Automatic cleaning device for pool and escape method thereof

Abstract

The invention discloses an automatic pool cleaning device and a method for controlling the automatic pool cleaning device to escape. The method comprises the following steps: controlling the pool automatic cleaning device to advance along the pool wall at the pool bottom; whether an obstacle exists in the advancing direction or not is determined, if yes, the automatic pool cleaning device is controlled to execute a first steering action, and in the steering process, whether the automatic pool cleaning device is stuck or not is determined; if yes, the automatic pool cleaning device is controlled to execute a second steering action so that the automatic pool cleaning device can get out of trouble, and steering force generated by the second steering action is larger than steering force generated by the first steering action. And the first steering action and the second steering action both enable the automatic cleaning device for the pool to be far away from the pool wall.

Description

Technical Field

[0001] The present disclosure relates to the field of pool cleaning, and in particular to an automatic pool cleaning device and a method for removing the same. Background Art

[0002] Automatic pool cleaning devices are generally used to clean pools, for example, to collect and remove trash and debris from the bottom, sidewalls, and / or surface of a pool, such as a swimming pool, so as to filter and purify the water in the pool, which can then be discharged into the pool. However, automatic pool cleaning devices may become stuck while traveling in the pool. Summary of the Invention

[0003] According to one aspect of the present disclosure, a method for controlling an automatic pool cleaning device to get out of trouble is proposed, comprising: controlling the automatic pool cleaning device to move along the pool wall on the bottom of a pool; determining whether there is an obstacle in the direction of travel, and if so, controlling the automatic pool cleaning device to perform a first turning action, and during the turning process, determining whether the automatic pool cleaning device is stuck; if so, controlling the automatic pool cleaning device to perform a second turning action to free the automatic pool cleaning device, wherein the steering force generated by the second turning action is greater than the steering force generated by the first turning action, and both the first turning action and the second turning action move the automatic pool cleaning device away from the pool wall.

[0004] According to at least one embodiment of the present disclosure, the automatic pool cleaning device is equipped with a water spraying mechanism and a traveling mechanism, and controlling the automatic pool cleaning device to perform the second turning action includes: adjusting the direction and / or magnitude of the water flow thrust generated by the water spraying mechanism; and / or adjusting the direction and / or magnitude of the thrust generated by the traveling mechanism.

[0005] According to at least one embodiment of the present disclosure, the water spray mechanism includes a vector water spray mechanism, and adjusting the direction of the water flow thrust generated by the water spray mechanism includes: controlling the vector water spray mechanism to rotate to adjust the water flow spray direction.

[0006] According to at least one embodiment of the present disclosure, the water spray mechanism includes a first water spray mechanism and a second water spray mechanism, and the first water spray mechanism and the second water spray mechanism are arranged at symmetrical positions on both sides of the longitudinal axis of the body of the automatic pool cleaning device, wherein the controlling the automatic pool cleaning device to perform the second steering action includes: adjusting the direction of the water flow thrust generated by the first water spray mechanism; increasing the water flow thrust generated by the first water spray mechanism; and / or reducing the water flow thrust generated by the second water spray mechanism.

[0007] According to at least one embodiment of the present disclosure, the traveling mechanism includes a first traveling mechanism and a second traveling mechanism, and the first traveling mechanism and the second traveling mechanism are arranged at symmetrical positions on both sides of the bottom of the body of the automatic pool cleaning device, and the controlling the automatic pool cleaning device to perform the second turning action includes: controlling the first traveling mechanism and the second traveling mechanism to perform differential rotation; or, keeping the rotation direction of the first traveling mechanism unchanged, and changing the rotation direction of the second traveling mechanism, so that the rotation directions of the second traveling mechanism and the first traveling mechanism are opposite to each other.

[0008] According to at least one embodiment of the present disclosure, controlling the first traveling mechanism and the second traveling mechanism to perform differential rotation includes: increasing the driving power of the first traveling mechanism; and / or reducing the driving power of the second traveling mechanism.

[0009] According to at least one embodiment of the present disclosure, the method of maintaining the rotation direction of the first traveling mechanism unchanged and changing the rotation direction of the second traveling mechanism so that the rotation directions of the second traveling mechanism and the first traveling mechanism are opposite to each other further includes:

[0010] Increase the driving power of the first traveling mechanism and / or the second traveling mechanism.

[0011] According to at least one embodiment of the present disclosure, after the automatic pool cleaning device performs the second turning action, the device further includes:

[0012] increasing the water spray flow rate of the second water spray mechanism;

[0013] Controlling the spraying directions of the second spraying mechanism and the first spraying mechanism to match the current working mode; and / or,

[0014] Adjust the rotation direction of the second traveling mechanism so that the rotation direction of the second traveling mechanism is the same as that of the first traveling mechanism.

[0015] According to at least one embodiment of the present disclosure, the above method also includes: measuring the distance of objects on the side and in front of the automatic pool cleaning device to obtain first distance information; and controlling the automatic pool cleaning device to move along the pool wall at the bottom of the pool based on the first distance information.

[0016] According to at least one embodiment of the present disclosure, the method further includes: measuring the distance of objects on the side and in front of the automatic pool cleaning device to obtain second distance information; and determining whether the automatic pool cleaning device completes the second turning action based on the second distance information.

[0017] According to another aspect of the present disclosure, an automatic pool cleaning device is proposed, comprising: a water spraying mechanism, including a first water spraying mechanism and a second water spraying mechanism arranged at symmetrical positions on both sides of the longitudinal axis of the body of the automatic pool cleaning device; a moving mechanism, including a first moving mechanism and a second moving mechanism arranged at symmetrical positions on both sides of the bottom of the body of the automatic pool cleaning device; and a processor, configured to enable the automatic pool cleaning device to implement the above method when executing one or more instructions.

[0018] According to at least one embodiment of the present disclosure, the automatic pool cleaning device further includes: a distance sensor for acquiring distance information of objects to the side and in front of the automatic pool cleaning device. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0020] Figures 1A-1B The figure schematically shows the appearance of an automatic pool cleaning device according to an embodiment of the present disclosure.

[0021] Figure 2 The working environment of the automatic pool cleaning device according to an embodiment of the present disclosure is schematically shown.

[0022] Figures 3A-3B The diagram schematically illustrates a scene in which the automatic pool cleaning device according to an embodiment of the present disclosure moves around a corner of a pool wall.

[0023] Figure 4 The flowchart of the method for controlling the automatic pool cleaning device to escape from trouble according to an embodiment of the present disclosure is schematically shown.

[0024] Figures 5A-5C The diagram schematically illustrates a scene in which the automatic pool cleaning device according to an embodiment of the present disclosure is trying to escape from a corner of the pool bottom.

[0025] Figure 6 The structural block diagram of the automatic pool cleaning device according to the present disclosure is schematically shown. DETAILED DESCRIPTION

[0026] The detailed description set forth below, in conjunction with the accompanying drawings, is intended as a description of various configurations and is not intended to represent the only configurations in which the concepts described herein may be practiced. The detailed description includes specific details intended to provide a thorough understanding of the various concepts. However, it will be apparent to those skilled in the art that these concepts may 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", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", "one side", "the other side", "front end", "rear end" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present disclosure.

[0028] Furthermore, terms such as "first," "second," and "third" that relate to order are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features being referred to. Thus, features defined with terms such as "first," "second," and "third" that relate to order may explicitly or implicitly include at least one such feature. In the description of this disclosure, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0029] Furthermore, in the drawings, for clarity of illustration, dimensions may be exaggerated and not drawn to scale. Throughout the drawings, like reference numerals generally refer to like elements.

[0030] Figure 1A The figure schematically shows the appearance of an automatic pool cleaning device 100 according to an embodiment of the present disclosure. The automatic pool cleaning device 100 can clean the bottom, walls, water and surface of a pool (e.g., a swimming pool) as needed, for example, to remove garbage in the water, on the bottom and on the surface of the water, and to clean dirt on the bottom and walls of the pool. Figure 1AAs shown, the automatic pool cleaning device 100 may include structures / components such as a housing 110, a travel mechanism 120, and a cleaning unit 130. As an example, a control compartment, a power compartment, and a filter compartment (not shown) may be provided in the housing 100, wherein a control circuit such as a microprocessor, a digital signal processor (DSP), or a microcontroller may be installed in the control compartment, a drive mechanism such as a water pump or a drive motor may be provided in the power compartment, and a filter unit such as a filter basket may be provided in the filter compartment to filter and purify the water entering the filter compartment through the water inlet, filter out the impurities therein, and discharge the cleaned water from the automatic pool cleaning device through the water outlet. As an example, the automatic pool cleaning device may also be equipped with a buoyancy mechanism, such as an air storage compartment and a corresponding gas regulating mechanism, such as an air pump, by regulating the amount of gas in the air storage compartment through the air pump, so that the buoyancy of the automatic pool cleaning device may be controlled so that it can float and / or sink in the water. In addition, the automatic pool cleaning device may also be equipped with a rechargeable battery as a power source to power components such as the drive motor, the water pump, and the control circuit. As an example, Figure 1A The traveling mechanism 120 of the automatic pool cleaning device 100 shown is a crawler-type traveling mechanism. However, the automatic pool cleaning device may also adopt a wheel-type traveling mechanism, which is not limited here.

[0031] As an example, the automatic pool cleaning device may also be equipped with a water spraying mechanism, such as a pump motor and an impeller, 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 moving on the pool wall, in the water and / or on the water surface. As an example, the water spraying mechanism may include a vector water spraying mechanism, that is, a water spraying mechanism that can change the direction of water spraying, such as the water spraying port of the water spraying mechanism can be rotated as needed, or the direction of the water flow sprayed from the water spraying port can be changed by adopting a guide mechanism. According to an embodiment of the present disclosure, the thrust difference generated by the water spraying mechanism on both sides of the axis of the body of the automatic pool cleaning device can be utilized in conjunction with the moving mechanism of the automatic pool cleaning device to enable the automatic pool cleaning device to rotate on the bottom of the pool, move laterally on the pool wall, etc.; the water spraying mechanism can also be used to spray water from a water spraying port whose direction is opposite to the moving direction, such as Figures 1A-1B The thrust generated by the water jets from the water jets 140 and 160 respectively pushes the automatic pool cleaning device forward or backward on the water surface; or, when the automatic pool cleaning device is climbing the pool wall, the water jet mechanism can be used to eject water from the water jets (e.g., Figure 1A The water flow sprayed from the water nozzle 150 as shown generates pressure applied to the bottom surface of the automatic pool cleaning device to improve the adhesion between the travel mechanism of the automatic pool cleaning device and the pool wall, thereby maintaining the stability of its body in a vertical state.

[0032] It should be noted that the position, shape and / or number of the water spray ports 140-160 provided on the housing 110 of the automatic pool cleaning device 100 may be adjusted accordingly according to the actual operational requirements of the automatic pool cleaning device and are not limited thereto.

[0033] although Figures 1A-1B The overall appearance of an automatic pool cleaning device according to an embodiment of the present disclosure is schematically shown. It should be understood that this is merely schematic and does not constitute any limitation to the principles of the present disclosure.

[0034] According to embodiments of the present disclosure, an automatic pool cleaning device may be equipped with various sensors to enable various operations such as detecting the underwater environment, determining a travel route, and / or performing cleaning operations. As an example, an automatic pool cleaning device according to embodiments of the present disclosure may be equipped with an image sensor for acquiring image information of objects surrounding the automatic pool cleaning device. As examples, the image sensor may include, but is not limited to, a monocular camera, a binocular camera, and / or a panoramic camera.

[0035] In addition, the automatic pool cleaning device according to an embodiment of the present disclosure may also be equipped with a distance sensor for obtaining distance information between the automatic pool cleaning device and the object. As examples, the distance sensor may include, but is not limited to, at least one of the following: an ultrasonic sensor, an infrared sensor, a lidar sensor, a time-of-flight sensor, and a 3D structured light sensor.

[0036] According to an embodiment of the present disclosure, the automatic pool cleaning device may also be equipped with an inertial measurement unit (IMU) for obtaining attitude data of the automatic pool cleaning device. For example, the automatic pool cleaning device 100 may utilize the equipped inertial measurement unit to collect the acceleration and angular velocity values ​​of the automatic pool cleaning device about the three axes X, Y, and Z in the three-dimensional space of the pool, thereby obtaining attitude data of the automatic pool cleaning device such as the pitch angle, yaw angle, and / or roll angle, and thus determining the travel state of the automatic pool cleaning device based on the attitude data.

[0037] As an example, Figure 2 The schematic diagram shows a situation in which the automatic pool cleaning device according to an embodiment of the present disclosure operates on the bottom of a pool such as a swimming pool. As an example, the automatic pool cleaning device 200 can perform cleaning operations on the bottom 210 of the swimming pool according to a predetermined route, for example, Figure 2 As shown, the automatic pool cleaning device 200 can move along a zigzag path indicated by the dashed line on the pool bottom 210 to clean the pool bottom. Depending on the design of the pool, there may be features such as floor lights and drains at the corners of the pool wall. Such features may become obstacles to the automatic pool cleaning device during its movement.

[0038] For example, if the automatic pool cleaning device 200 reaches the corner of the pool wall 220 according to the planned route, the automatic pool cleaning device 200 will turn to continue along the planned route. However, there may be facilities such as floor lights and drains at the corners of the pool wall 220, for example, Figure 3A As shown, at the corner of the pool wall 220, there is a ground lamp 230 protruding from the surface of the pool bottom 210. When the automatic pool cleaning device 200 travels along the dotted line shown and turns at the corner of the pool wall, its bottom is likely to touch the ground lamp 230, causing the chassis to be suspended, reducing the adhesion between the travel mechanism (e.g., crawler track) of the automatic pool cleaning device and the pool bottom, resulting in insufficient driving force and causing the automatic pool cleaning device to get stuck.

[0039] In addition, if Figure 3B As shown, since the automatic pool cleaning device is at the corner of the pool wall 220 when turning, the front and sides of the automatic pool cleaning device are close to the pool wall, and the pool wall itself also hinders the turning of the automatic pool cleaning device, increasing the turning force required for the automatic pool cleaning device to complete the turning.

[0040] Therefore, when the automatic pool cleaning device uses conventional steering actions to turn at the corner of the pool wall, the steering force applied is insufficient, resulting in the device being unable to get stuck at the corner of the pool wall. Manual intervention is usually required to free the device, thereby reducing the working efficiency of the automatic pool cleaning device and causing a decline in user experience.

[0041] To this end, an embodiment of the present disclosure proposes a method for controlling an automatic pool cleaning device to get out of trouble, which can increase the steering force of the automatic pool cleaning device at the corner of the pool wall, so that even if the automatic pool cleaning device is stuck at the corner, it can get out of trouble autonomously without human intervention, thereby improving the working efficiency of the automatic pool cleaning device and enhancing the user experience.

[0042] According to an embodiment of the present disclosure, a method for controlling an automatic pool cleaning device to escape from a jam is proposed. Figure 4 As shown, the method may include: S410, controlling the automatic pool cleaning device to move along the pool wall at the bottom of the pool; S420, determining whether there is an obstacle in the direction of travel; if it is determined that there is an obstacle in the direction of travel, then at S430, controlling the automatic pool cleaning device to perform a first turning action, and, during the turning process, determining whether the automatic pool cleaning device is stuck at S440; if it is determined that the automatic pool cleaning device is in a stuck state, then at S450, controlling the automatic pool cleaning device to perform a second turning action to free the automatic pool cleaning device.

[0043] As an example, the method may further include, at S460, controlling the automatic pool cleaning device to continue moving along the planned path after escaping from trouble.

[0044] The following describes in detail the method for controlling the automatic pool cleaning device to escape from trouble in accordance with the embodiment of the present disclosure with reference to specific examples.

[0045] As mentioned above, when the automatic pool cleaning device encounters an obstacle at the corner of the pool wall, its bottom may touch the obstacle, causing the bottom of its body to be suspended in the air, thereby reducing the adhesion between its travel mechanism (for example, the track) and the pool bottom, resulting in insufficient driving force; and there are pool walls in front and on the sides that hinder its turning, which can easily cause the automatic pool cleaning device to get stuck at the corner of the pool wall.

[0046] To this end, according to an embodiment of the present disclosure, when the automatic pool cleaning device is executing the action of moving along the pool wall, when it determines that there is an obstacle (for example, the pool wall) in its direction of travel, it is considered that the automatic pool cleaning device has reached the corner of the pool (facing the pool wall from the front and the side). At this time, the automatic pool cleaning device is controlled to perform a first turning action to move the automatic pool cleaning device away from the corner. During the process of executing the first turning action to turn, it is determined whether the automatic pool cleaning device is stuck. For example, the travel mechanism of the automatic pool cleaning device continues to drive the automatic pool cleaning device to turn, but the front distance sensor and the side distance sensor both show a distance value. It is determined that the body is located in the corner of the pool and cannot escape, and is in a stuck state. In the case that the automatic pool cleaning device is stuck, the automatic pool cleaning device can be controlled to perform a second turning action, wherein the steering force generated by the second turning action is greater than the steering force generated by the first turning action, and the second turning action enables the automatic pool cleaning device to escape from the jam in the corner of the pool.

[0047] According to at least one embodiment of the present disclosure, the automatic pool cleaning device is equipped with a water spraying mechanism and a traveling mechanism, for example, the automatic pool cleaning device is equipped with a combination of Figures 1A-1B The described water spraying mechanism and the travel mechanism such as crawler tracks.

[0048] As an example, controlling the automatic pool cleaning device to perform a second turning action may include: adjusting the direction of the water flow thrust generated by the water spraying mechanism, adjusting the magnitude of the water flow thrust generated by the water spraying mechanism, adjusting the direction of the thrust generated by the traveling mechanism, and / or adjusting the magnitude of the thrust generated by the traveling mechanism.

[0049] According to at least one embodiment of the present disclosure, the water spray mechanism may include a vector water spray mechanism, and adjusting the direction of the water flow thrust generated by the water spray mechanism may include: controlling the vector water spray mechanism to rotate to adjust the water flow spray direction.

[0050] According to the embodiments of the present disclosure, by adjusting the direction / magnitude of the water flow thrust generated by the water spraying mechanism and / or adjusting the direction / magnitude of the thrust generated by the traveling mechanism, a greater steering torque can be applied to the body of the automatic pool cleaning device, so that the automatic pool cleaning device can overcome the obstruction to the steering of the automatic pool cleaning device caused by obstacles in contact with the front and side pool walls and / or the bottom of the automatic pool cleaning device.

[0051] As an example, the water spray mechanism may include a first water spray mechanism and a second water spray mechanism, and the first water spray mechanism and the second water spray mechanism are arranged at symmetrical positions on both sides of the longitudinal axis of the body of the automatic pool cleaning device.

[0052] As an example, the travel mechanism may include a first travel mechanism and a second travel mechanism, and the first travel mechanism and the second travel mechanism are arranged at symmetrical positions on both sides of the bottom of the body of the automatic pool cleaning device.

[0053] Figure 5A The figure schematically shows the situation in which the automatic pool cleaning device according to the embodiment of the present disclosure escapes from the corner of the pool wall. Figure 5A As shown, when the automatic pool cleaning device 200 turns at the corner of the pool wall 220, it encounters an obstacle 230 on the pool bottom 210, and the front and sides of the body of the automatic pool cleaning device 200 face the pool wall. When it turns, the left front and left rear parts of the body are easily blocked by the pool wall 220.

[0054] As an example, Figure 5A As shown, when the automatic pool cleaning device is turned, the first water spraying mechanism of the automatic pool cleaning device 200 can be controlled (for example, Figure 5A In the situation shown, the water spraying mechanism on the left rear side of the body of the automatic pool cleaning device sprays water backward, thereby generating a forward thrust P1. This thrust P1 uses the position where the right rear part of the automatic pool cleaning device 200 contacts the pool bottom 210 as a fulcrum to generate a first steering torque T1 that causes the automatic pool cleaning device 200 to rotate right.

[0055] In addition, the first travel mechanism of the automatic pool cleaning device 200 can also be controlled (for example, Figure 5A In the illustrated situation, the travel mechanism on the left side of the machine body (eg, crawler) generates a forward thrust F1 and controls the second travel mechanism of the automatic pool cleaning device 200 (eg, Figure 5A In the situation shown, the traveling mechanism on the right side of the body, such as a crawler track, generates a backward thrust F2, that is, the driving directions of the traveling mechanisms on the left and right sides are opposite. Thus, the combined forces of F1 and F2 generate a second steering torque T2 that causes the automatic pool cleaning device 200 to rotate to the right.

[0056] In addition, according to an embodiment of the present disclosure, the automatic pool cleaning device can be controlled to perform steering by starting the second water spraying mechanism (for example, Figure 5A In the illustrated scenario, in the case of the water spray mechanism on the right rear side of the automatic pool cleaning device, a steering torque is generated by coordinated control with the first water spray mechanism of the automatic pool cleaning device. For example, while maintaining the water thrust generated by the first water spray mechanism, the water thrust generated by the second water spray mechanism can be reduced, so that the difference in water thrust generated by the first and second water spray mechanisms generates a steering torque that causes the automatic pool cleaning device 200 to rotate rightward.

[0057] As an example, the first steering torque T1 and the second steering torque T2 can be superimposed to apply a larger torque to the body of the automatic pool cleaning device to cause it to turn right, overcome the obstacles to its turning caused by the pool wall 220 and the pool bottom obstacle 230, and facilitate escape from the corner.

[0058] According to an embodiment of the present disclosure, controlling the automatic pool cleaning device to perform the second steering action includes: adjusting the direction of the water flow thrust generated by the first water spraying mechanism; increasing the water flow thrust generated by the first water spraying mechanism; and / or reducing the water flow thrust generated by the second water spraying mechanism, so that the steering force generated by the second steering action is greater than the steering force generated by the first steering action.

[0059] As an example, compared to the first steering action, the steering force generated when performing the second steering action is greater than the steering force generated by the first steering action. For example, the first water spray mechanism (e.g., Figure 5A In the case shown, the water flow thrust generated by the water spray mechanism on the left rear side of the body of the automatic pool cleaning device; reducing or stopping the second water spray mechanism (for example, Figure 5A In the case shown, the water flow thrust generated by the water spray mechanism on the right rear side of the body of the automatic pool cleaning device; or, by changing the direction of the water flow thrust generated by the water spray mechanism of the automatic pool cleaning device, for example, Figure 5A In the situation shown, the water spraying direction of the first water spraying mechanism is changed from toward the rear side of the automatic pool cleaning device to toward the left rear side of the pool cleaning device, so that the water spraying thrust can apply a component toward the right side to the body of the automatic pool cleaning device, so that the steering torque generated by the second steering action is greater than the steering torque generated by the first steering action, thereby realizing the steering of the automatic pool cleaning device.

[0060] As an example, controlling the automatic pool cleaning device to perform the second turning action may further include: controlling the first travel mechanism (for example, Figure 5A In the case shown, the travel mechanism on the left side of the machine body, such as a crawler) and the second travel mechanism (for example, Figure 5A In the case shown, the travel mechanism on the right side of the machine body, such as a crawler) performs differential rotation; or, the first travel mechanism (for example, Figure 5A In the case shown, the rotation direction of the crawler on the left side of the machine body remains unchanged and the second travel mechanism (for example, Figure 5A In the situation shown, the rotation direction of the crawler track on the right side of the machine body makes the rotation directions of the second travel mechanism and the first travel mechanism opposite to each other.

[0061] As an example, controlling the first traveling mechanism and the second traveling mechanism to perform differential rotation includes: increasing the first traveling mechanism (for example, Figure 5A In the case shown, the drive power of the crawler on the left side of the machine body); and / or, reducing the second travel mechanism (for example, Figure 5A In the case shown, the driving power of the crawler track on the right side of the machine body.

[0062] As an example, maintaining the first travel mechanism (e.g., Figure 5A In the case shown, the rotation direction of the crawler on the left side of the machine body remains unchanged, and the second travel mechanism (for example, Figure 5A In the case shown, the rotation direction of the crawler on the right side of the machine body) makes the rotation directions of the second travel mechanism and the first travel mechanism opposite to each other, and also includes: adding the first travel mechanism (for example, Figure 5A In the case shown, the crawler on the left side of the machine body) and / or the second travel mechanism (for example, Figure 5A In the case shown, the driving power of the crawler track on the right side of the machine body is increased, for example, by increasing the output power of the driving motor that drives the first travel mechanism / the second travel mechanism.

[0063] Therefore, by controlling the traveling mechanism of the automatic pool cleaning device in the second steering action, the direction and / or magnitude of the thrust generated by the traveling mechanism is adjusted, so that the steering force generated by the second steering action is greater than the steering force generated by the first steering action, thereby facilitating the automatic pool cleaning device to escape.

[0064] According to at least one embodiment of the present disclosure, after the automatic pool cleaning device completes the second turning action, the method further includes controlling the automatic pool cleaning device to leave the pool wall corner as quickly as possible and to disengage from the pool bottom obstacles. As an example, after the automatic pool cleaning device completes the second turning action, the method may include: adding a second water spray mechanism (for example, Figure 5A In the case shown, the water spray flow rate of the water spray mechanism on the right rear side of the body of the automatic pool cleaning device; controlling the second water spray mechanism and the first water spray mechanism (for example, Figure 5AIn the case shown, the water spraying direction of the water spraying mechanism on the left rear side of the body of the automatic pool cleaning device matches the current working mode; or, the second traveling mechanism (for example, Figure 5A In the case shown, the rotation direction of the crawler on the right side of the body of the automatic pool cleaning device is such that the second travel mechanism has the same rotation direction as the first travel mechanism (for example, Figure 5A Towards Figure 5B In the case shown in the change, the crawler track on the right side of the body of the automatic pool cleaning device changes from generating thrust backward to generating thrust forward).

[0065] For example, Figure 5B As shown, after the automatic pool cleaning device 200 completes the second turning motion, the left side of its body is substantially parallel to the pool wall 220, and its forward movement is no longer blocked by the pool wall. In this case, the above method according to an embodiment of the present disclosure may further include controlling the automatic pool cleaning device to leave the pool wall corner as quickly as possible and disengage from the pool bottom obstacle.

[0066] As an example, Figure 5B As shown, the automatic pool cleaning device can be controlled to add a second water spray mechanism (for example, Figure 5B In the case shown, the water spray flow rate of the water spray mechanism on the right rear side of the body of the automatic pool cleaning device is restored to the same level as that of the first water spray mechanism (for example, Figure 5B In the situation shown, the water spray flow rates of the water spray mechanisms on the left rear side of the body of the automatic pool cleaning device are comparable, so that the water flow thrust P2 generated by the second water spray mechanism and the water flow thrust P1 generated by the first water spray mechanism are basically balanced, and can apply a thrust to the body of the automatic pool cleaning device in a direction parallel to the pool wall.

[0067] Furthermore, as an example, the spraying directions of the second and first water spraying mechanisms can be controlled to match the current operating mode of the automatic pool cleaning device. For example, when the automatic pool cleaning device is moving forward, the spraying directions of the second and first water spraying mechanisms can be controlled to be backward. When the automatic pool cleaning device is required to clean the pool wall, the spraying directions of the second and first water spraying mechanisms can be controlled so that the automatic pool cleaning device can climb the pool wall and move sideways.

[0068] Furthermore, as an example, Figure 5B As shown, the second travel mechanism can also be adjusted (for example, Figure 5A In the case shown, the rotation direction of the crawler on the right side of the body of the automatic pool cleaning device is such that the second travel mechanism and the first travel mechanism (for example, Figure 5AIn the situation shown, the rotation direction of the crawler (on the left side of the body of the automatic pool cleaning device) is the same, that is, the thrust F1 generated by the second travel mechanism and the thrust F2 generated by the first travel mechanism are parallel in direction and basically equal in size, so that the automatic pool cleaning device 200 moves in a direction parallel to the pool wall.

[0069] As an example, the thrust generated by the travel mechanism and the thrust generated by the water spray mechanism can be superimposed, thereby applying a greater thrust to the body of the automatic pool cleaning device 200 to urge it to move forward, thereby achieving the goal of leaving the corner as quickly as possible and getting away from the obstacle 230 to escape.

[0070] Figure 5C The schematic diagram shows a situation in which the automatic pool cleaning device 200 drives away from a corner and breaks away from an obstacle 230 to escape from trouble.

[0071] According to at least one embodiment of the present disclosure, the method further includes: measuring the distance to objects to the side and in front of the automatic pool cleaning device to obtain first distance information; and controlling the automatic pool cleaning device to move along the pool wall on the bottom of the pool based on the first distance information. For example, the automatic pool cleaning device may be equipped with at least one distance sensor to detect the distance between the front and side of the automatic pool cleaning device and the pool wall, respectively, and control the automatic pool cleaning device to maintain a predetermined distance from the side pool wall during movement, and control the automatic pool cleaning device to turn when the distance between its front and the front pool wall is less than a certain threshold distance.

[0072] According to at least one embodiment of the present disclosure, the method further includes: measuring the distance of objects to the side and front of the automatic pool cleaning device to obtain second distance information; and determining whether the automatic pool cleaning device has completed the second turning action based on the second distance information. For example, the automatic pool cleaning device can detect the distance between the front and side of the automatic pool cleaning device and the pool wall respectively by means of at least one distance sensor; for example, considering that the range of the distance sensor equipped with the automatic pool cleaning device is limited, when the automatic pool cleaning device completes the second turning action so that the side of the body is parallel to the pool wall, Figure 5B As shown, the distance between its front end and the pool wall in front exceeds the range of its distance sensor, so the pool wall as an obstacle in front cannot be detected; in this case, when it is detected that the distance between the side of the body of the automatic pool cleaning device and the pool wall is greater than a certain threshold distance and no distance value can be detected in front, it can be determined that it has completed the second turning action.

[0073] As an example, the distance sensor may include: an ultrasonic sensor, an infrared sensor, a TOF sensor, a laser radar, or a 3D structured light sensor, and the specific type is not limited here.

[0074] According to another aspect of the present disclosure, an automatic pool cleaning device is also provided. Figure 6 As shown, the automatic pool cleaning device 600 includes: a water spraying mechanism 610, including a first water spraying mechanism and a second water spraying mechanism arranged at symmetrical positions on both sides of the longitudinal axis of the body of the automatic pool cleaning device; a moving mechanism 620, including a first moving mechanism and a second moving mechanism arranged at symmetrical positions on both sides of the bottom of the body of the automatic pool cleaning device; and a processor 630, which is configured to enable the automatic pool cleaning device to implement the above method when executing one or more instructions.

[0075] As an example, the processor of the automatic pool cleaning device may include, but is not limited to, a control unit such as a central processing unit (CPU), a microprocessor (MPU), or a digital signal processor (DSP) equipped in the automatic pool cleaning device.

[0076] According to at least one embodiment of the present disclosure, the automatic pool cleaning device 600 may further include a distance sensor 640 for acquiring distance information of objects to the side and in front of the automatic pool cleaning device.

[0077] As an example, the distance sensor includes: an ultrasonic sensor, an infrared sensor, a TOF sensor, a laser radar, or a 3D structured light sensor, and the specific type is not limited here.

[0078] According to the embodiments of the present disclosure, the steering force of the automatic pool cleaning device can be increased when turning at the corner of the pool wall. Even if the automatic pool cleaning device is stuck at the corner, it can get out of the jam on its own without human intervention, thereby improving the working efficiency of the automatic pool cleaning device and enhancing the user experience.

[0079] Thus, several aspects of the present disclosure are 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 specific application and the design constraints on the overall system.

[0080] Thus, in one or more example embodiments, the functions described may be implemented in hardware, software, or any combination thereof. If implemented in software, the functions may be stored or encoded as one or more instructions or codes on a computer-readable medium. Computer-readable media include computer storage media. The storage medium may be any available medium that can be accessed by a computer. It should be understood that the specific order or hierarchy of blocks in the disclosed process / flowcharts is illustrative of example methods. Based on design preferences, it should be understood that the specific order or hierarchy of blocks in the process / flowcharts may be rearranged. In addition, some blocks may be combined or omitted. The accompanying method claims present elements of the various blocks in a sample order and are not meant to be limited to the specific order or hierarchy presented.

[0081] The embodiments described above are only some of the embodiments of the present application, rather than all of the 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 aforementioned embodiments, for those skilled in the art, it is still possible to modify the technical solutions described in the aforementioned specific embodiments, or to perform equivalent replacements for some of the technical features therein. Any equivalent structure made using the contents of the present application specification and drawings, directly or indirectly used in other related technical fields, is also within the scope of patent protection of this application.

Claims

1. A method for controlling an automatic pool cleaning device to escape from a jam, comprising: Controlling the automatic pool cleaning device to move along the pool wall at the bottom of the pool; Determine whether there is an obstacle in the direction of travel, and if so, control the automatic pool cleaning device to perform a first turning action, During the steering process, determining whether the automatic pool cleaning device is stuck; If so, the automatic pool cleaning device is controlled to perform a second steering action to free the automatic pool cleaning device, wherein the steering force generated by the second steering action is greater than the steering force generated by the first steering action, and both the first steering action and the second steering action move the automatic pool cleaning device away from the pool wall.

2. The method according to claim 1, wherein The automatic pool cleaning device is equipped with a water spraying mechanism and a traveling mechanism, and controlling the automatic pool cleaning device to perform the second turning action includes: Adjusting the direction and / or magnitude of the water flow thrust generated by the water spray mechanism; and / or, Adjust the direction and / or magnitude of the thrust generated by the travel mechanism.

3. The method according to claim 2, wherein: The water spray mechanism includes a vector water spray mechanism, and adjusting the direction of the water flow thrust generated by the water spray mechanism includes: The vector water spraying mechanism is controlled to rotate to adjust the water spraying direction.

4. The method according to claim 2, wherein: The water spray mechanism includes a first water spray mechanism and a second water spray mechanism, and the first water spray mechanism and the second water spray mechanism are arranged at symmetrical positions on both sides of the longitudinal axis of the body of the automatic pool cleaning device, wherein controlling the automatic pool cleaning device to perform the second turning action includes: adjusting the direction of the water flow thrust generated by the first water spray mechanism; increasing the water flow thrust generated by the first water spray mechanism; and / or, Reduce the water flow thrust generated by the second water spray mechanism.

5. The method according to claim 2, wherein: The travel mechanism includes a first travel mechanism and a second travel mechanism, and the first travel mechanism and the second travel mechanism are arranged at symmetrical positions on both sides of the bottom of the body of the automatic pool cleaning device. The controlling the automatic pool cleaning device to perform the second turning action includes: controlling the first traveling mechanism and the second traveling mechanism to perform differential rotation; or The rotation direction of the first traveling mechanism is kept unchanged, and the rotation direction of the second traveling mechanism is changed so that the rotation directions of the second traveling mechanism and the first traveling mechanism are opposite to each other.

6. The method according to claim 5, wherein: Controlling the first traveling mechanism and the second traveling mechanism to perform differential rotation includes: Increase the driving power of the first travel mechanism, and / or The driving power of the second traveling mechanism is reduced.

7. The method according to claim 5, wherein: The method of maintaining the rotation direction of the first traveling mechanism unchanged and changing the rotation direction of the second traveling mechanism so that the rotation directions of the second traveling mechanism and the first traveling mechanism are opposite to each other further includes: Increase the driving power of the first traveling mechanism and / or the second traveling mechanism.

8. The method according to claim 5, wherein After the automatic pool cleaning device performs the second turning action, the method further includes: increasing the water spray flow rate of the second water spray mechanism; Controlling the spraying directions of the second spraying mechanism and the first spraying mechanism to match the current working mode; and / or Adjust the rotation direction of the second traveling mechanism so that the rotation direction of the second traveling mechanism is the same as that of the first traveling mechanism.

9. The method according to any one of claims 1 to 8, further comprising: measuring the distances of objects to the side and in front of the automatic pool cleaning device to obtain first distance information; The automatic pool cleaning device is controlled to move along the pool wall at the bottom of the pool based on the first distance information.

10. The method according to any one of claims 1 to 8, further comprising: measuring the distance to objects on the side and in front of the automatic pool cleaning device to obtain second distance information; It is determined whether the automatic pool cleaning device completes a second turning action based on the second distance information.

11. An automatic pool cleaning device comprising: The water spray mechanism comprises a first water spray mechanism and a second water spray mechanism provided at symmetrical positions on both sides of the longitudinal axis of the body of the automatic pool cleaning device; The traveling mechanism includes a first traveling mechanism and a second traveling mechanism provided at symmetrical positions on both sides of the bottom of the body of the automatic pool cleaning device; as well as The processor is configured to, when executing one or more instructions, enable the automatic pool cleaning device to implement the method according to any one of claims 1 to 10.

12. The automatic pool cleaning device according to claim 11, further comprising: The distance sensor obtains distance information of objects on the side and in front of the automatic pool cleaning device.

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