Automatic pool cleaning device, control method and computer storage medium

Abstract

The invention provides an automatic pool cleaning device, a control method and a computer storage medium, a distance sensor is arranged on the front portion of the automatic pool cleaning device, and the control method comprises the steps that the automatic pool cleaning device is controlled to move on the water surface; the distance sensor is used for measuring the distance between the automatic pool cleaning device and a front target object in real time; if the change of the distance between the automatic pool cleaning device and the target object within a preset time period is smaller than a preset variable quantity, it is judged that at least part of a machine body, located below the distance sensor, of the automatic pool cleaning device is blocked by an obstacle.

Description

Technical Field

[0001] Embodiments of the present disclosure relate to the technical field of cleaning devices, and in particular, to an automatic pool cleaning device, a control method, and a computer storage medium. Background Art

[0002] When an automatic pool cleaning device performs cleaning on the water surface, it may encounter obstacles. For low obstacles, such as high and low platforms, floating objects, tree branches, ropes, etc., since the distance measuring sensor does not sense them, the automatic pool cleaning device is always stuck at the low obstacle, affecting the cleaning efficiency. Therefore, how to enable the automatic pool cleaning device to quickly identify low obstacles and move away from them faster, that is, to achieve getting out of trouble from high and low platforms, is an urgent problem to be solved. Summary of the Invention

[0003] The technical problem to be solved by this application is to provide a control method for an automatic pool cleaning device in view of the above-mentioned deficiencies of the prior art. A distance sensor is provided at the front of the automatic pool cleaning device. The control method includes: controlling the automatic pool cleaning device to move on the water surface; measuring the distance between the automatic pool cleaning device and the target in front in real time through the distance sensor; if the change in the distance between the automatic pool cleaning device and the target within a predetermined time period is less than a predetermined change amount, it is determined that at least part of the body of the automatic pool cleaning device located below the distance sensor is blocked by an obstacle.

[0004] Further, the control method further includes: starting timing of the predetermined time period if a predetermined condition is satisfied.

[0005] Further, the predetermined condition includes one or more of the following conditions: the change amount of the acceleration of the automatic pool cleaning device moving forward within a predetermined duration is greater than a first predetermined threshold; the collision sensor of the automatic pool cleaning device detects a collision; the change amount of the power of the water surface driving device of the automatic pool cleaning device is greater than a second predetermined threshold; the distance measured by the distance sensor between the automatic pool cleaning device and the target in front reaches a preset distance threshold.

[0006] Further, when the automatic pool cleaning device moves on the water surface, the distance sensor is located below the water surface.

[0007] Further, the distance sensor includes an ultrasonic sensor, an infrared sensor, a TOF sensor, a radar, or a camera, and the distance sensor is provided on the upper part of the automatic pool cleaning device.

[0008] Further, after it is determined that the automatic pool cleaning device is blocked by the obstacle, the control method further includes: controlling the automatic cleaning device to retreat.

[0009] Furthermore, after the automatic pool cleaning device retreats for a predetermined time or a first predetermined distance, the control method further includes: controlling the automatic pool cleaning device to turn.

[0010] Further, if the controlling of the automatic pool cleaning device to move on the water surface occurs in the edge mode of the automatic pool cleaning device, then after the controlling of the automatic pool cleaning device to turn, the control method also includes: controlling the automatic pool cleaning device to move forward until the automatic pool cleaning device touches the pool wall or is separated from the pool wall by a second predetermined distance; and controlling the automatic pool cleaning device to continue moving along the pool wall.

[0011] Furthermore, the water surface driving device includes a water spray device or a paddle.

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

[0013] The present application also discloses a computer storage medium, wherein the storage medium stores a computer program, and when the computer program is executed by a processor, the 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 automatic pool cleaning device and control method provided by the present application, by arranging a distance sensor at the front of the automatic pool cleaning device, can determine whether the automatic pool cleaning device is blocked by an obstacle by observing the change in the distance between the automatic pool cleaning device and the target object when the automatic pool cleaning device moves on the water surface, thereby facilitating the automatic pool cleaning device to move away from the obstacle more quickly and preventing it from being stuck for a long time, thereby effectively realizing the rapid identification of the automatic pool cleaning robot being stuck on the water surface and improving the cleaning efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

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

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

[0018] Figure 2 A flow chart showing an escape from a difficult situation in a control method for an automatic pool cleaning device according to an embodiment of the present application is shown.

[0019] Figure 3It is a schematic diagram showing that the automatic pool cleaning device according to an embodiment of the present application is blocked by a platform. Detailed implementation manners

[0020] The technical solutions in the present application will be clearly and completely described below. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application. It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments may be combined with each other.

[0021] The present application provides a control method for an automatic pool cleaning device, an automatic pool cleaning device applying the control method, and a computer storage medium. The automatic pool cleaning device of the present application can clean a pool. The pool is, for example, a pool-shaped building. The pool-shaped building may be a swimming pool, a water storage tank, a spa pool, a water storage tank, a water storage trough, etc. The automatic pool cleaning device may be a device such as an automatic cleaning device, an automatic pool cleaning robot, etc., which can clean the pool-shaped building. The present application does not limit the specific presentation forms 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 text, if not otherwise specified, the robot will be used as an example of the automatic pool cleaning device for description, and the swimming pool will be used as an example of the pool or the pool-shaped building for description. In the following text, if not otherwise specified, the terms "water surface", "pool surface", "swimming pool water surface", and "swimming pool surface" all refer to the water surface of the swimming pool.

[0022] The control method 100 of the automatic pool cleaning device of the present application will be described in detail below with reference to the accompanying drawings. Figure 1 It is a flowchart of the control method 100 of the automatic pool cleaning device according to an embodiment of the present application, that is, a method for judging whether a part of the body of the automatic pool cleaning device is blocked by an obstacle. A distance sensor is provided at the front of the automatic pool cleaning device. The control method 100 includes step S101 to step S103. Step S101 to step S103 will be described below.

[0023] In step S101, control the automatic pool cleaning device to move on the water surface.

[0024] When the automatic pool cleaning device cleans the pool, it may include a bottom cleaning mode, a pool wall cleaning mode, a water surface cleaning mode, etc. according to different cleaning positions. Among them, in the water surface mode, the automatic pool cleaning device cleans the water surface and the water line on the water surface in the pool. In this mode, the main forces acting on the automatic pool cleaning device in the vertical direction are gravity and buoyancy. The automatic pool cleaning device controls its up and down floating on the water surface in this mode by adjusting the buoyancy, that is, adjusting the height position of the automatic pool cleaning device relative to the horizontal plane. The automatic pool cleaning device is provided with a water surface driving device for driving the automatic pool cleaning device to move on the water surface. At the same time, the automatic pool cleaning device operating in this cleaning mode may also be affected by water surface resistance, wind force, etc.

[0025] When the automatic pool cleaning device moves on the water surface, it may encounter obstacles. A distance sensor is provided at the front of the automatic pool cleaning device. According to the distance values detected by the distance sensor between the automatic pool cleaning device and the pool wall, obstacles, etc., it can be determined whether the automatic pool cleaning device encounters an obstacle, touches the pool wall, or reaches near the pool wall, so as to adjust the movement trajectory and mode of the automatic pool cleaning device. However, the distance sensor usually has a certain field of view. In other words, the distance sensor can only detect and measure objects within its field of view. For obstacles outside its field of view, especially low obstacles, the distance sensor cannot detect such obstacles. Correspondingly, the automatic pool cleaning device cannot know the existence of such obstacles. The term "low obstacle" does not refer to the low height of the obstacle itself, but refers to the relative height of the obstacle with respect to the front of the robot. That is, the relative height of the obstacle and the front of the robot is relatively low. In other words, the obstacle is in a relatively lower position relative to the front of the robot, so that the obstacle is outside the field of view of the distance sensor at the front of the robot. Such obstacles are, for example, platforms near the water surface, floating objects on the water surface, branches on the water surface, ropes near the water surface, etc. In this application, unless otherwise specified, the term "obstacle" refers to obstacles such as platforms and ropes described above.

[0026] The following refers to Figure 3 for an exemplary description of the automatic pool cleaning device being blocked by an obstacle when moving on the water surface. Figure 3 is a schematic diagram showing the automatic pool cleaning device of an embodiment of the present application being blocked by a platform. As Figure 3 shown, there is a platform in the pool. The upper edge of the platform is near the water surface, and the upper edge of the platform is slightly lower than the water surface. In other words, the platform is below the water surface, but the surface of the platform is close to the water surface. When the robot moves on the water surface, a part of the fuselage is above the water surface and another part of the fuselage is below the water surface. The distance sensor is located at the front of the robot. The distance sensor has a field of view (Figure 3 When the robot moves on the water surface to the vicinity of the platform, the platform is out of the field of view of the distance sensor (as shown by the dotted line in FIG. Figure 3 As shown, the upper edge of the platform does not appear in the field of view of the distance sensor), so the robot is unaware of the existence of the platform, and thus the robot continues to move toward the platform until the portion of the robot body that is below the water surface (for example, Figure 3 The driving wheel of the robot shown in FIG. 10 contacts or collides with the platform. After that, the distance sensor still cannot detect the platform in the field of view, so the robot will continue to try to maintain the established moving path, making it impossible for the robot to perform obstacle avoidance operations on the platform, causing the robot to be blocked by the platform for a certain period of time.

[0027] Take a rope near the water surface as an example. The rope floats on the water surface or is located near the water surface below the water surface. During the movement of the robot on the water surface, part of the body is above the water surface, and the other part of the body is below the water surface. The distance sensor is located at the front of the robot. When the robot moves near the rope on the water surface, since the rope is outside the field of view of the distance sensor, the robot is unaware of the existence of the rope, so the robot will continue to move towards the rope until the part of the robot below the water surface contacts or collides with the rope. After that, the distance sensor still cannot detect the rope within the field of view, so the robot will continue to try to maintain the established moving path, making it impossible for the robot to perform obstacle avoidance operations on the rope, so that the robot is always blocked by the rope within a certain period of time.

[0028] The above description of the robot being blocked by a platform near the water surface and being blocked by a rope is only exemplary and is not intended to be an exhaustive list of situations where the robot is blocked by obstacles near the water surface. Those skilled in the art can select the application scenario of the present application according to the technical principles of the present application.

[0029] As described above, when the lower part of the automatic pool cleaning device encounters an obstacle such as a platform or a rope, the distance sensor does not sense the obstacle, so the automatic pool cleaning device continues to move along the original trajectory, and the obstacle prevents the automatic pool cleaning device from moving forward, causing the automatic pool cleaning device to stay at the obstacle, causing the automatic pool cleaning device to be "stuck" by the obstacle, affecting the cleaning efficiency. Therefore, it is necessary to be able to quickly and effectively identify such a stuck state when the automatic pool cleaning device encounters such an obstacle, so that the automatic pool cleaning device can move away from the obstacle faster, get out of trouble, and improve the cleaning efficiency.

[0030] In one embodiment, the distance sensor is located at the lower or middle part of the automatic pool cleaning device. For example, the distance sensor can be set at half of the height close to the bottom surface at the front of the automatic pool cleaning device, or at one-third of the height from the bottom up at the front of the automatic pool cleaning device, or at the middle position at the front of the automatic pool cleaning device. The present application does not limit the specific position where the distance sensor is set, as long as the technical principle of the present application is achieved, it belongs to the protection scope of the present application.

[0031] The distance sensor can be, for example, one or more of an ultrasonic sensor, an infrared sensor, a TOF sensor, a phased array ultrasonic sensor, a radar or a camera. The distance sensor can also be other sensors that can achieve the technical principle of the present application.

[0032] In one embodiment, when the automatic pool cleaning device moves on the water surface, the distance sensor is located below the water surface. Specifically, during the movement of the automatic pool cleaning device on the water surface, the water surface is higher than the distance sensor, and the distance sensor is immersed in the water. Setting the distance sensor below the water surface can, on the one hand, avoid the reflection interference from the water surface when the distance sensor is above the water surface; on the other hand, the underwater environment helps to provide a better detection environment for the distance sensor. Taking the ultrasonic sensor as an example, water provides a transmission medium for ultrasonic waves, which is beneficial for the ultrasonic sensor to better detect the target object.

[0033] In one embodiment, the distance sensor is arranged at the upper part of the automatic pool cleaning device. Arranging the distance sensor at the upper part of the automatic pool cleaning device helps the distance sensor to obtain a better detection field of view, so as to detect the target object in a timely and accurate manner.

[0034] It should be understood that the above descriptions of the components and functions of various sensors are only exemplary and do not constitute limitations on the various parameters and functions of the above components. Those skilled in the art can select and set the above various sensors and their components, parameters and functions according to actual needs, as long as the principle of the present application can be achieved.

[0035] Next, step S102 is entered. In step S102, the distance between the automatic pool cleaning device and the target object in front is measured in real time by the distance sensor.

[0036] By measuring the distance between the automatic pool cleaning device and the target object in front in real time by the distance sensor, the displacement of the robot relative to the target object can be judged according to the ranging result, and further whether the robot is blocked by an obstacle can be judged.

[0037] During the movement of the robot on the water surface, it has a certain moving speed. However, when the robot is trapped by the obstacles described above, the moving speed of the robot is likely to decrease or even stop moving. Therefore, in order to determine whether the robot is trapped or blocked by an obstacle, the displacement of the robot relative to the target object can be measured in real time by a distance sensor within a period of time (i.e., a predetermined period, which will be described below). If the distance between the robot and the target object changes significantly within a period of time, it indicates that the robot is in a normal moving state during this period. Therefore, the robot is not trapped or blocked. If the distance between the robot and the target object remains unchanged or changes slightly within a period of time, it indicates that the robot is in a stopped or slower moving state during this period. Therefore, the robot is trapped or blocked.

[0038] Next, step S103 is entered. In step S103, if the change in the distance between the pool automatic cleaning device and the target object within the predetermined period is less than the predetermined change amount, it is determined that at least part of the body of the pool automatic cleaning device located below the distance sensor is blocked by an obstacle.

[0039] In one embodiment, the predetermined change amount can be, for example, the change in the distance between the robot and the target object within the predetermined period in the normal driving state. In other words, the predetermined change amount can represent the theoretical distance value traveled by the robot within the predetermined period in the normal driving state. According to the factory settings of the robot and / or the power of the driving device of the robot, components such as the wheel speedometer, etc., the theoretical distance value traveled by the robot within the predetermined period in the normal driving state can be calculated. If the change in the distance between the robot and the target object within the predetermined period is less than the theoretical distance value, it means that the robot is not driving normally, or the driving speed of the robot is less than the normal driving speed, that is, the robot is blocked or trapped by an obstacle. At this time, the distance sensor does not detect an obstacle. Therefore, it can be determined that at least part of the body of the pool automatic cleaning device located below the distance sensor is blocked or trapped by an obstacle.

[0040] In the above embodiments, the predetermined change amount is set to the theoretical distance value that the robot travels within the predetermined time period in the normal driving state. In another embodiment, the predetermined change amount may also be set to one-half or one-third of the theoretical distance value that the robot travels within the predetermined time period in the normal driving state. Since the robot may be affected by external forces such as wind force and the resistance of water surface waves when traveling on the water surface, its normal driving speed may be lower than its theoretical driving speed. Therefore, within a known time period, even if the robot is in the normal driving state, the distance it travels may be shorter than the theoretical driving distance within this time period. Therefore, setting the predetermined change amount to one-half or one-third of the theoretical distance value that the robot travels within the predetermined time period in the normal driving state helps to avoid errors or misjudgments caused by factors such as wind force and the resistance of water surface waves.

[0041] The distance sensor measures the distance between the robot and the target object in real time. However, as described above, the judgment of the change in the distance between the robot and the target object is based on a time period (i.e., the predetermined time period). The length of the predetermined time period can be set by the user himself / herself, or it can be the factory setting of the robot, or it can also be the time period length set by the robot itself according to its moving speed, wind force, water surface resistance, etc.

[0042] In one embodiment, the control method further includes: starting the timing of the predetermined time period if a predetermined condition is satisfied.

[0043] When the length of the time period is known or has been set, the starting time point of the predetermined time period is crucial for determining whether the robot is blocked or trapped by an obstacle. By setting the predetermined condition and having the robot start the timing of the predetermined time period when the predetermined condition is satisfied, in other words, the moment when the predetermined condition is satisfied can be used as the starting moment of the predetermined time period.

[0044] In one embodiment, the predetermined condition includes one or more of the following conditions: the change amount of the acceleration of the pool automatic cleaning device moving forward within a predetermined duration is greater than a first predetermined threshold; the collision sensor of the pool automatic cleaning device detects a collision; the change amount of the power of the water surface driving device of the pool automatic cleaning device is greater than a second predetermined threshold; the distance sensor measures that the distance between the pool automatic cleaning device and the target object in front reaches a preset distance threshold.

[0045] Taking the example where the predetermined condition includes "the change in the acceleration of the automatic pool cleaning device moving forward is greater than a first predetermined threshold within a predetermined time duration". When the automatic pool cleaning device is cleaning the water surface, it executes a cleaning instruction according to the cleaning mode. When the automatic pool cleaning device encounters the low obstacles described above and gets stuck, the acceleration of the automatic pool cleaning device will fluctuate significantly within a short period of time. For example, when the automatic pool cleaning device is stuck, it cannot move forward at the set speed (such as a constant speed of 1 m / s), and the speed drops suddenly or stops. Based on this, when the speed of the automatic pool cleaning device moving forward drops suddenly or even stops within a short period of time (such as within a predetermined time duration), the change in the acceleration generated by the automatic pool cleaning device within this predetermined time duration (for example, changing from "acceleration is 0" to "acceleration is 5 m / s 2 ") is greater than the first predetermined threshold (such as 3 m / s 2 ). The first predetermined threshold is, for example, the theoretical change in acceleration of the automatic pool cleaning device within a predetermined time duration during normal task execution. When the actual change in acceleration is greater than the theoretical change (that is, greater than the first predetermined threshold), it indicates that a large change has occurred in the acceleration of the robot, which means that the movement of the automatic pool cleaning device is abnormal, and it is possible that the robot is stuck, and it is necessary to further determine whether the robot is blocked by the obstacles described above.

[0046] It should be understood that the predetermined time duration and the first predetermined threshold can be set according to actual situations. For example, they can be set according to the cleaning instructions of the automatic pool cleaning device, etc. The present application does not limit this. As long as the time duration and the first predetermined threshold that can achieve the functions of the present application are within the protection scope of the present application.

[0047] Taking the example where the predetermined condition includes "the collision sensor of the automatic pool cleaning device detects a collision". The automatic pool cleaning device further includes a collision sensor. When the collision sensor detects a collision, it indicates that the automatic pool cleaning device has collided, and it may be a collision with the obstacles described above (for example, it may be a collision with a rope or a step on the water surface), and it is necessary to further determine whether the automatic pool cleaning device is blocked by the obstacles described above.

[0048] In one embodiment, the position of the collision sensor is lower than that of the distance sensor. In other words, the collision sensor is disposed at a position on the body of the robot that is lower than the distance sensor. For example, the collision sensor may be disposed at the lower part of the robot or at a position close to the chassis of the robot, so as to facilitate the collision sensor to sense the collision from the obstacle described above. It can be understood that the description of the position of the collision sensor above is only exemplary, and those skilled in the art can select the position of the collision sensor according to actual needs as long as the technical principle of the present application can be realized.

[0049] The collision sensor may be one or more of an infrared collision sensor, an ultrasonic collision sensor, a mechanical collision sensor, or other sensors capable of realizing the functions of the present application. Among them, the infrared collision sensor mainly uses the emission and reception of infrared rays to detect obstacles; when the pool automatic cleaning device approaches an obstacle, the emitted infrared rays are reflected back, and after the receiving end receives the reflected light, the optical signal is converted into an electrical signal through photoelectric conversion, and it is judged whether a collision or a near-collision state occurs through a signal processing circuit. The ultrasonic collision sensor mainly works by emitting ultrasonic waves and receiving the reflected ultrasonic wave signals; the pool automatic cleaning device emits ultrasonic pulses, and when an obstacle is encountered, the ultrasonic waves will be reflected back, and the sensor calculates the distance from the obstacle according to the time difference between the emission and reception of the ultrasonic waves; when the distance is less than a set threshold, it is considered that a collision may occur, thereby triggering corresponding protection or adjustment actions. The mechanical collision sensor usually consists of a movable part and a fixed part; when the device collides, the movable part will generate displacement or deformation due to the impact force generated by the collision, and then trigger a device such as a micro switch to generate an electrical signal to inform the control system that a collision has occurred.

[0050] It should be understood that the description of the components and functions of various sensors above is only exemplary and does not constitute a limitation on various parameters and functions of the above components. Those skilled in the art can select and set the above various sensors and their components, parameters, and functions according to actual needs as long as the principle of the present application can be realized.

[0051] For example, the predetermined condition includes "the power change amount of the water surface driving device of the automatic pool cleaning device is greater than a second preset threshold value" for illustration. When the automatic pool cleaning device is cleaning the water surface, it executes cleaning instructions according to the cleaning mode. When the automatic pool cleaning device gets stuck due to the obstacles described above, it can try to get rid of the obstacles. At this time, its contact area and angle with water may change, and the water generates additional resistance to the device. Therefore, the driving device of the automatic pool cleaning device needs to output greater power to overcome the additional resistance. Or when the automatic pool cleaning device gets stuck due to the obstacles described above, this kind of stuck situation may cause the automatic pool cleaning device to lose balance. In order to maintain balance and try to get out of trouble, the water surface driving device of the automatic pool cleaning device needs to adjust the power output of different parts. For example, if one side of the automatic pool cleaning device is stuck and tilted, in order to return to normal, it is necessary to increase the power output of the driving device on the other side, that is, increase the power of the water surface driving device. Therefore, the power of the water surface driving device of the automatic pool cleaning device will increase. In other words, the power change amount of the water surface driving device of the automatic pool cleaning device is greater than the second predetermined threshold value. Wherein, the second predetermined threshold value is the theoretical change amount of the power of the water surface driving device when the automatic pool cleaning device normally executes tasks under the corresponding cleaning instructions. When the actual power change amount is greater than the theoretical change amount (that is, greater than the second predetermined threshold value), it indicates that the power of the automatic pool cleaning device has changed greatly, representing that the automatic pool cleaning device is abnormal and may be stuck, and it is necessary to further determine whether the automatic pool cleaning device is blocked by the obstacles described above.

[0052] It should be understood that the second predetermined threshold value can be set according to the actual situation. For example, it can be set according to the cleaning instructions of the automatic pool cleaning device, etc. The present application does not make any limitations. As long as the second predetermined threshold value can realize the functions of the present application, it belongs to the protection scope of the present application.

[0053] The predetermined condition includes "the distance between the automatic pool cleaning device and the target object in front measured by the distance sensor reaches a preset distance threshold" for explanation. During the movement of the robot on the water surface, the distance to the target object in front can be measured by the distance sensor, and the measured distance can be compared with the preset distance threshold. If the measured distance reaches the preset distance threshold (that is, the measured distance is less than or equal to the preset distance threshold), it means that the distance between the robot and the target object is close. From this point on, it is necessary to continuously judge the change in the distance between the robot and the target object (that is, it is necessary to start the timing of the predetermined time period) in order to timely judge whether the change between the robot and the target object is less than the predetermined change amount, that is, timely judge whether the robot (for example, at least part of the body of the robot) is blocked by an obstacle. The preset distance threshold can be set according to the size of the swimming pool, the size of the robot, historical prior data, etc., as long as the technical principle of the present application can be realized.

[0054] It should be noted that the above description of the connotation of the predetermined conditions is only exemplary. The predetermined conditions protected by this application are not limited to the contents listed above. Those skilled in the art can set the type and content of the predetermined conditions according to actual conditions, as long as the technical principles of this application can be implemented.

[0055] It should be noted that the various predetermined conditions described above can be the judgment of a single condition or multiple conditions. In other words, if any of the above predetermined conditions is met, the automatic pool cleaning device can be controlled to collect distances and judge whether it encounters obstacles, or if several predetermined conditions are met, the automatic pool cleaning device can be controlled to collect distances and judge whether it encounters obstacles. Those skilled in the art can determine the above types of predetermined information according to actual needs, as long as the functions of this application can be realized.

[0056] As described above, the obstacles here can be steps, floating objects, branches, ropes, etc., or other low obstacles. This application is not limited to this, as long as the technical principles of this application can be implemented.

[0057] In one embodiment, the automatic pool cleaning robot needs to escape after determining that at least a portion of the body of the automatic pool cleaning device located below the distance sensor is blocked by an obstacle. Figure 2 A flow chart of a control method 100 for an automatic pool cleaning device according to an embodiment of the present application is shown. Figure 2 The control method 100 of the automatic pool cleaning device shown is similar to the above reference Figure 1 The difference between the control methods shown is that Figure 2The control method 100 shown also includes steps S104 to S106.

[0058] In step S104, after it is determined that the automatic pool cleaning device is blocked by an obstacle, the control method further includes: controlling the automatic pool cleaning device to retreat.

[0059] In step S105, after the automatic pool cleaning device retreats for a predetermined time or a first predetermined distance, the control method further includes: controlling the automatic pool cleaning device to turn.

[0060] In step S106, if the control of the automatic pool cleaning device moving on the water surface occurs in the edge-following mode of the automatic pool cleaning device, after the control of the automatic pool cleaning device turns, the control method further includes: controlling the automatic pool cleaning device to move forward until the automatic pool cleaning device touches the pool wall of the pool or is separated from the pool wall by a second predetermined distance; and controlling the automatic pool cleaning device to continue moving along the pool wall.

[0061] For example, after it is determined through steps S101 to S103 that at least part of the body of the automatic pool cleaning device located below the distance sensor is blocked by an obstacle, it is necessary to make the automatic pool cleaning device get out of trouble as soon as possible. At this time, since part of the body of the automatic pool cleaning device is blocked by an obstacle, that is, there is an obstacle in front of the automatic pool cleaning device. First, the automatic pool cleaning device can be controlled to retreat. For example, by the reverse spraying of the water spraying device in the water surface driving device, the automatic pool cleaning device moves backward to make the automatic pool cleaning device move away from the obstacle; after the automatic pool cleaning device retreats a certain distance or a certain time (for example, after retreating for a predetermined time or retreating a first predetermined distance), at this time the automatic pool cleaning device is away from the obstacle, and at this time the automatic pool cleaning device can perform other operations such as turning and will not be blocked or interfered by the obstacle. The predetermined time and the first predetermined distance can be set according to this principle. In one embodiment, after the automatic pool cleaning device retreats for a predetermined time or a first predetermined distance, the automatic pool cleaning device can be further controlled to turn, and the turn can be 90 degrees or other angles.

[0062] After completing the turn, it is necessary to determine the cleaning mode of the automatic pool cleaning device. If the cleaning mode is the edge-following mode, it is necessary for the automatic pool cleaning device to return to the edge-following position again. At this time, the automatic pool cleaning device can be controlled to move forward until it reaches the cleaning position where the edge-following mode can be executed, that is, the automatic pool cleaning device touches the pool wall of the pool or is separated from the pool wall by a second predetermined distance, and then the automatic pool cleaning device can be controlled to continue moving along the pool wall.

[0063] The second predetermined distance can be set according to the actual situation. For example, the second predetermined distance can be the interval distance between the automatic pool cleaning device and the pool wall in the edge-following mode. Maintaining this distance can enable the automatic pool cleaning device to complete edge-following cleaning and also ensure that the turning of the automatic pool cleaning device during edge-following cleaning is not affected.

[0064] If the cleaning mode is other modes, the automatic pool cleaning device can continue to perform the cleaning operation after moving away from the obstacle. In other words, after controlling the automatic pool cleaning device to complete backward movement and turning, the automatic pool cleaning device can be controlled to continue to perform the cleaning operation.

[0065] It should be noted that the above-mentioned predetermined time, first predetermined distance, and second predetermined distance can be set according to the actual situation, and the present application does not limit them, as long as the technical principle of the present application can be achieved. The turning angle is set according to the actual situation, and any turning angle that can achieve the technical principle of the present application belongs to the protection scope of the present application.

[0066] In one embodiment, the water surface driving device includes a water spraying device or a paddle.

[0067] Specifically, the automatic pool cleaning device includes a water surface driving device for generating a driving force for its movement on the water surface and also realizing turning through the water surface driving device. The water surface driving device includes a water spraying device or a paddle.

[0068] Taking the water spraying device as an example, the water spraying device can include components such as a water pump and a nozzle. The water spraying device pumps water from the pool through the water pump and then sprays it out from the nozzle at a certain pressure and speed. When the water is sprayed out at a high speed, a reaction force opposite to the spraying direction will be generated, and this reaction force can push the automatic pool cleaning device to move; by adjusting the size, shape, and spraying angle of the nozzle, the spraying speed and direction can be controlled, thereby realizing the adjustment of the driving direction and speed of the automatic pool cleaning device.

[0069] The number of water spraying devices can be set according to the actual situation. When the automatic pool cleaning device has only one water spraying device, by adjusting the spraying speed and direction, the forward movement, backward movement, acceleration, deceleration, or turning of the automatic pool cleaning device can be controlled; when the automatic pool cleaning device has two water spraying devices, the movement of the automatic pool cleaning device can be controlled through the cooperation of the two. However, the present application does not limit the number of water spraying devices, and those skilled in the art can set it according to the actual situation, as long as the technical principle of the present application can be achieved.

[0070] Taking the paddle as an example, the automatic pool cleaning device includes components such as paddles and drive motors. The paddles rotate under the action of the drive motor. At this time, the paddles contact the water and exert a force on the water, and the water generates a reaction force on the paddles, pushing the paddles and the automatic pool cleaning device to move on the water surface. Moreover, when the paddles rotate, the shape and movement mode of the paddles will cause a velocity difference in the water flow around the paddles. According to Bernoulli's principle, in a fluid, the pressure is low where the flow velocity is fast, and the pressure is high where the flow velocity is slow. The difference in the water flow velocity on the surface of the paddles will cause a pressure difference, which further increases the thrust received by the paddles and pushes the device forward. By changing the angle of the paddles, the contact area and angle between the paddles and the water can be adjusted, thereby changing the magnitude and direction of the thrust obtained by the automatic pool cleaning device, enabling the automatic pool cleaning device to accelerate, decelerate, and turn. At the same time, adjusting the rotation speed of the paddles can also directly control the driving power and forward speed of the automatic pool cleaning device. The faster the rotation speed, the greater the thrust obtained by the device, and the faster the forward speed, enabling the automatic pool cleaning device to accelerate and decelerate.

[0071] It should be understood that the above description only describes the main components of the water spraying device and the paddles in this application, and does not limit their specific structures and components. Those skilled in the art can make selections and combinations according to the actual situation as long as the technical principles of this application can be achieved.

[0072] This application also provides an automatic pool cleaning device, and the automatic pool cleaning device can execute the control method described in any embodiment of this application.

[0073] In one embodiment, the automatic pool cleaning device includes components such as a water pump, a trash basket, a control unit, a drive unit, a housing, and a handle. Those skilled in the art can select and set the components that make up the automatic pool cleaning device according to the principle of this application as long as the technical principles of this application can be achieved.

[0074] This embodiment also discloses a computer storage medium, and a computer program is stored in the storage medium. When the computer program is executed by a processor, the control method described above is implemented.

[0075] It should be understood that in this embodiment, the above computer storage medium can be located in at least one of multiple network servers in a computer network. Optionally, in this embodiment, the above storage medium may include, but is not limited to: various media such as USB flash drives, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), mobile hard disks, magnetic disks, or optical discs that can store program codes.

[0076] It should be noted that the above sequence of embodiments of this application is only for description and does not represent the superiority or inferiority of the embodiments.

[0077] In the description of this specification, the descriptions with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection 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 a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0078] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present application, "a plurality of" means two or more, unless otherwise specifically defined.

[0079] In the present application, unless otherwise stated, the orientation terms such as "upper" and "lower" are usually in relation to the direction shown in the drawings, or in relation to the vertical, perpendicular, or gravitational direction; similarly, for ease of understanding and description, "left" and "right" are usually in relation to the left and right shown in the drawings; "inner" and "outer" refer to the inner and outer of the contour of each component itself, but the above orientation terms do not limit the present application.

[0080] As described above, it is only an exemplary embodiment of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope recorded in the present application can easily think of various changes or substitutions, and these should all be covered by the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A control method for an automatic pool cleaning device, wherein a distance sensor is provided at the front of the automatic pool cleaning device, and the control method comprises: Controlling the automatic pool cleaning device to move on the water surface; The distance sensor is used to measure the distance between the automatic pool cleaning device and the target object in front in real time; If the change in the distance between the automatic pool cleaning device and the target object within a predetermined time period is less than a predetermined change amount, it is determined that at least a portion of the body of the automatic pool cleaning device located below the distance sensor is blocked by an obstacle.

2. The control method according to claim 1, further comprising: If the predetermined condition is met, the timing of the predetermined time period is started.

3. The control method according to claim 2, wherein: The predetermined conditions include one or more of the following conditions: The change in the acceleration of the automatic pool cleaning device moving forward within a predetermined time period is greater than a first predetermined threshold; The collision sensor of the automatic pool cleaning device detects a collision; The power variation of the water surface driving device of the automatic pool cleaning device is greater than a second predetermined threshold value; The distance sensor measures that the distance between the automatic pool cleaning device and the target object in front reaches a preset distance threshold.

4. The control method according to claim 1, wherein: When the automatic pool cleaning device moves on the water surface, the distance sensor is located below the water surface.

5. The control method according to claim 1, wherein: The distance sensor comprises an ultrasonic sensor, an infrared sensor, a TOF sensor, a radar or a camera, and the distance sensor is arranged on the upper part of the automatic pool cleaning device.

6. The control method according to any one of claims 1 to 5, wherein: After determining that the automatic pool cleaning device is blocked by the obstacle, the control method further includes: controlling the automatic cleaning device to move backward.

7. The control method according to claim 6, wherein: After the automatic pool cleaning device retreats for a predetermined time or a first predetermined distance, the control method further includes: controlling the automatic pool cleaning device to turn.

8. The control method according to claim 7, wherein: If the controlling the automatic pool cleaning device to move on the water surface occurs in the edge mode of the automatic pool cleaning device, then after the controlling the automatic pool cleaning device to turn, the control method further includes: Controlling the automatic pool cleaning device to move forward until the automatic pool cleaning device touches the pool wall or is separated from the pool wall by a second predetermined distance; and The automatic pool cleaning device is controlled to continue moving along the pool wall.

9. The control method according to claim 3, wherein: The water surface driving device includes a water spray device or a paddle.

10. An automatic pool cleaning device, wherein: The automatic pool cleaning device is capable of executing the method according to any one of claims 1-8.

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

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