CN117891251A

CN117891251A - Swimming pool map construction method, swimming pool map construction device, swimming pool map construction robot and swimming pool map construction medium

Info

Publication number: CN117891251A
Application number: CN202410023532.0A
Authority: CN
Inventors: 汪洋
Original assignee: Yuanding Intelligent Innovation International Co ltd
Current assignee: Yuanding Intelligent Innovation International Co ltd
Priority date: 2024-01-05
Filing date: 2024-01-05
Publication date: 2024-04-16

Abstract

The present disclosure provides a swimming pool map construction method, comprising: constructing a two-dimensional map of the pool bottom according to the pool bottom cleaning task; constructing a two-dimensional map corresponding to the pool bottom, a two-dimensional map of the pool wall and a two-dimensional map of the water surface according to various cleaning tasks, and then constructing an initial three-dimensional map of the swimming pool based on the two-dimensional map of the pool bottom and at least the two-dimensional map of the pool wall or the two-dimensional map of the water surface; transmitting an initial three-dimensional map to a terminal device associated with the robot, so that the initial three-dimensional map is displayed on the terminal device, and at least one cleaning mode is determined according to the initial three-dimensional map; and cleaning the swimming pool according to at least one cleaning mode, and sending the position information of the cleaning area to the terminal equipment in real time or in a delayed manner so as to display the cleaned area in an initial three-dimensional map. The cleaning mode of the technical scheme can improve the cleaning efficiency, the cleaning coverage rate and the user experience of the swimming pool cleaning robot.

Description

Swimming pool map construction method, swimming pool map construction device, swimming pool map construction robot and swimming pool map construction medium

Technical Field

The disclosure relates to the technical field of swimming pool map construction, in particular to a swimming pool map construction method, a swimming pool map construction device, a swimming pool map construction robot and a swimming pool map construction medium.

Background

With the rapid development of artificial intelligence, robots are becoming a common solution for cleaning swimming pools in homes and businesses. At present, a swimming pool cleaning robot generally adopts a random running mode to clean a swimming pool. However, this random driving method has some problems such as not high coverage of the cleaning area.

The conventional swimming pool cleaning robot does not consider the construction and layout of the swimming pool during the cleaning process, and thus may miss some areas or repeatedly clean some areas, resulting in uneven coverage of the cleaning area. This approach may waste time and energy and may not provide efficient cleaning.

Disclosure of Invention

In view of the above, embodiments of the present disclosure provide a swimming pool map construction method, apparatus, robot and computer readable storage medium, which solve a series of technical problems in the prior art caused by not considering the construction of a swimming pool in cleaning.

In a first aspect of an embodiment of the present disclosure, there is provided a swimming pool map construction method, including: constructing a two-dimensional map of the pool bottom according to the pool bottom cleaning task; determining depth information of the pool wall according to the pool wall cleaning task; constructing a two-dimensional map of the pool wall according to the two-dimensional map of the pool bottom and the depth information of the pool wall; constructing a water surface two-dimensional map according to the water surface cleaning task and the two-dimensional map of the pool wall; constructing an initial three-dimensional map of the swimming pool based on the two-dimensional map of the pool bottom and the two-dimensional map of at least the pool wall or the two-dimensional map of the water surface; transmitting an initial three-dimensional map to a terminal device associated with the robot, so that the initial three-dimensional map is displayed on the terminal device, and at least one cleaning mode is determined according to the initial three-dimensional map; and cleaning the swimming pool according to at least one cleaning mode, and sending the position information of the cleaning area to the terminal equipment in real time or in a delayed manner so as to display the cleaned area in an initial three-dimensional map.

In a second aspect of embodiments of the present disclosure, there is provided a swimming pool map constructing apparatus, the apparatus comprising: the first construction module is used for constructing a two-dimensional map of the pool bottom according to the pool bottom cleaning task; the determining module is used for determining depth information of the pool wall according to the pool wall cleaning task; the second construction module is used for constructing a two-dimensional map of the pool wall according to the two-dimensional map of the pool bottom and the depth information of the pool wall; the third construction module is used for constructing a water surface two-dimensional map according to the water surface cleaning task and the two-dimensional map of the pool wall; a fourth construction module for constructing an initial three-dimensional map of the swimming pool based on the two-dimensional map of the pool bottom and the two-dimensional map of at least the pool wall or the two-dimensional map of the water surface; the first sending module is used for sending the initial three-dimensional map to the terminal equipment associated with the robot, so that the initial three-dimensional map is displayed on the terminal equipment, and at least one cleaning mode is determined according to the initial three-dimensional map; and the second sending module is used for cleaning the swimming pool according to at least one cleaning mode and sending the position information of the cleaning area to the terminal equipment in real time or in a delayed manner so as to display the cleaned area in the initial three-dimensional map.

In a third aspect of the disclosed embodiments, a robot is provided comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the method as described above when executing the computer program.

In a fourth aspect of the disclosed embodiments, a computer readable storage medium is provided, which stores a computer program which, when executed by a processor, implements the steps of the method as described above.

Compared with the prior art, the embodiment of the disclosure has the beneficial effects that: according to the embodiment of the disclosure, the structure and layout of the swimming pool can be accurately known by constructing a two-dimensional map of the pool bottom according to the pool bottom cleaning task, determining the depth information of the pool wall according to the pool wall cleaning task, constructing a two-dimensional map of the pool wall according to the two-dimensional map of the pool bottom and the depth information of the pool wall, constructing a two-dimensional map of the water surface according to the water surface cleaning task and the two-dimensional map of the pool wall, and then constructing an initial three-dimensional map of the swimming pool according to the two-dimensional map of the pool bottom and the two-dimensional map of the pool wall or the two-dimensional map of the water surface. At least one cleaning pattern may then be determined from the initial three-dimensional map, thereby more efficiently planning the path and cleaning area during the cleaning process. Compared with the traditional random driving mode, the invention can improve the cleaning efficiency and reduce the cleaning time and the energy consumption. And sending the initial three-dimensional map to a terminal device associated with the robot, and displaying the initial three-dimensional map and the cleaned area on the terminal device. Thus, the user can monitor the progress and effect of swimming pool cleaning in real time through the terminal equipment, and know the position and coverage condition of the cleaning area. The user can adjust the cleaning mode or provide feedback according to the cleaned area to meet the personalized cleaning requirements.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings that are required for the embodiments or the description of the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and other drawings may be obtained according to these drawings without inventive effort for a person of ordinary skill in the art.

Fig. 1 is a schematic flow chart of a swimming pool map construction method according to an embodiment of the present disclosure;

FIG. 2 is a flow chart of another method for constructing a pool map provided by an embodiment of the present disclosure;

FIG. 3 is a flow chart of yet another method for constructing a pool map provided by an embodiment of the present disclosure;

FIG. 4 is a flow chart of yet another method for constructing a pool map provided by an embodiment of the present disclosure;

FIG. 5 is a flow chart of yet another method for constructing a pool map provided by an embodiment of the present disclosure;

FIG. 6 is a schematic diagram of a regular swimming pool provided by an embodiment of the present disclosure;

FIG. 7 is a schematic illustration of a particular swimming pool provided in accordance with an embodiment of the present disclosure;

FIG. 8 is a schematic diagram of constructing a two-dimensional map of the water surface provided by an embodiment of the present disclosure;

FIG. 9 is a schematic illustration of an initial three-dimensional map of a swimming pool provided by an embodiment of the present disclosure;

Fig. 10 is a schematic diagram of filling data corresponding to each pool bottom sub-region in a two-dimensional map of a pool bottom provided by an embodiment of the present disclosure;

FIG. 11 is a schematic diagram of a swimming pool map building device according to an embodiment of the present disclosure;

fig. 12 is a schematic structural view of a robot according to an embodiment of the present disclosure.

Detailed Description

In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system configurations, techniques, etc. in order to provide a thorough understanding of the disclosed embodiments. However, it will be apparent to one skilled in the art that the present disclosure may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present disclosure with unnecessary detail.

A swimming pool map construction method and apparatus according to embodiments of the present disclosure will be described in detail with reference to the accompanying drawings.

Fig. 1 is a flow chart of a swimming pool map construction method according to an embodiment of the present disclosure. The method provided by the embodiments of the present disclosure may be performed by any electronic device having computer processing capabilities, e.g., the electronic device may be a robot.

As shown in fig. 1, the swimming pool map construction method includes steps S110 to S160.

In step S110, a two-dimensional map of the pool bottom is constructed according to the pool bottom cleaning task.

Step S120, determining depth information of the pool wall according to the pool wall cleaning task.

In step S130, a two-dimensional map of the pool wall is constructed based on the two-dimensional map of the pool bottom and the depth information of the pool wall.

In step S140, a two-dimensional map of the water surface is constructed according to the water surface cleaning task and the two-dimensional map of the pool wall;

in step S150, an initial three-dimensional map of the swimming pool is constructed based on the two-dimensional map of the pool bottom and at least the two-dimensional map of the pool wall or the two-dimensional map of the water surface.

In step S160, an initial three-dimensional map is transmitted to a terminal device associated with the robot such that the initial three-dimensional map is presented on the terminal device to determine at least one cleaning mode from the initial three-dimensional map.

In step S170, the swimming pool is cleaned according to at least one cleaning mode, and position information of the cleaned area is transmitted to the terminal device in real time or in a delayed manner to display the cleaned area in an initial three-dimensional map.

According to the method, a two-dimensional map of the bottom of the pool can be constructed according to the cleaning task of the bottom of the pool, the depth information of the pool wall is determined according to the cleaning task of the pool wall, the two-dimensional map of the pool wall is constructed according to the two-dimensional map of the bottom of the pool and the depth information of the pool wall, the two-dimensional map of the water surface is constructed according to the cleaning task of the water surface and the two-dimensional map of the pool wall, and then the initial three-dimensional map of the swimming pool is constructed according to the two-dimensional map of the bottom of the pool and the two-dimensional map of the pool wall or the two-dimensional map of the water surface, so that the structure and layout of the swimming pool can be accurately known. The robot may then determine at least one cleaning mode from the initial three-dimensional map, thereby more efficiently planning the path and cleaning area during the cleaning process. Compared with the traditional random driving mode, the invention can improve the cleaning efficiency and reduce the cleaning time and the energy consumption. And sending the initial three-dimensional map to a terminal device associated with the robot, and displaying the initial three-dimensional map and the cleaned area on the terminal device. Thus, the user can monitor the progress and effect of swimming pool cleaning in real time through the terminal equipment, and know the position and coverage condition of the cleaning area. The user can adjust the cleaning mode or provide feedback according to the cleaned area to meet the personalized cleaning requirements.

In some embodiments, the robot may take the current position of the robot as a starting position when performing a task of cleaning a pool. For example, the position of the charging post installed in the swimming pool is used as the starting position, so that the robot can automatically return to the starting position for charging after the cleaning task is completed. For example, the charging post is mounted in a fixed location in the pool, such as a corner of the pool edge. This charging stake becomes the home position of robot. When the robot starts to perform a cleaning task, it may perform a cleaning operation according to a preset path plan starting from the position of the charging pile. After the cleaning task is completed, the robot can automatically return to the initial position, namely the position of the charging pile, according to a preset algorithm or instruction. In this way, the robot can be ready for the next cleaning task by charging the charging post. The charging post typically provides power for the robot to charge and may have some additional functionality such as charge status display, charging post location identification, etc. The advantage of using the charging post as the starting position is that the robot can automatically return to the charging post for charging without manual intervention. The automatic recharging mechanism can ensure that the robot always maintains enough electric quantity to complete the whole cleaning task, and can reduce the operation and management cost of a user.

In some embodiments, constructing a two-dimensional map of the pool bottom according to the pool bottom cleaning task includes: taking the position of the robot sinking into the bottom of the pool as a first starting point, advancing towards the pool wall until the robot butts against the pool wall, and taking the current position of the robot as a first starting position; adjusting the posture of the robot, and at least one cycle of the robot returns to the first starting position along the edge of the pool bottom; and constructing a two-dimensional map of the bottom of the pool by taking the first starting position as an origin and returning to the first path information traveled by the first starting position again. For example, according to the pool bottom cleaning task, calling a driving instruction for cleaning the pool bottom; executing a driving instruction for cleaning the pool bottom, driving the robot to move forwards until the robot abuts against the pool wall, taking the position information of the abutting pool wall as a first starting position of the robot, adjusting the posture of the robot to move forwards along the pool bottom edge, and circulating back to the first starting position in the mode, so that the position information (namely the first path information) of the pool bottom edge is determined, and constructing a two-dimensional map of the pool bottom based on the position information of the pool bottom edge by taking the first starting position as an origin. In the process, the positioning and map construction of the robot are performed in a multi-sensor fusion mode, such as an ultrasonic sensor and a code wheel mode. According to the pool bottom cleaning task, the robot can call a driving instruction for cleaning the pool bottom. These driving instructions may be transmitted to the robot through a preset program or a remote control to guide it to perform a cleaning operation. After executing the driving command for cleaning the bottom of the tank, the robot can start to travel from the first starting position and move along the edge of the bottom of the tank. The first starting position is a position where the robot is abutted against the pool wall, and can be a position of the charging pile or other preset starting points. The purpose of the robot traveling along the bottom edge of the pool is to determine positional information of the bottom edge of the pool. By mounting sensors, such as ultrasonic sensors, laser scanners, cameras, code plates, depth sensors, etc., the robot can sense the position of the bottom edge of the pool. It may use a laser scanner to scan the shape of the pool bottom edge or a camera to capture an image of the pool bottom edge. By analyzing and processing the sensor data, the robot can determine positional information of the bottom edge of the pool. The ultrasonic sensor may also be used to measure the distance of the pool wall from the robot itself to determine positional information of the pool bottom edge.

Based on the position information of the bottom edge of the pool, the robot can construct a two-dimensional map of the bottom of the pool by taking the first starting position as an origin. This two-dimensional map may include information such as the shape and boundaries of the pool bottom. The construction of the map may be accomplished by converting the edge location information into sets of points in a coordinate system, and then interpolating and fitting from these sets of points. The constructed two-dimensional map can be used for path planning, cleaning mode selection, cleaning progress display and other purposes. The robot can plan the cleaning path according to this map and ensure coverage of the entire pool bottom area. Meanwhile, the map can also be provided for a user to view so as to know the shape of the bottom of the swimming pool and the cleaning progress. In summary, according to the pool bottom cleaning task, the robot determines the position information of the pool bottom edge by calling the cleaning driving command and driving along the pool bottom edge, and constructs a two-dimensional map of the pool bottom based on the information. The process can help the robot to better conduct path planning and cleaning operation, and cleaning efficiency and cleaning coverage rate are improved.

In some embodiments, determining depth information for the pool wall based on the pool wall cleaning task includes: taking the position corresponding to the first execution of the wall climbing instruction by the robot as a second initial position; the robot is adjusted to travel on the pool wall along the direction vertical to the pool bottom until the robot is sensed to reach the waterline position on the pool wall, or when the robot does not reach the waterline position and reaches the upper edge of the pool wall, the current depth information of the pool wall is acquired, and the current depth information can be confirmed according to the travel distance of the robot on the pool wall; the robot traverses the pool wall by taking at least N points on the first path as starting positions, and acquires the maximum depth information of each round trip. For example, according to the pool wall cleaning task, calling a driving instruction for cleaning the pool wall; executing a driving instruction for cleaning the pool wall, and driving the robot to travel to the position of a waterline on the pool wall or the upper edge of the pool wall from a second starting position along the direction vertical to the pool bottom so as to determine the depth information of the pool wall. Specifically, depending on the pool wall cleaning task, the robot may invoke a drive command to clean the pool wall. These driving instructions may be transmitted to the robot through a preset program or a remote control to guide it to perform a cleaning operation. After executing the driving command for cleaning the tank wall, the robot may start to travel from the second starting position and move in the direction perpendicular to the tank bottom until reaching the position of the waterline on the tank wall or the upper edge of the tank wall. The second starting position can be the position of the charging pile or other preset starting points, for example, after the robot completes the construction and cleaning of the pool bottom, the robot starts the wall detection flow after receiving the construction or cleaning instruction of the pool wall, and the robot can move to the edge of the pool bottom map with the shortest distance according to the current position in the pool bottom map to find the pool wall closest to the robot; or the robot proceeds in the current sweeping direction until reaching the edge of the pool bottom map; or the machine travels in any direction up to the edge of the bottom pool map; the above may be a second starting position where the robot is seeking to the pool wall. And then starting the wall climbing process and adjusting the orientation until the wall climbing process is vertical to the surface where the pool bottom is positioned. The purpose of the robot traveling in a direction perpendicular to the bottom of the pool is to determine the depth of the pool wall. By carrying sensors such as ultrasonic sensors, laser range finders, sonar, water pressure sensors and other depth sensors, the robot can measure the vertical height information of the current position of the robot relative to the initial position in real time, namely the current depth information of the robot. When the robot advances on the pool wall, the ultrasonic sensor or the laser range finder can emit signals to the pool surface or the pool bottom, the time or the distance of the signals returned is measured and calculated to obtain the depth information of the machine, and the water pressure sensor can feed back the pressure signals representing the current depth information in real time. When the machine runs from the bottom of the pool to the water surface on the pool wall to the waterline position on the pool wall, the sensing system sends a turning instruction or a retreating instruction to the driving mechanism through the control system, and the machine runs downwards until reaching the bottom of the pool again. This process can be run at different locations on the pool wall to obtain the depth profile of the waterline on all travel paths on the pool wall, the depth information of the pool wall obtained in this way being for a regular pool, see fig. 6; meanwhile, for some swimming pools with special configurations, such as steps with certain heights, which are not exposed out of the water surface, the robot also records depth information when reaching the highest position on the vertical surface of the steps, and the figure 7 is referred to. By integrating these depth data, the robot can construct a depth map of the pool, showing the depth change from the pool bottom to the pool wall. The depth map may be used for cleaning planning and operation of the pool. For example, the robot may adjust the position and angle of the cleaning device according to the depth map to ensure effective cleaning of different depth areas. Thus, in the embodiment, according to the pool wall cleaning task, the robot determines the water depth information of the swimming pool wall by calling the cleaning driving instruction and driving to the position of the waterline on the pool wall or the top of the pool wall along the direction vertical to the pool bottom. The process utilizes the sensor measurement to acquire depth information, and provides accurate depth data for swimming pool cleaning, thereby improving cleaning effect and adaptability of cleaning instruments.

In some embodiments, constructing the two-dimensional map of the pool wall from the two-dimensional map of the pool bottom and the depth information of the pool wall comprises: and constructing a two-dimensional map of the pool wall based on the first path information and the depth information by taking the second initial position as an origin. For example, a two-dimensional map of the pool wall may be constructed based on the position information of the pool bottom edge and the depth information of the pool wall with the second start position as the origin. This map may provide a visual representation of the geometry and depth distribution of the cell walls. First, the robot records path information along the vertical pool bottom to the position of the waterline on the pool wall during cleaning. The path information may include a coordinate position of the robot and corresponding depth data. Using these path information, a coordinate system can be created with the second starting position as the origin. The travel path perpendicular to the bottom of the pool may be mapped to this coordinate system to form a curve representing the contour of the pool wall.

Meanwhile, the depth data may also correspond to a coordinate system. By associating the depth data with the corresponding coordinate locations, a respective depth value may be marked for each coordinate point on the map. The path information and the depth data are integrated together, so that a two-dimensional map can be generated, and the shape and the depth distribution of the swimming pool wall are displayed. On the map, the location of each point represents the location of the wall of the pool, and the color or other visual representation of that point may represent the depth of that location, it being understood that taking the pool where the wall and bottom of the pool vertically interface as an example, the wall is at a location where the depth and bottom of the pool are equal, its coordinates in the coordinate system being the same. This two-dimensional map can be used for visual analysis and planning of the pool. For example, the concave-convex portion or depth area of the pool may be determined by looking at the map and adjusting the cleaning strategy accordingly. In addition, the map may also help the operator to understand the structure and characteristics of the pool in order to better manage and maintain the pool. In summary, with the starting position as the origin, a two-dimensional map of the pool wall can be constructed based on the positional information of the pool bottom edge and the depth of the swimming pool. This map provides a visual representation of the geometry and depth distribution of the pool walls, providing a useful tool and reference for pool cleaning and management.

In some embodiments, constructing the two-dimensional map of the water surface based on the water surface cleaning task and the two-dimensional map of the pool wall of the swimming pool comprises: the robot is used for completing the construction of the bottom or the wall of the pool or cleaning, then floats to the water surface and is adjusted to be a water surface cleaning posture as a third starting point; abutting against the pool wall from a third starting point and adjusting the pool wall to be along the wall as a third starting position; and taking the third initial position as an origin, walking along the wall until returning to the origin again, obtaining the position information of the waterline of the pool wall, and constructing a water surface two-dimensional map. For example, in constructing a two-dimensional map of the water surface of a swimming pool, a starting position still needs to be determined, and the determination of the starting position may be one of the following: 1) The cleaning equipment (i.e. a robot) completes the construction of the pool wall or the cleaning end position, and the position is positioned at the waterline on the pool wall, and at the moment, the cleaning equipment is adjusted into a water surface cleaning posture through posture change; 2) The cleaning equipment completes the bottom construction or the end position after cleaning, starts the floating operation, and floats up from the bottom to the water surface approximately along the vertical direction, wherein the water surface position corresponds to the bottom construction or the end position after cleaning; of course, after the cleaning device floats, the position of the device relative to the wall of the swimming pool at this time may also be determined based on the sensing device mounted thereon, such as ultrasound, vision, infrared, etc. After determining the starting position, the cleaning device can walk along the water surface to build the boundary of the water surface map, and then the method further comprises the steps of walking along the wall to return to the original point again, and then the robot performs walking traversing the water surface to obtain the path information on the water surface. This is followed by traversing the pool water surface to further construct a comprehensive two-dimensional map of the water surface, see fig. 8. In this example, the path of the robot in the direction of travel of the waterline is based on coincidence with the waterline, and fig. 8 is based on coincidence in practice because the robot is traveling along the waterline for convenience of viewing, and thus is not coincident with the waterline.

In some embodiments, constructing an initial three-dimensional map of the swimming pool based on the two-dimensional map of the pool bottom and the two-dimensional map of the pool wall or the two-dimensional map of the water surface comprises: dividing a two-dimensional map of the pool wall into a plurality of pool bottom subareas according to the size information of the robot, and determining the coordinate range of each pool bottom subarea; dividing a two-dimensional map of the pool wall into a plurality of pool wall subareas according to the size information of the robot, and determining the coordinate range of each pool wall subarea; or dividing the water surface two-dimensional map into a plurality of water surface subareas according to the size information of the robot, and determining the coordinate range of each water surface subarea; and constructing an initial three-dimensional map of the swimming pool based on the coordinate range of each pool bottom subarea and the coordinate range of each pool wall subarea or the coordinate range of each water surface subarea. For example, first, consider the division of the bottom sub-area of the pool. Depending on the size of the robot, a suitable sub-area size may be determined. Typically, the sub-area should be sized to accommodate the robot for the cleaning operation. Depending on this size, a two-dimensional map of the pool bottom may be divided into a plurality of square or rectangular sub-areas. Each pool bottom sub-area has a corresponding coordinate range representing the position of the sub-area on the map. The coordinate range may be defined using minimum and maximum coordinate values in a coordinate system. For example, the coordinates of the lower left and upper right corners may be used to determine the extent of the sub-region. Next, consider the division of the sub-areas of the pool wall. Likewise, depending on the size of the robot, the size of the pool wall sub-area or the water surface sub-area may be determined. These sub-regions may be divided along the perimeter of the pool wall or the perimeter of the water surface to better represent the geometry of the pool wall or the water surface. Each pool wall sub-area or water surface sub-area also has a corresponding coordinate range representing the position of the sub-area on the map. The coordinate range may be defined by the starting and ending points of the pool wall sub-area or the water surface sub-area, or by other means, such as angles or radians. Finally, an initial three-dimensional map of the swimming pool can be constructed based on the coordinate ranges of the sub-areas of the bottom of the pool and the coordinate ranges of the sub-areas of the wall of the pool or the sub-areas of the water surface. This three-dimensional map will contain geometric information of the pool bottom and pool walls or water surface and correlate them with corresponding coordinate ranges. This initial three-dimensional map can be used as a reference for pool cleaning and operation. It can help the robot plan a cleaning path, avoid collisions or jams, and provide an operator with a comprehensive understanding of the pool structure. In this embodiment, according to the size information of the robot, the two-dimensional map of the pool wall may be divided into a plurality of pool bottom sub-areas and pool wall sub-areas or water surface sub-areas, and their coordinate ranges may be determined. Based on these coordinate ranges, an initial three-dimensional map of the pool can be constructed, providing more detailed spatial information for pool cleaning and operation.

In some embodiments, the initial three-dimensional map is transmitted to a terminal device associated with the robot such that the initial three-dimensional map is presented on the terminal device to determine the at least one cleaning mode from the initial three-dimensional map. For example, the cleaning mode may be a cleaning tank bottom mode, a cleaning tank wall mode, a cleaning water surface mode, or the like, but is not limited thereto. After the robot establishes a connection with the terminal device, an initial three-dimensional map may be sent to the terminal device to display the initial status of the pool on the terminal device. First, the robot may generate an initial three-dimensional map that contains information about the bottom, walls, and water surface of the pool. The robot encodes the map data and transmits it to the terminal device through wireless communication. The terminal device may be a smart phone, a tablet computer or a computer, etc., and the operator may open the received initial three-dimensional map through an application or related software. When an initial three-dimensional map is presented on the terminal device, an operator can learn the layout and characteristics of the pool by looking at the map. The map may display information on the shape, size, depth, etc. of the pool. From the initial three-dimensional map, the operator may determine at least one cleaning mode. The cleaning pattern may be defined according to different areas and requirements of the pool, for example: cleaning pool bottom mode: in this mode, the robot will focus on cleaning the floor area, including dust collection, brushing, and dirt removal. Cleaning pool wall mode: in this mode, the robot will focus on cleaning the pool wall area, including brushing, dirt removal, and waterline operations. Clean water surface mode: in this mode, the robot will focus on cleaning the water surface, including removing duckweed, leaves, and other debris. In addition to the above examples, other cleaning modes may be defined, such as cleaning edge areas, cleaning sewage ports, etc., depending on the particular requirements of the pool and the function of the robot. The operator can select the appropriate cleaning mode on the terminal device and send a corresponding instruction to the robot. The robot will adjust its own cleaning behavior according to the instructions to achieve the cleaning task in the selected mode. By sending an initial three-dimensional map to the terminal device associated with the robot and determining the cleaning mode from the map, the operator can better understand the structure of the pool and select the appropriate cleaning strategy to improve the effectiveness and efficiency of the cleaning.

In some embodiments, the swimming pool is cleaned according to at least one cleaning mode, and the position information of the cleaned area is sent to the terminal equipment in real time or in a delayed manner so as to display the cleaned area in an initial three-dimensional map, and the position of the robot in the three-dimensional map can be displayed to a user in the terminal equipment. Due to the difference in communication modes in water and air, information can be transmitted to the user terminal in a wireless signal transmission mode when the cleaning equipment is out of the water. For example, referring to the initial three-dimensional map shown in fig. 9, an operator may manually operate the initial three-dimensional map shown on the terminal device, so that a corresponding cleaning mode may be triggered, and cleaning is performed on a position corresponding to the initial three-dimensional map according to the cleaning mode selected by the operator at the terminal device. Specifically, according to the selected cleaning mode, the robot may start to perform a cleaning task and transmit position information of a cleaning area to the terminal device to display the cleaned area in an initial three-dimensional map. First, the operator selects a specific cleaning mode, such as a cleaning floor mode, on the terminal device. The robot may perform a corresponding cleaning operation according to the mode. The robot is equipped with sensors and vision systems for sensing and locating positional information in the pool. During cleaning, the robot can detect and record the cleaned area in real time. When the robot completes cleaning an area, it can encode the position information of the area and transmit it to the terminal device by wireless communication. An application or related software on the terminal device receives the location information of the cleaned area and updates it into the initial three-dimensional map. The cleaned areas may be marked in a different color or otherwise visually displayed so that the operator knows clearly which areas have been cleaned. As the robot continues to perform the cleaning task, the position information of the cleaning area is continuously updated and displayed in real time on the terminal device in the initial three-dimensional map. In this way, the operator can view the progress of cleaning and the cleaned area at any time. By sending the location information of the cleaning area in real time and displaying the cleaned area in an initial three-dimensional map, the operator can better understand the coverage and progress of the cleaning. This helps to monitor the completion of the cleaning task and ensures the overall cleaning effect of the pool. In this embodiment, the robot may communicate with the associated terminal device in or out of the water.

Fig. 2 is a flow chart of another swimming pool map construction method according to an embodiment of the present disclosure. As shown, the above method further includes steps S210 and S220 after constructing the initial three-dimensional map of the swimming pool.

In step S210, determining position information of an obstacle located in the bottom of the tank during the process of performing the cleaning task of the bottom of the tank by the robot;

in step 220, the initial three-dimensional map is updated according to the position information of the obstacle to display the position of the obstacle in the initial three-dimensional map.

The method can display the position of the obstacle on the map by acquiring the position information of the obstacle and updating the position information into the initial three-dimensional map in the process of executing the cleaning task of the pool bottom by the robot. Such an update process can help operators better understand and manage obstacles at the bottom of the pool, improving cleaning effectiveness and efficiency.

In some embodiments, the robot continues to perform the pool bottom cleaning task after an initial three-dimensional map of the pool is constructed. In the process of the robot executing the cleaning task of the pool bottom, determining the position information of the obstacle positioned in the pool bottom, and updating the initial three-dimensional map according to the position information of the obstacle so as to display the position of the obstacle in the initial three-dimensional map. For example, robots are often equipped with various sensors, such as cameras, lidar, ultrasonic sensors, etc., for sensing and detecting the environment of the pool bottom. These sensors may help the robot detect the presence and location of obstacles. When the robot runs at the bottom of the pool, the sensor can acquire the data of the surrounding environment in real time. By analyzing the sensor data, the robot can identify obstacles on the bottom of the pool and determine their position information, such as coordinates or relative positions. When the robot determines the position information of the obstacle, it can compare and update the information with the initial three-dimensional map. According to the position of the obstacle, the robot can mark the existence of the obstacle at the corresponding position on the three-dimensional map. The updated three-dimensional map will show the position of the obstacle, so that the operator can more clearly know the obstacle distribution condition of the bottom of the swimming pool. This facilitates further analysis and decision-making by the operator, such as adjusting the cleaning path or taking other measures to treat the obstacle. As the robot continues to perform cleaning tasks, it may continually update the three-dimensional map, synchronizing newly discovered obstacle location information with the map. In this way, the map becomes more accurate and detailed gradually, reflecting the actual distribution of the obstacles at the bottom of the pool. In summary, in the process of the robot performing the pool bottom cleaning task, the position information of the obstacle is acquired through the sensor and updated into the initial three-dimensional map to display the position of the obstacle on the map. Such an update process can help operators better understand and manage obstacles at the bottom of the pool, improving cleaning effectiveness and efficiency.

Fig. 3 is a flow chart of yet another swimming pool map construction method according to an embodiment of the present disclosure. As shown, the above method further includes steps S310 and S320 after constructing the initial three-dimensional map of the swimming pool.

In step S310, position information of steps located in the pool wall is determined in the course of the robot performing the pool wall cleaning task;

in step 320, the initial three-dimensional map is updated according to the position information of the step to display the position of the step in the initial three-dimensional map.

The method can display the position of the step on the map by acquiring the position information of the step and updating the position information into the initial three-dimensional map in the process of executing the cleaning task of the pool wall by the robot. Such an updating process can help operators to better understand and manage the steps of the pool wall surface, improving cleaning efficiency and efficiency.

In some embodiments, the robot continues to perform pool wall cleaning tasks after an initial three-dimensional map of the pool is constructed. As the robot can identify the steps, particularly the first step, as the pool wall in the pool bottom construction or cleaning process; in the process of building a map or cleaning the pool wall, the robot can identify all steps, in particular the height information of the steps and the width information occupied on the pool wall. Therefore, the robot needs to comprehensively determine the step information according to the map information of the pool bottom and the map information of the pool wall. In the process of the robot executing the cleaning task of the pool wall, position information of steps in the pool wall is determined, and then an initial three-dimensional map is updated according to the position information of the steps so as to display the positions of the steps in the initial three-dimensional map. For example, robots are often equipped with various sensors, such as cameras, lidar, ultrasonic sensors, depth sensors, etc., for sensing and detecting the environment of the pool wall. These sensors can help the robot detect the presence and position of steps. When the robot approaches the pool wall, the sensor can acquire the data of the pool wall in real time. By analyzing the sensor data, the robot can identify steps on the pool wall and determine their positional information, such as height or relative position. When the robot determines the position information of the steps, it can compare and update the information with the initial three-dimensional map. According to the position of the step, the robot can mark the existence of the step at the corresponding position on the three-dimensional map. The updated three-dimensional map shows the positions of the steps, so that an operator can know the step distribution condition of the swimming pool wall more clearly. This facilitates further analysis and decision-making by the operator, such as adjusting the cleaning path or taking other action to treat the steps. As the robot continues to perform cleaning tasks, it can continually update the three-dimensional map, synchronizing newly discovered step position information with the map. In this way, the map becomes more accurate and detailed gradually, reflecting the actual distribution of the steps of the pool wall. In summary, in the process of the robot performing the pool wall cleaning task, the position information of the steps is acquired by the sensor and updated into the initial three-dimensional map to display the positions of the steps on the map. The updating process can help operators to better know and manage steps on the wall surface of the swimming pool, and the cleaning effect and efficiency are improved.

Fig. 4 is a flow chart of yet another swimming pool map construction method provided by an embodiment of the present disclosure. As shown, the above method further includes step S410 and step S420.

In step S410, after the bottom sub-area is cleaned by the robot, filling the corresponding bottom sub-area in the initial three-dimensional map with first preset filling data according to the coordinate range of the bottom sub-area;

in step 420, after the pool wall sub-area is cleaned by the robot, filling the corresponding pool wall sub-area in the initial three-dimensional map with second preset filling data according to the coordinate range of the pool wall sub-area.

According to the method, after the pool bottom subarea is cleaned by the robot, the corresponding pool bottom subarea in the initial three-dimensional map can be filled according to the coordinate range of the subarea. Such a filling process may help an operator to intuitively understand the cleaning progress and make subsequent cleaning plans and decisions. After the pool wall subareas are cleaned by the robot, the corresponding pool wall subareas in the initial three-dimensional map can be filled according to the coordinate range of the subareas. Such a filling process may help an operator to intuitively understand the cleaning progress and make subsequent cleaning plans and decisions.

In some embodiments, after the bottom sub-area is cleaned by the robot, filling the corresponding bottom sub-area in the initial three-dimensional map with the first preset filling data according to the coordinate range of the bottom sub-area. For example, after the robot completes the cleaning task for the bottom sub-area, the corresponding bottom sub-area in the initial three-dimensional map may be filled according to the coordinate range of the sub-area. First, the robot may record the coordinate range of the bottom sub-area of the pool that has been cleaned. These coordinate ranges may be represented as upper left and lower right corner coordinates of a rectangular area, or in other suitable ways. Next, from these coordinate ranges, the corresponding pool bottom sub-areas are located in the initial three-dimensional map. This can be achieved by finding the corresponding region on the map and determining its boundaries. When positioned to the floor sub-area, the area may be filled with first preset fill data. The fill data may be predefined colors, textures, or other information representing the fill. The robot may apply the filling data to the corresponding pool bottom sub-area in the initial three-dimensional map, causing it to display the filling effect on the map. In this way, the operator can see the map to see which areas have been cleaned and filled, and which areas still need to be cleaned. The initial three-dimensional map after filling can help the operator to better track the progress of cleaning of the bottom of the pool and determine the next cleaning path and strategy. In short, after the pool bottom subarea is cleaned by the robot, the corresponding pool bottom subarea in the initial three-dimensional map can be filled according to the coordinate range of the subarea. Such a filling process may help an operator to intuitively understand the cleaning progress and make subsequent cleaning plans and decisions.

In some embodiments, after the pool wall sub-area is cleaned by the robot, filling the corresponding pool wall sub-area in the initial three-dimensional map with second preset filling data according to the coordinate range of the pool wall sub-area. For example, after the robot completes the cleaning task for the pool wall sub-area, the corresponding pool wall sub-area in the initial three-dimensional map may be filled according to the coordinate range of the sub-area. First, the robot may record the coordinate range of the already cleaned pool wall sub-area. These coordinate ranges may be represented as upper left and lower right corner coordinates of a rectangular area, or in other suitable ways. Next, from these coordinate ranges, the corresponding pool wall sub-areas are located in the initial three-dimensional map. This can be achieved by finding the corresponding region on the map and determining its boundaries. When positioned to the pool wall sub-area, the area may be filled with second preset fill data. The second preset fill data may be a color, texture, or other information representing fill that is different from the fill of the pool bottom subregion. The robot applies second preset filling data to the corresponding pool wall subareas in the initial three-dimensional map, so that the filling effect is displayed on the map. In this way, the operator can see which pool wall sub-areas have been cleaned and filled by looking at the map. The initial three-dimensional map after filling can help an operator to better track the cleaning progress of the pool wall and determine the next cleaning path and strategy. In short, after the pool wall subareas are cleaned by the robot, the corresponding pool wall subareas in the initial three-dimensional map can be filled according to the coordinate range of the subareas. Such a filling process may help an operator to intuitively understand the cleaning progress and make subsequent cleaning plans and decisions.

Referring to fig. 10, taking a two-dimensional map of a pool bottom as an example, after dividing the two-dimensional map of the pool bottom into a plurality of pool bottom sub-areas, during the process of performing a pool bottom cleaning task by a robot, for example, the cleaned pool bottom sub-areas may be filled with light gray, and the uncleaned pool bottom sub-areas may be filled with white. In addition, the pool bottom subareas corresponding to the edge positions of the pool bottom can be filled with black, namely, the areas where the pool walls are connected with the pool bottom. In this embodiment, it is also possible to fill the locations of obstacles arranged in the bottom of the pool, for example, dark grey or the like. And then the filled three-dimensional map is sent to the terminal equipment, so that the terminal equipment can quickly and accurately learn about specific cleaning conditions and distribution conditions of obstacles.

Fig. 5 is a flow chart of yet another swimming pool map construction method provided by an embodiment of the present disclosure. As shown, the above method further includes step S510 and step S520.

In step S510, the filled three-dimensional map of the swimming pool is sent to the terminal device associated with the robot in real time or in a delayed manner;

in step 520, in response to the terminal device cleaning instructions for the filled three-dimensional map of the swimming pool, the cleaning path of the robot is adjusted according to the cleaning instructions.

The three-dimensional map of the swimming pool after filling can be sent to terminal equipment associated with the robot in real time, an operator can send a cleaning instruction through the terminal equipment, and the cleaning path of the robot is adjusted according to the instruction, so that a better cleaning effect is achieved.

In some embodiments, the filled three-dimensional map of the pool is sent in real time to a terminal device associated with the robot, and then the cleaning path of the robot is adjusted in accordance with the cleaning instructions in response to the cleaning instructions of the terminal device for the filled three-dimensional map of the pool. For example, after filling of the pool bottom and wall sub-areas is completed, the filled three-dimensional map of the pool may be sent in real time to a terminal device associated with the robot. First, the robot may generate a three-dimensional map of the filled pool. This map will show the cleaning status of the pool bottom and pool wall sub-areas and the filling effect; but of course may also comprise a water surface sub-area. The robot may encode and transmit the map data to the terminal device through wireless communication. The terminal equipment can be a smart phone, a tablet computer or a computer, and is connected with the robot to receive the map data. When the terminal device receives the filled three-dimensional map of the pool, the operator can view the map through an application or related software. The display of the map may include the cleaned and filled areas, as well as the areas that remain to be cleaned. The operator may interact with the terminal device and send cleaning instructions to the robot. The cleaning instructions may include designating a specific area to clean, setting a cleaning path, adjusting a cleaning mode, and the like. After the robot receives the cleaning instruction sent by the terminal equipment, the robot can adjust the cleaning path of the robot according to the instruction. This may involve operations of rescheduling the cleaning path, adjusting the moving speed, changing the cleaning mode, etc. to meet the operator's requirements. Through sending the three-dimensional map of the swimming pool after filling in real time and interacting with the terminal equipment, an operator can better know the cleaning state of the swimming pool, and the action of the robot is adjusted by sending the cleaning instruction, so that a more efficient and accurate cleaning process is realized. In a word, the three-dimensional map of the swimming pool after filling can be sent to the terminal equipment associated with the robot in real time, and an operator can send a cleaning instruction through the terminal equipment and adjust the cleaning path of the robot according to the instruction so as to achieve a better cleaning effect.

The following are device embodiments of the present disclosure that may be used to perform method embodiments of the present disclosure. The pool mapping apparatus described below and the pool mapping method described above may be referred to correspondingly to each other. For details not disclosed in the embodiments of the apparatus of the present disclosure, please refer to the embodiments of the method of the present disclosure.

Fig. 11 is a schematic structural view of a swimming pool map building device according to an embodiment of the present disclosure. As shown in fig. 11, the swimming pool map constructing apparatus 800 includes a first constructing module 810, a determining module 820, a second constructing module 830, a third constructing module 840, a fourth constructing module 850, a first transmitting module 860 and a second transmitting module 870.

Specifically, the first construction module 810 is configured to construct a two-dimensional map of the pool bottom according to the pool bottom cleaning task.

A determining module 820 for determining depth information of the pool wall based on the pool wall cleaning task.

A second construction module 830, configured to construct a two-dimensional map of the pool wall according to the two-dimensional map of the pool bottom and the depth of the pool wall.

The third construction module 840 is configured to construct a two-dimensional map of the water surface according to the water surface cleaning task and the two-dimensional map of the pool wall.

A fourth construction module 850 for constructing an initial three-dimensional map of the swimming pool based on the two-dimensional map of the pool bottom and the two-dimensional map of at least the pool wall or the two-dimensional map of the water surface.

The first sending module 860 is configured to send the initial three-dimensional map to a terminal device associated with the robot, so that the initial three-dimensional map is displayed on the terminal device, so as to determine at least one cleaning mode according to the initial three-dimensional map.

And a second transmitting module 870 for cleaning the swimming pool according to at least one cleaning mode and transmitting the position information of the cleaning area to the terminal device in real time or in a delayed manner to display the cleaned area in the initial three-dimensional map.

The swimming pool map construction apparatus 800 can accurately understand the structure and layout of a swimming pool by constructing a two-dimensional map of the pool bottom according to a pool bottom cleaning task, determining depth information of the pool wall according to a pool wall cleaning task, constructing a two-dimensional map of the pool wall according to a two-dimensional map of the pool bottom and depth information of the pool wall, and constructing a water surface two-dimensional map according to a water surface cleaning task and a two-dimensional map of the pool wall, and then constructing an initial three-dimensional map of the swimming pool according to the two-dimensional map of the pool bottom and the two-dimensional map of the pool wall or the water surface two-dimensional map. The robot may then determine at least one cleaning mode from the initial three-dimensional map, thereby more efficiently planning the path and cleaning area during the cleaning process. Compared with the traditional random driving mode, the invention can improve the cleaning efficiency and reduce the cleaning time and the energy consumption. And sending the initial three-dimensional map to a terminal device associated with the robot, and displaying the initial three-dimensional map and the cleaned area on the terminal device. Thus, the user can monitor the progress and effect of swimming pool cleaning in real time through the terminal equipment, and know the position and coverage condition of the cleaning area. The user can adjust the cleaning mode or provide feedback according to the cleaned area to meet the personalized cleaning requirements.

In some embodiments, the first building block 810 is configured to: taking the position of the robot sinking into the bottom of the pool as a first starting point, advancing towards the pool wall until the robot butts against the pool wall, and taking the current position of the robot as a first starting position; adjusting the posture of the robot, and at least one cycle of the robot returns to the first starting position along the edge of the pool bottom; and constructing a two-dimensional map of the bottom of the pool by taking the first starting position as an origin and returning to the first path information traveled by the first starting position again.

In some embodiments, the determination module 820 is configured to: taking the position corresponding to the first execution of the wall climbing instruction by the robot as a second initial position; adjusting the robot to travel on the pool wall along the direction vertical to the pool bottom until the robot is sensed to reach the waterline position on the pool wall, or acquiring the current depth information of the pool wall when the robot does not reach the waterline position and reaches the upper edge of the pool wall; the robot traverses the pool wall by taking at least N points on the first path as starting positions, and acquires the maximum depth information of each round trip.

In some embodiments, the second build module 830 is configured to: and constructing a two-dimensional map of the pool wall based on the first path information and the depth information by taking the second initial position as an origin.

In some embodiments, the third building module 840 is configured to: the robot is used for completing the construction of the bottom or the wall of the pool or cleaning, then floats to the water surface and is adjusted to be a water surface cleaning posture as a third starting point; abutting against the pool wall from a third starting point and adjusting the pool wall to be along the wall as a third starting position; and taking the third initial position as an origin, walking along the wall until returning to the origin again, obtaining the position information of the waterline of the pool wall, and constructing a water surface two-dimensional map.

In some embodiments, the pool mapping apparatus 800 is further configured to walk along the wall to return to the origin again, and the robot performs a walk through the water surface to obtain path information on the water surface.

In some embodiments, the fourth build module 850 is configured to: dividing a two-dimensional map of the bottom of the pool into a plurality of bottom sub-areas according to the size information of the robot, and determining the coordinate range of each bottom sub-area; dividing a two-dimensional map of the pool wall into a plurality of pool wall subareas according to the size information of the robot, and determining the coordinate range of each pool wall subarea; or dividing the water surface two-dimensional map into a plurality of water surface subareas according to the size information of the robot, and determining the coordinate range of each water surface subarea; and constructing an initial three-dimensional map of the swimming pool based on the coordinate range of each pool bottom subarea and the coordinate range of each pool wall subarea or the coordinate range of each water surface subarea.

In some embodiments, after constructing the initial three-dimensional map of the swimming pool, the swimming pool mapping device 800 is further configured to: determining position information of an obstacle positioned in the pool bottom in the process of executing a pool bottom cleaning task by the robot; the initial three-dimensional map is updated according to the position information of the obstacle to display the position of the obstacle in the initial three-dimensional map.

In some embodiments, after constructing the initial three-dimensional map of the swimming pool, the swimming pool mapping device 800 is further configured to: determining position information of steps in the pool wall in the process of executing the pool wall cleaning task by the robot; and updating the initial three-dimensional map according to the position information of the steps to display the positions of the steps in the initial three-dimensional map.

In some embodiments, the pool mapping apparatus 800 is further configured to: after the pool bottom subarea is cleaned by the robot, filling the corresponding pool bottom subarea in the initial three-dimensional map according to the coordinate range of the pool bottom subarea by using first preset filling data; and after the pool wall subareas are cleaned by the robot, filling the corresponding pool wall subareas in the initial three-dimensional map according to the coordinate range of the pool wall subareas by using second preset filling data.

In some embodiments, the pool mapping apparatus 800 is further configured to: transmitting the filled swimming pool three-dimensional map to terminal equipment associated with the robot in real time or after the swimming pool three-dimensional map is delayed; and responding to a cleaning instruction of the terminal equipment for the filled three-dimensional map of the swimming pool, and adjusting the cleaning path of the robot according to the cleaning instruction.

Fig. 12 is a schematic view of a robot 9 provided by an embodiment of the present disclosure. As shown in fig. 12, the robot 9 of this embodiment includes a processor 901, a memory 902, and a computer program 903 stored in the memory 902 and executable on the processor 901. The processor 901 executes a computer program 903 to implement the steps in the various method embodiments described above. Alternatively, the processor 901 implements the functions of the modules in the above-described device embodiments when executing the computer program 903.

The robot 9 may include, but is not limited to, a processor 901 and a memory 902. It will be appreciated by those skilled in the art that fig. 9 is merely an example of the robot 9 and is not limiting of the robot 9 and may include more or fewer components than shown, or different components.

The processor 901 may be a central processing unit (Central Processing Unit, CPU) or other general purpose processor, digital signal processor (Digital Signal Processor, DSP), application specific integrated circuit (Application Specific Integrated Circuit, ASIC), field programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, or the like.

The memory 902 may be an internal storage unit of the robot 9, for example, a hard disk or a memory of the robot 9. The memory 902 may also be an external storage device of the robot 9, for example, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash Card (Flash Card) or the like, which are provided on the robot 9. The memory 902 may also include both internal memory units and external memory devices of the robot 9. The memory 902 is used to store computer programs and other programs and data required by the robot.

It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit.

The integrated modules, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the present disclosure may implement all or part of the flow of the method of the above-described embodiments, or may be implemented by a computer program to instruct related hardware, and the computer program may be stored in a computer readable storage medium, where the computer program, when executed by a processor, may implement the steps of the method embodiments described above. The computer program may comprise computer program code, which may be in source code form, object code form, executable file or in some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth. It should be noted that the content of the computer readable medium can be appropriately increased or decreased according to the requirements of the jurisdiction's jurisdiction and the patent practice, for example, in some jurisdictions, the computer readable medium does not include electrical carrier signals and telecommunication signals according to the jurisdiction and the patent practice.

The above embodiments are merely for illustrating the technical solution of the present disclosure, and are not limiting thereof; although the present disclosure has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the disclosure, and are intended to be included in the scope of the present disclosure.

Claims

1. A method of constructing a pool map comprising:

constructing a two-dimensional map of the pool bottom according to the pool bottom cleaning task;

determining depth information of the pool wall according to the pool wall cleaning task;

constructing a two-dimensional map of the pool wall according to the two-dimensional map of the pool bottom and the depth information of the pool wall;

constructing a water surface two-dimensional map according to the water surface cleaning task and the two-dimensional map of the pool wall;

constructing an initial three-dimensional map of the swimming pool based on the two-dimensional map of the pool bottom and at least the two-dimensional map of the pool wall or the two-dimensional map of the water surface;

transmitting the initial three-dimensional map to a terminal device associated with the robot, so that the initial three-dimensional map is displayed on the terminal device, and at least one cleaning mode is determined according to the initial three-dimensional map;

And cleaning the swimming pool according to the at least one cleaning mode, and sending the position information of the cleaning area to the terminal equipment in real time or in a delayed manner so as to display the cleaned area in the initial three-dimensional map.

2. The method of claim 1, wherein constructing a two-dimensional map of the floor of the tank based on the floor cleaning task comprises:

taking the position of the robot sinking into the pool bottom as a first starting point, advancing to the pool wall until the robot butts against the pool wall, and taking the current position of the robot as a first starting position;

adjusting the attitude of the robot, and advancing at least one cycle back to the first starting position along the bottom edge of the pool;

and constructing a pool bottom two-dimensional map by taking the first starting position as an origin and returning to the first path information of the travel of the first starting position again.

3. The method of claim 2, wherein determining the depth information of the pool wall based on the pool wall cleaning task comprises:

taking a position corresponding to the first execution of the wall climbing instruction by the robot as a second initial position;

adjusting the robot to travel on the pool wall along the direction perpendicular to the pool bottom until the robot is sensed to reach the waterline position on the pool wall, or acquiring the current depth information of the pool wall when the robot does not reach the waterline position and reaches the upper edge of the pool wall;

And traversing the pool wall by the robot by taking at least N points on the first path as starting positions, and collecting the maximum depth information of each round trip.

4. A method according to claim 3, wherein said constructing a two-dimensional map of a pool wall from said two-dimensional map of the pool bottom and said depth information comprises:

and constructing a two-dimensional map of the pool wall based on the first path information and the depth information by taking the second initial position as an origin.

5. The method of claim 4, wherein constructing a two-dimensional map of the water surface based on the water surface cleaning task and the two-dimensional map of the pool wall comprises:

the robot is used for completing the construction of the bottom or the wall of the pool or cleaning, then floats to the water surface and is adjusted to be a third starting point for cleaning the water surface;

the third starting point is abutted against the pool wall and is adjusted to be along the wall posture as a third starting position;

and taking the third initial position as an origin, walking along the wall until returning to the origin again, obtaining the position information of the waterline of the pool wall, and constructing the water surface two-dimensional map.

6. The method as recited in claim 5, further comprising: after walking along the wall to return to the origin again, the robot performs traveling traversing the water surface to obtain path information on the water surface.

7. The method of claim 1, wherein constructing an initial three-dimensional map of a swimming pool based on the two-dimensional map of the pool bottom and at least the two-dimensional map of the pool wall or the two-dimensional map of the water surface comprises:

dividing a two-dimensional map of the pool bottom into a plurality of pool bottom subareas according to the size information of the robot, and determining the coordinate range of each pool bottom subarea;

dividing a two-dimensional map of the pool wall into a plurality of pool wall subareas according to the size information of the robot, and determining the coordinate range of each pool wall subarea; or dividing the water surface two-dimensional map into a plurality of water surface subareas according to the size information of the robot, and determining the coordinate range of each water surface subarea;

and constructing an initial three-dimensional map of the swimming pool based on the coordinate range of each pool bottom subarea and the coordinate range of each pool wall subarea or the coordinate range of each water surface subarea.

8. The method of claim 1, wherein after constructing the initial three-dimensional map of the pool, the method further comprises:

determining position information of an obstacle positioned in the pool bottom in the process of executing the pool bottom cleaning task by the robot;

And updating the initial three-dimensional map according to the position information of the obstacle so as to display the position of the obstacle in the initial three-dimensional map.

9. The method of claim 1, wherein after constructing the initial three-dimensional map of the pool, the method further comprises:

determining position information of steps positioned in a pool wall in the process of executing the pool wall cleaning task by the robot;

and updating the initial three-dimensional map according to the position information of the step so as to display the position of the step in the initial three-dimensional map.

10. The method of claim 7, wherein the method further comprises:

after the pool bottom subarea is cleaned by the robot, filling the corresponding pool bottom subarea in the initial three-dimensional map according to the coordinate range of the pool bottom subarea by using first preset filling data;

and after the pool wall subareas are cleaned by the robot, filling the corresponding pool wall subareas in the initial three-dimensional map by second preset filling data according to the coordinate range of the pool wall subareas.

11. The method according to claim 10, wherein the method further comprises:

Transmitting the filled swimming pool three-dimensional map to the terminal equipment associated with the robot in real time or after the filling swimming pool three-dimensional map is delayed;

and responding to a cleaning instruction of the terminal equipment for the filled swimming pool three-dimensional map, and adjusting a cleaning path of the robot according to the cleaning instruction.

12. A swimming pool map building apparatus, the apparatus comprising:

the first construction module is used for constructing a two-dimensional map of the pool bottom according to the pool bottom cleaning task;

the determining module is used for determining depth information of the pool wall according to the pool wall cleaning task;

the second construction module is used for constructing a two-dimensional map of the pool wall according to the two-dimensional map of the pool bottom and the depth information of the pool wall;

the third construction module is used for constructing a water surface two-dimensional map according to the water surface cleaning task and the two-dimensional map of the pool wall;

a fourth construction module for constructing an initial three-dimensional map of the swimming pool based on the two-dimensional map of the pool bottom and at least the two-dimensional map of the pool wall or the two-dimensional map of the water surface;

the first sending module is used for sending the initial three-dimensional map to terminal equipment associated with the robot, so that the initial three-dimensional map is displayed on the terminal equipment, and at least one cleaning mode is determined according to the initial three-dimensional map;

And the second sending module is used for cleaning the swimming pool according to the at least one cleaning mode and sending the position information of the cleaning area to the terminal equipment in real time or in a delayed manner so as to display the cleaned area in the initial three-dimensional map.

13. Robot comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the method according to any of claims 1 to 11 when the computer program is executed.

14. A computer readable storage medium storing a computer program, characterized in that the computer program when executed by a processor implements the steps of the method according to any one of claims 1 to 11.