Automatic pool cleaning device and control method thereof

Abstract

The invention provides an automatic cleaning device for a pool. The automatic cleaning device comprises a main body; the walking mechanism is located on the side of the main body, and the walking mechanism can enable the automatic cleaning device for the water pool to move; the walking mechanism is arranged on the main body, the guiding structure is arranged on the walking mechanism or the main body, and at least one part of the guiding structure protrudes out of the walking mechanism or the main body; wherein in the moving process of the automatic pool cleaning device, if the guiding structure abuts against the pool wall, friction force caused by abutting can cause the guiding structure to rotate. Through the guiding structure, the machine body can be controlled to be tightly attached to the pool wall when the automatic pool cleaning device walks along the edge, and therefore the mapping quality and the coverage rate of pool edge area cleaning are improved.

Description

[0001] This application claims priority to U.S. Provisional Application No. 63 / 742,854, filed on January 7, 2025, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the technical field of cleaning devices, and in particular to an automatic pool cleaning device and a control method thereof. Background Art

[0003] With the gradual promotion and application of swimming pools, automatic pool cleaning robots are also widely used to clean the bottom and walls of pools, greatly reducing the need and cost of manual cleaning. Pool cleaning robots can walk along the edge of the pool underwater or on the surface of the water to achieve mapping or cleaning of edge areas. When the pool robot walks along the edge, the robot needs a ranging sensor to measure the distance between the body and the edge of the pool in real time, and a drive device to control the distance in real time to be within a preset range in order to achieve the function of walking along the edge of the pool. Due to the limited measurement range of the ranging sensor, the robot cannot be too far or too close to the edge of the pool. In addition, the drive control has lag. As the machine walks along the edge, the distance between the machine and the pool wall needs to be constantly adjusted. As a result, the robot's walking path along the edge is not smooth, and it is difficult to walk strictly parallel to the pool wall. This will lead to low robot mapping quality or missed cleaning of the pool edge area. Summary of the Invention

[0004] In one aspect of the present application, there is provided an automatic pool cleaning device, comprising: main body; a walking mechanism, the walking mechanism being located on the side of the main body and capable of moving the automatic pool cleaning device; and A guide structure, wherein the guide structure is arranged on the walking mechanism or on the main body, and at least a portion of the guide structure protrudes from the walking mechanism or the main body; wherein, During the movement of the automatic pool cleaning device, if the guide structure contacts the pool wall, the friction force caused by the contact can cause the guide structure to rotate.

[0005] In another aspect of the present application, a method for controlling the automatic pool cleaning device to move along a pool wall is provided. The method includes controlling the automatic pool cleaning device to move against the pool wall.

[0006] Compared with the prior art, the present invention has the following advantages: This application provides a guide structure on the side of the walking mechanism or main body of the automatic pool cleaning device, which can control the machine to move along the edge. Through the contact between the guide structure and the pool wall, the machine can be close to the pool wall, thereby ensuring that the machine body always remains parallel to the pool wall when moving along the edge, making the path along the edge smooth. The data collected by sensors on the machine, such as ranging sensors, laser radars, or visual sensors, can very realistically reflect the contours of the pool wall, improving the mapping quality of the automatic pool cleaning device and the coverage rate of cleaning the edge area of the pool. The guide structure can also avoid the problem of collision or friction between the machine body and the pool wall due to the machine being too close to the pool wall during movement, thereby improving the overall performance of the machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] The drawings that constitute part of this application are used to provide a further understanding of this application. The illustrative embodiments of this application and their descriptions are used to explain this application and do not constitute an improper limitation on this application. In the drawings: Figure 1 The structure of an automatic pool cleaning device in one embodiment of the present application is schematically shown; Figure 2 The structure of an automatic pool cleaning device in another embodiment of the present application is schematically shown; Figure 3 The schematic diagram shows a scene in which the automatic pool cleaning device of the present application moves along the edge.

[0008] The above drawings include the following reference numerals: 10. Automatic pool cleaning device; 11. Main body; 12. Travel mechanism; 121. Track side plates; 122. Track; 123. Driving wheel; 124. Driven wheel; 13. Guide structure. DETAILED DESCRIPTION

[0009] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present application. It should be noted that, in the absence of conflict, the embodiments in the present application and the features in the embodiments can be combined with each other.

[0010] This application provides an automatic pool cleaning device, which can have at least one of a bottom cleaning mode, a wall cleaning mode, and a surface cleaning mode. It is understood that the automatic pool cleaning device is capable of cleaning a pool. The pool, for example, is a pool-shaped structure. The pool-shaped structure can be a swimming pool, a reservoir, a spa pool, a water tank, a water storage tank, or the like. The automatic pool cleaning device can be a device such as an automatic cleaning device or a pool cleaning robot, capable of cleaning a pool-shaped structure. This application does not limit the specific embodiment of the automatic pool cleaning device or the pool-shaped structure, as long as it can implement the principles of this application. Hereinafter, unless otherwise specified, the robot will be used as an example of the automatic pool cleaning device, and the swimming pool will be used as an example of the pool or pool-shaped structure. Hereinafter, unless otherwise specified, the terms "pool bottom," "pool bottom surface," and "pool bottom" all refer to the bottom surface of a swimming pool; and the terms "pool wall" and "pool wall surface" all refer to the wall surface of a swimming pool.

[0011] The automatic pool cleaning device of the present application is described in detail below with reference to the accompanying drawings. Figure 1 The schematic diagram shows the appearance of an automatic pool cleaning device in one embodiment of the present application, which can clean the bottom, walls, water and water surface of a pool (such as a swimming pool) as needed, for example, it can be used to clean garbage in the water, on the bottom and on the water surface, and to clean dirt on the bottom and walls of the pool. Figure 1 As shown, the automatic pool cleaning device 10 may include a main body 11 and a walking mechanism 12, wherein the walking mechanism 12 is located on the side of the main body 11, such as being arranged on both sides of the main body 11, and is used to drive the automatic pool cleaning device 10 to move. During the movement of the automatic pool cleaning device 10, the walking mechanism 12 contacts the supporting surface of the automatic pool cleaning device 10, which includes the bottom or wall of the pool, and the friction between the walking mechanism 12 and the supporting surface drives the automatic pool cleaning device 10 to move. Specifically, as Figure 2 As shown, the walking mechanism 12 may include a driving motor (not shown), a driving wheel 123, and a driven wheel 124, wherein the output shaft of the driving motor may be connected to the driving wheel 123, and the driving motor drives the driving wheel 123 to rotate, and the driving wheel 123 drives the driven wheel 124 to rotate, thereby driving the automatic pool cleaning device 10 to move. Figure 1 As shown, the walking mechanism 12 also includes a track 122 and a track side plate 121. At least a portion of the track side plate 121 covers the driving wheel 123 and the driven wheel 124. The track 122 and the track side plate 121 wrap the driving wheel 123 and the driven wheel 124 to prevent the driving wheel 123 and the driven wheel 124 from being entangled by external objects such as garbage, algae, etc., and to prevent stolen goods from entering the interior of the fuselage.

[0012] like Figure 2 As shown, the driving wheel 123 and the driven wheel 124 are connected by the crawler belt 122, so that the driving wheel 123 can drive the driven wheel 124 to rotate through the crawler belt 122. Of course, in addition to the crawler belt 122, other methods such as chains or transmission gears can also be used to transmit the driving force of the driving wheel 123 to the driven wheel 124, which can be rotated according to actual needs, and this embodiment of the present invention is not specifically limited.

[0013] In addition, if Figure 1 As shown, in the embodiment of the present specification, the automatic pool cleaning device 10 is further provided with a guide structure 13, which can be provided on the walking mechanism 12, for example, on the track side plates 121. The guide structure 13 protrudes from the outermost side of the track side plates 121. Since the walking mechanism 12 of the automatic pool cleaning device 10 is often located on the outer side of the main body 11, the track side plates 121 are located on the outermost side of the body of the automatic pool cleaning device 10. The protrusion of the guide structure 13 from the track side plates 121 means that when the side of the cleaning device contacts the pool wall, the guide structure 13 will contact the pool wall, and other structures on the cleaning device cannot contact the pool wall, thereby preventing other structures on the cleaning device from being worn or damaged.

[0014] In addition, the walking mechanism 13 can also be disposed on the main body 11, such as on the side of the main body 11, and the guide structure 13 protrudes from the outermost side of the main body 11. For example, generally, the outermost side of the walking mechanism 12 is the outermost side of the body of the automatic pool cleaning device 10, and the guide structure 13 can be disposed on the side wall of the walking mechanism 12; if the outermost side of the walking mechanism 12 is not the outermost side of the body of the automatic pool cleaning device 10, the guide structure 13 can be disposed on the main body 11, that is, to ensure that the guide structure 13 is located at the outermost side of the automatic pool cleaning device 10. The specific position of the guide structure 13 on the machine can be set according to actual conditions.

[0015] like Figure 1As shown, the crawler side plates 121 of the walking mechanism 12 are the outermost sides of the automatic pool cleaning device 10, and the guide structure 13 is arranged on the crawler side plates 121 of the walking mechanism 12. The guide structure 13 is the component closest to the fuselage and the pool wall. In this way, when the automatic pool cleaning device 10 walks along the pool wall, the yaw angle of the cleaning device can be adjusted by the controller so that the guide structure 13 abuts against the pool wall, thereby ensuring that the fuselage of the automatic pool cleaning device 10 is close to the pool wall during the walking process, and no cleaning area is missed. If the guide structure 13 does not abut the pool wall, there will be a gap between the fuselage and the pool wall, and the gap will become a missed cleaning area; in addition, the abutment of the guide structure 13 with the pool wall can also ensure that the walking path of the fuselage is consistent with or close to the contour of the pool wall, so that the cleaning device can collect information closer to the actual contour of the pool wall when collecting the pool wall contour for mapping; in addition, the guide structure 13 protrudes from the outermost side of the fuselage, and its abutment against the pool wall can prevent the fuselage of the cleaning device or the sensor on the fuselage from colliding or rubbing with the pool wall, thereby protecting the fuselage or the sensor. Finally, during the movement of the automatic pool cleaning device 10, if the guide structure 13 contacts the pool wall, the friction caused by the contact can cause the guide structure 13 to rotate, such as Figure 3 As shown, when the robot moves in the direction of the arrow, the friction generated by the collision between the guide structure 13 and the pool wall causes the guide structure 13 to rotate in the direction opposite to the walking direction. Compared with the robot without the guide structure 13, this rotatable guide structure 13 causes the friction or resistance caused by the robot continuing to move after colliding or abutting with the pool wall to be lower.

[0016] The guide structure 13 can be configured as a rolling structure, such as a roller, a ball, or a deformable structure. Alternatively, the roller or ball can be wrapped with a deformable material (e.g., rubber, sponge, etc.) to prevent the roller or ball from being too hard and damaging the pool wall when it abuts against the pool wall. Of course, the guide structure 13 can also be other rotatable or non-rotatable structures, such as a smooth slider, and the specific selection can be based on actual needs.

[0017] The number of the guide structures 13 can be multiple, and the multiple guide structures 13 can be arranged on the walking mechanism 12 or the main body 11 at intervals in the horizontal direction. Figure 1 As shown, three guide structures 13 can be provided, which can be spaced apart along the length of the machine at the front, middle and rear of the crawler side plates 121 of the walking mechanism 12, wherein the spacing distance can be determined according to the number of guide structures 13 and the structure and size of the machine. The vertical heights of the multiple guide structures 13 can be the same or different, for example: Figure 1As shown, the vertical heights of the three guide structures 13 on the track side plates 121 are the same or nearly the same. Of course, as needed, two guide structures 13 can also be set, respectively located at the head and tail of the walking mechanism 12 or the main body 11, to ensure that the fuselage is parallel to the pool wall when the machine walks along the edge. Or it can also be set to a larger number of guide structures 13, so that when the machine walks along the edge, multiple guide structures 13 can ensure that the fuselage will not collide or rub against the pool wall in the length direction. Of course, if due to structural or other requirements, such as: the machine maintains an inclined posture when walking along the edge, so that the robot's roller brush or head water suction port can better clean the pool wall or waterline area, in this scenario, a guide structure 13 can also be set, such as: set at the head or tail of the walking mechanism 12, to ensure that the fuselage of the machine close to the pool wall at one end will not collide or rub against the pool wall.

[0018] In addition, the degree to which the multiple guide structures 13 protrude from the walking mechanism 12 or the main body 11 or the size thereof may be the same or different. When the degree to which the multiple guide structures 13 protrude from the walking mechanism 12 or the main body 11 or the size thereof is different, for example, the protrusion degree or size of the guide structure 13 decreases successively from the head to the tail of the machine, so that the machine can be slightly tilted when walking along the edge and the body abuts against the pool wall, so that the robot's roller brush or head water suction port can better clean the pool wall or waterline area.

[0019] The guide structure 13 may also include a structure for cleaning the pool wall, such as bristles or scrapers. If the guide structure 13 includes bristles or scrapers, the guide structure 13 can rotate against the wall during the machine's forward movement or can be fixed to clean the pool wall while the machine moves along the edge.

[0020] In addition, the automatic pool cleaning device 10 may also include a detection component that can detect whether the guide structure 13 is in contact with the pool wall, so as to control the guide structure 13 to remain in contact with the pool wall when the machine moves along the edge. The detection component can be a contact sensor located on the guide structure 13 or connected to the guide structure 13, such as a pressure sensor. The pressure sensor can directly detect the pressure exerted by the pool wall on the guide structure 13, thereby determining whether the guide structure 13 is in contact with the pool wall. The detection component can also include a ranging sensor (such as an ultrasonic sensor, an infrared sensor, a TOF sensor, etc.), a laser radar, a camera (such as a monocular camera or a binocular camera, etc.), or an IMU (Inertial Measurement Unit) on the robot. The ranging sensor, the laser radar, and the image sensor can determine whether the guide structure 13 is detached from the pool wall by detecting the distance between the body and the pool wall. The IMU can determine whether the guide structure 13 is detached from the pool wall by detecting the posture change of the machine when walking along the edge. For example, when the distance sensor, lidar, or image sensor detects an abnormal distance between the fuselage and the pool wall (e.g., the distance between the fuselage and the pool wall exceeds the range of the distance sensor, resulting in no distance value being measured) or exceeds a preset distance threshold (the preset distance threshold is greater than or equal to the length of the guide structure 13 protruding from the fuselage), it is determined that the guide structure 13 has detached from the pool wall; or if the IMU detects a change in the yaw angle exceeding a preset angle threshold within a predetermined time or predetermined travel distance, it is considered that the guide structure 13 has detached from the pool wall.

[0021] The automatic pool cleaning device 10 also includes a controller. When the machine is in the walking-along-the-edge mode, if the detection component detects that the guide structure 13 has detached from the pool wall, that is, the guide structure 13 is not in contact with the pool wall, the controller can adjust the heading angle of the automatic pool cleaning device 10 by controlling the differential motion of the tracks 122 on both sides of the machine or by the water spraying mechanisms on the left and right sides, so that the guide structure 13 returns to a state of contact with the pool wall. The controller can be of any form as long as it can control the tracks 122 or the water spraying mechanisms. In addition, the controller can also control the tracks 122 or the water spraying mechanisms while the cleaning device is moving along the pool wall, so that a portion of the guide structure 13 contacts the pool wall. At this time, the body of the robot maintains an inclined posture relative to the pool wall, so that the robot's roller brush or head water suction port can better clean the pool wall or waterline area. It should be noted that since the purpose of adjusting the heading angle of the cleaning device is to make the guide structure contact the pool wall again, when the heading angle is adjusted, the cleaning device rotates toward the pool wall.

[0022] In addition, based on the automatic pool cleaning device 10 described in the above embodiment, the embodiment of this specification can also provide a control method for the automatic pool cleaning device, which can control the automatic pool cleaning device 10 to move against the pool wall when walking along the edge, such as: the guide structure 13 against the pool wall, so that the automatic pool cleaning device 10 can always remain parallel to the pool wall when walking along the edge.

[0023] Specifically, when the machine is moving along the edge, if the detection component detects that the automatic pool cleaning device 10 is separated from the pool wall, such as the guide structure 13 is separated from the pool wall, the yaw angle of the automatic pool cleaning device 10 is adjusted so that the automatic pool cleaning device 10 is back against the pool wall.

[0024] In addition, when the machine moves in the pool, the environmental information of the machine, such as the outline of the surrounding pool walls, can be detected by the sensing sensors installed on the machine, such as laser radar, ranging sensors, image sensors, etc., to determine whether the machine has reached the corners of the pool, the curved areas of the pool walls, or the sloped areas, which are prone to missed areas. If so, the pool automatic device 10 can be controlled to abut against the pool wall, such as the guide structure 13 abutting against the pool wall, so that the machine can be in close contact with the pool wall, thereby cleaning the edges of the pool in these areas. By controlling the abutment between the machine and the pool wall, the coverage rate of cleaning these areas can be improved.

[0025] In the description of this specification, the reference terms "one embodiment," "some embodiments," "example," "specific example," or "some examples" mean that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. Moreover, the specific features, structures, materials, or characteristics described may be combined in any appropriate manner in any one or more embodiments or examples. In addition, those skilled in the art may combine and combine different embodiments or examples described in this specification, as well as features of different embodiments or examples, unless they are mutually inconsistent.

[0026] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. Throughout the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0027] In this application, unless otherwise specified, directional words such as "up" and "down" are generally used with respect to the directions shown in the drawings, or with respect to the vertical, perpendicular or gravity directions; similarly, for ease of understanding and description, "left" and "right" are generally used with respect to the left and right shown in the drawings; "inside" and "outside" refer to the inside and outside relative to the outline of each component itself, but the above directional words are not used to limit this application.

[0028] The above shows and describes the basic principles, main features and beneficial effects of the present application. Those skilled in the art should understand that the present application is not limited to the above embodiments. The above embodiments and descriptions are only preferred examples of the present application and are not intended to limit the present application. Various changes and improvements may be made to the present application without departing from the spirit and scope of the present application, and such changes and improvements fall within the scope of the present application. The scope of protection claimed in this application is defined by the appended claims and their equivalents.

Claims

1. An automatic pool cleaning device (10), comprising: Main body (11); A walking mechanism (12), the walking mechanism (12) being located on the side of the main body (11), and the walking mechanism (12) being capable of moving the automatic pool cleaning device (10); as well as A guide structure (13), wherein the guide structure (13) is arranged on the walking mechanism (12) or on the main body (11), and the guide structure (13) protrudes from the walking mechanism (12) or the main body; wherein, During the movement of the automatic pool cleaning device (10), if the guide structure (13) contacts the pool wall, the friction force caused by the contact can cause the guide structure (13) to rotate.

2. The automatic pool cleaning device (10) according to claim 1, wherein: The walking mechanism (12) comprises a crawler track and crawler side plates (121); the guide structure (13) is arranged on the crawler side plates and protrudes from the crawler side plates (121).

3. The automatic pool cleaning device (10) according to claim 2, wherein: The walking mechanism (12) further comprises a driving motor, a driving wheel (123) and a driven wheel (124); the driving motor is in transmission connection with the driving wheel (123); and at least a portion of the track side plate (121) covers an area between the driving wheel (123) and the driven wheel (124).

4. The automatic pool cleaning device (10) according to claim 2, wherein: The walking mechanism (12) further includes a transmission gear, and the driving wheel (123) transmits the driving force to the driven wheel (124) through the crawler (122) or the transmission gear.

5. The automatic pool cleaning device (10) according to any one of claims 1 to 4, wherein: The guide structure (13) comprises a roller, a ball or a deformable structure.

6. The automatic pool cleaning device (10) according to claim 1, wherein: It also includes: a detection component, which is used to detect whether the guide structure (13) is in contact with the pool wall.

7. The automatic pool cleaning device (10) according to claim 6, wherein: The detection component includes a contact sensor, a distance sensor, a laser radar, a camera or an inertial measurement unit.

8. The automatic pool cleaning device (10) according to claim 6, further comprising: controller, where If the detection component detects that the guide structure (13) is not in contact with the pool wall, the controller adjusts the heading angle of the automatic pool cleaning device (10) so that the guide structure (13) is in contact with the pool wall.

9. The automatic pool cleaning device (10) according to claim 8, wherein: When the guide structure (13) abuts against the pool wall, the automatic pool cleaning device (10) maintains an inclined state relative to the pool wall.

10. The automatic pool cleaning device (10) according to claim 8 or 9, wherein: The controller adjusts the heading angle by adjusting the walking mechanisms (12) on both sides of the automatic pool cleaning device (10) or the water spraying mechanisms on both sides of the automatic pool cleaning device (10).

11. The automatic pool cleaning device (10) according to claim 5, wherein: There are multiple guide structures (13), and the multiple guide structures (13) are arranged at intervals from each other in the horizontal direction.

12. The automatic pool cleaning device (10) according to claim 11, wherein: The plurality of guide structures (13) have different protrusion degrees or sizes.

13. A method for controlling an automatic pool cleaning device (10) according to any one of claims 1 to 10 to move along a pool wall, the method comprising controlling the automatic pool cleaning device to move against the pool wall.

14. The method according to claim 13, wherein The method further includes monitoring whether the automatic pool cleaning device (10) is separated from the pool wall during the movement, and if so, adjusting the yaw angle of the automatic pool cleaning device (10) so that the automatic pool cleaning device (10) contacts the pool wall again.

15. The method according to any one of claims 13-14, wherein The automatic pool cleaning device (10) abuts against the pool wall, and the guide structure (13) abuts against the pool wall.

16. The method according to claim 13, wherein Before controlling the automatic pool cleaning device (10) to move against the pool wall, it is determined whether the automatic pool cleaning device (10) reaches a corner of the pool, a curved area of the pool wall, or a sloped area. If so, the automatic pool cleaning device (10) is controlled to contact the pool wall.

17. The method according to claim 15, wherein: When the guide structure (13) abuts against the pool wall, the automatic pool cleaning device tilts relative to the pool wall.

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