Automatic pool cleaning device, control method and computer storage medium

By floating up between underwater platforms and moving along the edge of the water surface, multiple lower view values ​​and angle values ​​are obtained, and the locations of different platforms in the swimming pool are determined, the problem of difficulty in optimizing cleaning paths in multi-platform swimming pools in the existing technology is solved, and efficient and stable cleaning operations are achieved.

CN120061620APending Publication Date: 2025-05-30AIPER INTELLIGENT TECHNOLOGY (SUZHOU) CO LTD
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Patent Information

Application Number
CN202510127860.X
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2025-01-27
Publication Date
2025-05-30

AI Technical Summary

Technical Problem

The existing pool cleaning robot cannot effectively perceive and optimize the cleaning path in multi-platform swimming pools, resulting in missed sweep areas, increasing work complexity and operational risks.

Method used

By controlling the automatic cleaning device of the pool to float from the first platform underwater to the water surface, obtain the lower view and angle values, and obtain multiple lower view and angle values ​​in real time when the water surface moves along the edge, and determine whether the lower platform is the second platform, thereby optimizing the cleaning path.

Benefits of technology

It realizes the rapid and accurate identification of platform location in multi-platform swimming pools, optimizes cleaning paths, and ensures the efficiency and stability of cleaning operations.

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Abstract

The invention provides an automatic pool cleaning device, a control method and a computer storage medium, and the control method comprises the steps: controlling the automatic pool cleaning device to float to the water surface from a first underwater platform, and obtaining a first downward view value and a first angle value of the automatic pool cleaning device on the water surface; the water surface position corresponding to the first platform serves as a starting point, the automatic pool cleaning device is controlled to move along the edge of the water surface, and a second downward view value and a second angle value of the automatic pool cleaning device are obtained in real time; according to the first downward view value, the first angle value, the second downward view value and the second angle value, whether a platform below the automatic pool cleaning device is a second platform or not when the automatic pool cleaning device moves along the water surface is judged, and the second platform is different from the first platform.
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Claims

1. A control method for an automatic pool cleaning device, comprising: Controlling the automatic pool cleaning device to float from a first underwater platform to the water surface, and obtaining a first downward viewing value and a first angle value of the automatic pool cleaning device on the water surface; Taking the water surface position corresponding to the first platform as a starting point, controlling the automatic pool cleaning device to move along the water surface, and obtaining a second downward viewing value and a second angle value of the automatic pool cleaning device in real time; Based on the first downward-looking value, the first angle value, the second downward-looking value and the second angle value, it is determined whether the platform below the automatic pool cleaning device during movement along the edge of the water surface is a second platform, wherein the second platform is different from the first platform.

2. The control method according to claim 1, wherein: The determining, based on the first downward-looking value, the first angle value, the second downward-looking value, and the second angle value, whether the platform below the automatic pool cleaning device during the movement along the water surface is the second platform comprises: Determining whether the second viewing value is equal to the first viewing value; If the first downward-looking value is not equal to the second downward-looking value, it is determined that the platform currently below the automatic pool cleaning device is the second platform; If the first downward-looking value is equal to the second downward-looking value, it is determined whether the platform currently below the automatic pool cleaning device is the second platform based on the first angle value and the second angle value.

3. The control method according to claim 2, wherein: The step of judging whether the platform currently below the automatic pool cleaning device is the second platform according to the first angle value and the second angle value includes: Calculating according to the first angle value and the second angle value to obtain an angle difference; If the angle difference is greater than a first preset value, it is determined that the platform currently below the automatic pool cleaning device is not the second platform; If the angle difference is less than or equal to the first preset value, further determining whether there is a partition between the first platform and the platform currently below the automatic pool cleaning device; Whether the platform currently below the automatic pool cleaning device is the second platform is determined based on the result of the determination of whether a partition exists.

4. The control method according to claim 3, wherein: The determining, based on the determination result of whether there is a partition, whether the platform currently below the automatic pool cleaning device is the second platform comprises: If the partition exists between the first platform and the platform currently below the automatic pool cleaning device, it is determined that the platform currently below the automatic pool cleaning device is the second platform; If the partition does not exist between the first platform and the platform currently below the automatic pool cleaning device, obtaining the sum of the heading angles of the automatic pool cleaning device during the movement along the water surface; Whether the platform currently below the automatic pool cleaning device is the second platform is determined based on the angle and.

5. The control method according to claim 4, wherein: The step of judging whether the platform currently below the automatic pool cleaning device is the second platform based on the angle includes: If the sum of the angles is greater than or equal to a second preset value, it is determined that the platform currently below the automatic pool cleaning device is not the second platform.

6. The control method according to any one of claims 1 to 5, wherein: The first downward-view value and the first angle value are stored in a preset array, and after determining that the platform currently below the automatic pool cleaning device is the second platform, the second downward-view value and the second angle value are also stored in the preset array.

7. The control method according to any one of claims 1 to 5, wherein: After determining that the platform below the automatic pool cleaning device during the movement along the water surface is the second platform, the control method further includes: The automatic pool cleaning device is controlled to clean the second platform.

8. The control method according to any one of claims 1 to 5, wherein: The first angle value and the second angle value are acquired by an inertial measurement unit.

9. An automatic pool cleaning device, wherein: The automatic pool cleaning device can execute the control method according to any one of claims 1 to 8.

10. A computer storage medium storing a computer program, wherein the computer program, when executed by a processor, implements the control method according to any one of claims 1 to 8.