Apparatus for cleaning a power plant and method for controlling the same

Abstract

An apparatus for cleaning a pool and a method of controlling the same are disclosed. The method comprises the following steps: controlling the device to move on the water surface; obtaining a target deflection angle of the device on the water surface; and controlling the steering of the device on the water surface based on the target deflection angle, the current magnitude and / or the current direction of the driving force during the steering being dependent on the difference between the current deflection angle and the target deflection angle of the device during the steering.

Description

Technical Field

[0001] This disclosure relates to an apparatus for cleaning a water tank and a method for controlling the apparatus in the field of automated cleaning. Background Technology

[0002] For pool facilities such as swimming pools, pool cleaning devices can be used for automatic or assisted cleaning. For example, pool cleaning devices can be designed to clean dirt and filter pool water while moving within the pool. Summary of the Invention

[0003] In a first aspect, a method for controlling a device for cleaning a pool is disclosed, the method comprising: controlling the device to move on a water surface; obtaining a target deflection angle of the device on the water surface; and controlling the device to turn on the water surface based on the target deflection angle, wherein the current magnitude and / or current direction of the thrust force during the turning process depends on the difference between the current deflection angle and the target deflection angle of the device during the turning process.

[0004] In one or more embodiments, the current magnitude of the thrust during steering may depend on the magnitude of the difference. For example, the current magnitude of the thrust during steering may be positively correlated with or proportional to the magnitude of the difference.

[0005] In one or more embodiments, the current direction of the thrust during the steering process may depend on the sign of the difference.

[0006] In one or more embodiments, the method may further include: determining that the device has completed the steering if the difference between the current deflection angle and the target deflection angle always meets a predetermined threshold condition within a predetermined time period.

[0007] In one or more embodiments, the current magnitude and / or current direction of the thrust force during steering can be controlled by the water spray mechanism of the device. For example, the water spray mechanism may include a plurality of water nozzles symmetrically arranged on the left and right sides of the device, and the current magnitude and / or current direction of the thrust force during steering can be controlled by the difference between the water spray force from the left water nozzle and the water spray force from the right water nozzle.

[0008] Secondly, an apparatus for cleaning a water tank is also disclosed, which may include: a spatial attitude sensor configured to acquire the current deflection angle of the apparatus; a power mechanism configured to provide a thrust that moves the apparatus on the water surface; and a controller configured to control the power mechanism to operate so as to move the apparatus on the water surface, acquire a target deflection angle of the apparatus on the water surface, and control the operation of the power mechanism based on the target deflection angle to control the turning of the apparatus on the water surface, wherein the current magnitude and / or current direction of the thrust during the turning process depends on the difference between the current deflection angle and the target deflection angle of the apparatus during the turning process.

[0009] In one or more embodiments, the current magnitude of the thrust during steering may depend on the magnitude of the difference. For example, the current magnitude of the thrust during steering may be positively correlated with or proportional to the magnitude of the difference.

[0010] In one or more embodiments, the current direction of the thrust during the steering process may depend on the sign of the difference.

[0011] In one or more embodiments, the controller may also be configured to determine that the device has completed the steering if the difference between the current yaw angle and the target yaw angle consistently meets a predetermined threshold condition within a predetermined time period.

[0012] In one or more embodiments, the power mechanism may further include a water spray mechanism. For example, the water spray mechanism may include a plurality of water nozzles symmetrically arranged on the left and right sides of the device, and the current magnitude and / or current direction of the thrust during the turning process may be controlled by the difference between the water spray force from the left water nozzle and the water spray force from the right water nozzle. Attached Figure Description

[0013] Figure 1 An example of a pool cleaning apparatus according to an embodiment of the present disclosure is shown.

[0014] Figure 2 An example of a pool cleaning apparatus according to an embodiment of the present disclosure is shown.

[0015] Figure 3 An example of a control method for a pool cleaning apparatus according to an embodiment of the present disclosure is shown.

[0016] Figure 4 An example of the execution process of a control method for a pool cleaning apparatus according to an embodiment of the present disclosure is shown.

[0017] Figure 5 An example of the execution process of a control method for a pool cleaning apparatus according to an embodiment of the present disclosure is shown.

[0018] Figure 6 An example of the execution process of a control method for a pool cleaning apparatus according to an embodiment of the present disclosure is shown.

[0019] Figure 7 An example of the execution process of a control method for a pool cleaning apparatus according to an embodiment of the present disclosure is shown. Detailed Implementation

[0020] Embodiments of this disclosure will now be described in detail with reference to the accompanying drawings. In the drawings, identical or equivalent parts are given the same reference numerals, and their descriptions are not repeated.

[0021] Pool cleaning devices can be configured to move on water surfaces. When a pool cleaning device moves on a water surface, its stability and controllability decrease due to factors such as buoyancy, viscosity, dynamic pressure, and surface fluctuations. For example, excessive rotation can easily occur when the device rotates on the water surface.

[0022] In one or more embodiments of this disclosure, a pool cleaning device capable of moving on a water surface and performing cleaning operations is provided, along with a method for controlling the movement and / or rotation of the device on the water surface. Under the control of this method, the device can rotate more smoothly on the water surface to a target angle or target orientation, for example, at least partially mitigating or avoiding excessive rotation on the water surface.

[0023] Figure 1 An example of a pool cleaning device 100 (hereinafter also simply referred to as "device 100") according to an embodiment of the present disclosure is shown.

[0024] In different embodiments, the device 100 can be configured to be positioned on the water surface in any suitable manner. For example, components such as airbags that provide buoyancy to the device 100 can be configured in the device 100, and the device 100 can be designed with structures and / or shapes that are conducive to floating on the water surface, such as a flattened shape.

[0025] Furthermore, such as Figure 1 As shown, the device 100 may also include a controller 120, a spatial attitude sensor 120, and a power mechanism 160.

[0026] Controller 120 can be configured, for example, according to the memory stored in device 100 ( Figure 1 One or more program instructions (not shown in the image) Figure 1 (not shown) to realize one or more operations or processes required to operate the device 100, and / or to realize one or more controls on one or more components of the device 100.

[0027] In different embodiments, controller 120 may include a central processing unit (CPU), a graphics processing unit (GPU), or other types or forms of processing circuitry or chips with data processing capabilities and / or instruction execution capabilities, such as a field-programmable gate array (FPGA). For example, when device 100 is configured to support processing based on deep learning models or artificial intelligence processing models such as convolutional neural networks, controller 120 may also include circuitry specifically designed to accelerate certain operations such as convolution, such as multiply-accumulate arrays, or may include circuitry or chips more suited to operations and processing in deep learning models or artificial intelligence processing models, such as tensor processors (TPUs) or brain processors (BPUs).

[0028] The spatial attitude sensor 140 may include components such as an inertial measurement unit (IMU) that can acquire (e.g., sense) information about the current deflection angle or current orientation of the device 100.

[0029] The power mechanism 160 can be configured to operate according to instructions or signals from the controller 120 to provide a thrust to the device 100 that enables the device 100 to move on the water surface. In different embodiments, the movement of the device 100 on the water surface can include, but is not limited to, one or more of movements such as forward, backward, rotation, and lateral. Accordingly, the power mechanism 160 can be configured to operate in different modes depending on the desired mode of movement, thereby providing the device 100 with a thrust of a desired magnitude and / or direction that enables the device 100 to move on the water surface.

[0030] In one embodiment, such as Figure 2 As shown, the power unit 160 can be configured as or include a water spraying mechanism. For example, the water spraying mechanism may include at least one water nozzle, such as... Figure 2 Spray nozzles 221 and 222; water flow channels communicating with each spray nozzle, for example Figure 2 A water flow channel 223 communicating with nozzle 221 and a water flow channel 224 communicating with nozzle 222; and at least one water pump installed on the water flow channels, for example Figure 2 Pump 225 is used to control the flow of water in water channel 223 and pump 226 is used to control the flow of water in water channel 224.

[0031] exist Figure 2 In the example, nozzles 221 and 222 can be relative to Figure 2The dashed line AB is symmetrically arranged on the left and right sides of the fuselage of device 100. The dashed line AB is a straight line passing through the center of mass, front, and rear of device 100 and parallel to its design axis within the plane of symmetry. In another example, nozzles 221 and 222 may also be arranged in any other suitable location on the fuselage of device 100.

[0032] For example, at least a portion of the water entering the device 100 from the pool can be sprayed outward to the left rear of the device 100 through the water flow channel 223 and the nozzle 221, driven by the water pump 225, thereby generating a thrust F1 on the left rear of the device 100. Simultaneously, or independently, at least a portion of the water entering the device 100 from the pool can be sprayed outward to the right rear of the device 100 through the water flow channel 224 and the nozzle 222, driven by the water pump 226, thereby generating a thrust F2 on the right rear of the device 100.

[0033] Therefore, the magnitude and / or direction of the driving force (i.e., the resultant force of F1 and F2) that moves the device 100 on the water surface can be controlled by controlling the difference between the flow rate (or velocity) of the water ejected from the nozzle 221 and the flow rate (or velocity) of the water ejected from the nozzle 222, or by controlling the difference between the water ejection force F1 from the nozzle 221 and the water ejection force F2 from the nozzle 222.

[0034] For example, if the flow rate (or velocity) of the water ejected from nozzle 221 is greater than that of the water ejected from nozzle 222, or if F1 is greater than F2 (e.g., the difference between the scalar values ​​of F1 and F2 is greater than 0), the resultant force of F1 and F2 can cause the device 100 to rotate clockwise on the water surface. Furthermore, the greater the flow rate (or velocity) of the water ejected from nozzle 221 relative to the flow rate (or velocity) of the water ejected from nozzle 222, or the greater the difference between F1 and F2, the greater the clockwise rotation speed of the device 100 on the water surface. In this case, for example, nozzle 222 can be closed or its operation suspended, making the flow rate (or velocity) of the water ejected from nozzle 222 zero, thereby making F2 zero.

[0035] For example, when the flow rate (or velocity) of the water ejected from nozzle 221 is less than the flow rate (or velocity) of the water ejected from nozzle 222, or when F1 is less than F2 (e.g., the difference between the scalar values ​​of F1 and F2 is less than 0), the resultant force of F1 and F2 can cause the device 100 to rotate counterclockwise on the water surface. Furthermore, the smaller the flow rate (or velocity) of the water ejected from nozzle 221 relative to the flow rate (or velocity) of the water ejected from nozzle 222, or the smaller the difference between F1 and F2, the greater the speed at which the device 100 rotates counterclockwise on the water surface. In this case, for example, nozzle 221 can be closed or its operation suspended, making the flow rate (or velocity) of the water ejected from nozzle 221 zero, thereby making F1 zero.

[0036] For example, when the flow rate (or velocity) of the water ejected from nozzle 221 is equal to or approximately equal to the flow rate (or velocity) of the water ejected from nozzle 222, or when F1 is equal to or approximately equal to F2 (e.g., the difference between the scalar values ​​of F1 and F2 is equal to or approximately equal to 0), the resultant force of F1 and F2 can cause device 100 to move forward on the water surface. The greater the flow rate (or velocity) of the water ejected from nozzles 221 and 222, or the greater the values ​​of F1 and F2, the greater the speed at which device 100 moves forward on the water surface.

[0037] The power unit 160 or the water spray mechanism of the power unit 160 is not limited to Figure 2 Examples.

[0038] In another embodiment, based on or instead of nozzles 221 and 222, the power mechanism 160 or the water spraying mechanism of the power mechanism 160 may include one or more nozzles similar to nozzles 221 and 222. Such one or more nozzles may be relative to... Figure 2 The dashed lines AB are symmetrically arranged on the left and right sides of the body of device 100, or they can be arranged in any other suitable manner (e.g., non-axially symmetric or asymmetrical) at any one or more suitable locations on device 100. Each nozzle can, for example, face a different direction, or can be configured to change direction. Thus, the magnitude and / or direction of the resultant force of the water jets from these nozzles can be controlled by controlling the flow rate (or velocity) of the water jets, thereby enabling device 100 to rotate at a desired speed and / or direction.

[0039] In another embodiment, the spray nozzle and the water pump can be Figure 2 The example shows a one-to-one quantitative relationship, which allows each nozzle to be equipped with an independent water pump. It can also be a many-to-one quantitative relationship, which allows multiple nozzles to share the same water pump.

[0040] In another embodiment, based on or instead of a water nozzle, the power mechanism 160 or its water spraying mechanism may further include rotating impellers disposed on the left and right sides of the device, and motors and corresponding transmission mechanisms for driving the rotating impellers to rotate simultaneously or separately in a specified direction and / or speed. Thus, the device 100 can be controlled to rotate at a desired speed and / or direction by controlling the rotational speed and / or direction of the rotating impellers on the left and right sides.

[0041] Figure 3 An example of a method 300 for controlling a device 100 according to an embodiment of the present disclosure is shown. The method 300 may be executed, for example, by a controller 120 of the device 100, so that the device 100 can rotate more smoothly to a target angle or target orientation on the water surface.

[0042] like Figure 3 As shown, method 300 may include: step 310, controlling device 100 to move on the water surface; step 320, obtaining a target deflection angle T of device 100 on the water surface; and step 330, controlling the steering of device 100 on the water surface based on the target deflection angle T determined in step 320.

[0043] For step 310 of method 300, any suitable method can be used to implement it in different embodiments.

[0044] During the movement of device 100 on the water surface, controller 120 can receive information about the distance between device 100 and surrounding obstacles (e.g., obstacles in front) from at least one distance sensor of device 100 (e.g., at least one ultrasonic sensor or at least one image sensor), and if the distance between device 100 and surrounding obstacles meets a predetermined threshold condition, for example, in response to detecting that the distance between device 100 and surrounding obstacles has reached a predetermined range, it determines that rotation is required and begins to execute step 320.

[0045] In step 320, the desired direction of rotation and the value of the angle θ that needs to be rotated through in the desired direction of rotation can be determined by any suitable method.

[0046] For example, the controller 120 can calculate the desired rotation direction and the value of θ based on one or more data and / or information such as the current movement rules of the device 100 (e.g., the current movement orientation), sensing information about the relative positional relationship between the device 100 and surrounding obstacles from at least one distance sensor of the device 100 (e.g., at least one ultrasonic sensor or at least one image sensor) (e.g., the distance between the device 100 and the obstacles), and obstacle information about the surrounding obstacles of the device 100 calculated or determined based on the sensing information from at least one distance sensor of the device 100 (e.g., the shape of the obstacles).

[0047] Based on this, or alternatively, the controller 120 may also determine the desired rotation direction and the value of θ according to instructions from the control terminal of the device 100.

[0048] Then, in step 320, the target deflection angle can be determined based on the current deflection angle C of the device 100 sensed by the spatial attitude sensor 140 during the execution of step 320, the direction of rotation of the device 100 expected to be rotated, and the angle θ expected to be rotated through.

[0049] For example, if the desired effect is to rotate the device 100 degrees clockwise by θ, the target deflection angle can be set to T = C - θ, while if... Figure 4 If the desired effect is to rotate device 100 counterclockwise by θ degrees as shown, the target deflection angle can be set to T = C + θ, where the current deflection angle C of device 100 can be determined based on real-time sensing data from the spatial attitude sensor 140 of device 100 during step 320.

[0050] In some embodiments, for example, the calculated target deflection angle T can be further processed according to the actual range of values ​​of the target deflection angle T, so that the processed value of the target deflection angle T falls within a predetermined angle range, in order to facilitate subsequent processing and judgment. For example, if T > π / 2, T can be updated to T = T - 2π / 2, and if T < -π / 2, T can be updated to T = T + 2π / 2, thereby ensuring that the processed value of the target deflection angle T is within the angle range [-π, π].

[0051] Then, controller 1 20 can execute step 330 to control the operation of power mechanism 160 based on the target deflection angle determined in step 320, thereby controlling the steering of device 100 on the water surface.

[0052] In step 330, for example, the controller 120 can use sensing data from the spatial attitude sensor 140 to determine the current deflection angle C of the device 100 during the steering process in real time, and can control the current magnitude and / or current direction of the thrust force provided by the push mechanism 160 during the steering process based on the difference α = TC between the current deflection angle of the device 100 during the steering process and the target deflection angle T determined in step 320.

[0053] In one embodiment, the controller 120 can determine the current direction of the thrust provided by the actuation mechanism 160 during steering based on the sign of α. For example, in step 330, in such a case... Figure 5 When α > 0, the controller 120 can control the power mechanism 160 to provide a driving force that enables the device 100 to rotate counterclockwise, while in the case of α > 0, the controller 120 can control the power mechanism 160 to provide a driving force that enables the device 100 to rotate counterclockwise. Figure 6 When α < 0, the controller 120 can control the power mechanism 160 to provide a driving force that enables the device 100 to rotate clockwise.

[0054] During the process of controlling the device 100 to rotate on the water surface via step 330, due to the inertia generated when the device 100 rotates on the water surface, the device 100 rotates in a counterclockwise direction (e.g., Figure 5 (as shown) or clockwise (e.g.) Figure 6 After reaching the target deflection angle T, the device 100 may continue to rotate in the previous counterclockwise or clockwise direction and exceed the target deflection angle T. Therefore, in step 330, the controller 120 can adjust the rotation direction of the device 100 on the water surface in real time according to the sign of α. For example, during the process of controlling the device 100 to rotate on the water surface, the controller 120 can adjust the driving force that rotates the device 100 in response to the change in the sign of α, thereby changing the rotation direction of the device 100. Thus, for example, excessive rotation can be mitigated.

[0055] For example, for those with Figure 2 The device 100 with the exemplary structure shown can, when α > 0, operate water pump 226 and stop water pump 225, or control water pumps 225 and 226 to operate in a manner that makes the power of water pump 226 greater than the power of water pump 225, thereby enabling the device 100 to rotate counterclockwise; when α < 0, it can operate water pump 225 and stop water pump 226, or control water pumps 225 and 226 to operate in a manner that makes the power of water pump 225 greater than the power of water pump 226, thereby enabling the device 100 to rotate clockwise.

[0056] For example, depending on the setting method and value range of the current deflection angle C, the target deflection angle T, and α, in another embodiment, when α > 0, water pump 225 can be operated while water pump 226 is paused, or water pumps 225 and 226 can be controlled to operate in a manner that makes the power of water pump 225 greater than the power of water pump 226, thereby enabling the device 100 to rotate in a clockwise direction; when α < 0, water pump 226 can be operated while water pump 225 is paused, or water pumps 225 and 226 can be controlled to operate in a manner that makes the power of water pump 226 greater than the power of water pump 225, thereby enabling the device 100 to rotate in a counterclockwise direction.

[0057] Additionally, in step 330, the controller 120 can determine the current magnitude of the thrust provided by the push mechanism 160 during steering based on the value of the difference α, |α|. For example, the current magnitude of the thrust during steering can be made positively correlated with or proportional to |α|.

[0058] For example, for those with Figure 2 The device 100 with the exemplary structure shown can determine the power P of the operating water pump 225 or 226, or the power difference Pd between water pumps 225 and 226, based on |α|. For example, P or Pd can be determined based on at least one of the maximum power value Pmax of water pumps 225 and / or 226, |α|, and the value |θ| of θ determined in step 320.

[0059] In one embodiment, P or Pd can be determined based on min(Pmax, Pmax*|α| / |θ|), where min() is the minimum value function.

[0060] In another embodiment, an interval such as [0, |θ|] can be divided into at least two sub-intervals, and P or Pd can be determined based on which sub-interval |α| is in.

[0061] For example, [0, |θ|] can be divided into sub-intervals [0, φ) and [φ, |θ|], where the range of φ can include, but is not limited to, [30°, 45°]. Correspondingly, when |α| is in the sub-interval [φ, |θ|], P or Pd can be determined in real-time as Pmax*|α| / |θ|, or fixedly set to a larger value, such as Pmax, Pmax*φ / |θ|, so that the device 100 can rotate to the target deflection angle T as quickly as possible when the deviation of the current deflection angle C from the target deflection angle T is large. When |α| is in the sub-interval [0, φ), P or Pd can be determined in real-time as Pmax*|α| / |θ|, or fixedly set to a smaller value, so that the device 100 can rotate more smoothly to the target deflection angle T when the deviation of the current deflection angle C from the target deflection angle T is small.

[0062] For example, [0, |θ|] can be divided into sub-intervals [0, φ1), [φ1, φ2), and [φ2, |θ|]. Correspondingly, when |α| is in the sub-interval [φ2, |θ|], P or Pd can be determined in real time as Pmax*|α| / |θ|, or fixed to a certain value, such as Pmax, Pmax*φ2 / |θ|, etc.; when |α| is in the sub-interval [φ1, φ2), P or Pd can be determined in real time as Pmax*|α| / |θ|, or fixed to a certain value, such as Pmax / 2, Pmax*φ1 / |θ|, etc.; when |α| is in the sub-interval [0, φ1), P or Pd can be determined in real time as Pmax*|α| / |θ|, or fixed to a smaller value.

[0063] Therefore, for Figure 2 The device 100 in the example can control the current magnitude and / or current direction of the thrust force (the resultant force of F1 and F2) provided by the push mechanism 160 during the turning process by controlling the water jet force F1 from the nozzle 221 and the water jet force F2 from the right nozzle 222.

[0064] In method 300, the current magnitude and / or current direction of the thrust during the turning process are controlled in real time based on the difference α between the current deflection angle C and the target deflection angle T, so that the current deflection angle C is relatively close to the target deflection angle T and the thrust is relatively small. This allows the device 100 to rotate more smoothly to the target angle or target orientation on the water surface and reduces or avoids excessive rotation.

[0065] In a real water tank, due to factors such as water surface fluctuations, it may be difficult to control the device 100 to rotate to the point where the current deflection angle C is exactly equal to the target deflection angle T. Therefore, in method 300, or in step 330, the controller 110 can determine whether the device 100 has completed the turning based on whether the difference α = TC between the current deflection angle C and the target deflection angle T consistently meets a predetermined threshold condition within a predetermined time period L (e.g., 0.5 seconds or 1 second).

[0066] For example, such as Figure 7 As shown, an angle range such as [σ1, σ2] can be predetermined, where the values ​​of σ1 and σ2 can be the same or different. For example, the range of σ1 can include, but is not limited to, [-5, -3], and the range of σ2 can include, but is not limited to, [3, 5]. Then, the controller 120 can start a timer in response to detecting that α falls within the angle range [σ1, σ2]. For example, if α exceeds the angle range [σ1, σ2] again before the timer expires, the controller 120 can continue to execute step 330 and stop the timer. If α remains within the angle range [σ1, σ2] until the timer expires, the controller 120 can determine that the device 100 has completed the turning.

[0067] 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.

[0068] 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.

[0069] Additionally, words such as "including," "containing," and "having" are open-ended terms meaning "including but not limited to," and can be used interchangeably. The words "or" and "and" as used herein refer to "and / or" or "at least one," and can be used interchangeably unless the context explicitly indicates otherwise. The word "such as" as used herein refers to the phrase "such as but not limited to," and can be used interchangeably.

[0070] It should also be noted that in the apparatus, devices, and methods of this disclosure, the components or steps can be disassembled and / or recombined. These disassemblies and / or recombinations should be considered as equivalent solutions to this disclosure.

[0071] In this article, modifiers without quantifiers, such as "first" and "second," are intended to distinguish different components / parts / circuits / modules / devices / steps, rather than to emphasize order, positional relationship, importance, or priority. In contrast, modifiers with quantifiers, such as "first" and "second," can be used to emphasize the order, positional relationship, importance, or priority of different components / parts / circuits / modules / devices / steps.

[0072] The above description is given for illustrative and descriptive purposes only. This description is not intended to limit the embodiments of this disclosure to the forms disclosed herein. Although numerous exemplary aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations therein.

Claims

1. A method for controlling an apparatus for cleaning a water tank, comprising: Control the movement of the device on the water surface; Obtain the target deflection angle of the device on the water surface; as well as The device is controlled to turn on the water surface based on a target deflection angle. The current magnitude and / or current direction of the thrust during the turning process depends on the difference between the current deflection angle and the target deflection angle of the device during the turning process.

2. The method as described in claim 1, wherein, The current magnitude of the thrust during steering depends on the magnitude of the difference. Preferably, the current magnitude of the thrust during the steering process is positively correlated with or proportional to the magnitude of the difference.

3. The method as described in claim 1 or 2, wherein, The current direction of the thrust during the steering process depends on the sign of the difference.

4. The method of claim 1 or 2, further comprising: If the difference between the current deflection angle and the target deflection angle always meets a predetermined threshold condition within a predetermined time period, the device is determined to have completed the steering.

5. The method as described in claim 1 or 2, wherein, The current magnitude and / or current direction of the thrust during steering is controlled by the water spray mechanism of the device. Preferably, the water spraying mechanism includes a plurality of water spray nozzles symmetrically arranged on the left and right sides of the device, and the current magnitude and / or current direction of the driving force during the turning process is controlled by the difference between the water spray force from the left water spray nozzle and the water spray force from the right water spray nozzle.

6. An apparatus for cleaning a water tank, comprising: A spatial attitude sensor is configured to acquire the current deflection angle of the device; A power mechanism is configured to provide a thrust that moves the device on the water surface; as well as The controller is configured to control the power mechanism to operate so that the device moves on the water surface, obtain a target deflection angle of the device on the water surface, and control the power mechanism to operate based on the target deflection angle, thereby controlling the steering of the device on the water surface, wherein the current magnitude and / or current direction of the thrust during the steering process depends on the difference between the current deflection angle and the target deflection angle of the device during the steering process.

7. The apparatus of claim 6, wherein, The current magnitude of the thrust during steering depends on the magnitude of the difference. Preferably, the current magnitude of the thrust during the steering process is positively correlated with or proportional to the magnitude of the difference.

8. The apparatus of claim 7 or 8, wherein, The current direction of the thrust during the steering process depends on the sign of the difference.

9. The apparatus of claim 7 or 8, wherein, The controller is also configured to determine that the device has completed the steering if the difference between the current yaw angle and the target yaw angle consistently meets a predetermined threshold condition within a predetermined time period.

10. The apparatus of claim 7 or 8, wherein, The power mechanism includes a water spraying mechanism. Preferably, the water spraying mechanism includes a plurality of water spray nozzles symmetrically arranged on the left and right sides of the device, and the current magnitude and / or current direction of the driving force during the turning process is controlled by the difference between the water spray force from the left water spray nozzle and the water spray force from the right water spray nozzle.

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