Automatic pool cleaning device, pool wall cleaning method for automatic pool cleaning device and computer storage medium

Abstract

The invention provides an automatic pool cleaning device, a pool wall cleaning method for the automatic pool cleaning device and a computer storage medium. The pool wall cleaning method comprises the steps that the automatic pool cleaning device is controlled to move to the surface of the pool bottom on the pool wall according to a first path, retreat for a first preset distance or preset duration on the surface of the pool bottom and then rotate for a first preset angle; controlling the automatic pool cleaning device to rotate by a first preset angle and then move towards the pool wall according to a second path; wherein in the process of advancing according to the second path, if the automatic cleaning device encounters an obstacle, the automatic cleaning device can steer in the direction away from the first path.

Description

Technical Field

[0001] The present application relates to the technical field of cleaning devices, and in particular to an automatic pool cleaning device, a pool wall cleaning method used in the automatic pool cleaning device, and a computer storage medium. Background Art

[0002] With the popularity of swimming pools and the significant progress of robotics technology, more and more consumers tend to use automated pool cleaning robots to perform pool cleaning tasks. When cleaning the pool wall, the pool cleaning robot needs to clean the pool in sequence according to the planned path. After completing the cleaning of one path, it switches to the next path to continue cleaning. In this way, each path can be cleaned one by one, thereby achieving a comprehensive cleaning of the entire pool wall. When the pool cleaning robot switches from one path on the pool wall to another path to be cleaned, if the path is switched at the bottom of the pool, it needs to move from the pool wall to the pool bottom and rotate a small angle (for example, 25 degrees) at the bottom of the pool before moving along the pool bottom to the wall to enter another path to be cleaned. However, if the pool cleaning robot encounters an obstacle while moving along the bottom of the pool, the distance measurement module in front is easily affected by the obstacle, which may cause the path switching to fail, so that the pool cleaning robot will repeatedly clean the same area or the same path on the pool wall after returning to the pool wall, resulting in low cleaning efficiency and missed cleaning areas. Summary of the invention

[0003] In response to the deficiencies of the above-mentioned prior art, the present application provides a pool wall cleaning method for an automatic pool cleaning device, comprising: controlling the automatic pool cleaning device to move along a first path on the pool wall to a pool bottom surface, and retreating from the pool bottom surface by a first predetermined distance or a predetermined time, and then rotating by a first predetermined angle; controlling the automatic pool cleaning device to rotate by the first predetermined angle and then move toward the pool wall along a second path, wherein if the automatic pool cleaning device encounters an obstacle while moving along the second path, it can turn in a direction away from the first path.

[0004] Furthermore, if an obstacle is encountered, the device can turn in a direction away from the first path, including: replanning a third path and controlling the automatic pool cleaning device to turn along the third path.

[0005] Furthermore, if an obstacle is encountered, the automatic pool cleaning device can be turned in a direction away from the first path, including: causing the automatic pool cleaning device to abut against the obstacle, and the abutting force causes the automatic pool cleaning device to move away from the first path.

[0006] Furthermore, the first path is a straight path.

[0007] Furthermore, the first predetermined angle is between 50-80 degrees.

[0008] Further, the third path includes a sub-path extending in a direction close to the first path.

[0009] Furthermore, after the automatic pool cleaning device is mounted on the wall, it moves forward or backward along a fourth path and moves down the wall. The first path is parallel to the fourth path, and a distance between the first path and the fourth path is greater than half the width of the automatic pool cleaning device.

[0010] Furthermore, during the movement of the automatic pool cleaning device along the second path, a change in the pitch angle is recorded. If the change in the pitch angle exceeds a preset threshold, after the automatic pool cleaning device moves down the wall along the fourth path, the automatic pool cleaning device is controlled to rotate to a second predetermined angle and then move forward, and the second predetermined angle is greater than the first predetermined angle.

[0011] Furthermore, the second predetermined angle is 90 degrees.

[0012] The present application also discloses an automatic pool cleaning device, which can implement the pool wall cleaning method described in any embodiment of the present application when executed.

[0013] The present application also discloses a computer storage medium, in which a computer program is stored. When the computer program is executed by a processor, the pool wall cleaning method described in any embodiment of the present application is implemented.

[0014] The embodiments described in this application have the following beneficial effects:

[0015] The pool wall cleaning method for an automatic pool cleaning device provided in the present application can avoid the obstacle and continue to effectively clean the pool wall if the robot encounters an obstacle at the bottom of the pool while cleaning the pool wall, thereby avoiding the situation where the robot fails to change path after encountering an obstacle and is forced to clean reciprocally along the same path. The robot can complete the cleaning task efficiently and without repetition, thereby improving the cleaning efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solution of the present application, the following briefly introduces the drawings required for the description of the embodiments. The drawings described below are only exemplary embodiments of the present application.

[0017] Figure 1 A flow chart showing a pool wall cleaning method of an automatic pool cleaning device according to an embodiment of the present application;

[0018] Figure 2 A schematic diagram showing the moving path of the automatic pool cleaning device according to an embodiment of the present application Figure 1 ;

[0019] Figure 3A schematic diagram showing the moving path of the automatic pool cleaning device according to an embodiment of the present application Figure 2 . DETAILED DESCRIPTION

[0020] The technical solutions in this application will be described clearly and completely below. Obviously, the described embodiments are only part of the embodiments of this application, rather than all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work belong to the protection scope of this application. It should be noted that the embodiments in this application and the features in the embodiments can be combined with each other without conflict.

[0021] The present application provides a pool wall cleaning method 100 for an automatic pool cleaning device. The pool wall cleaning method 100 of the automatic pool cleaning device can be used to clean the pool wall of a pool. The pool is, for example, a pool-shaped building. The pool-shaped building can be a swimming pool, a reservoir, a spa pool, a water tank, a water tank, etc. The automatic pool cleaning device can be a device such as an automatic cleaning device, a pool cleaning robot, etc., which can clean the pool-shaped building. The present application does not limit the specific presentation of the automatic pool cleaning device and the pool-shaped building, as long as the principle of the present application can be realized. In the following, if not otherwise specified, the robot will be used as an example of the automatic pool cleaning device, and the swimming pool will be used as an example of a pool or a pool-shaped building. In the following, if not otherwise specified, the terms "pool bottom", "pool bottom", and "pool bottom" all refer to the bottom surface of the swimming pool; the terms "pool wall" and "pool wall surface" refer to the side wall of the pool, which can be rectangular, arc-shaped or other shapes, and the pool wall and the pool bottom together constitute the main body of the pool.

[0022] The pool wall cleaning method 100 of the present application is described in detail below with reference to the accompanying drawings. Figure 1 A flow chart of a pool wall cleaning method 100 for an automatic pool cleaning device according to an embodiment of the present application is shown. Figure 2 A schematic diagram showing the moving path of the automatic pool cleaning device according to an embodiment of the present application Figure 1 . Figure 3 A schematic diagram showing the moving path of the automatic pool cleaning device according to an embodiment of the present application Figure 2 .like Figure 1 As shown, the pool wall cleaning method 100 includes steps S101 to S102. Steps S101 to S102 will be described below in conjunction with a specific embodiment.

[0023] First, enter step 101. In step S101, the automatic pool cleaning device is controlled to move along a first path on the pool wall to the pool bottom surface, and move on the pool bottom surface away from the pool wall by a first predetermined distance or for a predetermined time, and then rotate by a first predetermined angle.

[0024] When the robot performs cleaning operations in the pool, it can have three modes: pool bottom cleaning mode, pool wall cleaning mode and water surface cleaning mode. Among them, the pool wall cleaning mode is also called wall climbing mode. This mode mainly uses the vacuum adsorption principle to attach the robot to the pool wall and move on the pool wall to clean the pool wall.

[0025] The first path is a cleaning path during the robot's cleaning operation on the pool wall. The first path can be a path pre-set by the robot, or it can be a randomly generated path. For example, in the pool wall cleaning mode, the entire pool wall can be covered by setting multiple cleaning paths on the pool wall, and the robot performs cleaning operations in sequence according to the set cleaning paths, thereby achieving comprehensive cleaning of the entire pool wall. It should be noted that in practice, the term "path planning" does not necessarily require the robot to plan a movement trajectory in advance and store the information corresponding to the movement trajectory in the robot's memory. The so-called path planning in this field usually refers to planning a movement rule, which can be a trajectory planned according to a global map, or a certain movement rule that controls the movement of the robot. The robot moves according to the movement rule during the cleaning operation on the pool wall, that is, it can form one cleaning path after another and gradually complete the cleaning of the entire pool wall.

[0026] After completing a cleaning path, the robot needs to switch to the next path to be cleaned. The robot can be turned and the cleaning path can be changed by moving sideways on the bottom of the pool, thereby achieving path switching. The robot can move sideways on the bottom of the pool by relying on a water pump and / or a driving device. For example, the robot can be turned by changing the direction of water pump drainage; the robot can be turned by changing the wheel speed of the left and right wheels of the robot to generate a wheel speed difference.

[0027] like Figure 2 As shown, the robot moves along the first path on the pool wall toward the pool bottom and performs cleaning, until the cleaning task of the first path is completed, and then moves to the pool bottom surface. It can be understood that during the movement of the robot from the pool wall to the pool bottom surface, the direction indicated by the head of the robot can be used as its forward direction, or the direction indicated by the tail can be used as its forward direction. For example, when the robot moves along the first path, the head of the robot can point to its forward direction, that is, the head of the robot moves downward toward the pool bottom; or the tail of the robot can point to its forward direction, that is, the robot moves backward toward the pool bottom.

[0028] The first path may be a straight path. For example, the first path is perpendicular to the bottom of the pool (a straight path), and each cleaning path may be perpendicular to the bottom of the pool, so that the robot can efficiently and accurately cover the entire pool wall area during the cleaning operation. In addition, setting the first path as a straight path facilitates the robot to maintain a constant or relatively constant direction and speed, which is conducive to the stable operation of the robot during the cleaning operation and reduces the control error caused by the complexity of the path.

[0029] The robot moves from the pool wall to the pool bottom surface is not limited to Figure 2 The robot can perform path planning in advance to obtain a moving path on the pool wall surface.

[0030] Then, the process proceeds to step S102. In step S102, the automatic pool cleaning device is controlled to rotate the first predetermined angle and then move toward the pool wall along a second path; wherein, when the automatic pool cleaning device moves along the second path, if it encounters an obstacle, it can turn in a direction away from the first path.

[0031] Refer to the following Figure 2 Describe the situation where the robot moves sideways on the bottom of the pool. Figure 2 As shown, the first path and the fourth path are paths to be cleaned on the pool wall, and the fourth path is the path next to the first path, and the second path is the path that the robot moves toward the fourth path after rotating a certain angle on the pool bottom. The robot moves along the first path on the pool wall and cleans it, then moves to the pool bottom surface, retreats a certain distance (e.g., a first predetermined distance) or a certain length of time (e.g., a predetermined length of time) on the pool bottom surface, then rotates a certain angle (e.g., a first predetermined angle), then moves toward the pool wall along the second path, and finally moves to the pool wall, and then cleans the pool wall along the fourth path. The robot moves on the pool wall surface along the path on the pool wall (e.g., the first path, the fourth path), and sucks impurities, dirt, etc. on the pool wall surface into the filter inside the robot through a water pump and a water suction port set at the bottom of the robot, and filters these impurities, dirt, etc. and stores them in a dirt box, and discharges water from the drain port, thereby achieving the purpose of cleaning the pool wall.

[0032] As described above, after the robot is controlled to move from the pool wall to the pool bottom surface, in order to ensure that the robot has enough space when turning and avoid turning failure due to insufficient space or collision with the pool wall or other obstacles during turning, the robot is first controlled to move away from the pool wall (for example, backward) a first predetermined distance (for example, 0.5 body lengths), and then the robot is controlled to rotate a first predetermined angle (for example, 55 degrees).

[0033] Similar to the above principle, in order to ensure that the robot has enough space when turning and avoid colliding with the pool wall or other obstacles due to insufficient space or turning, the robot can be controlled to retreat for a predetermined period of time (e.g., 5 seconds). During these 5 seconds, the robot will move away from the pool wall at a certain speed (e.g., backward). When the robot's driving speed and the predetermined time are known, the distance traveled by the robot during this period can be calculated.

[0034] After that, the robot is controlled to rotate to a first predetermined angle. During the rotation process, the robot can monitor its own posture changes and angular changes in real time through sensors (such as an inertial measurement unit IMU), thereby ensuring the accuracy of the rotation action. Once the robot rotates to the predetermined angle, the robot stops rotating and moves in the direction currently pointed by its head (i.e., the second path), and the robot head currently points to the pool wall.

[0035] It is understandable that the sensor can monitor the posture change of the robot. The sensor is, for example, an inertial measurement unit (IMU), an angle sensor, a visual sensor, etc., as long as the technical principle of the present application can be realized.

[0036] Wherein, the first predetermined angle is between 50-80 degrees. According to the difference of the first predetermined angle, during the movement of the robot from the pool bottom to the pool wall along the second path, the distance between the position of the pool wall pointed to by its forward direction and the first path on the pool wall is different. It can be understood that if the first predetermined angle is large, the distance between the position of the pool wall reached by the robot along the second path and the first path on the pool wall is large, and correspondingly, the distance between the first path and the fourth path is large, so the effect of pool wall cleaning may be affected by the large distance between the first path and the fourth path; if the first predetermined angle is small, the distance between the position of the pool wall reached by the robot along the second path and the first path on the pool wall is small, and correspondingly, the distance between the first path and the fourth path is small, so the cleaning effect of the pool wall is better. Therefore, preferably, the first predetermined angle is 55 degrees.

[0037] With robot along Figure 2 Taking the second path movement shown in as an example, under normal circumstances (when there are no obstacles), the robot can move along the second path to the junction of the pool bottom and the pool wall (i.e., move toward the pool wall), and move along the fourth path on the pool wall. However, if the robot rotates at a small angle on the pool bottom (e.g., 25 degrees) and encounters a low step or slope while moving on the pool bottom, the robot may fail to change the path on the pool wall, and may even cause the robot to repeatedly clean the same area or the same path on the pool wall. The following will explain the two situations of "low steps" and "slopes" respectively.

[0038] Taking the low step as an example, if the robot rotates at a small angle (e.g., 25 degrees) at the bottom of the pool and encounters a low step while moving at the bottom of the pool, the low step blocks the robot's progress (e.g., the low step blocks the robot's drive device), but since the robot's distance sensor is usually arranged at the upper part or top of the robot, the distance sensor cannot sense the low step near the drive device. However, since the robot's head touches the low step at a certain small angle (e.g., 25 degrees) (i.e., the robot's "cut-in angle" toward the low step is large), the speed of the robot's drive device (e.g., drive wheel, crawler track) on one side of the low step is reduced (or stops rotating), while the drive device (e.g., drive wheel, crawler track) on the other side is still rotating as usual, so that the robot's head is perpendicular to the low step, and then the robot continues to move forward to cross the low step, and then the robot moves to the surface of the pool wall. It can be seen that the robot did not travel along a predetermined small angle (for example, 25 degrees) to the junction of the pool bottom and the pool wall during its movement toward the pool wall, but was affected by the low step halfway and adjusted its driving direction halfway (for example, after crossing the low step, it drove vertically to the junction of the pool bottom and the pool wall). In other words, the position to which the robot moved again on the pool wall was closer to the first path than the position originally moved to the pool wall along, for example, 25 degrees, resulting in the robot failing to change the path on the pool wall, and even causing the robot to repeatedly clean the same area or the same path on the pool wall.

[0039] If the first predetermined angle is set to a large angle between 50 and 80 degrees, the robot can avoid the situation where the robot fails to switch paths. Figure 2 Taking the second path movement shown in the figure as an example, if the robot encounters a low step while moving on the bottom of the pool after rotating at a large angle between 50-80 degrees (for example, 55 degrees), the robot's head touches the low step at a large angle (that is, the robot's "cut-in angle" toward the low step is small), so that the drive device on the left side of the robot can move away from the low step. Figure 2 The first path shown in FIG. 1 is turned in the direction of the first path, and then moves forward along the side of the low step (i.e., the length direction of the low step) (e.g., as shown in FIG. 1 ). Figure 2 The robot shown in the figure moves along the length direction of the low step, and its left driving device abuts against the low step, or creates a state similar to being "bounced" by the low step. After the robot continues to move forward along the length direction of the low step and passes over the low step, since the robot has traveled a distance along the length direction of the low step, the current position of the robot is to some extent far away from the previous cleaning path on the pool wall (for example, Figure 2At this time, the robot has crossed the low step, so the movement of the robot toward the pool wall is no longer blocked by the low step, and the robot can move to the intersection of the fourth path and the pool bottom (for example, along Figure 3 The third path shown moves to the junction of the fourth path and the pool bottom), thereby, the robot can avoid the failure of the robot's path switching on the pool wall due to low steps.

[0040] Taking the slope of the pool bottom as an example, if there is a slope at the bottom of the swimming pool (for example, there is a slope in the transition area between the bottom of the pool and the pool wall), and the robot rotates at a small angle at the bottom of the pool (for example, 25 degrees), and then the robot moves toward the slope. As the robot gradually drives up the slope, the pitch angle of the robot gradually increases, which can easily cause the robot to slip on the slope surface or even slide off the slope. Since the robot has rotated at a small angle before, the distance between the position of the robot when it slips or slides on the slope surface and the position where the robot turns is close. After that, the robot will readjust its direction so that the head of the robot is perpendicular or nearly perpendicular to the pool wall, and then the robot moves forward and moves back to the pool wall. It can be understood that at this time, the position of the robot on the pool wall is closer to the first path than the position when it moves to the pool wall without encountering the slope, which causes the robot to fail to change the path on the pool wall, and may even cause the robot to repeatedly clean the same area or the same path on the pool wall.

[0041] When the robot rotates at a large angle of 50-80 degrees (e.g., 55 degrees) on the bottom of the pool and encounters the same slope as above while traveling along the second path on the bottom of the pool, as the pitch angle of the robot increases, the robot will also slip on the slope surface or even slide down from the slope. However, since the robot has previously rotated at a large angle, when the robot slips or even slides, the robot body will slip or slide in a direction parallel to the pool wall (i.e., the robot moves away from the pool wall). Figure 2 The robot then moves forward in a direction parallel to or substantially parallel to the pool wall, gradually moving away from the position of the first path, and then readjusts its direction so that its head is perpendicular or nearly perpendicular to the pool wall, and then moves forward and moves back to the pool wall, or moves forward until it bypasses the slope, and then moves along the replanned path to the junction of the pool bottom and the pool wall (for example, along Figure 3 The third path shown moves to the junction of the fourth path and the pool bottom), thereby, the robot can avoid the situation where the path switching fails at the pool wall due to the slope.

[0042] It is understandable that the first predetermined distance, the predetermined time, the first predetermined angle and the travel speed can be set by the user or when the robot leaves the factory. The predetermined time and the travel speed can also be set according to parameters such as the size of the pool and the size of the robot.

[0043] The above descriptions of the first predetermined distance of retreat, the predetermined time of retreat, and the first predetermined angle of rotation are exemplary. The robot can move in the direction indicated by its tail (i.e., retreat), or rotate 180 degrees and then move in the direction indicated by its head, and the "retreat" effect described above can also be achieved. Those skilled in the art can set the above terms and operations according to actual needs, as long as the technical principles of the present application can be implemented.

[0044] In step S102, if an obstacle is encountered, the robot can turn in a direction away from the first path, including: making the automatic pool cleaning device contact the obstacle, and the contact force causes the automatic pool cleaning device to move away from the first path. For example, the robot turns 55 degrees at the bottom of the pool and then moves along the second path (for example Figure 2 The robot collides with an obstacle during its movement (the second path in the figure), and the collision generates a contact force (i.e., the interaction force between the robot and the obstacle). At this time, the robot's control module issues a command to let the robot continue to move forward. However, due to the obstruction of the low step, the driving wheel speed on one side of the robot decreases (or the driving wheel does not rotate), and the driving wheel on the other side accelerates, causing a contact force between the robot and the obstacle. Because the angle between the robot and the obstacle is relatively large, the contact force will cause the robot to turn in the direction away from the first path.

[0045] In step S102, if an obstacle is encountered, the device can turn in a direction away from the first path, including: replanning a third path and controlling the automatic pool cleaning device to turn along the third path.

[0046] Reference Figure 3 , Figure 3 The first and fourth paths in the figure are cleaning paths on the pool wall, and the third path is a path for the robot to travel around obstacles. As described above, when the robot moves along the second path, if it encounters a low step or slope, the robot will "bypass" the low step or slope as described above, and then the robot will move along the re-planned third path (e.g. Figure 3 The robot moves along the third path (as shown in the figure) to the junction of the fourth path and the bottom of the pool. When the robot moves along the third path, the robot can monitor and adjust its posture change and direction angle change in real time through sensors (such as inertial measurement unit IMU) to ensure that the robot moves along the third path.

[0047] A third path can be generated by a path planning algorithm based on the detected obstacle information (such as the location, shape, and size of the obstacle). The third path can guide the robot to "go around" the obstacle and head toward the next path to be cleaned on the pool wall (such as Figure 3 Specifically, when the robot moves along the third path, it continuously calculates the relationship between its current position and direction angle and the position of the fourth path. The robot obtains its real-time posture information, including pitch angle, direction angle, etc., through the IMU. Then, the current position and direction angle are accurately calculated in combination with the preset path data to determine the position and direction deviation of the robot relative to the fourth path.

[0048] In step S102, the third path includes a sub-path whose extension direction is close to the first path. For example, when the robot moves along the third path, the robot realizes the turning of the fuselage by changing the speed difference between the left driving wheel and the right driving wheel of the robot. For example, when the speed of the left driving wheel is lower than that of the right driving wheel, the fuselage will gradually deflect to the left. The deflection action enables the robot to adjust the direction pointed by its head so that its head points to the first path or substantially points to the first path. Next, the movement path of the robot along the direction pointed by its head is the sub-path described above, which extends close to the first path. The sub-path is a staged and segmented movement trajectory in the first path. The third path can be composed of multiple sub-paths. Each of the sub-paths has a specific starting point and an end point, and the starting point and the end point of each sub-path are connected in sequence to form a complete first path. In other words, the robot can adjust its direction angle multiple times during its movement along the third path. After each adjustment of the direction angle, the distance at one end of the robot moving forward can be called a sub-path.

[0049] It is understandable that the robot is controlled to turn along the third path, mainly relying on the propulsion force generated by the robot's driving device (such as driving wheels, tracks) and the propulsion force generated by the water pump drainage to move. The present application does not impose any specific restrictions on the method of controlling the robot to turn, as long as the technical principles of the present application can be implemented.

[0050] In step S102, after the automatic pool cleaning device is mounted on the wall, it moves forward or backward along a fourth path and moves down the wall. The first path is parallel to the fourth path, and a distance between the first path and the fourth path is greater than half the width of the automatic pool cleaning device.

[0051] For example: The robot moves along the fourth path (e.g. Figure 3 That is, the head of the robot moves upward toward the waterline position of the pool wall, or the tail of the robot points in the direction of its forward movement, that is, the robot moves downward from the waterline position of the pool wall to the surface of the pool bottom.

[0052] Reference Figure 3 , the first path and the fourth path are kept parallel in space, and the distance between the first path and the fourth path is greater than half the width of the robot. In other words, the first path and the fourth path are set in parallel and with reasonable spacing to cover the entire area of ​​the pool wall, ensuring comprehensive and efficient cleaning of the pool wall.

[0053] In step S102, while the automatic pool cleaning device moves along the second path, a change in the pitch angle is recorded. If the change in the pitch angle exceeds a preset threshold, after the automatic pool cleaning device moves down the wall along the fourth path, the automatic pool cleaning device is controlled to rotate to a second predetermined angle and then move forward, and the second predetermined angle is greater than the first predetermined angle.

[0054] For example, when the robot moves along the second path, the change in the pitch angle of the robot can be obtained through the inertial measurement unit (IMU). IMU is an inertial sensor module that can measure the motion state of an object, including an accelerometer, a gyroscope, and a magnetometer. The accelerometer is used to measure the acceleration of the robot in three-dimensional space, including the gravitational acceleration due to the gravity of the earth and the inertial acceleration caused by the change in the motion state of the object. The gyroscope is used to measure the angular velocity of the robot in three-dimensional space, that is, the rate at which the robot rotates around each spatial axis (X-axis, Y-axis, and Z-axis). The magnetometer is used to detect the magnetic field of the surrounding environment when the robot is performing cleaning tasks, helping to determine the direction of the robot in the earth's coordinate system. These data can be used to infer the robot's motion trajectory and position changes. Specifically, when the robot moves along the second path, the IMU continuously collects its acceleration and angular velocity data. When the robot does not encounter any obstacles during its movement along the second path, its acceleration is mainly in the forward direction. When the robot encounters an obstacle during its movement along the second path, its angular velocity will increase significantly. By measuring the change in angular velocity, the change in pitch angle can be calculated, and thus the change in pitch angle can be obtained.

[0055] It should be noted that due to the noise and errors in the IMU measurement readings, the collected data needs to be fused and filtered. Commonly used methods include but are not limited to: Kalman filtering, complementary filtering, etc., to improve the accuracy and stability of the data.

[0056] It should be noted that since the wheel speed meter may have cumulative errors (for example, wheel slip, tire wear, etc.), error correction needs to be performed regularly. The positioning accuracy can be improved by fusing data with other sensors (for example, IMU, distance detection sensor, magnetometer, etc.).

[0057] If the change in the pitch angle exceeds a preset threshold, then after the automatic pool cleaning device descends the wall along the fourth path, the automatic pool cleaning device is controlled to rotate to a second preset angle before moving forward, and the second preset angle is greater than the first preset angle. For example, when the robot encounters a slope while moving along the second path, the change in the pitch angle of the robot calculated by the inertial measurement unit exceeds a preset threshold (e.g., 45 degrees), indicating that the slope is relatively steep. After the robot rotates to the first preset angle, it still "slips" during the climbing process, causing the robot to repeatedly clean the same area or the same path on the pool wall without entering the next planned path to be cleaned. Therefore, it is necessary to control the robot to rotate again at an angle greater than the first preset angle. By rotating a larger angle, the robot can bypass the slope and enter the next path to be cleaned.

[0058] For example, the second predetermined angle is 90 degrees. For example, when the robot is moving along the second preset path, if it encounters an obstacle, the robot can be effectively avoided by controlling the robot to rotate a large angle of 90 degrees, so that the robot can escape from the current predicament and enter the next planned path to be cleaned. It can be understood that the setting of the second predetermined angle is only exemplary, and those skilled in the art can set the second predetermined angle as needed, as long as the technical principles of the present application can be implemented.

[0059] Referenced above Figure 2 and Figure 3 The description of the robot's moving path is only exemplary, and those skilled in the art can set the robot's moving path according to the above description, as long as the technical principles of the present application can be implemented.

[0060] It should be noted that the robot can use a path planning algorithm to obtain the first path, the second path, the third path and the fourth path, or can obtain each path by updating and iterating a historical cleaning path; the path can also be provided or set by a user; the path can also be pre-stored in the memory of the robot. The above description of the method for obtaining the path is only exemplary, and those skilled in the art can select the path according to actual conditions, as long as the technical principles of the present application can be implemented.

[0061] The pool wall cleaning method 100 for an automatic pool cleaning device provided in the present application can avoid the obstacle and continue to effectively clean the pool wall if the robot encounters an obstacle at the bottom of the pool while cleaning the pool wall, thereby avoiding the situation where the robot fails to change path after encountering an obstacle and has to clean reciprocally along the same path. The robot can complete the cleaning task efficiently and without repetition, thereby improving the cleaning efficiency.

[0062] The present application also provides an automatic pool cleaning device, which can execute the pool wall cleaning method described in the above embodiments.

[0063] This embodiment discloses a computer storage medium, in which a computer program is stored. When the computer program is executed by a processor, the pool wall cleaning method described above is implemented.

[0064] It should be understood that, in this embodiment, the computer storage medium may be located in at least one of the multiple network servers of the computer network. Optionally, in this embodiment, the storage medium may include, but is not limited to, various media that can store program codes, such as a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk, or an optical disk.

[0065] It should be noted that the sequence of the above embodiments of the present application is only for description and does not represent the advantages or disadvantages of the embodiments.

[0066] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples, unless they are contradictory.

[0067] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0068] In the present application, unless otherwise specified, directional words such as "up" and "down" are generally used with reference to the directions shown in the drawings, or with reference to the vertical, perpendicular or gravity direction; similarly, for ease of understanding and description, "left" and "right" are generally used with reference to the left and right shown in the drawings; "inside" and "outside" refer to the inside and outside relative to the outline of each component itself, but the above directional words are not used to limit the present application.

[0069] The above is only an exemplary embodiment of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of various changes or substitutions within the technical scope recorded in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A pool wall cleaning method for an automatic pool cleaning device, comprising: Controlling the automatic pool cleaning device to move along a first path on the pool wall to the pool bottom surface, retreat a first predetermined distance or a predetermined time on the pool bottom surface, and then rotate a first predetermined angle; Control the automatic pool cleaning device to rotate the first predetermined angle and then move toward the pool wall along a second path; Wherein, when the automatic pool cleaning device moves along the second path, if it encounters an obstacle, it can turn in a direction away from the first path.

2. The pool wall cleaning method according to claim 1, wherein: If an obstacle is encountered, the vehicle can turn in a direction away from the first path, including: The third path is replanned, and the automatic pool cleaning device is controlled to turn along the third path.

3. The pool wall cleaning method according to claim 1, wherein: If an obstacle is encountered, the vehicle can turn in a direction away from the first path, including: The automatic pool cleaning device is brought into contact with an obstacle, and the contact force causes the automatic pool cleaning device to move away from the first path.

4. The pool wall cleaning method according to claim 1, wherein: The first path is a straight path.

5. The pool wall cleaning method according to claim 1, wherein: The first predetermined angle is between 50-80 degrees.

6. The pool wall cleaning method according to any one of claims 1 to 3, wherein: The third path includes a sub-path extending in a direction close to the first path.

7. The pool wall cleaning method according to any one of claims 1 to 3, wherein: After the automatic pool cleaning device is mounted on the wall, it moves forward or backward along a fourth path down the wall. The first path is parallel to the fourth path, and a distance between the first path and the fourth path is greater than half the width of the automatic pool cleaning device.

8. The pool wall cleaning method according to claim 7, wherein: During the movement of the automatic pool cleaning device along the second path, a change in the pitch angle is recorded. If the change in the pitch angle exceeds a preset threshold, after the automatic pool cleaning device moves down the wall along the fourth path, the automatic pool cleaning device is controlled to rotate to a second predetermined angle and then move forward, and the second predetermined angle is greater than the first predetermined angle.

9. The pool wall cleaning method according to claim 8, wherein: The second predetermined angle is 90 degrees.

10. An automatic pool cleaning device, wherein: The automatic pool cleaning device can perform the pool wall cleaning method according to any one of claims 1 to 9.

11. A computer storage medium storing a computer program, wherein the computer program, when executed by a processor, implements the pool wall cleaning method according to any one of claims 1 to 9.

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