and the current position of the automatic pool cleaning device is determined according to the environment information and map information of the pool.

Description

Technical Field

[0001] The present application relates to the technical field of cleaning devices, and particularly to an automatic pool cleaning device, a control method thereof, and a computer storage medium therefor. 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 surface environments, usually relying on ultrasonic sensors for map building of the pool, positioning of the robot, and obstacle avoidance. However, traditional ultrasonic sensors have many limitations in operation: on the one hand, the underwater environmental perception ability of ultrasonic sensors is limited, resulting in low measurement accuracy, small perception range of ultrasonic sensors, and being easily interfered by environmental noise. As a result, ultrasonic sensors cannot accurately determine the precise positions of the robot and obstacles such as the corners or walls of the pool in complex environments. On the other hand, the traditional multi-sensor perception layout method (for example, installing ultrasonic sensors on the front side and left side of the pool robot respectively) not only increases the difficulty of the robot structure design but also causes the robot to require more electronic components, affecting the overall working state of the pool robot, thus significantly increasing the risk of system failures, making the robot prone to inaccurate positioning or positioning loss. Therefore, there is an urgent need to develop a new implementation method to avoid the above problems, ensure that the pool cleaning robot can start repositioning underwater and obtain accurate position information through repositioning, and then be able to perform cleaning tasks efficiently and stably. Summary of the Invention

[0003] In view of the above deficiencies of the prior art, the present application provides a control method for an automatic pool cleaning device, the automatic pool cleaning device includes a lidar, and the control method includes: controlling the automatic pool cleaning device to move in the pool; during the movement, collecting environmental information through the lidar, the environmental information including environmental information of obstacles on the side and / or in front of the automatic pool cleaning device; and determining the current position of the automatic pool cleaning device according to the environmental information and the map information of the pool.

[0004] Further, determining the current position of the automatic pool cleaning device according to the environmental information and the map information of the pool includes: obtaining target features from the environmental information; and matching the target features with corresponding features in the map information to obtain the current position of the automatic pool cleaning device.

[0005] Further, the target feature comes from at least one of the following: a corner of a pool wall, a marker on the pool bottom, a marker on the pool wall, or a marker shape formed by the contour of the pool wall.

[0006] Furthermore, controlling the automatic pool cleaning device to move in the pool includes: controlling the automatic pool cleaning device to move along the edge of the pool wall.

[0007] Furthermore, the automatic pool cleaning device also includes a magnetometer, and the control method further includes: determining the current position of the automatic pool cleaning device according to the environmental information, the map information of the pool and the data collected by the magnetometer.

[0008] Furthermore, the map information of the water pool includes historical map information or map information constructed in real time.

[0009] Furthermore, the map information constructed in real time includes: controlling the automatic pool cleaning device to move one circle or nearly one circle along the edge of the pool wall; and constructing the map information through the laser radar ranging during the movement of the automatic pool cleaning device along the edge of the pool wall.

[0010] Furthermore, the control method also includes: determining a moving path corresponding to the automatic pool cleaning device based on the environmental information collected in real time; matching the moving path with the map information, and obtaining an initial position of the moving path based on the current position.

[0011] Furthermore, after determining the current position of the automatic pool cleaning device based on the environmental information and the map information of the pool, the control method also includes: judging whether there are obstacles on the preset operating path of the automatic pool cleaning device based on the determined current position, and if so, adjusting the operating path of the automatic pool cleaning device.

[0012] Furthermore, when the automatic pool cleaning device meets preset conditions, the current position of the automatic pool cleaning device is obtained, and the preset conditions include one or more of the following conditions: the automatic pool cleaning device completes the escape action at the bottom of the pool; the automatic pool cleaning device completes the cleaning task and needs to return to the water entry position; the automatic pool cleaning device needs to be charged at a charging base station; the automatic pool cleaning device receives a predetermined instruction in the pool; and the automatic pool cleaning device autonomously recognizes that a cleaning mode needs to be switched.

[0013] Furthermore, the laser radar is installed on the side or head of the automatic pool cleaning device.

[0014] The present application also discloses a pool automatic cleaning device, and the pool automatic cleaning device can execute the control method described in any embodiment of the present application.

[0015] The present application also discloses a computer storage medium, in which a computer program is stored, and when the computer program is executed by a processor, the control method described in any embodiment of the present application is implemented.

[0016] The embodiments described in the present application have the following beneficial effects:

[0017] The control method of the pool automatic cleaning device provided by the present application can collect the environmental information of the obstacles on the side and / or in front of the pool automatic cleaning device through a lidar, and determine the current position of the pool automatic cleaning device based on the environmental information and the map information of the pool. By using a lidar that performs stably in an underwater environment instead of multiple ultrasonic sensors, the number of sensors in the pool automatic cleaning device is effectively reduced, the hardware design of the pool automatic cleaning device is simplified, and the reliability of the system is enhanced. At the same time, through the environmental information collected by the lidar, the key features in the pool can be quickly obtained. After comparing and matching the key features with the map information of the pool, the current position of the pool automatic cleaning device can be accurately judged, the moving path of the pool automatic cleaning device is optimized, the cleaning efficiency of the pool automatic cleaning device is improved, the collision risk between the pool automatic cleaning device and the pool wall or obstacles is reduced, and thus the user experience is enhanced. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the present application, the drawings required for the description of the embodiments will be briefly introduced below. The drawings in the following description are only exemplary embodiments of the present application.

[0019] Figure 1 is a flowchart showing the control method of the pool automatic cleaning device according to an embodiment of the present application;

[0020] Figure 2 is a schematic diagram showing the installation position of the lidar in the pool automatic cleaning device according to an embodiment of the present application Figure 1 ;

[0021] Figure 3 is a schematic diagram showing the installation position of the lidar in the pool automatic cleaning device according to an embodiment of the present application Figure 2 . DETAILED DESCRIPTION OF THE EMBODIMENTS

[0022] The technical solutions in the present application will be described clearly and completely below. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application 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 can be combined with each other.

[0023] 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 text, if not otherwise specified, a robot will be used as an example of the pool automatic cleaning device for elaboration, and a swimming pool will be used as an example of the pool or the pool-shaped building for elaboration. In the following text, 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.

[0024] The pool automatic cleaning device disclosed in the present application includes a lidar.

[0025] A lidar is a laser-based environmental perception sensor used to detect objects and environmental information around the robot. The perception area of the lidar can cover the side area and the front area of the robot. By emitting laser beams (for example, single-line laser beams or multi-line laser beams, etc.) and receiving the reflected signals, the lidar can obtain the point cloud data and environmental information of the side area and the front area of the robot in real time, so as to ensure that the robot can monitor the spatial information on both sides and in the front at the same time, thereby providing accurate data support for path planning, obstacle detection, and boundary recognition during the movement of the robot. The application of the lidar in the present application will be described in detail in combination with specific embodiments below.

[0026] The control method 100 of the pool automatic cleaning device of the present application will be described in detail below with reference to the accompanying drawings. Figure 1 The flowchart of the control method of the pool automatic cleaning device according to an embodiment of the present application is shown. Figure 2 The schematic diagram of the installation position of the lidar in the pool automatic cleaning device according to an embodiment of the present application is shown. Figure 1 , Figure 3Shows a schematic diagram of the installation position of a lidar in a pool automatic cleaning device according to an embodiment of the present application Figure 2 . The control method 100 includes steps S101 to S103. The following will be combined with Figure 1 , Figure 2 and Figure 3 to describe steps S101 to S103.

[0027] In step S101, control the pool automatic cleaning device to move in the pool.

[0028] For example, the robot can be controlled by a control system to move along a "bow" - shaped path, a "return" - shaped path, a "Y" - shaped path, a "U" - shaped path or other paths (including: the robot moves along the edge of the pool wall, moves on the pool wall of the pool, moves on the bottom of the pool, moves on the water surface, moves at the water line position, 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 situation 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, controlling 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.

[0029] It should be noted that the terms "path planning", "bow" - shaped path, "return" - shaped 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.

[0030] In step S101, the control of the pool automatic cleaning device to move in the pool includes: controlling the pool automatic cleaning device to move along the edge of the pool wall.

[0031] For example, the robot can be controlled by a control system (the specific content is as described above and will not be elaborated here) to move along the edge of the pool wall. In other words, the robot can be controlled by the control system to perform an edge-following movement along the edge of the pool wall. The robot moving along the edge of the pool wall can move while maintaining a certain distance value (e.g., within 1.5 meters) from the edge of the pool wall, or can move parallel to the edge of the pool wall or substantially parallel to the edge of the pool wall or at a predetermined angle to the edge of the pool wall within a certain distance range (e.g., 1.5 meters), or can move while abutting against the edge of the pool wall.

[0032] Specifically, if the robot moves while maintaining a certain distance value from the edge of the pool wall, during the movement, the robot can use a sensor to measure the distance between the robot and the edge of the pool wall in real time, and adjust its own movement trajectory based on a preset distance value and a motion control algorithm (e.g., PID control algorithm, etc.) so that the robot always maintains a certain distance from the edge of the pool wall. If the robot moves parallel to the edge of the pool wall or substantially parallel to the edge of the pool wall or at a predetermined angle to the edge of the pool wall within a certain distance range, during the movement, the robot can use a sensor to obtain the direction information between the robot and the edge of the pool wall in real time, and adjust the movement direction of the robot through a control algorithm (e.g., PID control algorithm based on the direction angle, etc.) so that it is parallel or substantially parallel to the direction of the edge of the pool wall or at a predetermined angle. If the robot moves while abutting against the edge of the pool wall, the robot maintains contact or a relatively short distance with the edge of the pool wall during the movement. The robot can use a sensor to detect the contact signal or distance between it and the edge of the pool wall, and adjust its posture and / or movement direction in real time to ensure that the robot always fits against the edge of the pool wall or maintains a small distance.

[0033] It should be noted that the above description of the robot moving along the edge of the pool wall on the water surface is only exemplary. The scope of moving along the edge of the pool wall protected by this application is not limited to the content listed above. Those skilled in the art can set and plan the scope of moving along the edge of the pool wall according to the actual situation as long as the technical principle of this application can be achieved.

[0034] Next, step S102 is entered. In step S202, during the movement, environmental information is collected by the lidar, and the environmental information includes environmental information of obstacles on the side and / or in front of the automatic pool cleaning device.

[0035] For example, during the movement of the robot, the lidar continuously emits laser beams (e.g., single-line laser beams or multi-line laser beams, etc.), and receives the signals returned by the laser beams from the side area and / or the front area. The lidar processes these signals into a series of point cloud data. By processing and analyzing this point cloud data, the environmental information of the obstacles in the side area and the front area of the robot can be extracted. For example, the shape, contour, size, and position of obstacles such as the boundary of the pool, steps, and decorations can be obtained.

[0036] It should be noted that in this application, if there is no additional special description, the terms "side" and "side area" refer to the areas on both sides of the robot, away from the robot body. In the 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, away from the robot body. In the front area, there may be pool walls, obstacles, etc.

[0037] In step S102, the lidar can be installed on the side or the head of the automatic pool cleaning device.

[0038] For example, the head of the robot refers to the front end part of the robot body. Usually, the direction indicated by the head of the robot is consistent with the forward direction of the robot. The head of the robot can also include the front end part of the top of the robot. The side of the robot refers to the side part of the robot body. Specifically, the lidar can be set on the head of the robot to scan the front area of the robot in advance, providing the environmental information of the front area for the robot, which is convenient for the robot to plan the path and avoid obstacles in advance. The lidar can also be set on the side of the robot, so that the lidar can better cover the side area of the robot, reducing the risk of collision between the robot and the side obstacles.

[0039] Specifically, the lidar can be set at a position on the head of the robot close to the side (e.g., the left side or the right side), that is, the lidar can also be set in the area where the head and the side of the robot meet. Figure 2 Schematically shows the scenario where the lidar is set at a position on the head of the robot close to the side (right side), as Figure 2 shown, the lidar can be set at a position on the head of the robot biased towards the right (or left) side, so that the lidar can sense both the side area and the front area of the robot, avoiding the occlusion of part of the scanning area due to the structure of the robot itself (e.g., cleaning brush, water inlet, etc.), thereby expanding the scanning range of the lidar. For example, the scanning range is expanded to the side area and the front area of the robot. In addition, the lidar can also be set at a position on the side (left side or right side) of the robot close to the head. Figure 3 shows the scenario where the lidar is set at a position on the side (right side) of the robot close to the head, asFigure 3 As shown, the lidar can be set at the front part of the side of the robot, rather than the middle or rear part of the side, so that the lidar can sense both the side area and the front area of the robot during the movement of the robot. At the same time, it can avoid the interference of other components (such as rotary brushes, water outlets, etc.) in the middle or rear part of the side of the robot on the lidar scanning.

[0040] It should be noted that the above description of the setting positions of the lidar and the robot is only exemplary, and those skilled in the art can adjust the setting positions of the lidar and the robot according to the actual situation, as long as the technical principle of the present application can be achieved.

[0041] Finally, step S103 is entered. In step S103, the current position of the pool automatic cleaning device is determined according to the environmental information and the map information of the pool.

[0042] For example, the map information of the pool usually includes information such as the shape, boundary, pool wall position, pool bottom terrain, and possible obstacles (such as steps, drain outlets, etc.) of the pool. These map information provide a reference for the positioning and path planning of the robot. Specifically, during the movement of the robot, by comparing and analyzing the environmental information obtained by the lidar with the map information of the pool, the position point that best matches the environmental information can be found in the map information of the pool. For example, when the robot approaches the pool wall, the environmental information detected by the lidar matches the shape and position of the pool wall in the map information, so that the relative position between the robot and the pool wall can be determined. It is also possible to compare and analyze the environmental information obtained by the lidar with the map information of the pool to identify whether there are obstacles in the front area and side area of the robot, as well as the position, size and shape of the obstacles, or to identify whether there are corners in the front area and side area of the robot, and then judge whether the robot needs to adjust its own position and movement path to avoid obstacles or turn, etc.

[0043] It should be noted that usually limited by manufacturing costs and underwater communication limitations, robots often cannot carry precise positioning devices (such as GPS devices) to obtain precise absolute position information. Therefore, the map data collected by the robot is often a map in a local coordinate system, rather than a map in a global coordinate system. If there is no additional explanation in the following, the map information and local map referred to in the present application are maps in a relative coordinate system.

[0044] In step S103, when the automatic pool cleaning device meets preset conditions, the current position of the automatic pool cleaning device is obtained, and the preset conditions include one or more of the following conditions: the automatic pool cleaning device completes the escape action at the bottom of the pool; the automatic pool cleaning device completes the cleaning task and needs to return to the water entry position; the automatic pool cleaning device needs to be charged at a charging base station; the automatic pool cleaning device receives a predetermined instruction in the pool; and the automatic pool cleaning device autonomously recognizes that a cleaning mode needs to be switched.

[0045] For example, when the robot meets the preset conditions, the current position of the robot is obtained, that is, the current position of the robot is relocated. Specifically, when the robot is entangled by foreign objects such as branches and ropes in the pool, or is stuck in narrow gaps such as drains and the bottom of steps, or is stuck by uncleaned toys, tools and other fallen objects in the pool, the robot needs to perform an escape action at the bottom of the pool, which causes the position information of the robot to deviate. Therefore, the robot needs to be relocated to correct the position and ensure that the robot continues to move and clean along the preset path. The robot's motion state information can be obtained based on the sensor to determine whether the robot meets the predetermined conditions, that is, to determine whether the robot's motion state is to complete the escape action at the bottom of the pool. If the robot completes the escape action, the robot's position at the bottom of the pool needs to be re-determined, that is, the robot needs to be relocated.

[0046] During the robot's cleaning task, due to the accumulation of small errors caused by operations such as turning, the actual position of the robot will be different from the position the robot thinks it is in. If the robot returns to the water entry position according to the position it thinks it is in, the actual position it returns to will not be the real water entry position. In this way, the staff cannot retrieve the robot from the water entry position. Therefore, the robot needs to be repositioned to correct the position and ensure that the robot accurately returns to the water entry position. The robot's operation progress information can be used to determine whether the robot has completed the cleaning task. If the robot has completed the cleaning task, it means that the robot needs to return to the water entry position. Therefore, before the robot returns to the water entry position, the robot's position at the bottom of the pool needs to be re-determined, that is, the robot needs to be repositioned.

[0047] During the cleaning operation task execution of the robot, the remaining battery power of the robot can be measured in real time to understand whether the battery power of the robot can support the robot to complete all cleaning operation tasks. If it is determined that the remaining battery power of the robot cannot support the robot to complete all cleaning operation tasks, the battery of the robot needs to be replenished, that is, the robot needs to return to the charging base for charging. Therefore, the robot needs to be repositioned to correct the position to ensure that the robot can accurately return to the charging base for charging. In other words, if the robot needs to go to the charging base for charging, the position of the robot needs to be re-determined before the robot returns to the charging base, that is, the robot needs to be repositioned.

[0048] The predetermined instruction can be one or more of the following instructions: an instruction to abort the cleaning operation; an instruction to terminate the cleaning operation; an instruction to recall the robot; and an instruction to charge the robot. If the robot receives an instruction, the instruction can be identified to determine whether the instruction belongs to one or more of the above predetermined instructions. If the received instruction is one or more of the above predetermined instructions, it indicates that the robot meets the predetermined conditions. For example, if the instruction received by the robot is an instruction to terminate the cleaning operation, it indicates that the robot meets the predetermined conditions, and the robot needs to be repositioned so that after the cleaning operation task is terminated, the accurate current positioning information of the robot can be obtained and the robot can travel to the predetermined position based on this information; if the instruction received by the robot is an instruction to recall the robot, it indicates that the robot meets the predetermined conditions, and the robot needs to be repositioned, that is, before the robot is recalled, it needs to be repositioned to obtain the accurate current positioning information of the robot, so as to avoid deviation of the path when the robot is recalled.

[0049] The operation modes of the robot include, for example: bottom-of-pool mode, pool-wall mode, water-line mode, water-surface mode, step mode, high-coverage mode (dense paths, high coverage), low-coverage mode, high-efficiency mode (high execution efficiency of the planned paths, but low coverage), spot-cleaning mode (clean where dirt is detected and do not clean where it is not detected), full-coverage cleaning mode, supplementary cleaning mode (after the previous mode of cleaning is completed, based on vision, or the walking path + map, determine where there are omissions and then go to the omitted places for supplementary cleaning), etc. Switching the cleaning mode includes: switching between any two of the above modes.

[0050] For example, after the robot completes the planned cleaning operation task, if it detects an uncleaned area or an area with poor cleaning effect, it can switch to the spot cleaning mode or the supplementary cleaning mode; if the robot detects that the overall condition of the pool is relatively clean after entering the water, it can switch from the high coverage mode to the high efficiency mode; after the robot completes the cleaning of the pool bottom (using the pool bottom mode), it can switch to the pool wall mode or the water surface mode; when the robot uses the high coverage mode to carefully clean the pool bottom, but finds that the pool bottom is relatively clean during the cleaning process, it can switch to the spot cleaning mode. The robot can also autonomously switch the cleaning mode according to the actual situation. When the robot autonomously identifies the need to switch the cleaning mode, it indicates that the robot meets the predetermined conditions for repositioning, that is, the robot needs to perform repositioning after or before switching the mode.

[0051] It should be noted that the above-described various predetermined conditions can be a judgment of a single condition or a judgment of multiple conditions. In other words, if any of the above predetermined conditions is met, the robot can be controlled to perform repositioning, or if several predetermined conditions are met, the robot is controlled to perform repositioning. The above description of the predetermined conditions is only exemplary, and those skilled in the art can determine the above various types of predetermined information according to actual needs, as long as the technical principle of the present application can be realized.

[0052] In step S103, the map information of the pool includes historical map information or real-time constructed map information.

[0053] For example, the map information of the pool can be historical map information, that is, it is pre-generated by manual surveying and mapping or by the robot moving along the edge and scanning the pool environment during the first run, and stored in the form of an electronic map. The historical map information can be directly called during the operation of the robot, reducing the consumption of computing resources. The map information of the pool can also be real-time constructed map information, that is, map data generated in real time by the sensor according to the moving path of the robot during the movement of the robot. The real-time constructed map information can reflect the changes in the environment in the pool in real time, for example, newly added obstacles or temporary changes in the shape of the pool. At the same time, the real-time constructed map information is also more free and flexible.

[0054] In step S103, the real-time constructed map information includes: controlling the automatic pool cleaning device to move around or nearly around the edge of the pool wall; and constructing the map information by using the lidar ranging during the movement of the automatic pool cleaning device along the edge of the pool wall.

[0055] For example, when the robot moves in the pool, the map information of the pool can be constructed in real time by the lidar. Specifically, the control system (the specific content is as described above and will not be elaborated here) can be used to control the robot to move along the edge of the pool wall for one week or nearly one week. By controlling the robot to move along the edge of the pool wall, the robot can systematically scan the entire boundary of the pool. For example, information such as the shape, position of the pool, and possible obstacles (such as steps, drain outlets, etc.) can be obtained. During the process of the robot moving along the edge of the pool wall, the lidar calculates the distance data between the robot and the pool wall by emitting laser beams and receiving reflected light, and converts these distance data into point cloud data (the point cloud data contains information such as the boundary of the pool, the shape and position of the obstacles). By processing the above point cloud data through an algorithm, a two-dimensional map or a three-dimensional map corresponding to the pool can be constructed. For example, by connecting the boundary points in the point cloud data, the environmental information corresponding to the pool can be formed; by extracting the point cloud data of the obstacles and annotating them on the map, the environmental information corresponding to the obstacles in the pool can be formed. As the robot moves, the lidar can continuously collect data and update the map information to ensure the accuracy and integrity of the map.

[0056] In step S103, determining the current position of the automatic pool cleaning device according to the environmental information and the map information of the pool includes: obtaining a target feature from the environmental information; matching the target feature with the corresponding feature in the map information, so as to obtain the current position of the automatic pool cleaning device.

[0057] For example, during the movement of the robot, the lidar can collect the environmental information of the surrounding environment in real time. By identifying and detecting the environmental information, the representative target features in the environmental information can be quickly and accurately obtained as a reference for the robot's positioning. The map information of the pool contains detailed information such as the boundary of the pool, the position of the obstacles, and the fixed structure. Extract the features that are the same or similar to the target feature from the map information, and compare the target feature collected by the sensor with the features in the map through an algorithm (such as nearest neighbor matching, feature point matching, etc.). The algorithm will calculate the similarity or distance between the two to determine whether they match. If the similarity between the two is higher than the set threshold or the distance is within the allowable range, it is considered that the two match successfully, and then the current position of the robot in the pool can be calculated according to the matching result. For example, if the right-angled corner detected by the robot is consistent with the corner position recorded in the map, the specific position of the robot from this corner can be determined, that is, the current position of the robot is obtained.

[0058] In step S103, the target feature comes from at least one of the following: the corner of the pool wall, the marker on the bottom of the pool, the marker on the pool wall, or the marker shape formed by the contour of the pool wall.

[0059] For example, the target feature can be the corner of the pool wall, i.e., the corner part of the pool wall. The corner of the pool wall is usually a right angle or a rounded angle, and the shape and position of the corner of the pool wall are usually fixed in the pool and will not change due to environmental changes, enabling the lidar to accurately detect the shape and position of the corner of the pool wall. The target feature can also be a marker on the bottom of the pool, i.e., a positioning mark set at the bottom of the pool. For example, a color mark, a reflective strip, or a special geometric shape, etc. The target feature can also be a marker on the pool wall, i.e., a mark installed on the pool wall. For example, a reflective strip, a color mark, or an object with a special shape such as a wall lamp, etc. The marker usually has high contrast or special reflective characteristics and can be set at any position in the pool as needed to facilitate the rapid positioning of the robot. The target feature can also be a marked shape formed by the contour of the pool wall, i.e., a feature naturally formed by the shape or structure of the pool wall. For example, the edge of a circular pool, the special contour of an irregular pool, etc. These features are the structures of the pool itself and do not require additional markers, enabling the lidar to accurately detect the environmental information of the pool wall and facilitating the robot to perform repositioning and path planning.

[0060] It should be noted that the target feature can also be the shape and position of fixed structures such as the edge of the pool wall, steps, drain openings, etc., or temporary obstacles in the pool, such as buoys, toys, etc. It should be noted that the above description of the target feature is only exemplary, and those skilled in the art can select the target feature according to the actual situation as long as the technical principle of the present application can be realized.

[0061] In step S103, the pool automatic cleaning device further includes a magnetometer, and the control method further includes: determining the current position of the pool automatic cleaning device according to the environmental information, the map information of the pool, and the data collected by the magnetometer.

[0062] For example, a magnetometer is a sensor that can measure the magnetic field strength and direction. Its working principle is similar to that of a compass and can detect the movement direction of the robot relative to the earth's magnetic field. For example, the southeast corner, the northwest corner, etc. The magnetic field data collected by the magnetometer can provide the heading angle and direction information of the robot during movement. By combining the magnetic field data with the environmental information and map information, the self-position of the robot can be further calibrated to compensate for the heading deviation caused by sensor errors or environmental changes. At the same time, in a complex environment, the stability of the magnetometer enables the robot to effectively reduce positioning drift and improve the reliability of positioning.

[0063] In step S103, the control method further includes: determining a movement path corresponding to the pool automatic cleaning device according to the real-time acquired environmental information; matching the movement path with the map information, and obtaining an initial position of the movement path based on the current position.

[0064] For example, the robot can acquire the environmental information of the pool in real time through a lidar; it can also acquire information such as the yaw angle and acceleration of the robot during movement through an Inertial Measurement Unit (IMU) for real-time detection of the rotation and movement direction of the robot; it can also measure the rotation speed and driving distance of the driving components (i.e., wheels) in the robot through a wheel speedometer (i.e., encoder disk) to calculate the displacement and speed of the robot; it can also provide the direction information of the robot through a magnetometer, for example, the southeast corner, the northwest corner, etc. By combining the above multiple pieces of information, it is possible to avoid positioning deviations caused by errors in a single sensor, which helps to accurately determine the movement path corresponding to the robot in the pool. The robot matches the real-time generated movement path with the map information of the pool, and based on the current position of the robot, obtains the initial position of the movement path corresponding to the robot. Specifically, key features can be extracted from the movement path of the robot, such as the corners of the pool wall, markers, etc., and the key features are compared and matched with the corresponding features in the map information through an algorithm. If the similarity between the two is higher than a set threshold or the distance is within an allowable range, it is considered that the two are successfully matched, and then the current position of the robot in the pool can be calculated according to the matching result. The starting point and the ending point of the movement path respectively correspond to the initial position and the current position of the robot. After knowing the current position of the robot and the position of the movement path on the map information, the initial position corresponding to the movement path can be determined.

[0065] In step S103, after determining the current position of the pool automatic cleaning device according to the environmental information and the map information of the pool, the control method further includes: judging whether there are obstacles on the preset operation path of the pool automatic cleaning device according to the determined current position. If there are obstacles, the operation path of the pool automatic cleaning device is adjusted.

[0066] For example, after determining the current position of the robot in the pool through the environmental information acquired by the lidar and the map information of the pool, the robot can judge whether there are obstacles on the preset operation path through the current position and the map information of the pool. If an obstacle is detected, the robot will adjust the operation path according to the type and position of the obstacle. For example: if there are obstacles such as walls or corners on the preset operation path of the robot, the robot may avoid the above obstacles by performing operations such as turning in advance, retreating, or adjusting the path.

[0067] The control method 100 of the automatic pool cleaning device provided by this application can collect the environmental information of the obstacles on the side and / or in front of the automatic pool cleaning device through a lidar, and determine the current position of the automatic pool cleaning device based on this environmental information and the map information of the pool. By using a lidar that performs stably in the underwater environment to replace multiple ultrasonic sensors, the number of sensors in the automatic pool cleaning device is effectively reduced, the hardware design of the automatic pool cleaning device is simplified, and the reliability of the system is enhanced. At the same time, through the environmental information collected by the lidar, the key features in the pool can be quickly obtained. After comparing and matching the key features with the map information of the pool, the current position of the automatic pool cleaning device can be accurately judged, the moving path of the automatic pool cleaning device is optimized, the cleaning efficiency of the automatic pool cleaning device is improved, the collision risk between the automatic pool cleaning device and the pool wall or obstacles is reduced, and thus the user experience is enhanced.

[0068] This application also discloses an automatic pool cleaning device, which can execute the control method described in any embodiment of this application.

[0069] 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 realizes the control method described in any embodiment of this application.

[0070] It should be understood that in this embodiment, the above computer storage medium may 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: various media that can store program codes such as USB flash drives, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), mobile hard disks, magnetic disks, or optical discs.

[0071] 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.

[0072] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" means 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 can 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.

[0073] In addition, the terms "first" and "second" are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In the description of this application, "a plurality of" means two or more, unless otherwise specifically defined.

[0074] In this application, unless otherwise stated, the orientation terms such as "upper" and "lower" generally refer to the directions shown in the drawings or to the vertical, perpendicular or gravitational directions; similarly, for ease of understanding and description, "left" and "right" generally refer to the left and right shown in the drawings; "inner" and "outer" refer to the inner and outer of the contours of the respective components themselves, but the above orientation terms are not used to limit this application.

[0075] The above is only an 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 shall 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 comprising a laser radar, the control method comprising: Controlling the automatic pool cleaning device to move in the pool; During the movement, environmental information is collected by the laser radar, and the environmental information includes environmental information of obstacles on the side and / or in front of the automatic pool cleaning device; The current position of the automatic pool cleaning device is determined according to the environmental information and the map information of the pool.

2. The control method according to claim 1, wherein, Determining the current position of the automatic pool cleaning device according to the environmental information and the map information of the pool includes: Acquire target features from the environmental information; The target feature is matched with the corresponding feature in the map information to obtain the current position of the automatic pool cleaning device.

3. The control method according to claim 2, wherein, The target feature is from at least one of the following: a corner of a pool wall, a marker on the pool bottom, a marker on the pool wall, or a marker shape formed by the contour of the pool wall.

4. The control method according to any one of claims 1 to 3, wherein, The method of controlling the automatic pool cleaning device to move in the pool includes: The automatic pool cleaning device is controlled to move along the edge of the pool wall.

5. The control method according to any one of claims 1-3, wherein, The automatic pool cleaning device also includes a magnetometer, and the control method also includes: The current position of the automatic pool cleaning device is determined according to the environmental information, the map information of the pool and the data collected by the magnetometer.

6. The control method according to any one of claims 1 to 3, wherein, The map information of the water pool includes historical map information or map information constructed in real time.

7. The control method according to claim 6, wherein, The map information constructed in real time includes: Controlling the automatic pool cleaning device to move one circle or nearly one circle along the edge of the pool wall; and The map information is constructed by measuring the distance between the laser radar and the pool during the movement of the automatic pool cleaning device along the edge of the pool wall.

8. The control method according to any one of claims 1-3, wherein The control method further comprises: Determine the moving path corresponding to the automatic pool cleaning device according to the environmental information collected in real time; The moving path is matched with the map information, and an initial position of the moving path is obtained based on the current position.

9. The control method according to any one of claims 1-3, wherein, After determining the current position of the automatic pool cleaning device according to the environmental information and the map information of the pool, the control method further includes: It is determined based on the determined current position whether there is an obstacle on the preset running path of the automatic pool cleaning device. If so, the running path of the automatic pool cleaning device is adjusted.

10. The control method according to any one of claims 1-3, wherein, When the automatic pool cleaning device meets a preset condition, the current position of the automatic pool cleaning device is obtained, wherein the preset condition includes one or more of the following conditions: The automatic pool cleaning device completes the escape action at the pool bottom; The automatic pool cleaning device finishes the cleaning task and needs to return to the water entry position; The automatic pool cleaning device needs to be charged at a charging base station; The automatic pool cleaning device receives a predetermined instruction in the pool; and The automatic pool cleaning device autonomously identifies that a cleaning mode needs to be switched.

11. The control method according to claim 1, wherein, The laser radar is installed on the side or head of the automatic pool cleaning device.

12. An automatic pool cleaning device, wherein, The automatic pool cleaning device can execute the control method described in any one of claims 1-11.

13. A computer storage medium storing a computer program, which, when executed by a processor, implements the control method according to any one of claims 1-11.

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