Ultrasonic imaging device and pool cleaning robot

Abstract

The invention provides an ultrasonic imaging device and a pool cleaning robot, and the ultrasonic imaging device comprises an ultrasonic sensor unit which comprises a phased-array ultrasonic sensor array; and the sensor unit is arranged outside or inside the ultrasonic sensor array of the phased array, so that long-distance detection and short-distance detection can be compatible at the same time, the imaging effect is better, and the cleaning effect of the pool is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of ultrasonic imaging, and in particular to an ultrasonic imaging device and a pool cleaning robot. BACKGROUND

[0002] Pool cleaning robots usually use IMUs, ultrasonic sensors, laser sensors, etc. to measure the distance of obstacles and further plan the path. However, such sensors have poor randomness and are easily affected by environmental factors in water, with poor accuracy. Moreover, such sensors are usually limited by the number of sensors, with limited detection areas, directly affecting the cleaning effect of the pool cleaning robot, resulting in poor cleaning effect.

[0003] Application Content

[0004] In view of the above problems, the present application provides an ultrasonic imaging device and a pool cleaning robot to improve the pool cleaning effect.

[0005] In a first aspect, an ultrasonic imaging device for a pool cleaning robot is provided, comprising: an ultrasonic sensor unit, wherein the ultrasonic sensor unit comprises a first phased array ultrasonic sensor array; and a sensor unit, which is arranged outside or inside the first phased array ultrasonic sensor array.

[0006] The detection angle of the ultrasonic sensor unit and the detection angle of the sensor unit at least partially overlap.

[0007] The detection distance of the ultrasonic sensor unit is less than the detection distance of the sensor unit.

[0008] The ultrasonic imaging device comprises a housing, which adopts a sealed waterproof packaging structure.

[0009] The sensor unit comprises one of the following: a second phased array ultrasonic sensor array, a single-point ultrasonic sensor, a camera, and a sensor for communication.

[0010] The detection frequency of the first phased array ultrasonic sensor array is higher than the detection frequency of the second phased array ultrasonic sensor array.

[0011] The first phased array ultrasonic sensor array comprises a plurality of array elements arranged in a predetermined manner.

[0012] The sensor unit is electrically connected to the ultrasonic sensor unit.

[0013] Further comprising a processor for processing the detection signals of the ultrasonic sensor unit and the sensor unit.

[0014] The processor comprises an imaging processing module configured to image the obstacle by the ultrasonic sensor unit.

[0015] The processor is capable of determining whether the obstacle detected by the sensor unit hinders the movement of the cleaning device based on the detection signal of the ultrasonic sensor unit.

[0016] The number of rows or columns of the second ultrasonic sensor array of the phased array is less than the corresponding number of rows or columns of the first ultrasonic sensor array of the phased array.

[0017] The detection distance of the ultrasonic sensor unit is between 0.5 meters and 2 meters, and the detection distance of the sensor unit is between 2.5 meters and 8 meters.

[0018] In a second aspect, a pool cleaning robot is provided, comprising the ultrasonic imaging device of any one of the above aspects.

[0019] The technical solutions provided in the embodiments of the present application set the ultrasonic sensor unit and the sensor unit, which can simultaneously compatible with long-distance ranging and short-distance imaging of the obstacle, so that the detection effect is better, and the pool cleaning effect is improved.

[0020] The above description is only a summary of the technical solutions of the present application. In order to enable one skilled in the art to better understand the technical means of the present application, the contents of the specification can be implemented, and in order to enable the above and other purposes, features and advantages of the present application to be more obvious and easy to understand, the following specific embodiments of the present application are described. BRIEF DESCRIPTION OF DRAWINGS

[0021] Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The accompanying drawings are included to provide a description of the preferred embodiments and are not meant to limit the present application. Moreover, the same reference numerals in the attached drawings indicate the same or similar components. In the drawings:

[0022] Figure 1 is a schematic diagram of an ultrasonic imaging device according to a first embodiment of the present application;

[0023] Figure 2 is a schematic diagram of an ultrasonic imaging device according to a second embodiment of the present application;

[0024] Figure 3 is a schematic diagram of an ultrasonic imaging device according to a third embodiment of the present application;

[0025] Figure 4This is a schematic diagram of an ultrasonic sensor unit and a sensor unit according to an embodiment of this application;

[0026] Figure 5 This is a schematic diagram of an ultrasonic sensor unit and a sensor unit according to another embodiment of this application;

[0027] Figure 6 This is a schematic diagram of an ultrasonic sensor unit and a sensor unit according to yet another embodiment of this application; and

[0028] Figure 7 This is a schematic diagram of the pool cleaning robot provided in this application. Detailed Implementation

[0029] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art. Furthermore, descriptions of well-known structures and technologies are omitted in the following description to avoid unnecessarily obscuring the concepts of the present disclosure.

[0030] The accompanying drawings illustrate various structural schematics according to embodiments of the present disclosure. These drawings are not to scale, and some details have been enlarged for clarity, and some details may have been omitted. The shapes of the various regions and layers shown in the drawings, as well as their relative sizes and positional relationships, are merely exemplary and may deviate from reality due to manufacturing tolerances or technical limitations. Furthermore, those skilled in the art can design regions / layers with different shapes, sizes, and relative positions as needed.

[0031] This application provides an ultrasonic imaging device. The ultrasonic imaging device is used in a pool cleaning robot. The pool cleaning robot can move and clean within a pool-shaped structure, such as a swimming pool, a water storage tank, a water tank, or a water storage trough. This disclosure does not limit the specific presentation of the pool cleaning robot or the pool-shaped structure, as long as the principles of this disclosure are achieved.

[0032] The ultrasonic imaging device includes: an ultrasonic sensor unit, wherein the ultrasonic sensor unit includes a first ultrasonic sensor array of a phased array; and a sensor unit disposed outside or inside the first ultrasonic sensor array of the phased array.

[0033] The ultrasonic imaging device of this application will now be described in detail with reference to the accompanying drawings.

[0034] First seeFigure 1 and Figure 2 . Figure 1 This is a schematic diagram of an ultrasound imaging apparatus according to a first embodiment of this application. Figure 2 This is a schematic diagram of an ultrasound imaging apparatus according to a second embodiment of this application.

[0035] like Figure 1 and Figure 2 As shown, the ultrasound imaging device includes an ultrasound sensor unit 11 and a sensor unit 12.

[0036] In one embodiment, the ultrasonic sensor unit 11 includes a first ultrasonic sensor array 111 of a phased array.

[0037] The first ultrasonic sensor array 111 of the phased array can also be called a phased array ultrasonic probe. A phased array ultrasonic probe typically includes the following components:

[0038] (1) A phased array composed of multiple independent chip units. The chip units are made of piezoelectric material. Each chip unit is called an ultrasonic element (or simply element). Each element has an independent connector and excitation circuit, and can transmit and receive ultrasonic signals through the piezoelectric effect and inverse piezoelectric effect. The elements are insulated from each other. Therefore, functionally, each element can be regarded as an ultrasonic probe. For example, a phased array probe with 32 chip units is equivalent to 32 conventional ultrasonic probes. In practice, the commonly used size of each element is 0.5*10mm, and the spacing between elements is, for example, 0.4~1mm.

[0039] (2) Driving circuit. The driving circuit is used to control the excitation signals of each array element to ensure that the array elements work according to the set time and phase.

[0040] (3) Signal processor. The signal processor is used to amplify, filter, and digitize the reflected ultrasonic signals.

[0041] (4) Control system. The control system is used to set the working mode, scanning method and data acquisition strategy of the phased array ultrasonic probe.

[0042] The first ultrasonic sensor array 111 of the phased array can form a synthesized ultrasonic beam by controlling the transmission timing and phase of each array element, thereby achieving directional control of the ultrasonic beam. For example, it can selectively focus on a certain point or a specific detection area in space. The first ultrasonic sensor array 111 of the phased array can also scan simultaneously from multiple angles and use efficient algorithms (such as time-domain reflectometry and frequency-domain analysis) to process the received ultrasonic signals, extract useful information, and generate images. Due to the presence of multiple array elements, the first ultrasonic sensor array 111 of the phased array can employ multi-channel acquisition technology to simultaneously receive multiple signals, improving imaging accuracy.

[0043] It should be understood that the above description of the various components in the phased array ultrasonic probe is merely exemplary and does not constitute a limitation on the various parameters and functions of the above components. Those skilled in the art can select and set the phased array ultrasonic probe and its components, parameters, and functions according to actual needs, as long as the principle of this application can be achieved.

[0044] In one embodiment, the sensor unit 12 includes a single-point ultrasonic sensor. The single-point ultrasonic sensor may consist of one or more fixed ultrasonic array elements, and calculates the distance by measuring the time it takes for the ultrasonic wave to travel from emission to reception, thereby detecting the presence and location of obstacles. The single-point ultrasonic sensor is mainly used for distance measurement and obstacle detection. The single-point ultrasonic sensor may also include components such as a driving circuit and a signal processor, which will not be described in detail here.

[0045] It should be understood that the above description of the components of the single-point ultrasonic sensor is merely exemplary and does not constitute a limitation on the various parameters and functions of the above components. Those skilled in the art can select and set the single-point ultrasonic sensor and its components, parameters, and functions according to actual needs, as long as the principle of this application can be achieved.

[0046] The pool cleaning robot can detect the presence and distance of obstacles using the single-point ultrasonic sensor. As mentioned above, the ultrasonic sensor unit (including the first ultrasonic sensor array of phased array) can use phased array technology for imaging. Thus, the combination of the single-point ultrasonic sensor and the first ultrasonic sensor array can more efficiently identify obstacles, avoid obstacles, design cleaning routes, and determine whether obstacles can be directly cleaned by the pool cleaning robot.

[0047] In one embodiment, sensor unit 12 includes a second ultrasonic sensor array of phased array.

[0048] Specifically, the second phased-array ultrasonic sensor array can also be called a phased-array ultrasonic probe. The components and functions of this phased-array ultrasonic probe are the same as or similar to those of the first ultrasonic sensor array 111 described above, and will not be repeated here.

[0049] The sensor unit 12 (including the second ultrasonic sensor array of phased array) can use phased array technology to perform imaging, determine obstacles through imaging results, and combine the detection results of the ultrasonic sensor unit 11 to enable the pool cleaning robot to more efficiently identify obstacles, avoid obstacles, design cleaning routes, and determine whether obstacles can be directly cleaned by the pool cleaning robot.

[0050] Understandably, if the obstacle is small, such as a hair tie, twig, or leaf, the pool cleaning robot can clean it; if the obstacle is an underwater light, step, or wall, the pool cleaning robot can avoid it. Although the types of obstacles are illustrated herein, the obstacles addressed in this application are not limited to these.

[0051] In one embodiment, sensor unit 12 includes a camera or a sensor for communication.

[0052] The camera can be used for underwater ranging and image acquisition. For example, a laser emitter can be used to send laser pulses, which propagate in the water and are reflected by obstacles. By measuring the time it takes for the laser pulse to travel from emission to return, the distance to the obstacle can be calculated. If there are two cameras, ranging can also be performed using stereo vision technology. For example, two cameras can be used to simultaneously capture images at a certain baseline distance, and the depth of the object can be calculated using triangulation.

[0053] The sensor used for communication may be, for example, an underwater acoustic communication transducer, which may consist of a transmitter and a receiver. The transmitter converts an electrical signal into an acoustic signal and propagates the acoustic signal through the water; the receiver converts the received acoustic signal back into an electrical signal for further processing.

[0054] The above description of the camera and the sensor used for communication is merely exemplary. Those skilled in the art can select the camera and the sensor used for communication according to actual needs and application scenarios, as long as the principle of this application can be achieved.

[0055] In one embodiment, the sensor unit 12 may be disposed outside or inside the first ultrasonic sensor array 111. Specifically, as shown... Figure 1 As shown, the sensor unit 12 is disposed outside the first ultrasonic sensor array 111. Figure 2As shown, the sensor unit 12 is disposed inside the first ultrasonic sensor array 111.

[0056] By placing the sensor unit 12 at different positions relative to the first ultrasonic sensor array 111, it is possible to achieve functional complementarity between the two ultrasonic sensing units (i.e., ultrasonic sensor unit and sensor unit), and also to optimize the structure and / or size of the ultrasonic imaging device.

[0057] For example, placing the sensor unit 12 inside the first ultrasonic sensor array 111 of the phased array can reduce the size of the ultrasonic imaging device, thereby facilitating its placement in a small space on the shell of the pool robot and increasing the flatness of the shell, thus reducing the resistance of the pool robot as it moves through the water. Placing the sensor unit 12 outside the first ultrasonic sensor array 111 of the phased array allows for the separate fabrication of two sensor units (i.e., an ultrasonic sensor unit and a sensor unit), avoiding interference between the two sensor units in terms of circuitry, wiring, and control, and also making it easier to solve the heat dissipation problem of the sensor during operation.

[0058] In one embodiment, the detection angle of the ultrasonic sensor unit at least partially coincides with the detection angle of the sensor unit. See also Figure 1 and Figure 2 The detection angle α1 of the ultrasonic sensor unit 11 and the detection angle α2 of the sensor unit 12 can at least partially overlap.

[0059] like Figure 1 As shown, the detection angles α1 and α2 only partially overlap. Therefore, by using the detection angles α1 and α2, the detection angle and range can be increased, thereby improving the detection efficiency of the ultrasonic imaging device.

[0060] like Figure 2 As shown, the detection angle α2 is completely covered by the detection angle α1. On the one hand, this avoids missing some areas when the detection angles α1 and α2 do not overlap. On the other hand, it allows for better detection of the overlapping area of ​​the two angles, resulting in better imaging in the overlapping area. This improves detection accuracy and is beneficial for obstacle avoidance and path planning of the pool robot.

[0061] In one embodiment, the detection range of the ultrasonic sensor unit 11 is less than that of the sensor unit 12. Since the bandwidth and energy of a single array element are limited, it is difficult to achieve simultaneous short-range and long-range detection in water. Therefore, this application provides ultrasonic sensor unit 11 and sensor unit 12, with the detection range of ultrasonic sensor unit 11 being less than that of sensor unit 12. This allows ultrasonic sensor unit 11 to perform short-range detection for imaging and mapping, while the second sensor 12 performs long-range detection to determine the location of obstacles. This enables simultaneous long-range and short-range detection, improving the efficiency and accuracy of obstacle detection.

[0062] In one embodiment, the detection distance of the ultrasonic sensor unit 11 is between 0.5 meters and 2 meters. For example, the detection distance of the ultrasonic sensor unit 11 is 0.5 meters, 1 meter, 1.5 meters, or 2 meters. Those skilled in the art can select the detection distance of the ultrasonic sensor unit 11 according to the size of the pool, the detection requirements of the ultrasonic imaging device, etc., and no limitation is made here.

[0063] In one embodiment, the detection distance of the sensor unit 12 is between 2.5 meters and 8 meters, for example, the detection distance of the sensor unit 12 is 2.5 meters, 3.5 meters, 4.5 meters, 5.5 meters, 7 meters, or 8 meters, etc. Those skilled in the art can actually select the detection distance of the sensor unit 12 according to the size of the pool, the detection requirements of the ultrasonic imaging device, etc., and there is no limitation here.

[0064] In one embodiment, the detection frequency of the ultrasonic sensor unit 11 is higher than that of the sensor unit 12. Specifically, as described above, the ultrasonic sensor unit 11 performs close-range detection for imaging and mapping, while the sensor unit 12 performs long-range detection to determine the location of obstacles. Setting the detection frequency of the ultrasonic sensor unit 11 to be higher ensures imaging resolution and accuracy.

[0065] Differentiating the functions of the two sensor units, assigning them separate responsibilities for near-range and long-range detection (rather than both being set to high power), helps reduce the overall energy consumption of the sensors, thus saving energy for the pool cleaning robot. For example, sensor unit 12 can be activated first for long-range detection (while ultrasonic sensor unit 11 remains off) to determine the location of obstacles and provide path planning for the pool robot. Once the pool robot moves near the obstacle, ultrasonic sensor unit 11 is activated to image the obstacle, determining its type and allowing the pool robot to perform subsequent operations (e.g., if the obstacle is identified as a leaf, the pool robot can directly suck the leaf into its internal dustbin; if the obstacle is identified as a pool wall step, the pool robot can avoid the obstacle). This reduces the operating time of ultrasonic sensor unit 11, achieving energy savings.

[0066] In one embodiment, the detection frequency of the first ultrasonic sensor array 111 may be, for example, 1 MHz, and the detection frequency of the single-point ultrasonic sensor 121 may be, for example, 40 kHz.

[0067] In another embodiment, the detection frequency of the first ultrasonic sensor array 111 may be, for example, 1 MHz, while the detection frequency of the single-point ultrasonic sensor 121 may be, for example, 0.5 MHz.

[0068] Those skilled in the art can select and set the detection frequency of the first ultrasonic sensor array 111 and the detection frequency of the single-point ultrasonic sensor 121 according to actual needs, the functional settings of the ultrasonic imaging device, the pool cleaning robot, the area of ​​the pool, and other parameters, as long as the principle of this application can be realized.

[0069] The sensor unit 12 can be configured as an underwater acoustic communication vibrator, which can both detect the location of obstacles and perform communication. For example, a user can send a control signal to the pool cleaning robot through a signal transmitting device. The pool cleaning robot receives the control signal through the sensor unit 12 and decodes the received control signal to obtain the user's control commands, such as the user recalling the pool cleaning robot, instructing the pool cleaning robot to resume work, or instructing the pool cleaning robot to pause work.

[0070] Understandably, sensor unit 12 and ultrasonic sensor unit 11 are electrically connected to each other in order to cooperate in working together. For example, sensor unit 12 and ultrasonic sensor unit 11 can be connected to the same processor, and the signal processor can amplify, filter, and digitize the ultrasonic signals reflected from the obstacle. Alternatively, sensor unit 12 and ultrasonic sensor unit 11 can be connected to a control system, which can set the operating mode, scanning method, and data acquisition strategy of the phased array ultrasonic probe.

[0071] The following is combined Figure 3 The processor, the ultrasonic sensor unit 11, and the sensor unit 12 will be further described. Figure 3 This is a schematic diagram of an ultrasound imaging apparatus according to a third embodiment of this application. Figure 3 As shown, the ultrasonic imaging device of this application further includes a processor 13 for processing the detection signals of the ultrasonic sensor unit 11 and the sensor unit 12. The processor 13 includes an imaging processing module configured to image obstacles using the ultrasonic sensor units. Specifically, the processor 13 can process the detection signals of the sensor unit 12 to identify the presence of an obstacle at a certain location, and then process the detection signals of the ultrasonic sensor unit 11 to identify whether the obstacle obstructs the movement of the pool cleaning robot (e.g., if it is identified as a leaf, it does not obstruct the movement of the pool cleaning robot). For example, the processor 13 can also image obstacles based on the detection signals of the ultrasonic sensor unit 11, and can perform distance / orientation measurement on obstacles based on the detection signals of the sensor unit 12, and combine imaging and distance / orientation measurement to control the pool robot to avoid obstacles. It is understood that the processor 13 is electrically connected to the ultrasonic sensor unit 11 and the sensor unit 12.

[0072] The following is combined Figure 4 Further explanation is provided regarding the ultrasonic sensor unit and the sensor unit. Figure 4 This is a schematic diagram of an ultrasonic sensor unit and a sensor unit according to an embodiment of this application. In this embodiment, the first ultrasonic sensor array 111 of the phased array of the ultrasonic sensor unit 11 includes a plurality of array elements arranged in a predetermined manner. Figure 4Each square shown can represent one or more array elements. For example, the first ultrasonic sensor array 111 includes 20*3 array elements, that is, these array elements are arranged in 20 rows and 3 columns, for a total of 60 array elements. Sensor unit 12 includes a single-point ultrasonic sensor 121. The single-point ultrasonic sensor 121 in sensor unit 12 is a single unit and is positioned above the first ultrasonic sensor array 111 of the phased array, for example, directly above or to the side above the first ultrasonic sensor array 111, thereby expanding the detection angle. As mentioned above, the single-point ultrasonic sensor 121 can also be composed of one or more array elements.

[0073] The following is combined Figure 5 Further explanation is provided regarding the ultrasonic sensor unit and the sensor unit. Figure 5 This is a schematic diagram of an ultrasonic sensor unit and a sensor unit according to another embodiment of this application. This embodiment is similar to the one described above. Figure 4 The difference in the illustrated embodiment is that, in this embodiment, there are multiple single-point ultrasonic sensors 121 in the sensor unit 12, for example, two. The two single-point ultrasonic sensors 121 are located on both sides of the first ultrasonic sensor array 111. By setting multiple single-point ultrasonic sensors 121, it is helpful for the ultrasonic imaging device to detect the location of obstacles, especially for scenarios with multiple obstacles, scenarios with a large pool area, and scenarios where multiple obstacles are relatively scattered, the detection efficiency and accuracy of multiple single-point ultrasonic sensors 121 are better.

[0074] The following is combined Figure 6 Further explanation is provided regarding the ultrasonic sensor unit and the sensor unit. Figure 6 This is a schematic diagram of an ultrasonic sensor unit and a third ultrasonic sensor unit according to another embodiment of this application. In this embodiment, the ultrasonic sensor unit 11 includes a first ultrasonic sensor array 111 of phased array. For example, the first ultrasonic sensor array 111 includes 20*3 array elements. The sensor unit 12 includes a second ultrasonic sensor array 122 of phased array. Furthermore, the first ultrasonic sensor array 111 and the second ultrasonic sensor array 122 of phased array are arranged alternately. For example, as... Figure 6 As shown, odd-numbered rows represent the first ultrasonic sensor array 111 of the phased array, and even-numbered rows represent the second ultrasonic sensor array 122 of the phased array.

[0075] In another embodiment, multiple rows can be grouped together (e.g., two rows per group), with one group consisting of a first ultrasonic sensor array 111 of the phased array and an adjacent group consisting of a second ultrasonic sensor array 122 of the phased array, thus arranging the first ultrasonic sensor array 111 and the second ultrasonic sensor array 122 of the phased array in an alternating vertical arrangement. The first ultrasonic sensor array 111 of the phased array is used for close-range scanning imaging and mapping, while the second ultrasonic sensor array 122 of the phased array is used for long-range scanning imaging and mapping. The two groups work together to identify obstacles.

[0076] In another embodiment, each column can be grouped into one group or multiple columns into one group (e.g., two columns into one group). One group is the first ultrasonic sensor array 111 of the phased array, and the adjacent group is the second ultrasonic sensor array 122 of the phased array, so that the first ultrasonic sensor array 111 and the second ultrasonic sensor array 122 of the phased array are arranged alternately from left to right.

[0077] Furthermore, the first ultrasonic sensor array 111 of the phased array can be any one of a one-dimensional linear array, a 1.5-dimensional matrix, a 2-dimensional matrix, a ring array, a sector array, a one-dimensional curved surface array, a dual linear array, or a dual 1.5-dimensional matrix. The arrangement of the second ultrasonic sensor array 122 of the phased array can be determined according to the first ultrasonic sensor array 111 of the phased array, as long as it can realize the principle of this application.

[0078] In one embodiment of this application, in order to save resources, the number of rows or columns of the second ultrasonic sensor array 122 can be set to be less than the number of rows or columns of the first ultrasonic sensor array 111.

[0079] Furthermore, the ultrasonic imaging device includes a housing, which employs a sealed and waterproof encapsulation structure. Ultrasonic sensor unit 11 and sensor unit 12 are disposed within the housing, which protects the internal ultrasonic sensor unit 11 and sensor unit 12 from corrosion by moisture or other contaminants.

[0080] The technical solution provided in this application embodiment sets up an ultrasonic sensor unit 11 and a sensor unit 12, and makes the detection angle of the ultrasonic sensor unit 11 at least partially coincide with the detection angle of the sensor unit 12, thereby increasing the detection angle and range, improving the detection efficiency of the ultrasonic imaging device, avoiding missing some areas during imaging, and the detection distance of the ultrasonic sensor unit 11 is smaller than the detection distance of the sensor unit 12, so as to simultaneously be compatible with long-distance ranging and close-range imaging of obstacles, resulting in better detection effect and improved water pool cleaning effect.

[0081] See Figure 7 , Figure 7This is a schematic diagram of the pool cleaning robot provided in this application. This application also provides a pool cleaning robot 1000, which includes an ultrasonic imaging device 100, and the ultrasonic imaging device 100 can be any of the ultrasonic imaging devices provided in the above embodiments.

[0082] Specifically, the pool cleaning robot 1000 provided in this application includes an ultrasonic imaging device 100, which enables the pool cleaning robot 1000 to increase the detection angle and range during cleaning operations, improve the detection efficiency of the ultrasonic imaging device, avoid missing certain areas during imaging, and simultaneously be compatible with long-distance ranging and close-range imaging of obstacles, resulting in better imaging effects and improved pool cleaning effects.

[0083] The algorithms and displays provided herein are not inherently related to any particular computer, virtual system, or other device. Various general-purpose systems can also be used in conjunction with the teachings herein. The required structure for constructing such systems is apparent from the above description. Furthermore, this application is not directed to any particular programming language. It should be understood that the content of this application described herein can be implemented using various programming languages, and the above description of specific languages ​​is for the purpose of disclosing the best mode of implementation of this application.

[0084] Numerous specific details are set forth in the specification provided herein. However, it will be understood that embodiments of this application may be practiced without these specific details. In some instances, well-known methods, structures, and techniques have not been shown in detail so as not to obscure the understanding of this specification.

[0085] Similarly, it should be understood that, in order to streamline this disclosure and aid in understanding one or more aspects of the various applications, in the above description of exemplary embodiments of the present application, various features of the present application are sometimes grouped together into a single embodiment, figure, or description thereof.

[0086] Those skilled in the art will understand that modules in the apparatus of the embodiments can be adaptively changed and placed in one or more apparatuses different from that embodiment. Modules, units, or components in the embodiments can be combined into a single module, unit, or component, and further, they can be divided into multiple sub-modules, sub-units, or sub-components. Except where at least some of such features and / or processes or units are mutually exclusive, any combination can be employed to combine all features disclosed in this specification (including the abstract and drawings) and all processes or units of any method or apparatus so disclosed. Unless expressly stated otherwise, each feature disclosed in this specification (including the accompanying abstract and drawings) may be replaced by an alternative feature that serves the same, equivalent, or similar purpose.

[0087] Furthermore, those skilled in the art will understand that although some embodiments herein include certain features included in other embodiments but not others, combinations of features from different embodiments are meant to be within the scope of this application and form different embodiments.

[0088] It should be noted that the above embodiments are illustrative of this application and not limiting of it. No reference numerals placed between parentheses should be construed as limiting the application. The word "comprising" does not exclude the presence of components or steps not listed in this application. The word "a" or "an" preceding a component does not exclude the presence of a plurality of such components. This application can be implemented by means of hardware comprising several different components and by means of a suitably programmed computer. In embodiments listing several means, several of these means may be embodied by the same hardware item. The use of the words first, second, and third, etc., does not indicate any order. These words can be interpreted as names.

Claims

1. An ultrasonic imaging device for a water tank cleaning robot, the ultrasonic imaging device comprising: An ultrasonic sensor unit, wherein the ultrasonic sensor unit includes a first ultrasonic sensor array of a phased array; and A sensor unit is disposed outside or inside the first ultrasonic sensor array of the phased array.

2. The ultrasound imaging device according to claim 1, wherein, The detection angle of the ultrasonic sensor unit at least partially coincides with the detection angle of the sensor unit.

3. The ultrasound imaging device according to claim 1, wherein, The detection range of the ultrasonic sensor unit is less than the detection range of the sensor unit.

4. The ultrasound imaging device according to claim 1, wherein, The ultrasound imaging device includes a housing, which is a sealed and waterproof encapsulation structure.

5. The ultrasound imaging apparatus according to any one of claims 1, wherein, The sensor unit includes one of the following: The second ultrasonic sensor array of the phased array. Single-point ultrasonic sensor, Camera, Sensors used for communication.

6. The ultrasound imaging device according to claim 5, wherein, The detection frequency of the first ultrasonic sensor array of the phased array is higher than the detection frequency of the second ultrasonic sensor array of the phased array.

7. The ultrasound imaging device according to claim 1, wherein, The first ultrasonic sensor array of the phased array includes multiple array elements arranged in a predetermined manner.

8. The ultrasound imaging device according to claim 1, wherein, The sensor unit is electrically connected to the ultrasonic sensor unit.

9. The ultrasound imaging device according to claim 1, wherein, It also includes a processor for processing the ultrasonic sensor unit and the sensor unit's detection signals.

10. The ultrasound imaging device according to claim 9, wherein, The processor includes an imaging processing module configured to image the obstacle using the ultrasonic sensor unit.

11. The ultrasound imaging device according to claim 9, wherein, The processor can determine whether an obstacle detected by the ultrasonic sensor unit hinders the movement of the cleaning device based on the detection signal of the ultrasonic sensor unit.

12. The ultrasound imaging device according to claim 5, wherein, The number of rows or columns of the second ultrasonic sensor array of the phased array is less than the number of rows or columns of the corresponding first ultrasonic sensor array of the phased array.

13. The ultrasound imaging device according to claim 1, wherein, The detection range of the ultrasonic sensor unit is between 0.5 meters and 2 meters, and the detection range of the sensor unit is between 2.5 meters and 8 meters.

14. A pool cleaning robot, comprising the ultrasonic imaging device according to any one of claims 1-10.

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