Automatic pool cleaning device, control method thereof and computer storage medium

Abstract

The invention provides an automatic pool cleaning device, a control method thereof and a computer storage medium. The control method is used for cleaning a pool, a slope surface is arranged between the pool bottom and the pool wall of the pool, and the control method comprises the steps that the automatic pool cleaning device is controlled to advance from the pool bottom face of the pool to the slope surface; whether the cleaning device reaches the surface of the slope or not is judged in real time; and if the cleaning device reaches the slope surface, controlling the automatic cleaning device for the pool to turn, and advancing along the boundary line of the slope surface and the pool bottom or the boundary line of the slope surface and the pool wall after turning. The automatic cleaning device for the water pool can be adjusted in time when yawing occurs, so that the automatic cleaning device for the water pool can stably move according to a planned path, and the cleaning effect of the cleaning device is effectively improved.

Description

Technical Field

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

[0002] Many swimming pools often have sloped surfaces at the bottom, such as the connection between the bottom and the wall or the depth change area of ​​the bottom. Currently, the automatic pool cleaning device does not perform well along these sloped surfaces, because the different curvatures of the slopes will cause the cleaning device to be unable to move smoothly along the planned path, and may slip sideways, which directly affects the cleaning effect of the pool cleaning robot. Summary of the invention

[0003] In view of the above problems, the present application provides an automatic pool cleaning device and a control method thereof, which are used to solve the technical problem that the automatic pool cleaning device deviates from the track on a slope.

[0004] According to a first aspect of the present application, a control method for an automatic pool cleaning device is provided for cleaning a pool, wherein a sloped surface is provided between the bottom and the wall of the pool, and the method comprises: controlling the automatic pool cleaning device to move toward the sloped surface at the bottom of the pool; determining in real time whether the automatic pool cleaning device has reached the sloped surface; and if the automatic pool cleaning device has reached the sloped surface, controlling the automatic pool cleaning device to turn and, after turning, move along a boundary line between the sloped surface and the bottom of the pool or a boundary line between the sloped surface and the wall of the pool.

[0005] In one example, determining in real time whether the automatic pool cleaning device has reached the sloped surface includes: determining whether the automatic pool cleaning device has reached the sloped surface based on an actual pitch angle or an actual acceleration of the automatic pool cleaning device.

[0006] In one example, controlling the automatic pool cleaning device to turn and move along the boundary line between the slope surface and the pool bottom or the boundary line between the slope surface and the pool wall after turning includes: adjusting the roll angle of the automatic pool cleaning device during movement so that the automatic pool cleaning device moves along the boundary line, wherein the size of the roll angle is related to the positional relationship between the automatic pool cleaning device and the boundary line.

[0007] In one example, the rolling angle of the automatic pool cleaning device is regulated during movement so that the automatic pool cleaning device moves along the boundary line, including: maintaining the value of the rolling angle within a preset angle range or an angle range related to an initial value after turning.

[0008] In one example, regulating the roll angle of the automatic pool cleaning device during the moving process so that the automatic pool cleaning device moves along the boundary line includes regulating the roll angle of the automatic pool cleaning device by PID control.

[0009] In one example, the positional relationship between the cleaning device and the boundary line can be adjusted by adjusting the yaw angle of the automatic pool cleaning device.

[0010] In one example, the automatic pool cleaning device includes driving wheels located on both sides of the automatic pool cleaning device, and the yaw angle can be changed by adjusting the rotation speed difference between the driving wheels on both sides.

[0011] In one example, the automatic pool cleaning device moves along a boundary line between the slope surface and the pool bottom or a boundary line between the slope surface and the pool wall, including at least a portion of the automatic pool cleaning device moving on the slope surface.

[0012] In one example, the automatic pool cleaning device includes an inertial measurement unit (IMU), wherein the actual pitch angle is measured in real time by the inertial measurement unit.

[0013] According to another aspect of the present application, there is also provided an automatic pool cleaning device for cleaning a pool, wherein a sloped surface is provided between the bottom and the wall of the pool, and the automatic pool cleaning device comprises a control unit and a measuring unit, wherein the measuring unit measures in real time an actual pitch angle or an actual acceleration of the automatic pool cleaning device; and the control unit is configured to: control the automatic pool cleaning device to move toward the sloped surface at the bottom of the pool; and determine in real time whether the automatic pool cleaning device has reached the sloped surface, wherein, if the automatic pool cleaning device has reached the sloped surface, the automatic pool cleaning device is controlled to turn, and after turning, move along the boundary line between the sloped surface and the pool bottom or the boundary line between the sloped surface and the pool wall.

[0014] According to another aspect of the present application, a computer storage medium is provided, in which a computer program is stored. The computer program is executed by a processor to implement the control method of the automatic pool cleaning device described in any of the aforementioned embodiments or examples.

[0015] The automatic pool cleaning device and control method provided in the embodiments of the present application control the automatic pool cleaning device to move along the boundary line between the pool bottom and the slope surface or between the slope surface and the pool wall, and make timely adjustments when yaw occurs, so that the automatic pool cleaning device can move smoothly according to the planned path, thereby effectively improving the cleaning effect of the slope position.

[0016] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation method of the present application is given below. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] By reading the detailed description of the preferred embodiment below, various other advantages and benefits will become clear to those of ordinary skill in the art. The accompanying drawings are only used for the purpose of illustrating the preferred embodiment and are not considered to be limitations of the present application. In addition, the same reference symbols are used to represent the same components throughout the accompanying drawings.

[0018] Figure 1 is a flow chart of a control method of an automatic pool cleaning device according to at least one embodiment of the present application;

[0019] Figure 2 is a schematic diagram of an automatic pool cleaning device according to at least one embodiment of the present application when located at the bottom of a pool;

[0020] Figure 3 is a schematic diagram of the initial position of the automatic pool cleaning device according to at least one embodiment of the present application when it moves to the slope surface of the pool;

[0021] Figure 4 is a schematic diagram of the pitch angle when the automatic pool cleaning device according to at least one embodiment of the present application moves to the initial position on the slope surface of the pool;

[0022] Figure 5 is a schematic diagram of the position of the automatic pool cleaning device after it moves to the slope surface of the pool and turns according to at least one embodiment of the present application;

[0023] Figure 6 is a schematic diagram of the rolling angle of the automatic pool cleaning device after it moves to the slope surface of the pool and turns according to at least one embodiment of the present application;

[0024] Figure 7 is a schematic diagram of an automatic pool cleaning device according to at least one embodiment of the present application moving to a sloped surface of a pool and turning and then deviating from the path;

[0025] Figure 8 is a schematic diagram of the yaw angle of the automatic pool cleaning device according to at least one embodiment of the present application when it moves to the slope surface of the pool and deviates from the path after turning;

[0026] Fig. 9 is a structural schematic diagram of an automatic pool cleaning device according to at least one embodiment of the present application;

[0027] Fig.10It is a structural schematic diagram of an automatic pool cleaning device according to at least one embodiment of the present application. DETAILED DESCRIPTION

[0028] The exemplary embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present application and to enable the scope of the present application to be fully communicated to those skilled in the art. In addition, in the following description, the description of known structures and technologies is omitted to avoid unnecessary confusion of the concepts of the present application.

[0029] Various structural schematic diagrams according to embodiments of the present application are shown in the accompanying drawings. These figures are not drawn to scale, and some details are magnified and some details may be omitted for the purpose of clear expression. The shapes of various regions and layers shown in the figures and the relative sizes and positional relationships therebetween are only exemplary, and may deviate in practice due to manufacturing tolerances or technical limitations, and those skilled in the art may further design regions / layers with different shapes, sizes, and relative positions according to actual needs.

[0030] The present application provides a control method for an automatic pool cleaning device. The automatic pool cleaning device can be mobile and clean in a pool-shaped building, and the pool-shaped building can be, for example, a swimming pool, a water storage pool, a hydrotherapy pool, a water storage tank, a water storage tank, etc. 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.

[0031] Fig.10 Schematic diagram of the structure of an automatic pool cleaning device according to at least one embodiment of the present application. Fig.10 , the automatic pool cleaning device 500 may include a head 510, a tail 520, a left side 530 and a right side 540. In order to describe the position of each point inside the automatic pool cleaning device 500 and the motion state of the automatic pool cleaning device 500 relative to its own coordinate system, Fig.10 The coordinate system of the automatic pool cleaning device 500 itself is shown to facilitate the combination with subsequent embodiments, and to describe the position and motion state of the automatic pool cleaning device 500 at different times.

[0032] The object's own coordinate system is a three-dimensional orthogonal rectangular coordinate system fixed on the object. It refers to a coordinate system established with the object itself as the reference point. This coordinate system is fixed relative to the object itself. Fig.10, in the self-coordinate system of the automatic pool cleaning device 500, the origin is located at the mass center O of the automatic pool cleaning device 500. The X-axis is located in the reference plane of the automatic pool cleaning device 500, parallel to the axis of the automatic pool cleaning device 500 and pointing to the front of the automatic pool cleaning device 500 (towards the head 510). The Y-axis is perpendicular to the reference plane of the automatic pool cleaning device 500 and points to the right of the automatic pool cleaning device 500 (towards the right side 540). The Z-axis is located in the reference plane and perpendicular to the XOY plane, pointing to the top of the automatic pool cleaning device 500.

[0033] also, Fig.10 The definition of the pitch angle, roll angle and yaw angle of the automatic pool cleaning device 500 in the embodiment of the present application is also shown. Fig.10 The pitch angle of the automatic pool cleaning device 500 is the angle formed by rotating along the Y axis; the roll angle is the angle formed by rotating along the X axis; and the yaw angle is the angle formed by rotating along the Z axis. These angles will be further described in conjunction with specific embodiments later.

[0034] Figure 1 is a flow chart of a control method of an automatic pool cleaning device according to at least one embodiment of the present application; Figure 2 Schematic diagram of an automatic pool cleaning device according to at least one embodiment of the present application when located at the bottom of a pool. Figure 1 and Figure 2 The present invention introduces a control method of an automatic pool cleaning device provided in an embodiment of the present application.

[0035] See also Figure 2 The pool includes a pool bottom 100 and a pool wall 200, which may include one pool wall or multiple pool walls depending on the shape of the pool. For example, the pool wall of a circular pool is a circular pool wall or an arc-shaped pool wall, and a rectangular pool or a square swimming pool includes four pool walls, each of which has a rectangular surface. A semicircular pool includes a semicircular pool wall and a rectangular pool wall, etc. The following only describes the present application by taking a pool bottom and a rectangular pool wall as an example. However, the present application is not limited to this, and those skilled in the art can also obtain technical solutions for multiple pool walls of other shapes based on this example.

[0036] The pool in the embodiment of the present application also includes a sloped surface. For example, there may be a sloped surface between the pool bottom and the pool wall, a transition area between different water depths of the pool bottom may also have a sloped surface, and a transition area between different areas of the pool wall may also have a sloped surface. The following description only takes the sloped surface between the pool bottom and the pool wall as an example, and the sloped surfaces of other areas may refer to this example. Figure 2There is a slope surface 300 between the pool bottom 100 and the pool wall 200, and a boundary line 110 is formed at the junction of the pool bottom 100 and the slope surface 300; and a boundary line 120 is formed at the junction of the pool wall 200 and the slope surface 300. It should be noted that: Figure 2 The automatic pool cleaning device 500 and Fig.10 The automatic pool cleaning device 500 is the same as that of FIG. 1 , and is only used to clearly describe the positional relationship between the automatic pool cleaning device 500 and the pool bottom 100, the pool wall 200 and the slope surface 300. Figure 2 In the figure, only a top view of the automatic pool cleaning device 500 is shown. The automatic pool cleaning device 500 may be initially located at the pool bottom 100, and after being turned on, it may move forward in the direction of the head 510, pass through the boundary 110 between the pool bottom 100 and the slope surface 300, and move to the slope surface 300, and may further move forward from the slope surface, pass through the boundary 120 between the pool wall 200 and the slope surface 300, and reach the pool wall 200.

[0037] See also Figure 1 , the control method of the automatic pool cleaning device may include steps S101-S104. In step S101, the automatic pool cleaning device is controlled to move toward the slope surface on the bottom of the pool; in step S102, it is determined in real time whether the automatic pool cleaning device has reached the slope surface; in step S103, if the cleaning device has reached the slope surface, the automatic pool cleaning device is controlled to turn; in step S104, the automatic pool cleaning device is controlled to move along the boundary line between the slope surface and the pool bottom or the boundary line between the slope surface and the pool wall after turning.

[0038] The specific processes of the above steps S101-S104 are introduced below.

[0039] In step S101, the automatic pool cleaning device is controlled to move toward the sloped surface at the bottom of the pool.

[0040] like Figure 2 As shown, the automatic pool cleaning device 500 is located at an initial position S of the pool bottom 100, and the initial position S is located on the bottom surface of the pool bottom. The initial position may be, for example, the initial position of the automatic pool cleaning device 500 starting the cleaning operation from the bottom surface of the pool. The initial position may also be the position where the automatic pool cleaning device 500 contacts the bottom surface of the pool when it just falls into the water after being started. The initial position may also be the position of the automatic pool cleaning device 500 selecting a suitable cleaning operation after moving underwater. The above description of the initial position is exemplary.

[0041] The automatic pool cleaning device 500 located at the initial position is controlled to move from the pool bottom 100 to the direction of the slope surface 300 .

[0042] The automatic pool cleaning device 500 may be equipped with a plurality of sensors, which may be installed, for example, on the head 510, the tail 520, or the two side portions 530, 540 of the automatic pool cleaning device 500, or may be installed above or below the automatic pool cleaning device 500, for detecting environmental information, obstacle information, etc. in different directions. The sensor may include one or more of various types such as a single-point ultrasonic sensor, a phased array ultrasonic sensor, a gyroscope, an accelerometer, an inertial measurement unit (IMU), a camera, a single-photon imaging sensor DTOF, an infrared sensor, and a radar. These sensors can help the automatic pool cleaning device 500 determine the direction, so as to move from the initial position S toward the slope surface 300.

[0043] In step S102, it is determined in real time whether the automatic pool cleaning device reaches the slope surface.

[0044] Figure 3 is a schematic diagram of the initial position of the automatic pool cleaning device according to at least one embodiment of the present application when it moves to the slope surface of the pool; Figure 4 Schematic diagram of the pitch angle when the automatic pool cleaning device according to at least one embodiment of the present application moves to the initial position on the slope surface of the pool. Figure 3 and Figure 4 Introduce step S102.

[0045] During the movement of the automatic pool cleaning device 500 from the pool bottom 100 toward the sloped surface 300 , the sensor installed on the automatic pool cleaning device 500 can detect the position and posture of the automatic pool cleaning device 500 in real time, and determine whether the automatic pool cleaning device 500 has reached the sloped surface 300 .

[0046] See also Figure 3 When at least a portion of the automatic pool cleaning device 500 is located above the slope surface, it can be determined that the automatic pool cleaning device has reached the slope surface. For example, the head 510 exceeds the boundary 110 between the pool bottom 100 and the slope surface 300, and for another example, the head 510 of the automatic pool cleaning device 500 at least partially contacts the slope surface 300. At this time, there is an angle between the X-axis of the coordinate system of the automatic pool cleaning device 500 itself and the plane (for example, a horizontal plane) where the pool bottom 100 is located. It can be determined whether the automatic pool cleaning device 500 has reached the slope surface 300 based on the angle, and it can also be determined at which position of the slope surface 300 the automatic pool cleaning device 500 has reached based on the angle.

[0047] In an embodiment of the present application, the automatic pool cleaning device reaching the sloped surface may include: the automatic pool cleaning device reaching a predetermined position on the sloped surface, for example, the head 510 reaches the boundary 110 between the pool bottom 100 and the sloped surface 300, or the head 510 crosses the boundary 110 by a preset distance, or one-third or half of the body of the automatic pool cleaning device 500 crosses the boundary 110, or the head 510 reaches the boundary 210 between the pool wall 200 and the sloped surface 300, or the head 510 crosses the boundary 210 between the pool wall 200 and the sloped surface 300 by a preset distance, or one-third or half of the body of the automatic pool cleaning device 500 crosses the boundary 210 between the pool wall 200 and the sloped surface 300, and the like. The present application does not limit this.

[0048] Figure 4 Schematic diagram of the initial position pitch angle of the automatic pool cleaning device when it moves to the slope surface of the pool according to at least one embodiment of the present application. Figure 4 In the figure, the left side 530 of the automatic pool cleaning device 500 is seen from the front. Figure 4 The automatic pool cleaning device 500 shown in FIG. Figure 4 In one example, the actual pitch angle of the automatic pool cleaning device 500 may be based on Figure 4 The angle P in the figure is used to determine whether the automatic pool cleaning device 500 has reached the slope surface 300. The pitch angle can be called a Pitch angle, which is a parameter that can represent the degree of inclination of an object relative to a horizontal plane. Fig.10 The pitch angle of the automatic pool cleaning device 500 is the angle formed by rotating along the Y axis. Figure 4 , the pitch angle P is also the angle between the X-axis of the coordinate system of the automatic pool cleaning device 500 and the horizontal plane H. The X-axis is located in the reference plane of the automatic pool cleaning device 500, parallel to the axis of the automatic pool cleaning device 500 and pointing to the front of the automatic pool cleaning device 500. The pitch angle P can be calculated by measuring the vertical distance from a point on the automatic pool cleaning device 500 to the horizontal plane H and the horizontal distance from the point to the rotation axis X-axis, and using the tangent function in the trigonometric function. When the calculated value of the pitch angle P is greater than the preset pitch angle threshold, for example, greater than 0 degrees, or greater than 3 degrees, it can be determined that the automatic pool cleaning device 500 has reached the slope surface 300.

[0049] In one example, the pitch angle can be determined based on a sensor installed on the automatic pool cleaning device 500, for example, by a gyroscope, accelerometer, three-axis magnetometer or inertial measurement unit (IMU) installed on the automatic pool cleaning device 500. The above sensors can provide motion information of an object in three-dimensional space, and the pitch angle can be calculated with higher accuracy through the fusion processing of this information. Among them, the inertial measurement unit IMU is a device that integrates multiple sensors and can be used to measure and monitor the linear acceleration and angular velocity of the automatic pool cleaning device 500. The inertial measurement unit can be a device that can measure three-dimensional linear motion and angular motion without external reference, that is, based on the coordinate system of the automatic pool cleaning device 500 itself, the three-axis attitude angle (or angular rate) and acceleration of the automatic pool cleaning device 500 are measured. The inertial measurement unit may include a three-axis accelerometer, a three-axis gyroscope, and may also include a three-axis magnetometer. The accelerometer can be used to measure the linear acceleration of the automatic pool cleaning device 500, and the velocity and displacement can be obtained by integrating the acceleration. The gyroscope can be used to measure the angular velocity of the automatic pool cleaning device 500, and the angle can be obtained by integrating the angular velocity. The three-axis magnetometer can be used to measure the direction of the earth's magnetic field to help determine the direction of the automatic pool cleaning device 500. These sensors can assist in detecting the movement of the automatic pool cleaning device 500 and provide accurate posture information of the automatic pool cleaning device 500.

[0050] In one example, the pitch angle of the automatic pool cleaning device 500 may be calculated using an inertial measurement unit (IMU). Of course, the yaw angle and roll angle of the automatic pool cleaning device 500 may also be calculated using the inertial measurement unit (IMU).

[0051] The pitch angle of the automatic pool cleaning device 500 refers to the angle of rotation of the automatic pool cleaning device 500 around the Y axis of its own coordinate system. For example, in an inertial measurement unit IMU, the pitch angle (Pitch) can be calculated using the data of an accelerometer. The specific calculation formula is:

[0052]

[0053] Among them, a x ,a y ,a z are the acceleration values ​​of the accelerometer on the X, Y, and Z axes respectively, and atan2 is the inverse tangent function, which is used to calculate the angle.

[0054] The roll angle refers to the angle at which the automatic pool cleaning device 500 rotates around the X-axis of its own coordinate system. In an inertial sensor, the roll angle (Roll) can be calculated using the data from an accelerometer. The specific calculation formula is:

[0055]

[0056] where a x ,a y ,a z They are the acceleration values ​​of the accelerometer on the X, Y, and Z axes respectively.

[0057] The yaw angle refers to the angle at which the automatic pool cleaning device 500 rotates around the Z axis of its own coordinate system, and can be calculated using the data of the magnetometer in the inertial measurement unit IMU. The specific calculation formula is:

[0058]

[0059] Among them, m x ,m y It is the magnetic field strength value of the magnetometer on the X and Y axes.

[0060] The above calculation method is only exemplary and provides a basic attitude solution method. By combining the data of the accelerometer, magnetometer and gyroscope, the angle of the automatic pool cleaning device 500 after rotation around its three axes and the attitude in three-dimensional space can be more accurately determined. It should be noted that the above calculations are all based on the alignment of the sensor's own coordinate system of the automatic pool cleaning device 500 with the geographic coordinate system. If they are not aligned, the coordinate system can be converted before calculation.

[0061] In another example, it is also possible to determine whether the automatic pool cleaning device 500 reaches the slope surface based on the actual acceleration of the automatic pool cleaning device. The automatic pool cleaning device 500 is affected by the slope, its own mass, friction, gravity component and driving force when climbing, so its acceleration may change. For example, when the automatic pool cleaning device 500 climbs up the slope, gravity will have a component down the slope, which will hinder the movement of the automatic pool cleaning device 500, causing the automatic pool cleaning device 500 to need additional force to overcome this gravity component, resulting in a decrease in the actual acceleration of the automatic pool cleaning device. In addition, the friction force of the slope surface 300 will also hinder the movement of the automatic pool cleaning device 500 along the slope, and its size depends on the friction coefficient between the automatic pool cleaning device 500 and the slope surface 300 and the positive pressure of the automatic pool cleaning device 500 perpendicular to the slope. As the automatic pool cleaning device 500 climbs toward the slope surface 300, the pitch angle P will change, affecting the gravity component and friction, thereby affecting the acceleration. Therefore, the actual acceleration of the automatic pool cleaning device 500 can be calculated to determine whether the automatic pool cleaning device 500 has reached the slope surface 300. For example, after the automatic pool cleaning device starts to move for a period of time, if its actual acceleration is less than a preset acceleration threshold, it can be determined that the automatic pool cleaning device has reached the slope surface. Alternatively, the actual acceleration value of the automatic pool cleaning device can be combined with the pitch angle of the automatic pool cleaning device to determine whether the automatic pool cleaning device has reached the slope surface, so that the judgment result is more accurate.

[0062] The above describes an example of how to determine in real time whether the automatic pool cleaning device has reached the slope surface. However, the present application is not limited to this. Those skilled in the art can choose other methods to determine in real time whether the automatic pool cleaning device has reached the slope surface according to actual needs.

[0063] In step S103, if the automatic pool cleaning device has reached the slope surface, the automatic pool cleaning device is controlled to turn.

[0064] A rectangular pool generally includes a plurality of pool walls, such as a first pool wall and an adjacent second pool wall. There is a corner between the first pool wall and the second pool wall. When the automatic pool cleaning device moves along the first pool wall to the pool corner position where the first pool wall and the second pool wall meet, it is necessary to turn and continue cleaning or map construction along the extension direction of the second pool wall. When both the first pool wall and the second pool wall have a slope surface, when the automatic pool cleaning device moves from the first pool wall to the pool corner adjacent to the second pool wall, the automatic pool cleaning device can be controlled to turn and move along the extension direction of the second pool wall after the automatic pool cleaning device reaches the slope surface of the second pool wall.

[0065] When it has been determined in step S102 that the automatic pool cleaning device has reached the slope surface, in step S103, the driving device (such as an engine and a processor, etc.) in the automatic pool cleaning device can control the steering of the automatic pool cleaning device by controlling the bottom moving parts (such as driving wheels and tracks) of the automatic pool cleaning device.

[0066] In one example, if the automatic pool cleaning device reaches the slope surface 300, for example, reaches the boundary line 110 between the pool bottom 100 and the slope surface 300, or crosses the preset distance of the boundary line 110 between the pool bottom 100 and the slope surface 300, or one-third, half, or two-thirds of the body of the automatic pool cleaning device 500 crosses the boundary line 110 between the pool bottom 100 and the slope surface 300, the automatic pool cleaning device is controlled to turn. Thus, the automatic pool cleaning device can move along the boundary line 110 between the pool bottom and the slope surface to clean the area near the boundary line 110.

[0067] In another example, if the automatic pool cleaning device reaches the boundary line 210 between the pool wall 200 and the slope surface 300, or crosses the preset distance between the boundary line 210 between the pool wall 200 and the slope surface 300, or one-third, half, or two-thirds of the body of the automatic pool cleaning device 500 crosses the boundary line 210 between the pool wall 200 and the slope surface 300, the automatic pool cleaning device is controlled to turn. Thus, the automatic pool cleaning device can move along the boundary line 210 between the pool wall and the slope surface to clean the area near the boundary line 210.

[0068] The bottom moving part of the automatic pool cleaning device may include four drive wheels and may also include two tracks. The automatic pool cleaning device may be controlled to turn by controlling at least one of the four drive wheels. In one example, each side of the automatic pool cleaning device includes two drive wheels, and the four drive wheels are powered, and the rotation speed and direction of the four drive wheels can be controlled to control the automatic pool cleaning device to turn. In another example, one of the two drive wheels provides power, and the other drive wheel does not provide power, but is passively rotated, and the rotation speed of the two drive wheels and the direction of the four drive wheels can be controlled to control the automatic pool cleaning device to turn. In one example, the two drive wheels on each side can be connected by a track system. The track system may include, for example, a track sprocket, a track shoe, a drive wheel, a track roller and a guide wheel. The gear of the track sprocket is connected to the hinge of the chain, and when the sprocket rotates, the chain will also move. The track shoe is a series of metal sheets connected to the track sprocket, and the track shoe is contacted with the ground by a roller to achieve walking. The track roller is located between the driving wheel and the track sprocket to keep the track shoe stable and ensure that the track shoe remains in contact with the ground. The guide wheel is located on the other side of the track sprocket to control the direction of the track so that it can turn smoothly.

[0069] Figure 5 Schematic diagram of the position of the automatic pool cleaning device after it moves to the slope surface of the pool and turns according to at least one embodiment of the present application. Figure 5 , the automatic pool cleaning device moves to the slope surface of the pool and turns, relative to Figure 3 The initial position of the automatic pool cleaning device when it moves to the sloped surface of the pool is approximately rotated 90 degrees clockwise, and the line connecting the head 510 and the tail 520, that is, the forward direction of the automatic pool cleaning device 500 is roughly parallel to the extension direction of the boundary line 110 between the sloped surface 300 and the pool bottom 100.

[0070] In one example, it is possible to determine whether the automatic pool cleaning device 500 has successfully turned by determining whether the pitch angle of the automatic pool cleaning device 500 is within a predetermined pitch angle threshold range. For example, the predetermined pitch angle threshold range can be set to 0-5 degrees. When the slope of the slope surface 300 is approximately constant, if the automatic pool cleaning device 500 has successfully turned, the distances between the head and the tail and the horizontal plane are substantially equal. In other words, the angle formed by the automatic pool cleaning device 500 rotating along the Y axis of its own coordinate system is close to 0 degrees, and the angle between the X axis of its own coordinate system and the horizontal plane H is close to 0. Therefore, it is possible to determine whether the automatic pool cleaning device 500 has successfully turned by determining whether the pitch angle of the automatic pool cleaning device 500 is close to 0 degrees.

[0071] In step S104, the automatic pool cleaning device is controlled to move along the boundary line between the slope surface and the pool bottom or the boundary line between the slope surface and the pool wall after turning.

[0072] In order to enable the automatic pool cleaning device to construct a map along the side of the pool or to clean along the side of the pool, after the automatic pool cleaning device turns, it can move along the boundary line between the slope surface and the pool bottom or the boundary line between the slope surface and the pool wall. This ensures that the route of the automatic pool cleaning device does not deviate from the predetermined route and moves smoothly along the planned path.

[0073] In one example, when the automatic pool cleaning device moves along the boundary line between the slope surface and the pool bottom or the boundary line between the slope surface and the pool wall, at least a portion of the automatic pool cleaning device moves on the slope surface, and another portion is on the pool bottom or the pool wall, for example, see Figure 5, the left driving wheel of the automatic pool cleaning device is located on the slope surface 300, and the right driving wheel is located on the pool bottom 100. Alternatively, when the automatic pool cleaning device moves along the boundary line between the slope surface 300 and the pool wall 200, the left driving wheel of the automatic pool cleaning device 500 is located on the pool wall 200, and the right driving wheel is located on the slope surface 300, so that the automatic pool cleaning device moves along the boundary line 110 between the pool bottom 100 and the slope surface 300, or, moves along the boundary line 210 between the slope surface 300 and the pool wall 200.

[0074] The following description will only be made by taking the automatic pool cleaning device turning and moving along the intersection line 110 between the slope surface 300 and the pool bottom 100 as an example. For the implementation of controlling the automatic pool cleaning device to move along the intersection line 210 between the slope surface 300 and the pool wall 200 after turning, reference can be made to the embodiment or example of moving along the intersection line 110 between the slope surface 300 and the pool bottom 100.

[0075] Figure 6 is a schematic diagram of the rolling angle of the automatic pool cleaning device after it moves to the slope surface of the pool and turns according to at least one embodiment of the present application. Figure 6 In the figure, the automatic pool cleaning device 500 has turned, and the rear side 540 of the automatic pool cleaning device 500 is seen from the front, that is, the rear side 540 of the automatic pool cleaning device 500 is seen from the front. Figure 6 The automatic pool cleaning device 500 is a rear view thereof.

[0076] See also Figure 6 Since one side of the automatic pool cleaning device 500 contacts the pool bottom 100 and the other side contacts the slope surface 300, and since the slope surface has a certain slope relative to the pool bottom, the rolling angle of the automatic pool cleaning device 500 is not 0. Fig.10 The roll angle of the automatic pool cleaning device 500 is the angle formed by the rotation along the X-axis. Figure 6 The roll angle R is also the angle between the Y axis of the automatic pool cleaning device 500's own coordinate system (the Y axis is perpendicular to the reference plane of the automatic pool cleaning device 500 and points to the right of the automatic pool cleaning device 500) and the horizontal plane H.

[0077] In one example, in order to control the automatic pool cleaning device to move along the boundary line between the slope surface and the bottom of the pool after turning, the roll angle of the automatic pool cleaning device can be adjusted during its movement so that the automatic pool cleaning device moves along the boundary line between the slope surface and the bottom of the pool. Here, the size of the roll angle is related to the positional relationship between the automatic pool cleaning device and the boundary line. For example, when the slope of the slope surface is basically unchanged, when the automatic pool cleaning device 500 continues to move along the boundary line 110, the roll angle remains unchanged or remains basically unchanged. For example, when the slope surface has a certain slope change, when the automatic pool cleaning device 500 continues to move along the boundary line 110, the roll angle can also be maintained within a certain angle range. If the moving direction of the automatic pool cleaning device 500 deviates from the boundary line 110, it means that the position of the automatic pool cleaning device on the slope surface 300 changes, that is, the rotation angle along the X-axis of its own coordinate system changes, so the roll angle changes greatly. The automatic pool cleaning device can be moved along the boundary line 110 by adjusting the rolling angle of the automatic pool cleaning device in real time.

[0078] In one example, the roll angle can be calculated using a variety of sensor data, for example, using an inertial measurement unit (IMU) on the automatic pool cleaning device 500 to measure the roll angle. For example, the acceleration of the automatic pool cleaning device 500 relative to gravity can be measured by a three-axis accelerometer on the inertial measurement unit, thereby inferring the tilt state of the object. Alternatively, a gyroscope is used to measure the angular velocity of the automatic pool cleaning device 500 around the axis, and the angular displacement of the object, i.e., the roll angle, can be obtained by integration. Alternatively, by using a magnetometer to measure the direction of the earth's magnetic field, the orientation of the automatic pool cleaning device 500 relative to the north direction can be assisted in calculating the roll angle. Visual sensors can also be used to capture images through a camera, and computer vision technology can be used to estimate the posture of an object, such as the size of the roll angle.

[0079] In one example, the roll angle of the automatic pool cleaning device may be adjusted to maintain the roll angle within a preset angle range so that the automatic pool cleaning device moves along the boundary line. Figure 7 is a schematic diagram of an automatic pool cleaning device according to at least one embodiment of the present application moving to the sloped surface of the pool and turning and then deviating from the path. Figure 7, when the automatic pool cleaning device moves to the sloped surface of the pool and deviates from the path after turning, it cannot move along the boundary line 110 between the pool bottom 100 and the sloped surface 300. And its roll angle will change. At this time, the roll angle can be adjusted to a preset angle range, so as to control the automatic pool cleaning device to move along the boundary line. For example, first determine the standard roll angle R when the automatic pool cleaning device 500 moves along the boundary line 110 between the pool bottom 100 and the sloped surface 300, and then set a preset angle range of the roll angle, for example, within a range of 3 degrees or 5 degrees from the R angle. The roll angle of the automatic pool cleaning device is detected in real time, and when its actual roll angle deviates by more than 3 degrees or more than 5 degrees, the roll angle is adjusted to the angle of the standard roll angle.

[0080] In one example, the standard roll angle can be set to an angle range related to the initial roll angle after the automatic pool cleaning device 500 turns, so that the automatic pool cleaning device moves along the boundary line. After determining that the automatic pool cleaning device has turned, the value of the roll angle of the automatic pool cleaning device at this time can be recorded as the value of the initial roll angle. When the automatic pool cleaning device is subsequently controlled to move along the boundary line 110 between the pool bottom 100 and the slope surface 300, if the current roll angle deviates from the preset angle of the initial roll angle, for example, greater than 3 degrees or greater than 5 degrees, the current roll angle is adjusted to the value of the initial roll angle, so that the value of the roll angle can be ensured to remain consistent, and the automatic pool cleaning device 500 can be ensured to move along the boundary line 110.

[0081] In one example, the roll angle of the automatic pool cleaning device can be regulated by PID control during the process of traveling so that the automatic pool cleaning device travels along the boundary line. For example, a standard roll angle value can be set as the target roll angle value. The target roll angle can be preset, for example, the initial roll angle after the automatic pool cleaning device turns can be used as the target roll angle, or the standard roll angle when the automatic pool cleaning device travels along the boundary line can be used as the target roll angle. The actual roll angle of the automatic pool cleaning device is measured in real time or at predetermined time intervals, and the difference between the measured actual roll angle and the target roll angle is calculated as a proportional term parameter. The proportional term parameter can be calculated using the following formula, error = target_roll l l-roll l_1, where error represents the proportional term parameter, that is, the error value; target_roll ll represents the target roll angle, and roll l_1 represents the actual roll angle. Afterwards, the integral term parameter and the differential term parameter can be calculated based on the proportional term parameter. In integral control, according to the accumulated amount of the aforementioned error value, the control output is corrected to eliminate the steady-state error. For example, the previously obtained deviations can be accumulated and multiplied by the time variable for integration. The integral can be calculated using the following formula: integra l = error * dt. Integral represents the integral term parameter, and error * dt represents the accumulation of the integral term. In differential control, the control output is adjusted according to the rate of change of the error value to reduce the rate of change of the deviation and improve the stability of the system. For example, the differential is calculated using the following calculation formula: derivative = (error-previousError) / dt, integral represents the differential term parameter, and (error-previousError) / dt represents the change in error.

[0082] After calculating the above-mentioned proportional term parameters, integral term parameters and differential term parameters, the moving speed of the automatic pool cleaning device can be adjusted according to the proportional term parameters, integral term parameters and differential term parameters. For example, the proportional gain Kp, the integral gain Ki and the differential gain Kd are set respectively, and the output value of the PID control output = Kp × proportional term parameter + Ki × integral term parameter + Kd × differential term parameter can be calculated according to the following formula. The moving speed of the automatic pool cleaning device is controlled according to the output value output. For example, the rotation speed of the four driving wheels of the automatic pool cleaning device or the rotation speed of some of the four driving wheels can be controlled based on the output value calculated by the formula, and the roll angle of the automatic pool cleaning device is adjusted to maintain the above-mentioned target roll angle.

[0083] In one example, the positional relationship between the automatic pool cleaning device and the boundary line can also be adjusted by adjusting the roll angle and yaw angle of the automatic pool cleaning device. In another example, the positional relationship between the automatic pool cleaning device and the boundary line can also be adjusted by adjusting the yaw angle of the automatic pool cleaning device. Fig.10 The yaw angle of the automatic pool cleaning device 500 is the angle formed by rotating along the Z axis. The Z axis is located in the reference plane and is perpendicular to the XOY plane, pointing to the top of the automatic pool cleaning device 500.

[0084] Figure 7 is a schematic diagram of an automatic pool cleaning device according to at least one embodiment of the present application moving to the sloped surface of the pool and turning and then deviating from the path. Figure 7 When the automatic pool cleaning device moves to the sloped surface of the pool and deviates from the path after turning, it cannot move along the boundary line 110 between the pool bottom 100 and the sloped surface 300. In addition, its yaw angle will change.

[0085] If the yaw angle is greater than the preset yaw angle threshold, it means that the automatic pool cleaning device has yawed and is not moving along the normal trajectory. At this time, the yaw angle can be adjusted, for example, the yaw angle can be adjusted to 0 or approximately 0, so as to prevent the automatic pool cleaning device from deviating from the predetermined trajectory.

[0086] Figure 8 FIG. 1 is a schematic diagram of the yaw angle of the automatic pool cleaning device according to at least one embodiment of the present application when the automatic pool cleaning device moves to the slope surface of the pool and deviates from the path after turning. Figure 8 The yaw angle Y can be determined by the X-axis direction of the automatic pool cleaning device 500 itself (the X-axis is parallel to the axis of the automatic pool cleaning device 500 and points to the front of the automatic pool cleaning device 500) and the reference direction (for example Figure 8 It is calculated by the angle between the north direction and the south direction.

[0087] In one example, the automatic pool cleaning device includes drive wheels located on both sides of the automatic pool cleaning device, and the yaw angle is adjusted by adjusting the speed difference between the drive wheels on both sides. For example, if the head 510 of the automatic pool cleaning device deviates to the left side of the dividing line 110, the speed of the left drive wheel (e.g., the left front wheel, the left rear wheel) can be increased, the speed of the right drive wheel (e.g., the right front wheel, the right rear wheel) can be reduced, or the speed of the right drive wheel can be kept unchanged, so that the head 510 of the automatic pool cleaning device deflects to the right, so that the yaw angle is reduced. Conversely, if the head 510 of the automatic pool cleaning device deviates to the right side of the dividing line 110, the speed of the right drive wheel can be increased, the speed of the left drive wheel can be reduced, or the speed of the left drive wheel can be kept unchanged, so that the head 510 of the automatic pool cleaning device deflects to the left, so that the yaw angle is reduced.

[0088] The control method of the automatic pool cleaning device of the present application can control the automatic pool cleaning device to turn at the corner of the pool, and after turning, move along the boundary line between the slope surface and the pool bottom or pool wall, effectively solving the problem of the automatic pool cleaning device deviating from the track at the slope position, and improving the cleaning effect of the automatic pool cleaning device.

[0089] Fig. 9 is a schematic diagram of a structure of an automatic pool cleaning device according to at least one embodiment of the present application. Fig. 9 According to another embodiment of the present application, there is also provided an automatic pool cleaning device 900 for cleaning a pool, wherein a sloped surface is provided between the bottom and the wall of the pool, and the automatic pool cleaning device comprises a measuring unit 910 and a control unit 920, wherein the measuring unit 910 measures in real time an actual pitch angle or an actual acceleration of the automatic pool cleaning device; and the control unit 920 is configured to control the automatic pool cleaning device to move on the sloped surface facing the bottom of the pool; and to determine in real time whether the automatic pool cleaning device has reached the sloped surface, wherein, if the automatic pool cleaning device has reached the sloped surface, the automatic pool cleaning device is controlled to turn, and after turning, the automatic pool cleaning device moves along a boundary line between the sloped surface and the bottom of the pool or a boundary line between the sloped surface and the wall of the pool.

[0090] The functions and structures of the measuring unit 910 and the control unit 920 in the automatic pool cleaning device 900, and how to realize automatic pool cleaning, can refer to the examples and embodiments in the control method of the automatic pool cleaning device described above, which will not be described in detail here.

[0091] The automatic pool cleaning device 900 of the present application can turn on a sloped surface and move along the boundary line between the sloped surface and the pool bottom or wall after turning, which effectively solves the problem of the automatic pool cleaning device deviating from the track at a sloped position and improves the cleaning effect of the automatic pool cleaning device.

[0092] According to another aspect of the present application, a computer storage medium is provided, in which a computer program is stored. When the computer program is processed, the control method of the automatic pool cleaning device in any of the aforementioned embodiments or examples is executed.

[0093] It should be understood that the above description of the components of the automatic pool cleaning device 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 sensor module and its components, parameters, and functions according to actual needs, as long as the principles of the present application can be implemented.

[0094] The algorithm and description provided herein are not inherently related to any particular computer, virtual system or other device. Various general purpose systems can also be used together with the teachings based on this. According to the above description, it is obvious to construct the structure required for this type of system. In addition, the application is not directed to any specific programming language either. It should be understood that various programming languages ​​can be utilized to realize the content of the application described herein, and the description made to specific languages ​​above is for the purpose of disclosing the best mode of implementation of the application.

[0095] In the description provided herein, a large number of specific details are described. However, it is understood that the embodiments of the present application can be practiced without these specific details. In some instances, well-known methods, structures and techniques are not shown in detail so as not to obscure the understanding of this description.

[0096] Similarly, it should be understood that in order to streamline the present application and help understand one or more of the various aspects of the application, in the above description of exemplary embodiments of the present application, the various features of the present application are sometimes grouped together into a single embodiment, figure, or description thereof.

[0097] Those skilled in the art will appreciate that the modules in the device in the embodiment can be adaptively changed and arranged in one or more devices different from the embodiment. The modules or units or components in the embodiment can be combined into one module or unit or component, and in addition they can be divided into multiple submodules or subunits or subcomponents. Except that at least some of such features and / or processes or units are mutually exclusive, all features disclosed in this specification (including abstracts and drawings) and all processes or units of any method or device disclosed in this manner can be combined in any combination. Unless otherwise explicitly stated, each feature disclosed in this specification (including accompanying abstracts and drawings) can be replaced by alternative features that provide the same, equivalent or similar purposes.

[0098] Furthermore, those skilled in the art will appreciate that although some embodiments herein include certain features included in other embodiments but not other features, the combination of features from different embodiments is meant to be within the scope of the present application and to form different embodiments.

[0099] It should be noted that the above embodiments illustrate the present application rather than limit the present application. Any reference symbol between brackets should not be constructed as a limitation to the present application. The word "comprising" does not exclude the existence of components or steps not listed in the present application. The word "one" or "an" before a component does not exclude the existence of multiple such components. The present application can be implemented by means of hardware including several different components and by means of a suitably programmed computer. In the embodiments in which several devices are listed, several of these devices can be embodied by the same hardware item. The use of the words first, second, and third, etc. does not indicate any order. These words can be interpreted as names.

Claims

1. A control method for an automatic pool cleaning device, for cleaning a pool, wherein the pool has a slope surface between the bottom and the wall, the method comprising: Controlling the automatic pool cleaning device to move on the slope surface at the bottom of the pool; Determine in real time whether the automatic pool cleaning device reaches the slope surface; as well as If the automatic pool cleaning device has reached the slope surface, The automatic pool cleaning device is controlled to turn, and after turning, it moves along the boundary line between the slope surface and the pool bottom or the boundary line between the slope surface and the pool wall.

2. The control method according to claim 1, wherein: Determining in real time whether the automatic pool cleaning device has reached the slope surface includes: determining whether the automatic pool cleaning device has reached the slope surface based on an actual pitch angle or an actual acceleration of the automatic pool cleaning device.

3. The control method according to claim 1 or 2, wherein: The method of controlling the automatic pool cleaning device to turn and move along the boundary line between the slope surface and the pool bottom or the boundary line between the slope surface and the pool wall after turning includes: adjusting the roll angle of the automatic pool cleaning device during the movement so that the automatic pool cleaning device moves along the boundary line, wherein the size of the roll angle is related to the positional relationship between the automatic pool cleaning device and the boundary line.

4. The control method according to claim 3, wherein: The rolling angle of the automatic pool cleaning device is regulated during the moving process so that the automatic pool cleaning device moves along the boundary line, including: maintaining the value of the rolling angle within a preset angle range or an angle range related to the initial value after turning.

5. The control method according to claim 3, wherein: The rolling angle of the automatic pool cleaning device is adjusted during the moving process so that the automatic pool cleaning device moves along the boundary line. The method includes regulating the rolling angle of the automatic pool cleaning device by means of PID control.

6. The control method according to claim 3, wherein: The positional relationship between the cleaning device and the boundary line can be adjusted by adjusting the yaw angle of the automatic pool cleaning device.

7. The control method according to claim 6, wherein: The automatic pool cleaning device comprises driving wheels located on both sides of the automatic pool cleaning device, and the yaw angle can be changed by adjusting the rotation speed difference between the driving wheels on both sides.

8. The control method according to any one of claims 1 to 7, wherein: The automatic pool cleaning device moves along the boundary line between the slope surface and the pool bottom or the boundary line between the slope surface and the pool wall. Included is that at least a portion of the automatic pool cleaning device travels on the sloped surface.

9. The control method according to claim 2, wherein: The automatic pool cleaning device includes an inertial measurement unit (IMU), wherein the actual pitch angle is measured in real time by the inertial measurement unit.

10. An automatic pool cleaning device for cleaning a pool, wherein the pool has a slope surface between the bottom and the wall, and the automatic pool cleaning device comprises a control unit and a measuring unit. The measuring unit measures the actual pitch angle or actual acceleration of the automatic pool cleaning device in real time; and The control unit is configured to: Controlling the automatic pool cleaning device to move on the bottom of the pool facing the slope surface; Determine in real time whether the automatic pool cleaning device has reached the slope surface, wherein: If the automatic pool cleaning device has reached the slope surface, The automatic pool cleaning device is controlled to turn, and after turning, it moves along the boundary line between the slope surface and the pool bottom or the boundary line between the slope surface and the pool wall.

11. 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 9.

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