Pool robot control method, position determination method and related device

Abstract

The invention discloses a pool robot control method, a position determination method and a related device. The pool robot control method comprises the steps that a reference image collected by a visual sensor on a pool robot in the motion process of the pool robot is acquired; when the pool robot is located in the pool, at least part of the bearing assembly is located above the pool robot in the depth direction of the pool; the visual sensor has a field angle which is inclined upwards along the movement direction of the pool robot; based on the reference image, the relative position relation between the bearing assembly and the pool robot is determined; and based on the relative position relationship, controlling the pool robot to move to the bearing assembly so as to execute the target event. Through the above mode, the pool robot can quickly and accurately find the target position for executing the target event, so that the working efficiency of the pool robot is improved.

Description

Technical Field

[0001] The present application relates to the field of artificial intelligence technology, and in particular to a pool robot control method, a position determination method, and related devices. Background Art

[0002] Pool robots can clean pools, for example, by removing dirt from the pool bottom, walls, and waterline, and collecting garbage to keep the water clear. Generally, before cleaning a pool, a pool robot enters the pool from shore; after cleaning, the robot leaves the pool. When the robot's battery is low or its dust box is full, it will reach a fixed location for charging or self-cleaning. In other words, when executing target events such as entering or leaving the pool, self-cleaning, or charging, a pool robot may need to perform these actions at a fixed target location. However, existing pool robots are unable to quickly and accurately locate their target locations, resulting in low efficiency in executing these target events. Summary of the Invention

[0003] The main technical problem solved by this application is to provide a pool robot control method, a position determination method and related devices, which can enable the pool robot to quickly and accurately find the target position for executing the target event, thereby improving the working efficiency of the pool robot.

[0004] To solve the above-mentioned technical problems, the first aspect of the present application provides a pool robot control method, which includes: obtaining a reference image collected by a visual sensor on the pool robot during the movement of the pool robot; wherein, when the pool robot is located in the pool, the carrying component is at least partially located above the pool robot in the depth direction of the pool; the visual sensor has a field of view angle that is tilted upward along the movement direction of the pool robot; based on the reference image, determining the relative position relationship between the carrying component and the pool robot; based on the relative position relationship, controlling the pool robot to move to the carrying component to execute the target event.

[0005] Among them, before obtaining the reference image collected by the visual sensor on the pool robot during the movement of the pool robot, it also includes: in response to the pool robot receiving a return instruction, controlling the pool robot to move to the target area of ​​the pool; after the pool robot reaches the target area, controlling the pool robot to perform a preset action, and collecting the reference image during the execution of the preset action.

[0006] The target area includes at least one of underwater, bottom surface and water surface.

[0007] The preset motion includes at least one of edge motion, random motion, bow motion and rotation motion.

[0008] To solve the above-mentioned technical problems, the second aspect of the present application provides a position determination method, which includes: obtaining a reference image collected by a visual sensor on a pool robot during the movement of the pool robot; wherein, when the pool robot is located in the pool, the carrying component is at least partially located above the pool robot in the depth direction of the pool; the visual sensor has a field of view angle that is tilted upward along the movement direction of the pool robot; based on the reference image, determining the relative position relationship between the carrying component and the pool robot; based on the relative position relationship and the current position of the pool robot, determining and recording the position of the carrying component.

[0009] The position determination method further includes: in response to the pool robot receiving a return instruction, controlling the pool robot to move onto the carrying component based on the position of the carrying component.

[0010] In order to solve the above technical problems, the third aspect of the present application provides a pool robot, which includes a memory and a processor. The memory stores program instructions, and the processor is used to execute the program instructions to implement the pool robot control method provided by the first aspect above.

[0011] In order to solve the above-mentioned technical problems, the fourth aspect of the present application provides a pool robot control system, which includes a pool robot and a carrying component; the pool robot includes: a visual sensor and a walking device; the pool robot moves in the pool through the walking device; when the pool robot is located in the pool, the carrying component is at least partially located above the pool robot in the depth direction of the pool; wherein the visual sensor has a field of view angle that is tilted upward along the movement direction of the pool robot.

[0012] The angle between the optical axis of the visual sensor and the moving direction of the pool robot is greater than or equal to 0 degrees and less than or equal to 90 degrees.

[0013] The supporting assembly is at least partially located below the water surface of the pool. The beneficial effects of the present application are as follows: Different from the prior art, the present application obtains a reference image collected by a visual sensor on a pool robot during the movement of the pool robot; when the pool robot is located in the pool, the supporting assembly is at least partially located above the pool robot in the depth direction of the pool; the visual sensor has a field of view that is tilted upward along the movement direction of the pool robot; based on the reference image, the relative position relationship between the supporting assembly and the pool robot is determined; based on the relative position relationship, the pool robot is controlled to move to the supporting assembly to execute the target event. By setting up a visual sensor, the relative position relationship between the supporting assembly and the pool robot can be determined, and then the pool robot can be controlled to move to the supporting assembly according to the relative position relationship, so that the pool robot can quickly and accurately find the target position for executing the target event; on the supporting assembly, the pool robot can execute the target event, which can improve the working efficiency of the pool robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a flow chart of an embodiment of a pool robot control method provided by the present application;

[0015] Figure 2 This is a flow chart of an embodiment of a location determination method provided by the present application;

[0016] Figure 3 It is a schematic diagram of an embodiment of a load-bearing assembly and a water pool provided by the present application;

[0017] Figure 4 This is a schematic diagram of the framework of an embodiment of the pool robot provided by this application;

[0018] Figure 5 This is a schematic diagram of the framework of an embodiment of the pool robot control system provided by this application;

[0019] Figure 6 This is a schematic diagram of a framework of an embodiment of a computer-readable storage medium provided by the present application;

[0020] Figure 7 This is a schematic diagram of the framework of an embodiment of the pool robot control device provided by the present application;

[0021] Figure 8 It is a schematic diagram of the framework of an embodiment of the position determination device provided by this application. DETAILED DESCRIPTION

[0022] The following is a clear and complete description of the technical solutions in the embodiments of the present application in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0023] It should be noted that the terms "first," "second," and so on, used in the embodiments of this application are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features specified as "first" or "second" may explicitly or implicitly include at least one of these features.

[0024] In the description of the application, the meaning of "multiple" is at least two, for example, two, three, etc., unless otherwise clearly and specifically limited. In the embodiments of the present application, all directional indications (such as up, down, left, right, front, back ...) are only used to explain the relative position relationship, movement situation, etc. between each component under a certain specific posture (as shown in the drawings). If this specific posture changes, this directional indication also changes accordingly. In addition, the terms "comprise" and "have" and any of their deformations are intended to cover non-exclusive inclusions. For example, the process, method, system, product or equipment comprising a series of steps or units is not limited to the steps or units listed, but optionally also includes steps or units that are not listed, or optionally also includes other steps or units inherent to these processes, methods, products or equipment.

[0025] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present invention. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute a separate or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0026] See also Figure 1 , Figure 1 This is a flow chart of an embodiment of a pool robot control method provided by the present application, which includes:

[0027] S11: Acquire a reference image captured by a visual sensor on the pool robot during the movement of the pool robot.

[0028] The pool robot is equipped with a visual sensor, which can be a monocular camera, a binocular camera, a trinocular camera, or a surround-view camera. The visual sensor has a field of view that is tilted upward along the direction of motion of the pool robot. Specifically, the visual sensor can be located on the top or front of the pool robot. For example, if the pool robot is traveling on the bottom of a pool, the surface of the pool robot in contact with the bottom is called the bottom of the pool robot, the surface facing the bottom is called the top of the pool robot, and the portion of the pool robot facing the direction of travel is called the front of the pool robot. It is understood that the visual sensor can be located anywhere on the top or front of the pool robot. For example, the visual sensor can be located near the front of the pool robot or in the center of the top of the pool robot, as long as it can capture images above or diagonally above the pool robot. The visual sensor can be fixed or rotated, meaning that its image capture angle can be adjusted.

[0029] In one embodiment, the pool robot can continuously capture reference images during its movement, or can initiate reference image capture upon detecting low battery levels, a full waste storage device within the pool robot, or completion of a cleaning task. The pool robot can move along the pool bottom, the pool walls, or the waterline, and can follow a straight line, an N-shaped trajectory, or other similar paths.

[0030] In one embodiment, after the pool robot enters the pool, the support assembly is always in a load-bearing state, that is, the angle between the support portion of the support assembly and the inner wall of the pool is a preset angle, so that the pool robot can reach the support assembly through the side or bottom of the support assembly, that is, the side or bottom of the support assembly serves as an entrance for the pool robot to run onto the support assembly. The preset angle can be a range, such as between 0-90°, or it can be a specific angle value. It is understandable that the preset angle can be set by the user according to the specific conditions of the pool and is not specifically limited here. When the support assembly is in a load-bearing state, the support assembly is at least partially located above the pool robot in the depth direction of the pool, and the depth direction of the pool is the direction from the bottom of the pool to the water surface.

[0031] In other embodiments, after the pool robot enters the pool, if the carrying assembly is adjusted to a non-carrying state, the pool robot may send an angle adjustment command to the carrying assembly to adjust the carrying assembly to a state capable of carrying the pool robot when the pool robot needs to leave the pool. After receiving the angle adjustment command from the pool robot, the carrying assembly may first determine whether the angle between the carrying portion of the carrying assembly and the inner wall of the pool meets a preset angle. If so, a reply command may be sent to the pool robot, or no reply command may be sent to the pool robot. If not, the angle between the carrying portion of the carrying assembly and the inner wall of the pool may be adjusted to the preset angle to enable the pool robot to move onto the carrying assembly. The pool robot may need to leave the pool when a visual sensor captures a reference image or when the relative positional relationship between the carrying assembly and the pool robot is determined. The carrying assembly and the pool robot may communicate directly, i.e., the pool robot may directly send the angle adjustment command to the carrying assembly. Alternatively, the carrying assembly and the pool robot may communicate via a relay component, such as a base station, where the pool robot sends the angle adjustment command to the base station, which in turn sends the angle adjustment command to the carrying assembly.

[0032] S12: Based on the reference image, determine the relative position relationship between the carrying component and the pool robot.

[0033] In one embodiment, it is possible to detect whether a reference image contains a carrier assembly. Specifically, target recognition can be performed on the reference image to identify whether the reference image contains the carrier assembly. Alternatively, a standard image containing the carrier assembly can be compared with the reference image to determine whether the reference image contains the carrier assembly. In response to the reference image containing the carrier assembly, the reference image is used to determine the position of the carrier assembly. Specifically, a first position of the bottom or side of the carrier assembly in the reference image can be determined, i.e., the coordinates of the bottom or side of the carrier assembly in the image coordinate system of the reference image. Based on the first position and the conversion relationship between the image coordinate system and the world coordinate system, a second position of the bottom or side of the carrier assembly in the world coordinate system is determined, and the second position is used as the position of the carrier assembly. In one specific embodiment, the carrier assembly is located on one side of the inner wall of the pool, with the bottom of the carrier assembly close to and facing the bottom of the pool, and the side of the carrier assembly is perpendicular to the plane of the pool bottom. Based on the position of the carrier assembly and the current position of the pool robot, a relative position relationship is determined; and the positional relationship between the position of the carrier assembly and the current position of the pool robot is used as the relative position relationship.

[0034] The above embodiment can be applied to a pool robot moving at the bottom of a pool (i.e., the pool surface). When the pool robot moves at the bottom of the pool, the reference image can be an image of the pool's inner wall. The supporting assembly is located on the pool's inner wall. Therefore, recognizing the pool's inner wall image will definitely identify the supporting assembly. It is understood that, in other embodiments, the above embodiment can also be applied to a pool robot moving in water or on the surface of water.

[0035] In another embodiment, it is possible to first detect whether the reference image contains a carrier assembly; in response to the reference image not containing a carrier assembly, detect whether the reference image contains a reference object; in response to the reference image containing a reference object, determine the position of the reference object using the reference image; determine the position of the carrier assembly based on the position of the reference object and the positional relationship between the reference object and the carrier assembly; and determine the relative positional relationship based on the position of the carrier assembly and the current position of the pool robot. The reference object detection method is the same as the carrier assembly detection method, and the reference object position determination process is the same as the carrier assembly position determination process, which will not be repeated here. The reference object can be set on the bank of the pool, and the positional relationship between the reference object and the carrier assembly is recorded. Therefore, when the reference object is detected, the position of the carrier assembly can be determined based on the position of the reference object and the positional relationship between the reference object and the carrier assembly, and the positional relationship between the position of the carrier assembly and the current position of the pool robot is used as the relative positional relationship.

[0036] The above embodiment can be applied to situations where the reference object is brightly colored and easier to identify; it can also be applied to situations where the pool robot cannot directly capture the reference image containing the carrier component, for example, when the pool robot is driving along the waterline. At this time, depending on the height of the waterline, the visual sensor may not be able to capture the reference image containing the carrier component; thereby determining the position of the carrier component by identifying the reference object.

[0037] In the above embodiment, the current position of the pool robot can be determined based on parameters such as the pool robot's initial position, travel distance, travel time, and travel speed. Alternatively, the current position can be determined based on a reference image at the current moment and a reference image at the previous moment. Specifically, the change in the position of the pool robot at the current moment relative to the previous moment can be determined based on the current reference image and the reference image at the previous moment. The current position of the pool robot can then be determined based on the position change and the position of the pool robot at the previous moment. Alternatively, the current position can be determined directly using a positioning device on the pool robot.

[0038] S13: Based on the relative position relationship, control the pool robot to move to the carrying component.

[0039] The carrying component can assist the pool robot to leave the pool when the pool robot reaches the movement stop position on the carrying component.

[0040] In one embodiment, the reference image is captured while the pool robot is traveling at the waterline; the relative positional relationship between the support assembly and the pool robot is: a first relative positional relationship between the side of the support assembly and the pool robot. After determining the first relative positional relationship, the position of the side of the support assembly is determined based on the first relative positional relationship, and the pool robot is controlled to continue moving along the waterline to the side of the support assembly. The robot can be controlled to travel until it collides with the side, then the pool robot is caused to cross the side and reach the support assembly. The pool robot is then held stationary, and the angle between the support surface and the bottom of the pool is adjusted so that the bottom of the pool robot contacts the support surface. At this point, the pool robot is effectively placed on the support assembly and can move on the support assembly to leave the pool.

[0041] In one embodiment, the supporting portion is plate-shaped and includes four side surfaces, a front surface, and a back surface. Each of the four side surfaces is perpendicular to the front and back surfaces. The side surfaces of the supporting portion are the side surfaces of the supporting assembly, the front surface is the supporting surface, and the back surface is aligned with or angled toward the inner wall of a pool. In another embodiment, if the position of a side edge of the supporting assembly is determined and the side edge is high enough that the pool robot cannot pass through it, it can fall back to the bottom of the pool, and a visual sensor can be used to recapture a reference image to determine the position of the bottom edge of the supporting assembly, allowing the robot to move along the bottom edge to the supporting assembly.

[0042] In another embodiment, the reference image is captured while the pool robot is navigating the bottom of a pool; the relative positional relationship between the carrier assembly and the pool robot is a second relative positional relationship between the bottom edge of the carrier assembly and the pool robot. After determining the second relative positional relationship, the position of the bottom edge of the carrier assembly is determined based on the second relative positional relationship, and the pool robot is controlled to move to the bottom edge of the carrier assembly. The pool robot is then controlled to move past the bottom edge onto the carrier assembly and locate a stop position on the carrier assembly.

[0043] In a specific embodiment, the supporting assembly is provided on an inner wall of the pool. After determining the position of the bottom edge of the supporting assembly, the pool robot is first controlled to travel along the bottom edge of the pool to directly below the bottom edge of the supporting assembly, and then the posture is adjusted to climb straight along the inner wall of the pool to the bottom edge of the supporting assembly, and then climb through the bottom edge of the supporting assembly to reach the supporting assembly.

[0044] In another embodiment, when the pool robot is traveling at the waterline, the position of the bottom edge of the carrier assembly can also be determined based on the relative positional relationship between the bottom edge of the carrier assembly and the current position of the pool robot. The pool robot can then be controlled to drop from the waterline back to the bottom of the pool and then travel from the bottom of the pool to the bottom edge of the carrier assembly.

[0045] In other embodiments, the pool robot can move onto the support assembly from either the bottom or the side. The support assembly can be provided with two different identifiers simultaneously, or with one of the two identifiers. The identifier can be a pre-set pattern, wherein the first identifier indicates that the pool robot can move onto the support assembly from the bottom, while the second identifier indicates that the pool robot can move onto the support assembly from the side. The pool robot determines the method of moving onto the support assembly based on the type of identifier identified. After determining the method of moving onto the support assembly, the positional relationship of the pool robot relative to the support assembly can be determined. This determination can be based on a pattern recognition algorithm. If the identifier also includes information about the position of the support assembly, the pool robot can determine the positional relationship by identifying the identifier.

[0046] In the above-mentioned embodiment in which the pool robot moves onto the carrier assembly, after arriving on the carrier assembly, the robot can further determine a stop position on the carrier assembly. The stop position is specifically located on the carrier portion of the carrier assembly and can be located anywhere on the carrier portion as needed, without specific limitations herein. In one embodiment, after the pool robot arrives on the carrier assembly, the robot can determine whether the position on the carrier assembly where the robot moved is at a third position. The third position can be where the carrier assembly and the waterline overlap. If not, the robot is controlled to move along the carrier assembly from the position where the robot moved to the carrier assembly to the third position. The robot is controlled to travel along the carrier assembly from the third position to the bottom of the pool a preset distance, reaching a fourth position. At the fourth position, the robot can send a connection device opening command to the carrier assembly. Upon receiving the connection device opening command, the carrier assembly can open the connection device, which connects the carrier assembly and the robot. The robot is controlled to continue traveling along the carrier assembly from the fourth position to the bottom of the pool until it stops. The position where the robot stops is the stop position. In one embodiment, after the connecting device is opened, the connecting device cannot connect to the pool robot because the structure on the pool robot that cooperates with the connecting device has not reached the connecting device position. Therefore, the pool robot can be controlled to continue moving until the connecting device can connect to the pool robot, preventing the pool robot from moving forward. For example, the connecting device can be a first locking structure, which can be a locking hook or a groove. The pool robot is provided with a second locking structure that cooperates with the first locking structure, which can be a groove or a locking hook. It is understandable that when the first locking structure can be a locking hook, the second locking structure can be a groove. The first locking structure can be released by the second locking structure and lock the second locking structure; or the second locking structure can be released by the first locking structure and lock the first locking structure; or the first locking structure and the second locking structure are locked by adsorption. Taking the example of setting a groove on the pool robot and setting a locking hook on the carrying component, when the pool robot travels to the fourth position, the area of ​​the pool robot except the groove coincides with the locking hook, making the locking hook unable to open, until the pool robot travels to the point where the groove coincides with the connecting device, the locking hook opens and hooks the groove, causing the pool robot to stop traveling.

[0047] It is understandable that in other embodiments, the fourth position may not be set on the supporting component. When the pool robot reaches the third position, it can send a connection device opening instruction to the supporting component. After receiving the connection device opening instruction, the supporting component can open the connection device.

[0048] In another embodiment, a position sensor is provided on the carrier assembly, and the pool robot is provided with a device that receives a signal from the position sensor. The position sensor is used to indicate whether the pool robot has reached a stop position. When the pool robot reaches the carrier assembly, the pool robot is controlled to travel along a preset trajectory on the carrier assembly. In response to receiving a position signal from the position sensor, the pool robot stops. The stop position of the pool robot is the movement stop position. In one specific embodiment, the preset trajectory can include movement in a first direction, such as upward, followed by movement in a second direction opposite to the first direction, such as downward. Specifically, after the pool robot passes the bottom or side of the carrier assembly and reaches the carrier assembly, the pool robot can be controlled to travel along the carrier assembly toward the top of the pool until it reaches the waterline. During this process, if a position signal is received, the pool robot stops and opens the connecting device. If a position signal is not received, the pool robot moves from the waterline along the carrier assembly toward the bottom of the pool until it reaches the position where the position signal is received. Because the movement stop position is provided on the carrier assembly, the pool robot will always reach the movement stop position during movement from the waterline along the carrier assembly toward the bottom of the pool. In another specific embodiment, the preset trajectory may be to first move in a second direction, such as downward, and then in a first direction, such as upward. Specifically, after the pool robot reaches the support assembly, it can be controlled to first move along the support assembly toward the bottom of the pool until it reaches the bottom edge of the support assembly. During this process, if no arrival signal is received, the pool robot is controlled to move from the entrance along the support assembly to the waterline. It is understood that if the pool robot reaches the support assembly via the bottom edge, the pool robot can move directly along the support assembly toward the waterline to find a stopping position. It is understood that in this embodiment, the device that receives the arrival sensor signal can only receive the arrival signal at the stopping position. The connecting device may be a locking hook. If the connecting device is a locking hook, after opening the connecting device, the pool robot can be controlled to descend a certain distance toward the bottom of the pool so that the locking hook can hook the pool robot. The connecting device may also be a magnetic member. If the connecting device is a magnetic member, the process of opening the connecting device is not required.

[0049] It can be understood that the opening of the above-mentioned connecting device can be active or passive. For example, the pool robot and the supporting assembly are respectively provided with magnetic parts that dock with each other. When the first magnetic part on the pool robot moves to a range where it can interact with the second magnetic part on the supporting assembly, it can guide the pool robot to move to the stop position without any additional control of the connecting device.

[0050] After finding the movement stop position, the connecting device can connect the carrying component and the pool robot, and the carrying component can assist the pool robot to leave the pool when the pool robot reaches the movement stop position.

[0051] In one embodiment, the pool robot can be connected to a supporting assembly when in a stopped position. The supporting assembly is movable, for example, the supporting assembly can rotate, and the rotation of the supporting assembly can be used to drive the pool robot out of the pool. For another example, the supporting assembly can also move up and down, and by moving upward, the pool robot can be driven out of the pool. In a specific embodiment, the supporting assembly can include a supporting portion that is rotatable. When the supporting portion is in a load-bearing state, the supporting portion is parallel to or within a certain angular range with any inner sidewall of the pool, and is located on the inner sidewall of the pool. The connection point between the supporting portion and the pool can be located at the edge of the pool, that is, the supporting portion can be connected to the pool. After the supporting portion is connected to the pool robot, the angle between the supporting portion and the inner sidewall of the pool is adjusted so that the supporting portion is perpendicular to or within a certain angular range with the inner sidewall of the pool. In this way, the pool robot can be allowed to leave the pool via the supporting portion. For another example, the supporting component may also include a supporting portion, which is connected to the supporting portion, and the connection position between the supporting portion and the supporting portion is located at the edge of the pool. At this time, the supporting portion does not need to be connected to the pool, but only needs to be connected to the connecting portion, and the automatic recovery of the pool robot can also be realized.

[0052] In other embodiments, after the pool robot reaches the stop position, it can directly move along the supporting assembly to leave the pool without moving the supporting assembly to drive the pool robot out of the pool. For example, the supporting portion of the supporting assembly forms a predetermined angle with the inner wall of the pool, allowing the pool robot to move along the supporting portion to leave the pool.

[0053] In one embodiment, before acquiring a reference image captured by a visual sensor on a pool robot during the robot's motion, the method further includes: controlling the pool robot to move to a target area of ​​the pool in response to the pool robot receiving a return command. After the pool robot reaches the target area, the method controls the pool robot to execute a preset action, and collects reference images during the execution of the preset action. Specifically, the return command can be initiated by the carrier assembly or by a user through a control device controlling the pool robot. The target area can be any location in the pool, for example, at least one of the submerged area, the bottom, and the surface. The preset action can include at least one of edgewise motion, random motion, zigzag motion, and rotational motion. Edgewise motion can include the pool robot moving close to a wall or at a certain distance from the wall. For example, if the target area is the pool bottom, if the pool robot receives a return command while moving on the surface, the robot is controlled to return to the pool bottom, where it is controlled to move edgewise, and collect reference images during the edgewise motion.

[0054] The above scheme acquires a reference image captured by a visual sensor on a pool robot during the robot's movement. When the pool robot is located within the pool, the carrier assembly is at least partially located above the robot in the depth direction of the pool. The visual sensor has a field of view that is tilted upward along the robot's movement direction. Based on the reference image, the relative positional relationship between the carrier assembly and the robot is determined. Based on this relative positional relationship, the robot is controlled to move to the carrier assembly to execute a target event. By providing a visual sensor, the relative positional relationship between the carrier assembly and the robot can be determined, and the robot is then controlled to move to the carrier assembly based on this relative positional relationship. This allows the robot to quickly and accurately locate a target location for executing a target event. The robot can then execute the target event on the carrier assembly, thereby improving the robot's operating efficiency. The visual sensor's field of view, tilted upward along the robot's movement direction, prevents the robot from having difficulty locating the carrier assembly during movement due to the carrier assembly being at least partially located above the robot, resulting in difficulty due to issues such as poor detection angle. This improves the robot's efficiency in locating the carrier assembly.

[0055] See also Figure 2 , Figure 2 : is a flow chart of an embodiment of a location determination method provided by the present application, the method comprising:

[0056] S21: Obtain a reference image captured by a visual sensor on the pool robot during the movement of the pool robot.

[0057] In one embodiment, the pool robot can move in any area of ​​the pool, such as at the waterline, on the bottom of the pool, or in the water. When moving in the water, the pool robot can use at least one of edge-to-edge motion, random motion, arched motion, and rotational motion.

[0058] When the pool robot is located in the pool, the supporting assembly is at least partially located above the pool robot in the depth direction of the pool; the visual sensor has a field of view that is tilted upward along the movement direction of the pool robot.

[0059] S22: Determine the relative positional relationship between the load-bearing component and the pool robot based on the reference image.

[0060] Among them, the specific implementation of steps S21 and S23 can refer to steps S11 and S13 of the pool robot control method provided in this application, and will not be repeated here.

[0061] S23: Based on the relative position relationship and the current position of the pool robot, determine and record the position of the carrying component.

[0062] In one embodiment, after obtaining the relative position relationship and the current position of the pool robot, the position of the load-bearing assembly can be determined and recorded. For example, when the pool robot is mapping the pool, the position of the load-bearing assembly can be recorded in the pool map.

[0063] In one embodiment, after determining the position of the carrying component through a pre-recorded position, the pool robot can be controlled to move to the carrying component based on the position of the carrying component in response to the pool robot receiving a return instruction. There is no need to search for the carrying component in real time, thereby improving the efficiency of searching for the carrying component. The movement method can refer to step S13 of the pool robot control method provided in this application, which will not be repeated here.

[0064] See also Figure 3 , Figure 3 It is a schematic diagram of an embodiment of the support assembly and the water pool provided in this application.

[0065] In one embodiment, the bearing assembly 20 may include a bearing portion 201 and a support portion 202. The support portion 202 is provided on the edge of the pool 10. The bearing portion 201 and the support portion 202 are connected by a rotating shaft. When the pool robot needs to leave the pool 10, the bearing portion 201 is set on an inner wall of the pool 10. Taking the pool 10 as a square pool as an example, when the bearing portion 201 is set on an inner wall of the pool 10, the angle between the bearing portion 201 and the support portion 202 is 90°. After the pool robot reaches the bearing portion 201 from the pool 10 and is connected to the bearing portion 201 through the connecting device, the bearing portion 201 can rotate. After rotating until the bearing portion 201 and the support portion 202 are in a horizontal line, the pool robot can detach from the bearing portion 201 and leave the pool 10 via the bearing portion 201 and the support portion 202. Among them, Figure 2 The middle dashed line represents the state of the carrying portion 201 after the carrying portion 201 and the supporting portion 202 are aligned with one another.

[0066] See also Figure 4 , Figure 4 It is a schematic diagram of the framework of an embodiment of the pool robot provided in this application.

[0067] The pool robot 40 includes a memory 41 and a processor 42 coupled to each other. The processor 42 is configured to execute program instructions stored in the memory 41 to implement the steps of any of the aforementioned embodiments of the pool robot control method in which the pool robot is the executing subject. In a specific implementation scenario, the pool robot 40 may include, but is not limited to, a microcomputer and a server. In addition, the pool robot 40 may also include a mobile device such as a laptop computer or a tablet computer, which is not limited here.

[0068] Specifically, the processor 42 is used to control itself and the memory 41 to implement the steps of any of the above-mentioned embodiments of the pool robot control method in which the execution subject is the pool robot. The processor 42 can also be called a CPU (Central Processing Unit). The processor 42 may be an integrated circuit chip with signal processing capabilities. The processor 42 can also be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. In addition, the processor 42 can be implemented by an integrated circuit chip.

[0069] In one embodiment, the pool robot 40 further includes a communication circuit, which is used to establish a connection with the carrying component, receive and send relevant processing instructions, and realize the connection and interaction between the pool robot 40 and the carrying component.

[0070] See also Figure 5 , Figure 5 It is a framework diagram of an embodiment of the pool robot control system provided by this application.

[0071] The pool robot control system 50 includes a pool robot 40 and a carrier assembly 20. The pool robot 40 may be the pool robot 40 provided in the aforementioned embodiment. The carrier assembly 20 is used to receive and / or send commands to the pool robot 40. The carrier assembly 20 is provided with a connecting device for connecting the pool robot 40 and the carrier assembly 20.

[0072] In one embodiment, the pool robot 40 includes a visual sensor and a running mechanism. The running mechanism enables the pool robot 40 to move within the pool. The running mechanism includes, but is not limited to, a propeller and tracked wheels. When the pool robot 40 is within the pool, the support assembly is at least partially located above the pool robot 40 in the depth direction of the pool. The visual sensor has a field of view that is tilted upward along the direction of motion of the pool robot 40. In one specific embodiment, the angle between the optical axis of the visual sensor and the direction of motion of the pool robot 40 is greater than or equal to 0 degrees and less than or equal to 90 degrees. In one specific embodiment, the support assembly 20 is at least partially located below the surface of the pool water.

[0073] See also Figure 6 , Figure 6 It is a schematic diagram of a framework of an embodiment of a computer-readable storage medium provided in this application.

[0074] The computer-readable storage medium 60 of the embodiment of the present application stores program instructions 61, which, when executed, implement the method provided by any embodiment of the pool robot control method of the present application and any non-conflicting combination.

[0075] The program instructions 61 may be stored in the computer-readable storage medium 60 as a software product in the form of a program file, so that a computer device (which may be a personal computer, server, or network device, etc.) can execute all or part of the steps of the methods of various embodiments of the present application. The aforementioned computer-readable storage medium 60 includes: a USB flash drive, a mobile hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, etc., which can store program code, or a terminal device such as a computer, server, mobile phone, or tablet.

[0076] See also Figure 7 , Figure 7 It is a schematic diagram of the framework of an embodiment of the pool robot control device provided in this application.

[0077] The pool robot control device 70 includes a first acquisition module 71, a first position relationship determination module 72 and a control module 73. The first acquisition module 71 is used to obtain a reference image collected by the visual sensor on the pool robot during the movement of the pool robot; wherein, when the pool robot is located in the pool, the carrying component is at least partially located above the pool robot in the depth direction of the pool; the visual sensor has a field of view angle that is tilted upward along the movement direction of the pool robot; the first position relationship determination module 72 is used to determine the relative position relationship between the carrying component and the pool robot based on the reference image; the control module 73 is used to control the pool robot to move to the carrying component based on the relative position relationship to execute the target event.

[0078] In one embodiment, the control module 73 is also used to control the pool robot to move to a target area of ​​the pool in response to the pool robot receiving a return instruction; after the pool robot reaches the target area, the pool robot is controlled to perform a preset action and collect a reference image during the execution of the preset action.

[0079] In one embodiment, the target area includes at least one of underwater, bottom surface, and water surface.

[0080] In one embodiment, the preset motion includes at least one of: edge motion, random motion, bow motion, and rotational motion.

[0081] See also Figure 8 , Figure 8 It is a schematic diagram of the framework of an embodiment of the position determination device provided by this application.

[0082] The position determination device 80 includes a second acquisition module 81, a second position relationship determination module 82 and a recording module 83. The second acquisition module 81 is used to obtain a reference image collected by the visual sensor on the pool robot during the movement of the pool robot; wherein, when the pool robot is located in the pool, the supporting component is at least partially located above the pool robot in the depth direction of the pool; the visual sensor has a field of view angle that is tilted upward along the movement direction of the pool robot; the second position relationship determination module 82 is used to determine the relative position relationship between the supporting component and the pool robot based on the reference image; the recording module 83 is used to determine and record the position of the supporting component based on the relative position relationship and the current position of the pool robot.

[0083] In one embodiment, the position determining device 80 further includes a motion control module, and the motion control module is configured to control the pool robot to move to the carrying component based on the position of the carrying component in response to the pool robot receiving a return instruction.

[0084] If the technical solution of this application involves personal information, the product that applies the technical solution of this application has clearly informed the personal information processing rules and obtained the individual's voluntary consent before processing personal information. If the technical solution of this application involves sensitive personal information, the product that applies the technical solution of this application has obtained the individual's separate consent before processing sensitive personal information, and at the same time meets the "explicit consent" requirement. For example, on personal information collection devices such as cameras, a clear and prominent sign is set to inform that the personal information collection scope has been entered and personal information will be collected. If the individual voluntarily enters the collection scope, it is deemed that they agree to the collection of their personal information; or on the personal information processing device, when the personal information processing rules are notified by obvious signs / information, the individual's authorization is obtained through pop-up information or by asking the individual to upload their personal information; among which, the personal information processing rules may include information such as the personal information processor, the purpose of personal information processing, the processing method, and the type of personal information processed.

[0085] The above description is only an implementation method of the present application and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the description and drawings of this application, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A pool robot control method, characterized in that: include: Obtaining a reference image captured by a visual sensor on the pool robot during the movement of the pool robot; wherein, when the pool robot is located in the pool, the support assembly is at least partially located above the pool robot in the depth direction of the pool; and the visual sensor has a field of view that is tilted upward along the direction of movement of the pool robot; determining a relative positional relationship between the carrying assembly and the pool robot based on the reference image; Based on the relative position relationship, the pool robot is controlled to move onto the carrying component to execute a target event.

2. The method according to claim 1, characterized in that Before obtaining the reference image collected by the visual sensor on the pool robot during the movement of the pool robot, the method further includes: In response to the pool robot receiving a return instruction, controlling the pool robot to move to a target area of ​​the pool; After the pool robot reaches the target area, the pool robot is controlled to perform a preset action, and the reference image is collected during the execution of the preset action.

3. The method according to claim 2, characterized in that The target area includes at least one of underwater, bottom surface and water surface.

4. The method according to claim 2, characterized in that The preset motion includes at least one of edge motion, random motion, bow motion and rotation motion.

5. A method for determining a position, characterized in that: include: Obtaining a reference image captured by a visual sensor on the pool robot during the movement of the pool robot; wherein, when the pool robot is located in the pool, the support assembly is at least partially located above the pool robot in the depth direction of the pool; and the visual sensor has a field of view that is tilted upward along the direction of movement of the pool robot; determining a relative positional relationship between the carrying component and the pool robot based on the reference image; Based on the relative position relationship and the current position of the pool robot, the position of the carrying assembly is determined and recorded.

6. The method according to claim 5, characterized in that Also includes: In response to the pool robot receiving a return instruction, the pool robot is controlled to move onto the carrying assembly based on the position of the carrying assembly.

7. A pool robot, characterized in that: The pool robot includes a memory and a processor, the memory stores program instructions, and the processor is used to execute the program instructions to implement the pool robot control method according to any one of claims 1 to 6.

8. A pool robot control system, characterized in that: include: Pool robots and load-bearing components; The pool robot comprises: a visual sensor and a walking device; the pool robot moves in the pool via the walking device; When the pool robot is located in the pool, the supporting assembly is at least partially located above the pool robot in the depth direction of the pool; wherein the visual sensor has a field of view angle that is tilted upward along the movement direction of the pool robot.

9. The system according to claim 8, characterized in that The angle between the optical axis of the visual sensor and the movement direction of the pool robot is greater than or equal to 0 degrees and less than or equal to 90 degrees.

10. The system according to claim 8, wherein: The supporting assembly is at least partially located below the water surface of the pool.

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