Automatic pool cleaning equipment and control method thereof

Abstract

The invention discloses automatic pool cleaning equipment and a control method thereof. The method comprises the following steps: controlling the automatic cleaning equipment for the pool to move forwards on a first bottom surface in the pool; under the condition that a first pool wall part of the pool is detected in the process that the automatic pool cleaning equipment moves forwards on the first bottom surface, the automatic pool cleaning equipment is controlled to move upwards on the first pool wall part after moving to the first pool wall part on the first bottom surface; under the condition that it is detected that a preset condition is met in the process that the automatic pool cleaning equipment moves upwards on the first pool wall part, the automatic pool cleaning equipment is controlled to move downwards on the first pool wall part to return to the first bottom face; and after the automatic pool cleaning equipment moves downwards from the first pool wall part to the first bottom surface, the automatic pool cleaning equipment is controlled to rotate on the first bottom surface according to the angle larger than 90 degrees and smaller than 270 degrees and then continues to move on the first bottom surface.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to a pool automatic cleaning apparatus and a control method thereof in the field of automatic cleaning. BACKGROUND

[0002] For a pool facility such as a swimming pool, a pool automatic cleaning apparatus can be utilized for automatic cleaning or assisted cleaning. For example, a pool automatic cleaning apparatus can be designed to operate its cleaning mechanism while moving on a pool bottom, a pool wall, and / or a water surface of a pool, so as to filter pool water and absorb dirt. SUMMARY

[0003] A method of controlling a pool automatic cleaning apparatus is disclosed, including: controlling the pool automatic cleaning apparatus to move forward on a first bottom surface in a pool; in a case where a first pool wall portion of the pool is detected during the pool automatic cleaning apparatus moving forward on the first bottom surface, controlling the pool automatic cleaning apparatus to move on the first bottom surface to the first pool wall portion and then move upward on the first pool wall portion; in a case where a predetermined condition is met during the pool automatic cleaning apparatus moving upward on the first pool wall portion, controlling the pool automatic cleaning apparatus to move downward on the first pool wall portion to return to the first bottom surface; and after the pool automatic cleaning apparatus moves downward on the first pool wall portion to return to the first bottom surface, controlling the pool automatic cleaning apparatus to continue moving on the first bottom surface after rotating on the first bottom surface by an angle greater than 90 degrees and less than 270 degrees.

[0004] In some embodiments, the method further includes: selecting a predetermined angle from a set of at least one predetermined angle in a specified order or randomly to control the pool automatic cleaning apparatus to rotate on the first bottom surface by the selected predetermined angle, each of the at least one predetermined angle being greater than 90 degrees and less than 270 degrees.

[0005] In some embodiments, controlling the pool automatic cleaning apparatus to move on the first bottom surface to the first pool wall portion includes: controlling the pool automatic cleaning apparatus to move forward on the first bottom surface to the first pool wall portion in a case where the first pool wall portion is located in front of the pool automatic cleaning apparatus.

[0006] In some embodiments, controlling the pool automatic cleaning apparatus to rotate on the first bottom surface by an angle greater than 90 degrees and less than 270 degrees includes: controlling the pool automatic cleaning apparatus to rotate by a rotation direction selected randomly.

[0007] In some embodiments, controlling the pool cleaning robot to move on the first floor surface to the first wall portion includes: in a case where the first wall portion is located sideways to the pool cleaning robot, determining a rotation direction that will cause the pool cleaning robot to move towards the first wall portion; and controlling the pool cleaning robot to move forward on the first floor surface to the first wall portion after rotating in the rotation direction.

[0008] In some embodiments, controlling the pool cleaning robot to rotate on the first floor surface by an angle greater than 90 degrees and less than 270 degrees includes: controlling the pool cleaning robot to rotate in a direction opposite to the rotation direction.

[0009] In some embodiments, the method further includes: controlling the pool cleaning robot to move forward on a second floor surface in the pool, the second floor surface being connected to the first floor surface via a second wall portion in the pool and being lower than the first floor surface; in a case where the second wall portion is detected during the pool cleaning robot moving forward on the second floor surface, controlling the pool cleaning robot to move to the second wall portion on the second floor surface and then move upward on the second wall portion; and during the pool cleaning robot moving upward on the second wall portion, in response to detecting that a pitch angle of the pool cleaning robot is less than a predetermined pitch angle threshold, controlling the pool cleaning robot to switch to continue moving forward on the first floor surface reached via the second wall portion.

[0010] In some embodiments, the predetermined condition includes at least one of: detecting that at least a portion of the pool cleaning robot is exposed above water on the first wall portion; detecting that the pool cleaning robot has moved on the first wall portion for a first predetermined time duration; and detecting that the pool cleaning robot has moved on the first wall portion by a predetermined distance.

[0011] In some embodiments, the method further includes: in response to detecting that at least a portion of the pool cleaning robot is exposed above water on the first wall portion, controlling a current position of the pool cleaning robot on the first wall portion to be maintained for a second predetermined time duration.

[0012] In some embodiments, the method further includes: after the pool cleaning robot moves downward from the first wall portion back to the first floor surface, and before controlling the pool cleaning robot to rotate on the first floor surface by an angle greater than 90 degrees and less than 270 degrees, controlling the pool cleaning robot to stay on the first floor surface for a third predetermined time duration.

[0013] Also disclosed is a pool cleaning robot, comprising: at least one detector configured to detect an obstacle in front of and / or on the side of the pool cleaning robot during movement of the pool cleaning robot in a pool; a memory having stored thereon program instructions; and a controller configured to execute the method as described above by running the program instructions. BRIEF DESCRIPTION OF DRAWINGS

[0014] Figure 1 An exemplary pool cleaning robot is schematically illustrated to embody an embodiment of the present disclosure.

[0015] Figure 2 An exemplary method for controlling a pool cleaning robot is schematically illustrated to embody an embodiment of the present disclosure.

[0016] Figure 3 An example of the execution process of the method to embody an embodiment of the present disclosure is schematically illustrated.

[0017] Figure 4 An example of the execution process of the method to embody an embodiment of the present disclosure is schematically illustrated.

[0018] Figure 5 An example of the execution process of the method to embody an embodiment of the present disclosure is schematically illustrated.

[0019] Figure 6 An example of the final cleaning route of the method to embody an embodiment of the present disclosure is schematically illustrated. DETAILED DESCRIPTION

[0020] Embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings. In the drawings, the same or similar components are designated by the same or similar reference numerals, and the description thereof will not be repeated.

[0021] The pool cleaning robot can be controlled to move in the pool to be cleaned according to the specified movement rule, so that the route or track (e.g., a "bow" shaped route or a random route, etc.) that the pool cleaning robot moves according to the specified rule can cover all desired cleaning areas in the pool, wherein such desired cleaning areas may, for example, include but are not limited to at least one of the following: a bottom surface in the pool desired to be cleaned, which may, for example, include but is not limited to a pool bottom surface, a platform surface of a certain platform or platforms in the pool, etc., wherein such desired cleaning bottom surface can be horizontal or have a certain slope; an entire or partial pool wall of the pool; a water surface of the pool; a waterline portion of the pool wall that intersects with the water surface; and the like.

[0022] For example, in some pool environments, such as in some irregularly shaped pools, controlling the pool cleaning robot to move according to a moving rule corresponding to an "arch" shaped route can cause the pool cleaning robot to move in a loop at a certain place, thereby getting stuck there; and controlling the pool cleaning robot to move according to a moving rule corresponding to a random route can not ensure the coverage of the moving route, and the cleaning efficiency is not high.

[0023] With the pool cleaning robot and the control method thereof in the embodiments of the present disclosure, for example, it is at least possible to avoid the pool cleaning robot from getting stuck at a certain place in a complex pool environment, and to ensure the cleaning coverage and the cleaning efficiency.

[0024] Figure 1 A pool cleaning robot 100 (hereinafter also referred to as "robot 100") of an embodiment of the present disclosure is schematically shown.

[0025] As shown in FIG. 1, in addition to a moving mechanism (e.g., which can include components such as a driving motor, a transmission mechanism, a track, a traveling wheel, a water jet, etc.) that enables the robot 100 to move in a pool and a cleaning mechanism (e.g., which can include components such as a water pump, a roller brush, a filter, etc.) that enables the robot 100 to have a pool cleaning capability, the robot 100 can further include a detector 110 and a controller 120. Figure 1 The detector 110 can include any type and any number of detectors or sensors that can be used to detect obstacles around (e.g., in front of and / or at the side of) the robot 100, such as an ultrasonic detector, a lidar, a camera, etc. The detector 110 can be configured at any suitable position (e.g., at the head, at the left side, and / or at the right side) of the robot 100, so as to detect obstacles (e.g., wall-like obstacles such as pool walls) located in front of and / or at the side (e.g., left side and / or right side) of the robot 100, for example.

[0026] For example, in the case where the detector 110 includes an ultrasonic detector, the type of the obstacle in front of and / or at the side of the robot 100, the distance between the obstacle in front of and / or at the side of the robot 100 and the robot 100, etc. can be determined according to ultrasonic signal data (e.g., time difference between a transmitted signal and a returned signal, signal strength, signal change, etc.) acquired via the ultrasonic detector.

[0027] For example, in the case where the detector 110 includes a lidar, the type of the obstacle in front of and / or at the side of the robot 100, the distance between the obstacle in front of and / or at the side of the robot 100 and the robot 100, etc. can be determined according to laser point cloud data acquired by the lidar.

[0028]

[0029] ​For example, in the case where the detector 110 includes an image sensor such as a monocular camera or a binocular camera, the orientation, type, etc. of an obstacle in a scene in front of and / or to the side of the device 100 can be determined based on at least one image (e.g., at least one two-dimensional image or at least one three-dimensional image) regarding the scene in front of and / or to the side of the device 100.

[0030] In addition, the detector 110 can also be one or more other configurations of sensors or detectors of the device 100, such as, but not limited to, a sensor such as an inertial measurement unit (IMU) that can be used to measure the three-axis attitude angle (or angular rate) and / or acceleration of the device 100, a downward-looking detector or sensor such as a downward-looking camera or a downward-looking ultrasonic sensor configured at the bottom of the device 100 that can be used to detect obstacles below the device 100, an out-of-water detector that can be used to detect whether a certain part (e.g., the head or the tail) of the device 100 is currently out of the water surface, and the like.

[0031] The controller 120 can be configured in a sealed compartment within the housing of the device 100 or be configured to have a sealed housing that is waterproof, and can include any circuit and / or module having data processing capability and / or instruction execution capability and suitable for the device 100, such as a central processing unit (CPU), a graphics processing unit (GPU), a field programmable gate array (FPGA), and the like, and can be configured to perform data processing and / or control related to the cleaning operation and / or other functions of the device 100 according to program instructions stored in a memory (not shown in the figure) within the device 100 and / or user instructions from a control panel (not shown in the figure) or a control terminal (not shown in the figure) of the device 100, for example.

[0032] For example, the controller 120 can be configured to determine one or more information such as the orientation, distance, type, etc. of an obstacle in front of and / or to the side of the device 100 based on the sensing data from the detector 110 by executing corresponding program instructions.

[0033] For example, the controller 120 can also be configured to determine how to control the device 100 from the sensing data from the detector 110, program instructions pre-stored in the memory, and / or user instructions from the control panel or the control terminal of the device 100, and control the operating direction, operating speed, and / or operating power, etc. of components such as the track, the traveling wheel, the water jet, etc. of the device 100 according to the determined control mode or pattern, so as to control the device 100 to perform actions such as advancing on the bottom surface or the water surface, retreating on the bottom surface or the water surface, turning on the bottom surface or the water surface, making a U-turn on the bottom surface or the water surface, moving upward or downward on the pool wall, moving horizontally on the pool wall, and the like.

[0034] Figure 2A method 200 for controlling the apparatus 100 is schematically illustrated for an embodiment of the present disclosure. The method 200 can include steps 210, 220, 230 and 240, and can be performed by the controller 120 of the apparatus 100 by running corresponding program instructions.

[0035] The controller 120 can perform the step 210 to control the apparatus 100 to move forward on a first bottom surface (e.g., a pool bottom, or a certain platform surface in the pool) in the pool, e.g., to move forward in a straight path.

[0036] In the process of performing the step 210, the detector 110 can work to detect obstacles (e.g., wall-like obstacles such as pool walls) around the apparatus 100, and transmit detection data to the controller 120.

[0037] The controller 120 can determine, according to the detection data from the detector 110, the obstacle situation around (e.g., in front of and / or on the side of) the apparatus 100 in real time or at predetermined time intervals.

[0038] In the case of detecting a first pool wall portion of the pool, the controller 120 can perform the step 220 to control the apparatus 100 to move on the current bottom surface to move upward on the first pool wall portion after the first pool wall portion is detected, e.g., to move upward on the first pool wall portion.

[0039] For example, in the case that the detected first pool wall portion is in front of the apparatus 100 (e.g., facing the head of the apparatus 100), in the step 220, the controller 120 can control the apparatus 100 to move forward on the first bottom surface to the first pool wall portion, and then move upward on the first pool wall portion.

[0040] For example, in the case that the detected first pool wall portion is on the side of the apparatus 100 (e.g., facing or obliquely facing the left or right side of the apparatus 100), in the step 220, the controller 120 may, for example, determine the rotation direction and / or rotation angle that will make the apparatus 100 face the first pool wall portion, according to one or more information such as the current orientation of the apparatus 100, the orientation of the detected first pool wall portion relative to the apparatus 100, the orientation of the detected first pool wall portion relative to the machine body length direction of the apparatus 100, etc.

[0041] Then, in step 220, the controller 120 can control the device 100 to rotate on the first bottom surface in the determined rotation direction, so that the device 100 can be able to face the first pool wall portion after the rotation. For example, the controller 120 can control the device 100 to rotate on the first bottom surface in the determined rotation direction and the determined rotation angle. For example, the controller 120 can also control the device 100 to rotate on the first bottom surface in the determined rotation direction until it is determined that the device 100 currently faces the first pool wall portion according to the real-time detection information from the detector 110.

[0042] Further, in step 220, the controller 120 can control the rotated device 100 to move forward on the first bottom surface to the first pool wall portion, and then move upward on the first pool wall portion.

[0043] During the upward movement of the device 100 on the first pool wall portion, the controller 120 can determine whether the device 100 currently satisfies a predetermined condition in real time or at a predetermined time interval, or according to the detection data from the detector 110.

[0044] For example, such a predetermined condition can include, but is not limited to, at least one of the following: it is determined that at least a part of the device 100 is exposed above the water surface on the first pool wall portion according to the detection data from the detector 100 (the water level detector in the detector 100); it is detected that the device 100 has moved on the first pool wall portion for a first predetermined time length; it is detected that the device 100 has moved on the first pool wall portion by a predetermined distance; and the like.

[0045] In the case where it is detected that the above-mentioned at least one predetermined condition is satisfied, the controller 120 can perform step 230 to control the device 100 to move downward on the first pool wall portion to return to the first bottom surface, for example, to keep the head-up posture to move downward on the first pool wall portion to return to the first bottom surface along a direct path.

[0046] For example, in the case where it is detected that at least a part of the device 100 is exposed above the water surface on the first pool wall portion, the controller 120 can control the current position of the device 100 on the first pool wall portion to be maintained for a second predetermined time length, so as to sufficiently clean the water line position (i.e., the position where the pool wall intersects with the water surface) of the pool wall.

[0047] After controlling the device 100 to move downward from the first pool wall portion to return to the first bottom surface, the controller 120 can perform step 240 to control the device 100 to continue to move on the first bottom surface after rotating on the first bottom surface by an angle greater than 90 degrees and less than 270 degrees.

[0048] For example, if in the previous step 220, the controller 120 controls the device 100 to move forward on the first bottom surface to the first pool wall portion and then move upward on the first pool wall portion, in step 240, the controller 120 can control the device 100 to rotate on the first bottom surface by a randomly selected rotation direction (e.g., a clockwise direction or a counterclockwise direction) and an angle greater than 90 degrees and less than 270 degrees after returning to the first bottom surface.

[0049] For example, if in the previous step 220, the controller 120 controls the device 100 to rotate on the first bottom surface toward the first pool wall portion by a clockwise direction or a counterclockwise direction and then move to the first pool wall portion and move upward on the first pool wall portion, in step 240, the controller 120 can control the device 100 to rotate on the first bottom surface by a rotation direction opposite to the rotation direction in step 220 and an angle greater than 90 degrees and less than 270 degrees after returning to the first bottom surface.

[0050] By controlling the device 100 to continue moving on the first bottom surface after rotating on the first bottom surface by an angle greater than 90 degrees and less than 270 degrees, it is possible to avoid that the device 100, after moving downward from the first pool wall portion to return to the first bottom surface, detects the first pool wall portion again on the first bottom surface and performs step 220 again by the same or similar path as that adopted in the previous step 220, thereby causing the device 100 to move back and forth in a small area of the pool all the time.

[0051] For example, the controller 120 can select a predetermined angle from a set of at least one predetermined angle in a specified order or randomly, and control the device 100 to rotate on the first bottom surface by the selected predetermined angle in step 240.

[0052] Each predetermined angle in the set of predetermined angles is greater than 90 degrees and less than 270 degrees. For example, the set of predetermined angles can include one or more angle values greater than 90 degrees and less than 270 degrees, such as 100 degrees, 105 degrees, 110 degrees, 115 degrees, 120 degrees, 125 degrees, 130 degrees, 135 degrees, 140 degrees, 145 degrees, 150 degrees, 160 degrees, 170 degrees, 180 degrees, 190 degrees, 200 degrees, 225 degrees, 235 degrees, etc. The more the angle values in the set of predetermined angles, the more random the selection, and the more likely to ensure the final cleaning coverage of the device 100.

[0053] For example, after the control device 100 moves down from the first pool wall portion back to the first bottom surface, and before the control device 100 rotates on the first bottom surface by an angle greater than 90 degrees and less than 270 degrees, the controller 120 can further control the device 100 to stay on the first bottom surface for a third predetermined time duration, so as to enable the device 100 to have sufficient time to recover the posture and more randomly select the rotation angle, thereby further improving the final cleaning coverage of the device 100.

[0054] The steps 210 to 240 described above can be executed in a loop, can be executed in a nested manner, and can also be interrupted in response to satisfying one or more predetermined conditions while executing a certain step and switched to or jumped to another step.

[0055] For example, if the pool further includes a second bottom surface connected to the first bottom surface via a second pool wall portion in the pool and lower than the first bottom surface, before executing the step 210 to control the device 100 to move forward on the first bottom surface in the pool, the controller 120 can execute the step 210 to control the device 100 to move forward on the second bottom surface in the pool.

[0056] Then, in a case where the second pool wall portion is detected during the control of the device 100 to move forward on the second bottom surface, the controller 120 can execute the step 220 to control the device 100 to move upward on the second pool wall portion after moving on the second bottom surface to the second pool wall portion.

[0057] During the control of the device 100 to move upward on the second pool wall portion, the controller 120 can determine the pitch angle and / or the change of the pitch angle of the device 100 according to the detection data of the detector 110 (e.g., an IMU or a downward-looking detector). For example, in response to detecting that the pitch angle of the device 100 is less than a predetermined pitch angle threshold, the controller 120 can switch to execute the step 210 to control the device 100 to continue to move forward on the first bottom surface reached via the second pool wall portion.

[0058] In the exemplary method 200 described above, the device 100 cleans the bottom surface and the pool wall of the pool according to a random route, and after moving back from a certain pool wall portion to a previous bottom surface, first rotates by an angle greater than 90 degrees and less than 270 degrees, and then continues to move on the returned bottom surface. In this way, the device 100 can be prevented from being trapped somewhere in a complex pool environment, and the cleaning coverage and cleaning efficiency can be ensured.

[0059] Figure 3 An example of the execution process of the method 200 is schematically shown.

[0060] As Figure 3As shown in Part A, controller 120 can execute step 210 to control device 100 on the bottom surface 310 of the pool (e.g., the pool bottom, or a platform surface in the pool), according to Figure 3 The device moves forward in the direction indicated by the arrow in section A, and the pool wall portion 320 located in front of the device 100 is detected as the device 100 moves forward on the bottom surface 310 in the pool.

[0061] Then, as Figure 3 As shown in Part B, the controller 120 can execute step 220 to control the device 100 to continue moving forward on the bottom surface 310 to the pool wall portion 320, and then control the device 100 to proceed according to... Figure 3 The arrow in section B indicates that the wall moves upward on section 320.

[0062] Then, as Figure 3 As shown in section C, when the control device 100 detects that a predetermined condition is met during its upward movement on the pool wall portion 320, for example, when it detects that at least a portion of the device 100 is above the water surface on the pool wall portion 320, the controller 120 can execute step 230 to control the device 100 according to... Figure 3 The arrow in section C moves downwards on the pool wall section 320 back to the bottom surface 310.

[0063] After the device 100 retracts from the pool wall portion 320 back to the bottom surface 310, the controller 120 can execute step 240. In step 240, as... Figure 3 As shown in section D, the controller 120 can control the device 100 to rotate on the bottom surface 310 at an angle greater than 90 degrees and less than 270 degrees and in a randomly selected rotation direction (clockwise or counterclockwise), so that the device 100 changes from an orientation facing the pool wall portion 320 to an orientation in which the head of the device 100 is further away from the pool wall portion 320 relative to the tail of the device 100. Further, as... Figure 3 As shown in section E, controller 120 can control device 100 to continue moving forward on bottom surface 310 according to the adjusted orientation.

[0064] Figure 4 Another example of the execution process of method 200 is illustrated schematically.

[0065] like Figure 4 As shown in Part A, controller 120 can execute step 210 to control device 100 on the bottom surface 410 of the pool (e.g., the pool bottom, or a platform surface in the pool), according to Figure 4The device 100 moves forward in the direction of the arrow in part A, and detects the pool wall portion 420 located to the right of the device 100 during the forward movement of the device 100 on the bottom surface 410 in the pool.

[0066] Then, the controller 120 can perform step 220. As shown in part B, the controller 120 can control the device 100 to rotate clockwise on the bottom surface 410 so that the device 100 is directed toward the pool wall portion 420 after the rotation. Then, as shown in part C, the controller 120 can control the device 100 to continue moving forward on the bottom surface 410 to the pool wall portion 420, and then control the device 100 to move upward on the pool wall portion 420 in the direction of the arrow in part C. Figure 4 Figure 4 Figure 4

[0067] In addition, the controller 120 can control the device 100 to travel on the bottom surface 410 at a fixed or variable angle toward the pool wall portion 420 so that the controller 120 can control the device 100 to move on the bottom surface 410 to the intersection of the bottom surface 410 and the pool wall portion 420, and then control the device 100 to move upward on the pool wall portion 420 afterward.

[0068] Then, as shown in part D, in a case where a predetermined condition is satisfied during the control of the device 100 to move upward on the pool wall portion 420, for example, in a case where it is detected that at least a portion of the device 100 is exposed to the water surface on the pool wall portion 420, the controller 120 can perform step 230 to control the device 100 to move downward on the pool wall portion 420 in the direction of the arrow in part D back to the bottom surface 410. Figure 4 Figure 4

[0069] After the device 100 retreats from the pool wall portion 420 back to the bottom surface 410, the controller 120 can perform step 240. In step 240, as shown in part E, the controller 120 can control the device 100 to rotate on the bottom surface 410 in a clockwise direction at an angle greater than 90 degrees and less than 270 degrees so that the device 100 changes from the posture directed toward the pool wall portion 420 to a posture in which the head of the device 100 is farther away from the pool wall portion 420 than the tail of the device 100. Further, as shown in part F, the controller 120 can control the device 100 to continue moving forward on the bottom surface 410 in the adjusted direction. Figure 4 Figure 4

[0070] Figure 5 Another example of the execution process of the method 200 is schematically shown.

[0071] As shown in part A, the controller 120 can control the device 100 to move forward on the bottom surface 410 in the pool. Figure 5 ​​​​​​​As shown, the pool has a bottom surface 510 and a bottom surface 530, wherein the bottom surface 510 is lower than the bottom surface 530, and the bottom surface 510 and the bottom surface 530 are connected via a pool wall portion 520.

[0072] In this example, controller 120 performs step 210, whereby control device 100 moves forward on bottom surface 510 and detects pool wall portion 520. Then, controller 120 performs step 220, whereby control device 100 moves upward on pool wall portion 520 after moving on bottom surface 510 to pool wall portion 520.

[0073] like Figure 5 As shown, during the upward movement of device 100 on the pool wall portion 520, it is detected that the pitch angle of device 100 becomes less than a predetermined pitch angle threshold. Therefore, controller 120 switches to executing step 210 (instead of continuing to execute steps 230 and 240) and controls device 100 to continue moving forward on the bottom surface 530 reached via the pool wall portion 520.

[0074] Figure 6 An example of the final cleaning path in a test of controlling device 100 using method 200 is illustrated schematically. Based on the results of this test, method 200 effectively prevents device 100 from becoming stuck in complex pool environments and ensures cleaning coverage.

[0075] The basic principles of this disclosure have been described above with reference to embodiments. However, it should be noted that the advantages, benefits, and effects mentioned in this disclosure are merely examples and not limitations, and should not be considered as essential features of the various embodiments of this disclosure. Furthermore, the foregoing details are for illustrative and facilitative purposes only, and are not limitations; the foregoing details do not limit the scope of this disclosure to its implementation.

[0076] The block diagrams of devices, apparatuses, devices, and systems disclosed herein are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. In various embodiments, these devices, apparatuses, devices, and systems may be connected, arranged, and configured in any suitable manner.

[0077] Additionally, words such as "including," "containing," and "having" in the text are open-ended terms meaning "including but not limited to," and can be used interchangeably. The words "or" and "and" used here refer to the words "and / or," and can be used interchangeably unless the context explicitly indicates otherwise. The word "such as" used here refers to the phrase "such as but not limited to," and can be used interchangeably.

[0078] It is also to be noted that in the apparatuses, devices and methods of the present disclosure, each of the components or steps can be decomposed and / or recombined. These decompositions and / or recombinations should be considered as equivalents of the present disclosure.

[0079] In this document, adjectives such as "first", "second" and the like are used solely to distinguish between different elements / components / circuits / modules / devices / steps and do not otherwise limit the order, position, importance, priority, etc. of the elements / components / circuits / modules / devices / steps. In contrast, adjectives such as "first", "second" and the like used with numerals can be used to emphasize the order, position, importance, priority, etc. of the elements / components / circuits / modules / devices / steps.

[0080] The above description is intended to be illustrative and descriptive, not restrictive. The description is not intended to limit the embodiments of the present disclosure to the forms disclosed herein. Although various example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, changes, additions and sub-combinations of the above-noted features and / or elements.

Claims

1. A method for controlling an automatic water tank cleaning device, comprising: Control the automatic water tank cleaning device to move forward on the first bottom surface of the water tank; If the automatic pool cleaning device detects the first pool wall portion of the pool while moving forward on the first bottom surface, the automatic pool cleaning device is controlled to move upward on the first pool wall portion after moving to the first pool wall portion on the first bottom surface. If a predetermined condition is detected during the automatic cleaning device's upward movement on the first pool wall, the device is controlled to move downward back to the first bottom surface. as well as After the automatic water tank cleaning device moves down from the first pool wall to the first bottom surface, it is controlled to rotate on the first bottom surface at an angle greater than 90 degrees and less than 270 degrees before continuing to move on the first bottom surface.

2. The method of claim 1, further comprising: The automatic water tank cleaning device is controlled to rotate on the first bottom surface at the selected predetermined angle according to a specified order or randomly selected from a set including at least one predetermined angle, wherein each of the at least one predetermined angle is greater than 90 degrees and less than 270 degrees.

3. The method as described in claim 1, wherein, Controlling the automatic water tank cleaning device to move from the first bottom surface to the first tank wall portion includes: When the first pool wall portion is located in front of the automatic pool cleaning device, the automatic pool cleaning device is controlled to move forward on the first bottom surface to the first pool wall portion.

4. The method of claim 3, wherein, Controlling the automatic water tank cleaning device to rotate on the first bottom surface at an angle greater than 90 degrees and less than 270 degrees includes: The automatic water tank cleaning device is controlled to rotate in a randomly selected direction.

5. The method of claim 1, wherein, Controlling the automatic water tank cleaning device to move from the first bottom surface to the first tank wall portion includes: When the first pool wall portion is located to the side of the automatic pool cleaning device, determine the rotation direction that would cause the automatic pool cleaning device to rotate toward the first pool wall portion; and The automatic water tank cleaning device is controlled to rotate on the first bottom surface in the specified rotation direction and then move forward to the first tank wall section.

6. The method of claim 5, wherein, Controlling the automatic water tank cleaning device to rotate on the first bottom surface at an angle greater than 90 degrees and less than 270 degrees includes: The automatic water tank cleaning device is controlled to rotate in the opposite direction to the rotation direction.

7. The method of claim 1, further comprising: The automatic cleaning device for the water tank is controlled to move forward on the second bottom surface in the water tank, the second bottom surface being connected to the first bottom surface via a second pool wall portion in the water tank and being lower than the first bottom surface; If the automatic pool cleaning device detects the second pool wall portion while moving forward on the second bottom surface, the automatic pool cleaning device is controlled to move upward on the second pool wall portion after moving to the second pool wall portion on the second bottom surface. as well as During the upward movement of the automatic pool cleaning device on the second pool wall portion, in response to detecting that the pitch angle of the automatic pool cleaning device is less than a predetermined pitch angle threshold, the automatic pool cleaning device is controlled to switch to continue moving forward on the first bottom surface reached via the second pool wall portion.

8. The method of claim 1, wherein, The predetermined conditions include at least one of the following: At least a portion of the automatic pool cleaning device was detected to be protruding above the water surface on the first pool wall portion; The automatic pool cleaning device was detected to have moved on the first pool wall portion for a first predetermined duration. as well as The automatic pool cleaning device was detected to have moved a predetermined distance on the first pool wall portion.

9. The method of claim 8, further comprising: In response to detecting that at least a portion of the automatic pool cleaning device is exposed above the water surface on the first pool wall portion, the automatic pool cleaning device is controlled to maintain its current position on the first pool wall portion for a second predetermined duration.

10. The method of any one of claims 1 to 9, further comprising: After the automatic pool cleaning device moves down from the first pool wall portion back to the first bottom surface, and before controlling the automatic pool cleaning device to rotate on the first bottom surface at an angle greater than 90 degrees and less than 270 degrees, the automatic pool cleaning device is controlled to remain on the first bottom surface for a third predetermined time.

11. An automatic water tank cleaning device, comprising: At least one detector is configured to detect obstacles in front of and / or to the side of the automatic pool cleaning device as it moves in the pool. as well as The controller is configured to perform the method as described in any one of claims 1 to 10 by running program instructions.

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