Automatic pool cleaning device, control method and computer storage medium
Through the combination of lidar and distance sensors, the automatic pool cleaning device achieves more comprehensive environmental perception and path optimization, improving cleaning efficiency and reducing collision risks.
Patent Information
- Application Number
- CN202510473518.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-15
- Publication Date
- 2025-07-18
AI Technical Summary
The existing automatic pool cleaning device relies on a single sensor for obstacle detection, with limited perception range and great impact from the environment, resulting in low cleaning efficiency and easy collision.
Using a combination of lidar and distance sensors, lidar acquires point cloud data, distance sensors measure the distance between obstacles, and controller adjusts the movement path according to the data.
Improves the cleaning efficiency of the automatic pool cleaning device, reduces the risk of collision with the pool wall or obstacles, and achieves a more comprehensive environmental perception.
Smart Images
Figure CN120335446A_ABST
Abstract
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, and a computer storage medium. Background Art
[0002] With the development of computer technology, robot technology has also developed rapidly. Currently, underwater robots are increasingly widely used in various fields and can assist people in performing operations in water, including underwater cleaning, underwater exploration, underwater sightseeing, etc.
[0003] A robot for pool cleaning, such as an automatic pool cleaning device, needs to avoid obstacles during the moving cleaning process when performing cleaning tasks in underwater and surface environments. On the one hand, it ensures the stable movement of the automatic pool cleaning device, so as to efficiently clean the pool. On the other hand, it avoids damage caused by the collision between the automatic pool cleaning device and obstacles.
[0004] Currently, the automatic pool cleaning device usually relies on a single sensor to detect the distance between the robot and the pool wall or obstacles to maintain a stable movement trajectory. However, the single sensor has a limited sensing range with sensing blind spots, or is greatly affected by the environment, with poor adaptability and unstable sensing results, and these situations will all affect the work of the robot. Summary of the Invention
[0005] According to the first aspect of the present application, a control method for an automatic pool cleaning device is provided. The automatic pool cleaning device includes a lidar and a distance sensor. The sensing area of the lidar includes the front area of the automatic pool cleaning device. The distance sensor is used to measure the distance between the automatic pool cleaning device and the front obstacle. The control method includes: controlling the automatic pool cleaning device to travel in the pool; during the travel of the automatic pool cleaning device, obtaining the point cloud data collected by the lidar and the distance data collected by the distance sensor, and the sensing distance of the lidar underwater is less than the sensing distance of the distance sensor underwater; adjusting the moving path of the automatic pool cleaning device based on the point cloud data and / or the distance data.
[0006] According to a second aspect of the present application, there is provided a pool automatic cleaning device, comprising: a main body; a lidar, the lidar is arranged at the front or side of the main body, and the sensing area of the lidar includes: the front area of the main body; a distance sensor, the distance sensor is arranged at the front or side of the main body, and the distance sensor is used to measure the distance between the main body and an obstacle in front; the sensing distance of the lidar underwater is less than the sensing distance of the distance sensor underwater; a controller, configured to adjust the moving path of the main body in the pool based on the point cloud data detected by the lidar and / or the distance data detected by the distance sensor.
[0007] According to a third aspect of the present disclosure, there is provided a computer storage medium, in which a computer program is stored, and when the computer program is executed by a processor, it implements the control method as described in any one of the above.
[0008] The embodiments described in the present application have the following beneficial effects:
[0009] The control method of the pool automatic cleaning device provided by the present application can obtain the point cloud data corresponding to the front area during the movement of the pool automatic cleaning device through the lidar, and can measure the distance between the pool automatic cleaning device and an obstacle in front through the distance sensor. The lidar has a wide sensing range and is less affected by complex water quality environments, and the sensing distance of the lidar underwater is less than the sensing distance of the distance sensor underwater. Therefore, through the lidar and the distance sensor, it is ensured that the pool automatic cleaning device can comprehensively sense the environment in the distance and near the front of the robot, and then can optimize the moving path of the pool automatic cleaning device according to the sensed point cloud information and distance information, improving the cleaning efficiency of the pool automatic cleaning device and reducing the risk of collision between the pool automatic cleaning device and the pool wall or obstacles. Description of the Drawings
[0010] 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.
[0011] Figure 1 is a schematic structural diagram of the pool automatic cleaning device provided by the present application;
[0012] Figure 2 is a schematic diagram of the installation position of the lidar in the pool automatic cleaning device provided by the present application;
[0013] Figure 3 is a schematic diagram of the installation positions of the lidar and the distance sensor in the pool automatic cleaning device provided by the present application;
[0014] Figure 4 It is a schematic diagram of the laser beam emitted by the lidar provided in this application being parallel to the horizontal plane; and,
[0015] Figure 5 It shows a flowchart of the control method of the pool automatic cleaning device provided in this application. Detailed implementation manners
[0016] To make the objectives, technical solutions and advantages of this application clearer, the technical solutions in this application will be clearly and completely described below with reference to the accompanying drawings in this application. Obviously, the described embodiments are part of the embodiments of this application, rather than all of them. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in this application without creative efforts shall fall within the scope of protection of this application.
[0017] This application provides a control method for a pool automatic cleaning device, a pool automatic cleaning device applying this control method, and a computer storage medium. The pool automatic cleaning device 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. This 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 this application can be realized.
[0018] In the following text, if not otherwise specified, the robot will be used as an example of the pool automatic cleaning device for elaboration, and the swimming pool will be used as an example of the pool or 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.
[0019] The pool automatic cleaning device 100 of this application will be described in detail below with reference to the accompanying drawings.
[0020] Figure 1 It is a schematic structural diagram of the pool automatic cleaning device provided in this application. As Figure 1As shown, the automatic pool cleaning device 100 includes: a main body, a lidar, a distance sensor, and a controller; the lidar is disposed at the front or side of the main body, and the sensing area of the lidar includes: the front area of the main body; the distance sensor is disposed at the front or side of the main body, and the distance sensor is used to measure the distance between the main body and an obstacle in front; the sensing distance of the lidar underwater is less than the sensing distance of the distance sensor underwater; the controller is configured to adjust the moving path of the main body in the pool based on the point cloud data detected by the lidar and / or the distance data detected by the distance sensor, wherein the controller can execute the control method described in any embodiment of the present application to adjust the moving path of the main body, that is, the automatic pool cleaning device.
[0021] As Figure 1 As shown, the main body 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; the main body can also integrate cleaning functions, for example, sewage suction, filtration, and water flow circulation, etc. The lidar is a laser-based environmental perception sensor used to detect the surrounding objects and environmental information of the robot. The lidar can be disposed at the front or side of the main body of the robot, and its sensing area can cover 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 of the front area of the robot in real time to ensure that the robot can perceive the spatial information in front of it. The distance sensor is disposed at the front or side of the main body of the robot, and this distance sensor can be used to measure the distance between the main body of the robot and an obstacle in front. The point cloud data obtained by the lidar and the distance data obtained by the distance sensor can provide accurate data support for path planning, obstacle detection, and boundary recognition, etc. during the movement of the robot. Among them, the lidar has a smaller sensing distance but a larger sensing range, and the distance sensor has a larger sensing distance but a smaller sensing range compared with the lidar. Therefore, the lidar combined with the distance sensor can take into account the obstacle information in the distance and the vicinity in front of the robot, and achieve a more comprehensive perception of the front area of the robot. The controller is the "brain" of the robot, responsible for receiving the point cloud data of the lidar and the distance information of the distance sensor, and being able to adjust the moving path of the robot in the pool according to the point cloud data and / or the distance data.
[0022] It can be understood that in the above description, the front part of the main body refers to the front end part of the robot's fuselage, that is, the foremost end in the moving direction of the robot, including the front end and the top of the front end of the robot. The side part of the main body refers to the side part of the robot's fuselage. When the lidar is set at the front part of the main body, it can better cover the area in front of the robot, obtain more environmental information of the area in front of the robot for the robot, and facilitate path planning and obstacle avoidance for the robot in advance. When the lidar is set at the side part of the robot, it can also sense the environmental information in front of the robot by emitting laser beams in the direction of the front part of the robot.
[0023] In this application, if there is no additional special description, the terms "front" and "front area" mean the area away from the robot's fuselage in the forward direction of the robot. During the movement of the robot, there may be pool walls, obstacles, etc. in its front area.
[0024] Figure 2 It is a schematic diagram of the installation position of the lidar in the automatic pool cleaning device provided by this application. As Figure 2 shown in the figure, the lidar is set in the non-middle area or the middle area of the front part of the main body.
[0025] Specifically, the lidar can be set in the non-middle area of the front part of the main body, such as the position near the side part (left or right) of the front part, or the lidar can also be set at the middle area of the front part of the main body. For example Figure 2 the lidar A in the figure shows a scenario where the lidar is set at the side position near the right side of the front part of the robot's main body. For example Figure 2 the lidar B in the figure shows a scenario where the lidar is set at the middle area of the front part of the robot's main body. Of course, the front part of the main body can include the top area of the front part of the robot. For example Figure 2 the lidar C in the figure shows a scenario where the lidar is set at the area of the top of the front part of the robot. Setting the lidar at the front part of the robot can better sense the environmental information of the area in front of the robot through the lidar.
[0026] Figure 3 It is a schematic diagram of the installation positions of the lidar and the distance sensor in the automatic pool cleaning device provided by this application. As Figure 3 shown in the figure, the distance sensor is set below the lidar; preferably, the distance sensor has a preset distance from the lidar in the horizontal direction.
[0027] Specifically, the distance sensor can be set below the lidar, and when the distance sensor is set below the lidar, the lidar and the distance sensor can be set offset in the horizontal direction. For example Figure 3In the figure, it shows a scenario where the lidar A is set at a position near the right side of the front part of the robot's main body, and the distance sensor D is set below the lidar and has a preset distance from the lidar in the horizontal direction. Setting the distance sensor at this position can reduce the occlusion of the distance sensor by the robot's own structural components (such as cleaning brushes, water inlets, etc.). Moreover, by setting the distance sensor below the lidar, the lidar can sense the environmental information in the higher area in front of the main body, and the distance sensor can monitor the environmental information in the lower area in front of the main body. Setting the lidar and the distance sensor offset by a preset distance in the horizontal direction can enable the distance sensor to compensate for the area that the lidar cannot perceive in front, so that the distance sensor and the lidar can monitor the environmental information in a larger area.
[0028] Exemplarily, the horizontal FOV (Field of View) of the lidar is greater than 100 degrees. The field of view angle of the lidar refers to the range angle that the lidar can detect, which is an important indicator to measure the detection ability of the lidar. The horizontal field of view angle of the lidar being greater than 100 degrees means that the angle range that the lidar can detect in the horizontal direction is greater than 100 degrees.
[0029] Furthermore, the laser beam emitted by the lidar can be parallel to the horizontal plane or tilted downward by a certain angle. For example: the laser beam emitted by the lidar rotates a first angle value downward to the left or right relative to the horizontal plane, or the laser beam emitted by the lidar tilts downward by a second angle value, or after the laser beam emitted by the lidar tilts downward by a third angle value, it rotates a fourth angle value clockwise or counterclockwise. This can enable the lidar to sense the area at the bottom in front of the robot and / or the bottom on the side. The angle of the laser beam of the lidar can be set by means of the installation angle of the lidar or the emission angle of the laser beam emitted by the transmitter of the lidar.
[0030] For example: Figure 4 is a schematic diagram of the laser beam emitted by the lidar provided in this application being parallel to the horizontal plane. As shown in Figure 4 In the figure, the lidar A is horizontally set at a position near the left side of the head of the main body (that is, set in the non-middle area in the front part of the main body) and the laser beam emitted by the lidar A is parallel to the horizontal plane. Since the lidar is set at the left front of the main body and the field of view angle of the lidar is relatively large, it can enable the lidar to sense the objects in the left area of the robot (such as the left pool wall) and the objects in the front area (such as the front pool wall). The laser beam emitted by the lidar can also tilt downward, so that the lidar can sense the objects at the bottom in front of the robot and / or the objects at the bottom on the side to assist the robot in path planning.
[0031] Exemplarily, the sensing area of the distance sensor in front of the automatic pool cleaning device and the sensing area of the lidar in front of the automatic pool cleaning device do not overlap at least partially.
[0032] Specifically, the sensing area of the distance sensor in front of the robot and the sensing area of the lidar in front of the robot may not overlap at least partially. In this case, the sensing areas of the distance sensor and the lidar are different, which can make up for the areas that the other cannot sense in the front, so that through the distance sensor and the lidar, the robot can have a larger sensing range.
[0033] Exemplarily, the lidar is a single-line lidar or a multi-line lidar.
[0034] For example, the lidar can be a single-line lidar. The single-line lidar only includes one laser emitter and one receiver, and can only send and receive laser pulses in one direction each time. The scanned data is two-dimensional (2D) data. The single-line lidar has a simple structure, low cost, small volume, low power consumption, and fast scanning speed. The lidar can also be a multi-line lidar. The multi-line lidar includes multiple laser emitters and multiple receivers, and can simultaneously emit and receive multiple laser beams. The scanned data is three-dimensional (3D) data. Different from the single-line lidar, the multi-line lidar can obtain three-dimensional information of the environment, including the height and depth information of objects, etc. The more the number of lines of the multi-line lidar (for example, 4 lines, 8 lines, 16 lines, 32 lines, 64 lines, 128 lines, etc.), the denser the scanned point cloud data, and the higher the accuracy of environmental perception.
[0035] It should be noted that the above descriptions about the installation position, rotation mode, and type of the lidar and the robot are only exemplary. Those skilled in the art can adjust the installation position, rotation mode, and type of the lidar and the robot according to the actual situation, as long as the technical principle of the present application can be realized.
[0036] Among them, the distance sensor is a single-point time-of-flight sensor, a laser sensor, an ultrasonic sensor, an infrared sensor, or an image sensor. The distance sensor is preferably a single-point time-of-flight sensor (Time of flight, TOF), and the single-point time-of-flight sensor can provide more stable and accurate distance measurement in an underwater environment.
[0037] The automatic pool cleaning device provided by this application can obtain the point cloud data corresponding to the front area during the movement of the automatic pool cleaning device through a lidar, and can measure the distance between the automatic pool cleaning device and the front obstacle through a distance sensor. The lidar has a wide sensing range and is less affected by complex water quality environments. Moreover, the sensing distance of the lidar underwater is less than that of the distance sensor underwater. Therefore, through the lidar and the distance sensor, it is ensured that the automatic pool cleaning device can comprehensively sense the environment in the distance and near the front of the robot, and then can optimize the movement path of the automatic pool cleaning device according to the sensed point cloud information and distance information, improving the cleaning efficiency of the automatic pool cleaning device and reducing the risk of collision between the automatic pool cleaning device and the pool wall or obstacles.
[0038] The control method 500 of the automatic pool cleaning device of this application will be described in detail below with reference to the accompanying drawings. Figure 5 The flowchart of the control method of the automatic pool cleaning device provided by this application is shown. As Figure 5 shown in the figure, the control method 500 includes steps 501 to 503.
[0039] Step 501, control the automatic pool cleaning device to travel in the pool.
[0040] When controlling the robot to clean the swimming pool, the robot can be controlled to move in a preset path such as a "bow" - shaped path, a "return" - shaped path, a "Y" - shaped path, a "U" - shaped path, etc. It should be noted that the term "preset path" does not necessarily require the robot to plan a movement trajectory in advance and store the information corresponding to the movement trajectory in the robot's memory. In the art, so - called path planning usually means planning a fixed movement rule. The robot can use a path - planning algorithm to obtain the movement path of the robot; it can also obtain the movement path of the robot through the update and iteration of the historical path; the movement path of the robot can also be provided or set by the user; the movement path of the robot can also be pre - stored in the robot's memory. The above description of the acquisition method of the robot's movement path is only exemplary, and those skilled in the art can select the movement path of the robot according to the actual situation as long as the technical principle of this application can be realized.
[0041] Next, step 502 is entered. In step 502, during the travel of the automatic pool cleaning device, obtain the point cloud data collected by the lidar and the distance data collected by the distance sensor. The sensing distance of the lidar underwater is less than that of the distance sensor underwater.
[0042] Specifically, 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 when the laser beams encounter obstacles in the area in front of the robot. The lidar processes these signals into point cloud data and transmits the point cloud data to the controller of the robot. The point cloud data consists of a large number of points. Through the point cloud data, the environmental information of the area in front of the robot can be accurately perceived, such as obstacles like the boundary of the pool, steps, decorations, and other objects in the pool. During the movement of the robot, the distance sensor can continuously or periodically sense the distance data between the robot and the obstacles in front. When this distance data becomes smaller, it indicates that there are obstacles protruding from the bottom of the pool (such as floor lamps, steps, etc.). Among them, the lidar has a relatively small sensing distance but a large sensing range, and the distance sensor has a larger sensing distance compared to the lidar but a smaller sensing range. Therefore, by combining the lidar and the distance sensor, a more comprehensive perception of the area in front of the robot can be achieved.
[0043] Next, step 503 is entered. In step 503, the movement path of the pool automatic cleaning device is adjusted based on the point cloud data and / or the distance data.
[0044] Specifically, the point cloud data is a two-dimensional data set or a three-dimensional data set generated by scanning the area in front of the robot by the lidar, reflecting the environmental information inside the pool, such as the boundary of the pool, the position of the obstacles, the contour of the obstacles, the terrain of the bottom of the pool, etc. The distance data is the distance between the robot and the obstacles in front measured by the distance sensor. The contour information of the pool wall can be quickly extracted from the point cloud data, and based on the contour information of the pool wall, the distance between the robot and the pool wall can be calculated. It is also possible to identify whether there are obstacles in the area in front of the robot and the position, size, and shape of the obstacles through the point cloud data. At the same time, it is possible to determine whether there are obstacles at a relatively far position in front of the robot and the distance between the robot and the obstacles through the distance data. Further, the position and movement path of the robot can be adjusted through the point cloud data and / or the distance data.
[0045] Exemplarily, at least part of the sensing area of the distance sensor in front of the pool automatic cleaning device does not overlap with the sensing area of the lidar in front of the pool automatic cleaning device.
[0046] Specifically, the sensing areas of the distance sensor and the lidar in front of the robot are not exactly the same, which can make up for the areas that the other cannot sense in front, enabling the robot to have a larger sensing range through the distance sensor and the lidar.
[0047] In step 503, adjusting the moving path of the automatic pool cleaning device based on the point cloud data and / or the distance data includes: when the point cloud data does not contain obstacle information while the distance data contains obstacle information, based on the distance data, controlling the automatic pool cleaning device to turn or increase the pump power to cross the obstacle.
[0048] Specifically, during the movement of the robot, the lidar and the distance sensor can continuously or periodically sense the distance data between the robot and the obstacle ahead. However, since the sensing distance of the lidar underwater is less than that of the distance sensor underwater, for an obstacle farther ahead of the robot, the lidar may be difficult to sense but the distance sensor can sense the obstacle. In addition, the sensing direction of the distance sensor can also be adjusted downward so that the distance sensor can sense the information of the obstacle at the bottom in front of the robot. When the point cloud data does not contain obstacle information and the distance data contains obstacle information, it can indicate that there is an obstacle slightly ahead of the robot or an obstacle such as a floor lamp or a step at the bottom in front of the robot. Therefore, when the point cloud data does not contain obstacle information but the distance data contains obstacle information, the robot can be controlled to turn to avoid the obstacle based on the distance data sensed by the distance sensor, or the pump power of the robot can be increased to control the robot to cross the obstacle, so as to realize timely control of the robot to avoid obstacles.
[0049] In step 503, the sensing area of the lidar further includes: the side area of the automatic pool cleaning device, and controlling the automatic pool cleaning device to travel in the pool includes: based on the point cloud data, controlling the automatic pool cleaning device to travel along the pool wall of the pool.
[0050] Specifically, as described in the above embodiment, the sensing area of the lidar can further include the side area of the robot. When it is necessary to obtain the size information of the pool or when it is necessary to clean the bottom edge of the pool, it is necessary to control the robot to move along the edge, that is, to control the robot to travel along the pool wall of the pool. And, in order to obtain more accurate pool size information during the edge movement or to enable the robot to effectively clean the bottom edge of the pool, it is necessary to keep the robot as close to the pool wall as possible and avoid collision with the pool wall during the edge movement, that is, it is necessary to control the distance between the robot and the pool wall within a reasonable predetermined distance range.
[0051] When controlling the robot to travel along the pool wall, the lidar can obtain the point cloud data of the area in front of and on the side of the robot in real time. By filtering, denoising, and feature extraction of 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 can be calculated, and then the moving path of the robot can be controlled in real time, and the distance between the robot and the pool wall can be adjusted in real time to maintain the distance between the robot and the side pool wall within a predetermined distance range. The specific distance between the robot and the pool wall can be set according to actual needs. For example, when building a map along the edge, it can be controlled within the range of the lidar's measurement range (such as: 1 meter - 1.5 meters) to ensure that the lidar can sense the pool wall, which can not only achieve map building but also avoid collisions between the machine and the pool wall and shorten the map building time. Of course, when cleaning along the edge, the distance between the robot and the pool wall can also be shortened, which can be determined according to actual needs.
[0052] In this application, if there is no additional special description, the terms "side" and "side area" include the side area directly opposite the side of the robot and the area in front of the side of the robot. There may be a pool wall, obstacles, etc. on the side of the robot during its movement.
[0053] In step 503, adjusting the moving path of the automatic pool cleaning device based on the point cloud data and / or the distance data includes: when both the point cloud data and the distance data contain obstacle information, preferentially adjusting the moving path of the automatic pool cleaning device based on the point cloud data, or adjusting the moving path of the automatic pool cleaning device by integrating the detection results of the point cloud data and the distance data.
[0054] Specifically, compared with the distance sensor, the lidar can not only sense the distance of the obstacle but also sense the details of the obstacle such as the contour of the obstacle. When both the point cloud data and the distance data include obstacle information, the moving path of the robot can be preferentially adjusted based on the point cloud data. Based on the point cloud data, information such as the contour and size of the obstacle can be obtained, and the robot can be controlled to avoid obstacles precisely.
[0055] Alternatively, the detection results of the point cloud data and the distance data can also be combined to adjust the moving path of the pool automatic cleaning device. For example, when the laser beam of the lidar is tilted downward at a certain angle, the lidar can also sense the obstacles in the bottom area in front of the robot. If the detection results of both the point cloud data and the distance data indicate that there are obstacles in front of the robot, at this time, the type of the obstacle can be determined according to the point cloud data, the distance between the robot and the obstacle can be determined according to the distance data, and whether the robot avoids the obstacle or crosses the obstacle, and when to avoid the obstacle can be determined by combining the type of the obstacle and the distance between the robot and the obstacle. Exemplarily, combining the detection results of the point cloud data and the distance data to adjust the moving path of the pool automatic cleaning device includes: generating an obstacle avoidance path based on the point cloud data and the distance data, and the obstacle avoidance path can bypass the obstacles sensed by the lidar and the obstacles sensed by the distance sensor.
[0056] Specifically, when adjusting the moving path of the robot by combining the detection results of the point cloud data and the distance data, the situation of the obstacles in front of the robot (such as: the contour of the obstacle, the distance from the robot, and the position relative to the robot, etc.) can be determined according to the detection results of the point cloud data and the distance data, and then an obstacle avoidance path can be generated according to the situation of the obstacle, so that the obstacle avoidance path can bypass the obstacles sensed by the lidar and the obstacles sensed by the distance sensor.
[0057] Wherein, the distance sensor is located below the lidar. The positions, corresponding sensing areas and specific types of the lidar and the distance sensor on the robot can refer to the description of the above embodiments and will not be elaborated here.
[0058] The control method of the pool automatic cleaning device provided by the present application can obtain the point cloud data corresponding to the front area during the movement of the pool automatic cleaning device through the lidar, and can measure the distance between the pool automatic cleaning device and the front obstacle through the distance sensor. The lidar has a wide sensing range and is less affected by the complex water quality environment, and the sensing distance of the lidar underwater is less than the sensing distance of the distance sensor underwater. Therefore, through the lidar and the distance sensor, it is ensured that the pool automatic cleaning device can comprehensively sense the environment in front of the robot, and then can optimize the moving path of the pool automatic cleaning device according to the sensed point cloud information and distance information, improve the cleaning efficiency of the pool automatic cleaning device, and reduce the risk of collision between the pool automatic cleaning device and the pool wall or obstacles.
[0059] The present application also provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it is configured to execute the control method of the automatic pool cleaning device provided in the above embodiments. The method includes: controlling the automatic pool cleaning device to travel in the pool; during the travel of the automatic pool cleaning device, acquiring the point cloud data collected by the lidar and the distance data collected by the distance sensor, where the underwater sensing distance of the lidar is less than the underwater sensing distance of the distance sensor; adjusting the moving path of the automatic pool cleaning device based on the point cloud data and / or the distance data. For the principle and solution of the control method, refer to the control method described above in combination with various embodiments and the drawings, which will not be elaborated here.
[0060] The present application also provides a computer program product. The computer program product includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer is capable of executing the control method of the automatic pool cleaning device provided in the above methods. The method includes: controlling the automatic pool cleaning device to travel in the pool; during the travel of the automatic pool cleaning device, acquiring the point cloud data collected by the lidar and the distance data collected by the distance sensor, where the underwater sensing distance of the lidar is less than the underwater sensing distance of the distance sensor; adjusting the moving path of the automatic pool cleaning device based on the point cloud data and / or the distance data. For the principle and solution of the control method, refer to the control method described above in combination with various embodiments and the drawings, which will not be elaborated here.
[0061] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art can understand and implement it without creative efforts.
[0062] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on such an understanding, the above technical solution, in essence, or the part that contributes to the prior art can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.
[0063] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. 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 the present 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.
[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 indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" can explicitly or implicitly include at least one of these features. In the description of the present application, "a plurality" means two or more, unless otherwise specifically defined.
[0065] As mentioned above, the above are only exemplary embodiments of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope recorded in the present application can easily think of various changes or substitutions, and these should all be covered within the protection scope of the present application. Therefore, the protection scope of the present 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 and a distance sensor, the sensing area of the lidar including: In the front area of the automatic pool cleaning device, the distance sensor is used to measure the distance between the automatic pool cleaning device and an obstacle ahead, and the control method includes: Controlling the automatic pool cleaning device to travel in the pool; During the travel of the automatic pool cleaning device, obtaining the point cloud data collected by the lidar and the distance data collected by the distance sensor, where the sensing distance of the lidar underwater is less than the sensing distance of the distance sensor underwater; Adjusting the moving path of the automatic pool cleaning device based on the point cloud data and / or the distance data.
2. The control method according to claim 1, wherein, The sensing area of the distance sensor in front of the automatic pool cleaning device and the sensing area of the lidar in front of the automatic pool cleaning device at least partially do not overlap.
3. The control method according to claim 1, wherein, The adjusting the moving path of the automatic pool cleaning device based on the point cloud data and / or the distance data includes: when the point cloud data does not contain obstacle information while the distance data contains obstacle information, based on the distance data, controlling the automatic pool cleaning device to turn or increase the pump power to cross the obstacle.
4. The control method according to claim 1, wherein, The sensing area of the lidar further includes: the side area of the automatic pool cleaning device, and the controlling the automatic pool cleaning device to travel in the pool includes: based on the point cloud data, controlling the automatic pool cleaning device to travel along the pool wall of the pool.
5. The control method according to any one of claims 1-4, wherein, The adjusting the moving path of the automatic pool cleaning device based on the point cloud data and / or the distance data includes: when both the point cloud data and the distance data contain obstacle information, preferentially adjusting the moving path of the automatic pool cleaning device based on the point cloud data, or, combining the detection results of the point cloud data and the distance data to adjust the moving path of the automatic pool cleaning device.
6. The control method according to claim 5, wherein, The combining the detection results of the point cloud data and the distance data to adjust the moving path of the automatic pool cleaning device includes: generating an obstacle avoidance path based on the point cloud data and the distance data, and the obstacle avoidance path can bypass the obstacles sensed by the lidar and the obstacles sensed by the distance sensor.
7. The control method according to any one of claims 1-5, wherein, The distance sensor is located below the lidar.
8. An automatic pool cleaning device, comprising: A main body; A lidar, the lidar is arranged at the front or side of the main body, and the sensing area of the lidar includes: the front area of the main body; A distance sensor, the distance sensor is arranged at the front or side of the main body, and the distance sensor is used to measure the distance between the main body and an obstacle ahead; the sensing distance of the lidar underwater is less than the sensing distance of the distance sensor underwater; A controller, configured to adjust the moving path of the main body in the pool based on the point cloud data detected by the lidar and / or the distance data detected by the distance sensor.
9. The device according to claim 8, wherein the lidar is arranged in a non-middle area or a middle area at the front of the main body.
10. The device according to claim 8, wherein the distance sensor is disposed below the lidar; preferably, the distance sensor has a preset distance from the lidar in the horizontal direction.
11. The device according to claim 8, wherein the horizontal FOV of the lidar is greater than 100 degrees.
12. The device according to claim 8, wherein at least a part of the sensing area of the distance sensor in front of the automatic pool cleaning device does not overlap with the sensing area of the lidar in front of the automatic pool cleaning device.
13. The device according to claim 8, wherein the lidar is a single-line lidar or a multi-line lidar.
14. The device according to claim 8, wherein the distance sensor is a single-point time-of-flight sensor, a laser sensor, an ultrasonic sensor, an infrared sensor or an image sensor.
15. 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 method according to any one of claims 1-7 is implemented.