Cleaning method for pool bottom water pit

Abstract

The invention discloses a cleaning method for a water pit of automatic pool cleaning equipment, which can enable the cleaning equipment to do reciprocating motion between the lowest point in the water pit at the bottom of a pool and the edge of the water pit so as to clean the surface of the water pit, and the automatic cleaning equipment turns at the lowest point and returns to the lowest point on the edge of the water pit along the original path so as to clean the surface of the water pit. The automatic cleaning equipment can clean all the areas of the water pit without turning around, and therefore compared with an existing cleaning path, the automatic cleaning equipment is higher in cleaning coverage degree and cleaning efficiency.

Description

Technical Field

[0001] The invention relates to a method for cleaning a water puddle of an automatic pool cleaning device in the technical field of automatic cleaning. Background Art

[0002] When performing underwater cleaning operations, automatic pool cleaning equipment, such as pool cleaning robots, will encounter various pool bottom forms, such as pool bottoms with large and deep pits. For this type of pool bottom, if the previous cleaning path and cleaning strategy are adopted, the automatic cleaning equipment cannot maintain a stable movement posture in the puddle, and is prone to slipping and position drift, so it cannot achieve a high cleaning coverage and cleaning efficiency. Summary of the invention

[0003] In order to solve the above problems, the present invention discloses a method for cleaning a puddle of an automatic pool cleaning device, wherein the puddle is located at the bottom of the pool, and the method comprises the following steps:

[0004] Controlling the automatic pool cleaning device to move along a preset path on the surface of the puddle, thereby cleaning the puddle;

[0005] During the movement, real-time acquisition of location information of the automatic pool cleaning device;

[0006] If it is determined based on the position information that the automatic pool cleaning device has reached the edge area of ​​the puddle, the cleaning device is controlled to retreat toward the lowest position of the puddle; if it is determined based on the position information that the automatic pool cleaning device has retreated to the lowest position of the puddle or near the lowest position, the cleaning device is controlled to rotate by a preset angle and continue to move toward the edge area of ​​the puddle after the rotation;

[0007] In one or more embodiments, controlling the automatic pool cleaning device to move along a preset path on the surface of the puddle includes detecting whether the automatic pool cleaning device enters the puddle, and if so, controlling the automatic pool cleaning device to move along the preset path on the surface of the puddle;

[0008] In one or more embodiments, detecting whether the automatic pool cleaning device enters a puddle includes determining by map positioning, a depth meter, a downward-looking sensor, a camera, a radar, or an IMU;

[0009] In one or more embodiments, detecting whether the automatic pool cleaning device enters a puddle, and if so, controlling the automatic pool cleaning device to move along a preset path on the surface of the puddle, including detecting whether the automatic pool cleaning device enters a puddle, and if so, controlling the automatic pool cleaning device to start moving along a preset path at the lowest position of the puddle;

[0010] In one or more embodiments, wherein the position information is obtained by a depth meter, an IMU and / or a downward-looking sensor;

[0011] In one or more embodiments, the edge area includes a surface area inside the puddle or a surface area outside the puddle;

[0012] In one or more embodiments, the preset path may be executed a preset number of times and may also be executed for a preset duration;

[0013] In one or more embodiments, wherein the preset angle is between 10 degrees and 200 degrees;

[0014] In one or more embodiments, it further includes controlling the robot to move a preset number of times or for a preset duration along the preset path;

[0015] In one or more embodiments, the robot rotates at different preset angles when moving along the preset path at least twice;

[0016] The present invention also discloses an automatic pool cleaning device, which includes a bottom water suction port and a drain port, wherein the drain port is arranged at the top or side of the cleaning device, and a filtering device and a water pump are arranged inside the cleaning device, wherein the water pump can guide water to flow into the water suction port, and discharge the water from the drain port to the outside of the cleaning device after passing through the filtering device, and the cleaning device can perform the above-mentioned cleaning method.

[0017] The method for cleaning the puddle at the bottom of a pool of the present invention does not need to control the automatic pool cleaning equipment to turn around in the non-planar area in the puddle, thus avoiding slipping, facilitating motion control, and having high cleaning efficiency and high cleaning coverage. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of a top and side view of a path of an automatic pool cleaning device in the prior art performing a cleaning operation in a puddle at the bottom of a pool;

[0019] Figure 2 It is a schematic top view of the path of the automatic pool cleaning device in the prior art performing the cleaning operation in the puddle at the bottom of the pool;

[0020] Figure 3 It is a schematic diagram of the walking path of the automatic pool cleaning device according to one embodiment of the present invention when performing a cleaning operation in a puddle;

[0021] Figure 4 is a schematic diagram of a walking path of an automatic pool cleaning device according to another embodiment of the present invention performing a cleaning operation in a puddle;

[0022] Figure 5 It is a schematic diagram of an automatic pool cleaning device according to another embodiment of the present invention reaching the edge area of ​​a puddle. DETAILED DESCRIPTION

[0023] The following will refer to the attached Figure 1-5 In the drawings, the same or corresponding parts are given the same reference numerals, and their description will not be repeated.

[0024] The pool referred to in the embodiments of the present invention includes a swimming pool, a water pool or a hydrotherapy pool. The automatic pool cleaning device refers to a pool cleaning robot, and the walking path of the pool cleaning robot includes a preset walking rule or a preset walking track.

[0025] In the prior art, such as Figure 1 As shown, a puddle 2 is formed at the bottom of the pool 1. The puddle 2 is large in size and deep in depth. The surface of the puddle is an arc surface or a spherical surface. When the robot 3 performs cleaning on it, the planned cleaning path is as follows Figure 2 The cleaning path includes the lowest point 4 passing through the puddle and the path that does not pass through the lowest point 4. When the rolling angle of the robot 3 is 0, the robot will not slip. However, when the robot walks on the path that does not pass through the lowest point 4, it will slip severely, causing the robot to be unable to walk along the predetermined path, affecting the cleaning efficiency and cleaning coverage.

[0026] The method for cleaning a puddle in a pool provided by an embodiment of the present invention is as follows: Figure 3 As shown, when the pool cleaning robot 3 performs cleaning operations at the bottom of the pool, it will detect in real time whether the pool cleaning robot 3 enters the puddle. If it enters, the automatic pool cleaning device is controlled to move on the surface of the puddle according to a preset path. When the robot 3 moves according to the preset path, it is necessary to confirm the initial walking direction. In order to confirm the initial walking direction, it is necessary to control the automatic pool cleaning device to reach the lowest position of the puddle, and start to move according to the preset path at the lowest position. When starting to move according to the preset path at the lowest position, the moving direction is the current orientation of the robot 3.

[0027] It should be pointed out that, in the present embodiment, there are many ways to detect whether the pool cleaning robot 3 has entered the puddle, for example, the current position of the robot 3 is determined, and the current position information is matched with the map containing the puddle information to determine whether the robot has entered the puddle; or the depth meter on the robot 3 is used to determine whether the depth change exceeds the preset value, if so, it means that the robot has entered the puddle; or the downward sensor on the robot 3 is used to determine whether the obstacle distance value at the bottom of the robot has a gradual change trend within a certain time period (for example, the time period has a value range of 1-5 seconds) or the mileage (for example, the mileage has a value range of 0.2-1 meters); or the camera or radar on the robot 3 is used to scan the shape of the robot's surrounding environment to determine whether it has entered the puddle; or the IMU on the robot 3 is used to determine whether the change trend of the pitch angle within a certain time period (for example, the time period has a value range of 1-5 seconds) or the mileage (for example, the mileage has a value range of 0.2-1 meters) is gradual, if so, it means that the robot has entered the puddle.

[0028] While moving along the preset path, the robot 3 will obtain its position information in real time;

[0029] If it is determined based on the position information that the pool robot 3 has reached the edge area of ​​the puddle, the robot 3 is controlled to retreat toward the lowest position 4 of the puddle.

[0030] The sensors for obtaining the position information include a depth meter, an IMU and / or a downward-looking sensor. When the robot 3 is traveling in the non-puddle area in the pool, the depth meter can record the depth at this time. Therefore, by comparing the current depth of the robot 3 with the depth of the non-puddle area, it can be determined whether the robot 3 has reached the edge area of ​​the puddle. In addition, the IMU can detect the pitch angle change of the robot from the puddle 3 to the outside of the puddle. Once it is detected that the pitch angle change of the robot meets the preset pitch angle change threshold, it is determined that the robot 3 has reached the edge area of ​​the puddle. The downward-looking sensor can detect the environment below the robot, including an ultrasonic sensor, an infrared sensor, a TOF sensor or a camera. The downward-looking sensor can detect that the robot 3 travels to the bottom and leaves the puddle surface, emerges from the puddle to the outside of the puddle, or detects that the robot travels to the bottom of the pool outside the puddle after emerging from the puddle to the outside of the puddle. It should be noted that if only the downward-looking sensor is used to determine whether the robot has reached the edge area of ​​the puddle, it can only be determined when the robot 3 travels to at least emerge from the puddle, and it cannot be determined if the robot does not emerge from the puddle. If only IMU is used to determine whether the robot has reached the edge of the puddle, a significant change in the pitch angle can only be detected when the robot drives to the non-puddle area. It is difficult to determine that the robot has reached the edge of the puddle before the robot drives to the non-puddle area.

[0031] Therefore, the edge area of ​​the puddle can be the inner surface area of ​​the puddle, such as Figure 5 The robot is located at position B or C in the pit, part of the robot is located in the pit or all of it is located in the pit. When the robot is located in the pit, it needs to be as close to the edge of the pit as possible, so as to improve the cleaning coverage; the edge area can also be the surface area outside the pit, such as Figure 5 The robot is at position A.

[0032] If it is determined based on the position information that the pool robot 3 has retreated to the lowest position 4 of the puddle or near the lowest position 4, the cleaning device is controlled to rotate by a preset angle and continue to move toward the edge area of ​​the puddle after the rotation. The vicinity of the lowest position 4 includes a position at a preset distance from the lowest position 4, and the preset distance ranges from 0.1 to 0.5 meters. The preset angle is between 10 degrees and 200 degrees.

[0033] After the robot 3 rotates by the preset angle, it maintains the current orientation and continues to move toward the edge area of ​​the puddle, and the moving path is adjacent to the path of the last movement toward the edge area of ​​the puddle.

[0034] like Figure 3 As shown, the angle of rotation is an acute angle, such as Figure 4 As shown, the rotation angle is 180 degrees. The larger the rotation angle, the higher the cleaning efficiency, but the lower the cleaning coverage. When the robot completes the current preset path, it can continue to repeat the preset path for cleaning, and the rotation angle of the cleaning path executed each time is the same or different. If the cumulative rotation angle reaches one circle, the rotation angle needs to be changed to ensure greater cleaning coverage. The preset path can be executed a preset number of times and for a preset duration. The greater the number of times or duration, the higher the cleaning coverage.

[0035] Another embodiment of the present invention discloses an automatic pool cleaning device for executing the above-mentioned cleaning method, which has a water suction port and a drain port at the bottom, wherein the drain port is arranged at the top or the side of the cleaning device, and a filtering device and a water pump are arranged inside the cleaning device, wherein the water pump can guide water to flow into the water suction port, and discharge the water from the drain port to the outside of the cleaning device after passing through the filtering device.

[0036] 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.

[0037] 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.

[0038] 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.

[0039] 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.

[0040] 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.

[0041] 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 cleaning a puddle of an automatic pool cleaning device, wherein the puddle is located at the bottom of the pool, characterized in that: The method comprises the following steps: Controlling the automatic pool cleaning device to move along a preset path on the surface of the puddle, thereby cleaning the puddle; During the movement, real-time acquisition of location information of the automatic pool cleaning device; If it is determined based on the position information that the automatic pool cleaning device has reached the edge area of ​​the puddle, the cleaning device is controlled to retreat toward the lowest position of the puddle; if it is determined based on the position information that the automatic pool cleaning device has retreated to the lowest position of the puddle or near the lowest position, the cleaning device is controlled to rotate a preset angle and continue to move toward the edge area of ​​the puddle after the rotation.

2. The method for cleaning a puddle of an automatic pool cleaning device according to claim 1, wherein: Controlling the automatic pool cleaning device to move along a preset path on the surface of the puddle includes detecting whether the automatic pool cleaning device enters the puddle, and if so, controlling the automatic pool cleaning device to move along the preset path on the surface of the puddle.

3. The method for cleaning a puddle of an automatic pool cleaning device according to claim 2, wherein: Detecting whether the automatic pool cleaning device enters a puddle includes determining by map positioning, a depth meter, a downward-looking sensor, a camera, a radar, or an IMU.

4. The method for cleaning a puddle of an automatic pool cleaning device according to claim 2, wherein: Detecting whether the automatic pool cleaning device enters the puddle, and if so, controlling the automatic pool cleaning device to move along a preset path on the surface of the puddle, including detecting whether the automatic pool cleaning device enters the puddle, and if so, controlling the automatic pool cleaning device to start moving along a preset path at the lowest position of the puddle.

5. The method for cleaning a puddle of an automatic pool cleaning device according to any one of claims 1 to 4, wherein: The position information is obtained through a depth meter, an IMU and / or a downward-looking sensor.

6. The method for cleaning a puddle of an automatic pool cleaning device according to claim 5, wherein: The edge area includes the surface area inside the puddle or the surface area outside the puddle.

7. A method for cleaning a puddle of an automatic pool cleaning device according to any one of claims 1 to 4, wherein: The preset angle is between 10 degrees and 200 degrees.

8. The method for cleaning a puddle of an automatic pool cleaning device according to claim 7, wherein: After the cleaning device rotates by a preset angle, the path along which it continues to move toward the edge area of ​​the puddle is adjacent to the path along which it last moved toward the edge area of ​​the puddle, including: after the cleaning device rotates by a preset angle, it maintains the current direction and continues to move toward the edge area of ​​the puddle.

9. The method for cleaning a puddle of an automatic pool cleaning device according to any one of claims 1 to 4, wherein: It also includes controlling the robot to move a preset number of times or for a preset duration along the preset path.

10. The method for cleaning a puddle of an automatic pool cleaning device according to claim 9, wherein: The robot rotates to different preset angles when moving along the preset path at least twice.

11. An automatic pool cleaning device, characterized in that: The automatic pool cleaning device includes a bottom water suction port and a drain port, wherein the drain port is arranged at the top or side of the cleaning device, and a filtering device and a water pump are arranged inside the cleaning device, wherein the water pump can guide water to flow into the water suction port, and discharge the water from the drain port to the outside of the cleaning device after passing through the filtering device, and the cleaning device can perform the cleaning method described in any one of claims 1 to 10.

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