Automatic pool cleaning device and control method thereof

Abstract

Disclosed are a pool automatic cleaning device and a control method thereof. The method comprises: detecting whether the pool automatic cleaning device travels to a step region during pool wall cleaning by the pool automatic cleaning device; and when the pool automatic cleaning device moves to the step region, controlling the pool automatic cleaning device to continue to move upward along the steps of the step region for pool wall cleaning or to bypass the step region based on the number of steps of the step region. The method can not only consider the identification and cleaning of the ring-shaped sitting scene, but also quickly identify and bypass the multi-step region, thereby improving the cleaning efficiency, avoiding the problem of the pool automatic cleaning device being stuck in the step region, and being more suitable for a wider scene.

Description

Technical Field

[0001] Embodiments of this disclosure relate to a method for controlling an automatic water tank cleaning device and the automatic water tank cleaning device. Background Technology

[0002] With the popularization of automation technology and smart homes, automatic pool cleaning devices (such as pool cleaning robots) have been widely used in homes, hotels, public swimming pools and other scenarios. They collect and clean garbage / debris on the bottom, side walls and / or surface of pools such as swimming pools in order to filter and purify the water in the pool. The filtered and purified water can then be discharged back into the pool, thereby greatly reducing the burden of manual cleaning. Summary of the Invention

[0003] According to one aspect of this disclosure, a method for controlling an automatic pool cleaning device is proposed, comprising: during the process of the automatic pool cleaning device cleaning the pool wall, detecting whether the automatic pool cleaning device has moved to the step area; when the automatic pool cleaning device moves to the step area, based on the number of steps in the step area, controlling the automatic pool cleaning device to continue moving upward along the steps in the step area to clean the pool wall or to bypass the step area.

[0004] According to at least one embodiment of this disclosure, based on the number of steps in the stepped area, controlling the automatic pool cleaning device to continue moving upward along the steps of the stepped area to clean the pool wall or to bypass the stepped area includes: if the number of steps is greater than a preset number, controlling the automatic pool cleaning device to bypass the stepped area; if the number of steps is less than or equal to the preset number, controlling the automatic pool cleaning device to continue moving upward along the steps of the stepped area to clean the pool wall.

[0005] According to at least one embodiment of this disclosure, controlling the automatic pool cleaning device to bypass the step area includes: controlling the automatic pool cleaning device to bypass the step area directly from the bottom or wall of the pool before the automatic pool cleaning device moves onto the step of the step area; or controlling the automatic pool cleaning device to retreat from the step of the step area to the bottom of the pool and bypass the step area from the bottom of the pool.

[0006] According to at least one embodiment of this disclosure, controlling the automatic pool cleaning device to bypass the step area includes: when it is detected that the automatic pool cleaning device has moved onto a step in the step area, controlling the automatic pool cleaning device to continue moving upward until it is detected that the automatic pool cleaning device has moved onto the next step of a preset number of steps, then controlling the automatic pool cleaning device to retreat from the next step to the bottom of the pool, thereby bypassing the step area from the bottom of the pool.

[0007] According to at least one embodiment of this disclosure, after controlling the automatic pool cleaning device to retreat from the steps in the stepped area to the bottom of the pool, the automatic pool cleaning device is controlled to turn and move forward a predetermined distance or a predetermined time before cleaning the pool wall.

[0008] According to at least one embodiment of the present disclosure, during the process of the automatic pool cleaning device moving to the vicinity of the step area or the automatic pool cleaning device moving on the steps of the step area, the number of steps in the step area is detected.

[0009] According to at least one embodiment of this disclosure, controlling the automatic pool cleaning device to continue moving upward along the steps of the step area to clean the pool wall includes: controlling the automatic pool cleaning device to clean the step surface of the step area, and then continuing to move upward to clean the pool wall above the steps.

[0010] According to at least one embodiment of this disclosure, controlling the automatic pool cleaning device to continue moving upward along the steps of the stepped area to clean the pool wall includes: controlling the automatic pool cleaning device to move upward past the steps of the stepped area to clean the pool wall above the steps.

[0011] According to at least one embodiment of this disclosure, at least one of a camera, lidar, a downward-facing sensor, and an IMU is used to detect whether the automatic pool cleaning device has moved to a stepped area and the number of steps in the stepped area.

[0012] According to another aspect of this disclosure, an automatic pool cleaning device is provided, comprising: a memory storing processor-executable instructions; and a processor configured to cause the automatic pool cleaning device to perform the above-described method when executing the instructions stored in the memory. Attached Figure Description

[0013] To more clearly illustrate the technical solutions in the embodiments of this disclosure, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0014] Figure 1 The schematic diagram illustrates the shape of an automatic pool cleaning device according to an embodiment of the present disclosure;

[0015] Figure 2 The schematic diagram illustrates the working environment of the automatic pool cleaning device according to an embodiment of the present disclosure;

[0016] Figure 3A A flowchart illustrating a method for controlling an automatic water tank cleaning device according to an embodiment of the present disclosure is shown schematically.

[0017] Figure 3B A schematic diagram of an automatic water tank cleaning device according to an embodiment of the present disclosure is shown, showing the device bypassing a stepped area from the bottom or wall of the tank.

[0018] Figure 3C A schematic diagram of an automatic pool cleaning device according to an embodiment of the present disclosure is shown, showing the device moving upwards along the steps of a stepped area to clean the pool wall; and

[0019] Figure 4 A block diagram of an automatic pool cleaning device according to an embodiment of the present disclosure is shown schematically. Detailed Implementation

[0020] The detailed description that follows, taken in conjunction with the accompanying drawings, is intended as a description of various configurations and not as representing only configurations in which the concepts described herein can be practiced. The detailed description includes specific details and is intended to provide a thorough understanding of the various concepts. However, it will be apparent to those skilled in the art that these concepts can be practiced without these specific details.

[0021] In the description of this disclosure, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," "one side," "the other side," "front end," "rear end," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this disclosure and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this disclosure.

[0022] Furthermore, terms such as "first," "second," and "third," which relate to sequence, are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with terms such as "first," "second," and "third," which relate to sequence, may explicitly or implicitly include at least one of those features. In the description of this disclosure, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0023] Furthermore, dimensions may be exaggerated in the accompanying drawings for clarity and are not drawn to scale. Throughout the drawings, the same reference numerals generally refer to the same elements.

[0024] Figure 1 The diagram schematically illustrates the external appearance of an automatic pool cleaning device 100 according to an embodiment of the present disclosure. The automatic pool cleaning device 100 can perform cleaning operations on the bottom, walls, water, and surface of a pool (e.g., a swimming pool) as needed, for example, to remove debris from the water, bottom, and surface, and to clean dirt from the pool bottom and walls. Figure 1 As shown, the automatic pool cleaning device 100 may include a housing 110, a traveling mechanism 120, a cleaning unit 130, and other structures / components. As an example, a control compartment, a power compartment, and a filter compartment (not shown) may be housed within the housing 100. The control compartment may contain control circuitry such as a microprocessor, digital signal processor (DSP), or microcontroller. The power compartment may contain a drive mechanism such as a water pump or drive motor. The filter compartment may contain a filter unit such as a filter basket to filter and purify the water entering the filter compartment through the inlet, removing impurities, and then discharging the cleaned water through the outlet. Furthermore, the automatic pool cleaning device may also be equipped with a rechargeable battery as a power source to power the drive motor, water pump, control circuitry, and other components. As an example, Figure 1 The automatic pool cleaning device 100 shown has a tracked travel mechanism 120. However, the automatic pool cleaning device can also use a wheeled travel mechanism, which is not a limitation here.

[0025] As an example, the automatic pool cleaning device can also be equipped with a water spraying mechanism, such as a pump motor and an impeller, so that the automatic pool cleaning device can use the water spraying mechanism to spray water outward from the spray nozzle to assist the automatic pool cleaning device in moving on the pool wall, in the water and / or on the water surface; for example, the thrust difference generated on both sides of the axis of the automatic pool cleaning device by the water spraying mechanism can be used in conjunction with the traveling mechanism of the automatic pool cleaning device to make the automatic pool cleaning device rotate at the bottom of the pool, move laterally on the pool wall, etc.; the thrust generated by the water flow sprayed from the spray nozzle with the spray direction opposite to the traveling direction can also be used to propel the automatic pool cleaning device forward or backward on the water surface; or, when the automatic pool cleaning device is climbing the pool wall, the water flow sprayed from the spray nozzle at the top of the automatic pool cleaning device can be used to generate pressure on the bottom surface of the automatic pool cleaning device, so as to improve the adhesion between the traveling mechanism of the automatic pool cleaning device and the pool wall, and maintain the stability of its body in a vertical state.

[0026] It should be noted that the position, shape and / or number of the aforementioned spray nozzles provided on the housing 110 of the automatic pool cleaning device 100 can be determined according to the actual operational needs of the automatic pool cleaning device, and are not limited here.

[0027] although Figure 1 The schematic illustration shows the overall shape of an automatic pool cleaning device according to an embodiment of the present disclosure. It should be understood that this is merely illustrative and does not constitute any limitation on the principles of the present disclosure.

[0028] For example, in some examples, the automatic pool cleaning device may also be equipped with various sensors to perform various operations such as detecting the underwater environment, determining the route, and / or performing cleaning operations. For example, the automatic pool cleaning device may be equipped with an image sensor to acquire image information of objects around the automatic pool cleaning device. As an example, the aforementioned image sensor may include, but is not limited to, a monocular camera, a binocular camera, and / or a panoramic camera.

[0029] For example, in some examples, the automatic pool cleaning device may also be equipped with a distance sensor to obtain distance information between the automatic pool cleaning device and the object. As an example, the distance sensor may include, but is not limited to, at least one of the following: ultrasonic sensor, infrared sensor, lidar sensor, TOF sensor, and 3D structured light sensor.

[0030] For example, in some examples, the automatic pool cleaning device may also be equipped with an inertial measurement unit (IMU) to acquire attitude data of the automatic pool cleaning device. For example, the automatic pool cleaning device 100 can use the equipped IMU to collect the values ​​of acceleration and angular velocity of the automatic pool cleaning device in the three-dimensional space of the pool about the XYZ axes, thereby acquiring attitude data such as pitch angle, yaw angle and / or roll angle of the automatic pool cleaning device, and thus determining the travel state of the automatic pool cleaning device based on the attitude data.

[0031] Figure 2 The illustration schematically depicts the working environment of an automatic pool cleaning device according to an embodiment of the present disclosure, such as a swimming pool 200. As an example, such as... Figure 2As shown, the pool 200 is elliptical and includes features such as a platform 230 and steps 240. The automatic pool cleaning device 100 can travel on and / or in the pool 200, including the bottom 210, water surface 220, platform 230, steps 240, and pool walls 250, and performs cleaning operations during its travel, removing floating debris in and on the water surface, and removing dirt from the surfaces of the bottom 210, pool walls 250, platform 230, and / or steps 240, so as to provide a clean and hygienic environment for users. For example, the automatic pool cleaning device can travel along a planned route (e.g., bow-shaped, zig-shaped, U-shaped) on the pool bottom 210, and clean up debris 280 that may be present on the pool bottom such as fallen leaves, sludge, sand, pebbles, etc. during the journey; during the journey, it needs to avoid various underwater facilities and obstacles, such as drain outlets 260, ground lights 270, and / or the edges of platforms 230 and steps 240 that are part of the pool wall.

[0032] It should be noted that, although in Figure 2 In the example shown, the pool 200, which serves as a swimming pool, is elliptical in shape. However, the principles of this disclosure can also be applied to pools of other shapes, such as circular, rectangular, L-shaped, kidney-shaped, or otherwise, without limitation.

[0033] Currently, in their research on automatic pool cleaning devices, the inventors have noticed that:

[0034] When an automatic pool cleaning device encounters steps during the cleaning process, its existing movement patterns (such as straight up and down) are insufficient for effective cleaning. For example, some automatic pool cleaning devices, upon detecting multiple steps, will directly climb up each step until they emerge from the water. However, if the device lacks the ability to clean multiple steps, continuing to climb up will not only reduce cleaning efficiency but may also lead to getting stuck on the steps. Furthermore, some automatic pool cleaning devices, while cleaning the pool walls, will immediately retreat upon detecting a step, retreating to the bottom of the pool and then moving a fixed distance (e.g., one meter) to the left or right to quickly bypass the step area. This means that some of these devices will simply bypass steps, which can lead to problems when encountering steps such as... Figure 2 When there are single steps such as the circular seating platform shown, the automatic cleaning device of the pool will bypass them without cleaning the pool wall above, resulting in the pool wall being missed.

[0035] Furthermore, if the automatic pool cleaning device climbs onto the steps to clean, its posture on the steps is not easy to control, which can easily lead to problems such as disorder in the subsequent cleaning logic of the automatic pool cleaning device.

[0036] Therefore, according to at least one embodiment of this disclosure, a method for controlling an automatic pool cleaning device is provided, comprising: during the process of the automatic pool cleaning device cleaning the pool wall, detecting whether the automatic pool cleaning device has moved to a stepped area; when the automatic pool cleaning device moves to the stepped area, based on the number of steps in the stepped area, controlling the automatic pool cleaning device to continue moving upward along the steps in the stepped area to clean the pool wall or to bypass the stepped area. At least one embodiment of this disclosure also provides an automatic pool cleaning device corresponding to the above control method.

[0037] The method for controlling the automatic cleaning device of the pool provided in the above embodiments of this disclosure avoids steps with a preset number of steps (such as multi-level steps) and climbs steps with a preset number of steps (such as single-level steps such as a circular seating platform) to continue cleaning the pool wall. Therefore, this method can both identify and clean single-level step scenarios such as circular seating platforms and quickly identify and bypass multi-level step areas, thereby improving cleaning efficiency, avoiding the problem of getting stuck in multi-level steps, and having stronger scene adaptability.

[0038] The embodiments and some examples of this disclosure will now be described in detail with reference to the accompanying drawings.

[0039] At least one embodiment of this disclosure provides a method for controlling an automatic water tank cleaning device. For example, the control method can be implemented in the form of software, hardware, firmware, or any combination thereof, and can be loaded and executed by a processor in the automatic water tank cleaning device or a processor in a device that can interact with the automatic water tank cleaning device, such as a mobile phone, digital camera, tablet computer, laptop computer, desktop computer, network server, etc. The embodiments of this disclosure do not limit this.

[0040] Figure 3A A flowchart illustrating a method for controlling an automatic water tank cleaning device according to an embodiment of the present disclosure is shown schematically. Reference is made below. Figure 3A The methods provided in the embodiments of this disclosure will be described in detail. For example, such as Figure 3A As shown, the method for controlling the automatic cleaning device of the water tank includes steps S110 to S120.

[0041] Step S110: During the process of the automatic pool cleaning device cleaning the pool wall, detect whether the automatic pool cleaning device has moved to the step area;

[0042] Step S120: When the automatic pool cleaning device moves to the step area, based on the number of steps in the step area, control the automatic pool cleaning device to continue moving upward along the steps in the step area to clean the pool wall or to bypass the step area.

[0043] For step S110, for example, the step area includes, as shown in the example... Figure 2 The area shown includes facilities such as a platform (e.g., a circular seating platform) 230 or steps 240. The following description uses platform 230 (a circular seating platform, which can be considered as a single step since it has only one level) and steps 240 as multi-step steps (including, for example, three steps) as examples, but the embodiments disclosed herein are not limited thereto.

[0044] It is important to note that Figure 2 The step 240 shown in the figure is only schematically shown as a 3-step step, which may include more or fewer steps. For example, when the number of steps 240 is only 1, the step 240 is a single-step step, and when the number of steps 240 is greater than 1, the step 240 may be a multi-step step. The embodiments of this disclosure do not limit this.

[0045] For example, the automatic pool cleaning device 100 cleans the pool wall 250 in response to instructions issued by the control center or by executing instructions stored in its own memory. When it moves to the vicinity of facilities such as platform 230 or steps 240, it moves to the step area.

[0046] For example, sensors (such as image sensors, distance sensors, inertial measurement units (IMUs) or multi-sensor fusion) of automatic pool cleaning devices can be used to detect whether there are platforms or steps in the surrounding area of ​​the automatic pool cleaning device, in order to determine whether it has moved into the step area, and to detect the number of steps when it moves into the step area.

[0047] As an example, at least one of a camera, lidar, downward-facing sensor, and IMU can be used to detect whether the automatic pool cleaning device has moved into the step area and the number of steps in the step area.

[0048] For example, the number of steps in the step area can be detected when the automatic pool cleaning device moves near the step area (i.e., before going up the step), or the number of steps in the step area can be detected while the automatic pool cleaning device is moving on the steps in the step area. The specific method depends on the type or location of the sensor, and the embodiments disclosed herein do not limit this.

[0049] For example, the number of steps can be obtained by counting methods such as multi-plane counting (e.g., when using an image sensor for detection), step-by-step height difference counting (e.g., when using a depth gauge for detection), or attitude change count (e.g., when using an IMU for detection). For a detailed description of the counting methods, please refer to the description in this field, which will not be repeated here.

[0050] For example, in step S120, it can be determined whether the automatic cleaning device for the pool needs to bypass the steps based on the number of steps obtained in step S110.

[0051] For example, step S120 includes steps S121 and S122.

[0052] Step S121: If the number of steps is greater than the preset number, control the automatic cleaning device of the pool to bypass the step area;

[0053] Step S122: If the number of steps is less than or equal to the preset number of steps, control the automatic cleaning device of the pool to continue moving upward along the steps in the step area to clean the pool wall.

[0054] As an example, the preset number of steps can be set to 1, that is, when encountering multiple steps (such as...). Figure 2 The step 240 shown indicates that the automatic cleaning device of the pool will bypass the step area; if a single step is encountered (such as...), the automatic cleaning device of the pool will bypass the step area. Figure 2 Platform 230 (as shown) controls the automatic cleaning device of the pool to continue moving upward along the steps in the stepped area to clean the pool wall.

[0055] It should be noted that, depending on the performance of the automatic cleaning device for the pool, the preset level can be set to more, such as 2 or 3, depending on the actual situation. The embodiments disclosed herein do not limit this.

[0056] For step S121, in some examples, the automatic pool cleaning device is controlled to bypass the step area directly from the bottom or wall of the pool before it moves onto the step area.

[0057] Figure 3B A schematic diagram is shown illustrating an automatic water tank cleaning device according to an embodiment of the present disclosure, which controls the tank bottom or wall to bypass a stepped area. It should be noted that... Figure 3B The example shown is merely schematic, illustrating an automatic pool cleaning device that cleans vertically from right to left. It can also clean from left to right, and the embodiments disclosed herein are not limited thereto.

[0058] In this example, such as Figure 3B As shown, if the robot detects a step area on the left side through the camera while cleaning the pool wall on the right side of the step 240, and the automatic pool cleaning device 100 detects that the number of steps in the step area exceeds the preset number of steps (such as the step is a multi-step step) before it goes up the step 240, then it can directly bypass the step area from the bottom of the pool 210 or the pool wall 250 to improve cleaning efficiency.

[0059] In other examples, the automatic pool cleaning device is controlled to move backward from the steps in the stepped area to the bottom of the pool, bypassing the stepped area from the bottom of the pool.

[0060] For example, in this example, if the number of steps in the step area exceeds the preset number (such as multiple steps) during the movement of the automatic cleaning device on the steps in the step area, the automatic cleaning device is controlled to first retreat from the steps in the step area to the bottom of the pool, and then bypass the step area from the bottom of the pool, so as to avoid problems such as getting stuck when the automatic cleaning device moves directly from the steps to bypass the step area.

[0061] For example, in this example, when it is detected that the automatic pool cleaning device has moved to the step in the step area, the automatic pool cleaning device is controlled to continue moving upward to detect whether the step number exceeds the preset number of steps, until it is detected that the automatic pool cleaning device has moved to the next step below the preset number of steps (i.e., the step number exceeds the preset number of steps), the automatic pool cleaning device is controlled to retreat from the step to the bottom of the pool and bypass the step area from the bottom of the pool.

[0062] As an example, if the preset number of steps is 1, when the automatic cleaning device of the pool is detected to have moved onto a step in the stepped area, the automatic cleaning device can be controlled to continue moving upwards until it is detected to have moved onto a second step. At this point, the automatic cleaning device can be controlled to retreat from the second step to the bottom of the pool to bypass the stepped area from the bottom. If the preset number of steps is 2, when the automatic cleaning device of the pool is detected to have moved onto a step in the stepped area, the automatic cleaning device can be controlled to continue moving upwards until it is detected to have moved onto a third step. At this point, the automatic cleaning device can be controlled to retreat from the third step to the bottom of the pool to bypass the stepped area from the bottom. The specific number of steps can be adjusted according to the preset number of steps, and the embodiments disclosed herein do not limit this.

[0063] As an example, the number of steps a pool cleaning device climbs can be determined by detecting the depth of its ascent. For instance, during the ascent, if a step area is identified, the device's current depth is recorded. When the device continues to climb to a specific depth (such as the depth corresponding to the next step after a preset number of steps), it is controlled to retreat from the current step to the bottom of the pool. Alternatively, the number of steps the device is on can be detected in other ways, such as by combining depth with changes in the device's posture to determine which step it has moved to.

[0064] In this example, for instance, after controlling the automatic pool cleaning device to retreat from the steps to the bottom of the pool, the automatic pool cleaning device is then controlled to turn and move forward a predetermined distance or a predetermined time, that is, after bypassing the step area, it climbs up the pool wall to clean the pool wall.

[0065] As an example, such as Figure 3BAs shown, the distance A1 moved forward by a predetermined distance A1 and the distance A1 moved after moving at its traveling speed for a predetermined time can be slightly larger than the width of the step, so that the automatic cleaning device for the pool can completely bypass the step area.

[0066] It should be noted that the automatic pool cleaning device can be controlled to turn or move laterally to bypass the step area, and the embodiments disclosed herein do not limit this.

[0067] In embodiments of this disclosure, if the automatic pool cleaning device is detected to be a step exceeding a preset number of steps (e.g., multiple steps) before it moves onto the steps in the step area, the automatic pool cleaning device is controlled to directly bypass the step area from the bottom or wall of the pool. When the automatic pool cleaning device moves onto the steps in the step area, the automatic pool cleaning device is controlled to continue moving upwards to detect whether the step is a multiple step exceeding a preset number of steps. If it moves to the next step below the preset number of steps, it can be determined that the step is a multiple step exceeding the preset number of steps. The automatic pool cleaning device is then controlled to retreat from the next step to the bottom of the pool and bypass the step area from the bottom of the pool.

[0068] For step S122, if the number of steps is less than or equal to the preset number of steps, for example... Figure 2 The platform 230 shown is a single-step structure, which can control the automatic cleaning device of the pool to continue moving upward along the steps in the step area to clean the pool wall.

[0069] Figure 3C A schematic diagram is shown illustrating an automatic pool cleaning device according to an embodiment of the present disclosure, which moves upward along the steps of a stepped area to clean the pool wall. (See diagram below.) Figure 3C As shown, when step 230 is a single step, for example, less than or equal to a preset number of steps, the automatic pool cleaning device 100 can be controlled to continue moving upward along step 230 to clean the pool wall above step 230.

[0070] It is important to note that Figure 3C Only one step is shown. When the preset number of steps is set to 2, the number of steps can also be 2, depending on the preset number of steps. The embodiments disclosed herein do not limit this.

[0071] For example, in some examples, the method further includes: controlling the automatic pool cleaning device to clean the step surface in the step area, and then moving upward to clean the pool wall above the steps.

[0072] like Figure 2 and Figure 3CAs shown, when the automatic pool cleaning device encounters a platform 230 (e.g., a circular seating platform), it can continue to move upward along the platform 230 to the platform surface and start the platform surface cleaning mode to clean the platform surface. After cleaning the platform surface, it continues to move upward along the pool wall 250 and starts the pool wall cleaning mode to clean the pool wall above the platform surface, so as to avoid missing cleaning areas and avoid subsequent cleaning logic confusion by switching different cleaning modes.

[0073] For example, in other examples, the method further includes controlling the automatic pool cleaning device to move upwards over the steps of the stepped area to clean the pool wall above the steps.

[0074] like Figure 3C As shown, the automatic pool cleaning device can directly climb over steps smaller than a preset number (such as a single step 230), and after crossing it, it can continue to move upwards to clean the pool wall above the steps. In this example, the automatic pool cleaning device can cross platform 230 to continue cleaning the pool wall above platform 230, so as to avoid missing any cleaning areas; at the same time, directly crossing the countertop for cleaning can avoid confusion in subsequent cleaning logic and improve the efficiency of cleaning the pool wall.

[0075] In embodiments of this disclosure, when encountering a step with a number of steps less than or equal to a preset number of steps (such as...) Figure 2 and Figure 3C When encountering a single step (such as platform 230 shown), the system climbs or crosses the step (e.g., vertically) to continue normal cleaning, thus avoiding missed cleaning areas and preventing confusion in subsequent cleaning logic; when encountering a step with more than the preset number of steps (such as... Figure 2 and Figure 3B When encountering multiple steps (240) as shown, the automatic pool cleaning device is controlled to bypass (e.g., move laterally to avoid) the step area, thereby avoiding problems such as reduced cleaning efficiency of the automatic pool cleaning device and getting stuck on the steps when encountering multiple steps exceeding the preset number.

[0076] It should be noted that, in the embodiments of this disclosure, the flow of the control method provided in the above embodiments may include more or fewer operations, which may be executed sequentially or in parallel. Although the flow of the control method described above includes multiple operations appearing in a specific order, it should be clearly understood that the order of the multiple operations is not limited. The control method described above may be executed once or multiple times according to predetermined conditions.

[0077] At least one embodiment of this disclosure also provides an automatic water tank cleaning device. Figure 4 A schematic diagram of an automatic water tank cleaning device according to an embodiment of the present disclosure is shown. Figure 4As shown, the automatic pool cleaning device 400 includes a memory 410 and a processor 420.

[0078] For example, memory 410 stores instructions executable by processor 420. Memory 410 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory. The non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, which processor 420 may execute to implement the functions (implemented by processor 420) in this embodiment of the disclosure and / or other desired functions, such as a method for controlling an automatic pool cleaning device. Various application programs and various data may also be stored in the computer-readable storage medium, such as preset steps, step numbers, and various data used and / or generated by the application programs.

[0079] For example, processor 420 is configured to cause the automatic pool cleaning device to implement the method provided in any of the above embodiments of this disclosure when executing instructions stored in memory. The specific implementation process of this method can be referred to the above. Figures 3A-3C The details of its introduction will not be repeated here.

[0080] For example, the processor 410 may be a central processing unit (CPU), a digital signal processor (DSP), a graphics processing unit (GPU), or other form of processing unit with data processing capabilities and / or instruction execution capabilities. It may be a general-purpose processor or a special-purpose processor, and may control other components in the automatic pool cleaning device 100 to perform the desired functions.

[0081] For example, the shape and other structure of the automatic pool cleaning device 400 can be seen in [reference needed]. Figure 1 The description of the automatic water tank cleaning device 100 is omitted here.

[0082] It should be noted that, for clarity and brevity, this disclosure does not show all the components of the automatic water tank cleaning device. To achieve the necessary functions of the automatic water tank cleaning device, those skilled in the art can provide and set other components (not shown) according to specific needs, and this disclosure does not limit this.

[0083] The technical effects of the automatic water tank cleaning device provided in the above embodiments of this disclosure can be referred to the technical effects of the control method provided in the embodiments of this disclosure, and will not be repeated here.

[0084] The following points need to be explained:

[0085] (1) The accompanying drawings of the embodiments of this disclosure only involve the structures involved in the embodiments of this disclosure. Other structures can be referred to the general design.

[0086] (2) Where there is no conflict, the embodiments of this disclosure and the features in the embodiments can be combined with each other to obtain new embodiments.

[0087] The above description is merely an exemplary embodiment of this disclosure and is not intended to limit the scope of protection of this disclosure, which is determined by the appended claims.

Claims

1. A method for controlling an automatic water tank cleaning device, comprising: During the process of the automatic pool cleaning device cleaning the pool wall, it is detected whether the automatic pool cleaning device has moved to the step area; When the automatic pool cleaning device moves to the stepped area, based on the number of steps in the stepped area, the device is controlled to continue moving upwards along the steps to clean the pool wall or to bypass the stepped area.

2. The method according to claim 1, wherein, Based on the number of steps in the stepped area, the automatic pool cleaning device is controlled to continue moving upwards along the steps of the stepped area to clean the pool wall or to bypass the stepped area, including: If the number of steps is greater than a preset number, the automatic cleaning device for the water tank will be controlled to bypass the step area. If the number of steps is less than or equal to the preset number of steps, the automatic cleaning device for the pool is controlled to continue moving upwards along the steps in the step area to clean the pool wall.

3. The method according to claim 2, wherein, Controlling the automatic cleaning device of the pool to bypass the step area includes: Before the automatic pool cleaning device moves onto the steps in the step area, the automatic pool cleaning device is controlled to bypass the step area directly from the bottom or wall of the pool. Alternatively, the automatic cleaning device of the pool can be controlled to retreat from the steps in the stepped area to the bottom of the pool, and then bypass the stepped area from the bottom of the pool.

4. The method according to claim 3, wherein, Controlling the automatic cleaning device of the pool to bypass the step area includes: When the automatic water tank cleaning device is detected to have moved onto the step in the step area, the automatic water tank cleaning device is controlled to continue moving upwards until it is detected to have moved onto the next step of the preset number of steps. At this point, the automatic water tank cleaning device is controlled to retreat from the next step to the bottom of the pool and bypass the step area from the bottom of the pool.

5. The method according to claim 3, wherein, After the automatic cleaning device of the pool moves backward from the steps in the stepped area to the bottom of the pool, the automatic cleaning device of the pool turns and moves forward a predetermined distance or a predetermined time before cleaning the pool wall.

6. The method according to claim 1, wherein, During the process of the automatic water tank cleaning device moving near the step area or moving on the steps in the step area, the number of steps in the step area is detected.

7. The method according to claim 1, wherein, Controlling the automatic pool cleaning device to continue moving upwards along the steps in the stepped area to clean the pool walls includes: After the automatic cleaning device cleans the step surface in the step area, it continues to move upward to clean the pool wall above the steps.

8. The method according to claim 1, wherein, Controlling the automatic pool cleaning device to continue moving upwards along the steps in the stepped area to clean the pool walls includes: The automatic water tank cleaning device is controlled to move upwards over the steps in the stepped area to clean the pool wall above the steps.

9. The method according to claim 1, wherein, The automatic pool cleaning device is used to detect whether it has moved into the stepped area and the number of steps in the stepped area by at least one of a camera, lidar, downward-facing sensor and IMU.

10. An automatic water tank cleaning device, comprising: Memory stores instructions that can be executed by the processor; as well as The processor is configured to, when executing instructions stored in the memory, cause the automatic pool cleaning device to implement the method according to any one of claims 1-9.

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