A pool automatic cleaning device and its corresponding server, terminal and method
By combining global positioning information with real-time positioning and mapping technology to generate accurate water tank maps, the problem of low cleaning coverage of automatic water tank cleaning equipment in the absence of prior information is solved, and efficient cleaning of water tanks is achieved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- SHENZHEN AIPER INTELLIGENT CO LTD
- Filing Date
- 2026-02-06
- Publication Date
- 2026-06-09
AI Technical Summary
Existing automated pool cleaning equipment lacks prior information about the shape and size of the pool boundaries, resulting in low cleaning coverage and difficulty in planning targeted cleaning solutions, especially for localized cleaning of specific areas.
By acquiring global positioning information of the automatic pool cleaning equipment through the Global Navigation Satellite System and base stations, and combining it with real-time positioning and mapping technology to generate local map data, and then merging it with satellite map data to generate a more accurate pool map and plan cleaning routes.
This improves the cleaning coverage and efficiency of the automatic pool cleaning equipment, ensuring effective cleaning of both the overall pool and specific areas.
Smart Images
Figure CN122170846A_ABST
Abstract
Description
Technical Field
[0001] This disclosure relates to automatic pool cleaning equipment and corresponding servers, terminals and methods in the field of automatic cleaning. Background Technology
[0002] For pool facilities such as swimming pools, automatic pool cleaning equipment can be used for automatic or assisted cleaning. For example, automatic pool cleaning equipment can be designed to operate its cleaning mechanism while moving on the bottom, walls, and / or surface of the pool to filter pool water and absorb waste. Summary of the Invention
[0003] In a first aspect, a method for generating a map of a pool is disclosed, comprising: controlling an automatic pool cleaning device to move within the pool to generate local map data about the pool; obtaining global positioning information of the current location via a global navigation satellite system of the automatic pool cleaning device or a base station; transmitting the global positioning information to a server for the automatic pool cleaning device or base station; receiving satellite map data about the pool obtained by the server based on the global positioning information from the server; and generating target map data about the pool based on the local map data and the satellite map data.
[0004] In one or more embodiments, the local map data is generated using real-time positioning and mapping technology during the control of the automatic pool cleaning equipment moving in the pool.
[0005] In one or more embodiments, the global positioning information of the current location includes the latitude and longitude of the current location.
[0006] In one or more embodiments, the satellite map data includes at least one of the following: the latitude and longitude of a plurality of points representing the outline of the pool; the number of pixels in the image representing the pool; the actual distance represented by adjacent pixels in the image representing the pool; and the area within the outline of the pool.
[0007] In one or more embodiments, the target map data includes marker information about the outline of the pool.
[0008] In one or more embodiments, the method described above further includes: sending the target map data to the server and / or a terminal for the automatic pool cleaning device; and / or receiving map data adjusted by the user based on the target map data from the terminal for the automatic pool cleaning device; and / or receiving an instruction from the terminal for the automatic pool cleaning device that the user instructs to regenerate local map data for a specified area in the pool.
[0009] In a second aspect, a method for generating a water tank map is disclosed, comprising: receiving global positioning information of the current location from an automatic water tank cleaning device or a base station; acquiring a satellite image centered on the automatic water tank cleaning device or base station based on the global positioning information; acquiring satellite map data about the water tank where the automatic water tank cleaning device or base station is currently located based on the satellite image; and transmitting the satellite map data to the automatic water tank cleaning device so that the automatic water tank cleaning device generates target map data about the water tank based on its local map data and the satellite map data.
[0010] In one or more embodiments, the method described above further includes: sending the target map data to a terminal for the automatic pool cleaning device.
[0011] Thirdly, a method for processing a pool map is disclosed, comprising: receiving target map data about the pool where the automatic pool cleaning device is currently located from an automatic pool cleaning device or a server for the automatic pool cleaning device, the target map data being generated by the automatic pool cleaning device based on satellite map data about the pool obtained by the server according to the global positioning information of the automatic pool cleaning device or a base station and local map data about the pool generated by the automatic pool cleaning device; adjusting the target map data based on input from a user through a terminal for the automatic pool cleaning device to generate adjusted map data; and sending the adjusted map data to the automatic pool cleaning device.
[0012] Fourthly, an automatic pool cleaning device is disclosed, comprising: a global navigation satellite system configured to acquire current global positioning information of the automatic pool cleaning device or a base station; a transceiver configured to communicate data with a server for the automatic pool cleaning device or base station and / or a terminal for the automatic pool cleaning device; and a processor configured to execute the method of the first aspect by running program instructions.
[0013] Fifthly, a server for an automatic pool cleaning device is disclosed, comprising: a transceiver configured to communicate data with the automatic pool cleaning device and / or a satellite and / or a terminal for the automatic pool cleaning device; and a processor configured to execute the method of the second aspect described above by running program instructions.
[0014] In a sixth aspect, a terminal for an automatic pool cleaning device is disclosed, comprising: a transceiver configured to communicate data with the automatic pool cleaning device and / or a server for the automatic pool cleaning device; and a processor configured to execute the method of the third aspect above by running program instructions. Attached Figure Description
[0015] Figure 1 An example of a system capable of automatically cleaning a pool is illustrated in the embodiments of this disclosure.
[0016] Figure 2 An example of a first method for generating a pool map is illustrated schematically in an embodiment of this disclosure.
[0017] Figure 3 An example of a second method for generating a pool map is illustrated schematically in an embodiment of this disclosure.
[0018] Figure 4 An example of a third method for processing pool maps is illustrated schematically in embodiments of this disclosure.
[0019] Figure 5 An exemplary timing diagram illustrating an embodiment of the process for generating and processing a pool map is shown schematically. Detailed Implementation
[0020] Embodiments of this disclosure will now be described in detail with reference to the accompanying drawings. In the drawings, identical or equivalent parts are given the same reference numerals, and their descriptions are not repeated.
[0021] In an automated pool cleaning system, a processor can be configured, along with one or more sensors, such as an inertial measurement unit (IMU), a camera, and ultrasonic sensors, capable of sensing the current attitude and position of the automated pool cleaning system relative to the pool's edge. By moving within the pool, it generates a map of the pool's outline and determines its relative position in real time. Based on the generated pool outline map and the determined real-time positioning, the automated pool cleaning system can then plan its movement route within the pool, aiming to perform comprehensive cleaning of the pool or a designated area within it.
[0022] However, due to a lack of prior information such as the shape and size of the pool's boundaries, the planned movement route may not be able to completely cover the entire area of the pool, thus potentially creating cleaning blind spots. Furthermore, it is difficult (or even impossible) to plan targeted cleaning solutions in advance; for example, it is difficult (or even impossible) to plan corresponding movement routes for specific areas within the pool and achieve localized cleaning only for those specific areas.
[0023] By utilizing the pool cleaning system and method in the embodiments of this disclosure, prior information such as the boundary shape and size of the pool can be obtained, enabling the automatic pool cleaning equipment to combine this prior information to more accurately generate pool maps and / or perform real-time positioning. This allows for better planning of cleaning routes for the entire pool or local areas within the pool, thereby ensuring the cleaning coverage of the automatic pool cleaning equipment and helping to improve its cleaning efficiency.
[0024] like Figure 1 As shown, the pool cleaning system 100 in the embodiments of this disclosure may include an automatic pool cleaning device 110, a server 120, and a terminal 130.
[0025] For example, the automatic pool cleaning device 110 may include: a housing; an inlet and an outlet on the housing; sensors (e.g., IMU, water separation sensor, water depth sensor, ultrasonic sensor, etc.), a water pump, a filtration device (e.g., may include a filter box with a filter element such as a filter screen), water flow pipes, a motor, a control circuit board and / or an airbag, etc., disposed on the outside of the housing or on the outer surface of the housing; a roller brush, sensors (e.g., camera, lidar, etc.), and a travel mechanism such as a drive wheel, track, or blade, etc.
[0026] For example, the automatic pool cleaning device 110, under the control of a processor on its control circuit board, can move or float on the internal plane of the pool (including the bottom plane and / or the platform surface in the pool), the pool wall, and / or the water surface using its traveling mechanism. During the movement or floating process, the automatic pool cleaning device 110 can use its water pump to draw water (along with garbage or dirt in the water) from its inlet into its filtration device. After being filtered by the filtration device, the water flows out of the filtration device and is finally discharged into the pool from the outlet. The garbage or dirt that is drawn into the filtration device of the automatic pool cleaning device 110 along with the water is adsorbed or intercepted in the filtration device by the filter elements, thereby achieving the cleaning of the pool.
[0027] like Figure 1 As shown, the automatic pool cleaning device 110 can also include a global navigation satellite system 112, a transceiver 114, and a processor 116.
[0028] The Global Navigation Satellite System 112 can be integrated onto the control circuit board of the automatic pool cleaning device 110, or configured at other suitable locations on the automatic pool cleaning device 110, and can include any system or module capable of acquiring current global positioning information about the automatic pool cleaning device 100 from satellite 140, such as the BeiDou Navigation Satellite System (BDS), the Global Positioning System (GPS), or the Galileo Navigation Satellite System (GALILEO). For example, the acquired global positioning information may include the latitude and longitude of the automatic pool cleaning device 100's current location.
[0029] The transceiver 114 can be integrated on the control circuit board of the automatic pool cleaning device 110, or configured in other suitable locations on the automatic pool cleaning device 110, and can be configured to establish a communication connection with the server 120 and / or the terminal 130 in a wired and / or wireless manner according to any suitable communication protocol, and to send and receive data with the server 120 and / or the terminal 130 when a communication connection is established.
[0030] For example, the automatic pool cleaning device 110 can use transceiver 114 to communicate with server 120 and / or terminal 130 via radio frequency, such as transmitting status data, device parameters and detection data of the automatic pool cleaning device 110 to server 120 and / or terminal 130, and / or receiving control commands, control parameters, reference data, etc. from server 120 and / or terminal 130.
[0031] For example, transceiver 114 may also have satellite communication capabilities to assist the operation of global navigation satellite system 112, or may be part of global navigation satellite system 112.
[0032] The processor 116 may include any circuitry and / or module with data processing and / or instruction execution capabilities, such as a central processing unit (CPU), a graphics processing unit (GPU), or a field-programmable gate array (FPGA), and may be configured to perform data processing and / or control related to the movement or cleaning operations and / or other functions of the automatic pool cleaning device 110, based on programs stored in the memory (not shown) of the automatic pool cleaning device 110, and / or instructions and / or data from the control panel (not shown) and / or server 120 and / or terminal 130 of the automatic pool cleaning device 110, and / or sensing data from one or more sensors of the automatic pool cleaning device 110 (e.g., IMU, odometer, lidar, ultrasonic sensor, infrared sensor, time-of-flight sensor, and vision sensor).
[0033] For example, the automatic pool cleaning device 110 can be equipped with a base station 118. The base station 118 can also be called a "charging pile," "charging station," or "charging dock." It can be equipped with a charging device and can be set at a specific location in the pool, such as at the edge of the pool. This allows the automatic pool cleaning device 110 to automatically return to the base station 118 for charging or standby operations after completing its cleaning task or when power is insufficient, without requiring the user to manually retrieve the automatic pool cleaning device 110 from the pool, thereby improving the user experience.
[0034] Base station 118 may also have a transceiver. Base station 118 can use its transceiver to perform positioning and / or data transmission and reception with the automatic pool cleaning equipment 110.
[0035] For example, the transceiver of base station 118 can be configured to communicate with the automatic water cleaning device 110 in the pool using a communication method suitable for underwater communication, such as underwater acoustic communication, ultrasonic communication, radio frequency communication, optical signal communication, etc., so as to inform the automatic water cleaning device 110 or make it easy for the automatic water cleaning device 110 to detect the location of base station 118 relative to the automatic water cleaning device 110 and / or other data or parameters, and / or obtain the real-time location of the automatic water cleaning device 110 in the pool (e.g., the real-time location of the automatic water cleaning device 110 relative to base station 118, or the global positioning information of the automatic water cleaning device 110) and / or other status or detection information.
[0036] For example, the transceiver of base station 118 can also be configured to communicate with the automatic pool cleaning device 110 on the water surface using methods suitable for surface or air communication, such as ultrasonic communication, radio frequency communication, or optical signal communication, so as to inform the automatic pool cleaning device 110 or make it easy for the automatic pool cleaning device 110 to detect the location of base station 118 relative to the automatic pool cleaning device 110 and / or other data or parameters, and / or obtain the real-time location of the automatic pool cleaning device 110 in the pool (e.g., the real-time location of the automatic pool cleaning device 110 relative to base station 118, or the global positioning information of the automatic pool cleaning device 110) and / or other status or detection information.
[0037] Additionally, the transceiver of base station 118 can be configured to establish a communication connection with server 120 and / or terminal 130 via wired and / or wireless means according to any suitable communication protocol, and to send and receive data between server 120 and / or terminal 130 once the communication connection is established. For example, base station 118 can use its transceiver to communicate with automatic pool cleaning device 110 to obtain the real-time location of automatic pool cleaning device 110 and / or detection data about the edge of the pool, and then use its transceiver to send data from automatic pool cleaning device 110 to server 120 and / or terminal 130, and receive instructions and / or data from server 120 and / or terminal 130.
[0038] Base station 118 may also include a processor. The processor of base station 118 may include any circuitry and / or module with data processing and / or instruction execution capabilities, such as a CPU, GPU, or FPGA, suitable for base station 118, and may be configured to perform data processing and / or control related to the movement or cleaning operations and / or other functions of the automatic pool cleaning device 110, based on programs stored in the memory of base station 118, and / or instructions and / or data from the control panel (not shown) and / or server 120 and / or terminal 130 of base station 118, and / or data from the automatic pool cleaning device 110. For example, the processor of base station 118 may plan a movement route for performing cleaning operations based on data from the automatic pool cleaning device 110, and then send the determined movement route to the automatic pool cleaning device 110.
[0039] In addition, base station 118 is also equipped with any global navigation satellite system, such as BDS, GPS, or GALILEO, that can obtain global positioning information about base station 118 from satellite 140. For example, the obtained global positioning information may include the latitude and longitude of base station 118's current location.
[0040] Then, for example, the processor of base station 118 can determine the global positioning information of the automatic pool cleaning device 110 based on the global navigation satellite system information from base station 118. Furthermore, the processor of base station 118 or the processor 116 of automatic pool cleaning device 110 can determine the global positioning information of automatic pool cleaning device 110 based on data related to the orientation of base station 118 and automatic pool cleaning device 110 relative to base station 118.
[0041] Base station 118 can be used as an accessory to automatic pool cleaning equipment 110, or it can be regarded as a fixed part of automatic pool cleaning equipment 110.
[0042] Therefore, in this disclosure, when referring to "communicating with the automatic pool cleaning device 110" or "communicating with the base station 118" or similar expressions, it is intended to include various possible scenarios such as "communicating directly with the automatic pool cleaning device 110 only", "communicating directly with the base station 118 only", "communicating directly with both the automatic pool cleaning device 110 and the base station 118", "communicating with the base station 118 via the automatic pool cleaning device 110", "communicating with the automatic pool cleaning device 110 and communicating with the base station 118 via the automatic pool cleaning device 110", and "communicating directly with the base station 118 and communicating with the automatic pool cleaning device 110 via the base station 118".
[0043] Without emphasizing the operation between the automatic pool cleaning device 110 and the base station 118, or without emphasizing the specific operation of the automatic pool cleaning device 110 or the base station 118, without distinguishing between the automatic pool cleaning device 110 and the base station 118, and without causing confusion, the terms "automatic pool cleaning device 110" or "base station 118" or "automatic pool cleaning device 110 / base station 118" or "automatic pool cleaning device 110 and base station 118" or "automatic pool cleaning device 110 or base station 118" may include at least one of the automatic pool cleaning device 110 and the base station 118.
[0044] Server 120 may include any suitable type of server such as an internet server, a central data center server, or a cloud server, and may have a transceiver 122 and a processor 124.
[0045] Transceiver 122 can be configured to establish a communication connection with automatic pool cleaning equipment 110 / base station 118 and / or terminal 130 and / or satellite 140 in a wired and / or wireless manner according to any suitable communication protocol, and to send and receive data between automatic pool cleaning equipment 110 / base station 118 and / or terminal 130 and / or satellite 140 when a communication connection is established.
[0046] The processor 124 may include any circuit and / or module with data processing and / or instruction execution capabilities, such as a CPU, GPU, or FPGA, and may be configured to perform data calculations and / or processing based on programs stored in the memory of server 120 and / or the storage server of server 120, and / or data from the automatic pool cleaning device 110 / base station 118 and / or terminal 130 and / or satellite 140, and then use transceiver 122 to send the calculation and / or processing results to the automatic pool cleaning device 110 / base station 118 and / or terminal 130 and / or satellite 140.
[0047] Terminal 130 may include mobile terminals such as smartphones, tablets, and desktop computers, or remote controls or control consoles specifically designed for the automatic pool cleaning equipment 110 / base station 118. For example, if terminal 130 is a smartphone or tablet, an application (APP) for monitoring the automatic pool cleaning equipment 110 / base station 118 can be downloaded and installed on terminal 130, and then the automatic pool cleaning equipment 110 / base station 118 can be monitored by running the APP on terminal 130.
[0048] Terminal 130 may have transceiver 132 and processor 134.
[0049] Transceiver 132 can be configured to establish a communication connection with automatic pool cleaning equipment 110 / base station 118 and / or server 120 and / or satellite 140 in a wired and / or wireless manner according to any suitable communication protocol, and to send and receive data between automatic pool cleaning equipment 110 / base station 118 and / or server 120 and / or satellite 140 when a communication connection is established.
[0050] The processor 134 may include any circuit and / or module with data processing and / or instruction execution capabilities, such as a CPU, GPU, or FPGA, and may be configured to perform data operations and / or processing based on programs stored in the memory of the terminal 130 (e.g., an APP downloaded and installed on the terminal 130 for monitoring the automatic pool cleaning device 110 / base station 118), and / or data from the automatic pool cleaning device 110 / base station 118 and / or server 120 and / or satellite 140, and / or user input on the terminal 120, etc., and then may use the transceiver 132 to send control commands and / or processing results and / or processing requests, etc., to the automatic pool cleaning device 110 / base station 118 and / or server 120 and / or satellite 140.
[0051] By using the pool cleaning system 100, prior information such as the boundary shape and size of the pool can be obtained, thereby generating a more accurate pool map and / or performing real-time positioning. This enables better planning of cleaning routes for the entire pool or local areas within the pool, ensuring the cleaning coverage of the automatic pool cleaning equipment 110 and helping to improve the cleaning efficiency of the automatic pool cleaning equipment 110.
[0052] Figure 2 An exemplary method 200 for generating a pool map using a pool cleaning system 100 is schematically shown. The method 200 may be executed, for example, by a processor 116 of an automatic pool cleaning device 110, and may include steps 210, 220, 230, 240, and 250.
[0053] In step 210, the automatic pool cleaning device 110 can be controlled to move in the pool (including on the water surface) to generate local map data about the pool.
[0054] For example, in step 210, during the process of controlling the automatic pool cleaning device 110 to move within the pool (e.g., controlling the automatic pool cleaning device 110 to move along the edge of the pool), local map data about the pool can be generated using methods or models such as Simultaneous Localization and Mapping (SLAM), which are suitable for real-time localization and environmental mapping using sensors (e.g., ultrasonic sensors, cameras, LiDAR, etc.) of the automatic pool cleaning device 110 in unknown environments. The generated local map data may include, but is not limited to, a raster map or point cloud map of the pool.
[0055] Then, in step 220, the global positioning information of the current location of the automatic pool cleaning device 100 can be obtained using the global navigation satellite system 112 of the automatic pool cleaning device 100 or the global navigation satellite system of the base station 118. For example, the obtained global positioning information may include the latitude and longitude of the current location of the automatic pool cleaning device 100.
[0056] Then, in step 230, the transceiver 114 can be used to transmit the global positioning information obtained in step 220 to the server 120, and in step 240, the transceiver 114 can be used to receive satellite map data about the pool obtained by the server 120 based on the global positioning information from the server 120.
[0057] For example, the satellite map data received in step 240 may include, but is not limited to, at least one of the following: the latitude and longitude of multiple points used to characterize the outline of the pool; the number of pixels in the image used to characterize the pool; the actual distance represented by adjacent pixels in the image used to characterize the pool; the area within the outline of the pool; and so on.
[0058] Then, step 250 can be performed to generate target map data about the pool based on the local map data generated in step 210 and the satellite map data received in step 240.
[0059] For example, in step 250, the satellite map data received in step 240 can be transformed according to the coordinate system of the local map data generated in step 210 to match (e.g., align) it with the local map data. Then, based on the coordinate-transformed satellite map data, boundary constraints can be applied to the local map data, and methods or models such as the Iterative Closest Point (ICP) algorithm or raster optimization algorithm can be used to adjust the local map data.
[0060] For example, if it is determined that the local map data is missing by comparing the coordinate-transformed satellite map data and the local map data, step 210 can be executed again, where, for example, the automatic pool cleaning device 100 can be controlled to move in the area corresponding to the missing data. Then, step 250 is executed again.
[0061] Therefore, in step 250, local map data and satellite map data are fused to generate target map data about the pool, wherein, for example, the generated target map data may include marker information about the outline of the pool.
[0062] Furthermore, in method 200, transceiver 114 can also be used to send the target map data generated in step 250 to server 120 and / or terminal 130. Transceiver 114 can also receive from terminal 130 map data adjusted by the user based on the target map data generated in step 250 and / or instructions from the user to regenerate local map data for a specified area in the pool using terminal 130.
[0063] For example, upon receiving a user instruction from terminal 130 to regenerate local map data for a specified area in the pool, step 210 of method 200 can be executed again, wherein the automatic pool cleaning device 100 can be controlled to move within the specified area. After regenerating the local map data for the specified area in the pool, step 250 of method 200 can be executed again.
[0064] Figure 3 An exemplary method 300 for generating a pool map using a pool cleaning system 100 is illustrated schematically. This method 300 may be executed, for example, by a processor 124 of a server 120, and may include steps 310, 320, 330, and 340.
[0065] In step 310, the transceiver 124 of the server 120 can receive the global positioning information of the current location of the automatic pool cleaning device 100 from the automatic pool cleaning device 110 or the base station 118. For example, the acquired global positioning information may include the latitude and longitude of the current location of the automatic pool cleaning device 100.
[0066] Then, in step 320, satellite images centered on the automatic pool cleaning device 110 or base station 118 can be acquired based on the global positioning information obtained in step 310. For example, server 120 can run a corresponding program to obtain satellite images of a specified zoom level and pixel size centered on the automatic pool cleaning device 110 or base station 118 from another satellite image server associated with satellite 140 or using data directly or indirectly from satellite 140.
[0067] Then, in step 330, satellite map data of the pool where the automatic pool cleaning device 110 or base station 118 is currently located can be obtained based on the satellite imagery obtained in step 320.
[0068] For example, in step 330, suitable models or methods such as convolutional neural networks (CNN) and / or semantic segmentation models can be used to perform one or more operations on the obtained satellite image, such as binary classification to determine whether the satellite image contains a pool, shape recognition of the pool in the satellite image, obtaining the pixels of the pool and / or graphics (e.g., polygons, circles, etc.) that can be used to characterize the outline of the pool by semantic segmentation of the satellite image, thereby obtaining one or more satellite map data such as the latitude and longitude of multiple points used to characterize the outline of the pool, the number of pixels in the image used to characterize the pool, the actual distance represented by adjacent pixels in the image used to characterize the pool, and the area within the outline of the pool.
[0069] For example, the actual distance to each pixel in a satellite image can be obtained from metadata about the satellite image. For example, the total number of pixels in the satellite image that are associated with a pool can be calculated, and then the area of the pool can be calculated based on the total number of pixels and the actual distance to each pixel.
[0070] Then, step 340 can be performed to transmit the satellite map data acquired in step 330 to the automatic pool cleaning device 110 or the base station 118, so that the automatic pool cleaning device 110 can generate target map data about the pool based on its local map data and satellite map data by performing method 200.
[0071] In addition, in method 300, the transceiver 124 can also be used to send the satellite map data obtained in step 330 to the terminal 130 so that the terminal 130 can process the satellite map data.
[0072] Figure 4An exemplary method 400 for processing a pool map using a pool cleaning system 100 is schematically shown. This method 400 may be executed, for example, by a processor 134 of a terminal 130, and may include steps 410, 420, and 430.
[0073] In step 410, the transceiver 132 of the terminal 130 can be used to receive target map data about the pool where the automatic pool cleaning device 110 is currently located from the automatic pool cleaning device 110 / base station 118 or server 120.
[0074] For example, the target map data may be generated by the automatic pool cleaning device 110 through method 200, which utilizes local map data about the pool generated by the automatic pool cleaning device 110, and satellite map data about the pool obtained by the server 120 through method 300 based on the global positioning information of the automatic pool cleaning device 110 or the base station 118.
[0075] Then, in step 420, the target map data received in step 410 can be adjusted based on the input made by the user using terminal 130 (e.g., zooming, manual correction, etc.) to generate adjusted map data.
[0076] Then, step 430 can be performed to send the adjusted map data to the automatic pool cleaning device 110 so that the automatic pool cleaning device 110 can plan a movement route for performing cleaning operations based on the adjusted map data.
[0077] Figure 5 An exemplary timing diagram is shown schematically illustrating the process of generating and processing pool maps using the methods 200, 300, and 400 described above.
[0078] like Figure 5 As shown, the automatic pool cleaning device 110 can sequentially execute steps 210, 220 and 230 of method 200, and then send the global positioning information about the pool to the server 120.
[0079] Server 120 can sequentially execute steps 310, 320, 330 and 340 of method 300 to generate satellite map data about the pool based on the global positioning information about the pool received from the automatic pool cleaning device 110 in step 310, and send the generated satellite map data to the automatic pool cleaning device 110 in step 340.
[0080] Then, the automatic pool cleaning device 110 can continue to execute steps 240 and 250 of method 200 to generate target map data about the pool based on the local map data generated in step 210 and the satellite map data received in step 240.
[0081] like Figure 5 As shown, the automatic water tank cleaning device 110 can continue to execute method 200 to send the generated target map data about the water tank to base station 120 and / or terminal 130.
[0082] Accordingly, terminal 130 can execute steps 410, 420 and 430 in method 400 to receive target map data about the pool from automatic pool cleaning device 110 and / or base station 120, and then send the adjusted map data to automatic pool cleaning device 110.
[0083] For example, when the automatic pool cleaning device 110 receives adjusted map data from the terminal 130, it can plan a moving route for performing cleaning operations based on the adjusted map data.
[0084] As described above, by using the pool cleaning system 100 and methods 200, 300 and 400, prior information such as the boundary shape and size of the pool can be obtained, enabling the automatic pool cleaning device 110 to combine this prior information to more accurately generate a pool map and / or perform real-time positioning. This allows for better planning of cleaning routes for the entire pool or local areas within the pool, thereby ensuring the cleaning coverage of the automatic pool cleaning device 110 and helping to improve the cleaning efficiency of the automatic pool cleaning device 110.
[0085] The basic principles of this disclosure have been described above with reference to embodiments. However, it should be noted that the advantages, benefits, and effects mentioned in this disclosure are merely examples and not limitations, and should not be considered as essential features of the various embodiments of this disclosure. Furthermore, the foregoing details are for illustrative and facilitative purposes only, and are not limitations; the foregoing details do not limit the scope of this disclosure to its implementation.
[0086] The block diagrams of devices, apparatuses, devices, and systems disclosed herein are merely illustrative examples 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 various embodiments, these devices, apparatuses, devices, and systems may be connected, arranged, and configured in any suitable manner.
[0087] Additionally, words such as "including," "containing," and "having" in the text are open-ended terms meaning "including but not limited to," and can be used interchangeably. The words "or" and "and" used here refer to the words "and / or," and can be used interchangeably unless the context explicitly indicates otherwise. The word "such as" used here refers to the phrase "such as but not limited to," and can be used interchangeably.
[0088] It should also be noted that in the apparatus, devices, and methods of this disclosure, the components or steps can be disassembled and / or recombined. These disassemblies and / or recombinations should be considered as equivalent solutions to this disclosure.
[0089] In this article, modifiers without quantifiers, such as "first" and "second," are intended to distinguish different components / parts / circuits / modules / devices / steps, rather than to emphasize order, positional relationship, importance, or priority. In contrast, modifiers with quantifiers, such as "first" and "second," can be used to emphasize the order, positional relationship, importance, or priority of different components / parts / circuits / modules / devices / steps.
[0090] The above description is given for illustrative and descriptive purposes only. This description is not intended to limit the embodiments of this disclosure to the forms disclosed herein. Although numerous exemplary aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations therein.
Claims
1. A method for generating a pool map, comprising: Control the movement of the automatic cleaning equipment in the pool to generate local map data about the pool; The global positioning information of the current location is obtained through the automatic cleaning equipment of the pool or the global navigation satellite system of the base station; The global positioning information is transmitted to a server used by the automatic cleaning equipment or base station for the water tank. Receive satellite map data about the pool obtained by the server based on the global positioning information from the server; as well as Target map data about the pool is generated based on the local map data and the satellite map data.
2. The method as described in claim 1, wherein, The local map data is generated using real-time positioning and mapping technology during the process of controlling the automatic cleaning equipment in the pool to move within the pool.
3. The method as described in claim 1, wherein, The global positioning information of the current location includes the latitude and longitude of the current location.
4. The method of claim 1, wherein, The satellite map data includes at least one of the following: The latitude and longitude of multiple points used to characterize the outline of the pool; The number of pixels in the image used to characterize the pool; The actual distance represented by adjacent pixels in the image used to characterize the pool; as well as The area within the outline of the pool.
5. The method of claim 1, wherein, The target map data includes marker information about the outline of the pool.
6. The method according to any one of claims 1 to 5, further comprising: Send the target map data to the server and / or the terminal used for the automatic cleaning equipment of the pool; and / or Receive map data adjusted by the user based on the target map data from the terminal used for the automatic cleaning equipment of the pool; and / or The terminal for the automatic cleaning equipment for the pool receives a user instruction to regenerate local map data for a specified area in the pool.
7. A method for generating a pool map, comprising: Receive global positioning information of the current location from the automatic cleaning equipment in the pool or the base station; Based on the global positioning information, acquire satellite images centered on the automatic water cleaning equipment or base station; Based on the satellite imagery, obtain satellite map data about the water tank where the automatic water cleaning equipment or base station is currently located; as well as The satellite map data is transmitted to the automatic pool cleaning device so that the automatic pool cleaning device can generate target map data about the pool based on its local map data and the satellite map data.
8. The method of claim 7, further comprising: The target map data is sent to the terminal used by the automatic cleaning equipment for the pool.
9. A method for processing a pool map, comprising: Receive target map data about the pool where the automatic pool cleaning device is currently located from the automatic pool cleaning device or the server for the automatic pool cleaning device. The target map data is generated by the automatic pool cleaning device based on satellite map data about the pool obtained by the server according to the global positioning information of the automatic pool cleaning device or the base station and local map data about the pool generated by the automatic pool cleaning device. The target map data is adjusted based on user input via a terminal used for the automatic pool cleaning equipment to generate adjusted map data. as well as The adjusted map data is sent to the automatic cleaning equipment of the pool.
10. An automatic water tank cleaning device, comprising: A global navigation satellite system configured to acquire the current global positioning information of the automatic cleaning equipment or base station of the pool. A transceiver configured to communicate data with a server for the automatic pool cleaning equipment or base station and / or a terminal for the automatic pool cleaning equipment; as well as A processor configured to execute the method as described in any one of claims 1 to 6 by running program instructions.
11. A server for an automatic water tank cleaning device, comprising: A transceiver configured to communicate data with the automatic pool cleaning equipment and / or a satellite and / or a terminal for the automatic pool cleaning equipment; as well as A processor configured to execute the method as described in any one of claims 7 and 8 by running program instructions.
12. A terminal for an automatic water tank cleaning device, comprising: A transceiver configured to communicate data with the automatic pool cleaning equipment and / or a server for the automatic pool cleaning equipment; A processor configured to execute the method of claim 9 by running program instructions.