Method for controlling automatic pool cleaning device to travel on water surface of pool and corresponding automatic pool cleaning device

Abstract

The invention provides a method for controlling an automatic pool cleaning device to advance on the water surface of a pool. The method comprises the steps that the automatic pool cleaning device is controlled to advance on the bottom of the pool along the boundary of the pool; acquiring the closed loop completion duration of the automatic cleaning device for the water pool when the automatic cleaning device advances along the boundary of the water pool at the bottom of the water pool; the pool automatic cleaning device is controlled to advance on the water surface of the pool along the boundary of the pool; and on the basis of the obtained closed loop duration, determining whether the closed loop is completed when the automatic pool cleaning device advances along the boundary of the pool on the water surface of the pool.

Description

Technical Field

[0001] The present disclosure relates to the field of pool cleaning, and in particular to a method for controlling an automatic pool cleaning device to move on a water surface of a pool and a corresponding automatic pool cleaning device. Background Art

[0002] Automatic pool cleaning devices are generally used to clean pools, for example, to collect and clean garbage / debris on the bottom, sidewalls and / or water surface of a pool such as a swimming pool, so as to filter and purify the water in the pool. Summary of the invention

[0003] According to one aspect of the present disclosure, a method for controlling an automatic pool cleaning device to move on the water surface of a pool is proposed, which may include: controlling the automatic pool cleaning device to move along the boundary of the pool on the bottom of the pool; obtaining the duration for the automatic pool cleaning device to complete a closed loop when moving along the boundary of the pool on the bottom of the pool; controlling the automatic pool cleaning device to move along the boundary of the pool on the water surface of the pool; and determining whether the automatic pool cleaning device completes a closed loop by moving along the boundary of the pool on the water surface of the pool based on the obtained closed loop duration.

[0004] Optionally, the above method may also include: obtaining the duration of time that the automatic pool cleaning device moves on the water surface of the pool along the boundary of the pool; based on the closed-loop duration and the obtained duration of time that the automatic pool cleaning device moves on the water surface of the pool along the boundary of the pool, determining whether the automatic pool cleaning device completes the closed loop by moving along the boundary of the pool on the water surface of the pool.

[0005] Optionally, in the above method, determining whether the automatic pool cleaning device has completed a closed loop by moving on the water surface of the pool along the boundary of the pool based on the closed-loop duration and the acquired duration that the automatic pool cleaning device moves on the water surface of the pool along the boundary of the pool may include: determining the ratio or difference information between the geometric dimensions of the water surface of the pool and the bottom of the pool; and determining a first threshold range based on the determined ratio or difference information between the geometric dimensions of the water surface of the pool and the bottom of the pool, and the closed-loop duration; comparing the acquired duration that the automatic pool cleaning device moves on the water surface of the pool along the boundary of the pool with the first threshold range to determine whether the automatic pool cleaning device has completed a closed loop by moving on the water surface of the pool along the boundary of the pool.

[0006] Optionally, the above method may also include: when the acquired time duration that the automatic pool cleaning device moves along the boundary of the pool on the water surface of the pool is within the first threshold range, determining that the automatic pool cleaning device moves along the boundary of the pool on the water surface of the pool to complete the closed loop; and when the acquired time duration that the automatic pool cleaning device moves along the boundary of the pool on the water surface of the pool is not within the first threshold range, controlling the automatic pool cleaning device to continue moving along the boundary of the pool on the water surface of the pool.

[0007] Optionally, in the above method, the geometric dimensions of the water surface and the bottom of the pool may include: the area of ​​the water surface of the pool, the area of ​​the bottom of the pool, the circumference of the boundary of the water surface of the pool, or the circumference of the boundary of the bottom of the pool.

[0008] Optionally, in the above method, controlling the automatic pool cleaning device to move along the boundary of the pool may include: acquiring the yaw angle of the automatic pool cleaning device during its movement in real time, and accumulating the acquired yaw angles; and determining whether the route of the automatic pool cleaning device is closed or in a closing direction based on the value of the accumulated yaw angle.

[0009] Optionally, in the above method, when determining that the route of the automatic pool cleaning device traveling along the pool bottom and the pool boundary is closed, the time to achieve route closure is obtained as the duration to complete the closed loop.

[0010] Optionally, in the above method, the yaw angle may be acquired by an inertial measurement unit IMU of the automatic pool cleaning device.

[0011] Optionally, the above method may also include: obtaining a distance measurement value between the automatic pool cleaning device and an object to its side; and determining that the automatic pool cleaning device is moving along the boundary of the pool based on the determined closed direction of the route of the automatic pool cleaning device and a method of obtaining the distance measurement value; wherein the method of obtaining the distance measurement value includes at least one of the following: measuring the distance to the left side of the travel direction of the automatic pool cleaning device; or measuring the distance to the right side of the travel direction of the automatic pool cleaning device.

[0012] According to another aspect of the present disclosure, an automatic pool cleaning device is proposed, which may include: at least one processor; a memory storing executable instructions; the at least one processor is configured to enable the automatic pool cleaning device to implement the above method when executing the executable instructions stored in the memory. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0014] Figure 1A-1B The figure shows a schematic appearance of an automatic pool cleaning device according to an embodiment of the present disclosure.

[0015] Figure 2 is a schematic diagram of an automatic pool cleaning device according to an embodiment of the present disclosure traveling in a pool environment (eg, a swimming pool).

[0016] Figure 3 It is a schematic flowchart of a method for controlling an automatic pool cleaning device to move on the water surface of a pool according to an embodiment of the present disclosure.

[0017] Figures 4A-4D The invention shows an application scenario of a method for cleaning a pool and a corresponding automatic pool cleaning device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0018] The detailed description set forth below 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 may be practiced. The detailed description includes specific details in order to provide a thorough understanding of the various concepts. However, it will be apparent to those skilled in the art that these concepts may be practiced without these specific details.

[0019] In the description of the present disclosure, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", "one side", "the other side" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present disclosure and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present disclosure.

[0020] In addition, the terms "first", "second", "third", etc., which are related to order, are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, features defined by terms such as "first", "second", "third", etc., which are related to order, may explicitly or implicitly include at least one of the features. In the description of the present disclosure, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0021] Furthermore, in the drawings, for clarity of illustration, dimensions may be exaggerated and not drawn to scale. Throughout the drawings, like reference numerals generally refer to like elements.

[0022] Figure 1A The schematic diagram shows the appearance of an automatic pool cleaning device 100 according to an embodiment of the present disclosure. It can clean the bottom, wall, water and water surface of a pool (such as a swimming pool) as needed, for example, it can be used to clean garbage in the water, on the bottom and on the water surface, and to clean dirt on the bottom and wall of the pool. Figure 1A As shown, the automatic pool cleaning device 100 may include structures / components such as a housing 110, a traveling unit 120, and a cleaning unit 130. As an example, the automatic pool cleaning device 100 may also include a buoyancy adjustment unit (not shown), so that the automatic pool cleaning device can adjust its depth in the water as needed, for example, it can float on the water surface, dive into the water, or sink to the bottom of the water, so as to perform cleaning operations on the water surface, in the water, or at the bottom of the water. As an example, a control compartment, a power compartment, and a filter compartment (not shown) may be provided in the housing 100, wherein a control circuit such as a microprocessor, a digital signal processor (DSP), or a microcontroller may be installed in the control compartment, a drive unit such as a water pump, a drive motor, etc. may be provided in the power compartment, and a filter unit may be provided in the filter compartment, so as to filter and purify the water entering the filter compartment through the water inlet (not shown), filter out the debris therein, and discharge the cleaned water from the automatic pool cleaning device through the drain. As an example, Figure 1A The traveling unit 120 may include crawler-type traveling units on both sides of the lower part of the automatic pool cleaning device 100, so that the pool cleaning unit can travel on the bottom or wall of the pool to perform corresponding cleaning operations. However, the traveling unit is not limited to Figure 1A The type shown may instead include, for example, a wheeled travel unit, without limitation.

[0023] As an example, Figure 1AAlso shown are drain ports 140 symmetrically arranged on the rear side of housing 110 of automatic pool cleaning device 100 about the longitudinal axis of the body of the automatic pool cleaning device, and drain ports 150 symmetrically arranged on the top of housing 110 about the longitudinal axis of the body of the automatic pool cleaning device; and Figure 1B Further shown is one of the drain openings 160 symmetrically disposed on the front side of the housing 110 of the automatic pool cleaning device 100 .

[0024] In addition, the automatic pool cleaning device 100 can use a water jet propulsion unit (e.g., a motor and an impeller) as an auxiliary moving unit, so that the thrust generated by the water flow driven by the water jet propulsion unit can be used to propel the automatic pool cleaning device to move on the water surface, in the water, on the pool bottom and / or on the pool wall.

[0025] It should be understood that Figure 1A-1B The automatic pool cleaning device 100 shown is only an example, and those skilled in the art may change one or more aspects thereof in terms of appearance, structure, layout, components, functions, etc. according to actual needs without departing from the principles of the present disclosure.

[0026] Figure 2 The working environment of the automatic pool cleaning device is schematically shown, that is, the pool 200 for cleaning, for example, including a swimming pool, a water tank, etc. Figure 2 As shown, the pool 200 includes a water surface 210, a pool bottom 220, and a pool wall 230. The automatic pool cleaning device 100 can perform cleaning operations on the water surface 210 of the pool, on the pool bottom 220, or on the pool wall 230 according to specific operation requirements.

[0027] For example, when the automatic pool cleaning device is moving along the pool boundary at the bottom of the pool, it can use a traveling mechanism (such as a crawler track) to move at the bottom of the pool, and at the same time can use a detection unit such as a distance measuring sensor to measure the distance of the pool wall, and based on the acquired distance measurement value, control the automatic pool cleaning device in real time to move along the pool boundary; because when the automatic pool cleaning device is moving at the bottom of the pool, it can use a traveling mechanism (such as a crawler track) to maintain contact with the pool bottom, it is easy to maintain its posture, so that the ranging accuracy of the ranging sensor is better, and it is easy to control the automatic pool cleaning device to move along the pool boundary, thereby realizing various operations, such as mapping the pool bottom boundary contour, cleaning the pool bottom, etc.

[0028] However, when the automatic pool cleaning device is moving on the surface of the water in the pool, for example, using the thrust generated by the water flow driven by the water jet propulsion unit to move on the surface of the water in the pool, it is not easy to maintain its position because it floats on the water surface, and the body is prone to shaking and drifting, and its stability is poor, which causes the sensor to easily produce errors in detecting the moving state of the automatic pool cleaning device, making it difficult to accurately control the movement of the automatic pool cleaning device on the water surface, and also difficult to accurately determine whether the movement of the automatic pool cleaning device on the water surface along the boundary of the pool has completed a closed loop.

[0029] To this end, the present disclosure proposes a method for controlling an automatic pool cleaning device to travel on the water surface of the pool. Figure 3 As shown, the method includes: S310, controlling the automatic pool cleaning device to move along the boundary of the pool at the bottom of the pool; S320, obtaining the duration for the automatic pool cleaning device to complete a closed loop when moving along the boundary of the pool at the bottom of the pool; S330, controlling the automatic pool cleaning device to move along the boundary of the pool on the water surface of the pool; and, S340, determining whether the automatic pool cleaning device completes a closed loop when moving along the boundary of the pool on the water surface of the pool based on the obtained closed loop duration.

[0030] According to an embodiment of the present disclosure, the above method may further include: obtaining the duration of time that the automatic pool cleaning device travels on the water surface of the pool along the boundary of the pool; based on the closed-loop duration and the obtained duration of time that the automatic pool cleaning device travels on the water surface of the pool along the boundary of the pool, determining whether the automatic pool cleaning device completes a closed loop by traveling along the boundary of the pool on the water surface of the pool.

[0031] As an example, determining whether the automatic pool cleaning device has completed a closed loop by moving on the water surface of the pool along the boundary of the pool based on the closed-loop duration and the acquired duration that the automatic pool cleaning device moves on the water surface of the pool along the boundary of the pool may include: determining the ratio or difference information between the geometric dimensions of the water surface of the pool and the bottom of the pool; and determining a first threshold range based on the determined ratio or difference information between the geometric dimensions of the water surface of the pool and the bottom of the pool, and the closed-loop duration; comparing the acquired duration that the automatic pool cleaning device moves on the water surface of the pool along the boundary of the pool with the first threshold range to determine whether the automatic pool cleaning device has completed a closed loop by moving on the water surface of the pool along the boundary of the pool.

[0032] As an example, since there is a certain proportional relationship between the sizes of the bottom of the pool and the water surface of the pool, for example, when the wall of the pool is perpendicular to the bottom of the pool, the area of ​​the water surface of the pool is basically the same as the area of ​​the bottom of the pool, that is, the circumference of the boundary of the bottom of the pool is basically the same as the circumference of the boundary of the water surface of the pool. Therefore, there is a certain corresponding relationship between the time it takes for the automatic pool cleaning device to complete a closed loop by moving along the boundary of the pool at the bottom of the pool and the time it takes for the automatic pool cleaning device to complete a closed loop by moving along the boundary of the pool on the water surface. For example, the automatic pool cleaning device moves along the boundary of the pool at the bottom of the pool with a moving mechanism such as a track, and the automatic pool cleaning device moves along the boundary of the pool on the water surface of the pool with a propulsion unit such as a water jet. To this end, the first threshold range can be set based on the time it takes for the automatic pool cleaning device to travel one circle along the boundary of the pool at the bottom of the pool. For example, the first threshold range can be set to [K1*t1, K2*t1], wherein the values ​​of K1 and K2 depend on factors such as the ratio between the geometric dimensions of the water surface of the pool and the bottom of the pool or the difference between the two and the travel speed of the automatic pool cleaning device on the water surface and the bottom of the pool; as an example, K1=0.8, K2=1.2.

[0033] Similarly, as another example, when the area of ​​the water surface of the pool is quite different from that of the bottom of the pool, for example, there is a platform in the pool with a large bottom area and a small top area, or the wall of the pool is inclined, resulting in the area of ​​the bottom of the pool being smaller than the water surface area of ​​the pool, that is, the circumference of the boundary of the bottom of the pool is quite different from the circumference of the boundary of the water surface of the pool. In this case, the value of K1 and / or K2 can be adjusted; as an example, K2 can be adjusted from 0.8 to 1.2, and K3 can be adjusted from 1.2 to 1.6 to reflect the correspondence between the time it takes for the automatic pool cleaning device to travel one circle on the water surface of the pool along the boundary of the pool and the time it takes for it to travel one circle on the bottom of the pool along the boundary of the pool.

[0034] Thus, by comparing the time that the automatic pool cleaning device travels on the water surface along the boundary of the pool with the first threshold range, it can be determined whether the automatic pool cleaning device has completed a closed loop in its movement along the boundary of the pool. In other words, when the time that the automatic pool cleaning device travels on the water surface along the boundary of the pool is within the first threshold range, it indicates that the automatic pool cleaning device has completed a closed loop in its movement along the boundary of the pool. On the contrary, if the time that the automatic pool cleaning device travels on the water surface along the boundary of the pool is not within the first threshold range, it indicates that the automatic pool cleaning device has not completed a closed loop in its movement along the boundary of the pool, and the automatic pool cleaning device needs to continue to travel on the water surface along the boundary of the pool.

[0035] According to an embodiment of the present disclosure, the above method may further include: when the acquired duration of the automatic pool cleaning device moving along the boundary of the pool on the water surface of the pool is within the first threshold range, determining that the automatic pool cleaning device moves along the boundary of the pool on the water surface of the pool to complete a closed loop; and when the acquired duration of the automatic pool cleaning device moving along the boundary of the pool on the water surface of the pool is not within the first threshold range, controlling the automatic pool cleaning device to continue moving along the boundary of the pool on the water surface of the pool.

[0036] In other words, according to an embodiment of the present disclosure, it is possible to determine whether the automatic pool cleaning device has completed a closed loop by moving along the boundary of the pool on the water surface of the pool based on the acquired time length for the automatic pool cleaning device to complete the closed loop when moving along the boundary of the pool on the bottom of the pool; thereby eliminating the misjudgment of whether the automatic pool cleaning device has completed a closed loop by moving along the boundary of the pool on the water surface due to unstable posture of the automatic pool cleaning device when moving on the water surface.

[0037] Figure 4A The figure schematically shows a top view of a pool environment when the automatic pool cleaning device according to an embodiment of the present disclosure moves along the edge. Figure 4A As shown, since the automatic pool cleaning device controls its movement along the edge based on the lateral distance measurement of its movement direction, the automatic pool cleaning device 100 may move along the boundary 410 of the pool (for example, when moving at the bottom of the pool, 410 corresponds to the boundary of the pool wall at the bottom of the pool, and when moving on the water surface, 410 corresponds to the boundary of the pool wall at the water surface), or may move along the boundary 420 of an isolated island in the pool. Figure 4A In the scenario shown, during the movement, the automatic pool cleaning device 100 performs distance measurement on the right side of its movement direction. For example, the automatic pool cleaning device 100 can obtain the distance measurement value of the object (i.e., the side wall of the pool) located on the right side of the movement direction of the automatic pool cleaning device 100 in real time through a distance measurement unit such as an ultrasonic sensor, and control the automatic pool cleaning device 100 to move in the direction in which the pool wall extends based on the distance measurement value through the control unit of the automatic pool cleaning device, i.e., to move along the boundary of the pool while maintaining a certain distance from the pool wall.

[0038] According to the disclosed embodiment, the automatic pool cleaning device is also equipped with a direction detection unit, which can obtain the yaw angle of the automatic pool cleaning device in real time during the travel process. By accumulating the acquired yaw angle values, and based on the accumulated yaw angle values, it can be determined whether the route of the automatic pool cleaning device is closed or in a closed direction.

[0039] As an example, the direction detection unit may include, but is not limited to, various components installed on the automatic pool cleaning device, such as an inertial measurement unit IMU, which can be used to detect the yaw angle.

[0040] As an example, when the automatic pool cleaning device according to the present disclosure is used in Figure 4A When the pool automatic cleaning device moves along the edge in the direction indicated by the solid arrow, the accumulated yaw angle value may change from 0 degrees to 360 degrees during the movement. When the direction angle of its travel process can be expressed as Figure 4B The changes shown, for example, from arrive

[0041] the changing process; in fact, when the automatic pool cleaning device moves along the edge, the yaw angle of the automatic pool cleaning device can be obtained in real time through sensors such as IMU, and the obtained yaw angles can be accumulated; depending on the posture of the automatic pool cleaning device, the yaw angle can be a positive value or a negative value; when moving along a straight line, the value of the accumulated yaw angle is small; and when the automatic pool cleaning device turns, the value of the accumulated yaw angle is large, which basically corresponds to the angle of the turn; when the automatic pool cleaning device completes one circle moving along the edge, that is, when the moving along the edge completes a closed loop, the value of the accumulated yaw angle is close to 360 degrees.

[0042] As an example, in Figure 4A In the case shown in the direction indicated by the solid arrow, that is, the way to obtain the ranging value is to measure the distance to the right side of the travel direction of the automatic pool cleaning device 100. When it can be determined based on the accumulated yaw angle value that the closing direction of the travel route of the automatic pool cleaning device along the edge is counterclockwise, it can be determined that it is moving along the boundary 410 of the pool.

[0043] Similarly, when the automatic pool cleaning device according to the present disclosure is used in Figure 4A When the automatic pool cleaning device moves along the edge in the direction indicated by the dotted arrow, the accumulated yaw angle value may change from 0 degrees to -360 degrees during the movement. When the direction angle of its travel process can be expressed as Figure 4C The changes shown, for example, from arrive

[0044] the changing process; in fact, when the automatic pool cleaning device moves along the edge, the yaw angle of the automatic pool cleaning device can be obtained in real time through sensors such as IMU, and the obtained yaw angle can be accumulated; depending on the posture of the automatic pool cleaning device, the yaw angle can be a positive value or a negative value; when moving along a straight line, the accumulated yaw angle value is small; and when the automatic pool cleaning device turns, the accumulated yaw angle value (referring to the absolute value of the accumulated value) is large, which basically corresponds to the turning angle; when the automatic pool cleaning device completes one circle of moving along the edge, that is, when the moving along the edge completes a closed loop, the accumulated yaw angle value (referring to the absolute value of the accumulated value) is close to 360 degrees.

[0045] As an example, in Figure 4A In the case shown in the direction indicated by the dotted arrow, that is, the way to obtain the ranging value is to measure the distance to the right side of the moving direction of the automatic pool cleaning device 100. When the accumulated value based on the yaw angle can determine that the closing direction of the moving route of the automatic pool cleaning device along the edge is clockwise, it can be determined that it is moving along the boundary 420 of the isolated island in the pool.

[0046] In other words, when the automatic pool cleaning device 100 obtains the ranging value on the right side of the travel direction, when the accumulated value of the yaw angle obtained during the travel indicates that the closing direction of the travel route is counterclockwise, it can be determined that it is traveling along the boundary of the pool; when the accumulated value of the yaw angle obtained during the travel indicates that the closing direction of the travel route is clockwise, it can be determined that it is traveling along the boundary of the isolated island in the pool.

[0047] Figure 4D The figure schematically shows a top view of a pool environment when an automatic pool cleaning device according to another embodiment of the present disclosure moves along the edge. Figure 4D As shown, since the automatic pool cleaning device controls its movement along the edge based on the lateral distance measurement of its movement direction, the automatic pool cleaning device 100 may move along the boundary 410 of the pool (for example, when moving at the bottom of the pool, 410 corresponds to the boundary of the pool wall at the bottom of the pool, and when moving on the water surface, 410 corresponds to the boundary of the pool wall at the water surface), or may move along the boundary 420 of an isolated island in the pool. Figure 4D In the scenario shown, during the movement, the automatic pool cleaning device 100 performs distance measurement on the left side of its moving direction. For example, the automatic pool cleaning device 100 can obtain the distance measurement value of the object located on the left side of the moving direction of the automatic pool cleaning device (i.e., the side wall of the pool) in real time through a distance measurement unit such as an ultrasonic sensor, and control the automatic pool cleaning device to move in the direction in which the pool wall extends based on the distance measurement value through the control unit of the automatic pool cleaning device, that is, to move along the boundary of the pool while maintaining a certain distance from the pool wall.

[0048] As an example, when the automatic pool cleaning device according to the present disclosure is used in Figure 4D When the pool automatic cleaning device moves along the edge in the direction indicated by the solid arrow, the accumulated yaw angle value may change from 0 degrees to -360 degrees during the movement. When the direction angle of its travel process can be expressed as Figure 4C The changes shown, for example, from arrive

[0049] the changing process; in fact, when the automatic pool cleaning device moves along the edge, the yaw angle of the automatic pool cleaning device can be obtained in real time through sensors such as IMU, and the obtained yaw angle can be accumulated; depending on the posture of the automatic pool cleaning device, the yaw angle can be a positive value or a negative value; when moving along a straight line, the accumulated yaw angle value is small; and when the automatic pool cleaning device turns, the accumulated yaw angle value (referring to the absolute value of the accumulated value) is large, which basically corresponds to the turning angle; when the automatic pool cleaning device completes one circle of moving along the edge, that is, when the moving along the edge completes a closed loop, the accumulated yaw angle value (referring to the absolute value of the accumulated value) is close to 360 degrees.

[0050] As an example, in Figure 4D In the case shown in the direction indicated by the solid arrow, that is, the way to obtain the ranging value is to measure the distance to the left side of the travel direction of the automatic pool cleaning device 100. When it can be determined based on the accumulated value of the yaw angle that the closing direction of the travel route of the automatic pool cleaning device along the edge is clockwise, it can be determined that it is moving along the boundary 410 of the pool.

[0051] Similarly, when the automatic pool cleaning device according to the present disclosure is used in Figure 4D When the automatic pool cleaning device moves along the edge in the direction indicated by the dotted arrow, the accumulated yaw angle value may change from 0 degrees to 360 degrees during the movement. When the direction angle of its travel process can be expressed as Figure 4B The changes shown, for example, from arrive

[0052] the changing process; in fact, when the automatic pool cleaning device moves along the edge, the yaw angle of the automatic pool cleaning device can be obtained in real time through sensors such as IMU, and the obtained yaw angles can be accumulated; depending on the posture of the automatic pool cleaning device, the yaw angle can be a positive value or a negative value; when moving along a straight line, the value of the accumulated yaw angle is small; and when the automatic pool cleaning device turns, the value of the accumulated yaw angle is large, which basically corresponds to the angle of the turn; when the automatic pool cleaning device completes one circle moving along the edge, that is, when the moving along the edge completes a closed loop, the value of the accumulated yaw angle is close to 360 degrees.

[0053] As an example, in Figure 4D In the case shown in the direction indicated by the dotted arrow, that is, the way to obtain the ranging value is to measure the distance to the left side of the travel direction of the automatic pool cleaning device 100. When the accumulated value based on the yaw angle can determine that the closing direction of the travel route of the automatic pool cleaning device along the edge is counterclockwise, it can be determined that it is moving along the boundary 420 of the isolated island in the pool.

[0054] In other words, when the automatic pool cleaning device 100 obtains the ranging value on the left side of the travel direction, when the accumulated value of the yaw angle obtained during the travel indicates that the closing direction of the travel route is clockwise, it can be determined that it is traveling along the boundary of the pool; when the accumulated value of the yaw angle obtained during the travel indicates that the closing direction of the travel route is counterclockwise, it can be determined that it is traveling along the boundary of the isolated island in the pool.

[0055] Therefore, according to an embodiment of the present disclosure, the automatic pool cleaning device can determine whether the automatic pool cleaning device is traveling along the boundary of the pool or along the boundary of an island in the pool based on the closing direction of the travel route and the way of obtaining the distance measurement value.

[0056] According to an embodiment of the present disclosure, controlling the automatic pool cleaning device to move along the boundary of the pool includes: acquiring the yaw angle of the automatic pool cleaning device during movement in real time, and accumulating the acquired yaw angles; and determining whether the route of the automatic pool cleaning device is closed or in a closing direction based on the value of the accumulated yaw angle.

[0057] As an example, the yaw angle may be acquired by an IMU of an automatic pool cleaning device.

[0058] According to an embodiment of the present disclosure, the above method also includes: obtaining a ranging value between the automatic pool cleaning device and an object on its side; and determining that the automatic pool cleaning device is moving along the boundary of the pool based on the determined closing direction of the route of the automatic pool cleaning device and the manner of obtaining the ranging value.

[0059] Optionally, a method of acquiring the distance measurement value includes at least one of the following: measuring the distance to the left side of the travel direction of the automatic pool cleaning device; or measuring the distance to the right side of the travel direction of the automatic pool cleaning device.

[0060] According to an embodiment of the present disclosure, an automatic pool cleaning device is proposed, which includes: at least one processor; a memory storing executable instructions; the at least one processor is configured to enable the automatic pool cleaning device to implement the above method when executing the executable instructions stored in the memory.

[0061] According to an embodiment of the present disclosure, after obtaining the duration for completing a closed loop by moving along the pool boundary on the bottom of the pool, it is possible to determine whether the automatic pool cleaning device has completed a closed loop by moving along the pool boundary on the water surface of the pool based on the obtained closed-loop duration and the size relationship or difference information between the pool bottom and the water surface of the pool, thereby eliminating the misjudgment of whether the automatic pool cleaning device has achieved a closed loop by moving along the pool boundary on the water surface due to unstable posture when the automatic pool cleaning device is moving on the water surface.

[0062] As an embodiment of the present disclosure, it is also possible to determine whether the automatic pool cleaning device has completed a closed loop along the pool wall boundary (when moving at the bottom of the pool, corresponding to the pool wall at the bottom of the pool, and when moving on the water surface, corresponding to the pool wall at the water surface) based on the accumulated value of the yaw angle during the movement and the method of obtaining the ranging value.

[0063] When determining that the route of the automatic pool cleaning device along the pool boundary at the bottom of the pool (or the water surface of the pool) is closed, the time to achieve route closure can be obtained as the duration of completing the closed loop.

[0064] Thus, the time for the automatic pool cleaning device to complete a closed loop on the water surface of the pool along the boundary of the pool can be verified based on the ratio or difference information between the geometric dimensions of the water surface of the pool and the bottom of the pool, and the time for the automatic pool cleaning device to complete a closed loop on the bottom of the pool along the boundary of the pool. As an example, for example, a certain threshold range can be determined based on the ratio or difference information between the geometric dimensions of the water surface of the pool and the bottom of the pool, and the time for the automatic pool cleaning device to complete a closed loop on the bottom of the pool along the boundary of the pool; the obtained time for the automatic pool cleaning device to complete a closed loop on the water surface of the pool along the boundary of the pool is compared with the threshold range. If it is not within the threshold range, it is determined that the obtained time for the automatic pool cleaning device to complete a closed loop on the water surface of the pool along the boundary of the pool is unreasonable; the automatic pool cleaning device needs to continue to move along the boundary of the pool on the water surface, and re-determine the time it completes its closed loop on the water surface along the boundary of the pool.

[0065] According to the above embodiment, after obtaining the time duration for the automatic pool cleaning device to complete a closed loop by moving along the pool boundary at the bottom of the pool, it is possible to verify whether the time obtained for the automatic pool cleaning device to complete a closed loop on the water surface of the pool is reasonable based on the obtained time duration for the automatic pool cleaning device to complete a closed loop by moving along the pool boundary at the bottom of the pool, thereby eliminating the misjudgment of the automatic pool cleaning device achieving closed-loop movement on the water surface due to unstable posture when the automatic pool cleaning device is moving on the water surface.

[0066] Thus, several aspects of the present disclosure are presented above with reference to various devices and methods. These devices and methods are illustrated in the accompanying 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 specific application and the design constraints on the overall system.

[0067] For example, an element or any part of an element or any combination of elements may be implemented as a "processing system" including one or more processors. One or more processors in a processing system may execute software. Software should be broadly interpreted to mean instructions, instruction sets, codes, code segments, program codes, programs, subroutines, software components, applications, software applications, software packages, routines, subroutines, objects, executable programs, execution threads, processes, functions, etc. Whether referred to as software, firmware, middleware, microcode, hardware description language, or other.

[0068] Therefore, in one or more example embodiments, the functions described may be implemented in hardware, software, or any combination thereof. If implemented in software, these functions may be stored or encoded as one or more instructions or codes on a computer-readable medium. Computer-readable media include computer storage media. The storage medium may be any available medium that can be accessed by a computer. As an example and not limitation, such a computer-readable medium may include a random access memory (RAM), a read-only memory (ROM), an electrically erasable programmable ROM (EEPROM), an optical disk storage, a magnetic disk storage, other magnetic storage devices, a combination of the above types of computer-readable media, or any other medium that can be used to store computer executable code in the form of instructions or data structures that can be accessed by a computer.

[0069] It should be understood that the specific order or hierarchy of blocks in the disclosed process / flowchart is an illustration of an exemplary method. Based on design preferences, it should be understood that the specific order or hierarchy of blocks in the process / flowchart can be rearranged. In addition, some blocks can be combined or omitted. The attached method claims present the elements of various blocks in a sample order and are not meant to be limited to the specific order or hierarchy presented.

[0070] In the present disclosure, unless otherwise clearly specified and limited, the terms "installed", "set", "connected", "connected", "fixed", "coupled" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or a communication connection with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present disclosure can be understood according to specific circumstances.

[0071] Obviously, the embodiments described above are only some embodiments of the present application, rather than all embodiments. The preferred embodiments of the present application are given in the accompanying 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 disclosure of the present application more thorough and comprehensive. Although the present application is described in detail with reference to the aforementioned embodiments, for those skilled in the art, it is still possible to modify the technical solutions recorded in the aforementioned specific implementation methods, or to perform equivalent replacement of some of the technical features therein. All equivalent structures made using the contents of the present application specification and the accompanying drawings, directly or indirectly used in other related technical fields, are within the scope of patent protection of the present application.

Claims

1. A method for controlling an automatic pool cleaning device to move in a closed loop along the pool boundary on the water surface of the pool, comprising: Controlling the automatic pool cleaning device to move along the pool bottom and the pool boundary; Obtaining the time it takes for the automatic pool cleaning device to complete a closed loop when traveling along the pool bottom and the pool boundary; Controlling the automatic pool cleaning device to move along the border of the pool on the water surface of the pool; as well as Based on the acquired closed-loop duration, it is determined whether the automatic pool cleaning device completes a closed loop by moving along the boundary of the pool on the water surface of the pool.

2. The method according to claim 1, further comprising: Obtaining the time duration for which the automatic pool cleaning device moves along the pool boundary on the water surface of the pool; Based on the closed loop duration and the acquired duration that the automatic pool cleaning device travels on the water surface of the pool along the pool boundary, it is determined whether the automatic pool cleaning device completes a closed loop by traveling on the water surface of the pool along the pool boundary.

3. The method according to claim 2, wherein: Based on the closed loop duration and the acquired duration of the automatic pool cleaning device traveling along the boundary of the pool on the water surface of the pool, determining whether the automatic pool cleaning device has completed the closed loop by traveling along the boundary of the pool on the water surface of the pool includes: Determining the ratio or difference information between the geometric dimensions of the water surface of the pool and the bottom of the pool; and Determine a first threshold range based on the determined ratio or difference information between the geometric dimensions of the water surface of the pool and the bottom of the pool, and the closed-loop duration; The acquired duration of the automatic pool cleaning device traveling along the boundary of the pool on the water surface of the pool is compared with the first threshold range to determine whether the automatic pool cleaning device has completed a closed loop by traveling along the boundary of the pool on the water surface of the pool.

4. The method according to claim 3, further comprising: When the acquired time duration of the automatic pool cleaning device traveling along the boundary of the pool on the water surface of the pool is within the first threshold range, it is determined that the automatic pool cleaning device travels along the boundary of the pool on the water surface of the pool to complete a closed loop; as well as When the acquired time duration that the automatic pool cleaning device travels on the water surface of the pool along the boundary of the pool is not within the first threshold range, the automatic pool cleaning device is controlled to continue traveling on the water surface of the pool along the boundary of the pool.

5. The method according to claim 3, wherein: The geometric dimensions of the water surface and the bottom of the pool include: the area of ​​the water surface of the pool, the area of ​​the bottom of the pool, the perimeter of the boundary of the water surface of the pool, or the perimeter of the boundary of the bottom of the pool.

6. The method according to any one of claims 1 to 5, wherein: Controlling the automatic pool cleaning device to move along the border of the pool includes: Acquire the yaw angle of the automatic pool cleaning device in real time during its movement, and accumulate the acquired yaw angle; Based on the accumulated yaw angle value, it is determined whether the route traveled by the automatic pool cleaning device achieves a closed or closed direction.

7. The method according to claim 6, wherein: The yaw angle is obtained through an inertial measurement unit IMU.

8. The method according to claim 6, wherein: When determining that the route of the automatic pool cleaning device traveling along the pool bottom and the pool boundary is closed, the time for the route to be closed is obtained as the duration for completing the closed loop.

9. The method according to claim 6, further comprising: Obtaining the distance measurement value between the automatic pool cleaning device and the object on its side; as well as Based on the determined closing direction of the route of the automatic pool cleaning device and the manner of obtaining the distance measurement value, determining that the automatic pool cleaning device is traveling along a boundary of the pool; The method of obtaining the ranging value includes at least one of the following: Measuring the distance to the left of the direction of travel of the automatic pool cleaning device; or The distance to the right side of the travel direction of the automatic pool cleaning device is measured.

10. An automatic pool cleaning device, comprising: at least one processor; Memory, storing executable instructions; The at least one processor is configured to, when executing executable instructions stored in the memory, cause the automatic pool cleaning device to implement the method according to any one of claims 1 to 9.

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