Water tank automatic cleaning device, control method thereof and computer storage medium

Abstract

The application provides a pool automatic cleaning device, a control method thereof and a computer storage medium. The control method is used for cleaning a pool, the pool has a slope surface between a pool bottom and a pool wall, and the control method comprises the following steps: controlling the pool automatic cleaning device to travel on the pool bottom surface of the pool and face the slope surface; judging whether the cleaning device reaches the slope surface in real time; and if the cleaning device has reached the slope surface, controlling the pool automatic cleaning device to turn and travel along the intersection line of the slope surface and the pool bottom or the intersection line of the slope surface and the pool wall after turning. The pool automatic cleaning device can be adjusted in time when deviation occurs, so that the pool automatic cleaning device can move smoothly according to the 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 pool automatic cleaning, and in particular to a pool automatic cleaning device and a control method thereof. BACKGROUND

[0002] Many pool bottoms often have inclined surfaces, such as the connecting position between the pool bottom and the pool wall or the area where the pool bottom depth changes. The current pool automatic cleaning device has an unsatisfactory edge cleaning effect on these inclined surfaces, because different radii of the inclined surfaces can cause the cleaning device to deviate from the planned path and slide sideways, directly affecting the cleaning effect of the pool cleaning robot. SUMMARY

[0003] In view of the above problems, the present application provides a pool automatic cleaning device and a control method thereof, which are used to solve the technical problem of the pool automatic cleaning device deviating from the track at the inclined position.

[0004] According to a first aspect of the present application, a control method of a pool automatic cleaning device is provided, which is used to clean a pool having an inclined surface between the pool bottom and the pool wall, and the method comprises: controlling the pool automatic cleaning device to travel on the pool bottom surface facing the inclined surface; judging in real time whether the pool automatic cleaning device has reached the inclined surface; and if the pool automatic cleaning device has reached the inclined surface, controlling the pool automatic cleaning device to turn and travel along the intersection line of the inclined surface and the pool bottom or the intersection line of the inclined surface and the pool wall after turning.

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

[0006] In one example, the control of the pool automatic cleaning device to turn and travel along the intersection line of the inclined surface and the pool bottom or the intersection line of the inclined surface and the pool wall after turning comprises: adjusting the roll angle of the pool automatic cleaning device during the travel to enable the pool automatic cleaning device to travel along the intersection line, wherein the size of the roll angle is related to the positional relationship between the pool automatic cleaning device and the intersection line.

[0007] In one example, the adjustment of the roll angle of the pool automatic cleaning device during the travel to enable the pool automatic cleaning device to travel along the intersection line comprises: maintaining the value of the roll angle within a preset angle range or an angle range related to the initial value after turning.

[0008] In one example, the adjusting the roll angle of the pool cleaning robot during the traveling along the intersection line comprises adjusting the roll angle of the pool cleaning robot by PID control.

[0009] In one example, the position relationship between the pool cleaning robot and the intersection line can be adjusted by adjusting the yaw angle of the pool cleaning robot.

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

[0011] In one example, the pool cleaning robot travels along the intersection line between the slope surface and the pool bottom or the intersection line between the slope surface and the pool wall, which comprises that at least a part of the pool cleaning robot travels on the slope surface.

[0012] In one example, the pool cleaning robot comprises an inertial measurement unit (IMU), and the actual pitch angle is measured in real time by the inertial measurement unit.

[0013] According to another aspect of the present application, a pool cleaning robot is also provided for cleaning a pool having a slope surface between a pool bottom and a pool wall, the pool cleaning robot comprising a control unit and a measurement unit, the measurement unit measuring an actual pitch angle or an actual acceleration of the pool cleaning robot in real time; and the control unit is configured to: control the pool cleaning robot to travel on the pool bottom surface facing the slope surface; determine in real time whether the pool cleaning robot has reached the slope surface, wherein if the pool cleaning robot has reached the slope surface, control the pool cleaning robot to turn and travel along the intersection line between the slope surface and the pool bottom or the intersection line between the slope surface and the pool wall after turning.

[0014] According to still another aspect of the present application, a computer storage medium is provided, the storage medium storing a computer program, and the computer program is executed by a processor to implement the control method of the pool cleaning robot in any one of the preceding embodiments or examples.

[0015] The pool cleaning robot and the control method thereof provided in the embodiments of the present application can effectively improve the cleaning effect at the slope position by controlling the pool cleaning robot to travel along the intersection line between the pool bottom and the slope surface or the intersection line between the slope surface and the pool wall, and timely adjusting when yawing, so that the pool cleaning robot can move smoothly according to the planned path.

[0016] The above description is only a summary of the technical solutions of the present application. In order to enable one skilled in the art to better understand the technical means of the present application, the present application can be implemented according to the content of the description, and in order to enable the above and other purposes, characteristics and advantages of the present application to be more obvious and easy to understand, the following gives the specific embodiment of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0017] Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The accompanying drawings are included to provide a description of the preferred embodiments and are not meant to limit the present application. Moreover, the same reference numerals in the drawings indicate the same or similar elements.

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

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

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

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

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

[0023] Figure 6 is a schematic diagram of the roll angle of the pool automatic cleaning device after turning when moving to the pool slope surface according to at least one embodiment of the present application;

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

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

[0026] Figure 9 is a schematic diagram of a structure of the pool automatic cleaning device according to at least one embodiment of the present application;

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

[0028] Exemplary embodiments of the present application will be described in detail with reference to the accompanying drawings. Although exemplary embodiments of the present application are shown in the drawings, it is understood that the present application can be implemented in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that this application will be thorough and complete, and will fully convey the scope of the application to those skilled in the art. Furthermore, in the following description, descriptions of well-known structures and techniques are omitted to avoid unnecessarily obscuring the application.

[0029] Various structural schematic diagrams according to embodiments of the present application are shown in the accompanying drawings. These drawings are not drawn to scale, in which certain details are exaggerated for the purpose of clarity and certain details can be omitted. The shapes of various regions, layers shown in the drawings, and their relative sizes and positional relationships are merely exemplary, and in actuality can deviate due to manufacturing tolerances or technical limitations, and regions / layers with different shapes, sizes, relative positions can be additionally designed by those skilled in the art according to actual needs.

[0030] The present application provides a control method of a pool automatic cleaning device. The pool automatic cleaning device can perform mobile cleaning within a pool-shaped building, which can be a swimming pool, a water storage pool, a spa pool, a water storage tank, a water storage tank, etc. The present application does not limit the specific presentation of the pool automatic cleaning device and the pool-shaped building, as long as the principles of the present application can be implemented.

[0031] Figure 10 is a structural schematic diagram of a pool automatic cleaning device according to at least one embodiment of the present application. Referring to Figure 10 , the pool automatic cleaning device 500 can include a head portion 510, a tail portion 520, a left side portion 530, and a right side portion 540. In order to describe the positions of various points inside the pool automatic cleaning device 500 and the motion state of the pool automatic cleaning device 500 relative to its own coordinate system, Figure 10 The pool automatic cleaning device 500 own coordinate system is shown to facilitate the description of the pose and motion state of the pool automatic cleaning device 500 at different times in combination with subsequent embodiments.

[0032] The object own coordinate system is a three-dimensional orthogonal coordinate system fixed on the object, which is a coordinate system established with the object itself as the reference point. This coordinate system is fixed relative to the object itself. Referring to Figure 10, the origin of the coordinate system of the pool cleaning robot 500 is located at the center of mass O of the pool cleaning robot 500. The X-axis is located in the reference plane of the pool cleaning robot 500, is parallel to the axis of the pool cleaning robot 500, and points to the front of the pool cleaning robot 500 (points to the direction of the head 510). The Y-axis is perpendicular to the reference plane of the pool cleaning robot 500 and points to the right of the pool cleaning robot 500 (points to the direction of the right side 540). The Z-axis is located in the reference plane and is perpendicular to the XOY plane, and points to the top of the pool cleaning robot 500.

[0033] In addition, Figure 10 It is also shown that in the embodiments of the present application, the pitch angle, roll angle and yaw angle of the pool cleaning robot 500 are defined. For example, see Figure 10 , the pitch angle of the pool cleaning robot 500 is the angle formed by rotation along the Y-axis; the roll angle is the angle formed by rotation along the X-axis; and the yaw angle is the angle formed by rotation along the Z-axis. These angles will be further introduced in combination with specific embodiments.

[0034] Figure 1 is a flowchart of a control method of a pool cleaning robot according to at least one embodiment of the present application; Figure 2 is a schematic view of the pool cleaning robot located at the bottom of the pool according to at least one embodiment of the present application. The control method of the pool cleaning robot provided by the embodiments of the present application will be introduced below with reference to Figure 1 and Figure 2

[0035] See Figure 2 , the pool includes a pool bottom 100 and a pool wall 200, and according to the shape of the pool, it can include one pool wall or multiple pool walls. For example, the pool wall of a circular pool is a circular pool wall or an arc-shaped pool wall, a rectangular pool or a square pool includes four pool walls, and each side wall surface is rectangular. A semicircular pool includes a semicircular pool wall and a rectangular pool wall, etc. The present application will be described below only with respect to one pool bottom and one rectangular pool wall. However, the present application is not limited thereto, and those skilled in the art can also obtain technical solutions of multiple other shapes of pool walls according to the example.

[0036] In the pool of the embodiments of the present application, a slope surface is also included. For example, there can be a slope surface between the pool bottom and the pool wall, the transition area of different water depths of the pool bottom can also have a slope surface, and the transition area of different regions of the pool wall can also have a slope surface. The slope surface between the pool bottom and the pool wall will be described below only as an example, and the slope surface of other regions can be referred to the example. See Figure 2 ​The pool automatic cleaning device 500 in the embodiment has a slope surface 300 between the pool bottom 100 and the pool wall 200, and the pool bottom 100 and the slope surface 300 have an intersection line 110, and the pool wall 200 and the slope surface 300 have an intersection line 120. Figure 2 The pool automatic cleaning device 500 in the embodiment is the same as the pool automatic cleaning device 500 in the embodiment Figure 10 , and only the positional relationship between the pool automatic cleaning device 500 and the pool bottom 100, the pool wall 200 and the slope surface 300 is shown in the embodiment Figure 2 for clarity. The pool automatic cleaning device 500 can be initially located on the pool bottom 100, and can move forward in the direction of the head 510 after being started, pass the intersection line 110 between the pool bottom 100 and the slope surface 300, move to the slope surface 300, and further move forward from the slope surface to the pool wall 200 through the intersection line 120 between the pool wall 200 and the slope surface 300.

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

[0038] The specific processes of the above steps S101-S104 will be described below.

[0039] In step S101, the pool automatic cleaning device is controlled to travel on the pool bottom surface towards the slope surface.

[0040] As shown in Figure 2 , the pool automatic cleaning device 500 is initially located at an initial position S on the pool bottom 100, and the initial position S is located on the bottom surface of the pool bottom. The initial position can be, for example, an initial position at which the pool automatic cleaning device 500 starts cleaning work from the bottom surface of the pool. The initial position can also be a position at which the pool automatic cleaning device 500 contacts the bottom surface of the pool after being started and falling into water. The initial position can also be a position at which the pool automatic cleaning device 500 selects a suitable cleaning work after moving underwater. The above description of the initial position is exemplary.

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

[0042] The pool automatic cleaning device 500 can be installed with multiple sensors, which can be installed on the head 510, tail 520, or two sides 530, 540 of the pool automatic cleaning device 500, or above or below the pool automatic cleaning device 500, for detecting environmental information, obstacle information, etc. in different directions. The sensors can include one or more of various types such as single-point ultrasonic sensors, phased-array ultrasonic sensors, gyroscopes, accelerometers, inertial measurement units (IMUs), cameras, single-photon imaging sensors DTOF, infrared sensors, and radars. Through these sensors, the pool automatic cleaning device 500 can determine the direction and move from the initial position S towards the slope surface 300.

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

[0044] Figure 3 is a schematic diagram of an initial position of a pool automatic cleaning device according to at least one embodiment of the present application when the pool automatic cleaning device moves to a slope surface of a pool; Figure 4 is a schematic diagram of the pitch angle of the pool automatic cleaning device when the pool automatic cleaning device moves to the initial position of the slope surface of the pool according to at least one embodiment of the present application. The following refers to Figure 3 and Figure 4 Step S102 is described below.

[0045] During the movement of the pool automatic cleaning device 500 from the pool bottom 100 to the slope surface 300, the sensors installed on the pool automatic cleaning device 500 can detect the position and pose of the pool automatic cleaning device 500 in real time, and determine whether the pool automatic cleaning device 500 reaches the slope surface 300.

[0046] Referring to Figure 3 When at least a part of the pool automatic cleaning device 500 is located above the slope surface, it can be determined that the pool automatic cleaning device reaches the slope surface. For example, the head 510 exceeds the intersection line 110 between the pool bottom 100 and the slope surface 300, and for another example, the head 510 of the pool automatic cleaning device 500 at least partially contacts the slope surface 300. At this time, the pool automatic cleaning device 500 has an angle between the X-axis of the self-coordinate system and the plane (e.g., a horizontal plane) on which the pool bottom 100 is located, and the angle can be used to determine whether the pool automatic cleaning device 500 reaches the slope surface 300, and can also be used to determine which position of the pool automatic cleaning device 500 reaches the slope surface 300.

[0047] In the embodiments of the present application, the water pool automatic cleaning device reaching the slope surface can include that the water pool automatic cleaning device reaches a predetermined position of the slope surface, for example, the head 510 reaches the intersection line 110 between the pool bottom 100 and the slope surface 300, or the head 510 exceeds the intersection line 110 by a preset distance, or one third of the body of the water pool automatic cleaning device 500 or half of the body of the water pool automatic cleaning device 500 exceeds the intersection line 110, or the head 510 reaches the intersection line 210 between the pool wall 200 and the slope surface 300, or the head 510 exceeds the intersection line 210 between the pool wall 200 and the slope surface 300 by a preset distance, or one third of the body of the water pool automatic cleaning device 500 or half of the body of the water pool automatic cleaning device 500 exceeds the intersection line 210 between the pool wall 200 and the slope surface 300, and the like, which are not limited in the present application.

[0048] Figure 4 is a schematic view of the initial position of the water pool automatic cleaning device moving to the slope surface of the water pool according to at least one embodiment of the present application. In Figure 4 , the left side 530 of the water pool automatic cleaning device 500 is seen in the front view, that is, the water pool automatic cleaning device 500 seen in Figure 4 is a side view of the water pool automatic cleaning device 500. Referring to Figure 4 , in one example, whether the water pool automatic cleaning device 500 reaches the slope surface 300 can be determined based on the actual pitch angle of the water pool automatic cleaning device 500, that is, the angle P in Figure 4 . The pitch angle can be referred to as the Pitch angle, which can represent a parameter of the inclination of an object relative to the horizontal plane. Referring to Figure 10 , the pitch angle of the water pool automatic cleaning device 500 is the angle formed by rotating along the Y axis. Referring to Figure 4 , the pitch angle P is also the angle between the X axis of the coordinate system of the water pool automatic cleaning device 500 and the horizontal plane H. The X axis is located in the reference plane of the water pool automatic cleaning device 500, is parallel to the axis of the water pool automatic cleaning device 500 and points to the front of the water pool automatic cleaning device 500. The pitch angle P can be calculated by measuring the vertical distance from a certain point on the water pool automatic 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 pitch angle P is greater than a preset pitch angle threshold, for example, greater than 0 degrees, or greater than 3 degrees, it can be determined that the water pool automatic cleaning device 500 has reached the slope surface 300.

[0049] In one example, the above pitch angle can be determined based on sensors installed on the pool cleaning robot 500, such as a gyroscope, acceleration, three-axis magnetometer or inertial measurement unit (IMU) installed on the pool cleaning robot 500, etc. The above sensors can provide motion information of the object in three-dimensional space, and through fusion processing of these information, the pitch angle can be calculated with higher accuracy. Among them, the inertial measurement unit IMU is a device integrated with multiple sensors, which can be used to measure and monitor the linear acceleration and angular velocity of the pool cleaning robot 500. The inertial measurement unit can measure the three-axis attitude angle (or angular rate) and acceleration of the pool cleaning robot 500 without external reference, i.e. based on the coordinate system of the pool cleaning robot 500 itself. The inertial measurement unit can include a three-axis accelerometer, a three-axis gyroscope, and can also include a three-axis magnetometer. The accelerometer can be used to measure the linear acceleration of the pool cleaning robot 500, and through the integration of the acceleration, the velocity and displacement can be obtained. The gyroscope can be used to measure the angular velocity of the pool cleaning robot 500, and through the integration of the angular velocity, the angle can be obtained. The three-axis magnetometer can be used to measure the direction of the geomagnetic field, which helps to determine the direction of the pool cleaning robot 500. These sensors can assist in detecting the motion of the pool cleaning robot 500 and provide accurate attitude information of the pool cleaning robot 500.

[0050] In one example, the inertial measurement unit IMU can be used to calculate the pitch angle of the pool cleaning robot 500, and of course the inertial measurement unit IMU can also be used to calculate the yaw angle and roll angle of the pool cleaning robot 500.

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

[0052]

[0053] Where a x ,a y ,a z are the acceleration values of the accelerometer on the X, Y, Z axes respectively, and atan2 is the arctangent function used to calculate the angle.

[0054] The roll angle refers to the angle of rotation of the pool cleaning robot 500 around the X-axis of its own coordinate system. In the inertial sensor, the roll angle (Roll) can be calculated by the data of the accelerometer. The specific calculation formula is:

[0055]

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

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

[0058]

[0059] wherein m x , m y are the magnetic field intensity values of the magnetometer on the X, Y axes.

[0060] The above calculation method is only exemplary and provides a basic attitude calculation method. By combining the data of the accelerometer, magnetometer and gyroscope, the angle of rotation of the pool automatic cleaning device 500 around its three axes and its attitude in three-dimensional space can be more accurately determined. It should be noted that the above calculations are based on the alignment of the sensor coordinate system of the pool automatic cleaning device 500 and the geographic coordinate system. In the case of misalignment, coordinate system conversion can be performed before calculation.

[0061] In another example, the determination of whether the pool cleaning robot 500 reaches the sloped surface can also be based on the actual acceleration of the pool cleaning robot 500. The pool cleaning robot 500 is affected by the slope, its own mass, friction, gravity component and driving force when climbing the slope, and thus its acceleration can change. For example, when the pool cleaning robot 500 climbs up the slope, the gravity has a component downward along the slope, which hinders the movement of the pool cleaning robot 500, causing the pool cleaning robot 500 to need additional force to overcome the gravity component, resulting in a decrease in the actual acceleration of the pool cleaning robot. In addition, the friction of the sloped surface 300 also hinders the movement of the pool cleaning robot 500 along the slope, and its size depends on the friction coefficient between the pool cleaning robot 500 and the sloped surface 300 and the normal pressure of the pool cleaning robot 500 perpendicular to the slope. As the pool cleaning robot 500 climbs towards the sloped surface 300, the pitch angle P changes, affecting the gravity component and the friction, and thus affecting the acceleration. Therefore, the actual acceleration of the pool cleaning robot 500 can be calculated to determine whether the pool cleaning robot 500 reaches the sloped surface 300. For example, if the actual acceleration of the pool cleaning robot is less than a preset acceleration threshold after the pool cleaning robot starts moving for a period of time, it can be determined that the pool cleaning robot has reached the sloped surface. Alternatively, the actual acceleration of the pool cleaning robot and the pitch angle of the pool cleaning robot can be combined to determine whether the pool cleaning robot reaches the sloped surface, so that the determination result is more accurate.

[0062] The above describes an example of how to determine in real time whether the pool cleaning robot reaches the sloped surface, but the present application does not limit this, and those skilled in the art can select other ways to determine in real time whether the pool cleaning robot reaches the sloped surface according to actual needs.

[0063] In step S103, if the pool cleaning robot has reached the sloped surface, the turning of the pool cleaning robot is controlled.

[0064] A rectangular pool generally includes a plurality of pool walls, such as a first pool wall and an adjacent second pool wall. The first pool wall has a corner with the second pool wall. When the pool cleaning robot moves along the first pool wall to a pool corner position at the intersection of the first pool wall and the second pool wall, it needs to turn and continue cleaning or continue map building in the extension direction of the second pool wall. In the case where both the first pool wall and the second pool wall have sloped surfaces, when the pool cleaning robot moves from the first pool wall to the pool corner of the adjacent second pool wall, the pool cleaning robot can be controlled to turn and move in the extension direction of the second pool wall after reaching the sloped surface of the second pool wall.

[0065] When it has been determined in step S102 that the pool cleaning robot reaches the sloped surface, in step S103, the driving device (e.g. engine and processor, etc.) in the pool cleaning robot can control the turning of the pool cleaning robot by controlling the bottom moving components (e.g. driving wheels, tracks) of the pool cleaning robot.

[0066] In one example, if the pool cleaning robot reaches the sloped surface 300, e.g. reaches the intersection line 110 between the pool bottom 100 and the sloped surface 300, or goes beyond the intersection line 110 between the pool bottom 100 and the sloped surface 300 by a preset distance, or one third of the body, half of the body or two third of the body of the pool cleaning robot 500 goes beyond the intersection line 110 between the pool bottom 100 and the sloped surface 300, the turning of the pool cleaning robot is controlled. Thus the pool cleaning robot can move along the intersection line 110 between the pool bottom and the sloped surface, and clean the area near the intersection line 110.

[0067] In another example, if the pool cleaning robot reaches the intersection line 210 between the pool wall 200 and the sloped surface 300, or goes beyond the intersection line 210 between the pool wall 200 and the sloped surface 300 by a preset distance, or one third of the body, half of the body or two third of the body of the pool cleaning robot 500 goes beyond the intersection line 210 between the pool wall 200 and the sloped surface 300, the turning of the pool cleaning robot is controlled. Thus the pool cleaning robot can move along the intersection line 210 between the pool wall and the sloped surface, and clean the area near the intersection line 210.

[0068] The bottom moving components of the pool cleaning robot can include four driving wheels, and can also include two tracks. The turning of the pool cleaning robot can be controlled by controlling at least one of the four driving wheels. In one example, the pool cleaning robot includes two driving wheels on each side, and all four driving wheels are powered. The turning of the pool cleaning robot can be controlled by controlling the rotation speed and direction of the four driving wheels. In another example, one of the two driving wheels on each side is powered, and the other driving wheel is idling. The turning of the pool cleaning robot can be controlled by controlling the rotation speed of the two driving wheels and the direction of the four driving wheels. In one example, the two driving wheels on each side can be connected by a track system. The track system can include, for example, a track sprocket, a track shoe, a driving wheel, an idler wheel and a guide wheel. The teeth of the track sprocket are connected to the links of the chain, so that when the track sprocket rotates, the chain also moves. The track shoe is a series of metal plates connected to the track sprocket. The track shoe is in contact with the ground through the rollers, so that the pool cleaning robot can walk. The idler wheel is located between the driving wheel and the track sprocket, and is used to keep the track shoe stable and ensure that the track shoe is in contact with the ground. The guide wheel is located on the other side of the track sprocket, and is used to control the direction of the track, so that the pool cleaning robot can turn smoothly.

[0069] Figure 5 is a schematic view of the position of the pool cleaning robot after moving onto the sloped surface of the pool and turning. Referring to Figure 5 , after the pool cleaning robot moves onto the sloped surface of the pool and turns, the pool cleaning robot is positioned relative to Figure 3 the initial position of the pool cleaning robot when it moves onto the sloped surface of the pool in , the pool cleaning robot has rotated approximately 90 degrees clockwise, and the line connecting the head 510 and the tail 520, i.e., the forward direction of the pool cleaning robot 500, is approximately parallel to the extension of the intersection line 110 between the sloped surface 300 and the pool bottom 100.

[0070] In one example, whether the pool cleaning robot 500 successfully turns can be determined by determining whether the pitch angle of the pool cleaning robot 500 is within a predetermined pitch angle threshold range. For example, the predetermined pitch angle threshold range can be set to 0-5 degrees. In the case where the slope of the sloped surface 300 is approximately constant, if the pool cleaning robot 500 successfully turns, the distance between the head and the tail and the horizontal plane is substantially equal. That is, the angle formed by the rotation of the pool cleaning robot 500 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, so whether the pool cleaning robot 500 successfully turns can be determined by determining whether the pitch angle of the pool cleaning robot 500 is close to 0 degrees.

[0071] In step S104, the pool cleaning robot is controlled to travel along the intersection line between the sloped surface and the pool bottom or the intersection line between the sloped surface and the pool wall after turning.

[0072] In order to enable the pool cleaning robot to perform map construction along the edge of the pool or perform edge cleaning along the edge of the pool, the pool cleaning robot can be controlled to travel along the intersection line between the sloped surface and the pool bottom or the intersection line between the sloped surface and the pool wall after turning. Thus, the travel route of the pool cleaning robot is ensured not to deviate from the predetermined route, and the pool cleaning robot travels smoothly along the planned path.

[0073] In one example, when the pool cleaning robot travels along the intersection line between the sloped surface and the pool bottom or the intersection line between the sloped surface and the pool wall, at least a portion of the pool cleaning robot travels on the sloped surface, and another portion of the pool cleaning robot travels on the pool bottom or the pool wall, for example, referring to Figure 5, the left drive wheel of the pool cleaning robot is located on the slope surface 300, and the right drive wheel is located on the pool bottom 100. Alternatively, when the pool cleaning robot travels along the intersection line between the slope surface 300 and the pool wall 200, the left drive wheel of the pool cleaning robot is located on the pool wall 200, and the right drive wheel is located on the slope surface 300, so that the pool cleaning robot travels along the boundary line 110 between the pool bottom 100 and the slope surface 300, or travels along the boundary line 210 between the slope surface 300 and the pool wall 200.

[0074] The following is only an example of the pool cleaning robot traveling along the intersection line 110 between the slope surface 300 and the pool bottom 100 after turning. For the implementation mode of controlling the pool cleaning robot to travel along the intersection line 210 between the slope surface 300 and the pool wall 200 after turning, please refer to the embodiment or example of traveling 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 pool cleaning robot moving to the slope surface of the pool and turning according to at least one embodiment of the present application. In Figure 6 , the pool cleaning robot 500 has turned, and the rear side 540 of the pool cleaning robot 500 is seen from the front, that is, the Figure 6 in which the pool cleaning robot 500 is a rear view.

[0076] Referring to Figure 6 , since one side of the pool cleaning robot 500 is in contact with the pool bottom 100 and the other side is in contact with the slope surface 300, and since the slope surface has a certain slope relative to the pool bottom, the rolling angle of the pool cleaning robot 500 is not 0. Referring to Figure 10 , the rolling angle of the pool cleaning robot 500 is the angle formed by rotating along the X axis. Referring to Figure 6 , the rolling angle R is also the angle between the Y axis (the Y axis is perpendicular to the reference surface of the pool cleaning robot 500 and points to the right of the pool cleaning robot 500) of the pool cleaning robot 500 itself coordinate system and the horizontal plane H.

[0077] In one example, to control the pool cleaning robot to travel along the intersection line of the sloped surface and the pool bottom after turning, the roll angle of the pool cleaning robot can be regulated during its travel to make the pool cleaning robot travel along the intersection line. Here, the magnitude of the roll angle is related to the positional relationship between the pool cleaning robot and the intersection line. For example, when the pool cleaning robot 500 continuously travels along the intersection line 110, the roll angle remains unchanged or substantially unchanged if the slope of the sloped surface is substantially constant. Also for example, when the pool cleaning robot 500 continuously travels along the intersection line 110, the roll angle can also be maintained within a certain angle range if the sloped surface has certain slope variation. If the moving direction of the pool cleaning robot 500 deviates from the intersection line 110, it indicates that the position of the pool cleaning robot on the sloped surface 300 has changed, i.e., the rotation angle along the X-axis of its own coordinate system has changed, and thus the roll angle changes greatly. The roll angle of the pool cleaning robot can be regulated in real time to make the pool cleaning robot travel along the intersection line 110.

[0078] In one example, the roll angle can be calculated by various sensor data, for example, the roll angle can be measured by using an inertial measurement unit (IMU) on the pool cleaning robot 500. For example, the acceleration of the pool cleaning robot 500 relative to gravity can be measured by a three-axis accelerometer on the inertial measurement unit, so as to infer the tilt state of the object. Alternatively, the angular velocity of the pool cleaning robot 500 around the axis can be measured by using a gyroscope, 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 pool cleaning robot 500 relative to true north can be calculated, and thus the roll angle can be calculated. A visual sensor can also be used, an image can be captured by a camera, and the pose of the object, such as the roll angle, can be estimated by using computer vision technology.

[0079] In one example, the roll angle of the pool cleaning robot can be regulated to maintain the value of the roll angle within a preset angle range, so as to make the pool cleaning robot travel along the intersection line. Figure 7 FIG. 7 is a schematic view of the pool cleaning robot moving to the sloped surface of the pool and deviating from the path after turning according to at least one embodiment of the present application. Referring to FIG. 7, the pool cleaning robot 500 moves to the sloped surface 300 of the pool 100 and deviates from the path after turning. The pool cleaning robot 500 can be controlled to travel along the intersection line 110 of the sloped surface 300 and the pool bottom 200. The pool cleaning robot 500 can be controlled to travel along the intersection line 110 of the sloped surface 300 and the pool bottom 200. Figure 7When the pool cleaning device moves to the slope 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 slope surface 300. And its rolling angle will change. At this time, the rolling angle can be adjusted to a preset angle range, so as to control the pool cleaning device to travel along the boundary line. For example, first determine the standard rolling angle R of the pool cleaning device 500 when moving along the boundary line 110 between the pool bottom 100 and the slope surface 300, and then set a rolling angle preset angle range, for example, within 3 degrees or 5 degrees away from the R angle. Real-time detection of the rolling angle of the pool cleaning device, when its actual rolling angle deviates by more than 3 degrees or more than 5 degrees, adjust the rolling angle to the angle of the standard rolling angle.

[0080] In one example, the standard rolling angle can be set to an angle range related to the initial rolling angle of the pool cleaning device 500 after turning, so that the pool cleaning device travels along the boundary line. After determining that the pool cleaning device has completed turning, the value of the rolling angle of the pool cleaning device at this time can be recorded as the value of the initial rolling angle. When subsequently controlling the pool cleaning device to move along the boundary line 110 between the pool bottom 100 and the slope surface 300, if the current rolling angle deviates from the initial rolling angle by a preset angle, for example, more than 3 degrees or more than 5 degrees, adjust the current rolling angle to the value of the initial rolling angle, so that the value of the rolling angle can always be kept consistent, and the pool cleaning device 500 can be ensured to travel along the boundary line 110.

[0081] In one example, the rolling angle of the pool cleaning robot can be adjusted by PID control during the traveling of the pool cleaning robot along the boundary line. For example, a standard rolling angle value can be set as a target rolling angle value. The target rolling angle can be pre-set, for example, the initial rolling angle after the pool cleaning robot turns can be used as the target rolling angle, or the standard rolling angle when the pool cleaning robot travels along the boundary line can be used as the target rolling angle. The actual rolling angle of the pool cleaning robot can be measured in real time or at a predetermined time interval, and the difference between the measured actual rolling angle and the target rolling angle is calculated as a proportional term parameter. The proportional term parameter can be calculated using the following formula: error = target_roll - roll_l, where error represents the proportional term parameter, i.e. the error value; target_roll represents the target rolling angle, and roll_l represents the actual rolling angle. Then, the integral term parameter and the derivative term parameter can be calculated based on the proportional term parameter, respectively. In integral control, the control output is corrected according to the accumulation of the aforementioned error value to eliminate steady-state error. For example, the deviation obtained previously can be accumulated and multiplied by a time variable to perform integration. The integral can be calculated using the following formula: integral = error * dt, where integral represents the integral term parameter, and error * dt represents the accumulation of the integral term. In derivative 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 derivative can be calculated using the following formula: derivative = (error - previousError) / dt, where derivative represents the derivative term parameter, and (error - previousError) / dt represents the change of the error.

[0082] After the proportional term parameter, the integral term parameter and the derivative term parameter are calculated, the moving speed of the pool cleaning robot can be adjusted according to the proportional term parameter, the integral term parameter and the derivative term parameter. For example, the proportional gain Kp, the integral gain Ki and the derivative gain Kd are set respectively, and the output value of the PID control can be calculated according to the following formula: output = Kp * proportional term parameter + Ki * integral term parameter + Kd * derivative term parameter. The moving speed of the pool cleaning robot is controlled according to the output value output, for example, the rotational speed of the four driving wheels of the pool cleaning robot or the rotational speed of part of the four driving wheels can be controlled based on the output value calculated according to the formula, so that the rolling angle of the pool cleaning robot is adjusted to maintain the target rolling angle.

[0083] In one example, the positional relationship between the pool cleaning robot and the boundary line can also be adjusted by adjusting the roll angle and the yaw angle of the pool cleaning robot. In another example, the positional relationship between the pool cleaning robot and the boundary line can also be adjusted by adjusting the yaw angle of the pool cleaning robot. See Figure 10 The yaw angle of the pool cleaning robot 500 is an angle formed by rotation along the Z axis. The Z axis is located in the reference plane and is perpendicular to the XOY plane, pointing upward above the pool cleaning robot 500.

[0084] Figure 7 is a schematic diagram of the pool cleaning robot moving onto the sloped surface of the pool and deviating from the path after turning. See Figure 7 When the pool cleaning robot moves onto 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. Also, its yaw angle changes.

[0085] If the yaw angle is greater than the preset yaw angle threshold, it indicates that the pool cleaning robot deviates from the normal trajectory, and at this time the angle of the yaw angle can be adjusted, for example, the angle of the yaw angle is adjusted to 0 or approximately 0, so as to avoid the pool cleaning robot deviating from the predetermined trajectory.

[0086] Figure 8 is a schematic diagram of the yaw angle of the pool cleaning robot moving onto the sloped surface of the pool and deviating from the path after turning. See Figure 8 The yaw angle Y can be calculated by the included angle between the X axis direction of the pool cleaning robot 500 (the X axis is parallel to the axis of the pool cleaning robot 500 and points forward of the pool cleaning robot 500) and the reference direction (for example Figure 8 the true north direction in

[0087] In one example, the pool cleaning robot includes drive wheels on both sides of the pool cleaning robot, 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 pool cleaning robot deviates to the left of the boundary line 110, the speed of the drive wheels on the left side (for example, the front left wheel and the rear left wheel) can be increased, the speed of the drive wheels on the right side (for example, the front right wheel and the rear right wheel) can be reduced or remain unchanged, so that the head 510 of the pool cleaning robot is deflected to the right, so that the yaw angle is reduced. Conversely, if the head 510 of the pool cleaning robot deviates to the right of the boundary line 110, the speed of the drive wheels on the right side can be increased, the speed of the drive wheels on the left side can be reduced or remain unchanged, so that the head 510 of the pool cleaning robot is deflected to the left, so that the yaw angle is reduced.

[0088] The control method of the pool automatic cleaning device can control the pool automatic cleaning device to turn at the pool corner and travel along the intersection line between the slope surface and the pool bottom or the pool wall after turning, effectively solving the phenomenon that the pool automatic cleaning device deviates from the track at the slope position, and improving the cleaning effect of the pool automatic cleaning device.

[0089] Figure 9 is a structural schematic diagram of a pool automatic cleaning device according to at least one embodiment of the present application. Referring to Figure 9 According to another embodiment of the present application, a pool automatic cleaning device 900 is also provided for cleaning a pool having a slope surface between a pool bottom and a pool wall. The pool automatic cleaning device includes a measurement unit 910 and a control unit 920. The measurement unit 910 measures the actual pitch angle or the actual acceleration of the pool automatic cleaning device in real time. The control unit 920 is configured to control the pool automatic cleaning device to travel on the pool bottom surface facing the slope surface, to determine in real time whether the pool automatic cleaning device has reached the slope surface, and to control the pool automatic cleaning device to turn and travel along the intersection line between the slope surface and the pool bottom or the intersection line between the slope surface and the pool wall after turning if the pool automatic cleaning device has reached the slope surface.

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

[0091] The pool automatic cleaning device 900 according to the present application can turn at the slope surface and travel along the intersection line between the slope surface and the pool bottom or the pool wall after turning, effectively solving the problem that the pool automatic cleaning device deviates from the track at the slope position, and improving the cleaning effect of the pool automatic cleaning device.

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

[0093] It should be understood that the foregoing description of the components of the pool automatic cleaning device is only exemplary and does not constitute a limitation on the various parameters, functions of the 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 realized.

[0094] The algorithms and displays presented herein are not inherently related to any particular computer, virtual system, or other apparatus. Various general purpose systems can be used with programs in accordance with the teachings herein, or it can prove convenient to construct more specialized apparatus to perform the required method steps. The required structure for a variety of these systems will be apparent from the description above. In addition, the present application is not intended to be limited to a particular programming language. It will be appreciated that a variety of programming languages can be used to implement the teachings of the application as described herein, and any references below to specific languages are provided for disclosure of enablement only.

[0095] In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the application can be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been described in detail in order to not obscure the understanding of this description.

[0096] Similarly, it is to be understood that the mechanical details of the application that have been set forth above in the context of a few illustrative embodiments are presented by way of example and should not be construed as limiting the scope of the application unless otherwise indicated.

[0097] Those skilled in the art will appreciate that the modules in the apparatuses in the embodiments can be adapted and placed in one or more apparatuses other than the embodiments. The modules or units or components in the embodiments can be combined into one module or unit or component, and further can be divided into multiple sub-modules or sub-units or sub-components. Except that at least some of the features and / or processes or units are mutually exclusive, all combinations of all features disclosed in the specification (including the accompanying abstract and drawings) and all processes or units of any methods or apparatuses disclosed so far can be adopted. Unless explicitly stated otherwise, each feature disclosed in the specification (including the accompanying abstract and drawings) can be replaced by an alternative feature providing the same, equivalent or similar purpose.

[0098] Further, those skilled in the art will appreciate that a combination of features of different embodiments means within the scope of the application and forms a different embodiment.

[0099] It should be noted that the above-mentioned embodiments illustrate rather than limit the application. Any reference signs in the claims should not be construed as limiting the scope of the application. The word "comprising" does not exclude the presence of elements or steps other than those listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The application can be implemented by means of both hardware and software, and any combination thereof. In the embodiments using a plurality of devices, these devices can be implemented by one and the same item of hardware. The use of the words first, second and third, etc. do not imply any ordering. These words are to be interpreted as names.

Claims

1. A method for controlling a pool cleaning robot to clean a pool, the pool having a slope surface between a pool bottom and a pool wall, the method comprising: controlling the pool cleaning robot to travel on the pool bottom of the pool facing the slope surface; determining in real time whether the pool cleaning robot reaches the slope surface; and if the pool cleaning robot has reached the slope surface and at least a part of the pool cleaning robot is on the slope surface, controlling the pool cleaning robot to turn and travel along an intersection line between the slope surface and the pool bottom or between the slope surface and the pool wall after the turning, and to adjust a roll angle of the pool cleaning robot during the traveling to make the pool cleaning robot travel along the intersection line, wherein the roll angle is related to a position of the pool cleaning robot relative to the intersection line. The determining in real time whether the pool cleaning robot reaches the slope surface comprises determining whether the pool cleaning robot reaches the slope surface based on an actual pitch angle or an actual acceleration of the pool cleaning robot.

2. The control method according to claim 1, wherein The adjusting the roll angle of the pool cleaning robot during the traveling to make the pool cleaning robot travel along the intersection line comprises maintaining the roll angle within a preset angle range or an angle range relative to an initial value after the turning.

3. The control method according to claim 1, wherein The adjusting the roll angle of the pool cleaning robot during the traveling to make the pool cleaning robot travel along the intersection line comprises adjusting the roll angle of the pool cleaning robot by a PID control mode.

4. The control method according to claim 1, wherein The position of the pool cleaning robot relative to the intersection line can be adjusted by adjusting a yaw angle of the pool cleaning robot. The pool cleaning robot comprises driving wheels on both sides of the pool cleaning robot, and the yaw angle can be adjusted by adjusting a speed difference between the driving wheels on both sides.

5. The control method according to claim 1, wherein The pool cleaning robot travels along the intersection line between the slope surface and the pool bottom or between the slope surface and the pool wall, 6. The control method according to claim 5, wherein comprises that at least a part of the pool cleaning robot travels on the slope surface and another part of the pool cleaning robot travels on the pool bottom or the pool wall.

7. The control method according to any one of claims 1-6, wherein, The pool cleaning robot comprises an inertial measurement unit (IMU), and the actual pitch angle is measured in real time by the IMU. 9.A pool cleaning robot for cleaning a pool, the pool having a slope surface between a pool bottom and a pool wall, the pool cleaning robot comprising a control unit and a measurement unit, 8. The control method according to claim 2, wherein the measurement unit measures an actual pitch angle or an actual acceleration of the pool cleaning robot in real time; and the control unit is configured to: control the pool cleaning robot to travel on the pool bottom of the pool facing the slope surface; determine in real time whether the pool cleaning robot reaches the slope surface, wherein if the pool cleaning robot has reached the slope surface and at least a part of the pool cleaning robot is on the slope surface, control the pool cleaning robot to turn and travel along an intersection line between the slope surface and the pool bottom or between the slope surface and the pool wall after the turning, and to adjust a roll angle of the pool cleaning robot during the traveling to make the pool cleaning robot travel along the intersection line, wherein the roll angle is related to a position of the pool cleaning robot relative to the intersection line. ​ Controlling the pool cleaning robot to turn and travel along the intersection of the sloped surface and the pool bottom or the intersection of the sloped surface and the pool wall after the turning, and regulating the rolling angle of the pool cleaning robot during the traveling to enable the pool cleaning robot to travel along the intersection, wherein the rolling angle is related to the position relationship between the pool cleaning robot and the intersection.

10. A computer storage medium, the storage medium storing a computer program, the computer program being executed by a processor to implement the method of any one of claims 1-8.

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