Method for controlling automatic pool cleaning device and corresponding automatic pool cleaning device

Abstract

The invention discloses a method for controlling an automatic pool cleaning device and the corresponding automatic pool cleaning device. The method comprises the steps that the automatic pool cleaning device is controlled to advance underwater; when the automatic pool cleaning device advances to the step, the automatic pool cleaning device is controlled to execute a step climbing action, and the step climbing action comprises the steps of climbing the wall surface of the step and crossing the upper edge of the wall surface to reach the surface of the step; determining an advancing state of the automatic pool cleaning device based on data detected by a downward detection sensor and / or an inertial measurement unit equipped on the automatic pool cleaning device; when it is determined that the advancing state of the automatic pool cleaning device exceeds the upper edge of the wall face, a water pump arranged on the automatic pool cleaning device is controlled to increase the power, and the automatic pool cleaning device rapidly falls onto the table top.

Description

Technical Field

[0001] The present disclosure relates to the field of pool cleaning, and particularly to a method for controlling a pool automatic cleaning device and a corresponding pool automatic cleaning device. Background Art

[0002] Pool automatic cleaning devices are generally used for cleaning pools. For example, they collect and clean garbage / debris on the bottom, side walls, and / or water surface of pools such as swimming pools, so as to filter and purify the water body in the pool, and the filtered and purified water can be discharged into the pool. Summary of the Invention

[0003] According to one aspect of the present disclosure, a method for controlling a pool automatic cleaning device is provided, including: controlling the pool automatic cleaning device to travel underwater; when the pool automatic cleaning device travels to a step, controlling the pool automatic cleaning device to perform a step-climbing action, where the step-climbing action includes climbing the wall surface of the step and crossing the upper edge of the wall surface to reach the platform of the step; determining the traveling state of the pool automatic cleaning device based on the data detected by the downward detection sensor and / or the inertial measurement unit equipped on the pool automatic cleaning device; and when it is determined that the traveling state of the pool automatic cleaning device is beyond the upper edge of the wall surface, controlling the water pump equipped on the pool automatic cleaning device to increase the power so that the pool automatic cleaning device quickly falls onto the platform.

[0004] According to at least one embodiment of the present disclosure, the data detected by the downward detection sensor includes a first distance value between the bottom surface of the pool automatic cleaning device and an obstacle, and the data detected by the inertial measurement unit includes a value of the pitch angle of the pool automatic cleaning device.

[0005] According to at least one embodiment of the present disclosure, when the first distance value is within a first distance threshold range and the value of the pitch angle is within a first angle threshold range, it is determined that the traveling state of the pool automatic cleaning device is beyond the upper edge of the wall surface.

[0006] According to at least one embodiment of the present disclosure, the first distance threshold range is not less than 5 cm, and the first angle threshold range is 85 - 95 degrees.

[0007] According to at least one embodiment of the present disclosure, the method further includes: when the first distance value is within a second distance threshold range and the value of the pitch angle is within a second angle threshold range, determining that the traveling state of the pool automatic cleaning device is traveling on the platform of the step.

[0008] According to at least one embodiment of the present disclosure, the second distance threshold range is less than 5 cm, and the second angle threshold range is less than 10 degrees.

[0009] According to at least one embodiment of the present disclosure, when it is determined that the traveling state of the pool automatic cleaning device is traveling on the platform of the step, the water pump of the pool automatic cleaning device is controlled to reduce the power.

[0010] According to at least one embodiment of the present disclosure, the method further includes: a second distance value of the pool automatic cleaning device from an obstacle in the traveling direction detected by a forward ranging sensor equipped with the pool automatic cleaning device; based on the second distance value, determining a cleaning strategy for the pool automatic cleaning device to perform a cleaning operation on the platform.

[0011] According to at least one embodiment of the present disclosure, when the second distance value is within a third distance threshold range, it is determined that the pool automatic cleaning device performs a cleaning operation along a first preset path; when the second distance value is within a fourth distance threshold range, it is determined that the pool automatic cleaning device performs a cleaning operation along a second preset path.

[0012] According to at least one embodiment of the present disclosure, the third distance threshold range is greater than or equal to 0.5 m, and the first preset path includes at least one of the following: "U" shape, "Z" shape, or "S" shape; the fourth distance threshold range is less than 0.5 m, and the second preset path includes a path along the edge of the platform.

[0013] According to another aspect of the present disclosure, there is also provided a pool automatic cleaning device, including: a downward detection sensor that obtains a first distance value between the bottom surface of the pool automatic cleaning device and an obstacle; an inertial measurement unit that obtains a pitch angle of the pool automatic cleaning device; a forward ranging sensor that obtains a second distance value of the pool automatic cleaning device from an obstacle in the traveling direction; and at least one processor configured to cause the pool automatic cleaning device to perform the above method when executing one or more instructions. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings in the following description are only some embodiments of the present disclosure. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0015] Figure 1 Schematically shows the appearance of a pool automatic cleaning device according to an embodiment of the present disclosure.

[0016] Figure 2 Schematically shows an example of the pool automatic cleaning device 100 traveling in a pool 200 such as a swimming pool.

[0017] Figure 3 Schematically shows a flowchart of a method for controlling a pool automatic cleaning device according to an embodiment of the present disclosure.

[0018] Figures 4A - 4D Is a schematic diagram of an example of a pool automatic cleaning device climbing steps according to an embodiment of the present disclosure.

[0019] Figure 5 Is a schematic structural block diagram of a pool automatic cleaning device according to an embodiment of the present disclosure.

[0020] Figures 6A - 6D Shows the situation where the pool automatic cleaning device performs a cleaning operation along a planned path on a step platform. Detailed implementation mode

[0021] The following detailed description in conjunction with the accompanying drawings is intended as a description of various configurations and is not intended to represent the only configurations in which the concepts described herein can be practiced. The detailed description includes specific details for the purpose of providing a thorough understanding of the various concepts. However, it will be apparent to those skilled in the art that these concepts can be practiced without these specific details.

[0022] In the description of the present disclosure, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", "one side", "the other side", "front end", "rear end", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present disclosure and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be understood as a limitation of the present disclosure.

[0023] In addition, terms such as "first", "second", "third", etc. related to order are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with terms such as "first", "second", "third", etc. related to order may explicitly or implicitly include at least one of such features. In the description of the present disclosure, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0024] In addition, in the drawings, for the sake of clarity of illustration, the dimensions may be exaggerated and are not drawn to actual scale. Throughout the drawings, the same reference numerals generally refer to the same elements.

[0025] Figure 1 Schematically shows the external shape of a pool automatic cleaning device 100 according to an embodiment of the present disclosure. The pool automatic cleaning device 100 can perform cleaning operations on the bottom, pool wall, water, and water surface of a pool (such as a swimming pool) as needed. For example, it is used to clean the garbage in the water, at the bottom, and on the water surface, and clean the dirt on the pool bottom and pool wall. As Figure 1 shown, the pool automatic cleaning device 100 can include structures / components such as a housing 110, a traveling mechanism 120, and a cleaning unit 130. As an example, a control chamber, a power chamber, and a filtration chamber (not shown) can be provided inside the housing 100. Among them, control circuits such as a microprocessor, a digital signal processor (DSP), and a microcontroller can be installed in the control chamber, drive mechanisms such as a water pump and a drive motor can be provided in the power chamber, and a filtration unit can be provided in the filtration chamber to filter and purify the water entering the inside of the filtration chamber through the water inlet, filter out the debris therein, and discharge the cleaned water out of the pool automatic cleaning device through the water outlet. As an example, Figure 1 the traveling mechanism 120 of the pool automatic cleaning device 100 shown is a crawler-type traveling mechanism. However, the pool automatic cleaning device can also adopt a wheel-type traveling mechanism, which is not limited here.

[0026] As an example, the pool automatic cleaning device can also be equipped with a water spraying mechanism, such as a water pump and an impeller, so that the pool automatic cleaning device can use the water spraying mechanism to spray water outward from the water spraying port to assist the pool automatic cleaning device in traveling on the pool wall, in the water, and / or on the water surface; for example, the pool automatic cleaning device can be pushed to travel on the water surface by the thrust generated by the water flow sprayed from a water spraying port (such as Figure 1 the water spraying port 140 shown) whose spraying direction is opposite to the traveling direction; or, when the pool automatic cleaning device climbs the pool wall, the water flow sprayed from a water spraying port (such as Figure 1 the water spraying port 150 shown) at the top of the body of the pool automatic cleaning device can generate a pressure applied to the bottom surface of the pool automatic cleaning device, so as to increase the adhesion of the traveling mechanism of the pool automatic cleaning device to the pool wall and maintain the stability of its body in a vertical state.

[0027] As Figure 1 shown, water spraying ports 140 are symmetrically arranged on the rear side of the housing 110 of the pool automatic cleaning device 100 with respect to the longitudinal axis of the body of the pool automatic cleaning device, and water spraying ports 150 are symmetrically arranged on the top of the housing 110 with respect to the longitudinal axis of the body of the pool automatic cleaning device; as needed, water spraying ports (not shown in Figure 1 ) can also be symmetrically arranged on the front side of the housing 110 of the pool automatic cleaning device 100.

[0028] It should be noted that the position, shape, and / or quantity of the above-mentioned water spray nozzles 140-150 provided on the housing 110 of the automatic pool cleaning device 100 can be adjusted accordingly according to the actual operation requirements of the automatic pool cleaning device, and are not limited herein.

[0029] Although Figure 1 FIG. schematically shows the overall external shape of an automatic pool cleaning device according to an embodiment of the present disclosure. It should be understood that this is merely schematic and does not constitute any limitation to the principles of the present disclosure.

[0030] When the automatic pool cleaning device travels in a pool such as a swimming pool, due to the complex underwater environment, during the travel of the automatic pool cleaning device, it may encounter facilities such as steps. If the steps can be correctly identified and the automatic pool cleaning device can be controlled to climb the steps and perform corresponding cleaning operations, the cleaning operation efficiency and cleaning coverage rate of the automatic pool cleaning device for the pool can be improved.

[0031] For this reason, the automatic pool cleaning device according to an embodiment of the present disclosure is equipped with a variety of sensors for detecting the underwater environment. As an example, the automatic pool cleaning device according to an embodiment of the present disclosure can be equipped with a ranging sensor and / or an inertial measurement unit (IMU). Through the ranging sensor, the automatic pool cleaning device can sense the surrounding underwater environment, such as the distance from various obstacles present around, so as to control the travel of the automatic pool cleaning device; through the inertial measurement unit, measurement values regarding the pose of the automatic pool cleaning device can be obtained, and based on the measurement values, the body pose of the automatic pool cleaning device can be controlled. For example, the IMU can include a (three-axis) gyroscope and a (three-axis) accelerometer, where the (three-axis) accelerometer can detect the acceleration signals of the automatic pool cleaning device in the three X, Y, and Z axis directions in three-dimensional space, and the (three-axis) gyroscope can detect the angular velocity signals of the automatic pool cleaning device relative to each axis in the three-dimensional space with respect to a reference coordinate system; based on the detected angular velocity and / or acceleration signals of the automatic pool cleaning device in three-dimensional space, information regarding the pose of the automatic pool cleaning device in three-dimensional space can be calculated, for example, pose information such as the pitch angle, roll angle, and / or yaw angle of the automatic pool cleaning device can be calculated.

[0032] As an example, the ranging sensor can include, but is not limited to, an ultrasonic sensor, an infrared sensor, and a TOF (time of flight) sensor.

[0033] According to an embodiment of the present disclosure, the automatic pool cleaning device may be equipped with a downward detection sensor for obtaining the distance value between the bottom surface of the automatic pool cleaning device and an obstacle. As an example, the automatic pool cleaning device may also be equipped with a forward ranging sensor for obtaining the distance value between the automatic pool cleaning device and an obstacle in the direction of travel.

[0034] It should be understood that the number of distance measuring sensors equipped in the automatic pool cleaning device can be one or more, and their types and installation locations can be adjusted accordingly according to the actual operating requirements of the automatic pool cleaning device, and are not limited here.

[0035] Figure 2 The schematic diagram shows an example of an automatic pool cleaning device 100 traveling in a pool 200 such as a swimming pool. Figure 2 As shown, there are facilities such as steps 300 in the pool 200. How to accurately identify the steps and control the automatic pool cleaning device accordingly to smoothly climb up the wall of the steps and quickly land on the surface of the steps is one of the problems to be solved. In addition, when the automatic pool cleaning device has landed on the surface of the steps, what kind of cleaning operation path should be followed to clean the surface to improve the efficiency and coverage of the cleaning operation is also a problem to be solved.

[0036] Figure 3 FIG. 1 is a flow chart schematically showing a method for controlling an automatic pool cleaning device according to an embodiment of the present disclosure. Figure 3 As shown, the method includes: S310, controlling the automatic pool cleaning device to move underwater; S320, when the automatic pool cleaning device moves to the steps, controlling the automatic pool cleaning device to perform a step climbing action. As an example, the step climbing action includes climbing up the wall of the steps and crossing the upper edge of the wall to reach the top of the steps.

[0037] The method also includes: S330, determining the travel state of the automatic pool cleaning device based on data detected by a downward detection sensor and / or an inertial measurement unit equipped with the automatic pool cleaning device; and, S340, when it is determined that the travel state of the automatic pool cleaning device is beyond the upper edge of the wall, controlling the water pump equipped with the automatic pool cleaning device to increase the power so that the automatic pool cleaning device quickly falls to the table.

[0038] The following combination Figures 4A - 4D The example shown describes in detail the steps of the method for controlling the automatic pool cleaning device proposed in the embodiment of the present disclosure.

[0039] like Figure 4AAs shown, the automatic pool cleaning device 100 travels along the direction indicated by the dotted arrow at the bottom of the pool. During the travel, the downward detection sensor (e.g., Figure 4A the distance measuring sensor 230 schematically shown) equipped on the automatic pool cleaning device 100 obtains in real time the distance value of an object near the bottom surface of the body of the automatic pool cleaning device 100, e.g., the distance value of the bottom surface of the pool where the body of the automatic pool cleaning device is located. Since it travels on the bottom surface of the pool, the distance value obtained by this downward detection sensor is relatively small; depending on the installation position of the downward detection sensor on the automatic pool cleaning device, this distance value is generally not greater than 5 cm.

[0040] As an example, during the travel of the automatic pool cleaning device 100, the forward distance measuring sensor 230 equipped on it obtains in real time the distance value between the automatic pool cleaning device and the object in front in the travel direction.

[0041] In addition, during the travel of the automatic pool cleaning device, the inertial measurement unit equipped on it will also obtain in real time the data on the pose of the automatic pool cleaning device, e.g., the detected values of the pitch angle, yaw angle and / or roll angle of the automatic pool cleaning device. Since it travels on the bottom surface of the pool, for example, as Figure 4A shown, the detected value θ of the pitch angle of the automatic pool cleaning device obtained is generally relatively small, e.g., less than 10 degrees.

[0042] As the automatic pool cleaning device 100 continues to travel, as Figure 4B shown, when it travels to the step 300, the automatic pool cleaning device 100 will perform the action of climbing the step. Specifically, the front part of the travel mechanism of the automatic pool cleaning device will be lifted and contact the wall surface 310 of the step 300, while the rear part of the travel mechanism of the automatic pool cleaning device continues to travel along the bottom surface of the pool; in this case, the distance value obtained by the downward detection sensor 230 will change, e.g., become larger, and the detected value of the pitch angle of the automatic pool cleaning device obtained by the inertial measurement unit will become larger, e.g., as Figure 4B shown, the detected value θ of the pitch angle of the automatic pool cleaning device obtained becomes larger; as the travel mechanism of the automatic pool cleaning device 100 gradually fits with the wall surface 310 of the step 300, the distance value obtained by the downward detection sensor 230 will become smaller, and the detected value of the pitch angle of the automatic pool cleaning device obtained by the inertial measurement unit continues to become larger, e.g., as Figure 4B shown, the detected value θ of the pitch angle of the automatic pool cleaning device obtained becomes larger.

[0043] As the automatic pool cleaning device 100 climbs on the wall surface 310 of the step 300, as Figure 4CAs shown, when the front part of the body of the pool automatic cleaning device 100 crosses the upper edge of the wall surface 310 of the step 300, the distance value obtained by the downward detection sensor 230 will increase, while the detected value of the pitch angle of the pool automatic cleaning device obtained by the inertial measurement unit remains a relatively large value. For example, as Figure 4C shown, the detected value θ of the pitch angle of the pool automatic cleaning device obtained is relatively large.

[0044] When the pool automatic cleaning device climbs upward along the wall surface of the step, control its water spraying mechanism (such as a water pump) to spray water outward through the water spraying port of the pool automatic device (such as Figure 1 the water spraying port 150 described), for example, spray water in the direction shown by the arrow as Figure 4C shown, and apply pressure to the bottom direction of the pool automatic cleaning device, so that its traveling mechanism remains in contact with the wall surface of the step, improving the adhesion between the two, so as to maintain a vertically climbing posture.

[0045] As Figure 4C shown, as the pool automatic cleaning device 100 climbs on the wall surface 310 of the step 300, its body will exceed the upper edge of the wall surface 310 of the step 300, resulting in a smaller contact area between the traveling mechanism and the wall surface and a decrease in adhesion, which may cause the pool automatic cleaning device to slip from the wall surface of the step or even flip backward, causing the body to be upside down under the step and making the traveling mechanism suspended, thus causing the pool automatic device to be unable to continue to travel.

[0046] Therefore, according to the embodiments of the present disclosure, the traveling state of the pool automatic cleaning device can be determined based on the data detected by the downward detection sensor and / or inertial measurement unit equipped on the pool automatic cleaning device. When it is determined that the traveling state of the pool automatic cleaning device is exceeding the upper edge of the wall surface of the step, control the water pump equipped on the pool automatic cleaning device to increase the power, so that the pool automatic cleaning device quickly falls onto the platform of the step.

[0047] As an example, as Figure 4C shown, the traveling state of the pool automatic cleaning device 100 can be determined based on the data detected by the downward detection sensor 230 and / or inertial measurement unit equipped on the pool automatic cleaning device 100 whether it exceeds the upper edge of the wall surface 310 of the step 300. If it exceeds the upper edge of the wall surface 310 of the step 300, control the water pump equipped on the pool automatic cleaning device 100 to increase the power, so as to generate a larger flipping moment as shown by the dotted arrow, so that the pool automatic cleaning device quickly falls onto the platform 320 of the step 300.

[0048] According to the embodiments of the present disclosure, the data detected by the downward detection sensor includes the first distance value between the bottom surface of the pool automatic cleaning device and the obstacle, and the data detected by the inertial measurement unit includes the numerical value of the pitch angle of the pool automatic cleaning device.

[0049] As an example, the value of the pitch angle is obtained by collecting a plurality of samples of the pitch angle of the automatic pool cleaning device within a preset time period.

[0050] As an example, when the first distance value is within the first distance threshold range and the value of the pitch angle is within the first angle threshold range, it is determined that the traveling state of the automatic pool cleaning device exceeds the upper edge of the wall surface.

[0051] As an example, the first distance threshold range is not less than 5 cm, and the first angle threshold range is 85 - 95 degrees.

[0052] According to an embodiment of the present disclosure, a sliding window can be used to process a plurality of values of the pitch angle of the automatic pool cleaning device obtained by the inertial measurement unit. For example, a sliding window of a certain size can be defined, and the sliding window is used to process a plurality of detection values (for example, a detection value sequence) of the pitch angle of the automatic pool cleaning device obtained by the inertial measurement unit during a certain period (for example, 1S). For example, the sliding window can accommodate 10 detection values of the pitch angle, and the average of the 10 detection values accommodated in the sliding window can be calculated and compared with the above first angle threshold range, so as to improve the accuracy and reliability of the judgment of the pitch angle of the automatic pool cleaning device. As an example, the 10 detection values of the above pitch angle can be continuously detected, or the detection intervals between them are equal but not continuous, which is not limited here.

[0053] In addition, the sliding window can also be used to process the distance values detected by the downward detection sensor. For example, the sliding window can accommodate a plurality of distance values detected by the downward detection sensor during a certain period, and the majority decision is used to determine whether the detected distance value falls within the first distance threshold range. For example, the sliding window can accommodate 10 distance values detected by the downward detection sensor during a certain period. If 8 out of 10 distance values fall within the first distance threshold range, it is determined that the distance value detected by the downward detection sensor falls within the first distance threshold range. As an example, the above 10 distance values can be continuously detected, or the detection intervals between them are equal but not continuous, which is not limited here.

[0054] When the automatic pool cleaning device 100 lands on the tabletop 320 of the step 300, as Figure 4D shown, the distance value obtained by the downward detection sensor 230 will become smaller, and the pitch angle of the automatic pool cleaning device obtained by the inertial measurement unit will also become smaller. For example, as Figure 4D shown, the detected value θ of the pitch angle of the obtained automatic pool cleaning device is smaller.

[0055] According to an embodiment of the present disclosure, when the distance value obtained by the downward detection sensor is within the second distance threshold range and the average value of the pitch angle values obtained by the inertial measurement unit is within the second angle threshold range, it can be determined that the traveling state of the pool automatic cleaning device is traveling on the platform of the step.

[0056] As an example, the second distance threshold range is less than 5 cm, and the second angle threshold range is less than 10 degrees.

[0057] According to an embodiment of the present disclosure, when it is determined that the traveling state of the pool automatic cleaning device is traveling on the platform of the step, the water pump of the pool automatic cleaning device can be controlled to reduce the power, so as to reduce the power consumption, improve the endurance of the pool automatic cleaning device, and enhance the user experience.

[0058] According to an embodiment of the present disclosure, the distance value between the pool automatic cleaning device and the object in front in the traveling direction is detected by the forward ranging sensor equipped on the pool automatic cleaning device; and based on the distance value, the cleaning strategy for the pool automatic cleaning device to perform the cleaning operation on the platform can be determined.

[0059] Specifically, when it is determined that the pool automatic cleaning device is traveling on the platform of the step, the strategy for performing the cleaning operation on the platform of the step can be determined based on the second distance value between the pool automatic cleaning device and the object in front detected by the forward ranging sensor. For example, when the second distance value is relatively large, it means that the distance from the edge of the step to the wall is relatively large, and there is enough space to perform the cleaning path planning, and the cleaning operation on the platform of the step can be performed along the first preset path; while when the distance value is relatively small, it means that the distance from the edge of the step to the wall is relatively small, and there is not enough space to perform the cleaning path planning, but the cleaning operation on the platform of the step can be performed along the second preset path.

[0060] As an example, when the second distance value is within the third distance threshold range, it is determined that the pool automatic cleaning device performs the cleaning operation along the first preset path; while when the second distance value is within the fourth distance threshold range, it is determined that the pool automatic cleaning device performs the cleaning operation along the second preset path.

[0061] As an example, the third distance threshold range is greater than or equal to 0.5 m, and the first preset path includes at least one of the following: "U" shape, "Z" shape, or "S" shape.

[0062] As an example, Figures 6A - 6C shows the situation where the pool automatic cleaning device 100 performs the cleaning operation along the first preset path on the platform 320 of the step.

[0063] As an example, the fourth distance threshold range is less than 0.5 m, and the second preset path includes a path along the edge of the tabletop.

[0064] As an example, Figure 6D The situation where the pool automatic cleaning device 100 performs a cleaning operation along the second preset path on the tabletop 320 of the step is shown.

[0065] According to another aspect of the present disclosure, a pool automatic cleaning device is also proposed. As Figure 5 shown, the pool automatic cleaning device includes: a downward detection sensor 510 that obtains a first distance value between the bottom surface of the pool automatic cleaning device and an obstacle; an inertial measurement unit 520 that obtains a value of the pitch angle of the pool automatic cleaning device; a forward ranging sensor 530 that obtains a second distance value between the pool automatic cleaning device and an obstacle in the traveling direction; and at least one processor 540 configured to cause the pool automatic cleaning device to execute the above method when executing one or more instructions.

[0066] According to an embodiment of the present disclosure, when the pool automatic cleaning device travels underwater, the traveling state of the pool automatic cleaning device can be determined based on the data detected by the downward detection sensor and / or the inertial measurement unit equipped on the pool automatic cleaning device, accurately identifying whether it has traveled to the step, and when the body of the pool automatic cleaning device climbs the wall surface of the step and the body of the pool automatic cleaning device exceeds the upper edge of the wall surface of the step, controlling the water pump equipped on the pool automatic cleaning device to increase the power, so that the pool automatic cleaning device quickly falls onto the tabletop of the step, preventing the pool automatic cleaning device from slipping on the wall surface of the step or tipping backward and falling from the step.

[0067] In addition, when it is determined that the pool automatic cleaning device has traveled onto the tabletop of the step, the power of the water pump equipped on the pool automatic cleaning device can be controlled to decrease, thereby reducing power consumption; and the distance value of the obstacle in the traveling direction can be obtained based on the forward ranging sensor equipped on the pool automatic cleaning device, and based on the distance value, the pool automatic cleaning device can be controlled to clean the tabletop with a reasonable cleaning operation path, improving the cleaning efficiency and cleaning coverage rate of the pool.

[0068] As an example, controlling the water pump equipped on the pool automatic cleaning device to increase the power can cause the water spray nozzle to increase the water spray flow rate, generating a greater flipping moment at the upper edge of the wall surface of the step for the pool automatic cleaning device to quickly fall onto the tabletop of the step, preventing it from slipping on the wall surface of the step or tipping backward and causing overturning.

[0069] Accordingly, several aspects of the present disclosure have been presented above with reference to various apparatuses and methods. These apparatuses and methods are illustrated in the drawings by various blocks, components, circuits, processes, algorithms, etc. (collectively referred to as "elements"). These elements can be implemented using electronic hardware, computer software, or any combination thereof. Whether these elements are implemented as hardware or software depends on the particular application and design constraints imposed on the overall system.

[0070] By way of example, an element, or any portion of an element, or any combination of elements can be implemented as a "processing system" that includes one or more processors. One or more processors in the processing system can execute software. Software should be construed broadly to mean instructions, instruction sets, code, code segments, program code, programs, subprograms, software components, applications, software applications, software packages, routines, subroutines, objects, executable programs, execution threads, processes, functions, etc., regardless of whether it is referred to as software, firmware, middleware, microcode, hardware description language, or otherwise.

[0071] Thus, in one or more example embodiments, the described functions can be implemented in hardware, software, or any combination thereof. If implemented in software, these functions can be stored on or encoded as one or more instructions or code on a computer-readable medium. Computer-readable media includes computer storage media. Storage media can be any available media that can be accessed by a computer. It should be understood that the specific order or hierarchy of the blocks in the disclosed process / flowchart is illustrative of example methods. Based on design preferences, it should be understood that the specific order or hierarchy of the blocks in the process / flowchart can be rearranged. Additionally, some blocks can be combined or omitted. The appended method claims present the elements of the various blocks in a sample order and are not meant to be limited to the specific order or hierarchy presented.

[0072] In the present disclosure, unless otherwise clearly specified and defined, terms such as "install", "set", "connect", "couple", "fix", etc. should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection, an electrical connection, or a communicatively connected to each other; it can be directly connected, or indirectly connected through an intermediate medium, and can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For those of ordinary skill in the art, the specific meanings of the above terms in the present disclosure can be understood according to specific circumstances.

[0073] The embodiments described above are only a part of the embodiments of the present application, rather than all of them. The preferred embodiments of the present application are shown in the drawings, but they do not limit the patent scope of the present application. The present application can be implemented in many different forms. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosed content of the present application more thorough and comprehensive. Although the present application has been described in detail with reference to the foregoing embodiments, for those skilled in the art, they can still modify the technical solutions described in the foregoing specific embodiments, or perform equivalent replacements on some of the technical features. Any equivalent structure made by using the content of the specification and drawings of the present application, directly or indirectly applied in other related technical fields, is equally within the scope of patent protection of the present application.

Claims

1. A method for controlling an automatic pool cleaning device, comprising: Controlling the automatic pool cleaning device to move underwater; When the automatic pool cleaning device moves to the steps, the automatic pool cleaning device is controlled to perform a step climbing action, wherein the step climbing action includes climbing up the wall of the steps and crossing the upper edge of the wall to reach the table of the steps; Determining the travel state of the automatic pool cleaning device based on data detected by a downward detection sensor and / or an inertial measurement unit equipped with the automatic pool cleaning device; as well as When it is determined that the traveling state of the automatic pool cleaning device is beyond the upper edge of the wall, the water pump equipped with the automatic pool cleaning device is controlled to increase the power so that the automatic pool cleaning device quickly falls to the table.

2. The method according to claim 1, wherein: The data detected by the downward detection sensor includes a first distance value between the bottom surface of the automatic pool cleaning device and an obstacle, and the data detected by the inertial measurement unit includes a value of a pitch angle of the automatic pool cleaning device.

3. The method according to claim 2, wherein the value of the pitch angle is obtained by collecting multiple samples of the pitch angle of the automatic pool cleaning device within a preset time period.

4. The method according to claim 2, wherein: When the first distance value is within a first distance threshold range and the value of the pitch angle is within a first angle threshold range, it is determined that the traveling state of the automatic pool cleaning device is beyond the upper edge of the wall.

5. The method according to claim 4, wherein: The first distance threshold range is not less than 5 cm, and the first angle threshold range is 85-95 degrees.

6. The method according to claim 2, further comprising: When the first distance value is within the second distance threshold range and the pitch angle value is within the second angle threshold range, it is determined that the automatic pool cleaning device is moving on the surface of the steps.

7. The method according to claim 6, wherein: The second distance threshold range is less than 5 cm, and the second angle threshold range is less than 10 degrees.

8. The method according to claim 6, wherein: When it is determined that the traveling state of the automatic pool cleaning device is traveling on the deck of the steps, a water pump of the automatic pool cleaning device is controlled to reduce power.

9. The method according to claim 6, further comprising: a second distance value between the automatic pool cleaning device and an obstacle in the direction of travel detected by a forward ranging sensor equipped with the automatic pool cleaning device; Based on the second distance value, a cleaning strategy for the automatic pool cleaning device to perform a cleaning operation on the table top is determined.

10. The method according to claim 9, wherein: When the second distance value is within a third distance threshold range, determining that the automatic pool cleaning device performs a cleaning operation along a first preset path; When the second distance value is within a fourth distance threshold range, it is determined that the automatic pool cleaning device performs the cleaning operation along a second preset path.

11. The method according to claim 10, wherein: The third distance threshold range is greater than or equal to 0.5m, and the first preset path includes at least one of the following: a "U" shape, a "Z" shape, or an "S" shape; The fourth distance threshold range is less than 0.5 m, and the second preset path includes a path along the edge of the table top.

12. An automatic pool cleaning device, comprising: A downward detection sensor is used to obtain a first distance value between the bottom surface of the automatic pool cleaning device and the obstacle; An inertial measurement unit is used to obtain a value of a pitch angle of the automatic pool cleaning device; A forward ranging sensor is used to obtain a second distance value between the automatic pool cleaning device and the obstacle in the direction of travel; as well as At least one processor is configured to cause the automatic swimming pool cleaning device to perform the method according to any one of claims 1 to 11 when executing one or more instructions.

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