Map-building method for automatic pool cleaning device, automatic pool cleaning device, and storage medium

Abstract

The present disclosure provides a map-building method for an automatic pool cleaning device, comprising: controlling the automatic pool cleaning device to travel one circle or longer than one circle along a pool edge on a pool bottom or a water surface, and during the travel along pool edge, collecting pool edge information in real-time to obtain point cloud data for a first path, wherein a path of the travel along the pool edge is the first path; controlling the automatic pool cleaning device to continue traveling along the pool edge from an ending point of the first path and continue to collect pool edge information in real time until a first predetermined condition is met, thereby obtaining point cloud data for a second path, wherein a path along the pool edge starting from the ending point of the first path is the second path; and generating a closed pool-edge map.

I/We claim: 
     
         1 . A map-building method for an automatic pool cleaning device, comprising:
 controlling the automatic pool cleaning device to travel one circle or longer than one circle along a pool edge on a pool bottom or a water surface, and during the travel along the pool edge, collecting pool edge information in real-time to obtain point cloud data for a first path, wherein a path of the travel along the pool edge is the first path;   controlling the automatic pool cleaning device to continue traveling along the pool edge from an ending point of the first path and continue to collect pool edge information in real time until a first predetermined condition is met, thereby obtaining point cloud data for a second path, wherein a path along the pool edge starting from the ending point of the first path is the second path; and   generating a closed pool-edge map based on the second path.   
     
     
         2 . The map-building method according to  claim 1 , wherein the generating the closed pool-edge map based on the second path comprises: optimizing at least a portion of the first path based on the second path to generate the closed pool-edge map. 
     
     
         3 . The map-building method according to  claim 2 , wherein the said at least a portion of the first path comprises: an end portion of the first path, and
 the optimizing at least a portion of the first path based on the second path comprises:   optimizing the end portion of the first path based on the second path, thereby enabling the first path to be closed.   
     
     
         4 . The map-building method according to  claim 1 , wherein the generating a closed pool-edge map based on the second path comprises:
 selecting at least one first segment on the first path and at least one second segment on the second path;   calculating a pose transformation relationship between the point cloud on the first segment and the point cloud on the second segment corresponding to the first segment; and   generating the pool-edge map based on the pose transformation relationship.   
     
     
         5 . The map-building method according to  claim 4 , wherein the generating the pool-edge map based on the pose transformation relationship comprised: at least updating coordinates of the point cloud at the end portion of the first path based on the pose transformation relationship, so that a starting point of the first path coincides with the ending point of the first path. 
     
     
         6 . The map-building method according to  claim 1 , wherein the controlling the automatic pool cleaning device to travel one circle or longer than one circle along the pool edge on the pool bottom or the water surface comprises: determining, through a positioning device or an IMU (Inertial Measurement Unit), whether the automatic pool cleaning device has traveled one circle or longer than one circle along the pool edge. 
     
     
         7 . The map-building method according to  claim 1 , wherein the closed pool-edge map is unable to be generated due to deviations between the starting point and ending point of the first path, or an end portion of the pool edge in the generated closed pool-edge map has a relatively large deviation from actual pool edge. 
     
     
         8 . The map-building method according to  claim 1 , wherein the first predetermined condition comprises one or more of the following conditions:
 specific feature data is detected;   the automatic pool cleaning device has traveled beyond a predetermined distance; and   the automatic pool cleaning device has traveled for a predetermined duration.   
     
     
         9 . The map-building method according to  claim 8 , wherein the specific feature data comprises one or more of the following types: corner feature data, curved surface feature data, and obstacle feature data. 
     
     
         10 . The map-building method according to  claim 4 , wherein the generating the pool-edge map based on the pose transformation relationship comprises: generating the pool-edge map based on the pose transformation relationship with a smallest deviation. 
     
     
         11 . The map-building method according to  claim 1 , wherein the point cloud for the second path meets a second predetermined condition. 
     
     
         12 . The map-building method according to  claim 11 , wherein the second predetermined condition includes one or more of the following conditions:
 a density of points in the point cloud for the second path is greater than a predetermined density threshold;   a noise of the point cloud for the second path is less than a predetermined noise threshold; and   a number of points in the point cloud for the second path is greater than a predetermined number threshold.   
     
     
         13 . The map-building method according to  claim 1 , wherein the pool edge information is collected through a distance sensor or radar. 
     
     
         14 . An automatic pool cleaning device, comprising: a sensor and a processor, wherein the sensor is capable of collecting point cloud data, and the processor is configured to implement the map-building method according to  claim 1 . 
     
     
         15 . A computer-readable non-volatile storage medium, comprising computer program instructions, which, when executed by a processor, perform any of the above-mentioned map-building methods.