Method for controlling automatic pool cleaning device to return to pile and corresponding automatic pool cleaning device

Abstract

The invention provides a method for controlling an automatic pool cleaning device to return to a pile and the corresponding automatic pool cleaning device. The method comprises the steps that in response to a pile returning instruction for an automatic pool cleaning device, the automatic pool cleaning device is controlled to advance towards a charging pile, and the charging pile is provided with a magnetic strip; when the automatic pool cleaning device moves to the position near the charging pile, the automatic pool cleaning device is controlled to be adjusted to a first pose; the magnetic field intensity generated by the magnetic strip is detected through a sensor arranged on the automatic pool cleaning device under the first pose; determining a pile returning route based on the magnetic field intensity detected under the first pose; and controlling the automatic pool cleaning device to move to a target position on the charging pile along the pile returning route.

Description

Technical Field

[0001] The present disclosure relates to the field of pool cleaning, and particularly to a method for controlling a pool automatic cleaning device to return to a charging pile and a corresponding pool automatic cleaning device. Background Art

[0002] Pool automatic cleaning devices are generally used for cleaning pools. For example, they collect and clean garbage / debris on the bottom, side walls, and / or water surface of pools such as swimming pools, so as to filter and purify the water body in the pool, and the filtered and purified water can be discharged into the pool.

[0003] However, pool automatic cleaning devices generally need to automatically return to the charging pile for charging. Although ultrasonic ranging sensors can be used to detect the relative position between the charging pile and the pool automatic cleaning device and complete docking using distance information, in fact, the distance measured by the sensor is not very accurate, resulting in low accuracy and efficiency during docking.

[0004] Therefore, there is an urgent need for a docking strategy between a pool automatic cleaning device and a charging pile at close range. Summary of the Invention

[0005] According to one aspect of the present disclosure, a method for controlling a pool automatic cleaning device to return to a charging pile is proposed, which includes: in response to a return-to-pile instruction for the pool automatic cleaning device, controlling the pool automatic cleaning device to move towards the charging pile, wherein the charging pile is equipped with a magnetic strip; when the pool automatic cleaning device moves near the charging pile, controlling the pool automatic cleaning device to adjust to a first pose; detecting the magnetic field intensity generated by the magnetic strip through a sensor equipped on the pool automatic cleaning device in the first pose; determining a return-to-pile route based on the detected magnetic field intensity in the first pose; and controlling the pool automatic cleaning device to move along the return-to-pile route to a target position on the charging pile.

[0006] According to at least one embodiment of the present disclosure, the above method further includes: during the movement of the pool automatic cleaning device, detecting the magnetic field intensity through the sensor; and determining whether the pool automatic cleaning device moves near the charging pile based on the magnetic field intensity.

[0007] According to at least one embodiment of the present disclosure, in the above method, the first pose is determined based on the placement direction of the magnetic strip.

[0008] As an example, when the magnetic strip is placed vertically, the traveling direction of the pool automatic cleaning device in the first pose is the vertical direction.

[0009] According to at least one embodiment of the present disclosure, in the above method, when the pool automatic cleaning device moves near the charging pile, the magnetic strip and the pool automatic cleaning device are on the same pool wall surface.

[0010] According to at least one embodiment of the present disclosure, wherein the magnetic field intensity has a component value in a first direction, a component value in a second direction, and a component value in a third direction; wherein the first direction, the second direction, and the third direction are perpendicular to each other, and the third direction is the direction of gravitational acceleration.

[0011] According to at least one embodiment of the present disclosure, in the above method, determining whether the pool automatic cleaning device has moved near the charging pile based on the magnetic field intensity includes: if the component value of the detected magnetic field intensity in the third direction is within a first threshold range, it is determined that the pool automatic cleaning device has moved near the charging pile; otherwise, the pool automatic cleaning device is controlled to continue moving towards the charging pile.

[0012] According to at least one embodiment of the present disclosure, in the above method, determining the route back to the pile includes: controlling the pool automatic cleaning device to move a first distance along the third direction; after moving the first distance, controlling the pool automatic cleaning device to rotate a first angle towards the side of the magnetic strip; after rotating the first angle, controlling the pool automatic cleaning device to move a second distance towards the side of the magnetic strip; after moving the second distance, controlling the pool automatic cleaning device to rotate a second angle towards the side of the magnetic strip; after rotating the second angle, controlling the pool automatic cleaning device to move to the target position on the charging pile.

[0013] According to at least one embodiment of the present disclosure, in the above method, the first distance is a preset distance or is calculated based on the magnetic field intensity in the first pose.

[0014] According to at least one embodiment of the present disclosure, in the above method, the first angle is obtained based on the first distance and the third distance, wherein the third distance is obtained based on the component value of the detected magnetic field intensity in the third direction.

[0015] According to at least one embodiment of the present disclosure, in the above method, the second distance is calculated based on the first distance and the third distance.

[0016] According to at least one embodiment of the present disclosure, in the above method, the second angle is the same as the first angle.

[0017] According to at least one embodiment of the present disclosure, in the above method, after rotating the second angle, controlling the pool automatic cleaning device to move to a target position on the charging pile includes: controlling the pool automatic cleaning device to travel in a straight line until the target position.

[0018] According to another aspect of the present disclosure, there is provided a pool automatic cleaning device, including: a magnetic sensor that detects the magnetic field strength generated by a magnetic strip equipped on the charging pile; an inertial measurement unit that detects the attitude information of the pool automatic cleaning device; and at least one processor configured to cause the pool automatic cleaning device to execute the above method when executing one or more instructions. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings in the following description are only some embodiments of the present disclosure. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0020] Figure 1 Schematically shows the external shape of a pool automatic cleaning device according to an embodiment of the present disclosure.

[0021] Figure 2 Schematically shows the working environment of the pool automatic cleaning device according to an embodiment of the present disclosure.

[0022] Figure 3 Schematically shows the flow of a method for controlling the pool automatic cleaning device to return to the pile according to an embodiment of the present disclosure.

[0023] Figures 4A - 4B Schematically shows the relationship between the component value of the magnetic field strength generated by the magnetic strip detected by the pool automatic cleaning device and the distance between the pool automatic cleaning device and the magnetic strip.

[0024] Figures 5A - 5D Schematically shows an example of controlling the pool automatic cleaning device to perform a return-to-pile operation according to an embodiment of the present disclosure.

[0025] Figure 6 Is a schematic structural block diagram of a pool automatic cleaning device according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0026] The following detailed description in conjunction with the drawings is intended as a description of various configurations and is not intended to represent the only configurations in which the concepts described herein can be practiced. The detailed description includes specific details for the purpose of providing a thorough understanding of the various concepts. However, it is obvious to those skilled in the art that these concepts can be practiced without these specific details.

[0027] In the description of the present disclosure, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", "one side", "the other side", "front end", "rear end", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. These are only for the convenience of describing the present disclosure and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present disclosure.

[0028] In addition, terms such as "first", "second", "third", etc. related to order are only for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with terms related to order such as "first", "second", "third", etc. may explicitly or implicitly include at least one such feature. In the description of the present disclosure, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise specifically defined.

[0029] In addition, in the drawings, for the sake of clarity of illustration, the dimensions may be exaggerated and are not drawn to actual scale. Throughout the drawings, the same reference numerals generally refer to the same elements.

[0030] Figure 1 Schematically shows the external shape of a pool automatic cleaning device 100 according to an embodiment of the present disclosure. The pool automatic cleaning device 100 can perform cleaning operations on the bottom, pool wall, water, and water surface of a pool (such as a swimming pool) as needed. For example, it is used to clean the garbage in the water, at the bottom, and on the water surface, and clean the dirt on the pool bottom and pool wall. As Figure 1 shown, the pool automatic cleaning device 100 may include structures / components such as a housing 110, a traveling mechanism 120, and a cleaning unit 130. As an example, a control chamber, a power chamber, and a filtration chamber (not shown) may be provided in the housing 100. Among them, control circuits such as a microprocessor, a digital signal processor (DSP), and a microcontroller may be installed in the control chamber, drive mechanisms such as a water pump and a drive motor may be provided in the power chamber, and a filtration unit may be provided in the filtration chamber to filter and purify the water entering the interior of the filtration chamber through the water inlet, filter out the debris therein, and discharge the cleaned water out of the pool automatic cleaning device through the water outlet. As an example, Figure 1 the traveling mechanism 120 of the shown pool automatic cleaning device 100 is a crawler-type traveling mechanism. However, the pool automatic cleaning device may also adopt a wheel-type traveling mechanism, which is not limited herein.

[0031] As an example, the automatic pool cleaning device may also be equipped with a water spraying mechanism. For example, a water pump and an impeller are provided so that the automatic pool cleaning device can use the water spraying mechanism to spray water outward from the water spraying port to assist the automatic pool cleaning device in traveling on the pool wall, in the water, and / or on the water surface. For example, the thrust generated by the water flow ejected from a water spraying port (such as the water spraying port 140 shown in Figure 1 Figure) in a direction opposite to the traveling direction can be used to push the automatic pool cleaning device to travel on the water surface. Or, when the automatic pool cleaning device climbs the pool wall, the water flow ejected from the water spraying port (such as the water spraying port 150 shown in Figure 1 Figure) at the top of the body of the automatic pool cleaning device can generate a pressure applied to the bottom surface of the automatic pool cleaning device, so as to increase the adhesion of the traveling mechanism of the automatic pool cleaning device to the pool wall and maintain the stability of its body in a vertical state.

[0032] It should be noted that the positions, shapes, and / or quantities of the above-mentioned water spraying ports 140-150 provided on the housing 110 of the automatic pool cleaning device 100 can be adjusted accordingly according to the actual operation requirements of the automatic pool cleaning device, and are not limited herein.

[0033] Although Figure 1 schematically shows the overall appearance of an automatic pool cleaning device according to an embodiment of the present disclosure. It should be understood that this is only schematic and does not constitute any limitation to the principles of the present disclosure.

[0034] The automatic pool cleaning device according to an embodiment of the present disclosure may also be equipped with various sensors for detecting the underwater environment. As an example, the automatic pool cleaning device according to an embodiment of the present disclosure may be equipped with a ranging sensor and / or an inertial measurement unit (IMU). Through the ranging sensor, the automatic pool cleaning device can sense the surrounding underwater environment, such as the distance from various obstacles present around, so as to control the movement of the automatic pool cleaning device; through the inertial measurement unit, measurement values regarding the pose of the automatic pool cleaning device can be obtained, and based on the measurement values, the body pose of the automatic pool cleaning device can be controlled. For example, the IMU may include a (three-axis) gyroscope and a (three-axis) accelerometer, where the (three-axis) accelerometer can detect the acceleration signals of the automatic pool cleaning device in the X, Y, and Z three-axis directions in three-dimensional space, and the (three-axis) gyroscope can detect the angular velocity signals of the automatic pool cleaning device relative to each axis in the reference coordinate system in three-dimensional space; based on the detected angular velocity and / or acceleration signals of the automatic pool cleaning device in three-dimensional space, information regarding the pose of the automatic pool cleaning device in three-dimensional space can be calculated, for example, pose information such as the pitch angle, roll angle, and / or yaw angle of the automatic pool cleaning device can be calculated.

[0035] As an example, the ranging sensor may include, but is not limited to, an ultrasonic sensor, an infrared sensor, a TOF (time of flight) sensor.

[0036] The automatic pool cleaning device according to an embodiment of the present disclosure may be equipped with a rechargeable battery to provide power for driving mechanisms such as water pumps and drive motors. Considering the size and weight limitations of the automatic pool cleaning device, the capacity of the equipped rechargeable battery is limited; therefore, when the automatic pool cleaning device performs cleaning operations in a pool such as a swimming pool for a period of time, the battery needs to be charged to extend the cleaning operation time of the automatic pool cleaning device and achieve all-day cleaning.

[0037] For this purpose, a charging pile may be set in the pool to charge the automatic pool cleaning device. As a solution, the position of the charging pile can be accurately located through a high-precision ultrasonic sensor, or the automatic pool cleaning device can be navigated using a high-precision map so that the automatic pool cleaning device can be aligned with the charging pile, thereby achieving charging of the automatic pool cleaning device.

[0038] However, whether it is positioning the charging pile using a high-precision ultrasonic sensor or navigating the automatic pool cleaning device using a high-precision map, on the one hand, the operation of the automatic pool cleaning device is complex, and on the other hand, the cost of the automatic pool cleaning device is high, reducing the attractiveness to users.

[0039] In view of this, embodiments of the present disclosure propose to equip the pool automatic cleaning device with a magnetic sensor such as a magnetometer and correspondingly equip the charging pile with a magnetic strip. The charging pile is positioned by detecting the magnetic field signal generated by the magnetic strip through the magnetic sensor of the pool automatic cleaning device, and correspondingly controlling the pool automatic cleaning device to move towards the charging pile and complete the docking operation, so as to realize the charging of the pool automatic cleaning device.

[0040] Figure 2 Schematically shows the working environment of the pool automatic cleaning device according to an embodiment of the present disclosure. As an example, as Figure 2 shown, the pool automatic cleaning device 100 can move on the bottom 210 of the pool, the pool wall 220, in the water of the pool and / or on the water surface.

[0041] As an example, a charging pile 300 can be provided on the pool wall 220. When the battery equipped on the pool automatic cleaning device 100 needs to be charged, the pool automatic cleaning device 100 can move towards the position where the charging pile 300 is located based on the return-to-pile instruction. Among them, the return-to-pile instruction can be that the cleaning device needs to return to the pile after completing the current task, or the current working power is insufficient, or it can also be formed by an instruction sent by the user, etc. As an example, based on the detection of the battery power, for example, the detection of parameters such as battery voltage, SOC, etc., and when the detected value is lower than a certain threshold, a return-to-pile instruction is generated.

[0042] As an example, as Figure 2 shown, the charging pile 300 is equipped with a magnetic strip 400, and the magnetic strip 400 can generate a magnetic field in three-dimensional space. For example, magnetic field intensity component signals are respectively formed in the X, Y, and Z axis directions perpendicular to each other, where the Z axis direction can be the direction of gravitational acceleration.

[0043] Figure 3 Schematically shows the flow of a method for controlling the pool automatic cleaning device to return to the pile according to an embodiment of the present disclosure. As Figure 3 shown, the method may include: S310, in response to the return-to-pile instruction of the pool automatic cleaning device, controlling the pool automatic cleaning device to move towards the charging pile, where the charging pile is equipped with a magnetic strip; S320, when the pool automatic cleaning device moves near the charging pile, controlling the pool automatic cleaning device to adjust to a first pose; S330, detecting the magnetic field intensity generated by the magnetic strip through the sensor equipped on the pool automatic cleaning device in the first pose; S340, determining the return-to-pile route based on the magnetic field intensity detected in the first pose; and S350, controlling the pool automatic cleaning device to move along the return-to-pile route to the target position on the charging pile.

[0044] The above method of the embodiments of the present disclosure will be described in detail below with specific examples. As an example, asFigure 2 As shown, the charging pile 300 is provided on the pool wall 220, and the magnetic strip 400 equipped on the charging pile 300 is arranged along the vertical direction of the pool wall 220, that is, along the Z-axis direction.

[0045] As an example, Figure 4A schematically shows the distribution of the magnetic field intensity generated by the magnetic strip 400 in three-dimensional space. For example, when the automatic pool cleaning device 100 and the pool wall where the magnetic strip 400 is located are in the same plane, and its body longitudinal axis is parallel to the arrangement direction of the magnetic strip 400 (for example, when the longitudinal axis of the automatic pool cleaning device 100 is parallel to Figure 2 the Z-axis direction shown), the component values Hx, Hy, and Hz of the magnetic field intensity generated by the magnetic strip 400 detected by the magnetic sensor (such as a magnetometer) equipped on the automatic pool cleaning device 100 in the X, Y, and Z-axis directions as shown in Figure 2 and the change trend between the distance of the automatic pool cleaning device 100 from the magnetic strip 400 in the X-axis; among them, taking the position corresponding to the projection of the center line of the magnetic strip 400 in the Figure 2 XZ plane shown as the position of x = 0 on the X-axis, taking the position corresponding to the projection of the center line of the magnetic strip 400 in the Figure 2 YZ plane shown as the position of y = 0 on the Y-axis, and taking the position corresponding to the midpoint of the center line of the magnetic strip 400 as the zero point of the Z-axis.

[0046] As an example, as shown in Figure 4A , when the body longitudinal axis of the automatic pool cleaning device 100 is parallel to the arrangement direction of the magnetic strip 400, when it is on the right side of the magnetic strip 400, the component of the detected magnetic field intensity value in the X-axis direction is basically positive, while when it is on the left side of the magnetic strip 400, the component of the detected magnetic field intensity in the X-axis direction is basically negative. Thus, according to the positive or negative of the component value of the magnetic field intensity of the magnetic strip 400 detected in the X-axis direction, it is possible to determine on which side of the magnetic strip 400 the automatic pool cleaning device 100 is located.

[0047] Similarly, Figure 4A further shows the change trend between the component value of the magnetic field intensity detected in the Y-axis direction by the automatic pool cleaning device 100 and the distance of the automatic pool cleaning device 100 from x = 0 when the body longitudinal axis of the automatic pool cleaning device 100 is parallel to the arrangement direction of the magnetic strip 400.

[0048] As an example, Figure 4A further shows the change trend between the component value of the magnetic field intensity detected in the Z-axis direction by the automatic pool cleaning device 100 and the distance of the automatic pool cleaning device 100 from x = 0 when the body longitudinal axis of the automatic pool cleaning device 100 is parallel to the arrangement direction of the magnetic strip 400.

[0049] As an example,Figure 4B It shows a curve obtained by linear interpolation of the component value (here, the absolute value) of the magnetic field intensity generated by the magnetic strip 400 detected when the longitudinal axis of the body of the pool automatic cleaning device 100 is parallel to the arrangement direction of the magnetic strip 400 in the Z-axis direction. As Figure 4B shown, the component value of the detected magnetic field intensity in the Z-axis direction is the largest at x = 0, and as the distance between the pool automatic cleaning device and x = 0 increases, the component value approaches zero, that is, the smaller the component value in the Z-axis direction indicates that the cleaning device is farther from the magnetic strip in the x-axis direction, and at this time, the component value of the detected magnetic field intensity in the Z-axis direction is close to zero.

[0050] Thus, based on the magnitude of the absolute value of the magnetic field intensity value in the Z-axis direction, the relative position relationship between the pool automatic cleaning device and the magnetic strip in the X-axis direction can be determined.

[0051] As an example, Figure 4A the changes in the magnetic field intensity values in the X, Y, and Z-axis directions as shown can be determined by a pre-calibration method, that is, the pool automatic cleaning device and the pool wall where the magnetic strip is located are in the same plane and the longitudinal axis of its body is set parallel to the arrangement direction of the magnetic strip, and when changing the distance between the pool automatic cleaning device and the magnetic strip in the X-axis direction, the components of the magnetic field intensity values in the X, Y, and Z-axis directions are measured by a equipped magnetometer, thereby obtaining the relationship of the magnetic field intensity component values with respect to the distance on the X-axis as shown in Figure 4A the figure.

[0052] According to an embodiment of the present disclosure, in response to the pile-return instruction of the pool automatic cleaning device, the pool automatic cleaning device can be controlled to travel in the direction of the pool wall where the charging pile is located. As an example, during the traveling process, the pool automatic cleaning device can detect the change of the magnetic field in the space through a magnetic sensor such as a magnetometer equipped on the pool automatic cleaning device, for example, detect the magnetic field intensity value generated by the magnetic strip.

[0053] Figure 5A It is a schematic diagram showing that the pool automatic cleaning device 100 travels in the direction of the pool wall 220 where the charging pile is located in response to the pile-return instruction, for example, in the direction indicated by the arrow, and when it reaches the pool wall 220, it climbs along the surface of the pool wall 220. As an example, the longitudinal axis of the body of the pool automatic cleaning device is shown by a dashed line in FIG. 5.

[0054] According to an embodiment of the present disclosure, to control the automatic pool cleaning device to move towards the pool wall, it can be determined whether it reaches the pool wall based on the detection of an object in front of the moving direction by a forward ranging sensor equipped on the automatic pool cleaning device; alternatively, it can also be determined whether it reaches the pool wall based on detecting the component value in the Y-axis direction of a magnetic strip arranged at the pool wall by a magnetic sensor such as a magnetometer equipped on the automatic pool cleaning device. The specific determination method is not limited herein.

[0055] As the automatic pool cleaning device 100 climbs up the pool wall 220, it can be determined whether the automatic pool cleaning device moves near the charging pile based on the detected magnetic field intensity generated by the magnetic strip 400.

[0056] As an example, it can be determined whether the automatic pool cleaning device 100 moves near the charging pile 300 based on the detected component value of the magnetic field intensity in the Z-axis direction. For example, if the detected component value of the magnetic field intensity in the Z-axis direction is within a first threshold range, it is determined that the automatic pool cleaning device has moved near the charging pile; otherwise, the automatic pool cleaning device is controlled to continue moving towards the charging pile. Depending on the actual configuration of the magnetic strip 400 and the magnetometer, the specific value of the first threshold range is not limited herein. As an example, it can be set by adopting the pre-calibration method described above.

[0057] As an example, for example, in combination with Figure 4A , it can be determined whether the automatic pool cleaning device 100 is located on the left or right side of the magnetic strip 400 based on the positive or negative of the detected component value of the magnetic field intensity in the X-axis direction.

[0058] According to an embodiment of the present disclosure, when the automatic pool cleaning device 100 moves near the charging pile 300, the automatic pool cleaning device 100 can be controlled to adjust to a first pose. As an example, the first pose can be determined based on the arrangement of the magnetic strip. For example, as Figure 5A shown, when the arrangement of the magnetic strip 400 is in the vertical direction, that is, along the direction of gravitational acceleration, the first pose can be the pose when the longitudinal axis of the automatic pool cleaning device 100 is parallel to the direction of gravitational acceleration.

[0059] As an example, adjusting the pool automatic cleaning device 100 to the first pose may include determining the current pose of the pool automatic cleaning device based on the detection data of the inertial measurement unit equipped on the pool automatic cleaning device, and adjusting its pose to the first pose by controlling mechanisms such as the traveling mechanism and / or the water spraying mechanism of the pool automatic cleaning device. Adjusting the pool automatic cleaning device to the first pose can make the component values of the magnetic field intensity detected by the magnetometer equipped thereon in the X, Y, and Z axis directions more accurately match the component values of the magnetic field intensity of the magnetic strip obtained through pre-calibration, so that the relative position relationship between the pool automatic cleaning device and the magnetic strip can be accurately determined, and accurate pile alignment operation can be achieved.

[0060] As an example, as described above, the first pose may be determined based on the placement direction of the magnetic strip.

[0061] According to an embodiment of the present disclosure, when the magnetic strip is vertically placed, the traveling direction of the pool automatic cleaning device in the first pose may be the vertical direction.

[0062] As an example, when the pool automatic cleaning device moves to the vicinity of the charging pile, the magnetic strip and the pool automatic cleaning device are on the same pool wall surface.

[0063] According to an embodiment of the present disclosure, based on the magnetic field intensity detected in the first pose, the return pile route can be determined, and the pool automatic cleaning device can be controlled to move along the return pile route to the target position on the charging pile for the next operation.

[0064] As Figure 5B shown, when the pool automatic cleaning device 100 is adjusted to the first pose, the distance between the pool automatic cleaning device 100 and the magnetic strip 400 in the X-axis direction (for example, the distance between the longitudinal axis of the body of the pool automatic cleaning device 100 and the center line of the magnetic strip 400) can be determined as dis1. For example, based on the relationship between the component value of the magnetic field intensity of the pre-calibrated magnetic strip 400 in the Z-axis direction and the distance, the distance dis1 can be determined by the component value of the magnetic field intensity detected by the magnetometer in the Z-axis direction.

[0065] To improve the safety of the pool automatic cleaning device 100 during the pile alignment operation with the charging pile 300 and avoid possible collisions, a safe operation area can be planned for the pile alignment operation. For example, the pool automatic cleaning device can be controlled to move a certain distance in the Z-axis direction in the state of the first pose, for example, retreat a certain distance along the solid arrow direction, for example Figure 5B the first distance dis2 shown.

[0066] As an example, the first distance is a preset distance or is obtained based on the magnetic field strength in the first pose. For example, the preset distance can be determined based on parameters such as the size and turning radius of the automatic pool cleaning device to ensure the safety of the automatic pool cleaning device during pile operation.

[0067] In addition, a method similar to that for obtaining Figures 4A - 4B the curve shown can be used to calibrate the relationship between the magnetic field strength detected by the automatic pool cleaning device and its relative position to the magnetic strip. Thus, the relative position relationship between the automatic pool cleaning device and the magnetic strip in the Z-axis direction can be calculated based on the detected magnetic field strength, and the first distance can be obtained.

[0068] Then, as Figure 5C shown, after moving the first distance dis2, the automatic pool cleaning device can be controlled to rotate a first angle towards the side of the magnetic strip 400. For example, if the automatic pool cleaning device is on the right side of the magnetic strip, it rotates to the left; if the automatic pool cleaning device is on the left side of the magnetic strip, it rotates to the right. As an example, the value of the first angle can be related to the distance dis1 between the automatic pool cleaning device 100 and the magnetic strip 400 in the X-axis direction and the first distance dis2 that the automatic pool cleaning device 100 moves along the Z-axis direction. For example, the value of the first angle theta = atan(dis1 / dis2).

[0069] As an example, based on the component value of the detected magnetic field strength in the Z-axis direction, the distance between the automatic pool cleaning device and the magnetic strip in the X-axis direction can be determined according to the pre-calibrated relationship between the component value of the magnetic field strength of the magnetic strip in the Z-axis direction and the distance.

[0070] As an example, after rotating the first angle, the automatic pool cleaning device 100 can be controlled to move a second distance towards the side of the magnetic strip. For example, as Figure 5C shown, the automatic pool cleaning device is controlled to move the second distance dis3 along the direction determined by the first angle. As an example, the second distance dis3 can be calculated based on the relationship between the three sides of a right triangle. For example, (dis3) 2 =(dis1) 2 +(dis2) 2 .

[0071] As an example, after moving the second distance, the automatic pool cleaning device 100 can be controlled to rotate a second angle towards the side of the magnetic strip so that the longitudinal axis of the body of the automatic pool cleaning device 100 is parallel to the center line of the magnetic strip. For example, as Figure 5D shown, after the automatic pool cleaning device 100 rotates the second angle, the longitudinal axis of its body is parallel to the center line of the magnetic strip. As an example, the value of the second angle can be the same as the value of the first angle and in the opposite direction.

[0072] As an example, after rotating by the second angle, the automatic pool cleaning device can be controlled to move to a target position on the charging pile for charging operations. For example, as Figure 5D shown, after the automatic pool cleaning device 100 rotates by the second angle and its body longitudinal axis is parallel to the magnetic strip 400, the automatic pool cleaning device 100 can be controlled to move forward along the Z-axis direction to the target position at the charging pile 300 for the next operation.

[0073] As an example, controlling the automatic pool cleaning device to move to the target position on the charging pile may include: controlling the automatic pool cleaning device to travel in a straight line until the target position to complete the docking action. For example, a detection sensor, such as a Hall sensor, can be provided on the automatic pool cleaning device or the charging pile. When the automatic pool cleaning device 100 approaches the target position of the charging pile, the automatic pool cleaning device 100 can be controlled to stop traveling based on the sensing signal of the detection sensor to complete the docking action.

[0074] Of course, it is also possible to detect whether the movement between the charging pile and the cleaning device is in place by other means. For example, the specific information of the target position can be identified through ultrasonic sensors, lidar, or image sensors, etc., and no further examples will be given here.

[0075] According to another aspect of the present disclosure, an automatic pool cleaning device is also proposed. As Figure 6 shown, the automatic pool cleaning device includes: a magnetic sensor 610 that detects the magnetic field intensity generated by the magnetic strip equipped on the charging pile; an inertial measurement unit 620 that detects the attitude information of the automatic pool cleaning device; and at least one processor 630 configured to cause the automatic pool cleaning device to execute the above method when executing one or more instructions.

[0076] According to the above method and the automatic pool cleaning device of the embodiments of the present disclosure, the charging pile is positioned by detecting the magnetic field signal generated by the magnetic strip equipped on the charging pile through the magnetic sensor equipped on the automatic pool cleaning device, and accordingly, the automatic pool cleaning device is controlled to travel towards the charging pile and complete the docking action to realize the charging of the automatic pool cleaning device, without using a high-precision ultrasonic sensor or a high-precision navigation map for positioning and docking operations of the charging pile, which simplifies the operation of the automatic pool cleaning device, reduces the cost of the automatic pool cleaning device, and improves the user experience.

[0077] Accordingly, several aspects of the present disclosure have been presented above with reference to various devices and methods. These devices and methods are illustrated in the accompanying drawings by various blocks, components, circuits, processes, algorithms, etc. (collectively referred to as "elements"). These elements can be implemented using electronic hardware, computer software, or any combination thereof. Whether these elements are implemented as hardware or software depends on the particular application and design constraints imposed on the overall system.

[0078] Thus, in one or more example embodiments, the described functionality can be implemented using hardware, software, or any combination thereof. If implemented in software, the functionality can be stored on or encoded as one or more instructions or code on a computer-readable medium. A computer-readable medium includes computer storage media. The storage media can be any available media accessible by a computer. It should be understood that the specific order or hierarchy of the blocks in the disclosed process / flowchart is an illustration of an example method. Based on design preferences, it should be understood that the specific order or hierarchy of the blocks in the process / flowchart can be rearranged. Additionally, some blocks can be combined or omitted. The appended method claims present the elements of the various blocks in a sample order and are not meant to be limited to the specific order or hierarchy presented.

[0079] The embodiments described above are only some embodiments of the present application, not all embodiments. The present application can be implemented in many different forms. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present application more thorough and comprehensive. Although the present application has been described in detail with reference to the foregoing embodiments, for those skilled in the art, they can still modify the technical solutions described in the foregoing specific embodiments, or perform equivalent replacements for some of the technical features. Any equivalent structure directly or indirectly using the content of the specification and drawings of the present application in other related technical fields shall be similarly within the scope of patent protection of the present application.

Claims

1. A method for controlling the return of an automatic pool cleaning device, comprising: In response to a return-to-pile instruction for the automatic pool cleaning device, controlling the automatic pool cleaning device to move toward a charging pile, wherein the charging pile is equipped with a magnetic strip; When the automatic pool cleaning device moves to the vicinity of the charging pile, controlling the automatic pool cleaning device to adjust to the first posture; In the first posture, the sensor equipped with the automatic pool cleaning device detects the magnetic field strength generated by the magnetic strip; Determine a return route based on the magnetic field strength detected in the first posture; and The automatic pool cleaning device is controlled to move along the return route to the target position on the charging pile.

2. The method according to claim 1, further comprising: During the movement of the automatic pool cleaning device, the sensor detects the magnetic field strength; as well as Based on the magnetic field strength, it is determined whether the automatic pool cleaning device has moved to the vicinity of the charging pile.

3. The method according to claim 1 or 2, wherein: The first posture is determined based on the placement direction of the magnetic strip; optionally, when the magnetic strip is placed vertically, the moving direction of the automatic pool cleaning device in the first posture is a vertical direction.

4. The method according to any one of claims 1 to 3, wherein: When the automatic pool cleaning device moves to the vicinity of the charging pile, the magnetic strip and the automatic pool cleaning device are on the same pool wall.

5. The method according to any one of claims 1 to 4, wherein: The magnetic field strength has a component value in a first direction, a component value in a second direction, and a component value in a third direction; The first direction, the second direction and the third direction are perpendicular to each other, and the third direction is the direction of gravitational acceleration.

6. The method according to claim 5, wherein: Judging whether the automatic pool cleaning device has moved to the vicinity of the charging pile based on the magnetic field strength includes: If the detected component value of the magnetic field strength in the third direction is within a first threshold range, it is determined that the automatic pool cleaning device has moved to the vicinity of the charging pile; Otherwise, the automatic pool cleaning device is controlled to continue moving toward the charging pile.

7. The method according to claim 5, wherein: Determine the return route, including: Controlling the automatic pool cleaning device to move a first distance along a third direction; After moving the first distance, controlling the automatic pool cleaning device to rotate toward one side of the magnetic strip by a first angle; After rotating at a first angle, controlling the automatic pool cleaning device to move a second distance toward one side of the magnetic strip; After moving the second distance, controlling the automatic pool cleaning device to rotate toward one side of the magnetic strip by a second angle; After rotating to a second angle, the automatic pool cleaning device is controlled to move to a target position on the charging pile.

8. The method according to claim 7, wherein: The first distance is a preset distance or is obtained based on the magnetic field strength in the first posture; And / or, the first angle is acquired based on the first distance and a third distance, wherein the third distance is acquired based on a component value of the detected magnetic field intensity in a third direction; And / or, the second distance is set based on the first distance and the third distance; And / or, the second angle is the same as the first angle.

9. The method according to claim 7, wherein: After rotating the second angle, controlling the automatic pool cleaning device to move to a target position on the charging pile includes: The automatic pool cleaning device is controlled to move in a straight line until it reaches the target position.

10. An automatic pool cleaning device, comprising: Magnetic sensor, which detects the magnetic field strength generated by the magnetic strip equipped with the charging pile; An inertial measurement unit, for detecting the posture information of the automatic pool cleaning device; as well as At least one processor is configured to cause the automatic swimming pool cleaning device to perform the method according to any one of claims 1 to 9 when executing one or more instructions.

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