Automatic pool cleaning equipment, pool base station and method for generating pool map

Abstract

The invention discloses an automatic pool cleaning device, a pool base station and a method for generating a pool map. The method comprises the following steps: controlling the automatic pool cleaning equipment to move in a pool along the pool wall of the pool and creating a pool map; in the process that the automatic pool cleaning equipment moves along the pool wall and a pool map is created, a real-time image about the pool is obtained; identifying a fixed marker in the pool based on the currently acquired real-time image; and based on the identification information of the fixed marker and the position information of the automatic pool cleaning equipment in the pool map, integrating the marker information of the fixed marker into the created pool map part.

Description

Technical Field

[0001] The present disclosure relates to an automatic pool cleaning device, a pool base station, and a method for generating a pool map. Background Art

[0002] For pool facilities such as swimming pools, automatic pool cleaning devices can be used for automatic cleaning or auxiliary cleaning. For example, the automatic pool cleaning device can be designed to move along the bottom, walls and / or surface of the pool while running its cleaning mechanism to filter the pool water and absorb dirt. Summary of the Invention

[0003] Disclosed is a method for generating a pool map, comprising: controlling an automatic pool cleaning device to move along the pool wall in a pool and create a pool map; acquiring a real-time image of the pool while the automatic pool cleaning device moves along the pool wall and creates the pool map; identifying fixed markers in the pool based on the currently acquired real-time image; and integrating marker information of the fixed markers into a portion of the created pool map based on identification information of the fixed markers and position information of the automatic pool cleaning device in the pool map.

[0004] In some embodiments, the identification information of the fixed marker includes at least one of the type information of the fixed marker, the position information of the fixed marker relative to the automatic pool cleaning device, the distance information of the fixed marker relative to the automatic pool cleaning device, and the posture information of the fixed marker relative to the automatic pool cleaning device.

[0005] In some embodiments, the marker information of the fixed marker includes at least one of type information of the fixed marker, shape information of the fixed marker, and position information of the fixed marker in the pool map.

[0006] In some embodiments, the position information of the automatic pool cleaning device in the pool map is determined based on data from an odometer of the automatic pool cleaning device and data from a distance sensor of the automatic pool cleaning device regarding the distance between the automatic pool cleaning device and the pool wall.

[0007] In some embodiments, the method further includes: obtaining the location information of the automatic pool cleaning device relative to the pool base station and the location information of the pool base station in the pool map; and determining the location information of the automatic pool cleaning device in the pool map based on the location information of the automatic pool cleaning device relative to the pool base station and the location information of the pool base station in the pool map.

[0008] In some embodiments, the position information of the automated pool cleaning device relative to the pool base station is determined based on ultrasonic signals from the pool base station.

[0009] In some embodiments, integrating the marker information of the fixed marker into the created pool map portion includes: drawing the fixed marker in the created pool map portion based on the marker information of the fixed marker.

[0010] In some embodiments, controlling the automatic pool cleaning device to move along the pool wall in the pool includes: based on data from a distance sensor of the automatic pool cleaning device, controlling the automatic pool cleaning device to move along the pool wall in a manner such that the distance between the device and the pool wall is maintained within a preset range.

[0011] Also disclosed is an automatic pool cleaning device, comprising: an image sensor configured to acquire real-time images of the pool while the automatic pool cleaning device moves in the pool; and a processor configured to execute the method described above.

[0012] In some embodiments, the automatic pool cleaning device further comprises: a signal receiving end configured to receive information related to the relative position between the automatic pool cleaning device and the pool base station from the automatic pool cleaning device.

[0013] Also disclosed is a pool base station for the automatic pool cleaning device as described above. The pool base station includes: a signal transmitting end configured to send information related to the relative position between the automatic pool cleaning device and the pool base station to the automatic pool cleaning device. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 An example of an automatic pool cleaning device according to an embodiment of the present disclosure is schematically shown.

[0015] Figure 2 An example of a method for generating a pool map according to an embodiment of the present disclosure is schematically shown.

[0016] Figure 3 An example of a process of generating a pool map according to an embodiment of the present disclosure is schematically shown.

[0017] Figure 4 An example of a process of generating a pool map according to an embodiment of the present disclosure is schematically shown.

[0018] Figure 5 An example of a real-time image acquired according to an embodiment of the present disclosure is schematically shown.

[0019] Figure 6 An example of a process of generating a pool map according to an embodiment of the present disclosure is schematically shown.

[0020] Figure 7An example of a water pool base station according to an embodiment of the present disclosure is schematically shown.

[0021] Figure 8 An example of a process of generating a pool map according to an embodiment of the present disclosure is schematically shown.

[0022] Figure 9 An example of a partial pool map generated according to an embodiment of the present disclosure is schematically shown. DETAILED DESCRIPTION

[0023] The embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings. In the drawings, the same or corresponding parts are given the same reference numerals, and their description will not be repeated.

[0024] The automatic pool cleaning device can be configured to create a pool map using a device such as an ultrasonic sensor of the automatic pool cleaning device through a technology such as simultaneous localization and mapping (SLAM) while moving in the pool. The created pool map can then be used for operations such as cleaning route planning. The created pool map may include information such as the outline of the pool, but may lack semantic information about the various parts of the pool. Therefore, the created pool map may not be easy for users of the automatic pool cleaning device to understand.

[0025] The automatic pool cleaning device disclosed in the present invention can support the creation of a pool map with semantic information, thereby being able to present rich and intuitive map information to users, and is also conducive to the accurate identification and positioning of various detection targets / markers in the pool, thereby helping to improve the efficiency of operations such as cleaning route planning.

[0026] Figure 1 An exemplary automatic pool cleaning device 100 (hereinafter also referred to as “device 100 ”) in an embodiment of the present disclosure is illustratively shown.

[0027] The device 100 may be configured with a housing. For example, a water inlet and a water outlet may be configured on the housing, and a water pump, a filtering device, and a driving mechanism may be configured within the housing. The driving mechanism may include, for example, power components such as a motor, a water pump, and gears that can provide and / or transmit driving force, and components such as traveling wheels, tracks, water nozzles, and propellers that are driven by the power components and enable the device 100 to move or swim in the water, on the water surface, and / or on the pool wall.

[0028] For example, the device 100 can use its driving mechanism to move on the bottom, wall or water surface of the pool, and at the same time, suck the pool water together with the garbage or dirt in the water from the water inlet into the filtering device of the device 100 (for example, a filter box including a filter element, etc.) through a suction device such as a water pump, and then suck the pool water in the filtering device out of the filtering device through a suction device such as a water pump and guide it to the water outlet, and finally discharge it into the pool from the water outlet, wherein the garbage or dirt in the pool water is adsorbed by the filter element of the filtering device or intercepted in the filtering device, thereby achieving the cleaning of the pool.

[0029] like Figure 1 As shown, a controller 110 is configured in the device 100. The controller 110 may include any circuit and / or module with data processing capability and / or instruction execution capability and suitable for the device 100, such as a central processing unit (CPU), a graphics processing unit (GPU), a field programmable gate array (FPGA), etc., and may be configured to perform data processing and / or control related to the cleaning operation and / or other functions of the device 100 according to a program stored in a memory (not shown) of the device 100 and / or a signal and / or instruction from a control panel or a control terminal (not shown) of the device 100 and / or sensing data from one or more sensors (e.g., a spatial attitude sensor, an odometer, etc.) of the device 100.

[0030] For example, the controller 110 may be configured to execute program instructions to control the device 100 to move to the vicinity of the pool wall and move along the pool wall based on sensing data from a distance sensor such as an ultrasonic sensor from the device 100. For example, based on sensing data from a distance sensor such as an ultrasonic sensor from the device 100, the device 100 may be controlled to move along the pool wall in a manner such that the distance between the device 100 and the pool wall remains within a preset range.

[0031] For example, the controller 110 may also be configured to execute program instructions to create a pool map using a technology such as SLAM based on data from sensors or sensing components of the device 100 such as ultrasonic sensors, spatial attitude sensors, and odometers.

[0032] like Figure 1 As shown, the device 100 is also equipped with an image sensor 120, such as a monocular camera or a binocular camera. The image sensor 120 can be automatically turned on after the device 100 enters the pool, or it can be turned on in response to a command from the controller 110, so as to obtain real-time images of the pool while the device 100 moves in the pool (or on the water surface or the pool wall).

[0033] For example, the controller 110 can also be configured to execute program instructions to extract semantic information about markers or detection objects in the pool from the real-time image data from the image sensor 120 through any suitable image recognition and processing method such as an artificial neural network, and then integrate the acquired semantic information into the created pool map portion, thereby ultimately creating a pool map with semantic information.

[0034] Furthermore, the controller 110 can also be configured to be capable of executing program instructions to, for example, present the created pool map with semantic information and / or the current position of the device 100 in the pool map on the display screen of a control terminal of the device 100 (for example, a user's mobile phone that is connected to the device 100 and can control and / or monitor the device 100 through an application), plan a cleaning route or avoid obstacles based on the created pool map with semantic information, and / or perform other operations.

[0035] Figure 2 An exemplary method 200 for generating a pool map according to an embodiment of the present disclosure is schematically shown. The method 200 may include steps 210, 220, 230, and 240, and may be implemented by the controller 110 by executing corresponding program instructions, for example.

[0036] In step 210 , the controller 110 may control the device 100 to move along the wall of the pool in the pool and create a pool map.

[0037] For example, in step 210 or before step 210, Figure 3 As shown, the controller 110 can control the device 100 to move in a certain direction based on sensing data from a distance sensor such as an ultrasonic sensor and / or real-time image data from the image sensor 120 until it reaches a preset range from the pool wall 300. The controller 110 can then control the device 100 to adjust its body orientation so that, for example, the body of the device 100 is approximately parallel to the pool wall 300. The controller 110 can then control the device 100 to move along the pool wall 300 in the pool.

[0038] In the process of controlling the device 100 to move along the pool wall 300 in the pool, for example, the controller 100 can also control the distance D between the device 100 and the pool wall 300 to always remain within a preset range based on sensing data from distance sensors such as ultrasonic sensors of the device 100 (for example, at least one ultrasonic sensor configured on the side of the body of the device 100) and / or real-time image data from the image sensor 120.

[0039] For example, Figure 4As shown, in the process of controlling the device 100 to move along the pool wall 300 in the pool, the controller 110 can create a pool map based on data from sensors or sensing components such as ultrasonic sensors, spatial attitude sensors, odometers, etc. from the device 100 through technologies such as SLAM, wherein the currently created pool map portion may, for example, include a partial contour map 400 of the pool.

[0040] During the process of the device 100 moving along the pool wall 300 and creating a pool map, step 220 can be executed, for example, controlling the image sensor 120 to obtain a real-time image of the pool, wherein the image sensor 120 can be turned on after the device 100 enters the pool, or when the device 100 adjusts its body and starts to move along the pool wall 300.

[0041] Then, step 230 can be executed to identify fixed markers in the pool based on the real-time image currently obtained, where the fixed markers in the pool may include, but are not limited to: structural facilities or components that are part of the pool or fixed in the pool, such as pool walls, platforms, steps, escalators; and other accessory facilities such as swimming rings and lane lines that are connected or configured in the pool (and may move within a certain range).

[0042] In step 230, for example, any method or technology suitable for image analysis and / or recognition, such as a convolutional neural network, can be used to identify the fixed marker in the pool from the currently acquired real-time image and obtain identification information about the fixed marker.

[0043] In step 230, for example, fixed markers in the pool may be identified from the currently acquired real-time image and identification information about the fixed markers may be obtained based on the acquired real-time image and data from other sensors in the device 100 (e.g., a spatial attitude sensor, an ultrasonic sensor, etc.). For example, the fixed markers identified from the currently acquired real-time image and their identification information may be corrected based on data from other sensors in the device 100 to obtain more accurate identification information.

[0044] In different embodiments, the identification information of the fixed marker obtained may include but is not limited to one or more of the following: type information of the fixed marker (for example, used to indicate which facility or component the fixed marker is, such as a pool wall, platform, steps, escalator or swimming ring); position information of the fixed marker relative to the device 100, such as the coordinate information of the fixed marker relative to the device 100; distance information of the fixed marker relative to the device 100; posture information of the fixed marker relative to the device 100, such as the angle between the extension direction of the pool wall and the current orientation of the device 100; and so on.

[0045] For example, Figure 5 As shown, image analysis and / or recognition can be performed on the currently acquired real-time image 500, thereby identifying the pool wall 300 from the real-time image 500 and extracting identification information about the pool wall 300. For example, the extracted identification information about the pool wall 300 may include, but is not limited to: the type of the fixed marker is a pool wall; the pool wall 300 is currently located a certain number of centimeters to the right of the device 100; the extension direction of the pool wall 300 forms a certain angle with the current length direction of the device 100; and so on.

[0046] Then, in step 240, the marker information of the identified fixed marker can be integrated into the created pool map portion based on the identification information of the identified fixed marker and the location information of the device 100 in the pool map, thereby generating a pool map with semantic information.

[0047] In one embodiment, for example, the location information of the device 100 in the created pool map, such as the location coordinates of the device 100 in the pool map, can be determined based on data from an odometer configured in the device 100 and data about the distance between the device 100 and the pool wall 300 from a distance sensor of the device 100, such as an ultrasonic sensor.

[0048] For example, Figure 6 As shown, the controller 110 can utilize any suitable technology or method such as repositioning at the current position to generate contour information 600 of the environment in which the controller 110 is currently located based on sensing data about the distance between the device 100 and the pool wall 300 from a distance sensor such as an ultrasonic sensor of the device 100, measurement data from a digital encoder for measuring angular displacement such as a code disk in the device 100, and / or measurement data about the three-axis attitude angle and acceleration of the device 100 from a spatial attitude sensor such as an inertial measurement unit (IMU) in the device 100.

[0049] The controller 110 can then execute program instructions to match the generated contour information 600 with the created partial contour map 400. When it is determined through matching that the contour information 600 corresponds to the portion 410 in the created partial contour map 400, the position information of the device 100 in the created partial contour map 400 can be further determined based on measurement data about the mileage of the device 100 from the odometer in the device 100, sensing data about the distance between the device 100 and the pool wall 300 from a distance sensor such as an ultrasonic sensor in the device 100, and the like.

[0050] In another embodiment, Figure 7As shown, a pool base station 700 (also referred to as a "charging pile" or "charging station" or "charging dock") can be set at a specific location of the pool, such as at the edge area of ​​the pool, and the device 100 can be configured to, for example, automatically return to the pool base station 700 for charging or standby operations after completing the pool cleaning task or in the event of insufficient power, without the user having to manually salvage the device 100 from the pool.

[0051] like Figure 7 As shown, the pool base station 700 may include at least one signal transmitting end 710 for transmitting signals such as ultrasonic signals toward the device 100 or one or more directions in the pool, so as to provide the device 100 with information such as the current relative position between the device 100 and the pool base station 700. Accordingly, the device 100 may include at least one signal receiving end 130 for receiving signals from the pool base station 700 (e.g., ultrasonic signals from the pool base station 700), such as information related to the current relative position between the device 100 and the pool base station 700.

[0052] The position of the pool base station 700 in the pool is fixed, and for example, the device 100 can be controlled to start from the pool base station 700. In this way, the position information of the device 100 relative to the pool base station 700 and the position information of the pool base station 700 in the created pool map portion can be obtained. For example, Figure 7 and Figure 8 As shown, the water pool base station 700 can transmit signals such as ultrasonic signals in one or more directions through the signal transmitting end 710. When receiving the signal from the water pool base station 700, the device 100 can determine the current position information such as distance and direction relative to the water pool base station 700 based on the source direction and signal strength of the received signal.

[0053] The controller 110 can then determine the location information of the device 100 in the pool map based on the location information of the device 100 relative to the pool base station 700 and the location information of the pool base station 700 in the pool map, optionally, for example, in combination with metering data about the mileage of the device 100 from an odometer in the device 100, sensing data about the distance between the device 100 and the pool wall 300 from a distance sensor such as an ultrasonic sensor of the device 100, etc.

[0054] By using the pool base station 700 , the location information of the device 100 in the pool map can be obtained more accurately.

[0055] After obtaining the identification information of the fixed marker and the location information of the device 100 in the pool map, the marker information of the fixed marker can be further obtained, for example, including but not limited to at least one of the following: type information of the fixed marker; shape information of the fixed marker; location information of the fixed marker in the pool map; and so on.

[0056] For example, for the pool wall 300 serving as a fixed marker, the type, extension direction, and position information of the pool wall 300 in the created partial contour map 400 can be determined based on the above-mentioned identification information about the pool wall 300, the position information of the device 100 in the pool map, the sensing data about the distance between the device 100 and the pool wall 300 from a distance sensor such as an ultrasonic sensor of the device 100, the three-axis attitude angle of the device 100 from a spatial attitude sensor such as an inertial measurement unit (IMU) in the device 100, etc.

[0057] Then, if Figure 9 As shown, the marker information of the identified fixed markers can be integrated into the created portion of the pool map. For example, the marker information of the identified pool wall 300 (e.g., including the label "pool wall" and the shape of the pool wall 300) is mapped into the created partial contour map 400, thereby generating a partial pool map 900 with semantic information.

[0058] It is understandable that, for example, the identified escalator and other marker information (for example, the escalator's label "escalator" and shape) can also be drawn into the created partial contour map, thereby generating a partial pool map with semantic information.

[0059] For example, after the device 100 moves along the wall of the pool, a complete pool map with semantic information about the pool can be obtained through the method 200 .

[0060] The controller 110 can then use the generated complete pool map with semantic information about the pool to perform operations such as cleaning route planning and pool cleaning. In addition, the controller 110 can, for example, transmit the generated partial pool map with semantic information (or map update portion) and / or the final complete pool map with semantic information and / or real-time images of the pool to the user's control terminal of the device 100 (for example, a smart terminal such as a tablet or mobile phone of the user) in real time via the communication interface of the device 100, so that the user can monitor the operating status of the device 100 more clearly and intuitively.

[0061] As described above, the automatic pool cleaning device and method disclosed in the present invention can support the creation of a pool map with semantic information, thereby being able to present rich and intuitive map information to users, and is also conducive to the accurate identification and positioning of various detection targets / markers in the pool, thereby helping to improve the efficiency of operations such as cleaning route planning.

[0062] The basic principles of the present disclosure have been described above in conjunction with the embodiments. However, it should be noted that the advantages, strengths, and effects mentioned in this disclosure are merely illustrative and non-restrictive, and should not be construed as necessarily possessed by each embodiment of the present disclosure. Furthermore, the aforementioned details are provided for illustrative purposes and to facilitate understanding, not for limitation, and do not limit the present disclosure to necessarily being implemented using the aforementioned details.

[0063] The block diagrams of the devices, apparatuses, equipment, and systems involved in this disclosure are intended to be illustrative examples only and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. In different embodiments, these devices, apparatuses, equipment, and systems may be connected, arranged, or configured in any appropriate manner.

[0064] In addition, words such as "including," "comprising," and "having" are open-ended words that mean "including but not limited to," and are used interchangeably therewith. The words "or" and "and" used herein mean the words "and / or" and are used interchangeably therewith unless the context clearly indicates otherwise. The word "such as" used herein means the phrase "such as, but not limited to," and is used interchangeably therewith.

[0065] It should also be noted that in the apparatus, device, and method of the present disclosure, each component or each step can be decomposed and / or recombined. Such decomposition and / or recombination should be regarded as equivalent solutions of the present disclosure.

[0066] In this document, modifiers such as "first" and "second" without quantifiers are intended to distinguish different elements / components / circuits / modules / devices / steps, and are not used to emphasize the order, positional relationship, importance, priority, etc. In contrast, modifiers such as "first" and "second" with quantifiers can be used to emphasize the order, positional relationship, importance, priority, etc. of different elements / components / circuits / modules / devices / steps.

[0067] The above description is provided for the purpose of illustration and description. This description is not intended to limit the embodiments of the present disclosure to the forms disclosed herein. Although a number of example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, changes, additions, and sub-combinations thereof.

Claims

1. A method for generating a pool map, comprising: Controlling the automatic pool cleaning device to move along the pool wall in the pool and create a pool map; Acquire real-time images of the pool as the automated pool cleaning device moves along the pool wall and creates a pool map; Identify fixed markers in the pool based on the currently acquired real-time image; as well as Based on the identification information of the fixed marker and the position information of the automatic pool cleaning device in the pool map, the marker information of the fixed marker is integrated into the created pool map portion.

2. The method according to claim 1, wherein The identification information of the fixed marker includes at least one of the type information of the fixed marker, the position information of the fixed marker relative to the automatic pool cleaning device, the distance information of the fixed marker relative to the automatic pool cleaning device, and the posture information of the fixed marker relative to the automatic pool cleaning device.

3. The method according to claim 1, wherein The marker information of the fixed marker includes at least one of type information of the fixed marker, shape information of the fixed marker, and position information of the fixed marker in the pool map.

4. The method according to claim 1, wherein The position information of the automatic pool cleaning device in the pool map is determined based on data from the odometer of the automatic pool cleaning device and data about the distance between the automatic pool cleaning device and the pool wall from a distance sensor of the automatic pool cleaning device.

5. The method of claim 1 , further comprising: Obtaining the location information of the automatic pool cleaning device relative to the pool base station and the location information of the pool base station in the pool map; as well as Based on the position information of the automatic pool cleaning device relative to the pool base station and the position information of the pool base station in the pool map, the position information of the automatic pool cleaning device in the pool map is determined.

6. The method according to claim 5, wherein: The position information of the automatic pool cleaning device relative to the pool base station is determined based on the ultrasonic signal from the pool base station.

7. The method of claim 1, wherein: Integrating the marker information of the fixed marker into the created pool map portion includes: Based on the marker information of the fixed marker, the fixed marker is drawn in the created pool map portion.

8. The method according to any one of claims 1 to 7, wherein: Controlling the automatic pool cleaning device to move along the pool wall in the pool includes: Based on data from a distance sensor of the automatic pool cleaning device, the automatic pool cleaning device is controlled to move along the pool wall in a manner such that the distance between the device and the pool wall remains within a preset range.

9. An automatic pool cleaning device comprising: an image sensor configured to obtain real-time images of the pool while the automatic pool cleaning device moves in the pool; as well as A processor configured to execute the method according to any one of claims 1 to 8.

10. The automatic pool cleaning device according to claim 9, further comprising: The signal receiving end is configured to receive information related to the relative position between the automatic pool cleaning device and the pool base station from the pool base station of the automatic pool cleaning device.

11. A pool base station for the automatic pool cleaning device according to claim 9 or 10, comprising: The signal transmitting end is configured to transmit information related to the relative position between the automatic pool cleaning device and the pool base station to the automatic pool cleaning device.

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