Automatic pool cleaning device and control method thereof

Abstract

The invention discloses an automatic pool cleaning device and a control method thereof. The method comprises the following steps: controlling the automatic cleaning device for the pool to move to the position near the edge of the water surface of the pool; controlling the automatic pool cleaning device to rotate on the water surface near the edge, so that the side surface of the automatic pool cleaning device faces the edge; determining the distance between the side surface and the edge in real time; and controlling the automatic pool cleaning device to move on the water surface along the edge based on the distance.

Description

Technical Field

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

[0002] For pool facilities such as swimming pools, automatic pool cleaning devices can be used for automatic cleaning or auxiliary cleaning. For example, the automatic pool cleaning device can be designed to move on the bottom, wall and / or water surface of the pool while running its cleaning mechanism to filter pool water and absorb dirt. Summary of the invention

[0003] In one aspect, a method for controlling an automatic pool cleaning device is disclosed. The method may include: controlling the automatic pool cleaning device to move to the vicinity of an edge of a water surface of a pool; controlling the automatic pool cleaning device to rotate on the water surface near the edge so that a side of the automatic pool cleaning device faces the edge; determining a distance between the side and the edge in real time; and controlling the automatic pool cleaning device to move along the edge on the water surface based on the distance.

[0004] In one or more embodiments, the automatic pool cleaning device is controlled to move along the edge on the water surface in a manner such that the distance is maintained at a predetermined distance or within a predetermined distance range.

[0005] In one or more embodiments, when the distance is lower than the predetermined distance or lower than the lower limit of the predetermined distance range, the automatic pool cleaning device is controlled to move away from the edge, and / or when the distance is higher than the predetermined distance or higher than the upper limit of the predetermined distance range, the automatic pool cleaning device is controlled to move closer to the edge.

[0006] In one or more embodiments, the upper limit value is the same as or close to the lower limit value.

[0007] In one or more embodiments, the automatic pool cleaning device is controlled to move away from or close to the edge by controlling the yaw angle of the automatic pool cleaning device.

[0008] In one or more embodiments, the yaw angle is controlled by controlling a driving mechanism of the automatic pool cleaning device, wherein the driving mechanism includes at least one of a water spraying mechanism, a driving wheel, and a paddle.

[0009] In one or more embodiments, the automatic pool cleaning device includes a first distance sensor and a second distance sensor, and maintaining the distance at the predetermined distance or within the predetermined distance range includes maintaining a first distance determined based on sensing data from the first distance sensor and a second distance determined based on sensing data from the second distance sensor at the predetermined distance or within the predetermined distance range.

[0010] In one or more embodiments, the predetermined distance or the predetermined distance range depends on at least one of a size of the automatic pool cleaning device, a performance of a distance sensor of the automatic pool cleaning device, and a performance of a driving mechanism of the automatic pool cleaning device.

[0011] In one or more embodiments, the predetermined distance range is greater than or equal to 20 centimeters and less than or equal to 80 centimeters.

[0012] In one or more embodiments, the distance is determined based on sensing data from at least one distance sensor, the at least one distance sensor comprising at least one of an ultrasonic sensor, a direct time-of-flight sensor, a radar, and an infrared sensor.

[0013] In one or more embodiments, controlling the automatic pool cleaning device to move to the vicinity of the edge includes at least one of the following: controlling the automatic pool cleaning device to move to the vicinity of the edge closest to the automatic pool cleaning device; and controlling the automatic pool cleaning device to move along the current direction of the automatic pool cleaning device until it reaches the vicinity of the edge.

[0014] In one or more embodiments, controlling the automatic pool cleaning device to move to the vicinity of the edge includes at least one of: controlling the automatic pool cleaning device to move to the vicinity of the edge on the water surface; and controlling the automatic pool cleaning device to move to the vicinity of the edge by increasing buoyancy after the pool bottom crawls up along the pool wall.

[0015] In one or more embodiments, the method may further include: sensing an obstacle in front of the automatic cleaning device; and when the obstacle in front of the automatic cleaning device is sensed, controlling the automatic cleaning device to stop moving along the edge on the water surface, and controlling the automatic cleaning device to turn on the water surface.

[0016] On the other hand, an automatic pool cleaning device with water surface movement capability is also disclosed. The automatic pool cleaning device comprises: at least one distance sensor configured to sense the distance between the automatic pool cleaning device and an obstacle lateral to the automatic pool cleaning device; and a controller configured to perform the above method.

[0017] In one or more embodiments, the at least one distance sensor includes a first distance sensor and a second distance sensor disposed on a same side of the automatic pool cleaning device. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 An example of an automatic pool cleaning device according to an embodiment of the present disclosure.

[0019] Figure 2 An example of a method for controlling an automatic pool cleaning device according to an embodiment of the present disclosure.

[0020] Figure 3 An example of a process of a method for controlling an automatic pool cleaning device according to an embodiment of the present disclosure.

[0021] Figure 4 An example of a process of a method for controlling an automatic pool cleaning device according to an embodiment of the present disclosure.

[0022] Figure 5 An example of a process of a method for controlling an automatic pool cleaning device according to an embodiment of the present disclosure.

[0023] Figure 6 An example of a process of a method for controlling an automatic pool cleaning device according to an embodiment of the present disclosure.

[0024] Figure 7 An example of a process of a method for controlling an automatic pool cleaning device according to an embodiment of the present disclosure.

[0025] Figure 8 An example of a process of a method for controlling an automatic pool cleaning device according to an embodiment of the present disclosure.

[0026] Fig. 9 An example of a process of a method for controlling an automatic pool cleaning device according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0027] The embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings. In the accompanying drawings, the same or corresponding parts are given the same symbols, and their description will not be repeated.

[0028] The automatic pool cleaning device can be designed to clean up garbage such as leaves floating on the water surface while moving on the water surface of the pool. For example, due to factors such as wind, more garbage may gradually accumulate near the edge where the water surface intersects the pool wall (also known as the "water line"). Therefore, it is expected that the automatic pool cleaning device can stably move along the edge of the water surface and perform cleaning operations.

[0029] Figure 1An exemplary automatic pool cleaning device 100 in an embodiment of the present disclosure is shown, which is also referred to as “device 100 ” hereinafter.

[0030] like Figure 1 As shown, in addition to the driving mechanism that enables the device 100 to move in the pool or on the water surface (for example, it may include components such as a driving motor, a transmission mechanism, a crawler track, a traveling wheel, a water spraying mechanism, a driving wheel and / or a paddle) and the cleaning mechanism that enables the device 100 to have the ability to clean the pool (for example, it may include components such as a water pump, a roller brush, a filter, etc.), the device 100 may also include a sensor 110 and a controller 120.

[0031] Sensor 110 may include at least one sensor of any suitable type capable of sensing obstacles around apparatus 100 (eg, wall-like obstacles such as pool walls).

[0032] For example, the sensor 110 may include at least one distance sensor such as an ultrasonic sensor, a direct time-of-flight (dToF) sensor, a radar, and an infrared sensor configured on the left and / or right side of the device 100, and may be configured to obtain sensing data about the distance between the device 100 and an obstacle to the side of the device 100 (e.g., a wall-like obstacle such as a pool wall).

[0033] In addition, the sensor 110 may also include at least one distance sensor such as an ultrasonic sensor, a dToF sensor, a radar, and an infrared sensor configured at the front of the device 100, and may be configured to obtain sensing data about the distance between the device 100 and an obstacle in front of the device 100 (for example, a wall-like obstacle such as a pool wall).

[0034] The controller 120 (also referred to as “processor 120”) may include any circuits and / or modules having data processing capabilities and / or instruction execution capabilities and suitable for the device 100, such as a central processing unit (CPU), a graphics processing unit (GPU), a field programmable gate array (FPGA), etc., and may be configured, for example, to perform data processing and / or control related to the cleaning operation and / or other functions of the device 100 according to a program stored in a memory within the device 100 and / or instructions from a control panel or control terminal of the device 100.

[0035] For example, the controller 120 may also be configured to determine how to control the device 100 according to the various sensed data acquired, the program pre-stored in the memory, and / or the user instructions from the control panel or the control terminal of the device 100, and control the components of the device 100 to work according to the determined control mode or mode. For example, the controller 120 may determine the distance between the device 100 and the lateral obstacle of the device 100 according to the sensed data from at least one distance sensor configured on the left and / or right side of the device 100 in the sensor 110. For example, the controller 120 may be configured to control the device 100 to move forward in the pool and / or crawl on the pool wall by controlling the drive mechanism such as the crawler or the traveling wheel of the device 100. For example, the controller 120 may be configured to control the device 100 to float or dive in the pool by controlling the buoyancy adjustment components such as the airbag and the air pump of the device 100. For example, the controller 120 can be configured to control the movement of the device 100 on the water surface, such as forward, backward, turning, and translation to one side, by controlling the operation of the driving mechanisms of the device 100, such as water spray mechanisms (e.g., vector nozzles), driving wheels, and paddles.

[0036] Figure 2 The method 200 for controlling the device 100 in the embodiment of the present disclosure is schematically shown. The method 200 may be executed by the controller 120 of the device 100, and may include: step 210, controlling the device 100 to move to the vicinity of the edge of the water surface of the pool; step 220, controlling the device 100 to rotate on the water surface near the edge so that the side of the device 100 faces the edge; step 230, determining the distance between the side of the device 100 and the edge in real time; and step 240, controlling the device 100 to move along the edge on the water surface based on the distance determined in real time in step 230.

[0037] In the method 200, the device 100 is controlled to have its side face the edge, and the device 100 is controlled to move along the edge on the water surface based on the distance between the side of the device 100 and the edge determined in real time. In this way, the device 100 can be controlled to autonomously move along the edge and perform cleaning operations on the water surface, and the device 100 can be kept at an appropriate distance from the pool wall, thereby ensuring smooth movement along the edge and cleaning operations.

[0038] Details of method 200 and examples of execution procedures are described in detail below.

[0039] For example, the controller 120 can determine that the device 100 enters the water surface cleaning operation mode based on program instructions pre-stored in the memory of the device 100 and / or operation instructions set by the user through the control panel or control terminal of the device 100, and can start executing step 210 to control the device 100 to move to the edge of the water surface of the pool.

[0040] In various embodiments, in step 210 , the controller 120 may use any suitable method to determine the current position of the device 100 in the pool.

[0041] For example, the controller 120 may determine the current position of the device 100 in the pool based on sensing data from one or more sensors of the device 100 such as a depth sensor, a water separation sensor, etc. and / or real-time working conditions of components such as a water pump.

[0042] For example, when the controller 120 determines that the device 100 is currently located at the bottom of the pool, in step 210, the controller 120 can control the driving mechanism of the device 100, such as tracks and / or travel wheels, to operate so that the device 100 moves from the bottom of the pool to the pool wall, and then crawls up on the pool wall to near the edge of the water surface (i.e., the waterline).

[0043] For example, the controller 120 can determine the pool wall that is currently closest or relatively close to the device 100 based on the data from the sensor 110 and / or the map data about the edge of the pool obtained in the previous operation, and then control the device 100 to move to the pool wall on the pool bottom and crawl up on the pool wall to the vicinity of the water line. The controller 120 can also control the device 100 to move forward on the pool bottom according to the current orientation of the device 100 or other specified directions until it reaches a certain pool wall of the pool, and then control the device 100 to crawl up on the pool wall to the vicinity of the water line.

[0044] During this process, for example, while the control device 100 is crawling up along the pool wall, or after the control device 100 is crawling up along the pool wall to near the water surface, the controller 120 can also control the buoyancy adjustment components of the device 100, such as air bags, to operate in order to increase the buoyancy of the device 100 in the water, so that the device 100 can float to the water surface and / or float on the water surface more smoothly.

[0045] In addition, when the controller 120 determines that the device 100 is currently in the water, the controller 120 can also control the buoyancy adjustment components of the device 100, such as air bags, to operate in order to increase the buoyancy of the device 100 in the water, so that the device 100 can float directly from the water to the surface and float on the water.

[0046] like Figure 3As shown, for example, when the controller 120 determines that the device 100 is currently located on the water surface, in step 210, the controller 120 can control the driving mechanism of the device 100, such as the water spray mechanism, the driving wheel and / or the paddle, to operate, so that the device 100 moves on the water surface to the vicinity of the edge of the water surface, for example, the device 100 moves along the water surface. Figure 3 Move on the water surface in the direction of the dotted arrow to near the waterline where the pool wall 300, which is the edge of the water surface, and the water surface intersect.

[0047] For example, the controller 120 can determine the edge closest to or relatively close to the device 100 based on the data from the sensor 110 and / or the map data about the edge of the pool obtained in the previous operation, and then control the device 100 to move to the vicinity of the edge on the water surface. In addition, the controller 120 can also control the device 100 to move forward on the water surface according to the current orientation of the device 100 or other specified directions until it reaches the vicinity of a certain edge of the water surface.

[0048] In this process, the controller 120 can also control the buoyancy adjustment components of the device 100, such as air bags, to work, so as to increase the buoyancy of the device 100 in the water, so that the device 100 can remain on the water surface. In some embodiments, the device 100 can be configured as a surface ship structure, so that the device 100 can float on the water surface through its own structure without the need for additional buoyancy adjustment components.

[0049] Then, the controller 120 may execute step 220 to control the device 100 to rotate on the water surface near the edge so that the side of the device 100 faces the edge.

[0050] For example, the controller 120 can determine the relative angle between the current orientation of the device 100 and the edge based on one or more data such as sensing data from the sensor 110, sensing data from a spatial attitude sensor of the device 100 such as an inertial measurement unit (IMU), and map data about the edge of the pool obtained in previous operations.

[0051] Then, for example Figure 4 As shown, the controller 120 can control the operation of driving mechanisms such as water spraying mechanisms, driving wheels and / or blades, so that Figure 4 The device 100 in the A state (or posture) is rotated at a determined relative angle (e.g., at a predetermined angle) on the water surface near the edge. Figure 4 Rotate in the direction of the dotted arrow in the Figure 4 In the B state (or posture), the side of the device 100 faces the edge, for example, the side of the device 100 is parallel or approximately parallel to the edge.

[0052] In another embodiment, the sensor 110 may include at least two distance sensors such as an ultrasonic sensor, a dToF sensor, a radar, and an infrared sensor, and the at least two distance sensors may sense obstacles located on the same side of the device 100 .

[0053] Then, the controller 120 can control the driving mechanism such as the water spray mechanism, the driving wheel and / or the paddle to operate. Figure 4 The device 100 in the A state (or posture) is rotated on the water surface near the edge (for example, according to Figure 4 ) until the difference (|D1-D2|) between the sensing data D1 and D2 from the at least two distance sensors is zero, or close to zero, or within a predetermined threshold range (for example, less than a certain specified threshold), so that the device 100 becomes Figure 4 In the B state (or posture), the side of the device 100 is facing the edge, for example, parallel or approximately parallel to the edge.

[0054] exist Figure 4 In the figure, the device 100 in state A (or posture) and the device 100 in state B (or posture) are shown in different positions respectively, however, this does not mean that the device 100 will necessarily or must be displaced during the state (or posture) change process. The position of the device 100 in state A (or posture) on the water surface and the position of the device 100 in state B (or posture) on the water surface may be the same or different, may be very different, or may be very close.

[0055] Then, the controller 120 may perform steps 230 and 240 to determine the distance between the side of the device 100 and the edge in real time, and control the device 100 to move along the edge on the water surface based on the distance determined in real time.

[0056] For example, the controller 120 can determine the distance between the side of the device 100 and the edge in real time based on the sensing data from at least one distance sensor configured in the sensor 110 on the side facing the edge, and can control the device 100 to move along the edge on the water surface so that the distance between the side of the device 100 and the edge is maintained at a predetermined distance or within a predetermined distance range.

[0057] For example, Figure 5 As shown, the sensor 110 may include a distance sensor disposed on the side of the device 100 facing the pool wall 300, and the sensor 110 may control the device 100 so that when the device 100 moves in accordance with Figure 5During the process in which the dotted arrow in FIG. moves on the water surface, the distance value determined based on the sensing data from the distance sensor is always the predetermined distance D, or is always close to the predetermined distance D, or the difference between the predetermined distance D and the predetermined distance D always satisfies a predetermined threshold condition (for example, is less than a specified threshold).

[0058] In addition, if Figure 6 The sensor 110 may also include at least two distance sensors disposed on the side of the device 100 facing the pool wall 300, and the sensor 110 may control the device 100 so that when the device 100 is in accordance with Figure 6 During the process that the dotted arrow in FIG. 1 moves on the water surface, each distance value D1, D2 determined based on the sensing data from each of the at least two distance sensors is kept within a predetermined distance range (for example, an interval range defined by a lower limit value Dmin and an upper limit value Dmax), so that the device 100 is always within a predetermined distance range. Figure 6 Move on the water surface in the area between the two dotted lines.

[0059] In different embodiments, the above-mentioned predetermined distance D or the predetermined distance range defined by Dmin and Dmax can be determined according to one or more factors such as the size of the device 100, the performance of at least one distance sensor in the sensor 110, and the performance of the driving mechanism of the device 100. For example, the higher the performance of the distance sensor (for example, the higher the accuracy), the closer Dmin and Dmax can be, so that the predetermined distance range is smaller, and even a single predetermined distance D can be used to replace the distance range. For example, the higher the sensitivity of the driving mechanism and / or the more precise the power control, the closer Dmin and Dmax can be, so that the predetermined distance range is smaller, and even a single predetermined distance D can be used to replace the distance range.

[0060] In some embodiments, the predetermined distance range defined by Dmin and Dmax may be greater than or equal to 20 centimeters and less than or equal to 80 centimeters, and / or the predetermined distance D may be a value within the range. In other embodiments, the predetermined distance range defined by Dmin and Dmax may also be any other suitable range, and / or the predetermined distance D may also be any other suitable value. In some embodiments, Dmin and Dmax may be the same or close, so that the predetermined distance range defined by Dmin and Dmax substantially corresponds to a single predetermined distance D or a range of approximate values ​​of the predetermined distance D.

[0061] like Figure 7As shown, for example, during the process of controlling the device 100 to move along the edge on the water surface, when the controller 120 determines that the distance between the device 100 and the edge is lower than a predetermined distance D or lower than a lower limit value Dmin of a predetermined distance range, the controller 120 can determine that the device 100 is too close to the edge.

[0062] Then, for example, the controller 120 can control the driving mechanism of the device 100, such as the water spray mechanism, the driving wheel and / or the paddle, to change the yaw angle of the device 100 so that the device 100 is away from the edge, for example, Figure 7 The device 100 in the A state (or posture) is away from the edge (pool wall 300) and becomes Figure 7 The B state (or posture) in .

[0063] In some embodiments, the driving mechanism of the device 100 may include a component that can provide a propulsion force to the left or right side of the device 100 and enable the device 100 to translate to the right or left side on the water surface using a reaction force, such as one or more water spray mechanisms (e.g., vector nozzles) configured on the left and / or right side of the device 100. Figure 7 In the A state (or posture) in FIG. 1 , the controller 120 can control the driving mechanism of the device 100 to operate so that the device 100 moves to a side away from the edge and becomes Figure 7 The B state (or posture) in .

[0064] exist Figure 7 In the figure, the device 100 in state A (or posture) and the device 100 in state B (or posture) are shown in different positions respectively, however, this does not mean that the device 100 will necessarily or must be displaced during the state (or posture) change process. The position of the device 100 in state A (or posture) on the water surface and the position of the device 100 in state B (or posture) on the water surface may be the same or different, may be very different, or may be very close.

[0065] like Figure 8 As shown, for example, during the process of controlling the device 100 to move along the edge on the water surface, when the controller 120 determines that the distance between the device 100 and the edge is higher than a predetermined distance D or higher than an upper limit value Dmax of a predetermined distance range, the controller 120 may determine that the device 100 is too far from the edge.

[0066] Then, for example, the controller 120 can control the driving mechanism of the device 100, such as the water spray mechanism, the driving wheel and / or the blade, to change the yaw angle of the device 100 so that the device 100 is close to the edge, for example, Figure 8 The device 100 in state A (or posture) approaches the edge (pool wall 300) and becomes Figure 8The B state (or posture) in .

[0067] In some embodiments, the driving mechanism of the device 100 may include a component that can provide a propulsion force to the left or right side of the device 100 and enable the device 100 to translate to the right or left side on the water surface using a reaction force, such as one or more water spray mechanisms (e.g., vector nozzles) configured on the left and / or right side of the device 100. Figure 8 In the A state (or posture), the controller 120 can control the driving mechanism of the device 100 to operate, so that the device 100 moves toward the side close to the edge and becomes Figure 8 The B state (or posture) in .

[0068] exist Figure 8 In the figure, the device 100 in state A (or posture) and the device 100 in state B (or posture) are shown in different positions respectively, however, this does not mean that the device 100 will necessarily or must be displaced during the state (or posture) change process. The position of the device 100 in state A (or posture) on the water surface and the position of the device 100 in state B (or posture) on the water surface may be the same or different, may be very different, or may be very close.

[0069] As described above, by executing method 200, the controller 120 can control the device 100 to move along the edge on the water surface based on the distance between the side and the edge of the device 100 determined in real time, so that the controlled device 100 can maintain an appropriate distance from the pool wall 300 during the movement along the edge and cleaning operations on the water surface, thereby ensuring the smooth progress of the movement along the edge and cleaning operations.

[0070] In addition, the controller 120 may also determine whether to control the device 100 to pause and move along the edge on the water surface based on the sensing data about the obstacle in front of the device 100 .

[0071] For example, Fig. 9 As shown, in the case where the pool wall 900 connected to the pool wall 300 in front of the device 100 is sensed, the controller 120 can control the device 100 to stop moving along the edge corresponding to the pool wall 300 on the water surface.

[0072] Further, the controller 120 may continue to execute the method 200 for the pool wall 900. For example, the controller 120 may execute step 210 to control the device 100 to move closer to the pool wall 900, and then execute step 220, or the controller 120 may regard the process of sensing the pool wall 900 connected to the pool wall 300 in front of the device 100 as the execution process of step 210, and directly execute step 220 when sensing the pool wall 900 connected to the pool wall 300 in front of the device 100.

[0073] Then, in step 220, Fig. 9 As shown, the controller 120 can control the device 100 to turn on the water surface so that the device 100 Fig. 9 The A state (or posture) in the embodiment is rotated to the B state (or posture). Then, the controller 120 may execute steps 230 and 240 so as to control the device 100 to continue to move along the edge corresponding to the pool wall 900 on the water surface.

[0074] In addition, for example, when an obstacle such as the pool wall 900 is sensed in front of the device 100, or when the device 100 moves to the corner where the pool walls 300 and 900 are connected and cannot continue to move forward, in step 220, the controller 120 may also control the device 100 to retreat a certain distance on the water surface before turning. Then, the controller 120 may continue to execute steps 230 and 240 to control the device 100 to continue to move forward along the edge corresponding to the pool wall 900 on the water surface.

[0075] exist Fig. 9 In the figure, the device 100 in state A (or posture) and the device 100 in state B (or posture) are shown in different positions respectively, however, this does not mean that the device 100 will necessarily or must be displaced during the state (or posture) change process. The position of the device 100 in state A (or posture) on the water surface and the position of the device 100 in state B (or posture) on the water surface may be the same or different, may be very different, or may be very close.

[0076] The basic principle of the present disclosure is described above in combination with the embodiments. However, it should be pointed out that the advantages, strengths, effects, etc. mentioned in the present disclosure are only examples and not limitations, and it cannot be considered that these advantages, strengths, effects, etc. are required by each embodiment of the present disclosure. In addition, the aforementioned details are only for the purpose of illustration and ease of understanding, not limitation, and the aforementioned details do not limit the present disclosure to being implemented by adopting the aforementioned details.

[0077] The block diagrams of the devices, apparatuses, equipment, and systems involved in this disclosure are only illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. In different embodiments, these devices, apparatuses, equipment, and systems may be connected, arranged, or configured in any appropriate manner.

[0078] In addition, words such as "including", "comprising", "having" and the like are open-ended words, meaning "including but not limited to", and can be used interchangeably therewith. The words "or" and "and" used herein mean the words "and / or" and can be used interchangeably therewith, unless the context clearly indicates otherwise. The word "such as" used herein means the phrase "such as but not limited to", and can be used interchangeably therewith.

[0079] It should also be noted that in the apparatus, device and method of the present disclosure, each component or each step can be decomposed and / or recombined. Such decomposition and / or recombination should be regarded as equivalent solutions of the present disclosure.

[0080] In this document, modifiers such as "first", "second", etc. without quantifiers are intended to distinguish different elements / components / circuits / modules / devices / steps, and are not used to emphasize the order, positional relationship, importance, priority, etc. In contrast, modifiers such as "first", "second", etc. with quantifiers can be used to emphasize the order, positional relationship, importance, priority, etc. of different elements / components / circuits / modules / devices / steps.

[0081] The above description is given for the purpose of illustration and description. This description is not intended to limit the embodiments of the present disclosure to the forms disclosed herein. Although multiple example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, changes, additions and sub-combinations thereof.

Claims

1. A method for controlling an automatic pool cleaning device, comprising: Controlling the automatic pool cleaning device to move to the vicinity of the edge of the water surface of the pool; Controlling the automatic pool cleaning device to rotate on the water surface near the edge so that the side of the automatic pool cleaning device faces the edge; determining in real time the distance between the side and the edge; as well as The automatic pool cleaning device is controlled to move along the edge on the water surface based on the distance.

2. The method of claim 1, wherein: Controlling the automatic pool cleaning device to move along the edge on the water surface based on the distance includes: The automatic pool cleaning device is controlled to move along the edge on the water surface in a manner such that the distance is maintained at a predetermined distance or within a predetermined distance range.

3. The method of claim 2, wherein: When the distance is lower than the predetermined distance or lower than the lower limit of the predetermined distance range, the automatic pool cleaning device is controlled to move away from the edge, and / or when the distance is higher than the predetermined distance or higher than the upper limit of the predetermined distance range, the automatic pool cleaning device is controlled to move closer to the edge.

4. The method of claim 3, wherein: The upper limit value is the same as or close to the lower limit value.

5. The method of claim 3, wherein: The automatic pool cleaning device is controlled to move away from or approach the edge by controlling the yaw angle of the automatic pool cleaning device.

6. The method of claim 5, wherein: The yaw angle is controlled by controlling a driving mechanism of the automatic pool cleaning device, wherein the driving mechanism includes at least one of a water spraying mechanism, a driving wheel and a paddle.

7. The method of claim 2, wherein: The automatic pool cleaning device includes a first distance sensor and a second distance sensor, and maintaining the distance at the predetermined distance or within the predetermined distance range includes maintaining a first distance determined based on sensing data from the first distance sensor and a second distance determined based on sensing data from the second distance sensor at the predetermined distance or within the predetermined distance range.

8. The method according to any one of claims 2 to 7, wherein: The predetermined distance or the predetermined distance range depends on at least one of the size of the automatic pool cleaning device, the performance of a distance sensor of the automatic pool cleaning device, and the performance of a driving mechanism of the automatic pool cleaning device.

9. The method according to any one of claims 2 to 7, wherein: The predetermined distance range is greater than or equal to 20 centimeters and less than or equal to 80 centimeters.

10. The method according to any one of claims 1 to 7, wherein: The distance is determined based on sensing data from at least one distance sensor, the at least one distance sensor including at least one of an ultrasonic sensor, a direct time-of-flight sensor, a radar, and an infrared sensor.

11. The method according to any one of claims 1 to 7, wherein: Controlling the automatic pool cleaning device to move to the vicinity of the edge includes at least one of the following: Controlling the automatic pool cleaning device to move to the vicinity of the edge closest to the automatic pool cleaning device; and The automatic pool cleaning device is controlled to move forward along the current direction of the automatic pool cleaning device until it reaches the vicinity of the edge.

12. The method according to any one of claims 1 to 7, wherein: Controlling the automatic pool cleaning device to move to the vicinity of the edge includes at least one of the following: Controlling the automatic pool cleaning device to move on the water surface to near the edge; and The automatic pool cleaning device is controlled to move to the vicinity of the edge by increasing the buoyancy after the pool bottom crawls up along the pool wall.

13. The method of any one of claims 1 to 7, further comprising: sensing an obstacle in front of the automatic cleaning device; as well as When an obstacle is sensed in front of the automatic cleaning device, the automatic cleaning device is controlled to stop moving along the edge on the water surface, and the automatic cleaning device is controlled to turn on the water surface.

14. An automatic pool cleaning device capable of moving on the water surface, comprising: at least one distance sensor configured to sense the distance between the automatic pool cleaning device and an obstacle to the side of the automatic pool cleaning device; as well as A controller configured to execute the method according to any one of claims 1 to 13.

15. The automatic pool cleaning device according to claim 14, wherein: The at least one distance sensor includes a first distance sensor and a second distance sensor disposed on the same side of the automatic pool cleaning device.

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