Method for controlling pool cleaning device and corresponding pool cleaning device

Abstract

A method for controlling a pool cleaning device and a corresponding pool cleaning device are disclosed. The method comprises the following steps: respectively detecting a first distance and a second distance between the cleaning device and a pool boundary in the side direction through a first sensor and a second sensor of the pool cleaning device; generating a target position in front of the pool cleaning device based on the first distance, the second distance and a preset edge distance between the pool cleaning device and the pool boundary; generating a corresponding motion parameter based on the target position; and controlling the pool cleaning device to advance towards the target position based on the corresponding motion parameters.

Description

Technical Field

[0001] The present disclosure relates to the field of pool cleaning, and in particular to a pool cleaning device and a corresponding control method thereof. Background Art

[0002] Pool cleaning devices are generally used to clean pools, for example, to collect and clean garbage / debris on the bottom, sidewalls and / or surface of a pool such as a swimming pool, so as to filter and / or purify the water in the pool, and the filtered and / or purified water can be discharged into the pool. The pool cleaning device can perform edge operations along the border of the pool, for example, to perform environmental mapping, positioning navigation, or cleaning. Summary of the invention

[0003] According to one aspect of the present disclosure, a method for controlling a pool cleaning device is proposed, which may include: detecting, by a first sensor and a second sensor of the pool cleaning device, a first distance and a second distance in a lateral direction from a pool boundary, respectively; generating a target position in front of the pool cleaning device based on the first distance, the second distance, and a preset spacing along the edge of the pool cleaning device and the pool boundary; generating corresponding motion parameters based on the target position; and controlling the pool cleaning device to move toward the target position based on the corresponding motion parameters.

[0004] Optionally, in the above method, generating the target position based on the first distance, the second distance and the edge spacing may include: predicting an extension direction of the pool boundary based on a first position on the pool boundary corresponding to the first distance and a second position on the pool boundary corresponding to the second distance.

[0005] Optionally, in the above method, the target position is determined in a direction perpendicular to the extension direction of the predicted pool boundary, wherein the vertical distance between the target position and the extension direction is the edge spacing, and the target position is located on the same side of the predicted pool boundary as the pool cleaning device.

[0006] Optionally, in the above method, predicting the extension direction of the pool boundary based on the first position on the pool boundary and the second position on the pool boundary may include: performing straight line fitting based on the first position and the second position; and determining the direction of the fitted straight line and using it as the predicted extension direction of the pool boundary.

[0007] Optionally, the method may further include: determining an extension end point in the extension direction, wherein the distance between the extension end point and the first position or the second position is the extension step value, wherein the distance between the target position and the extension end point is the edge spacing.

[0008] Optionally, in the above method, the target position is updated according to a first frequency.

[0009] Optionally, in the above method, the motion parameters are updated according to a second frequency.

[0010] Optionally, in the above method, the second frequency is not greater than the first frequency.

[0011] Optionally, in the above method, the motion parameter includes at least one of a linear velocity, an angular velocity, a heading angle or a motion path of the pool cleaning device.

[0012] Optionally, the method may further include: detecting an obstacle ahead of the traveling direction of the pool cleaning device; and when the obstacle is detected, controlling the pool cleaning device to turn in a first direction.

[0013] Optionally, in the above method, the lateral direction is the left side of the travel direction of the pool cleaning device, and the first direction is the right side of the travel direction of the pool cleaning device; or, the lateral direction is the right side of the travel direction of the pool cleaning device, and the first direction is the left side of the travel direction of the pool cleaning device.

[0014] Optionally, in the above method, the first sensor and the second sensor include at least one of an ultrasonic sensor, an infrared sensor, a laser sensor, a position sensitive detector (PSD), and a TOF sensor.

[0015] According to another aspect of the present disclosure, a pool cleaning device is provided, which may include: a processor; and a memory storing program instructions; wherein when the processor runs the program instructions, the pool cleaning device implements the above method. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] 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.

[0017] Figure 1 A schematic outline of a pool cleaning device according to an embodiment of the present disclosure is illustrated.

[0018] Figure 2A-2B A schematic diagram showing a pool cleaning device according to an embodiment of the present disclosure performing edge-side operations is shown.

[0019] Figure 3 is a schematic flow chart of a method for controlling a pool cleaning device according to an embodiment of the present disclosure.

[0020] Figure 4 is a block diagram schematically showing a structure of a pool cleaning device according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0021] 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.

[0022] 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.

[0023] 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.

[0024] 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.

[0025] Figure 1 The schematic diagram shows the appearance of a 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 1As shown, the 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 pool cleaning device 100 may also include a buoyancy adjustment unit (not shown) so that the 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 or a drive motor 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, filter out the debris therein, and discharge the cleaned water out of the pool cleaning device through the water outlet. As an example, Figure 1 The traveling unit 120 is shown, which may include crawler-type traveling units on both sides of the lower part of the pool cleaning device 100, so that the pool cleaning unit can travel in the water, on the bottom of the pool, or on the pool wall to perform corresponding cleaning operations. However, the traveling unit is not limited to Figure 1 The type shown may instead include, for example, a wheeled travel unit, without limitation.

[0026] According to an embodiment, the pool cleaning device 100 can be configured to drive the traveling unit 120 according to a specified mode under the control of the internal control circuit to drive the pool cleaning device 100 to move along a specific track or in a specific direction on the bottom, wall, water, or surface of the pool; at the same time, the cleaning unit 130 can be started to clean up the garbage, debris, dirt, etc. on the bottom, wall, water, and / or surface of the pool, so that they are sucked into the filter bin of the pool cleaning device along with the water flow. Then, the garbage, debris, and dirt are filtered through the filter bin, and the garbage, debris, and dirt are trapped in the filter bin, and the cleaned water is discharged from the pool cleaning device, thereby cleaning the pool. For example, the cleaned water can be discharged from the pool cleaning device from the drain port 140 set at the rear side of the housing 110 of the pool cleaning device 100, the drain port 150 set at the top of the housing 110, and the like.

[0027] Figure 1 The pool cleaning device 100 shown is only an example, and those skilled in the art may change one or more aspects of the appearance, structure, layout, components, functions, etc. according to actual needs without departing from the principles of the present disclosure. For example, the position, shape and / or number of the above-mentioned drain ports 140-150 provided on the housing 110 of the pool cleaning device 100 may be adjusted accordingly according to the actual operation requirements of the pool cleaning device, and are not limited here.

[0028] According to the requirements of the pool cleaning operation, it may involve mapping the pool area environment where the cleaning operation is performed so as to perform positioning and navigation, and / or planning and controlling the route of the pool cleaning device so as to improve the efficiency and quality of the cleaning operation. Generally, the pool cleaning device can obtain the contour information and environmental information of the pool area by moving along the boundary of the pool so as to perform mapping operations and / or route planning and navigation positioning for the cleaning operation.

[0029] When the pool cleaning device moves along the pool boundary (e.g., the pool wall), it is necessary to control the lateral distance of the pool cleaning device from the pool boundary in order to maintain an appropriate spacing; in addition, while maintaining an appropriate spacing, the movement of the pool cleaning device should be as smooth as possible, that is, the adjustment of the motion parameters of the pool cleaning device (e.g., linear velocity, angular velocity, heading angle, and / or motion path, etc.) needs to be smoother.

[0030] To this end, the present disclosure proposes a method for controlling a pool cleaning device, so that the pool cleaning device can better control its lateral distance from the pool boundary when moving along the pool boundary, and more smoothly control the motion parameters of the pool cleaning device, such as linear velocity, angular velocity, heading angle, and / or motion path, while maintaining an appropriate distance from the pool boundary.

[0031] The following combination Figure 2A-2B The principle of the method for controlling a pool cleaning device to travel along an edge according to an embodiment of the present disclosure is described below.

[0032] like Figure 2A As shown, the pool cleaning device 200 may be equipped with a first sensor S1 and a second sensor S2 to detect obstacles on the side of the pool cleaning device 200. For example, the first sensor S1 may detect a pool boundary (e.g., a pool wall) on the side of the pool cleaning device along a first detection direction, and the second sensor S2 may detect a pool boundary (e.g., a pool wall) on the side of the pool cleaning device along a second detection direction.

[0033] As an example, the first sensor S1 and the second sensor S2 may include at least one of an ultrasonic sensor, an infrared sensor, a laser sensor, a position sensitive detector (PSD), and a TOF (Time of Flight) sensor.

[0034] According to an embodiment of the present disclosure, the first detection direction may be parallel or non-parallel to the second detection direction, which is not limited herein.

[0035] In addition, as an example, the detection direction of at least one of the first sensor S1 and the second sensor S2 can also be changed according to the operation requirements of the pool cleaning device. For example, at least one of the first sensor S1 and the second sensor S2 can be rotated according to the operation requirements of the pool cleaning device to change its detection direction, as long as the first sensor S1 and the second sensor S2 can detect two different positions on the pool boundary located in the same lateral direction of the pool cleaning device (for example, the left side of the pool cleaning device, or the right side of the pool cleaning device).

[0036] As an example, the first sensor and the second sensor of the pool cleaning device can respectively detect the first distance and the second distance of the cleaning device from the pool boundary in the lateral direction, thereby obtaining a first position on the pool boundary corresponding to the first distance and a second position on the pool boundary corresponding to the second distance. Figure 2A As shown, the first position may correspond to point A on the boundary of the pool, and the second position may correspond to point B on the boundary of the pool.

[0037] According to an embodiment of the present disclosure, when a first position on the pool boundary corresponding to a first distance and a second position on the pool boundary corresponding to a second distance are obtained, the extension direction of the pool boundary can be predicted based on the first position and the second position. Figure 2A The first position A and the second position B shown in the figure are used to predict the extension direction of the pool boundary. As an example, a straight line fitting can be performed based on the first position A and the second position B, and the direction of the fitted straight line is used as the predicted extension direction of the pool boundary. For example, the straight line fitting based on the first position A and the second position B can be to determine the straight line segment AB between the first position A and the second position B, and the direction in which the straight line segment AB extends from the second position B is used as the predicted extension direction of the pool boundary.

[0038] It should be noted that in the above-mentioned embodiments of the present disclosure, a straight line fitting is performed based on a first position detected by a first sensor and a second position detected by a second sensor to predict the extension direction of the boundary of the pool; however, according to the embodiments of the present disclosure, a straight line fitting can also be implemented based on a plurality of position points on the boundary of the pool detected by a sensor in a certain time period, or a straight line fitting can be implemented based on a plurality of position points on the boundary of the pool detected by a plurality of sensors at the same time, wherein, based on a plurality of position points, a least squares method, a population mean method, a linear programming method, and the like can be used to implement a straight line fitting, and the specific methods are not limited here, and all belong to the application of the principles of the present disclosure.

[0039] According to an embodiment of the present disclosure, when the predicted extension direction of the pool boundary is obtained, the target position can be determined in a direction perpendicular to the predicted extension direction of the pool boundary, wherein the vertical distance between the target position and the extension direction is the edge spacing.

[0040] For example, Figure 2A As shown, when the predicted extension direction BC of the pool boundary is obtained, the target position D can be determined in a direction perpendicular to the predicted extension direction BC of the pool boundary, wherein the vertical distance between the target position D and the extension direction BC can be set to the side spacing d2 between the pool cleaning device and the edge of the pool boundary.

[0041] As an example, the value of the edge spacing d2 can be set to 0.2 m. Optionally, the edge spacing d2 can also be dynamically changed according to the operation requirements of the pool cleaning device, which is not limited here.

[0042] As an example, when determining the target position, an extension end point may be determined in the extension direction, wherein the distance between the extension end point and the first position or the second position of the pool boundary is the extension step value.

[0043] For example, Figure 2A As shown, when determining the target position, the extension end point C may be determined in the extension direction BC, wherein the distance between the extension end point C and the second position B of the pool boundary may be set as the extension step value d1.

[0044] As an example, the extension step value d1 may be set to 0.3 m. Optionally, the extension step value may also be dynamically changed according to the operation requirements of the pool cleaning device, which is not limited here.

[0045] Optionally, when determining the target position, the extension end point C may be determined in the extension direction BC, wherein the distance between the extension end point C and the first position A of the pool boundary may be set as the extension step value d'1 (not in Figure 2A ).

[0046] According to an embodiment of the present disclosure, when the extension end point is determined, the target position can be determined on a straight line along a direction perpendicular to the extension direction and passing through the extension end point, wherein the distance between the target position and the extension end point can be set as the sideways spacing between the pool cleaning device and the pool boundary.

[0047] For example, Figure 2A As shown, when the extension end point C is determined, the target position D can be determined on a straight line along a direction perpendicular to the extension direction BC and passing through the extension end point C, wherein the distance between the target position D and the extension end point C can be set to the side spacing d2 between the pool cleaning device and the pool boundary.

[0048] According to an embodiment of the present disclosure, the target location and the pool cleaning device are located on the same side of the predicted pool boundary. Figure 2A As shown, the target location D and the pool cleaning device 200 are both located to the right of the predicted pool boundary BC.

[0049] According to an embodiment of the present disclosure, when a target location is determined, corresponding motion parameters of a pool cleaning device may be generated based on the determined target location, and based on the corresponding motion parameters, the pool cleaning device may be controlled to move toward the target location.

[0050] As an example, the motion parameter may include at least one of a linear velocity, an angular velocity, a heading angle, or a motion path of the pool cleaning device.

[0051] For example, Figure 2A As shown, after the target position D in front of the pool cleaning device 200 is determined, the linear speed, angular speed, heading angle, and / or motion path of the pool cleaning device can be set based on the distance between the current position of the pool cleaning device 200 and the target position D, and the orientation of the target position D relative to the pool cleaning device 200.

[0052] For example, based on the distance between the current position of pool cleaning device 200 and target position D, the linear speed of pool cleaning device 200 can be set to control the speed of pool cleaning device 200; based on the position of target position D relative to pool cleaning device 200, the angular speed of pool cleaning device 200 can be set so that pool cleaning device 200 moves toward the position where target position D is located; as an example, based on the distance between the current position of pool cleaning device 200 and target position D, and the position of target position D relative to pool cleaning device 200, pool cleaning device 200 can continuously adjust the heading angle by controlling the angular speed during the process of moving from the current position to the target position D until it approaches the target position D, and its moving path can be as follows Figure 2A As shown, it is a curve extending to the right with a certain arc; or, in the process of moving from the current position to the target position D, the pool cleaning device 200 can adjust the heading angle to the target position D by controlling the angular velocity, and then maintain the heading angle to move toward the target position D at a set linear velocity until it approaches the target position D. The moving path of the moving device can be close to a straight line ( Figure 2A not shown).

[0053] As an example, based on the distance between the current position of the pool cleaning device and the target position, and the orientation of the target position relative to the pool cleaning device, the pool cleaning device can also plan a corresponding motion path, for example, so that the pool cleaning device can approach the target position by moving along a motion path corresponding to optimization parameters such as a minimum travel distance, a maximum / minimum turning angle, or a minimum / maximum turning radius. Optionally, the pool cleaning device can move along the planned motion path by controlling the heading angle of the pool cleaning device.

[0054] According to the embodiments of the present disclosure, Figure 2A As shown, since the first sensor S1 and the second sensor S2 of the pool cleaning device detect the pool boundary on the side of the pool cleaning device in real time during the movement, the first position A and the second position B on the pool boundary obtained are dynamically changed, and thus the predicted extension end point C on the extension direction BC of the pool boundary and the determined target position D also change accordingly. As an example, the target position is updated in real time. For example, the target position can be updated at a first frequency.

[0055] As described above, when the target position is determined, corresponding motion parameters can be generated based on the determined target position, and based on the corresponding motion parameters, the pool cleaning device can be controlled to move toward the target position. As an example, the motion parameters can be updated in real time. For example, the motion parameters can be updated at a second frequency. Optionally, the motion parameters can include at least one of the linear velocity, angular velocity, heading angle, or motion path of the pool cleaning device.

[0056] As an example, the target position may be updated at a first frequency while the motion parameters may be updated at a second frequency.

[0057] Optionally, the second frequency is not greater than the first frequency. For example, the first frequency may be 33 Hz and the second frequency may be 20 Hz.

[0058] For example, the pool cleaning device updates the target position at a frequency of 50 Hz and updates the motion parameters at a frequency of 20 Hz, that is, the target position is updated with a period of approximately 0.03S, and motion parameters such as linear velocity, angular velocity, heading angle, and / or motion path are updated with a period of 0.05S, and the pool cleaning device is controlled to move toward the target position with the updated motion parameters, thereby approaching the target position.

[0059] According to an embodiment of the present disclosure, by detecting the first position and the second position on the pool boundary in real time, the extension direction of the pool boundary is predicted, and based on the set extension step value in the predicted extension direction of the pool boundary and the set edge spacing perpendicular to the extension direction of the pool boundary, the pool cleaning device can be controlled to move along the pool boundary with the set edge spacing, and the driving process is smoother, without sudden changes in speed, and the jitter of the motion is avoided.

[0060] As described above, the extension step value can be dynamically changed according to the operation requirements of the pool cleaning device. For example, by controlling the extension step value, the motion parameters of the pool cleaning device, such as linear speed, angular velocity, heading angle, and / or motion path, can be more finely controlled.

[0061] As mentioned above, the edge spacing can also be dynamically changed according to the operation requirements of the pool cleaning device. For example, by controlling the edge spacing, the appropriate distance between the side of the pool cleaning device and the pool boundary can be more finely controlled.

[0062] According to the embodiments of the present disclosure, Figure 2B As shown, the pool cleaning device 200 may also be equipped with a third sensor S3 to detect obstacles in front of the pool cleaning device 200. For example, the third sensor S3 may detect obstacles in front of the pool cleaning device 200, such as the pool wall of the pool, to avoid collision with the pool wall in front during travel.

[0063] As an example, the third sensor S3 may include at least one of an ultrasonic sensor, an infrared sensor, a laser sensor, a position sensitive detector (PSD), and a TOF sensor.

[0064] As an example, when an obstacle is detected ahead (e.g., a pool wall along another direction), the pool cleaning device is controlled to turn in a first direction. Optionally, when turning, the pool cleaning device may be controlled to turn in situ until the third sensor S3 no longer detects the presence of an obstacle ahead (e.g., a pool wall along the other direction), for example, until a reflected signal from the obstacle ahead (e.g., a pool wall along the other direction) is no longer received. In this case, it may be considered that the pool cleaning device has completed the turn and may continue to move along the other boundary of the pool (e.g., a pool wall along the other direction) at a set edge spacing. For example, if Figure 2B As shown, when the pool cleaning device detects an obstacle (such as a pool wall) in front through the third sensor S3, it can start to move along Figure 2BWhen the third sensor S3 no longer detects the existence of the obstacle ahead (e.g., the pool wall along the other direction), it can be determined that the pool cleaning device has completed the turn and can continue to move along the boundary of the pool in the other direction at a set edge spacing.

[0065] Optionally, in an embodiment of the present disclosure, the lateral direction is the left side of the traveling direction of the pool cleaning device, and the first direction is the right side of the traveling direction of the pool cleaning device; or, the lateral direction is the right side of the traveling direction of the pool cleaning device, and the first direction is the left side of the traveling direction of the pool cleaning device.

[0066] According to an embodiment of the present disclosure, the movement of the pool cleaning device along the boundary of the pool may include: moving along the pool wall at a set distance along the edge at the bottom of the pool below the water surface of the pool, or moving along the pool wall at a set distance along the edge while suspended above the water surface of the pool. The specific method can be selected based on the operational requirements of the pool cleaning device and / or the type of the pool cleaning device, and is not limited here.

[0067] Figure 3 FIG. 1 is a schematic flow chart of a method for controlling a pool cleaning device according to an embodiment of the present disclosure. Figure 3 As shown, the method for controlling a pool cleaning device proposed in accordance with an embodiment of the present disclosure may include: S310, detecting, by means of a first sensor and a second sensor of the pool cleaning device, a first distance and a second distance in a lateral direction from a pool boundary, respectively; S320, generating a target position in front of the pool cleaning device based on the first distance, the second distance, and a preset spacing along the edge of the pool cleaning device and the pool boundary; S330, generating corresponding motion parameters based on the target position; and, S340, controlling the pool cleaning device to move toward the target position based on the corresponding motion parameters.

[0068] As an example, in the above method, generating a target position based on a first distance, a second distance, and an edge spacing may include: predicting an extension direction of the pool boundary based on a first position on the pool boundary corresponding to the first distance and a second position on the pool boundary corresponding to the second distance.

[0069] As an example, in the above method, the target position can be determined in a direction perpendicular to the extension direction of the predicted pool boundary, wherein the vertical distance between the target position and the extension direction is the edge spacing, and the target position and the pool cleaning device are located on the same side of the predicted pool boundary.

[0070] As an example, in the above method, predicting the extension direction of the pool boundary based on a first position on the pool boundary and a second position on the pool boundary may include: performing straight line fitting based on the first position and the second position; and determining the direction of the fitted straight line and using it as the predicted extension direction of the pool boundary.

[0071] As an example, the above method may further include: determining an extension end point in the extension direction, and the distance between the extension end point and the first position or the second position is the extension step value.

[0072] As an example, in the above method, the distance between the target position and the extension end point is the edge spacing.

[0073] As an example, in the above method, the target position may be updated at a first frequency.

[0074] As an example, in the above method, the motion parameters may be updated at a second frequency.

[0075] As an example, in the above method, the second frequency is not greater than the first frequency.

[0076] As an example, in the above method, the motion parameter may include at least one of a linear velocity, an angular velocity, a heading angle, or a motion path of the pool cleaning device.

[0077] As an example, the above method may further include: detecting an obstacle ahead of the travel direction of the pool cleaning device; when the obstacle is detected, controlling the pool cleaning device to turn in a first direction.

[0078] As an example, in the above method, the lateral direction includes the left side of the travel direction of the pool cleaning device, and the first direction includes the right side of the travel direction of the pool cleaning device; or, the lateral direction includes the right side of the travel direction of the pool cleaning device, and the first direction includes the left side of the travel direction of the pool cleaning device.

[0079] As an example, in the above method, at least one of the first sensor and the second sensor is an ultrasonic sensor, an infrared sensor, a laser sensor, a position sensitive detector (PSD), or a TOF sensor.

[0080] Figure 4 FIG. 4 is a block diagram schematically showing a structure of a pool cleaning device 400 according to an embodiment of the present disclosure. Figure 4 As shown, the pool cleaning device 400 includes: a processor 410; and a memory 420 storing program instructions; wherein, when the processor 410 runs the program instructions, the pool cleaning device 400 can implement the above method.

[0081] As an example, the pool cleaning device 400 may also include a first sensor and a second sensor (not shown). Figure 4 ), wherein a first sensor and a second sensor respectively detect a first distance and a second distance of the pool cleaning device in a lateral direction from a pool boundary.

[0082] In addition, as an example, the pool cleaning device 400 may further include a third sensor (not shown). Figure 4 ), where a third sensor can detect obstacles in front of the pool cleaning device.

[0083] As an example, the first sensor, the second sensor, and the third sensor may include at least one of an ultrasonic sensor, an infrared sensor, a laser sensor, a position sensitive detector (PSD), or a TOF sensor.

[0084] The above-mentioned pool cleaning device according to the embodiment of the present disclosure can predict the extension direction of the pool boundary by detecting the first position and the second position on the pool boundary in real time, and based on the set extension step value in the predicted extension direction of the pool boundary and the set edge spacing perpendicular to the extension direction of the pool boundary, it can travel along the pool boundary with the set edge spacing, and its driving process is smoother, without sudden changes in speed, and the jitter of movement is avoided.

[0085] 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.

[0086] 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.

[0087] 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 in 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 computer-readable media of the above types, or any other medium that can be used to store computer executable code in the form of instructions or data structures accessible to a computer.

[0088] 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.

[0089] The foregoing description is provided to enable those skilled in the art to practice the various aspects described herein, and unless otherwise stated, references to elements in the singular form are not intended to mean "one and only one", but rather "one or more". The "exemplary" expression used herein means "used as an example, instance, or illustration". Any aspect described herein as "exemplary" is not necessarily to be interpreted as being more preferred or advantageous than other aspects. Unless otherwise stated, the term "some" refers to one or more. Combinations such as "at least one of A, B, or C", "one or more of A, B, or C", "at least one of A, B, and C", "one or more of A, B, and C", and "A, B, C, or any combination thereof" include any combination of A, B, and / or C, and may include multiples of A, multiples of B, or multiples of C. Specifically, combinations such as "at least one of A, B or C", "A, B or C", "at least one of A, B and C", "one or more of A, B and C" and "A, B, C or any combination thereof" may be only A, only B, only C, A and B, A and C, B and C, or A and B and C, where any such combination may include one or more members or all of A, B, C.

[0090] 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.

[0091] 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. Any equivalent structure made using the contents of the specification and drawings of this application, directly or indirectly used in other related technical fields, is similarly within the scope of patent protection of this application.

Claims

1. A method for controlling a pool cleaning device, comprising: Detecting a first distance and a second distance of the cleaning device from a pool boundary in a lateral direction by means of a first sensor and a second sensor of the pool cleaning device, respectively; Generate a target position in front of the pool cleaning device based on the first distance, the second distance, and a preset distance along the edge of the pool cleaning device and the pool boundary; Based on the target position, generating corresponding motion parameters; as well as Based on the corresponding motion parameters, the pool cleaning device is controlled to move toward the target location.

2. The method according to claim 1, wherein: The generating the target position based on the first distance, the second distance and the edgewise spacing includes: predicting an extension direction of the pool boundary based on a first position on the pool boundary corresponding to the first distance and a second position on the pool boundary corresponding to the second distance; The target position is determined in a direction perpendicular to an extension direction of the predicted pool boundary, wherein the target position is perpendicular to the extension direction by the edge spacing and is located on the same side of the predicted pool boundary as the pool cleaning device.

3. The method according to claim 2, wherein: Predicting the extension direction of the water pool boundary based on the first position on the water pool boundary and the second position on the water pool boundary includes: Performing straight line fitting based on the first position and the second position; and The direction of the fitted straight line is determined and used as the extension direction of the predicted pool boundary.

4. The method according to claim 2 or 3, further comprising: An extension end point is determined in the extension direction, and a distance between the extension end point and the first position or the second position is an extension step value, wherein a distance between the target position and the extension end point is the edge spacing.

5. The method according to any one of claims 1 to 4, wherein: The target position is updated at a first frequency; preferably, the motion parameter is updated at a second frequency, wherein the second frequency is not greater than the first frequency.

6. The method according to any one of claims 1 to 5, wherein: The motion parameters include the linear velocity, angular velocity, heading angle or motion path of the pool cleaning device.

7. The method according to any one of claims 1 to 6, further comprising: detecting obstacles ahead of the direction of travel of the pool cleaning device; When an obstacle is detected, the pool cleaning device is controlled to turn in a first direction.

8. The method according to claim 7, wherein: The lateral direction is the left side of the travel direction of the pool cleaning device, and the first direction is the right side of the travel direction of the pool cleaning device; or, the lateral direction is the right side of the travel direction of the pool cleaning device, and the first direction is the left side of the travel direction of the pool cleaning device.

9. The method according to claim 1, wherein: The first sensor and the second sensor include at least one of an ultrasonic sensor, an infrared sensor, a laser sensor, a position sensitive detector (PSD), and a TOF sensor.

10. A pool cleaning device comprising: processor; as well as Memory for storing program instructions; Wherein, when the processor runs the program instructions, the pool cleaning device executes the method according to any one of claims 1-9.

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