Map construction method, device and equipment for pool environment and storage medium

Abstract

This application discloses a map construction method, apparatus, device, and storage medium for swimming pool environments, relating to the field of robotics. The method includes: controlling a shore-based mobile platform to travel along the edge of the pool based on a reference path; controlling a ranging module of the shore-based mobile platform to transmit wave signals into the pool and receiving echo signals corresponding to the wave signals; determining a first water level height and a first horizontal distance between the current position and the pool wall based on the echo signals; adding the current position coordinates, the first water level height, and the first horizontal distance to an initial map; and determining a target map based on the initial map after the shore-based mobile platform has completed its travel along the pool edge. This application's shore-based mobile platform stably follows a reference path, and the ranging module is mounted on the shore-based platform, reducing operational difficulty and safety hazards, and improving the accuracy and precision of pool map construction.

Description

Technical Field

[0001] This application relates to the field of robotics technology, and in particular to a map building method, apparatus, device, and storage medium for a swimming pool environment. Background Technology

[0002] Swimming pool environmental mapping and underwater topography mapping are important foundations for intelligent swimming pool inspection, underwater robot operations, swimming pool safety monitoring, and automated swimming pool operation and maintenance.

[0003] Existing environmental modeling solutions based on radar and millimeter-wave ranging are mostly applied to underwater robots. However, the operational range of underwater robots is limited to the underwater area, and the maps they construct can only reflect a portion of the underwater terrain and contours, making it difficult to meet the comprehensive needs of pool maintenance, such as water level monitoring and shoreline inspection. Furthermore, the complex underwater environment, including pool water turbidity, impurities, and light refraction, can severely interfere with the signal acquisition accuracy of sensors such as cameras and sonar, leading to significant measurement errors in underwater terrain and pool wall contours, thus affecting the accuracy of map construction. Simultaneously, when underwater robots move along the pool bottom, they are susceptible to the influence of debris and changes in slope, resulting in positioning deviations and further reducing the accuracy of map stitching.

[0004] Therefore, improving the accuracy of pool map construction is a problem that urgently needs to be solved.

[0005] The above content is only used to help understand the technical solution of this application and does not represent an admission that the above content is prior art. Summary of the Invention

[0006] The main objective of this application is to provide a method, apparatus, device, and storage medium for map construction in swimming pool environments, aiming to solve the technical problem of how to improve the accuracy of swimming pool map construction.

[0007] To achieve the above objectives, this application proposes a map construction method for a swimming pool environment, the map construction method for a swimming pool environment comprising: Based on the reference path, the shore-based mobile platform moves along the edge of the pool, and the ranging module of the shore-based mobile platform is controlled to transmit wave signals to the pool and receive the echo signals corresponding to the wave signals. Based on the echo signal, determine the first water level height corresponding to the current position and the first horizontal distance between the current position and the pool wall; Add the current location coordinates, the first water surface height, and the first horizontal distance to the initial map; After the shore-based mobile platform completes its journey along the edge of the pool, the target map is determined based on the initial map.

[0008] In one embodiment, the step of determining the first water level height corresponding to the current position and the first horizontal distance between the current position and the pool wall based on the echo signal includes: The target water surface reflection wave and the target pool wall reflection wave are determined based on the echo signal; The first water surface height is determined based on the reception time and corresponding transmission time of the reflected wave from the target water surface, and the first horizontal distance is determined based on the reception time and corresponding transmission time of the reflected wave from the target pool wall.

[0009] In one embodiment, the step of determining the target water surface reflected wave and the target pool wall reflected wave based on the echo signal includes: The pitch and roll angles detected by the inertial measurement unit of the shore-based mobile platform are obtained, and a rotation matrix is ​​constructed based on the pitch and roll angles. The target water surface reflection wave is determined based on the water surface reflection wave in the echo signal and the rotation matrix, and the target pool wall reflection wave is determined based on the pool wall reflection wave in the echo signal and the rotation matrix.

[0010] In one embodiment, the step of controlling the shore-based mobile platform to travel along the edge of the pool based on a reference path, and controlling the ranging module of the shore-based mobile platform to transmit wave signals to the pool includes: The shore-based mobile platform is controlled to travel along the edge of the pool based on a reference path, and stops at preset intervals during the journey. The ranging module is controlled to emit wave signals into the pool based on a preset duration and preset frequency.

[0011] In one embodiment, the target water surface reflected wave includes multiple water surface reflected waves, and the target pool wall reflected wave includes multiple pool wall reflected waves; the steps of determining the first water surface height based on the reception time and corresponding transmission time of the target water surface reflected wave, and determining the first horizontal distance based on the reception time and corresponding transmission time of the target pool wall reflected wave include: Based on the reception time and corresponding transmission time of the reflected waves from each target water surface, the height of each second water surface corresponding to the current position is determined respectively; Based on the reception time and corresponding transmission time of the reflected waves from each target pool wall, the second horizontal distances between the current position and the pool wall are determined respectively; Outliers in each of the second water level heights are removed to obtain each of the third water level heights, and the first water level height is determined based on each of the third water level heights. Outliers in each of the second horizontal distances are removed to obtain each of the third horizontal distances, and the first horizontal distance is determined based on each of the third horizontal distances.

[0012] In one embodiment, the step of adding the current location coordinates, the first water level height, and the first horizontal distance to the initial map includes: Transform the location coordinates to the coordinate system corresponding to the initial map to obtain the target location coordinates; Add the target location coordinates, the first water surface height, and the first horizontal distance to the initial map.

[0013] In one embodiment, after the shore-based mobile platform has traveled along the edge of the pool, the step of determining the target map based on the initial map includes: When the shore-based mobile platform completes its journey along the edge of the pool, the pose deviation is determined based on the current position and the starting position of the journey along the edge of the pool. The initial map is corrected based on the pose deviation to obtain the target map.

[0014] Furthermore, to achieve the above objectives, this application also proposes a map-building apparatus for a swimming pool environment, the map-building apparatus for a swimming pool environment comprising: The transmitting module is used to control the shore-based mobile platform to move along the edge of the pool based on a reference path, control the ranging module of the shore-based mobile platform to transmit wave signals to the pool, and receive the echo signals corresponding to the wave signals. The first determining module is used to determine the first water surface height corresponding to the current position and the first horizontal distance between the current position and the pool wall based on the echo signal; An add module is used to add the current location coordinates, the first water surface height, and the first horizontal distance to the initial map; The second determining module is used to determine the target map based on the initial map after the shore-based mobile platform has traveled along the edge of the pool.

[0015] Furthermore, to achieve the above objectives, this application also proposes a map-building device for a swimming pool environment, the device comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the map-building method for a swimming pool environment as described above.

[0016] In addition, to achieve the above objectives, this application also proposes a storage medium, which is a computer-readable storage medium, on which a computer program is stored, which, when executed by a processor, implements the steps of the map construction method for a swimming pool environment as described above.

[0017] One or more technical solutions proposed in this application have at least the following technical effects: By controlling the shore-based mobile platform to travel along the edge of the pool based on a reference path, the ranging module of the shore-based mobile platform transmits wave signals into the pool and receives the echo signals corresponding to the wave signals. Then, based on the echo signals, the first water level height and the first horizontal distance between the current position and the pool wall are determined. The current position coordinates, the first water level height, and the first horizontal distance are then added to the initial map. After the shore-based mobile platform completes its journey along the pool edge, the target map is determined based on the initial map, and the water level height and the horizontal distance between the shore-based mobile platform and the pool wall are calculated using the wave signals emitted by the shore-based mobile platform during its journey along the pool edge. The system constructs maps based on water level and horizontal distance. The shore-based mobile platform stably follows a baseline path, avoiding underwater positioning deviations. The ranging module is mounted on the shore-based platform. The entire process eliminates the need for close-range human operation or complex underwater equipment deployment, reducing operational difficulty and safety hazards. It avoids interference from water quality and impurities by staying away from the complex underwater environment. Furthermore, the system uses wave signal detection technology to accurately capture reflected signals from the water surface and pool walls. The water level and horizontal distance calculated by combining the echo signals are more accurate. At the same time, the location coordinates are associated with the two types of data and added to the initial map, improving the accuracy and precision of the map construction for the pool environment.

[0018] Meanwhile, the water level in the target map represents the water level monitoring results at each path point, enabling accurate water level monitoring during the mapping process. Furthermore, the shore-based mobile platform can use this target map to inspect the riverbank and clean the area where the pool's water level line is located, thus improving the accuracy of water level line cleaning during riverbank inspections. Attached Figure Description

[0019] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0020] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a flowchart illustrating an embodiment of the map construction method for a swimming pool environment provided in this application. Figure 2 This is a schematic diagram of the module structure of a map building device for a swimming pool environment according to an embodiment of this application; Figure 3This is a schematic diagram of the hardware operating environment involved in the map construction method for a swimming pool environment in the embodiments of this application.

[0022] The purpose, features, and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0023] It should be understood that the specific embodiments described herein are merely illustrative of the technical solutions of this application and are not intended to limit this application.

[0024] To better understand the technical solution of this application, a detailed description will be provided below in conjunction with the accompanying drawings and specific implementation methods.

[0025] The main solution of this application embodiment is as follows: Based on the reference path, the shore-based mobile platform is controlled to travel along the edge of the pool. The ranging module of the shore-based mobile platform is controlled to transmit a wave signal to the pool and receive the echo signal corresponding to the wave signal. Based on the echo signal, the first water surface height corresponding to the current position and the first horizontal distance between the current position and the pool wall are determined. The current position coordinates, the first water surface height, and the first horizontal distance are added to the initial map. After the shore-based mobile platform completes its travel along the edge of the pool, the target map is determined based on the initial map.

[0026] In this embodiment, for ease of description, the following description will focus on a map building device for a swimming pool environment.

[0027] Swimming pool environmental mapping and underwater topography mapping are important foundations for intelligent swimming pool inspection, underwater robot operations, swimming pool safety monitoring, and automated swimming pool operation and maintenance.

[0028] Existing environmental modeling solutions based on radar and millimeter-wave ranging are mostly applied to underwater robots. However, the operational range of underwater robots is limited to the underwater area, and the maps they construct can only reflect a portion of the underwater terrain and contours, making it difficult to meet the comprehensive needs of pool maintenance, such as water level monitoring and shoreline inspection. Furthermore, the complex underwater environment, including pool water turbidity, impurities, and light refraction, can severely interfere with the signal acquisition accuracy of sensors such as cameras and sonar, leading to significant measurement errors in underwater terrain and pool wall contours, thus affecting the accuracy of map construction. Simultaneously, when underwater robots move along the pool bottom, they are susceptible to the influence of debris and changes in slope, resulting in positioning deviations and further reducing the accuracy of map stitching.

[0029] Therefore, improving the accuracy of pool map construction is a problem that urgently needs to be solved.

[0030] This application provides a solution that calculates the water level and horizontal distance to the pool wall using wave signals emitted by a shore-based mobile platform as it travels along the edge of the pool. Mapping is then performed based on these measurements. The shore-based mobile platform stably follows a baseline path, avoiding underwater positioning deviations. The ranging module is mounted on the shore-based platform, eliminating the need for close-range human operation or complex underwater equipment deployment, thus reducing operational difficulty and safety hazards. It avoids interference from complex underwater environments such as water quality and impurities. Furthermore, the wave signal detection technology accurately captures reflected signals from the water surface and pool wall, resulting in higher accuracy in calculating the water level and horizontal distance using echo signals. Simultaneously, the location coordinates are correlated with these two types of data and added to the initial map, improving the accuracy and precision of the pool environment map.

[0031] It should be noted that the executing entity in this embodiment can be a computing service device with data processing, network communication, and program execution functions, such as a tablet computer, personal computer, or mobile phone, or an electronic device capable of performing the above functions, such as a map building device for a swimming pool environment. The following description uses a map building device for a swimming pool environment as an example to illustrate this embodiment and the subsequent embodiments.

[0032] Based on this, embodiments of this application provide a map construction method for a swimming pool environment, referring to... Figure 1 , Figure 1 This is a flowchart illustrating the first embodiment of the map construction method for a swimming pool environment according to this application.

[0033] In this embodiment, the map construction method for the swimming pool environment includes steps S110~S140: Step S110: Based on the reference path, control the shore-based mobile platform to travel along the edge of the pool, control the ranging module of the shore-based mobile platform to transmit wave signals to the pool, and receive the echo signals corresponding to the wave signals; Step S120: Determine the first water level height corresponding to the current position and the first horizontal distance between the current position and the pool wall based on the echo signal; Step S130: Add the current position coordinates, the first water level height, and the first horizontal distance to the initial map; Step S140: After the shore-based mobile platform completes its journey along the edge of the pool, the target map is determined based on the initial map.

[0034] It should be noted that the shore-based mobile platform can be a pool robot. The pool robot can travel along the edge of the pool according to the target map and clean the area where the pool water level line is located during the travel. To improve the accuracy of water level line cleaning, a map building operation can be performed first.

[0035] In this embodiment, when constructing the map of the swimming pool, a reference path for the pool is obtained so that the shore-based mobile platform can travel along this reference path. That is, the shore-based mobile platform is controlled to travel along the edge of the pool according to the reference path. During the travel, the ranging module of the shore-based mobile platform is controlled to transmit wave signals to the pool and receive the echo signals corresponding to the wave signals. Specifically, the shore-based mobile platform can be controlled to travel along the edge of the pool according to a preset distance. For example, when the travel distance of the shore-based mobile platform reaches the preset distance, the shore-based mobile platform stops traveling and transmits wave signals to the pool through the ranging module. Specifically, the ranging module transmits wave signals to the bottom and walls of the pool and receives the echo signals corresponding to the wave signals.

[0036] It should be noted that the wave signal can include optical signals, electromagnetic signals, and sound signals, among which sound signals include ultrasound, sonar, etc., and optical signals can include binocular vision signals, structured light signals, etc.

[0037] It should be noted that when emitting wave signals, the ranging module's probe points towards the inside of the pool, forming a fan-shaped area covering the area from the shore to the opposite shore. Thus, the wave signals emitted by the ranging module into the pool can form a fan-shaped beam. This ranging module can be an ultrasonic ranging array / ultrasonic sonar array. A multi-line ultrasonic ranging array / ultrasonic sonar array can be installed at the front end of the pool robot. When the shore-based mobile platform travels along the edge of the pool, it can emit a fan-shaped beam into the pool via the ultrasonic ranging array. Alternatively, the ranging module can be a lidar system, which can emit a fan-shaped laser signal into the pool.

[0038] In one feasible implementation, step S110 may include steps A110~A120: Step A110: Control the shore-based mobile platform to travel along the edge of the pool based on the reference path, and stop traveling at preset intervals during the travel process; Step A120: Based on a preset duration and a preset frequency, control the ranging module to transmit a wave signal to the swimming pool.

[0039] In this embodiment, the shore-based mobile platform controls the shore-based mobile platform to travel along the edge of the pool according to the reference path and accumulates the current travel distance. When the current travel distance reaches the preset distance, the shore-based mobile platform stops traveling and resets the current travel distance to zero. When the shore-based mobile platform stops traveling, the shore-based mobile platform controls the ranging module to transmit wave signals to the pool based on the preset duration and preset frequency. It can transmit wave signals to the pool multiple times within the preset duration.

[0040] The wave signal transmitted to the water surface is reflected by the water surface to form a water surface reflected wave, which is received by the ranging module. The wave signal transmitted to the pool wall is reflected by the pool wall to form a pool wall reflected wave, which is received by the ranging module. This allows the shore-based mobile platform to receive the echo signal corresponding to the wave signal through the ranging module. That is, the echo signal includes the water surface reflected wave and the pool wall reflected wave.

[0041] This allows for the preset setting of a time window, i.e., a preset duration, for example, 2 seconds. The preset frequency can also be set appropriately; for example, when the ranging module is an ultrasonic ranging array / ultrasonic sonar array, the preset frequency can be 20Hz.

[0042] It should be noted that, since the sensors of the shore-based mobile platform may be far from the opposite bank (e.g., 10 meters), long-distance scanning will result in divergence and attenuation, and the data accuracy of the opposite bank will be low. Based on this, the shore-based mobile platform uses a preset distance control ranging module to transmit wave signals to the pool to achieve high-precision scanning of a 3-5 meter range on the shore. Data from overlapping areas can be registered and stitched together to ensure that all map data used to guide the robotic arm's operation comes from high-precision near-field scanning, abandoning low-precision far-field data, and significantly improving the accuracy of the robotic arm's grasping.

[0043] In this embodiment, when the shore-based mobile platform receives the echo signal through the ranging module, it calculates the first water surface height corresponding to the current position and the first horizontal distance between the current position and the pool wall based on the echo signal. The current position is the position of the ranging module, i.e., the position of the sensor in the ranging module. The first water surface height is the height between the sensor and the water surface, and the first horizontal distance is the distance between the sensor and the pool wall.

[0044] In one feasible implementation, step S120 may include steps B110~B120: Step B110: Determine the target water surface reflected wave and the target pool wall reflected wave based on the echo signal; Step B120: Determine the first water surface height based on the reception time and corresponding transmission time of the target water surface reflected wave, and determine the first horizontal distance based on the reception time and corresponding transmission time of the target pool wall reflected wave.

[0045] In this embodiment, when an echo signal is received, the water surface reflection wave and the pool wall reflection wave in the echo signal are acquired, and the water surface reflection wave and the pool wall reflection wave are filtered. For example, obvious peak and trough anomalies in the water surface reflection wave and the pool wall reflection wave are removed to obtain the target water surface reflection wave and the target pool wall reflection wave.

[0046] It should be noted that, in order to eliminate the elevation error caused by the hull sway of the shore-based mobile platform and reduce the underwater topographic distortion caused by the hull sway, the detection data of the inertial measurement unit (IMU) can be combined for joint processing. The inertial measurement unit can be a 6-axis IMU.

[0047] Specifically, in one feasible implementation, step B110 may include steps B111 to B112: Step B111: Obtain the pitch angle and roll angle detected by the inertial measurement unit of the shore-based mobile platform, and construct a rotation matrix based on the pitch angle and roll angle. Step B112: Determine the target water surface reflection wave based on the water surface reflection wave in the echo signal and the rotation matrix, and determine the target pool wall reflection wave based on the pool wall reflection wave in the echo signal and the rotation matrix.

[0048] In this embodiment, the inertial measurement unit of the shore-based mobile platform can acquire the pitch angle θ and roll angle Φ of the shore-based mobile platform in real time. For example, the inertial measurement unit can acquire the pitch angle θ and roll angle Φ at a frequency of 100Hz. The shore-based mobile platform acquires the pitch angle and roll angle and constructs a rotation matrix based on the pitch angle and roll angle. For example, the formula for the rotation matrix R corresponding to the pitch angle θ and roll angle Φ is: ; Where R is the rotation matrix, θ is the pitch angle, and Φ is the roll angle.

[0049] When the rotation matrix is ​​obtained, the target water surface reflection wave is determined based on the water surface reflection wave in the echo signal and the rotation matrix, and the target pool wall reflection wave is determined based on the pool wall reflection wave in the echo signal and the rotation matrix. For example, multiplying the water surface reflection wave by the rotation matrix yields the target water surface reflection wave, and multiplying the pool wall reflection wave by the rotation matrix yields the target pool wall reflection wave. This can correct the received data in the robot coordinate system to data in the world horizontal coordinate system. That is, the original polar coordinate data (d, α) collected by the ultrasonic sensor is converted into horizontal coordinates (x, y, z) in the world coordinate system, where the z value is corrected for the gravitational acceleration component. This allows the shore-based mobile platform to construct an absolutely vertical and horizontal map even when walking at a 10-degree tilt on the shore, thereby eliminating the elevation error caused by the body's swaying and the underwater terrain distortion caused by the body's rocking.

[0050] In one feasible implementation, the target water surface reflected wave includes multiple water surface reflected waves, and the target pool wall reflected wave includes multiple pool wall reflected waves; step B120 may include steps B121~B124: Step B121: Based on the reception time and corresponding transmission time of the reflected waves from each target water surface, determine the height of each second water surface corresponding to the current position. Step B122: Based on the reception time and corresponding transmission time of the reflected waves from each target pool wall, determine the second horizontal distances between the current position and the pool wall respectively; Step B123: Remove outliers from each of the second water surface heights to obtain each of the third water surface heights, and determine the first water surface height based on each of the third water surface heights; Step B124: Remove outliers from each of the second horizontal distances to obtain each of the third horizontal distances, and determine the first horizontal distance based on each of the third horizontal distances.

[0051] In this embodiment, when the reflected wave of the target water surface is obtained, the receiving time and the transmission time corresponding to each reflected wave of the target water surface are obtained, and the second water surface height corresponding to each reflected wave of the target water surface is calculated based on the receiving time, the transmission time and the propagation speed of the wave signal.

[0052] Simultaneously, when the target pool wall reflected wave is obtained, the receiving time and transmission time corresponding to each target pool wall reflected wave are obtained, and the second horizontal distance corresponding to each target pool wall reflected wave is calculated based on the receiving time, transmission time and propagation speed of the wave signal.

[0053] Specifically, for all second water level heights, outliers are removed to obtain the third water level heights. For example, outlier detection is performed on each second water level height to identify outliers, which are then removed to obtain the third water level heights. Alternatively, the mean height of each second water level height is first calculated, then the absolute value of the height difference between each second water level height and the mean height is calculated. The ratio of this height difference to the mean height is then calculated, and second water level heights with a height difference ratio greater than a preset ratio are identified as outliers and removed to obtain the third water level heights. Next, the first water level height is determined based on these third water level heights; for example, the mean of all third water level heights can be used as the first water level height.

[0054] Specifically, for all second-level distances, outliers are removed from each second-level distance to obtain third-level distances. For example, outlier detection is performed on each second-level distance to identify outliers, and these outliers are then removed to obtain the third-level distances. Alternatively, the mean distance of each second-level distance is first calculated, then the absolute value of the distance difference between each second-level distance and the mean distance is calculated. Next, the ratio of this distance difference to the mean height is calculated, and second-level distances with a ratio greater than a preset ratio are identified as outliers and removed to obtain the third-level distances. Finally, a first-level distance is determined based on each third-level distance; for example, the mean of all third-level distances can be used as the first-level distance.

[0055] It should be noted that natural wind or water waves caused by swimming can interfere with the sensor's judgment of the water level, causing the water level to fluctuate on the map. Therefore, by removing obvious outliers such as peaks and troughs from multiple sets of data, calculating the weighted average of the remaining data, and combining it with the height of the shore-based robot measured by the IMU, the static water level is inferred through geometric relationships. This "straightens" the dynamic waves into a smooth horizontal line, ensuring that the water level error is controlled within ±2mm. Even when the water surface fluctuates greatly, the true physical water level can be accurately located, ensuring that the robotic arm can accurately clean along the dirt belt.

[0056] In this embodiment, when the first water surface height and the first horizontal distance are obtained, the current position coordinates of the shore-based mobile platform are obtained, and the current position coordinates, the first water surface height, and the first horizontal distance are added to the initial map. By stitching together the data of each position of the shore-based mobile platform when it stops at the edge of the pool in the initial map, a target image is formed.

[0057] In one feasible implementation, step S130 may include steps C110~C120: Step C110: Transform the location coordinates to the coordinate system corresponding to the initial map to obtain the target location coordinates; Step C120: Add the target location coordinates, the first water surface height, and the first horizontal distance to the initial map.

[0058] In this embodiment, when the current position coordinates of the shore-based mobile platform are obtained, the position coordinates are converted to the coordinate system corresponding to the initial map to obtain the target position coordinates. That is, the target position coordinates are obtained from the coordinate system corresponding to the initial map, which can be the global coordinate system.

[0059] Specifically, the target location coordinates, the first water surface height, and the first horizontal distance are added to the initial map. Since the first water surface height and the first horizontal distance are polar coordinate height and distance, they can be converted into corresponding rectangular coordinate data to obtain the rectangular coordinate height and rectangular coordinate distance in the global coordinate system. The target location coordinates, rectangular coordinate height, and rectangular coordinate distance are then added to the initial map.

[0060] In this embodiment, after the shore-based mobile platform completes its journey along the edge of the pool, a target map is determined based on the initial map. Specifically, the current initial map can be directly used as the target map, or the initial map can be corrected according to the pose deviation between the corresponding starting and ending positions of the shore-based mobile platform to obtain the target map.

[0061] It should be noted that as the shore-based mobile platform circles the pool, it generates a 2.5D raster map that includes the pool bottom topography, pool wall slope, and water level. This map is used to guide the robotic arm to extend into the water at the optimal angle and avoid potential interference from deep water areas.

[0062] In one feasible implementation, step S140 may include steps D110~D120: Step D110: When the shore-based mobile platform has completed its journey along the edge of the pool, determine the pose deviation based on the current position and the starting position of the journey along the edge of the pool. Step D120: Correct the initial map based on the pose deviation to obtain the target map.

[0063] In this embodiment, since the shore-based mobile platform relies on wheel encoders to count steps, the starting and ending positions may not match after the wheels slip or after walking a full circle, resulting in a disconnected map. Therefore, when the shore-based mobile platform completes its journey along the edge of the pool, the pose deviation is determined based on the current position and the starting position along the edge of the pool. For example, the pose deviation is calculated by performing ICP (Iterative Closest Point) matching between the pool wall feature points at the starting point and the pool wall feature points at the ending point.

[0064] When the pose deviation is obtained, a map optimization algorithm is initiated to correct the initial map based on the pose deviation to obtain the target map. For example, the least squares method is used to correct all path points (all stopping positions of the shore-based mobile platform) in the initial map to evenly distribute the error of this loop across the entire path, forcing the map to close, thereby eliminating the cumulative drift caused by long-distance travel and ensuring the accuracy of the map at any position. Alternatively, the pose deviation can be evenly distributed to all path points in the initial map, and the deviation compensation amount is obtained by dividing the pose deviation by the number of all path points in the initial map. Based on the deviation compensation amount, all path points in the initial map are corrected to evenly distribute the pose deviation to all path points.

[0065] It should be noted that while the shore-based mobile platform is traveling along the edge of the pool based on the baseline path, it uses vision or laser to identify fixed features of the pool. Based on the currently identified fixed features, the platform adjusts its travel status. These fixed features may include inlet ladders, main drain outlets, specific tile patterns at corners, etc. By adjusting the travel status, the platform can bypass inlet ladders, make sequential turns, etc., to further improve mapping efficiency.

[0066] This embodiment provides a map construction method for a swimming pool environment. It involves controlling a shore-based mobile platform to travel along the pool edge based on a reference path, controlling the platform's ranging module to transmit wave signals into the pool, and receiving the echo signals corresponding to these wave signals. Then, based on the echo signals, it determines the first water level height and the first horizontal distance between the current position and the pool wall. The current position coordinates, the first water level height, and the first horizontal distance are then added to an initial map. After the shore-based mobile platform completes its journey along the pool edge, a target map is determined based on the initial map. The water level is calculated using the wave signals emitted by the shore-based mobile platform during its journey along the pool edge. The system calculates the water surface height and horizontal distance from the pool wall, and then creates a map based on these measurements. A shore-based mobile platform stably follows a baseline path, avoiding underwater positioning deviations. The ranging module is mounted on the shore-based platform. The entire process eliminates the need for close-range human operation or complex underwater equipment deployment, reducing operational difficulty and safety hazards. It avoids interference from water quality and impurities by staying away from the complex underwater environment. Furthermore, wave signal detection technology accurately captures reflected signals from the water surface and pool wall. Combining this with echo signal calculations yields higher accuracy in determining the water surface height and horizontal distance. The location coordinates are then correlated with these two types of data and added to the initial map, improving the accuracy and precision of the pool map construction.

[0067] Meanwhile, the water level in the target map represents the water level monitoring results at each path point, enabling accurate water level monitoring during the mapping process. After obtaining the target map, the shore-based mobile platform can conduct shoreline inspections based on the map and clean the areas where the pool's water level line is located, thereby improving the accuracy of water level line cleaning during shoreline inspections.

[0068] It should be noted that the above examples are only for understanding this application and do not constitute a limitation on the map construction method of this application. Any simple modifications based on this technical concept are within the protection scope of this application.

[0069] This application also provides a map building device for a swimming pool environment, please refer to... Figure 2 The map building apparatus for the swimming pool environment includes: The transmitting module 10 is used to control the shore-based mobile platform to travel along the edge of the pool based on a reference path, control the ranging module of the shore-based mobile platform to transmit wave signals to the pool, and receive the echo signals corresponding to the wave signals. The first determining module 20 is used to determine the first water surface height corresponding to the current position and the first horizontal distance between the current position and the pool wall based on the echo signal; Add module 30 is used to add the current position coordinates, the first water surface height and the first horizontal distance to the initial map; The second determining module 40 is used to determine the target map based on the initial map after the shore-based mobile platform has traveled along the edge of the pool.

[0070] The map building apparatus for swimming pool environments provided in this application, employing the map building method for swimming pool environments described in the above embodiments, can solve the technical problem of how to improve the accuracy of swimming pool map building. Compared with the prior art, the beneficial effects of the map building apparatus for swimming pool environments provided in this application are the same as those of the map building method for swimming pool environments provided in the above embodiments, and other technical features in the map building apparatus for swimming pool environments are the same as those disclosed in the methods of the above embodiments, and will not be repeated here.

[0071] This application provides a map building device for a swimming pool environment. The map building device for a swimming pool environment includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the map building method for a swimming pool environment described in Embodiment 1 above.

[0072] The following is for reference. Figure 3This document illustrates a structural schematic diagram of a map-building device suitable for implementing embodiments of this application for a swimming pool environment. The map-building device for a swimming pool environment in embodiments of this application may include, but is not limited to, mobile terminals such as mobile phones, laptops, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Description), PMPs (Portable Media Players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. Figure 3 The map-building device for a swimming pool environment shown is merely an example and should not be construed as limiting the functionality and scope of use of the embodiments of this application.

[0073] like Figure 3 As shown, a mapping device for a swimming pool environment may include a processing unit 1001 (e.g., a central processing unit, a graphics processing unit, etc.) that can perform various appropriate actions and processes according to a program stored in a read-only memory 1002 or a program loaded from a storage device 1003 into a random access memory 1004. The random access memory 1004 also stores various programs and data required for the operation of the mapping device for the swimming pool environment. The processing unit 1001, the read-only memory 1002, and the random access memory 1004 are interconnected via a bus 1005. An input / output interface 1006 is also connected to the bus. Typically, the following systems can be connected to the input / output interface 1006: an input device 1007 including, for example, a touchscreen, touchpad, keyboard, mouse, image sensor, microphone, accelerometer, gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD), speaker, vibrator, etc.; a storage device 1003 including, for example, magnetic tape, hard disk, etc.; and a communication device 1009. The communication device 1009 allows the mapping equipment for a swimming pool environment to communicate wirelessly or wiredly with other devices to exchange data. While the figures show mapping equipment for a swimming pool environment with various systems, it should be understood that implementation or possession of all the systems shown is not required. More or fewer systems may be implemented alternatively.

[0074] Specifically, according to the embodiments disclosed in this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments disclosed in this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device, or installed from storage device 1003, or installed from read-only memory 1002. When the computer program is executed by processing device 1001, it performs the functions defined in the methods of the embodiments disclosed in this application.

[0075] The map building device for swimming pool environments provided in this application, employing the map building method for swimming pool environments described in the above embodiments, can solve the technical problem of how to improve the accuracy of swimming pool map building. Compared with the prior art, the beneficial effects of the map building device for swimming pool environments provided in this application are the same as those of the map building method for swimming pool environments provided in the above embodiments, and other technical features of the map building device for swimming pool environments are the same as those disclosed in the previous embodiment method, and will not be repeated here.

[0076] It should be understood that the various parts disclosed in this application can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples.

[0077] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0078] This application provides a computer-readable storage medium having computer-readable program instructions (i.e., a computer program) stored thereon, the computer-readable program instructions being used to execute the map construction method for a swimming pool environment in the above embodiments.

[0079] The computer-readable storage medium provided in this application may be, for example, a USB flash drive, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems or devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system or device. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0080] The aforementioned computer-readable storage medium may be included in a map-building device for a swimming pool environment; or it may exist independently and not be assembled into a map-building device for a swimming pool environment.

[0081] The aforementioned computer-readable storage medium carries one or more programs that, when executed by a pool environment mapping device, cause the pool environment mapping device to: control a shore-based mobile platform to travel along the edge of the pool based on a reference path; control the ranging module of the shore-based mobile platform to transmit wave signals to the pool and receive echo signals corresponding to the wave signals; determine a first water level height corresponding to the current position and a first horizontal distance between the current position and the pool wall based on the echo signals; add the current position coordinates, the first water level height, and the first horizontal distance to an initial map; and determine a target map based on the initial map after the shore-based mobile platform has completed traveling along the edge of the pool.

[0082] Computer program code for performing the operations of this application can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a Local Area Network (LAN) or a Wide Area Network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0083] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0084] The modules described in the embodiments of this application can be implemented in software or hardware. The names of the modules do not necessarily limit the functionality of the unit itself.

[0085] The readable storage medium provided in this application is a computer-readable storage medium that stores computer-readable program instructions (i.e., a computer program) for executing the above-described map construction method for a swimming pool environment, thereby solving the technical problem of how to improve the accuracy of swimming pool map construction. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as those of the map construction method for a swimming pool environment provided in the above embodiments, and will not be repeated here.

[0086] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the map construction method for a swimming pool environment as described above.

[0087] The computer program product provided in this application solves the technical problem of how to improve the accuracy of swimming pool map construction. Compared with the prior art, the beneficial effects of the computer program product provided in this application are the same as those of the map construction method for swimming pool environments provided in the above embodiments, and will not be repeated here.

[0088] The above description is only a part of the embodiments of this application and does not limit the patent scope of this application. All equivalent structural transformations made under the technical concept of this application and using the contents of the specification and drawings of this application, or direct / indirect applications in other related technical fields, are included in the patent protection scope of this application.

Claims

1. A map construction method for a swimming pool environment, characterized in that, The map construction method for the swimming pool environment includes: Based on the reference path, the shore-based mobile platform is controlled to move along the edge of the pool, and the ranging module of the shore-based mobile platform is controlled to transmit wave signals to the pool and receive the echo signals corresponding to the wave signals. Based on the echo signal, determine the first water level height corresponding to the current position and the first horizontal distance between the current position and the pool wall; Add the current location coordinates, the first water surface height, and the first horizontal distance to the initial map; After the shore-based mobile platform completes its journey along the edge of the pool, the target map is determined based on the initial map.

2. The map construction method for a swimming pool environment as described in claim 1, characterized in that, The steps of determining the first water level height corresponding to the current position and the first horizontal distance between the current position and the pool wall based on the echo signal include: The target water surface reflection wave and the target pool wall reflection wave are determined based on the echo signal; The first water surface height is determined based on the reception time and corresponding transmission time of the reflected wave from the target water surface, and the first horizontal distance is determined based on the reception time and corresponding transmission time of the reflected wave from the target pool wall.

3. The map construction method for a swimming pool environment as described in claim 2, characterized in that, The step of determining the target water surface reflected wave and the target pool wall reflected wave based on the echo signal includes: The pitch and roll angles detected by the inertial measurement unit of the shore-based mobile platform are obtained, and a rotation matrix is ​​constructed based on the pitch and roll angles. The target water surface reflection wave is determined based on the water surface reflection wave in the echo signal and the rotation matrix, and the target pool wall reflection wave is determined based on the pool wall reflection wave in the echo signal and the rotation matrix.

4. The map construction method for a swimming pool environment as described in claim 2, characterized in that, The steps of controlling the shore-based mobile platform to travel along the edge of the pool based on the reference path and controlling the ranging module of the shore-based mobile platform to transmit wave signals to the pool include: The shore-based mobile platform is controlled to travel along the edge of the pool based on a reference path, and stops at preset intervals during the journey. The ranging module is controlled to emit wave signals into the pool based on a preset duration and preset frequency.

5. The map construction method for a swimming pool environment as described in claim 4, characterized in that, The target water surface reflected wave includes multiple water surface reflected waves, and the target pool wall reflected wave includes multiple pool wall reflected waves; the steps of determining the first water surface height based on the reception time and corresponding transmission time of the target water surface reflected wave, and determining the first horizontal distance based on the reception time and corresponding transmission time of the target pool wall reflected wave include: Based on the reception time and corresponding transmission time of the reflected waves from each target water surface, the height of each second water surface corresponding to the current position is determined respectively; Based on the reception time and corresponding transmission time of the reflected waves from each target pool wall, the second horizontal distances between the current position and the pool wall are determined respectively; Outliers in each of the second water level heights are removed to obtain each of the third water level heights, and the first water level height is determined based on each of the third water level heights. Outliers in each of the second horizontal distances are removed to obtain each of the third horizontal distances, and the first horizontal distance is determined based on each of the third horizontal distances.

6. The map construction method for a swimming pool environment as described in claim 1, characterized in that, The step of adding the current location coordinates, the first water level height, and the first horizontal distance to the initial map includes: Transform the location coordinates to the coordinate system corresponding to the initial map to obtain the target location coordinates; Add the target location coordinates, the first water surface height, and the first horizontal distance to the initial map.

7. The map construction method for a swimming pool environment as described in any one of claims 1 to 6, characterized in that, After the shore-based mobile platform has traveled along the edge of the pool, the step of determining the target map based on the initial map includes: When the shore-based mobile platform completes its journey along the edge of the pool, the pose deviation is determined based on the current position and the starting position of the journey along the edge of the pool. The initial map is corrected based on the pose deviation to obtain the target map.

8. A map-building device for a swimming pool environment, characterized in that, The map building device for the swimming pool environment includes: The transmitting module is used to control the shore-based mobile platform to move along the edge of the pool based on a reference path, control the ranging module of the shore-based mobile platform to transmit wave signals to the pool, and receive the echo signals corresponding to the wave signals. The first determining module is used to determine the first water surface height corresponding to the current position and the first horizontal distance between the current position and the pool wall based on the echo signal; An add module is used to add the current location coordinates, the first water surface height, and the first horizontal distance to the initial map; The second determining module is used to determine the target map based on the initial map after the shore-based mobile platform has traveled along the edge of the pool.

9. A map-building device for a swimming pool environment, characterized in that, The device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the map construction method for a swimming pool environment as claimed in any one of claims 1 to 7.

10. A storage medium, characterized in that, The storage medium is a computer-readable storage medium, on which a computer program is stored, which, when executed by a processor, implements the steps of the map construction method for a swimming pool environment as described in any one of claims 1 to 7.

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