Automatic pool cleaning device and control method thereof

Abstract

The invention discloses an automatic pool cleaning device and a method for controlling the automatic pool cleaning device to return to a water inlet point. The method comprises the following steps: based on map data of a pool and a first position of the automatic pool cleaning device in the pool currently, determining a first direction for guiding the automatic pool cleaning device from the first position to the water entry point on the water surface or at the bottom of the pool; and controlling the automatic pool cleaning device to move on the water surface or the pool bottom from the first position according to the first direction.

Description

Technical Field

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

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

[0003] Disclosed is a method for controlling an automatic pool cleaning device to return to the water inlet point, including: determining a first direction for guiding the automatic pool cleaning device from the first position to the water inlet point on the water surface or the bottom of the pool based on the map data of the pool and the current first position of the automatic pool cleaning device in the pool; and controlling the automatic pool cleaning device to move from the first position on the water surface or the bottom in accordance with the first direction.

[0004] In one or more embodiments, the method further includes: when an obstacle is sensed in front during the movement of the automatic pool cleaning device in accordance with the first direction, controlling the automatic pool cleaning device to move from a second position where the obstacle is sensed to a third position in the pool, the automatic pool cleaning device moving forward at the third position will be away from the obstacle; and controlling the automatic pool cleaning device to continue moving from the third position on the water surface or the bottom to the water inlet point.

[0005] In one or more embodiments, the method further includes: determining a second direction for guiding the automatic pool cleaning device from the third position to the water inlet point on the water surface or the bottom based on the map data and the third position; and controlling the automatic pool cleaning device to continue moving from the third position on the water surface or the bottom in accordance with the second direction.

[0006] In one or more embodiments, controlling the automatic pool cleaning device to move to the third position includes: controlling the automatic pool cleaning device to move a first distance from the second position in a third direction at a predetermined angle with the first direction to a fourth position where the automatic pool cleaning device does not sense the obstacle; and controlling the automatic pool cleaning device to move a second distance from the fourth position in accordance with the first direction to the third position.

[0007] In one or more embodiments, the method further includes: controlling the automatic pool cleaning device to move from the second position in a fourth direction opposite to the third direction; and when the obstacle is sensed at a plurality of fifth positions passed by the automatic pool cleaning device moving in the fourth direction, controlling the automatic pool cleaning device to return to the second position in the third direction.

[0008] In one or more embodiments, the method further includes: controlling the automatic pool cleaning device to move from the second position in the fourth direction opposite to the third direction by the first distance to a fifth position, where the automatic pool cleaning device does not sense the obstacle at the fifth position; controlling the automatic pool cleaning device to move from the fifth position in the first direction; when the obstacle is sensed before the automatic pool cleaning device moving in the first direction from the fifth position reaches the second distance, controlling the automatic pool cleaning device to return to the fifth position in a fifth direction opposite to the first direction; and controlling the automatic pool cleaning device to return to the second position in the third direction from the fifth position.

[0009] In one or more embodiments, the predetermined angle includes 90 degrees.

[0010] In one or more embodiments, controlling the automatic pool cleaning device to move to the third position includes: determining a steering angle of the automatic pool cleaning device based on the first direction and the extension direction of the shortest path between the current position of the automatic pool cleaning device and the target position; and controlling the automatic pool cleaning device to rotate based on the determined steering angle so that the automatic pool cleaning device continues to move to the target position.

[0011] In one or more embodiments, the steering angle is generated when there is a predetermined angle between the direction from the position where the automatic pool cleaning device senses an obstacle ahead to the water inlet point and the first direction.

[0012] In one or more embodiments, the method further includes: after the automatic pool cleaning device moves to the second position in the first direction, determining a second direction for guiding the automatic pool cleaning device from the second position to the water inlet point on the water surface or the pool bottom based on the map data and the second position, where the deviation between the second position of the automatic pool cleaning device and the expected position moving in the first direction exceeds a predetermined degree; and controlling the automatic pool cleaning device to continue to move from the second position in the second direction on the water surface or the pool bottom.

[0013] In one or more embodiments, the method further includes: at at least one position passed by the automatic pool cleaning device during its movement, adjusting the orientation of the automatic pool cleaning device so as to sense obstacles in the pool through at least one sensor configured at the front of the automatic pool cleaning device.

[0014] There is also disclosed an automatic pool cleaning device, including: a memory on which program instructions are stored; and a controller configured to execute the method as described above by executing the program instructions. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 Schematically showing an exemplary automatic pool cleaning device in an embodiment of the present disclosure.

[0016] Figure 2 Schematically showing an exemplary method for controlling an automatic pool cleaning device in an embodiment of the present disclosure.

[0017] Figure 3 Schematically showing an example of the execution process of the method for controlling an automatic pool cleaning device in an embodiment of the present disclosure.

[0018] Figure 4 Schematically showing an example of the execution process of the method for controlling an automatic pool cleaning device in an embodiment of the present disclosure.

[0019] Figure 5 Schematically showing an example of the execution process of the method for controlling an automatic pool cleaning device in an embodiment of the present disclosure.

[0020] Figure 6 Schematically showing an example of the execution process of the method for controlling an automatic pool cleaning device in an embodiment of the present disclosure.

[0021] Figure 7 Schematically showing an example of the execution process of the method for controlling an automatic pool cleaning device in an embodiment of the present disclosure.

[0022] Figure 8 Schematically showing an example of the execution process of the method for controlling an automatic pool cleaning device in an embodiment of the present disclosure.

[0023] Figure 9 Schematically showing an example of the execution process of the method for controlling an automatic pool cleaning device in an embodiment of the present disclosure.

[0024] Figure 10 Schematically showing an example of the execution process of the method for controlling an automatic pool cleaning device in an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0025] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. In the drawings, the same or equivalent parts are denoted by the same reference numerals, and their description will not be repeated.

[0026] Generally, an automatic pool cleaning device may be configured with a housing, an inlet, an outlet, a water pump, a filtering device, a driving mechanism, etc. Among them, the driving mechanism may include, for example, power mechanisms such as motors and water pumps, and traveling mechanisms such as traveling wheels, crawlers, water spray nozzles, propellers, etc. driven by the power mechanisms. For example, the automatic pool cleaning device may use its driving mechanism to move on the pool bottom, pool wall or water surface, and at the same time, suck the pool water together with the garbage in the water from the inlet into the automatic pool cleaning device through the water pump, and then discharge the filtered pool water from the outlet into the pool.

[0027] Figure 1 An exemplary automatic pool cleaning device 100 (hereinafter also simply referred to as "device 100") in an embodiment of the present disclosure is schematically shown, which may include a memory 110 and a controller 120.

[0028] The memory 110 may include one or more storage devices suitable for the device 100, such as random access memory, read-only memory, flash memory, cache memory, registers, hard disks, etc. On the memory 110, for example, program instructions for controlling the device 100, data used for the operation of the device 100, data generated during the process of controlling the device 100, user control instructions and / or input data from the control panel or control terminal of the device 100, data sensed by the sensors of the device 100, etc. may be stored.

[0029] The controller 120 may include any circuit and / or module having data processing ability and / or instruction execution ability and suitable for the device 100, such as a central processing unit (CPU), a graphics processing unit (GPU), a field programmable gate array (FPGA), etc., and may be configured to perform data processing and / or control related to the cleaning operation and / or other functions of the device 100 according to the programs stored in the memory 110 and / or signals and / or instructions from the control panel or control terminal of the device 100 and / or sensed data from the sensors of the device 100, etc.

[0030] After the device 100 completes the cleaning operation, for example, the device 100 may be controlled to climb a pool wall nearby and start crawling on the pool wall from the selected pool wall so that the device 100 returns to the water entry point. For example, in cases where the distance between the selected pool wall and the water entry point is relatively far, the environment in the pool is relatively complex, or the positioning ability of the device 100 may be insufficient, etc., the device 100 may be unable to return to the water entry point or may not be able to accurately return to the water entry point.

[0031] In some embodiments, the device 100 can be controlled to return to the entry point by Figure 2 the exemplary method 200 shown. For example, the method 200 can be executed by the controller 120 of the device 100.

[0032] As Figure 2 shown, the method 200 can include: step 210, determining a direction for guiding the device 100 from the current position in the pool to the entry point on the water surface or the bottom of the pool based on the map data of the pool and the current position of the device 100 in the pool; and step 220, controlling the device 100 to move from this position on the water surface or the bottom of the pool in the determined direction.

[0033] The entry point of the device 100 can correspond to a certain position or a certain entry area on the water surface (also referred to as the water surface entry point in this article), or can correspond to the projection of the water surface entry point on the bottom of the pool (also referred to as the bottom entry point in this article). In some embodiments, the device 100 can be controlled to float on the water surface, and then the method 200 can be used to control the device 100 to move on the water surface and return to the water surface entry point on the water surface. In other embodiments, it is also possible to control the device 100 to move on the bottom of the pool to the bottom entry point through the method 200, and then control the device 100 to reach the water surface entry point or near the water surface entry point by crawling on the bottom of the pool or by directly floating from the bottom of the pool to the water surface. Hereinafter, unless it causes confusion, the water surface entry point and the bottom entry point are not distinguished, but are collectively referred to as the entry point, and "on the bottom of the pool" or "on the water surface" is not distinguished, but is collectively referred to as "in the pool" or "on the bottom or the water surface".

[0034] The map data used in the method 200 can include the global map of the pool (i.e., the map in the absolute coordinate system) and the local map (i.e., the map in the relative coordinate system). In the case of the global map, the travel route can be planned in advance based on the position information of the obstacles, without changing the planned travel direction based on the obstacles during the travel. However, usually under water, it may not be possible to perform accurate global positioning or differential positioning through methods such as the Global Positioning System (GPS), so the constructed pool map is often a local map established based on the collected pool contour, rather than a global map. In the case of the local map, it is usually difficult to mark the exact position (e.g., coordinates) of the obstacles, so it is impossible to plan the path in advance based on the obstacle information in the map.

[0035] In the method 200, relatively accurate local positioning is adopted, so that the method 200 can utilize various map data of the pool, including local maps that cannot be used to plan the path in advance (e.g., to avoid obstacles), and enables the device 100 to return to the entry point more intelligently and efficiently on the bottom or the water surface of the pool without having to pass through the pool wall.

[0036] The details and an example of the execution process of Method 200 will be described below with reference to the accompanying drawings.

[0037] As Figure 3 shown, for example, after the device 100 finishes performing a specified cleaning operation, step 210 of Method 200 can be executed to determine the direction O1 for guiding the device 100 from position P1 to the water inlet point E based on the map data of the pool and the current position P1 of the device 100. Then, step 220 of Method 200 can be executed to control the device 100 to adjust its orientation and move from position P1 in the determined direction O1.

[0038] For example, during the process of controlling the device 100 to move in the direction O1 determined in step 210, obstacles in front can be sensed by the front obstacle detector of the device 100 (such as an ultrasonic sensor or an image sensor configured on the device 100 for detecting or sensing obstacles in front of the device 100).

[0039] As Figure 4 shown, in the case where the device 100 senses an obstacle 400 in front at position P1 while moving in the direction O1 determined in step 210, the device 100 can be controlled to move from the position P2 where the obstacle 400 is sensed to position P3, such that if the device 100 continues to move forward as shown by the dash-dot arrow in Figure 4 , the device 100 will move away from the obstacle 400, so that if the device 100 continues to move towards the water inlet point E from position P3, the obstacle 400 will be bypassed.

[0040] For example, the steering angle R of the device 100 can be determined based on the direction O1 and the extension direction of the shortest path from position P2 to position P3. Then, the device 100 can be controlled to rotate based on the determined steering angle R so that the device 100 can continue to move to position P3.

[0041] After controlling the device 100 to move to position P3, Method 200 can be re-executed at position P3. For example, step 210 of Method 200 can be executed to determine the direction O2 for guiding the device 100 from position P3 to the water inlet point E based on the map data of the pool and the current position P3 of the device 100. Then, step 220 of Method 200 can be executed to control the device 100 to adjust its orientation and continue to move from position P3 in the determined direction O2.

[0042] Regarding controlling the device 100 to move from the position P2 where the obstacle 400 is sensed to position P3, or rather regarding how to determine position P3, in one embodiment, as Figure 5As shown, the control device 100 can be moved from position P2 in a direction O3 that forms a predetermined angle A (e.g., 90 degrees or any other suitable value) with direction O1 for a distance d1 to position P4. For example, the forwarding angle of the device 100 can be determined based on the predetermined angle A, and the device 100 can be controlled to turn according to the determined steering angle and then move to position P4.

[0043] Then, the device 100 can be controlled to sense the obstacle 400 at position P4. For example, the orientation of the device 100 can be adjusted so that the obstacle 400 is sensed by the front obstacle detector of the device 100, or the orientation of the device 100 can remain unadjusted and the obstacle 400 is sensed by the side obstacle detector of the device 100.

[0044] When the device 100 does not sense the obstacle 400 at position P4, or when the obstacle 400 sensed at position P4 is located beyond a specified or predetermined distance. Then, the device 100 can be controlled to move a distance d2 from position P4 in the direction O1, thereby reaching or determining position P3. For example, d1 can be less than d2, such as d1 can be much less than d2. In another example, d1 can also be greater than or equal to d2.

[0045] Regarding controlling the device 100 to move from the position P2 where the obstacle 400 is sensed to position P3, or rather regarding how to determine position P3, in another embodiment, as Figure 6 shown, the control device 100 can be moved from position P2 in a direction O3 that forms a predetermined angle A (e.g., 90 degrees or any other suitable value) with direction O1 for a distance d1 to position P5. For example, the forwarding angle of the device 100 can be determined based on the predetermined angle A, and the device 100 can be controlled to turn according to the determined steering angle and then move to position P5.

[0046] Then, the device 100 can be controlled to sense the obstacle 400 at position P5, where, for example, the orientation of the device 100 can be adjusted so that the obstacle 400 is sensed by the front obstacle detector of the device 100, or the orientation of the device 100 can remain unadjusted and the obstacle 400 is sensed by the side obstacle detector of the device 100.

[0047] When the device 100 senses the obstacle 400 at position P5 (e.g., within a specified or predetermined distance), the device 100 can be controlled to continue moving a distance d1 in the direction O3 to position P4, and the device 100 can be controlled to sense the obstacle 400 at position P4.

[0048] When the device 100 does not sense the obstacle 400 at the position P4, or when the obstacle 400 sensed at the position P4 is located beyond the specified or predetermined distance, the device 100 can be controlled to move a distance d2 from the position P4 in the direction O1, so as to reach or determine the position P3. For example, d1 can be less than d2, for example, d1 can be much less than d2. In another example, d1 can also be greater than or equal to d2.

[0049] In another embodiment, as Figure 7 shown, the device 100 can first be controlled to move a distance d1 or any other suitable distance from the position P2 in the direction O4 that forms a predetermined angle B (for example, 90 degrees or any other suitable value) with the direction O1, to the position P5_1. For example, the forwarding angle of the device 100 can be determined according to the predetermined angle B, and the device 100 can be controlled to turn according to the determined steering angle, and then move to the position P5_1.

[0050] Then, the device 100 can be controlled to sense the obstacle 400 at the position P5_1. Among them, for example, the orientation of the device 100 can be adjusted so as to sense the obstacle 400 through the front obstacle detector of the device 100, or the orientation of the device 100 can not be adjusted, but the obstacle 400 can be sensed through the side obstacle detector of the device 100.

[0051] When the device 100 senses the obstacle 400 at the position P5_1 (for example, located within the specified or predetermined distance), the device 100 can be controlled to continue moving a distance d1 or any other suitable distance in the direction O4, to the position P5_2, and the device 100 can be controlled to sense the obstacle 400 at the position P5_2. And so on.

[0052] If the device 100 senses the obstacle 400 at a continuous plurality of positions P5_1, P5_2, etc. (for example, a predetermined number, such as 2, 3, or other suitable values) passed through when moving in the direction O4, the device 100 can be controlled to return to the position P2 in the direction O3, for example, opposite to the direction O4.

[0053] Then, at the position P2, the device 100 is controlled to perform operations similar to those in the Figure 5 example, so as to reach or determine the position P3.

[0054] In another embodiment, as Figure 8As shown, the control device 100 can move from position P2 in the direction O4 at a predetermined angle B (e.g., 90 degrees or any other suitable value) with respect to the direction O1 by a distance d1 or any other suitable distance to position P5. For example, the forwarding angle of the device 100 can be determined based on the predetermined angle B, and the device 100 can be controlled to turn according to the determined steering angle and then move to position P5.

[0055] Then, the device 100 can be controlled to sense the obstacle 400 at position P5. For example, the orientation of the device 100 can be adjusted so that the obstacle 400 is sensed by the front obstacle detector of the device 100, or the orientation of the device 100 can remain unadjusted and the obstacle 400 is sensed by the side obstacle detector of the device 100.

[0056] In the case where the device 100 does not sense the obstacle 400 at position P5 or senses that the obstacle 400 is located beyond a specified or predetermined distance, the device 100 can be controlled to move in the direction O1 at position P5.

[0057] If the device 100 senses the obstacle 400 at position P6 while moving from position P5 in the direction O1 and before reaching the above-mentioned distance d2, for example, senses that the obstacle 400 is located within a specified or predetermined distance, the device 100 can be controlled to move back from position P6 in the direction O5, which is, for example, opposite to the direction O1, to position P5. Further, the device 100 can be controlled to return to position P2 in the direction O3, which is, for example, opposite to the direction O4.

[0058] Then, at position P2, the device 100 is controlled to perform operations similar to those in the example of Figure 5 so as to reach or determine position P3.

[0059] In the above embodiments, during the process of controlling the device 100 to move in a certain determined direction, for example, affected by factors such as water flow interference and water inertia, the actual moving direction (or orientation) of the device 100 may deviate from the expected direction. For this reason, during the process of controlling the device 100 to move in a certain determined direction, the deviation between the actual position and the expected position can be detected in real time, and in the case where the deviation exceeds a predetermined degree, the method 200 can be re-executed midway.

[0060] For example, as Figure 9As shown, when the control device 100 moves from position P3 in the direction O2 towards the water entry point E, for example, affected by factors such as water flow interference and inertia in water, the actual moving direction (or orientation) O7 of the device 100 may deviate from the expected direction O2. For example, when the device 100 moves in the actual moving direction (or orientation) O7 and reaches position P7, the deviation D between position P7 and the position P8 that should be reached when moving in the expected direction O2 exceeds a predetermined degree. In such a case, as Figure 9 shown, the method 200 can be re-executed at position P8. Among them, based on the map data of the pool and position P8, the direction O6 for guiding the device 100 from position P8 to the water entry point E can be determined in step 210, and then in step 220, the device is controlled to continue moving from position P8 in the direction O6.

[0061] In addition, in each of the above embodiments, as Figure 10 shown, when the device 100 is to be controlled to move from a certain current position Pc to a target position Pd, the steering angle R can be determined based on the current orientation Oc of the device 100 and the extension direction O of the shortest path between the current position Pc and the target position Pd. Then, at position Pc, the device 100 can be controlled to rotate according to the steering angle R so that the orientation Oc of the device 100 is aligned with the direction O, so that the device 100 can continue to move to the target position Pd.

[0062] As described above, in the method 200, using the map data of the pool, relatively accurate local positioning is adopted, and the moving route is adjusted or corrected in real time during the process of returning to the water entry point E, so that the device 100 can return to the water entry point E more intelligently and efficiently at the bottom or on the surface of the pool.

[0063] The basic principles of the present disclosure have been described in combination with the embodiments. However, it should be noted that the advantages, benefits, effects, etc. mentioned in the present disclosure are only examples and not limitations. It cannot be considered that these advantages, benefits, effects, etc. are essential for each embodiment of the present disclosure. In addition, the foregoing details are only for the purpose of illustration and easy understanding, rather than limitations. The foregoing details do not limit the present disclosure to necessarily adopt the foregoing details to implement.

[0064] The block diagrams of the devices, apparatuses, equipment, and systems involved in the present disclosure are only illustrative examples and do not intend to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagrams. In different embodiments, these devices, apparatuses, equipment, and systems can be connected, arranged, and configured in any appropriate manner.

[0065] In addition, words such as "comprising", "including", "having", etc. in the text are open-ended terms, meaning "including but not limited to", and can be used interchangeably with each other. The terms "or" and "and" used herein refer to the term "and / or", and can be used interchangeably with it, unless the context clearly indicates otherwise. The term "such as" used herein refers to the phrase "such as but not limited to", and can be used interchangeably with it.

[0066] It should also be noted that in the devices, equipment and methods of the present disclosure, each component or each step can be decomposed and / or recombined. These decompositions and / or recombinations shall be regarded as equivalent solutions of the present disclosure.

[0067] In this document, modifiers without quantifiers such as "first", "second", etc. are intended to be used to distinguish different elements / components / circuits / modules / devices / steps, rather than to emphasize order, positional relationship, importance, priority, etc. In contrast, modifiers with quantifiers such as "the first", "the second", etc. can be used to emphasize the order, positional relationship, importance, priority, etc. of different elements / components / circuits / modules / devices / steps.

[0068] The above description is given for purposes of illustration and description. This description is not intended to limit the embodiments of the present disclosure to the forms disclosed herein. Although multiple example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, changes, additions, and sub-combinations thereof.

Claims

1. A method for controlling an automatic pool cleaning device to return to a water entry point, comprising: Determining a first direction for guiding the automatic pool cleaning device from the first position to the water entry point on the water surface or the pool bottom based on the map data of the pool and the current first position of the automatic pool cleaning device in the pool; as well as The automatic pool cleaning device is controlled to move on the water surface or the pool bottom from the first position in the first direction.

2. The method of claim 1, further comprising: When the automatic pool cleaning device senses an obstacle ahead during the process of moving in the first direction, controlling the automatic pool cleaning device to move from a second position where the obstacle is sensed to a third position in the pool, and the automatic pool cleaning device will move away from the obstacle when moving forward at the third position; as well as The automatic pool cleaning device is controlled to continue moving from the third position toward the water entry point on the water surface or the pool bottom.

3. The method of claim 2, further comprising: Based on the map data and the third position, determining a second direction for guiding the automatic pool cleaning device from the third position to the water entry point on the water surface or pool bottom; as well as The automatic pool cleaning device is controlled to continue to move in the second direction starting from the third position on the water surface or the pool bottom.

4. The method of claim 2, wherein: Controlling the automatic pool cleaning device to move to the third position includes: Controlling the automatic pool cleaning device to move a first distance from the second position to a fourth position in a third direction that is a predetermined angle to the first direction, wherein the automatic pool cleaning device does not sense the obstacle at the fourth position; and The automatic pool cleaning device is controlled to move from the fourth position to the third position by a second distance in the first direction.

5. The method of claim 4, further comprising: Controlling the automatic pool cleaning device to move from the second position in a fourth direction opposite to the third direction; as well as When the obstacle is sensed at a plurality of fifth positions through which the automatic pool cleaning device moves in the fourth direction, the automatic pool cleaning device is controlled to return to the second position in the third direction.

6. The method of claim 4, further comprising: Controlling the automatic pool cleaning device to move the first distance from the second position to a fifth position in a fourth direction opposite to the third direction, wherein the automatic pool cleaning device does not sense the obstacle at the fifth position; Controlling the automatic pool cleaning device to move in the first direction starting from the fifth position; In the case where the automatic pool cleaning device senses the obstacle before moving from the fifth position in the first direction to the second distance, controlling the automatic pool cleaning device to return to the fifth position in a fifth direction opposite to the first direction; as well as The automatic pool cleaning device is controlled to return from the fifth position to the second position along the third direction.

7. The method of claim 4, wherein: The predetermined angle includes 90 degrees.

8. The method of claim 2, wherein: Controlling the automatic pool cleaning device to move to the third position includes: determining a steering angle of the automatic pool cleaning device based on the first direction and an extension direction of a shortest path from a current position of the automatic pool cleaning device to a target position; and The automatic pool cleaning device is controlled to rotate based on the determined steering angle so as to enable the automatic pool cleaning device to continue to move to the target position.

9. The method of claim 8, wherein: The steering angle is generated when a direction from the position of the automatic pool cleaning device when sensing an obstacle ahead to the water entry point is at a predetermined angle to the first direction.

10. The method of claim 1, further comprising: After the automatic pool cleaning device moves to a second position according to the first direction, determining a second direction for guiding the automatic pool cleaning device from the second position to the water entry point on the water surface or the pool bottom based on the map data and the second position, the deviation between the automatic pool cleaning device at the second position and the expected position according to the first direction exceeds a predetermined degree; as well as The automatic pool cleaning device is controlled to continue to move in the second direction starting from the second position on the water surface or the pool bottom.

11. The method according to any one of claims 1 to 10, further comprising: At at least one position through which the automatic pool cleaning device moves, the orientation of the automatic pool cleaning device is adjusted so as to sense an obstacle in the pool by at least one sensor disposed at a front portion of the automatic pool cleaning device.

12. An automatic pool cleaning device, comprising: a memory having program instructions stored thereon; as well as A controller is configured to perform the method according to any one of claims 1 to 11 by executing the program instructions.

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