Automatic pool cleaning equipment and control method thereof

Abstract

The invention discloses automatic pool cleaning equipment and a control method thereof. The method comprises the following steps: controlling the automatic cleaning equipment for the pool to move on a platform in the pool according to a planned route; in the process that the automatic pool cleaning equipment moves according to the planned route, whether the automatic pool cleaning equipment currently reaches the cliff edge of the platform or not is determined based on real-time sensing data from a downward detection sensor of the automatic pool cleaning equipment; and under the condition that it is determined that the automatic pool cleaning equipment currently reaches the edge of the cliff, the automatic pool cleaning equipment is controlled to be away from the edge of the cliff.

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, including: controlling the automatic pool cleaning device to move along a planned route on a platform in the pool; during the process of the automatic pool cleaning device moving along the planned route, determining whether the automatic pool cleaning device currently reaches the cliff edge of the platform based on real-time sensing data from a downward detection sensor of the automatic pool cleaning device; and in the case of determining that the automatic pool cleaning device currently reaches the cliff edge, controlling the automatic pool cleaning device to move away from the cliff edge.

[0004] In one or more embodiments, the real-time sensing data from the downward detection sensor includes the sensing distance of an obstacle below the automatic pool cleaning device from a downward ranging sensor, and in the case of the sensing distance jumping from a normal value range to an abnormal value range, it is determined that the automatic pool cleaning device currently reaches the cliff edge.

[0005] In one or more embodiments, the real-time sensing data from the downward detection sensor includes a real-time image of the scene below the automatic pool cleaning device from a downward detection image sensor, and in the case of the real-time image recognizing the cliff edge, it is determined that the automatic pool cleaning device currently reaches the cliff edge.

[0006] In one or more embodiments, the method further includes: controlling the automatic pool cleaning device to move along the pool wall on the platform; during the process of the automatic pool cleaning device moving along the pool wall, determining whether the automatic pool cleaning device currently reaches the connection position between the pool wall and the cliff edge based on real-time sensing data from the downward detection sensor; and controlling the automatic pool cleaning device to stop moving at the connection position.

[0007] In one or more embodiments, the method further includes: controlling the pool automatic cleaning device to move from the connection position to another position on the platform away from the pool wall and the cliff edge after turning at the connection position; and determining the planned route with the another position as the starting point.

[0008] In one or more embodiments, the planned route includes at least one of the following: a straight sub-route, both ends of which are respectively close to the pool wall and the cliff edge on the platform or both are close to one of the cliff edge and the pool wall; and a non-straight sub-route for the pool automatic cleaning device to turn or reverse.

[0009] In one or more embodiments, when the pool automatic cleaning device moves a predetermined distance along the straight sub-route on the platform and still does not reach the cliff edge of the platform, controlling the pool automatic cleaning device to rotate a predetermined angle and then continue to move on the platform along the planned route.

[0010] In one or more embodiments, the planned route includes an S-shaped or U-shaped route planned along the length direction or the width direction of the platform.

[0011] In one or more embodiments, the method further includes: obtaining the current position of the pool automatic cleaning device when it is determined that the pool automatic cleaning device currently reaches the cliff edge of the platform.

[0012] In one or more embodiments, the method further includes: generating map data including information about the cliff edge of the platform based on multiple positions of the pool automatic cleaning device at the cliff edge of the platform.

[0013] There is also disclosed a pool automatic cleaning device, including: a downward detection sensor configured to obtain real-time sensing data about the scene and / or obstacles below the pool automatic cleaning device; and a controller configured to execute the method as described above. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 An example of the cliff edge of the platform in the pool in the embodiments of the present disclosure is schematically shown.

[0015] Figure 2 An example of the pool automatic cleaning device in the embodiments of the present disclosure is schematically shown.

[0016] Figure 3 An example of the method for controlling the pool automatic cleaning device in the embodiments of the present disclosure is schematically shown.

[0017] Figure 4An example of the execution process of the method for controlling a pool automatic cleaning device in an embodiment of the present disclosure is schematically shown.

[0018] Figure 5 An example of the execution process of the method for controlling a pool automatic cleaning device in an embodiment of the present disclosure is schematically shown.

[0019] Figure 6 An example of the execution process of the method for controlling a pool automatic cleaning device in an embodiment of the present disclosure is schematically shown.

[0020] Figure 7 An example of the execution process of the method for controlling a pool automatic cleaning device in an embodiment of the present disclosure is schematically shown.

[0021] Figure 8 An example of the execution process of the method for controlling a pool automatic cleaning device in an embodiment of the present disclosure is schematically shown.

[0022] Figure 9 An example of the execution process of the method for controlling a pool automatic cleaning device in an embodiment of the present disclosure is schematically shown. Detailed implementation manners

[0023] 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 given the same reference signs, and their descriptions are not repeated.

[0024] As Figure 1 shown, in some pools, there may be one or more platforms 100 higher than the bottom of the pool. For example, such a platform 100 may have a cliff edge 110, and the pool wall of the pool may include a pool wall 120 located above the platform 100 and connected to the platform surface of the platform 100 (also referred to herein as "the pool wall 120 on the platform 100" or "the pool wall 120 of the platform 100", or simply "the pool wall 120"). When the pool automatic cleaning device moves on such a platform 100, as Figure 1 shown by the dashed arrow in, it may fall from the platform 100 at the cliff edge 110, which may affect the cleaning coverage rate and even may cause damage to the device.

[0025] Figure 2 An exemplary pool automatic cleaning device 200 in an embodiment of the present disclosure is schematically shown, hereinafter also simply referred to as "device 200".

[0026] The device 200 can be configured with a housing, a water inlet, a water outlet, a water pump, a filtering device, a driving mechanism, etc. Among them, the driving mechanism can, for example, include power mechanisms such as motors and water pumps, and traveling mechanisms such as traveling wheels, crawlers, water spray nozzles, and propellers driven by the power mechanism. For example, the device 200 can use its driving mechanism to move on the bottom of the pool, the pool wall, or the water surface, and at the same time, suck the pool water together with the garbage in the water from the water inlet into the device through the water pump, and then discharge the filtered pool water from the water outlet into the pool.

[0027] As Figure 2 shown, in the device 200, a downward detection sensor 210 is also configured to obtain real-time sensing data about the scene and / or obstacles below the device 200.

[0028] For example, the downward detection sensor 210 can include one or more downward ranging sensors such as ultrasonic sensors configured at the lower part or the bottom of the device 200, and is configured to sense the distance between the device 200 and the obstacles below the device 200 in real time during the cleaning operation of the device 200 in the pool or on the water surface.

[0029] For example, the downward detection sensor 210 can also include one or more image sensors such as a monocular camera and a binocular camera configured at the lower part or the bottom of the device 200, and is configured to obtain real-time images of the scene below the device 200 during the cleaning operation of the device 200 in the pool or on the water surface.

[0030] As Figure 2 shown, in the device 200, a controller 220 is also configured.

[0031] The controller 220 can include any one or more circuits and / or modules with data processing capabilities and / or instruction execution capabilities and suitable for the device 200, such as a central processing unit (CPU), a graphics processing unit (GPU), a field programmable gate array (FPGA), etc. For example, the controller 220 can include application-specific integrated circuits or custom processors such as tensor processors (TPU), brain processors (BPU), deep learning processors (DPU), and neural network processors (NPU). For example, the controller 220 can also include circuits and / or modules for accelerating operations such as an array of multiply-accumulate units.

[0032] The controller 220 may be configured to perform data processing and / or control related to the cleaning operation and / or other functions of the device 200 according to programs stored in the memory of the device 200 and / or signals and / or instructions from the control panel or control terminal of the device 200 and / or sensing data from one or more sensors of the device 200 such as the downward detection sensor 210, etc.

[0033] For example, the controller 220 may be configured to analyze and / or process real-time sensing data from the downward detection sensor 210 during the movement of the device 200 on the platform 100 and / or the execution of the cleaning operation, to determine whether the device 200 has currently reached the cliff edge 110 of the platform 100, and then control the operation of one or more other components of the device 200 such as the drive mechanism and the traveling mechanism according to the determination result.

[0034] Figure 3 Schematically shows an exemplary method 300 that can be used to control the device 200 in an embodiment of the present disclosure. The method 300 can be executed, for example, by the controller 220 of the device 200 in combination with other components of the device 200 (such as the downward detection sensor 210), so that the device 200 can monitor in real time whether it has reached the cliff edge 110 of the platform 100 during the movement on the platform 100 or the execution of the cleaning operation, and control the device 200 according to the monitoring result, thereby preventing the device 200 from falling from the platform 100 at the cliff edge 110.

[0035] As Figure 3 shown, the method 300 may include steps 310, 320, and 330.

[0036] In step 310, the device 200 may be controlled to move on the platform 100 along a planned route.

[0037] For the device 200, the planned route may be a rule for controlling the movement of the device 200, or may correspond to the route that the device 200 will move through by executing such a rule. For example, such a rule may include cyclically and sequentially executing the following rules: controlling the device 200 to move forward; in the case where an obstacle in front of the device 200 is sensed by a front detection sensor of the device 200 (such as a front detection ultrasonic sensor or a front detection image sensor) or the cliff edge of the platform is sensed by the downward detection sensor 210 during the forward movement of the device 200, controlling the device 200 to rotate 90 degrees to the left (or right); controlling the device 200 to move forward a certain distance (for example, a distance approximately equivalent to the body length of the device 200) after rotation; controlling the device 200 to rotate 90 degrees to the left (or right) after moving forward a certain distance.

[0038] The planned route can be determined before performing step 310 or during step 310.

[0039] For example, as Figure 4 shown by the arrow in, the device 200 can be controlled to move along the pool wall 120 on the platform 100, and during the movement of the device 200 along the pool wall 120, it is determined whether the device 100 currently reaches the connection position 400 between the pool wall 120 and the cliff edge 110 based on the real-time sensing data from the downward detection sensor 210.

[0040] For example, in the case where the downward detection sensor 210 includes a downward ranging sensor, during the movement of the device 200 along the pool wall 120, the real-time sensing distance between the device 100 and the obstacle below the device 100 can be obtained through the downward detection sensor 210. For example, in the case where the obtained real-time sensing distance jumps from the normal value range of the distance value (e.g., less than or equal to 10 cm) to the abnormal value range of the distance value (e.g., greater than or equal to 15 cm), it can be determined that the device 100 reaches the connection position 400 between the pool wall 120 and the cliff edge 110.

[0041] For example, in the case where the downward detection sensor 210 includes a downward detection image sensor, during the movement of the device 200 along the pool wall 120, a real-time image of the scene below the device 100 can be obtained through the downward detection sensor 210. Then, any suitable method or model such as convolutional neural network, object detection, semantic segmentation, instance segmentation, etc. can be used to analyze and process the obtained real-time image. In the case where the cliff edge 110 is recognized from the real-time image, it can be determined that the device 100 reaches the connection position 400 between the pool wall 120 and the cliff edge 110.

[0042] When the device 200 reaches the connection position 400, the movement of the device 200 can be controlled to stop. Then, as Figure 4 shown, the device 200 can be controlled to turn at the connection position 400, and then move from the connection position 400 to the position 410 on the platform 100 that is far from the pool wall 120 and the cliff edge 110, so that the device 400 will not be unable to move according to the planned route due to being too close to the pool wall 120 subsequently, nor will it fall from the platform 100 due to being too close to the cliff edge 110 subsequently.

[0043] For example, it is possible to control the device 100 to rotate in a certain direction at position 400 (e.g., it can be determined whether it is clockwise or counterclockwise based on the relative positional relationship between position 400 and the cliff edge 110 and the pool wall 120), rotate by a certain angle (e.g., 90 degrees), and then move forward a certain distance (e.g., the body length of the device 100). It is also possible to further control the device 100 to rotate by a certain angle in a certain direction after moving forward a certain distance (e.g., the body length of the device 100), and so on, so as to reach position 410 on the platform.

[0044] Then, position 410 can be used as a starting point to determine the planned route. Depending on the form of the determined planned route, after determining the planned route, the device 100 can be controlled to rotate, so as to adjust the orientation of the device 100, so that the device 100 can then move from position 410 according to the determined planned route.

[0045] For example, the planned route can be an S-shaped or U-shaped route planned along the length direction of the platform 100 as shown in Figure 5 or any other suitable form of route, or it can be an S-shaped or U-shaped route planned along the width direction of the platform 100 as shown in Figure 6 or any other suitable form of route.

[0046] As shown in Figure 5 and Figure 6 , the planned route can include at least one straight sub-route such as sub-routes 510 and 610. The two ends of the straight sub-route can be respectively close to the cliff edge 110 and the pool wall 120 of the platform 100, or both can be close to the cliff edge 110 or the pool wall 120. In addition, as shown in Figure 5 and Figure 6 , the planned route can include at least one non-straight sub-route such as sub-routes 520 and 620, and the device 200 can move along such a non-straight sub-route to turn or reverse.

[0047] During the process of the device 200 moving on the platform 100 according to the planned route, step 320 can be executed to determine whether the device 200 has currently reached the cliff edge 110 of the platform 100 based on the real-time sensing data from the downward detection sensor 210.

[0048] For example, in the case where the downward detection sensor 210 includes a downward ranging sensor, during the process of the device 200 moving on the platform 100 according to the planned route, the real-time sensing distance between the device 100 and the obstacle below the device 100 can be obtained through the downward detection sensor 210. For example, in the case where the obtained real-time sensing distance jumps from the normal value range of the distance value (e.g., less than or equal to 10 cm) to the abnormal value range of the distance value (e.g., greater than or equal to 15 cm), it can be determined that the device 100 reaches the cliff edge 110.

[0049] For example, in the case where the downward detection sensor 210 includes a downward detection image sensor, during the process of the device 200 moving on the platform 100 according to the planned route, the real-time image of the scene below the device 100 can be obtained through the downward detection sensor 210. Then, any suitable method or model such as convolutional neural network, object detection, semantic segmentation, instance segmentation, etc. can be adopted to analyze and process the obtained real-time image. In the case where the cliff edge 110 is recognized from the real-time image, it can be determined that the device 100 reaches the cliff edge 110.

[0050] In the case where it is determined through step 320 that the device 200 currently reaches the cliff edge 110, step 330 can be executed to control the device 200 to move away from the cliff edge 110.

[0051] For example Figure 7 As shown, in the case where the device 200 reaches the cliff edge 110 according to the sub-route 710, in step 330, the device 200 can first be controlled to retreat a distance (e.g., approximately equal to the body length of the device 200) along the sub-route 710 as shown by the arrow 720, and then the device 200 can be controlled to continue moving along the sub-route 730 after turning.

[0052] In the case where it is determined through step 320 that the device 200 currently does not reach the cliff edge 110, the device 200 can be controlled to continue moving according to the planned route or rules.

[0053] As Figure 8 shown, for example, in the case where the planned route 600 is determined along the length direction of the platform 100, there may be an area such as 800 on the platform 100 that is finally not cleaned by the device 200. For this reason, as Figure 9As shown, in the case where the device 200 moves a predetermined distance along the straight sub-route 910 on the platform 100 and still has not reached the cliff edge 110 of the platform 100, the previous planned route or rule can be adjusted. For example, the following rule can be added to the previous planned route or rule: when the device 200 moves a predetermined distance along the straight sub-route on the platform 100 and still has not reached the cliff edge of the platform, control the device 200 to continue moving according to the previous movement rule after rotating a predetermined angle (for example, 90 degrees). Thereby, the device 200 can reach areas such as area 800, thus ensuring the cleaning coverage rate.

[0054] In addition, in the case where it is determined in step 320 that the device 200 has currently reached the cliff edge 110, in step 320 or in a separate step, the current position of the device 200 can also be obtained. Then, based on multiple positions of the device 200 at the cliff edge 110 of the platform 100, map data containing information about the cliff edge 110 of the platform 100 can be generated. For example, multiple positions of the device 200 at the cliff edge 110 of the platform 100 can be connected to generate a curve that can be used to represent the cliff edge 110, where any suitable processing such as data fitting and interpolation can be employed. Then, the generated curve about the cliff edge 110 can be integrated into the map data about the pool to generate map data containing information about the cliff edge 110 of the platform 100.

[0055] As described above, through method 200, the device 200 can, during the process of moving or performing a cleaning operation on the platform 100, monitor in real time whether it has reached the cliff edge 110 of the platform 100, and control the device 200 according to the monitoring result, thereby preventing the device 200 from falling from the platform 100 at the cliff edge 110.

[0056] The basic principles of the present disclosure have been described in combination with the embodiments above. However, it should be noted that the advantages, benefits, effects, etc. mentioned in the present disclosure are only examples and not limitations, and 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 facilitating understanding, rather than limitations, and the foregoing details do not limit the present disclosure to necessarily implement using the foregoing details.

[0057] 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.

[0058] In addition, words such as "including", "comprising", "having", etc. in the text are open-ended terms, meaning "including but not limited to", and can be used interchangeably with each other. The words "or" and "and" used herein refer to "and / or", and can be used interchangeably with it, unless the context clearly indicates otherwise. The phrase "such as" used herein refers to "such as but not limited to", and can be used interchangeably with it.

[0059] 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.

[0060] In this text, 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 level, etc. In contrast, modifiers with quantifiers such as "the first one", "the second one", etc. can be used to emphasize the order, positional relationship, importance, priority level, etc. of different elements / components / circuits / modules / devices / steps.

[0061] 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, comprising: Controlling the automatic pool cleaning device to move on the platform in the pool according to the planned route; During the process of the automatic pool cleaning device moving according to the planned route, determining whether the automatic pool cleaning device has currently reached the edge of the cliff of the platform based on real-time sensing data from a downward detection sensor of the automatic pool cleaning device; as well as In the case where it is determined that the automatic pool cleaning device has currently reached the edge of the cliff, the automatic pool cleaning device is controlled to move away from the edge of the cliff.

2. The method of claim 1, wherein: The real-time sensing data from the downward detection sensor includes the sensing distance of obstacles below the automatic pool cleaning device from the downward ranging sensor, and when the sensing distance jumps from a normal value range to an abnormal value range, it is determined that the automatic pool cleaning device has currently reached the edge of the cliff.

3. The method of claim 1, wherein: The real-time sensing data from the downward detection sensor includes a real-time image of the scene below the automatic pool cleaning device from a downward detection image sensor, and when the real-time image identifies the edge of the cliff, it is determined that the automatic pool cleaning device has currently reached the edge of the cliff.

4. The method of claim 1, further comprising: Control the automatic pool cleaning device to move on the platform along the pool wall on the platform; During the movement of the automatic pool cleaning device along the pool wall, determining whether the automatic pool cleaning device has currently reached the connection position between the pool wall and the edge of the cliff based on the real-time sensing data from the downward detection sensor; as well as The automatic pool cleaning device is controlled to stop moving at the connection position.

5. The method of claim 4, further comprising: Controlling the automatic pool cleaning device to move from the connection position to another position on the platform away from the pool wall and the edge of the cliff after turning at the connection position; as well as The planned route is determined using the other location as a starting point.

6. The method of claim 1, wherein: The planned route includes at least one of the following: a straight line sub-route, where two ends of the straight line sub-route are respectively close to the pool wall on the platform and the cliff edge of the platform or both close to one of the cliff edge and the pool wall; and The non-straight sub-route is used for the automatic pool cleaning device to turn or make a U-turn.

7. The method of claim 6, wherein: When the automatic pool cleaning device moves a predetermined distance on the platform along the straight line sub-route but still fails to reach the edge of the cliff of the platform, the automatic pool cleaning device is controlled to rotate a predetermined angle and then continue to move on the platform along the planned route.

8. The method of claim 1, wherein: The planned route includes an S-shaped or U-shaped route planned according to the length direction or width direction of the platform.

9. The method according to any one of claims 1 to 8, further comprising: When it is determined that the automatic pool cleaning device has currently reached the edge of the cliff of the platform, the current position of the automatic pool cleaning device is acquired.

10. The method of claim 9, further comprising: Map data including information about the cliff edge of the platform is generated based on a plurality of positions of the automatic pool cleaning device on the cliff edge of the platform.

11. An automatic pool cleaning device, comprising: A downward detection sensor configured to obtain real-time sensing data about scenes and / or obstacles below the automatic pool cleaning device; as well as A controller configured to execute the method according to any one of claims 1 to 10.

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