Automatic pool cleaning device, control method and computer storage medium

Abstract

The present application provides an automatic pool cleaning device, a control method and a computer storage medium. The automatic pool cleaning device includes a first sensor and a second sensor, which are arranged on the same side of the automatic pool cleaning device, wherein the first sensor and the second sensor are spaced by a predetermined length along the length direction of the body of the automatic pool cleaning device, and the third sensor is arranged at the front of the automatic pool cleaning device; the control method includes: controlling the automatic pool cleaning device to travel on the bottom surface of the pool; detecting the first real-time distance between the first sensor and the side wall it faces in real time through the first sensor; detecting the second real-time distance between the second sensor and the side wall it faces in real time through the second sensor; and controlling the automatic pool cleaning device to travel on the bottom surface in a direction parallel to the first side wall based on the first real-time distance and the second real-time distance. The present application effectively realizes smooth edge cleaning through the first sensor and the second sensor.

Description

Technical Field

[0001] The embodiments of the present disclosure relate to the technical field of cleaning devices, and in particular to an automatic pool cleaning device, a control method, and a computer storage medium. Background Art

[0002] When cleaning a pool, the automatic pool cleaning device usually uses the distance measuring sensor mounted on its side to clean along the edge and the waterline. The cleaning process requires the automatic pool cleaning robot to keep a distance from the pool boundary and the waterline, and turn correctly at the corners. Since the automatic pool cleaning robot with only an MCU system does not have a mapping function, it cannot completely and smoothly perform boundary cleaning based on the map when cleaning along the edge. When turning, it cannot determine whether the body is parallel to the pool wall, nor can it determine the angle of the turn. Instead, it needs to determine whether the distance measuring sensor exceeds the preset distance value along the edge before moving against the wall. As a result, the automatic pool cleaning robot makes unnecessary movements along the edge, and the movements are not smooth, which reduces the user experience. Therefore, how to make the automatic pool cleaning robot smoothly clean along the edge is an urgent problem to be solved. Summary of the invention

[0003] The technical problem to be solved by the present application is to provide a control method for an automatic pool cleaning device in view of the deficiencies of the above-mentioned prior art. A first sensor and a second sensor are arranged on the same side with a predetermined distance therebetween to detect the real-time distance between them and the side wall respectively, so that the automatic pool cleaning device can achieve smooth cleaning along the edge based on the real-time distance.

[0004] According to another aspect of the present disclosure, an automatic pool cleaning device using the above control method is provided.

[0005] According to another aspect of the present disclosure, a computer storage medium for implementing the above control method is provided.

[0006] In one aspect of the present application, a control method for an automatic pool cleaning device is provided, the automatic pool cleaning device comprising a first sensor and a second sensor, the first sensor and the second sensor being arranged on the same side of the automatic pool cleaning device, wherein the first sensor and the second sensor are spaced apart by a predetermined length along the length direction of the body of the automatic pool cleaning device, the control method comprising: controlling the automatic pool cleaning device to travel on the bottom surface of the pool; detecting in real time by the first sensor a first real-time distance between the first sensor and the side wall it faces; detecting in real time by the second sensor a second real-time distance between the second sensor and the side wall it faces; and based on the first real-time distance and the second real-time distance, controlling the automatic pool cleaning device to travel on the bottom surface along a direction parallel to the first side wall.

[0007] Furthermore, while controlling the automatic pool cleaning device to move on the bottom surface in a direction parallel to the first side wall, the first real-time distance and the second real-time distance are both less than a first distance threshold; and the difference between the first real-time distance and the second real-time distance is less than a second distance threshold.

[0008] Further, the pool includes a second side wall, which is adjacent to the first side wall, and the automatic pool cleaning device also includes a third sensor, which is arranged at the head of the automatic pool cleaning device, wherein, while controlling the automatic pool cleaning device to move on the bottom surface in a direction parallel to the first side wall, the control method also includes: detecting a third real-time distance between the third sensor and the second side wall in real time by the third sensor, and if the third real-time distance is less than a third distance threshold, controlling the automatic pool cleaning device to rotate on the bottom surface in the direction of the second side wall.

[0009] Furthermore, during the period of controlling the automatic pool cleaning device to rotate in the direction of the bottom surface toward the second side wall, the control method also includes: if at time point t, the first real-time distance is equal to the second real-time distance, then judging the change trend of the first real-time distance and the second real-time distance within a predetermined time period before the time point t, and controlling the automatic pool cleaning device to move on the bottom surface of the pool according to the change trend.

[0010] Furthermore, controlling the automatic pool cleaning device to travel on the bottom of the pool according to the changing trend includes: if within the predetermined time period, the first real-time distance gradually decreases and the second real-time distance gradually increases, then starting from time point t, controlling the automatic pool cleaning device to continue rotating toward the second side wall.

[0011] Furthermore, controlling the automatic pool cleaning device to travel on the bottom of the pool according to the changing trend includes: if within the predetermined time period, the first real-time distance gradually increases and the second real-time distance gradually decreases, then starting from time point t, controlling the automatic pool cleaning device to move in a direction parallel to the second side wall.

[0012] Furthermore, controlling the automatic pool cleaning device to move on the bottom surface in a direction parallel to the first side wall includes: regulating the yaw angle of the automatic pool cleaning device by means of PID control.

[0013] Furthermore, the automatic pool cleaning device also includes an inertial measurement unit (IMU), wherein the yaw angle is measured in real time by the inertial measurement unit.

[0014] The present application also discloses an automatic pool cleaning device, which includes a control unit, a first sensor, a second sensor and a third sensor, wherein the first sensor and the second sensor are arranged on the same side of the automatic pool cleaning device, wherein the first sensor and the second sensor are spaced apart by a predetermined length along the length direction of the body of the automatic pool cleaning device, and the third sensor is arranged at the front of the automatic pool cleaning device. The control unit is used to: control the automatic pool cleaning device to travel on the bottom surface of the pool; detect a first real-time distance between the first sensor and a first side wall of the pool in real time through the first sensor; detect a second real-time distance between the second sensor and the first side wall in real time through the second sensor; and control the automatic pool cleaning device to travel on the bottom surface along a direction parallel to the first side wall based on the first real-time distance and the second real-time distance.

[0015] The present application also discloses a computer storage medium, wherein the storage medium stores a computer program, and when the computer program is executed by a processor, the method described in any embodiment of the present application is implemented.

[0016] The embodiments described in the present application have the following beneficial effects: the automatic pool cleaning device and the control method thereof provided in the present application set a first sensor and a second sensor at a predetermined length on the same side of the automatic pool cleaning device, and the first sensor and the second sensor respectively detect in real time the first real-time distance and the second real-time distance between the first sensor and the side wall they are facing, and finally control the automatic pool cleaning device to move on the bottom surface in a direction parallel to the first side wall based on the first real-time distance and the second real-time distance, thereby effectively realizing smooth edge cleaning of the automatic pool cleaning device. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solution of the embodiment of the present disclosure, the following briefly introduces the drawings required for describing the embodiment. The drawings described below are only exemplary embodiments of the present disclosure.

[0018] Figure 1 Detailed description of the invention The invention is a flow chart showing a method for controlling an automatic pool cleaning device according to an embodiment of the present invention.

[0019] Figure 2 The flowchart shows the turning judgment in the control method of the automatic pool cleaning device according to one embodiment of the present application.

[0020] Figure 3 Schematic diagram showing the turning process of the automatic pool cleaning device according to an embodiment of the present application. DETAILED DESCRIPTION

[0021] The technical solutions in this application will be described clearly and completely below. Obviously, the described embodiments are only part of the embodiments of this application, rather than all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work belong to the protection scope of this application. It should be noted that the embodiments in this application and the features in the embodiments can be combined with each other without conflict.

[0022] The present application provides a control method for an automatic pool cleaning device, an automatic pool cleaning device using the control method, and a computer storage medium. The automatic pool cleaning device of the present application can clean a pool. The pool is, for example, a pool-shaped building. The pool-shaped building can be a swimming pool, a reservoir, a spa pool, a water tank, a water tank, etc. The automatic pool cleaning device can be a device such as an automatic cleaning device, an automatic pool cleaning robot, etc., which can clean the pool-shaped building. The present application does not limit the specific presentation of the automatic pool cleaning device and the pool-shaped building, as long as the principle of the present application can be realized. In the following, if not otherwise specified, the robot will be used as an example of the automatic pool cleaning device, and the swimming pool will be used as an example of the pool or the pool-shaped building. In the following, if not otherwise specified, the terms "pool wall", "side wall", "pool side wall", and "pool wall" all refer to the side wall of the swimming pool; the terms "pool bottom", "pool bottom", "pool bottom", and "pool bottom" all refer to the bottom surface of the swimming pool.

[0023] The control method 100 of the automatic pool cleaning device of the present application is described in detail below with reference to the accompanying drawings. Figure 1 A flow chart of a control method of an automatic pool cleaning device according to an embodiment of the present application is shown. The control method 100 is used to clean a pool, and the automatic pool cleaning device includes a first sensor and a second sensor, the first sensor and the second sensor are arranged on the same side of the automatic pool cleaning device, wherein the first sensor and the second sensor are separated by a predetermined length along the length direction of the body of the automatic pool cleaning device. The control method 100 includes steps S101 to S103. Steps S101 to S103 will be described below.

[0024] In step S101, the automatic pool cleaning device is controlled to travel on the bottom of the pool.

[0025] In one embodiment, the robot needs to first plan the path of the cleaning operation on the bottom surface of the pool in order to obtain the cleaning path required for the cleaning operation, and then the robot can perform the cleaning operation on the bottom surface of the pool along the cleaning path. The robot can use a path planning algorithm to obtain the cleaning path; the cleaning path can also be provided or set by the user. The above description of the method for obtaining the cleaning path is only exemplary, and those skilled in the art can select the cleaning path according to actual conditions, as long as the technical principles of the present application can be implemented. The cleaning path is, for example, a "bow"-shaped path. When the robot moves in the pool, it usually reciprocates and cleans along a bow-shaped or bow-like trajectory, hence the name bow-shaped path.

[0026] It should be noted that the so-called path planning in this field usually means planning a given movement rule. For example, the bow-shaped path movement rule can control the robot to move in a predetermined direction (i.e., move along the long side of the bow) for a certain distance or time, then turn 90 degrees, and then continue to move forward (i.e., move along the short side of the bow) for a certain distance or time (i.e., move along the short side of the bow), then turn 90 degrees, and so on.

[0027] In one embodiment, the planned path of the robot on the bottom surface of the pool may also be an edge path, that is, the robot drives or cleans along the edge of the bottom surface of the pool.

[0028] The above description of the robot's driving path and driving mode on the bottom of the pool is not an exhaustive list. Those skilled in the art can set the "driving" in step S101 according to the technical principles of this application, as long as the technical principles of this application can be implemented.

[0029] Next, the process proceeds to step S102. In step S102, the first sensor detects in real time a first real-time distance between the first sensor and the side wall it faces; and the second sensor detects in real time a second real-time distance between the second sensor and the side wall it faces.

[0030] When the automatic pool cleaning robot is cleaning, the corners, edges and waterline of the pool are the areas that need special attention. When the automatic pool cleaning robot is mapping, cleaning or driving along the edge, it is necessary to locate the edge of the pool and use the rangefinder sensor on the side to control the automatic pool cleaning robot's movement along the edge. However, the automatic pool cleaning robot with only an MCU system does not have a mapping function. When cleaning along the edge, it cannot completely and smoothly clean the boundary based on the map and make turns. Instead, it determines whether the distance sensor exceeds the preset distance along the edge before moving along the wall, resulting in unsmooth movement.

[0031] In order to enable the automatic pool cleaning robot to clean smoothly along the edge, the automatic pool cleaning robot includes a control unit, a first sensor, and a second sensor, wherein the first sensor and the second sensor are arranged on the same side of the body of the automatic pool cleaning robot, wherein the first sensor and the second sensor are spaced apart by a predetermined length along the length direction of the body of the automatic pool cleaning device; the control unit is used to: control the automatic pool cleaning device to travel on the bottom surface of the pool; detect in real time a first real-time distance between the first sensor and a first side wall of the pool by the first sensor; detect in real time a second real-time distance between the second sensor and the first side wall by the second sensor; and control the automatic pool cleaning device to travel on the bottom surface along a direction parallel to the first side wall based on the first real-time distance and the second real-time distance.

[0032] In one embodiment, the first sensor and the second sensor are arranged on the same side of the body of the automatic pool cleaning robot, and are spaced by a predetermined length along the length direction of the body. For example, the first sensor is arranged at the front end of one side of the body of the automatic pool cleaning robot, and is used to detect the first real-time distance between the first sensor and the side wall it faces, that is, to detect the first real-time distance between the front end of one side of the body of the automatic pool cleaning robot and the side wall adjacent thereto, and transmit it to the control unit. The second sensor is arranged at the rear end of the same side of the body of the automatic pool cleaning robot, and is used to detect the second real-time distance between the second sensor and the side wall it faces, that is, to detect the second real-time distance between the rear end of the same side of the body of the automatic pool cleaning robot and the pool wall adjacent thereto, and transmit it to the control unit, and the side wall adjacent to the body on which the first sensor and the second sensor are arranged is the first side wall. In addition, a third sensor can also be arranged on the automatic pool cleaning robot. The third sensor is arranged at the front of the automatic pool cleaning robot, that is, the head part, and is mainly used to detect the real-time distance between the head of the automatic pool cleaning robot and the side wall it faces, and transmit it to the control unit.

[0033] It should be understood that the predetermined length can be set according to the actual fuselage length, for example, it can be half the length of the fuselage, or three quarters of the length of the fuselage, or other lengths. Those skilled in the art can define it according to actual conditions, as long as the technical principle of the present application can be realized. Preferably, in order to more accurately determine the parallel relationship between the fuselage of the automatic pool cleaning robot and the adjacent pool wall, the predetermined length is as close to the fuselage length as possible.

[0034] It should be understood that the front and rear positions of the first sensor and the second sensor are not limited, as long as the technical principle of the present application can be realized. For example, the second sensor can be set at the front end close to the fuselage, and the first sensor can be set at the rear end close to the fuselage. The position of the third sensor on the head of the automatic pool cleaning robot is not limited, as long as the technical principle of the present application can be realized.

[0035] The first sensor, the second sensor, and the third sensor may be an ultrasonic sensor, a phased array ultrasonic sensor, a laser radar (LDS), a depth sensor, a Dtof sensor, a visual sensor, etc., as long as the technical principle of the present application can be realized. In the present application, if there is no additional description, the Dtof sensor will be used as an example of the first sensor, the second sensor, and the third sensor for description.

[0036] Next, the process proceeds to step S103. In step S103, based on the first real-time distance and the second real-time distance, the automatic pool cleaning device is controlled to move on the bottom surface in a direction parallel to the first side wall.

[0037] Wherein, while controlling the automatic pool cleaning device to move on the bottom surface in a direction parallel to the first side wall, the first real-time distance and the second real-time distance are both less than a first distance threshold; and the difference between the first real-time distance and the second real-time distance is less than a second distance threshold.

[0038] The automatic pool cleaning robot transmits the first real-time distance and the second real-time distance detected by the first sensor and the second sensor to the control unit, and the control unit understands and controls the edge-driving state of the automatic pool cleaning robot based on the first real-time distance and the second real-time distance. For example, if the first real-time distance and the second real-time distance are both less than the first distance threshold, that is, the front and rear ends of the body of the automatic pool cleaning robot are close to the wall it faces, that is, close to the side wall adjacent to the automatic pool cleaning robot, the automatic pool cleaning robot is in the edge-driving state.

[0039] The second distance threshold indicates the difference between the first real-time distance and the second real-time distance, that is, the degree of parallelism between one side of the body of the automatic pool cleaning robot and the side wall of the pool it faces. The smaller the difference between the first real-time distance and the second real-time distance, the more parallel one side of the body of the automatic pool cleaning robot is to the side wall of the pool it faces (for example, the first side wall), and vice versa. If the second distance threshold is close to zero, and the difference between the first real-time distance and the second real-time distance is less than the second distance threshold, it means that the difference between the first real-time distance and the second real-time distance is very small, and the body of the automatic pool cleaning robot is parallel or substantially parallel to the adjacent pool wall; in this way, the first real-time distance and the second real-time distance are both less than the first distance threshold, and the difference between the first real-time distance and the second real-time distance is less than the second distance threshold, the automatic pool cleaning robot is both in the edge state and parallel or substantially parallel to the adjacent pool wall, that is, the automatic pool cleaning device is controlled to travel along the bottom surface in a direction parallel to the first side wall.

[0040] It should be noted that the difference between the first real-time distance and the second real-time distance mentioned above should be understood as the absolute value of the difference between the two. In other words, in one case, the first real-time distance is greater than the second real-time distance, but the value obtained by subtracting the second real-time distance from the first real-time distance is less than the second distance threshold, which means that the body of the robot is generally parallel to the adjacent side wall, and the nose side is slightly away from the adjacent side wall. In another case, the first real-time distance is less than the second real-time distance, but the value obtained by subtracting the first real-time distance from the second real-time distance is less than the second distance threshold, which means that the body of the robot is generally parallel to the adjacent side wall, and the tail side is slightly away from the adjacent side wall.

[0041] It should be understood that the first distance threshold and the second distance threshold are set according to actual conditions, and the present application does not limit them, as long as the technical principle of the present application can be realized. Preferably, the second distance threshold is as close to zero as possible, so that the body of the automatic pool cleaning robot is as parallel to the adjacent pool wall as possible.

[0042] In one embodiment, controlling the automatic pool cleaning device to move on the bottom surface in a direction parallel to the first side wall includes: regulating the yaw angle of the automatic pool cleaning device by means of PID control.

[0043] Adjusting the yaw angle can ensure that the robot moves along a planned path. The yaw angle can be adjusted by a water spraying mechanism, a walking mechanism or a paddle on the automatic pool cleaning device. Specifically, the robot can be provided with a water spraying mechanism, which can be provided at the tail or side of the robot, for example. The yaw angle of the robot can be adjusted by spraying water from the water spraying mechanism or by adjusting the spraying direction of the water spraying mechanism. The above description of the implementation method of adjusting the yaw angle of the robot is only exemplary, and the yaw angle adjustment method can be selected and combined according to actual needs, as long as the technical principles of the present application can be implemented.

[0044] In one embodiment, the automatic pool cleaning device further comprises an inertial measurement unit (IMU), wherein the yaw angle is measured in real time by the inertial measurement unit.

[0045] When the automatic pool cleaning robot is cleaning along the edge, it needs to be in a parallel state with the side wall of the pool as much as possible, that is, it needs to keep a certain distance and move along the side wall of the pool, so as to ensure the cleanliness of the cleaning along the edge. Specifically, controlling the automatic pool cleaning device to move along the bottom surface in a direction parallel to the first side wall includes: regulating the yaw angle of the automatic pool cleaning device through PID control.

[0046] For example, the yaw angle of the automatic pool cleaning robot is adjusted to the desired set value to ensure that the automatic pool cleaning robot performs cleaning operations at the bottom of the pool along a predetermined path to avoid deviating from the track and missing the cleaning area or colliding with the pool wall. Specifically, the yaw angle is measured in real time by an inertial measurement unit and transmitted to the control unit; the error between the real-time yaw angle and the set value is calculated, and the control output is calculated according to the PID control algorithm, and the calculated control output is converted into a drive signal to adjust the speed or steering of the drive unit of the automatic pool cleaning robot, so that the yaw angle changes in the direction of reducing the error, that is, the yaw angle is stabilized near the set value to achieve satisfactory control accuracy. In this way, the automatic pool cleaning robot can accurately complete edge cleaning. The above description of the PID control algorithm is exemplary, and those skilled in the art can select and set the required PID control algorithm according to the technical principles of this application.

[0047] In one embodiment, the automatic pool cleaning robot further includes an inertial measurement unit (IMU), wherein the yaw angle is measured in real time by the inertial measurement unit.

[0048] Among them, the inertial measurement unit usually includes multiple accelerometers and multiple gyroscopes. The accelerometer is used to measure the linear acceleration of the robot in three-dimensional space, and the gyroscope is used to test the angular velocity of the robot in three-dimensional space. That is, the inertial measurement unit can measure the acceleration and angular velocity of the robot in three directions: pitch, roll and yaw.

[0049] In one embodiment, the automatic pool cleaning robot may encounter a turn while cleaning along the edge. Figure 2 The flowchart of the control method of the automatic pool cleaning device according to an embodiment of the present application in a turning situation is shown. Figure 2 As shown in , the control method 100 further includes steps S104 to S106.

[0050] The pool includes a second side wall, the second side wall is adjacent to the first side wall, the automatic pool cleaning device also includes a third sensor, the third sensor is arranged at the head of the automatic pool cleaning device, wherein, during the period of controlling the automatic pool cleaning device to travel on the bottom surface in a direction parallel to the first side wall, the control method further includes steps S104 to S106. Steps S104 to S106 are described below.

[0051] In step S104, the third sensor is used to detect in real time a third real-time distance between the third sensor and the second side wall. If the third real-time distance is less than a third distance threshold, the automatic pool cleaning device is controlled to rotate toward the second side wall from the bottom surface.

[0052] For example, when the automatic pool cleaning robot is cleaning along its adjacent side wall (i.e., the first side wall), the head of the automatic pool cleaning robot faces the second side wall; the head of the automatic pool cleaning robot is provided with a third sensor, and the third sensor detects the third real-time distance between the third sensor and the second side wall in real time and transmits it to the control unit. When the automatic pool cleaning machine is cleaning along the first side wall, the automatic pool cleaning robot is in a state of being parallel to the first side wall and continuously moving toward the end of the first side wall. The third real-time distance detected by the third sensor is gradually decreasing. At the same time, the control unit determines the relationship between the third real-time distance and the third distance threshold. If the third real-time distance is less than the third distance threshold, it means that if the automatic pool cleaning device continues to travel along the edge, its head will collide with the second side wall. At this time, the automatic pool cleaning device needs to be controlled to rotate in the direction of the bottom surface toward the second side wall.

[0053] It should be understood that the third distance threshold can be set according to actual conditions, and the third distance threshold satisfies that the automatic pool cleaning robot can rotate between the first side wall and the second side wall without causing the automatic pool cleaning robot to collide with the first side wall and the second side wall during the rotation process. This application does not limit the range of the third distance threshold, as long as the technical principle of this application can be realized.

[0054] While the automatic pool cleaning device is controlled to rotate in the direction of the bottom surface toward the second side wall, the process proceeds to step S105 and step S106.

[0055] In step S105, if at time point t, the first real-time distance is equal to the second real-time distance, then proceed to step S106. In step S106, the change trend of the first real-time distance and the second real-time distance within a predetermined time period before the time point t is determined, and the automatic pool cleaning device is controlled to travel on the bottom surface of the pool according to the change trend.

[0056] In one embodiment, in step S106, controlling the automatic pool cleaning device to travel on the bottom of the pool according to the change trend includes: if the first real-time distance gradually decreases and the second real-time distance gradually increases within the predetermined time period, then starting from time point t, controlling the automatic pool cleaning device to continue to rotate toward the second side wall. If the first real-time distance gradually decreases and the second real-time distance also gradually decreases within the predetermined time period, then starting from time point t, controlling the automatic pool cleaning device to move in a direction parallel to the second side wall.

[0057] For example, when the automatic pool cleaning robot is cleaning along the first side wall at the bottom of the pool, it moves forward while cleaning. When it reaches the end of the first side wall, the third sensor detects the third real-time distance between it and the side wall it faces in real time, and starts turning toward the second side wall based on the comparison between the third real-time distance and the third distance threshold. Figure 3 The process of turning is described. Figure 3 is a top view showing the robot performing a turning motion at the bottom of a pool. Figure 3 As shown in FIG. , the first side wall is Figure 3 The left side wall shown in FIG. Figure 3The upper pool wall is shown in . Dtof-1 represents the first sensor, Dtof-2 represents the second sensor, and Dtof-3 represents the third sensor. The robot starts the turning action at time point A (i.e., Time: A), and successively goes through time point B (i.e., Time: B), time point C (i.e., Time: C), time point D (i.e., Time: D), time point E (i.e., Time: E), and reaches time point F (i.e., Time: F) to complete the turning action.

[0058] like Figure 3 As shown in , when the automatic pool cleaning robot starts to turn from the first side wall to the second side wall, from time point A to time point B, the direction of the automatic pool cleaning robot deflects, that is, the head deflects away from the first side wall, and the tail gradually approaches the first side wall. At this stage, the first real-time distance between it and the first side wall detected by the first sensor is increasing, and the second real-time distance between it and the first side wall detected by the second sensor is decreasing, and the automatic pool cleaning robot is in the first stage of turning.

[0059] From time point B to time point C, the automatic pool cleaning robot continues to turn, and the first real-time distance detected by the first sensor continues to increase until the first real-time distance detected by the first sensor is the distance between it and the junction of the first side wall and the second side wall, and the first real-time distance reaches a maximum value. Thereafter, as the automatic pool cleaning robot continues to turn, the side wall facing the first sensor changes from the first side wall to the second side wall, the first real-time distance is the distance between the first sensor and the second side wall, and the second real-time distance is the distance between the second sensor and the first side wall. At this time, the first real-time distance is gradually decreasing, and the second real-time distance is gradually increasing, until the first real-time distance is equal to the second real-time distance (at time point C, the first real-time distance is equal to the second real-time distance for the first time). At this time, the automatic pool cleaning robot is in a state parallel to the diagonal of the first side wall and the second side wall, that is, the automatic pool cleaning robot is in the middle state of turning, that is, the second stage of turning.

[0060] From time point C to time point D, the automatic pool cleaning robot continues to turn, the first real-time distance continues to decrease, and the second real-time distance continues to increase, until the second real-time distance detected by the second sensor is the distance between it and the junction of the first side wall and the second side wall. The second real-time distance reaches a maximum value, and this is the third stage of the automatic pool cleaning robot's turning.

[0061] From time point D to time point E, the automatic pool cleaning robot continues to turn and enters the fourth stage of turning, that is, the side walls faced by the first sensor and the second sensor are both the second side walls, the first real-time distance is the real-time distance between the first sensor and the second side wall, the second real-time distance is the real-time distance between the second sensor and the second side wall, the first real-time distance is gradually increasing, and the second real-time distance is gradually decreasing.

[0062] From time point E to time point F, the automatic pool cleaning robot continues to turn and enters the fifth stage of turning. The side walls faced by the first sensor and the second sensor are both the second side walls. The first real-time distance is the real-time distance between the first sensor and the second side wall, and the second real-time distance is the real-time distance between the second sensor and the second side wall. The first real-time distance is gradually increasing and the second real-time distance is gradually decreasing until the first real-time distance is equal to the second real-time distance (the second time they are equal) or approximately equal. At this time, the body of the automatic pool cleaning robot is parallel or approximately parallel to the second side wall, and the turn is completed.

[0063] Based on the five stages of the turning of the automatic pool cleaning robot, that is, when the automatic pool cleaning robot turns in the direction of the second side wall at the bottom, there are two time points when the first real-time distance is equal to the second real-time distance, which are the second stage of the turning, that is, the moment of the middle state of the turning (time point C), and the fifth stage of the turning, that is, the moment when the turning is completed (time point F). In a period of time before the two moments, the change trends of the first real-time distance and the second real-time distance are different. According to the change trends of the first real-time distance and the second real-time distance, it can be judged which stage of the turning of the automatic pool cleaning robot is in, that is, it belongs to the above-mentioned second stage or the fifth stage. Therefore, during the period when the automatic pool cleaning device is controlled to turn in the direction of the second side wall at the bottom, if at time point t, the first real-time distance is equal to the second real-time distance, then the change trends of the first real-time distance and the second real-time distance within the predetermined time before the time point t are judged, and the automatic pool cleaning device is controlled to travel on the bottom of the pool according to the change trend.

[0064] Specifically, if at time point t, the first real-time distance is equal to the second real-time distance, and within the predetermined time period before time point t, the first real-time distance gradually decreases and the second real-time distance gradually increases, then it can be judged that the automatic pool cleaning robot is in the second stage of turning at this time, and the turning action has not yet been completed. Therefore, starting from time point t, the automatic pool cleaning device is controlled to continue to rotate in the direction of the second side wall so as to complete the actions of the subsequent stages.

[0065] If at time point t, the first real-time distance is equal to the second real-time distance, and within the predetermined time period before time point t, the first real-time distance is gradually increasing and the second real-time distance is gradually decreasing, then it can be judged that the automatic pool cleaning robot is in the fifth stage of turning, and at time point t, the turning action has been completed. Therefore, starting from time point t, the automatic pool cleaning device is controlled to move in a direction parallel to the second side wall. In other words, when time t is reached, the body of the automatic pool cleaning robot is parallel to the second side wall, and the turning has been completed, and edge cleaning can be performed along the second side wall, that is, starting from time point t, the automatic pool cleaning device is controlled to move in a direction parallel to the second side wall.

[0066] It should be understood that the predetermined duration is set according to the actual situation. The predetermined duration can be any duration in the time period between the moment when the side wall facing the first sensor is the second side wall in the second stage and the moment when the first real-time distance is equal to the second real-time distance as the end time; or it can be any duration in the time period between the moment when the side wall facing the second sensor is the second side wall in the fourth stage and the moment when the first real-time distance is equal to the second real-time distance as the end time. This application is not limited, as long as the technical principle of this application can be realized.

[0067] The present application also provides an automatic pool cleaning device. The automatic pool cleaning device comprises a control unit, a first sensor, a second sensor and a third sensor, wherein the first sensor and the second sensor are arranged on the same side of the automatic pool cleaning device, wherein the first sensor and the second sensor are spaced by a predetermined length along the length direction of the body of the automatic pool cleaning device, and the third sensor is arranged at the front of the automatic pool cleaning device.

[0068] The control unit is used to: control the automatic pool cleaning device to travel on the bottom surface of the pool; detect a first real-time distance between the first sensor and a first side wall of the pool in real time by using the first sensor; detect a second real-time distance between the second sensor and the first side wall in real time by using the second sensor; and control the automatic pool cleaning device to travel on the bottom surface in a direction parallel to the first side wall based on the first real-time distance and the second real-time distance.

[0069] Wherein, the automatic pool cleaning device can execute the control method described in any embodiment.

[0070] It should be understood that the above description of the components and functions of various sensors is merely exemplary and does not constitute a limitation on the various parameters and functions of the above components. Those skilled in the art can select and set the above sensors and their components, parameters and functions according to actual needs, as long as the principles of the present application can be implemented.

[0071] This embodiment discloses a computer storage medium, in which a computer program is stored. When the computer program is executed by a processor, the control method described above is implemented.

[0072] It should be understood that, in this embodiment, the computer storage medium may be located in at least one of the multiple network servers of the computer network. Optionally, in this embodiment, the storage medium may include, but is not limited to, various media that can store program codes, such as a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk, or an optical disk.

[0073] It should be noted that the sequence of the above embodiments of the present application is only for description and does not represent the advantages or disadvantages of the embodiments.

[0074] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples, unless they are contradictory.

[0075] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0076] In the present application, unless otherwise specified, directional words such as "up" and "down" are generally used with reference to the directions shown in the drawings, or with reference to the vertical, perpendicular or gravity direction; similarly, for ease of understanding and description, "left" and "right" are generally used with reference to the left and right shown in the drawings; "inside" and "outside" refer to the inside and outside relative to the outline of each component itself, but the above directional words are not used to limit the present application.

[0077] The above is only an exemplary embodiment of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of various changes or substitutions within the technical scope recorded in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A control method for an automatic pool cleaning device, the automatic pool cleaning device comprising a first sensor and a second sensor, the first sensor and the second sensor being arranged on the same side of the automatic pool cleaning device, wherein: The first sensor and the second sensor are separated by a predetermined length along the length direction of the body of the automatic pool cleaning device, and the control method includes: Controlling the automatic pool cleaning device to travel on the bottom of the pool; Detecting in real time, by the first sensor, a first real-time distance between the first sensor and the side wall it faces; Detecting in real time, by the second sensor, a second real-time distance between the second sensor and the side wall it faces; Based on the first real-time distance and the second real-time distance, controlling the automatic pool cleaning device to move on the bottom surface in a direction parallel to the first side wall; The pool includes a second side wall, the second side wall is adjacent to the first side wall, the automatic pool cleaning device also includes a third sensor, the third sensor is arranged at the head of the automatic pool cleaning device, and during the period of controlling the automatic pool cleaning device to travel on the bottom surface along a direction parallel to the first side wall, the control method also includes: The third sensor detects a third real-time distance between the third sensor and the second side wall in real time by the third sensor. If the third real-time distance is less than a third distance threshold, controlling the automatic pool cleaning device to rotate in a direction from the bottom surface to the second side wall; During the period when the automatic pool cleaning device rotates toward the second side wall, the control method further includes: If at time point t, the first real-time distance is equal to the second real-time distance, then determine the change trend of the first real-time distance and the second real-time distance within a predetermined time period before the time point t, and control the automatic pool cleaning device to travel on the bottom of the pool according to the change trend.

2. The control method according to claim 1, wherein: During the process of controlling the automatic pool cleaning device to move on the bottom surface in a direction parallel to the first side wall, The first real-time distance and the second real-time distance are both less than a first distance threshold; and A difference between the first real-time distance and the second real-time distance is less than a second distance threshold.

3. The method according to claim 1, wherein: The controlling the automatic pool cleaning device to travel on the bottom surface of the pool according to the change trend comprises: If within the predetermined time period, the first real-time distance gradually decreases and the second real-time distance gradually increases, then starting from time point t, the automatic pool cleaning device is controlled to continue rotating toward the second side wall.

4. The method according to claim 1, wherein: The controlling the automatic pool cleaning device to travel on the bottom surface of the pool according to the change trend comprises: If within the predetermined time period, the first real-time distance gradually increases and the second real-time distance gradually decreases, then starting from time point t, the automatic pool cleaning device is controlled to move in a direction parallel to the second side wall.

5. The control method according to claim 2, wherein: The step of controlling the automatic pool cleaning device to move on the bottom surface in a direction parallel to the first side wall comprises: The yaw angle of the automatic pool cleaning device is regulated by PID control.

6. The control method according to claim 5, wherein: The automatic pool cleaning device also includes an inertial measurement unit, and the yaw angle is measured in real time by the inertial measurement unit.

7. An automatic pool cleaning device, comprising a control unit, a first sensor, a second sensor and a third sensor, wherein the first sensor and the second sensor are arranged on the same side of the automatic pool cleaning device, wherein: The first sensor and the second sensor are spaced apart by a predetermined length along the length direction of the body of the automatic pool cleaning device, and the third sensor is disposed at the front of the automatic pool cleaning device. The control unit is used to control the automatic pool cleaning device to travel on the bottom surface of the pool; detect a first real-time distance between the first sensor and a first side wall of the pool in real time through the first sensor; detect a second real-time distance between the second sensor and the first side wall in real time through the second sensor; and control the automatic pool cleaning device to travel on the bottom surface in a direction parallel to the first side wall based on the first real-time distance and the second real-time distance; Wherein, the water pool includes a second side wall, the second side wall is adjacent to the first side wall, the water pool automatic cleaning device also includes a third sensor, the third sensor is arranged at the head of the water pool automatic cleaning device, during the period of controlling the water pool automatic cleaning device to move along the bottom surface in a direction parallel to the first side wall, the control unit is further used to detect a third real-time distance between the third sensor and the second side wall in real time through the third sensor, if the third real-time distance is less than a third distance threshold, then control the water pool automatic cleaning device to rotate in the direction of the second side wall on the bottom surface; During the rotation of the automatic pool cleaning device toward the second side wall, if at time point t, the first real-time distance is equal to the second real-time distance, the control unit is also used to determine the change trend of the first real-time distance and the second real-time distance within a predetermined time period before the time point t, and control the automatic pool cleaning device to travel on the bottom of the pool according to the change trend.

8. A computer storage medium storing a computer program, wherein the computer program, when executed by a processor, implements the method according to any one of claims 1 to 6.

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