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CN-121995909-A - Positioning method of swimming pool cleaning robot and swimming pool cleaning robot

CN121995909ACN 121995909 ACN121995909 ACN 121995909ACN-121995909-A

Abstract

The invention discloses a positioning method of a swimming pool cleaning robot and the swimming pool cleaning robot, wherein the robot is controlled to enter a map building mode, in the map building mode, the robot is controlled to acquire at least one piece of image information of the edge of the swimming pool and position information corresponding to the image information, in the operation mode, the robot is controlled to enter an operation mode, in the operation mode, the robot is controlled to acquire current image information, the current image information is matched with the at least one piece of image information, and if the matching is successful, the current position information is acquired based on the position information corresponding to the image information in the at least one piece of image information matched with the current image information. According to the invention, the current image information obtained in the operation mode is matched with the image information reserved in the image construction mode in a sliding manner, so that the positioning by using a single feature is avoided, and the positioning precision is improved.

Inventors

  • LIAO JINHUI

Assignees

  • 深圳市元鼎智能创新有限公司

Dates

Publication Date
20260508
Application Date
20241106

Claims (10)

  1. 1. A method of positioning a pool cleaning robot comprising the steps of: s1, controlling the robot to enter a mapping mode, and under the mapping mode, acquiring at least one image information of the edge of a swimming pool and position information corresponding to the image information by the robot; s2, controlling the robot to enter an operation mode, and acquiring current image information by the robot in the operation mode; and S3, matching the current image information with at least one image information, and if the matching is successful, acquiring the current position information based on the position information corresponding to the image information in the at least one image information matched with the current image information.
  2. 2. A positioning method of a pool cleaning robot as recited in claim 1, wherein the location information corresponding to the image information includes location information based on data collected by a ranging sensor, IMU, or odometer.
  3. 3. A method of positioning a pool cleaning robot as recited in claim 1, wherein the pool cleaning robot walks along a pool edge in both the mapping mode and the operational mode.
  4. 4. A method of positioning a pool cleaning robot as recited in claim 3, wherein the walking along the pool edge includes walking a predetermined distance from the pool edge.
  5. 5. The method of claim 1, wherein the step of S1 further comprises generating a map of the pool based on the at least one image information and location information corresponding to the image information.
  6. 6. A method of positioning a pool cleaning robot as recited in claim 5, wherein the current location information includes location information of the robot in the map.
  7. 7. A method of positioning a pool cleaning robot as recited in any of claims 1-6, wherein the current image information and the at least one image information each include a stitched plurality of image information.
  8. 8. A method of positioning a pool cleaning robot as recited in any of claims 1-6, wherein the current image information includes images acquired by the pool cleaning robot traveling 1/10-2/3 of a turn along the pool edge.
  9. 9. A swimming pool cleaning robot, characterized in that the robot performs the positioning method of the swimming pool cleaning robot according to any one of claims 1-8.
  10. 10. The pool cleaning robot of claim 9, wherein the robot includes an image acquisition module for acquiring the current image or the at least one image information.

Description

Positioning method of swimming pool cleaning robot and swimming pool cleaning robot Technical Field The invention relates to the technical field of underwater equipment, in particular to a positioning method of a swimming pool cleaning robot and the swimming pool cleaning robot. Background Currently, with the widespread use of swimming pools, automated swimming pool cleaning robots are becoming one of the important cleaning devices. Conventional pool cleaning robots rely on a timed or random motion to clean, which tends to result in uneven or inefficient cleaning. In addition, when the swimming pool cleaning robot works underwater, the ambient light is poor, water surface reflection and complex flow underwater can generate larger influence on the positioning capability of the robot sensor, so that the positioning accuracy is lower, the position of the robot in the swimming pool cannot be accurately judged, and the cleaning effect is influenced. In conventional positioning techniques, common positioning means include GPS-based, lidar, sonic positioning, and the like. However, the GPS signal is difficult to spread in the underwater environment, so that the positioning requirement of the swimming pool cleaning robot is difficult to meet, the technologies such as a laser radar and the like are high in precision, high in cost and possibly affected by underwater reflection, so that measurement is unstable, and the acoustic wave positioning technology is high in equipment complexity and cost and is easily affected by noise and interference although suitable for the underwater environment, so that the wide application of the ultrasonic wave positioning technology is limited. Therefore, in actual use, the conventional swimming pool cleaning robot often faces the problems of inaccurate positioning, insufficient cleaning coverage, low efficiency and the like. Disclosure of Invention The invention aims to solve the technical problems of providing a positioning method of a swimming pool cleaning robot and the swimming pool cleaning robot, and solving the problem of positioning the swimming pool cleaning robot in an underwater environment. In order to solve the technical problems, the invention adopts the following technical scheme: a method of positioning a pool cleaning robot comprising the steps of: s1, controlling the robot to enter a mapping mode, and under the mapping mode, acquiring at least one image information of the edge of a swimming pool and position information corresponding to the image information by the robot; s2, controlling the robot to enter an operation mode, and acquiring current image information by the robot in the operation mode; and S3, matching the current image information with at least one image information, and if the matching is successful, acquiring the current position information based on the position information corresponding to the image information in the at least one image information matched with the current image information. In order to solve the technical problems, the invention adopts another technical scheme that: a pool cleaning robot that performs the method of positioning the pool cleaning robot. The invention has the advantages that the invention at least provides a positioning method of the swimming pool cleaning robot and the swimming pool cleaning robot, wherein the robot is controlled to acquire at least one image information of the swimming pool edge as a positioning reference in a drawing construction mode, if the robot acquires the current image information and the image information which can be successfully matched in the operation mode, the current position information is acquired according to the position information corresponding to the image information, the positioning of the robot is completed, namely the current image information acquired in the operation mode is matched with the image information reserved in the drawing construction mode in a sliding mode, the positioning by using a single feature is avoided, and the positioning precision is improved. Drawings Fig. 1 is a flowchart of a positioning method of a swimming pool cleaning robot in an embodiment of the present invention. Detailed Description In order to describe the technical contents, the achieved objects and effects of the present invention in detail, the following description will be made with reference to the embodiments in conjunction with the accompanying drawings. In the description of the present application, it should be understood that the terms "upper, lower, inner, outer, top, bottom", etc. indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, or with respect to the components themselves in the vertical, or gravitational directions, are merely for convenience in describing the present application and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a specif