Control method for cleaning device, and cleaning device

Abstract

The present disclosure discloses a control method for a cleaning device, and a cleaning device. The cleaning device comprises a first distance sensor arranged at a bottom portion thereof. The control method comprises: when the cleaning device approaches an obstacle or collides with an obstacle, controlling the cleaning device to advance from a pool bottom at an attitude tending towards climbing the obstacle; on the basis of at least one of a measurement value of the first distance sensor, attitude information of the cleaning device, depth information of the cleaning device, and detection information of a visual sensor of the cleaning device, determining the type of the obstacle to be a step; and controlling the cleaning device to climb to a first surface of the step, and, at least on the basis of the measurement value of the first distance sensor, controlling the cleaning device to move from the first surface to a second surface of the step, the step at least being formed by an approximately vertical first surface and an approximately horizontal second surface.

Description

Control methods for cleaning equipment and cleaning equipment

[0001] This disclosure claims priority to Chinese Patent Application No. 2024106833262, filed on May 29, 2024, entitled "Control Method and Cleaning Equipment for Cleaning Equipment", the entire contents of which are incorporated herein by reference.

[0002] This disclosure claims priority to international patent application No. PCT / CN2024 / 100765, filed on June 21, 2024, entitled “Cleaning Equipment”, the entire contents of which are incorporated herein by reference.

[0003] This disclosure claims priority to international patent application No. PCT / CN2024 / 135845, filed on November 29, 2024, entitled “Cleaning Equipment”, the entire contents of which are incorporated herein by reference.

[0004] This application claims priority to international patent application No. PCT / CN2025 / 070882, filed on January 6, 2025, entitled “Cleaning Equipment”, the entire contents of which are incorporated herein by reference.

[0005] This disclosure claims priority to international patent application No. PCT / CN2025 / 073171, filed on January 19, 2025, entitled “Cleaning System”, the entire contents of which are incorporated herein by reference.

[0006] This disclosure claims priority to international patent application No. PCT / CN2025 / 073739, filed on January 21, 2025, entitled “Cleaning System”, the entire contents of which are incorporated herein by reference.

[0007] This application claims priority to international patent application No. PCT / CN2025 / 074953, filed on January 24, 2025, entitled “Cleaning System”, the entire contents of which are incorporated herein by reference.

[0008] This application claims priority to International Patent Application No. PCT / CN2025 / 085184, filed on March 26, 2025, entitled “Control Method and Cleaning System for Cleaning System”, the entire contents of which are incorporated herein by reference. [Technical Field]

[0009] This disclosure relates to the field of water body working equipment technology, and in particular to a control method for cleaning equipment and a cleaning equipment. [Background Technology]

[0010] In existing technologies, cleaning equipment (such as pool cleaning equipment) has certain limitations in cleaning path planning. Its path is relatively random, typically moving in a straight line in a single direction. When encountering steps, it randomly changes direction and continues cleaning in a straight line. This cleaning method struggles to effectively clean stepped areas, resulting in insufficient cleaning coverage. [Summary of the Invention]

[0011] In a first aspect, this disclosure provides a control method for a cleaning device, the cleaning device including a first distance sensor disposed at its bottom, the control method including:

[0012] When the cleaning equipment approaches or collides with an obstacle, control the cleaning equipment to move from the bottom of the pool in a posture that tends to climb the obstacle;

[0013] Based on at least one of the detection values ​​from the first distance sensor, the posture information of the cleaning equipment, the depth information of the cleaning equipment, and the detection information from the vision sensor of the cleaning equipment, the type of obstacle is determined to be a step.

[0014] The cleaning equipment is controlled to climb to the first face of a step, and, based at least on the detection value of a first distance sensor, to move from the first face to the second face of the step; wherein the step is formed by at least a first face that is approximately vertical and a second face that is approximately horizontal.

[0015] In one specific embodiment, the cleaning device further includes a second distance sensor disposed on the first side, and after controlling the cleaning device to move from the first side to the second side of the step, it further includes:

[0016] Adjust the orientation of the cleaning equipment on the second surface of the Nth step so that the first side is approximately parallel to the first surface of the (N+1)th step; where N≥1 and N is a natural number;

[0017] Based at least on the detection value of the second distance sensor, the cleaning equipment is controlled to clean the second surface of the Nth step.

[0018] In one specific embodiment, before adjusting the orientation of the cleaning device on the second surface of the Nth step, the method further includes:

[0019] Along the width direction of the Nth step, control the cleaning equipment to move from the second surface of the Nth step toward the first surface of the N+1th step until it approaches or contacts the first surface of the N+1th step, and record the movement distance of the step surface;

[0020] Based on the comparison between the movement distance on the step surface and the preset distance threshold, it is determined whether the cleaning equipment can be adjusted to position on the second surface of the Nth step.

[0021] In one specific embodiment, controlling the cleaning device to move from the first side to the second side of the step includes: controlling the cleaning device to move forward or backward on the second side of the step based at least on the detection value of the first distance sensor being less than or equal to a first distance threshold; wherein the first distance threshold is determined based on the distance between the first distance sensor and the plane when the cleaning device is walking on the plane.

[0022] In one specific embodiment, the cleaning device further includes a suction mechanism and a first water outlet in fluid communication with the suction mechanism, the first water outlet being at least partially located at the top of the cleaning device; controlling the cleaning device to move from the first surface to the second surface of the step includes:

[0023] After the cleaning device has at least partially crossed the junction of the first and second faces of the Nth step, or when the cleaning device moves on the first face of the step to the point where the first distance sensor moves out of the coverage area of ​​the first face of the Nth step, the cleaning device is controlled to reduce its movement speed or activate the suction mechanism so that the cleaning device is located on the second face of the Nth step.

[0024] In one specific embodiment, the cleaning equipment also includes a depth sensor, which is used to detect the depth information of the cleaning equipment in the pool. After determining that the obstacle is a step, the position information of the cleaning equipment is determined based on the depth information.

[0025] In one specific embodiment, if the cleaning equipment is located at the Nth step, and the depth of the cleaning equipment is determined to be less than or equal to a preset depth based on the depth information, then the cleaning equipment is controlled to move from the Nth step toward the (N-1)th step or toward the bottom of the pool.

[0026] In one specific embodiment, the cleaning equipment further includes a walking mechanism for supporting the movement of the cleaning equipment; the cleaning equipment also includes a suction mechanism and a first water outlet in fluid communication with the suction mechanism, the first water outlet being at least partially located at the top of the cleaning equipment;

[0027] When the cleaning equipment is on the second side of the step, the walking mechanism and / or suction mechanism are turned off within a preset time period, and the depth information of the cleaning equipment in the pool is detected by the depth sensor.

[0028] In one specific embodiment, determining an obstacle as a step based on the detection value of a first distance sensor includes: the detection value gradually increases from a stable value, then gradually decreases and returns to a stable value; wherein the stable value is the detection value of the first distance sensor when the cleaning equipment is walking on a plane.

[0029] In one specific embodiment, adjusting the orientation of the cleaning device on the second surface of the Nth step to make the first side surface substantially parallel to the first surface of the N+1th step includes: controlling the cleaning device to rotate until the second distance sensor detects the first surface of the N+1th step.

[0030] In one specific embodiment, controlling the cleaning device to clean the second surface of the Nth step is based at least on the detection value of the second distance sensor, including: controlling the detection value of the second distance sensor to be less than or equal to a third distance threshold, so as to enable the cleaning device to move along the second surface of the Nth step; wherein the third distance threshold represents the minimum distance from the edge when the cleaning device moves along the edge.

[0031] In one specific embodiment, the cleaning device further includes a third distance sensor located at the front, which is used to detect the distance between the cleaning device and an obstacle in front; at least based on the detection value of the third distance sensor being less than or equal to a fourth distance threshold, or the detection value of the first distance sensor being greater than a first distance threshold, it is determined that the cleaning device has moved from the first end of the Nth step to the second end of the Nth step.

[0032] In one specific embodiment, the cleaning device is controlled to retreat or turn around at the second end of the Nth step, or to move a preset distance away from the first surface of the N+1th step, so as to continue cleaning the second surface of the Nth step until it reaches the first end of the Nth step; wherein the preset distance is a distance less than or equal to the width of the cleaning device.

[0033] In one specific embodiment, the cleaning device is controlled to rotate at the first end of the Nth step so that the front of the cleaning device is aligned with the first face of the N+1th step, and then the cleaning device is controlled to climb to the second face of the N+1th step.

[0034] In one specific embodiment, the cleaning device is controlled to rotate at the second end of the Nth step so that the front of the cleaning device is aligned with the first face of the N+1th step, and then the cleaning device is controlled to climb to the second face of the N+1th step.

[0035] Secondly, this disclosure provides a cleaning device, comprising a main body, and:

[0036] The first water inlet is located at the bottom of the main body;

[0037] The filter unit is at least partially located inside the main body;

[0038] The first water outlet is located at the top of the main body;

[0039] The suction mechanism is in fluid communication with at least the first inlet, the filter unit, and the first outlet, and is used to generate water flow from the first inlet, the filter unit, and the outlet.

[0040] At least one roller brush assembly is located at the bottom of the front part of the main body for cleaning the surface to be cleaned;

[0041] The walking mechanism is located on both sides of the main body to support the cleaning equipment to move on the surface to be cleaned;

[0042] The cleaning equipment also includes:

[0043] At least one first distance sensor is located at the bottom of the main body, adjacent to the walking mechanism, and behind the roller brush assembly, for detecting the distance between the cleaning device and the surface to be cleaned;

[0044] At least one second distance sensor is disposed on the first side of the main body for detecting the distance between the first side of the cleaning equipment and an obstacle.

[0045] In one embodiment, the first water inlet is located after the cleaning roller brush, and at least one first distance sensor is located between the first water inlet and the roller brush assembly.

[0046] In one specific embodiment, the cleaning device includes two first distance sensors, which are arranged approximately symmetrically on the bottom of the main body, and the two first distance sensors are of the same type or different types of sensors.

[0047] In one specific embodiment, the cleaning device further includes at least one third distance sensor, which is located at the front of the main body and is used to detect the distance between the front of the cleaning device and an obstacle.

[0048] In one specific embodiment, at least one transmission channel is provided inside the main body, and a first opening located at the bottom of the main body and a second opening located inside the main body are provided on both sides of the transmission channel, with a first distance sensor located adjacent to the second opening. [Attached Image Description]

[0049] To more clearly illustrate the technical solutions in the embodiments of this disclosure, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the 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, wherein:

[0050] Figure 1 is a side view of a cleaning device provided in an embodiment of the present disclosure when it is in a plane.

[0051] Figure 2 is a schematic diagram of the structural modules of a cleaning device provided in an embodiment of this disclosure;

[0052] Figure 3A is a schematic diagram of the structure of a cleaning device provided in an embodiment of this disclosure;

[0053] Figure 3B is a bottom view of a cleaning device provided in an embodiment of this disclosure;

[0054] Figure 3C is a bottom view of a cleaning device provided in an embodiment of the present disclosure;

[0055] Figure 3D is a bottom view of a cleaning device provided in an embodiment of this disclosure;

[0056] Figure 3E is a bottom view of a cleaning device provided in an embodiment of the present disclosure;

[0057] Figure 4A is a schematic diagram of the walking mechanism of a cleaning device provided in an embodiment of this disclosure;

[0058] Figure 4B is a partial structural schematic diagram of a cleaning device provided in an embodiment of this disclosure;

[0059] Figure 4C is a schematic diagram of the bottom portion structure of a cleaning device provided in an embodiment of the present disclosure;

[0060] Figure 4D is a schematic diagram of the bottom portion structure of a cleaning device provided in an embodiment of the present disclosure;

[0061] Figure 5A is a side view of a cleaning device provided in an embodiment of the present disclosure when it is moved to a vertical position;

[0062] Figure 5B is a side view of a cleaning device provided in an embodiment of the present disclosure when it is moved to a vertical position;

[0063] Figure 6 is a schematic diagram of a cleaning device climbing stairs provided in an embodiment of this disclosure;

[0064] Figure 7 is a side view of a cleaning device provided in an embodiment of the present disclosure at the level of the first step;

[0065] Figure 8 is a schematic diagram of the water outlet direction when the cleaning equipment provided in an embodiment of this disclosure climbs stairs;

[0066] Figure 9 is a top view of a cleaning device provided in an embodiment of the present disclosure at the level of the first step;

[0067] Figure 10 is a top view of a cleaning device provided in an embodiment of the present disclosure cleaning the horizontal plane of the first step;

[0068] Figure 11 is a top view of a cleaning device provided in an embodiment of the present disclosure at the level of the second step;

[0069] Figure 12 is a top view of a cleaning device provided in an embodiment of the present disclosure cleaning the horizontal plane of a second-level step;

[0070] Figure 13 is a side view of a cleaning device provided in an embodiment of the present disclosure on the horizontal plane of the first step;

[0071] Figure 14 is a schematic diagram of the water outlet direction when the cleaning device provided in an embodiment of this disclosure climbs the wall;

[0072] Figure 15 is a schematic diagram of a cleaning device provided in an embodiment of the present disclosure climbing from the bottom of a step to the top of a step;

[0073] Figure 16 is a schematic diagram of the structure of a cleaning device provided in an embodiment of the present disclosure;

[0074] Figure 17 is a schematic diagram of the structure of a vision sensor in a cleaning device provided in an embodiment of the present disclosure;

[0075] Figure 18 is a longitudinal cross-sectional schematic diagram of a cleaning device provided in an embodiment of the present disclosure;

[0076] Figure 19A is a schematic diagram of the structure of a water quality detection sensor provided in an embodiment of this disclosure;

[0077] Figure 19B is a partial structural schematic diagram of a water quality detection sensor provided in an embodiment of this disclosure;

[0078] Figure 19C is a partial structural schematic diagram of a water quality detection sensor provided in an embodiment of this disclosure;

[0079] Figure 20 is a longitudinal cross-sectional schematic diagram of a cleaning device provided in an embodiment of the present disclosure;

[0080] Figure 21 is a schematic diagram of a cleaning device provided in an embodiment of the present disclosure;

[0081] Figure 22 is a schematic diagram of a cleaning device and a base station provided in an embodiment of this disclosure;

[0082] Figure 23 is a partial structural schematic diagram of a cleaning device provided in an embodiment of the present disclosure;

[0083] Figure 24 is a schematic diagram of a light converging device and / or a light dispersing device provided in an embodiment of the present disclosure;

[0084] Figure 25A is a schematic diagram of a cleaning device provided in an embodiment of the present disclosure moving from a horizontal plane toward a slope;

[0085] Figure 25B is a schematic diagram of a cleaning device provided in an embodiment of the present disclosure moving from a slope toward a horizontal plane.

[0086] Reference numerals: 100, Cleaning equipment; 101, Main body; 10101, First wall; 10102, Second wall; 101A, First water inlet; 101B, Second water inlet; 101C, First water outlet; 1011, First side of the main body; 1012, Second side of the main body; 1013, Mounting hole; 102, Power supply unit; 103, Walking mechanism; 1031, Wheel assembly; 1032, Track; 1031A, Second wheel; 1031B, First wheel; 1060, Suction mechanism; 10611, Main motor; 10612, Main impeller; 111, First receiving cavity; 1113, Second water outlet; 1121, First sub-distance sensor; 1122, Second sub-distance sensor; 1151, Reagent storage assembly; 1152. Spreading drive assembly; 11601. Detection box; 11603. Detection strip; 116031. Test paper; 116032. Protective film; 11605. Peeling element; 1170. Equipment communication module; 1171. First sub-module; 1172. Second sub-module; 119. Second shielding element; 120. Filter box; 1213. First shielding element; 140. Vision sensor; 140a. First sub-vision sensor; 140b. Second sub-vision sensor; 1401. Camera body; 1402. Lighting element; 171. Roller brush assembly; 180. Propulsion assembly; 1961. Transmission channel; 19611. First opening; 19612. Second opening; 200, First distance sensor; 220, Electrical control box; 231, Control system; 233, Depth sensor; 2331, Detection end; 238, Temperature sensor; 2401, Antenna; 300, Fifth distance sensor; 301, First step; 302, Second step; 303, Third step; 400, Pose sensor; 410, Communication sensor; 4101, Light converging device; 41031, Top; 41032, Bottom; 4102, Light dispersing device; 500, Second distance sensor; 600, Third distance sensor; 700, Fourth distance sensor; 900, Cleaning unit; 2000, Base station; 2140, Component communication module; 2141, Third sub-module; 2142, Fourth sub-module; 3301, First horizontal plane; 3302, First slope.

Detailed Implementation Methods

[0087] The technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this disclosure, and not all of them. Based on the embodiments of this disclosure, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this disclosure.

[0088] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this disclosure. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0089] This disclosure provides a cleaning device 100. The cleaning device 100 is capable of cleaning liquids and / or surfaces to be cleaned in a target area, which can be the area where the cleaning device 100 performs its cleaning work. For example, the target area can be a swimming pool, pipes, the hull of a ship, an oil well, or other facilities, but is not limited to these. The cleaning device can be a sweeping robot, a floor scrubbing robot, a pool cleaning robot, or other devices with cleaning functions. The delivery robot can be a food delivery robot, a goods delivery robot, or other delivery robots. The steps can be steps on stairs in a home or office building, or steps on stairs in a pool, or steps in other scenarios. This embodiment uses a pool as an example for the cleaning device's working environment. Correspondingly, the surface to be cleaned can be any cleanable surface in the pool, such as the pool wall surface or the step surface.

[0090] The cleaning equipment can be a robot powered by a built-in rechargeable battery or a device powered by an external cable. If the cleaning equipment has the function of moving the pool bottom and pool walls, it can clean the bottom and pool walls of the pool; if the cleaning equipment has the functions of underwater movement, pool wall movement and water surface movement, it can clean the bottom, pool walls and water surface of the pool. In one specific embodiment, the pool wall may include a bottom wall and side walls.

[0091] Please refer to Figures 2, 3A, and 4A together. In one embodiment, the cleaning device includes a main body 101 (also referred to as the cleaning device body), and at least one first water inlet 101A (also referred to as the second suction port) and / or at least one second water inlet 101B (also referred to as the first suction port) disposed on the main body 101, a filter unit (or filter assembly), a first water outlet 101C (also referred to as the liquid outlet), and a suction mechanism 1060 (also referred to as a suction assembly, water pump, or drive pump). The first water inlet 101A... A is at least partially located at the bottom of the main body 101, the second inlet 101B is at least partially located on the side of the main body 101 (e.g., any one or more sides of the front, back, left, right, or right of the main body 101), the filter unit and the suction mechanism are at least partially located inside the main body 101, and the first outlet 101C is at least partially located at the top of the main body 101, forming a water flow channel (denoted as the cleaning water path) from the first inlet 101A / second inlet 101B - filter unit - suction mechanism - first outlet 101C, used for cleaning the surface to be cleaned. When the cleaning equipment moves underwater, on the pool wall, or on the water surface, under the action of the suction assembly, the liquid in the pool is drawn into the filter unit through the inlet. The filter unit filters the liquid entering it. After being filtered by the filter unit, the liquid is discharged from the main body 101 through the first outlet 101C after passing through the suction assembly. The debris carried by the liquid is collected in the filter unit, thereby achieving the cleaning of the liquid in the pool. In some embodiments, the suction assembly includes a main water pump. In some embodiments, the filtration unit includes a filter box 120 (also referred to as a dust box) for filtering liquids entering therein and collecting debris carried in the liquids within the filter box 120. The filter box 120 may be disposed within a first receiving cavity 111 (also referred to as a dust bin).

[0092] In some embodiments, the body 101 includes a first side 1011 and a second side 1012 disposed opposite to each other along the width direction of the body 101. For example, the first side 1011 is the right side and the second side 1012 is the left side.

[0093] In some embodiments, as shown in FIG18, the suction mechanism 1060 includes a main water pump, which includes a main impeller 10612, and a main motor 10611 of the main water pump is used to drive the main impeller. In one embodiment, the main motor 10611 may be housed in an electrical control box, with the output shaft of the main motor extending out of the electrical control box and into the housing, and connected to the main impeller 10612.

[0094] In some embodiments, as shown in FIG18, the cleaning device 100 further includes a first shield 1213. The first shield 1213 is used to directly or indirectly shield the first water inlet 101A. The first shield 1213 is used to open the first water inlet 101A at least when the cleaning device is cleaning the bottom and walls of the pool, so that the first water inlet 101A can suck the debris in the target area into the filter unit. The first shield 1213 is also used to close the first water inlet 101A when the cleaning device 100 is not using the first water inlet 101A, for example, when the second water inlet 101B is used or when the cleaning mode is changed, so as to prevent the debris in the filter unit from flowing back from the first water inlet 101A into the target area.

[0095] In some embodiments, the cleaning device 100 further includes a second shield 119 (also referred to as an anti-spit-out door or a sealing door). The second shield 119 is used to directly or indirectly shield the second water inlet 101B. The second shield 119 is used to open the second water inlet 101B at least when the cleaning device is cleaning the water surface, so that the second water inlet 101B can suck debris in the target area into the filter unit. The second shield 119 is also used to close the second water inlet 101B when the cleaning device 100 is not using the second water inlet 101B, for example, when the first water inlet 101A is used or when the cleaning mode changes, to prevent debris in the filter unit from flowing back from the second water inlet 101B into the target area. The first shield 1213 or the second shield described above may be made of flexible and / or rigid materials.

[0096] In some embodiments, the cleaning device does not include the second inlet 101B, but only includes the first inlet 101A, and the cleaning device can clean the bottom and walls of the pool.

[0097] In some embodiments, the cleaning device does not include the first inlet 101A, but only includes a second inlet 101B. The second inlet 101B is connected to a filter unit and is used to supply liquid from the water surface into the filter unit. At least a portion of the second inlet 101B may be located at the front or rear of the main body 101. When the cleaning device moves on the water surface, the liquid in the pool enters the filter unit through the second inlet 101B and is filtered. The filtered liquid is discharged from the main body 101 through the first outlet 101C, thereby cleaning the water surface. That is, this cleaning device can clean only the surface of the pool.

[0098] In some embodiments, the cleaning device includes a first water inlet 101A and a second water inlet 101B, at least a portion of which may be located on the upper part of the front or rear of the main body 101. For example, the second water inlet 101B may be located on the front sidewall of the front portion of the main body 101, and closer to the top of the main body 101 than to the bottom; or, the second water inlet 101B may be located on the rear sidewall of the rear portion of the main body 101, and closer to the top of the main body 101 than to the bottom; or, the second water inlet 101B may be located on the sidewall of the front or rear portion of the main body 101, and in the height direction of the cleaning device, the second water inlet 101B is higher than the first water inlet 101A. When the cleaning equipment moves on the water surface, the liquid on the water surface enters the filter unit through the second inlet 101B and is filtered. The filtered liquid is discharged from the main body 101 through the first outlet 101C to clean the water surface. That is, this cleaning equipment can clean the bottom, walls and surface of the pool.

[0099] In one embodiment, the cleaning device further includes a second outlet 1113 (also referred to as a drain outlet), as shown in FIG4A. At least one second outlet 1113 is provided at the bottom of the main body 101. When the cleaning device is in a cleaning or operating state in water or on the water surface, liquid in the water or on the water surface can enter the main body 101 through the second drain outlet 1113. When the cleaning device is ready to discharge water, during or after the cleaning device is discharged (i.e., leaving the water surface), as the cleaning device is lifted from the water, the liquid inside the main body 101 can be discharged out of the cleaning device through the second outlet 1113.

[0100] In one embodiment, the cleaning device further includes a cleaning unit 900 disposed on the main body 101. The cleaning unit 900 is used to clean the surface of the pool bottom, walls, or steps during the movement of the cleaning device. In one embodiment, as shown in FIG4B or FIG18, the cleaning unit 900 includes at least one roller brush assembly 171. The at least one roller brush assembly 171 is located at the front of the main body 101, and a roller brush assembly 171 may also be disposed at the rear of the main body 101. The first water inlet 101A may be disposed at intervals behind the roller brush assembly 171, and may also have an overlapping area with the roller brush assembly 171. That is, when the cleaning device is placed horizontally, the projection portions of the roller brush assembly 171 and the first water inlet 101A on the horizontal plane overlap. In some embodiments, during the cleaning process, the roller brush assembly 171 first brushes the surface to be cleaned, and the first water inlet 101A disposed behind the roller brush assembly 171 is then sucked into the filter unit inside the main body 101 by the dust-laden water flow brushed by the roller brush assembly 171.

[0101] In one embodiment, the cleaning device further includes a walking mechanism 103 (also referred to as a moving unit) disposed on the main body 101 for supporting the main body 101 to move on the surface to be cleaned. The walking mechanism 103 includes at least a wheel assembly 1031, which is rotatably connected to the main body 101. Wheel assemblies 1031 are respectively provided on both sides of the main body 101. The wheel assembly 1031 includes at least two spaced-apart first wheels 1031B and second wheels 1031A. When the cleaning device is moving normally, the first wheels 1031B are located at the front of the main body 101 and the second wheels 1031A are located at the rear of the main body 101. The walking mechanism 103 may also include a track 1032, which is sleeved on the wheel assembly 1031 and can rotate with the wheel assembly 1031. The track 1032 can contact the surface to be cleaned. If one of the first wheel 1031B and the second wheel 1031A is a driving wheel and the other is a driven wheel, the driving wheel can drive the driven wheel to rotate through the track 193 when it rotates. It can be understood that, depending on the length of the main body 101, multiple driven wheels can be arranged at intervals in the wheel assembly 1031 to improve the reliability of the walking mechanism 103.

[0102] In some embodiments, as shown in Figures 3A and 3B, at least one cleaning unit 900 is disposed between the two walking mechanisms 103. In other embodiments, as shown in Figure 3C, at least one cleaning unit 900 extends to the edges of the main body 101 on both sides to increase the cleaning coverage of the cleaning unit 900. In this case, along the direction of travel of the cleaning device, the cleaning unit 900 located at the front of the main body 101 is entirely in front of the walking mechanism 103, and the projection of the cleaning unit 900 overlaps with the walking mechanism 103. In still other embodiments, as shown in Figures 3D and 3E, along the direction of travel of the cleaning device, the cleaning unit 900 located at the front of the main body 101 is entirely in front of the walking mechanism 103, and the projection of the cleaning unit 900 is located between the two walking mechanisms 103, with little or no overlap with the walking mechanism 103.

[0103] In one embodiment, the cleaning device 100 further includes a propulsion assembly 180 disposed on the main body 101. The propulsion assembly 180 is used to drive the cleaning device 100 to move on the surface or in the liquid of the target area; the propulsion assembly 180 can be any structure that can provide driving force. For example, the propulsion assembly 180 can be a propeller. By rotating the aforementioned propeller, the cleaning device 100 can obtain driving force. Under the action of the driving force, the cleaning device 100 can move on the surface of the liquid in the target area, or move while suspended at a certain depth in the liquid.

[0104] In one embodiment, referring to FIG2, the cleaning equipment also includes a control system 231, such as a microcontroller, an embedded control system, or an application-specific integrated circuit (ASIC). The control system can acquire various data information of the cleaning equipment 100 and analyze and process the acquired data information to control various components in the cleaning equipment 100. For example, it can control the movement direction and movement distance of the main body 101 based on the acquired detection values ​​of various sensors. The control system can be integrated into the cleaning equipment or can be independent of the cleaning equipment but electrically connected to it.

[0105] In some embodiments, the control system is housed within a sealed space to prevent water ingress into the electronic components of the control system 231, which could lead to short circuits or damage to the electronic components. For example, the control system 231 may be housed within the electrical control box 220 of the cleaning equipment 100, where the interior of the electrical control box 220 is a closed or sealed area. The control system may include at least one control board, which enables the control system to control a component when it is connected to the control board. The control board may be, but is not limited to, a printed circuit board (PCB).

[0106] In one embodiment, the cleaning device further includes a power supply unit 102 disposed within the main body 101 for supplying power to the main body 101. To ensure the safety of the power supply unit 102 and prevent malfunctions due to water seepage during underwater operations, the power supply unit 102 needs to be housed within a sealed housing. Since the power supply unit 102 is housed within a sealed housing and cannot be frequently removed and installed, a charging interface assembly needs to be provided on the cleaning device to facilitate connection of the power supply unit 102 to an external power source for charging.

[0107] Furthermore, if the cleaning equipment has both surface and underwater cleaning functions, it possesses a first movement state, a second movement state, and a third movement state. The first movement state includes at least the state where the cleaning equipment operates at the bottom of the pool; the second movement state includes at least the state where the cleaning equipment operates on or parallel to the pool wall; and the third movement state includes at least the state where the cleaning equipment operates on the water surface. To enable the cleaning equipment to switch between the first and third movement states, or between the second and third movement states, the cleaning equipment also includes a mode switching component, allowing it to switch between these states and thus enabling it to surface and submerge.

[0108] In some embodiments, after entering the target area, the cleaning device can directly enter any one of the first, second, and third motion states to perform the cleaning task corresponding to that motion state. Alternatively, the cleaning device can first enter one motion state and then switch to another. For example, the cleaning device can first enter the third motion state, in which it can either perform the corresponding cleaning task or not perform it temporarily; then switch from the third motion state to the first motion state to perform the cleaning task corresponding to the first motion state.

[0109] In one embodiment, the cleaning equipment further includes a plurality of sensors disposed on the main body 101, which can be disposed at any position on the main body 101. The base station may also include sensors, which can be disposed at any position on the base station. The plurality of sensors include at least one of the following: distance sensor, vision sensor, temperature sensor, humidity sensor, pose sensor, anomaly sensor, communication sensor 410, cleanliness sensor, water quality detection sensor, in-situ detection sensor, in-position detection sensor, water ingress detection sensor, depth sensor, and water level detection sensor.

[0110] In one embodiment, a distance sensor is used as an example of the type of sensor included in the cleaning device and / or base station. The distance sensor includes at least one of the following: a first distance sensor 200 (also referred to as a terrain detection component) disposed at the bottom of the main body 101; a second distance sensor 500 disposed on the first side 1011 of the main body 101; a third distance sensor 600 disposed at the front (or front side) of the main body 101; and a fourth distance sensor 700 (the second distance sensor 500, third distance sensor 600, and fourth distance sensor 700 can also be referred to as an identification component) disposed on the second side 1012 of the main body 101; and a fifth distance sensor 300 disposed at the front (or front side) of the main body 101. The first distance sensor 200 can detect the distance between the bottom of the cleaning device and the surface to be cleaned. The second distance sensor 500 and the fourth distance sensor 700 are used to detect the edge distance of the cleaning device or the distance between the cleaning device and obstacles on both sides. The third distance sensor 600 can detect the distance between the front of the cleaning equipment and an obstacle, and the fifth distance sensor 300 can detect the distance between the cleaning equipment and a specific object, wherein the specific object may be a base station (also referred to as a carrier component), etc. The base station is used to perform at least one of the following tasks: docking the cleaning equipment, cleaning the filter cartridge, charging the cleaning equipment, replacing the detection cartridge of the water quality detection component (also referred to as a water quality detection sensor), and replacing the reagent kit of the reagent dispensing component. In one embodiment, the above distance sensors can be any sensor capable of measuring distance, such as an ultrasonic sensor or an infrared sensor, a TOF (Time of Flight) sensor, or a vision sensor, etc.

[0111] In some embodiments, the distance sensor may also be disposed at the junction of different sides of the main body 101, such as the junction of the front side and the first side 1011, the junction of the front side and the second side 1012, the junction of the rear side and the first side 1011, the junction of the rear side and the second side 1012, etc.

[0112] In some embodiments, the distance sensor includes at least a transmitter, a receiver, and a control unit disposed on or integrated into the cleaning device. The transmitter emits a first signal toward the object to be detected, the receiver receives a second signal reflected by the object, and the control unit determines the distance between the object and the distance sensor based on relevant parameters, such as calculating the time difference between the first and second signals. The control unit has signal processing capabilities and may be a microcontroller, an embedded control system, or an ASIC.

[0113] It should be noted that different types of distance sensors have different application ranges. In one embodiment, for ultrasonic sensors, since both the transmitting and receiving signals are ultrasonic, the receiving unit has certain requirements for the reflection angle of the second signal to be received. When the angle between the transmitting and receiving signals is large, for example, greater than 20°, the second signal may deviate from the receiving unit, easily leading to the receiving unit not receiving the second signal. In another embodiment, for infrared sensors, the transmitting and receiving signals are infrared light signals. When the surface of the object to be detected is rough, the receiving unit can produce diffuse reflection of the second signal to be received. Therefore, for highly sensitive receiving units, the second signal can usually always be received. However, dark light-absorbing materials or strong ambient light may weaken the signal strength, limiting its application. Compared to ultrasonic sensors, infrared sensors are more adaptable to short-distance and non-extreme material scenarios, while ultrasonic sensors are more advantageous in medium-to-long-distance and complex lighting environments. Each has its specific advantages. Users can choose the type of distance sensor according to the type of object to be detected.

[0114] In one embodiment, a distance sensor is connected to a control system 231. The control system adjusts the movement posture of the cleaning device based on the distance information detected by the distance sensor, such as causing the cleaning device to avoid obstacles or move along the edges of obstacles. Specifically, moving along the edges of obstacles may include moving along the bottom wall edge of the target area or along the water surface edge. By adjusting the movement posture of the cleaning device, the cleaning device 100 is prevented from deviating from its original movement path. For example, it prevents the cleaning device 100, which needs to move along the bottom wall, from climbing along the height of the side wall or directly hitting the side wall. It also reduces the possibility of damage to the cleaning device 100, such as preventing it from tipping over or being damaged due to slipping, climbing, or hitting the side wall. The distance sensor enables the cleaning device 100 to move and clean safely. The distance sensor can also identify its distance from relative obstacles, such as side walls, allowing the cleaning device 100 to maintain a certain distance from the side wall during movement and cleaning, preventing the cleaning device 100 from scratching the side wall.

[0115] In one embodiment, the first distance sensor 200 is used to detect the terrain of the surface to be cleaned at the bottom of the cleaning device 100 to adjust the operating posture of the cleaning device 100. For example, the first distance sensor 200 detects the distance between itself and the surface to be cleaned at the bottom to determine whether the terrain in the direction of movement of the cleaning device 100 is a depression lower than the current walking surface (i.e., to determine whether there is a walking surface below at least a portion of the cleaning device 100), such as a suspended area, so that the cleaning device 100 turns or turns around when it is about to enter the suspended area to prevent the cleaning device 100 from stepping into the air, causing it to tip over or be damaged, thereby protecting the cleaning device 100; or when the cleaning device 100 is about to enter the suspended area, it flips the cleaning device 100 (e.g., flips from a vertical state to a horizontal state) to reach another walking surface different from the previous walking surface, thereby fulfilling the walking requirements in some scenarios and improving the flexibility of the movement of the cleaning device 100. Here, the walking surface refers to the plane in the surface to be cleaned that contacts the walking mechanism 103. The type of terrain on the surface to be cleaned at the bottom of the cleaning device 100 can be determined by the control system connected to the first distance sensor 200, which transmits distance information through the first distance sensor 200.

[0116] The cleaning device 100 may include one or more first distance sensors 200. When multiple first distance sensors 200 are included, they may be distributed to expand the detection range of the first distance sensors 200. For example, when two first distance sensors 200 are included, they may be located near the front and rear sides of the main body 101, respectively.

[0117] In some embodiments, please refer to Figure 4A. The first distance sensor 200 can be disposed near the bottom of the cleaning device, such as at the front of the bottom, the front side near the bottom, the bottom of the bottom, or the rear side near the bottom, to detect whether the cleaning device encounters a suspended area during its movement. Of course, the first distance sensor 200 can also be disposed at any position near the outer edge of the cleaning device. By shortening the physical distance between the first distance sensor 200 and the outer edge of the cleaning device, when the cleaning device moves to the edge of a suspended area, the first distance sensor 200 located at the outer edge of the main body 101 can detect it first and adjust the movement direction of the cleaning device in time, reducing the risk of the cleaning device accidentally falling due to inertia and adjustment lag.

[0118] In one specific embodiment, as shown in Figures 3B, 3C, 3D, 3E, and 4A, the first distance sensor 200 may be disposed near one or more of the walking mechanism 103, the roller brush assembly 171, and the first water inlet 101A of the cleaning device 100. For example, it may be disposed near the first wheel 1031B or the second wheel 1031A, so that the cleaning device can detect whether it encounters an unsupported area in a timely manner when moving forward or backward. For example, along the forward direction of the cleaning device 100, the first distance sensor 200 may be disposed behind the roller brush assembly 171; or disposed after the roller brush assembly 171 and before the first water inlet 101A; or disposed after the roller brush assembly 171 and the first water inlet 101A; or disposed on both sides of the roller brush assembly 171 and before the walking mechanism 103, as shown in Figure 3E. With this configuration, when the cleaning device approaches the edge of the suspended area, the roller brush assembly 171 can clean the edge of the suspended area. Then, the first distance sensor 200 detects the suspended area and controls the cleaning device to stop, retreat, or turn around to avoid falling into the suspended area.

[0119] In some embodiments, at least two first distance sensors 200 may be spaced apart at the bottom of the main body 101. The arrangement direction of the two first distance sensors 200 is perpendicular to the movement direction of the cleaning device or along the width direction of the cleaning device, and they are respectively located near the inner side of the walking mechanism 103. The two first distance sensors are used to detect whether there are any unsupported areas on both sides of the cleaning device. In a specific embodiment, the cleaning device 100 includes two first distance sensors 200. Both first distance sensors 200 are disposed in the area near the front side of the bottom of the main body 101, and one first distance sensor 200 is close to one set of walking mechanisms 103, and the other first distance sensor 200 is close to another set of walking mechanisms 103.

[0120] In some embodiments, the first distance sensor 200 is activated only when it detects that the cleaning device 100 is located in a specific type of area and / or performing a specific task. For example, when the cleaning device 100 is located on a platform with steps (e.g., a sun deck in a swimming pool) and / or when performing a cleaning task on that platform, the first distance sensor 200 is activated only. This avoids the cleaning device 100 from misidentifying the terrain and performing operations such as turning or turning around when moving in a normal area due to the long-term activation of the first distance sensor 200, which would affect the cleaning effect of the cleaning device 100. The specific type of area can be identified by a vision sensor 140 (mentioned below) or a depth sensor 233 (mentioned below), but is not limited to these.

[0121] In one embodiment, mounting holes 1013 as shown in FIG4A may be provided at the positions where the first distance sensor 200, the second distance sensor 500, the third distance sensor 600, and the fourth distance sensor 700 are installed on the main body 101, so that the sensors can be installed securely and reliably. The aforementioned distance sensors may be positioned close to the mounting holes 1013 or away from the mounting holes 1013.

[0122] In one embodiment, at least one transmission channel 1961 is provided inside the main body 101. As shown in FIG4B, the first distance sensor 200 is disposed inside the main body 101 near the front side. As shown in FIG4C and FIG4D, the transmission channel 1961 protrudes from the bottom shell of the main body 101 toward the inward, presenting a hollow structure.

[0123] In one embodiment, a first opening 19611 and a second opening 19612 are provided on both sides of the transmission channel 1961. The first opening 19611 is located at the bottom of the main body 101. The first opening 19611 may be the same hole as the mounting hole 1013; it may also be an independent hole from the mounting hole 1013; or there may be no mounting hole 1013, only the first opening 19611. The second opening 19612 is located inside the main body 101. The signal transceiver terminal of the first distance sensor 200 is set close to the second opening 19612. Specifically, the signal transceiver terminal of the first distance sensor 200 is set close to the second opening 19612 (that is, the signal transceiver terminal of the first distance sensor 200 is set at the end of the transmission channel 1961 away from the bottom of the main body 101), so that the emitted detection signal can pass through the transmission channel 1961 and be transmitted to the outside of the main body 101 through the first opening 19611. The process of the first distance sensor 200 receiving signals from the outside of the main body 101 is the reverse of the above. The external signal of the main body 101 refers to a signal originating from outside the main body 101. For example, when the first distance sensor 200 is an ultrasonic sensor, the detection signal emitted by the first distance sensor 200 is an ultrasonic signal, and the external signal can be a signal obtained by reflecting the ultrasonic signal (also known as an echo signal). The signal transceiver of the first distance sensor is positioned at the end of the transmission channel 1961 furthest from the bottom of the main body 101. When the signal transceiver is integrated, if the distance sensor is too close to the object, the overlap time between the emitted detection signal and the echo signal will be too short. In this case, the signal transceiver may not have completed the signal transmission action when receiving the signal, resulting in a detection blind zone and reduced detection accuracy. The arrangement of the transmission channel 1961 extends the transmission distance of the signal transmitter of the first distance sensor 200, avoiding the problem of decreased detection accuracy caused by an excessively short signal transmission distance.

[0124] In some embodiments, the signal transceiver of the first distance sensor 200 is disposed facing the front bottom of the cleaning device 100 and / or facing the rear bottom of the cleaning device 100. For example, the first distance sensor 200 is disposed at any position in the main body 101, such that the signal transceiver of the first distance sensor 200 faces the bottom front and / or rear bottom of the cleaning device, in order to detect the topography of the surface to be cleaned at the front bottom and / or rear bottom of the cleaning device 100. The outer surface of the transmission channel 1961 may be frustoconical in shape, gradually decreasing in size from the top to the bottom of the main body 101, or it may be cylindrical; there is no limitation here. The transmission channel 1961 may be integrally formed with the bottom shell of the main body 101, or it may be detachably disposed with the bottom shell of the main body 101. By setting up the transmission channel 1961, the first distance sensor 200 can be placed inside the main body 101, avoiding interference from external factors such as the environment that might be encountered if it were placed outside the main body 101, thus reducing the impact of external factors on the detection results of the first distance sensor 200; and by confining the signal emitted by the first distance sensor 200 within the transmission channel 1961, the signal is prevented from spreading and propagating, ensuring that it propagates directionally to the target area, thereby ensuring the accuracy of the detection results.

[0125] In one embodiment, a third distance sensor 600 is used to detect the distance to an obstacle located in front of the body 101, such as identifying the distance between walls located in front of the body 101; a second distance sensor 500 and / or a fourth distance sensor 700 are used to detect the distance to an obstacle located to the side of the body 101, such as identifying the distance between walls located to the side of the body 101.

[0126] In some embodiments, the distance sensor includes a single sub-distance sensor (also referred to as a sub-identifier or sub-detection component), such as an ultrasonic sensor, an infrared sensor, or a vision sensor. In other embodiments, referring to Figures 4B and 16, the distance sensor includes more than one sub-distance sensor, such as a third distance sensor 600 and / or a second distance sensor 500 and / or a fourth distance sensor 700, which includes at least a first sub-distance sensor 1121 (also referred to as a first sub-identifier or first sub-detection component) and a second sub-distance sensor 1122 (also referred to as a second sub-identifier or second sub-detection component). The first and second sub-distance sensors can be of the same or different types, and can be arranged adjacent to or spaced apart. The first and second sub-distance sensors can be arranged side-by-side, top-bottom, or staggered on one side. The arrangement of the first and second sub-distance sensors expands the recognition range and makes it easier to identify specific regional features.

[0127] In one specific embodiment, the first sub-distance sensor 1121 is an ultrasonic sensor, and the second sub-distance sensor 1122 is an infrared sensor. The ultrasonic sensor has a larger measurement range and can detect obstacles farther from the cleaning device 100, while the infrared sensor has a relatively smaller measurement range and can only detect obstacles closer to the cleaning device 100. In most scenarios, the ultrasonic sensor can be used as the primary detection sensor, the infrared sensor as an auxiliary detection sensor, or only the ultrasonic sensor can be used. However, when the cleaning device 100 is close to an obstacle, and the obstacle has a special configuration, the detection performance of the infrared sensor is usually better than that of the ultrasonic sensor. In this case, the infrared sensor can be used as the primary detection sensor, the ultrasonic sensor as an auxiliary detection sensor, or only the infrared sensor can be used. For example, when the junction of the bottom wall and the side wall is arc-shaped and has a large slope (e.g., greater than 90 degrees), the ultrasonic sensor may not be able to receive the return signal after sending a detection signal to the wall, and may not be able to detect distance data. Therefore, the junction may be misidentified as a walkable area, causing the cleaning device 100 to climb along the height of the side wall or directly collide with the side wall. By setting an infrared sensor, obstacles that are close to the cleaning device 100 can be detected more accurately.

[0128] In one specific embodiment, the regional topography of the target area can be detected jointly by an infrared sensor and an ultrasonic sensor. For example, if both the ultrasonic sensor and the infrared sensor can detect distance data, the regional topography of the target area may be a straight sidewall boundary; if only the infrared sensor can detect distance data, the regional topography of the target area may be an arc-shaped sidewall boundary, etc. By setting up both infrared and ultrasonic sensors, the problem of difficulty in identifying certain special regional topography when using only the ultrasonic sensor to detect the regional topography of the target area is solved, which not only improves the detection sensitivity and accuracy, but also improves the detection efficiency.

[0129] In one embodiment, the first sub-distance sensor and the second sub-distance sensor may both be ultrasonic sensors or both be infrared sensors.

[0130] In some embodiments, the first sub-distance sensor and the second sub-distance sensor may have substantially the same detection direction. In one embodiment, the detection directions of the first and second sub-distance sensors may be substantially parallel to the operating direction or the travel surface of the cleaning device 100. For example, when the travel surface of the cleaning device 100 is located on the bottom wall, the detection directions of the first and second sub-distance sensors may be substantially parallel to the bottom wall; when the travel surface of the cleaning device 100 is located on the side wall, the detection directions of the first and second sub-distance sensors are substantially parallel to the side wall. In another embodiment, the detection directions of both the first and second sub-distance sensors are inclined downwards towards the main body 101.

[0131] In other embodiments, the detection directions of the first sub-distance sensor and the second sub-distance sensor may be different. For example, the detection direction of the first sub-distance sensor may be tilted downwards towards the main body 101, while the detection direction of the second sub-distance sensor may be approximately parallel to the running direction or the walking surface of the cleaning device 100. Specifically, taking the third distance sensor 600 as an example, when the walking surface of the cleaning device 100 is located on the bottom wall, the detection direction of the first sub-distance sensor of the third distance sensor 600 is tilted towards the bottom wall, and the detection direction of the second sub-distance sensor of the third distance sensor 600 is approximately parallel to the bottom wall; furthermore, when the front of the cleaning device 100 is close to the junction of the bottom wall and the side wall, the detection direction of the first sub-distance sensor is tilted towards the junction, and the detection direction of the second sub-distance sensor is approximately parallel to the bottom wall and towards the side wall. Taking the distance sensor 500 as an example, when the walking surface of the cleaning device 100 is located on the bottom wall, the detection direction of the first sub-distance sensor of the second distance sensor 500 is inclined towards the bottom wall, and the detection direction of the second sub-distance sensor of the second distance sensor 500 is approximately parallel to the bottom wall. Further, when the first side 1011 is close to the side wall, the detection direction of the first sub-distance sensor is inclined towards the intersection of the bottom wall and the side wall, and the detection direction of the second sub-distance sensor is approximately parallel to the bottom wall and towards the side wall. The detection direction of the first sub-distance sensor is inclined downwards towards the main body 101, allowing it to face the boundary of the pool wall, effectively improving the recognition effect and efficiency of the pool wall boundary shape. Simultaneously, the detection direction of the second sub-distance sensor is approximately parallel to the running direction or walking surface of the cleaning device 100, expanding the recognition range in the detection direction of the second sub-distance sensor, thereby improving the accuracy of obstacle recognition and expanding the coverage of identifiable obstacles. The two work together to improve the accuracy of pool wall boundary recognition while ensuring the accuracy of obstacle recognition. This helps cleaning equipment to perform better path planning, obstacle avoidance, mapping, and other operations, thereby improving the operating performance of the cleaning equipment.

[0132] In some embodiments, the tilt amplitude of the detection direction of the first sub-distance sensor of the third distance sensor 600 is less than or equal to the tilt amplitude of the detection direction of the first sub-distance sensor of the second distance sensor 500 or the fourth distance sensor 700. For example, the tilt amplitude of the detection direction of the first sub-distance sensor of the third distance sensor 600 is a first angle tilted downward toward the body 101, such as 5 degrees; the tilt amplitude of the detection direction of the first sub-distance sensor of the second distance sensor 500 or the fourth distance sensor 700 is a second angle tilted downward toward the body 101, such as 10 degrees, etc., wherein the first angle is less than or equal to the second angle. This avoids the first sub-distance sensor of the third distance sensor 600 having an excessively large tilt amplitude, which could cause the cleaning device to misidentify a walkable area in front of the cleaning device (e.g., an uphill slope in the transition area between deep and shallow pools in a water tank) as the boundary of the target area, thereby improving the detection accuracy of the distance sensor.

[0133] In some embodiments, a distance sensor identifies the boundary of the target area, enabling the cleaning device 100 to move along the boundary of the target area (e.g., the bottom wall boundary). As the cleaning device 100 moves along the boundary, a control system connected to the distance sensor records the movement trajectory of the cleaning device 100 around the boundary of the target area, the distance traveled, and the changes in the boundary shape of the target area. Based on these records, a map of the target area is generated. By using a distance sensor, the cleaning device 100 only needs to move approximately one full circle around the boundary of the target area to complete the mapping, resulting in shorter mapping time and higher efficiency, effectively improving the efficiency of mapping.

[0134] In some embodiments, as shown in FIG16, the fifth distance sensor 300 is disposed on the front side wall of the main body 101. The fifth distance sensor 300 is mainly used to locate the base station. Since the base station is located on the bank of the pool, when the cleaning equipment is located in the pool, the base station is located above the cleaning equipment. In order to enable the fifth distance sensor 300 to detect the base station, the fifth distance sensor 300 is disposed on the front side wall of the main body 101 at an upward tilt, so that the probe of the fifth distance sensor 300 transmitting and / or receiving signals is tilted upward.

[0135] In some implementations, the cleaning equipment actively identifies the location of the base station via a fifth distance sensor 300. The base station is equipped with a sensing element, such as a signal transducer, for use with the fifth distance sensor 300.

[0136] In one specific embodiment, the fifth distance sensor 300 may include at least two ranging units. Taking the fifth distance sensor 300 located at the front of the cleaning equipment as an example, if the fifth distance sensor 300 includes a first ranging unit and a second ranging unit, the first ranging unit and the second ranging unit may be respectively located on the left and right sides of the front of the cleaning equipment, with a preset distance between them. A ranging signal is sent by at least one of the first ranging unit and the second ranging unit. After the base station's signal receiver receives the ranging signal, it returns a feedback signal. The location of the base station can be obtained based on the time when the first and second ranging units receive the feedback signal and the distance between the first and second ranging units. Alternatively, the signal receiver directly sends a ranging signal, and the location of the base station can be obtained based on the time when the first and second ranging units receive the ranging signal and the distance between the first and second ranging units.

[0137] Taking a pose sensor (also known as a tilt detection unit) as an example, the pose sensor 400 is used to detect the real-time attitude and / or position of the cleaning equipment or base station, such as whether tilting has occurred, the specific angle and direction of tilt, the distance of movement, the speed of movement, and the direction of movement. The pose sensor may include a relative pose sensor and an absolute pose sensor. The relative pose sensor is used to acquire the attitude of the cleaning equipment relative to a local reference object (e.g., the tilt angle of the cleaning equipment relative to the walking surface), and the absolute pose sensor is used to acquire the attitude of the cleaning equipment relative to an absolute reference object (e.g., the tilt angle of the cleaning equipment relative to a horizontal plane). The pose sensor may be, but is not limited to, an inertial measurement unit (IMU), a tilt sensor, etc., where the IMU may include an accelerometer, a gyroscope, a magnetometer, etc.

[0138] In one embodiment, the posture sensor 400 can directly or indirectly obtain the posture data of the cleaning device 100, such as pitch angle, roll angle, and yaw angle. When one or more angles of the cleaning device 100 meet preset angle conditions, such as being less than a preset angle threshold, the cleaning device 100 moves according to its original operating posture. When one or more angles of the cleaning device 100 do not meet preset angle conditions, such as being greater than a preset angle threshold, the cleaning device 100 adjusts its operating posture and moves in the adjusted operating posture. For example, when the cleaning device moves on the bottom wall, if the pitch angle is greater than a preset angle, the movement posture of the cleaning device is adjusted to prevent the cleaning device from slipping on the edge of the bottom wall or climbing along the height direction of the side wall.

[0139] In one embodiment, the cleaning device may be equipped with more than one pose sensor. For example, the cleaning device may include a six-axis IMU (e.g., a three-axis accelerometer and a three-axis gyroscope) and a single-axis IMU (e.g., a single-axis gyroscope). The six-axis IMU is used to acquire acceleration in the X, Y, and Z directions, and angular velocities in the X and Y directions, and can also be used to acquire the relatively less accurate angular velocity in the Z direction; the single-axis IMU is used to acquire the relatively more accurate angular velocity in the Z direction. Since the Z-direction angular velocity is usually measured by a gyroscope, using a high-precision six-axis IMU would increase the cost of the cleaning device, while using a low-precision six-axis IMU would make it difficult to obtain accurate Z-direction angular velocities. By combining a six-axis IMU with a high-precision single-axis IMU, both accurate Z-direction angular velocities can be acquired, and costs can be effectively controlled, thereby achieving a balance between the accuracy and cost of the cleaning device's attitude detection.

[0140] Taking a temperature sensor (also referred to as a temperature detection component) as an example, the cleaning equipment and / or base station includes such a sensor. In some embodiments, referring to FIG4B, the temperature sensor 238 is used to detect the temperature at the location where the temperature sensor 238 is located, and can be any temperature-detectable device. In some embodiments, the temperature sensor 238 is placed in the water of a swimming pool, and the temperature sensor 238 can detect the water temperature in the pool. In one embodiment, at least a portion of the temperature sensor 238 is disposed inside the main body 101. Specifically, the temperature sensor 238 can be disposed inside or outside the control box 220. When the temperature sensor 238 is disposed inside the control box 220, the temperature sensor 238 can detect the temperature inside the control box 220. When the temperature sensor 238 is disposed outside the control box 220, the temperature sensor 238 can be disposed in any area within the main body 101 that allows the temperature sensor 238 to come into contact with liquid flowing into the main body 101 from the target area. Specifically, when the cleaning device 100 is located within the target area, the liquid in the target area can enter the main body 101. The temperature sensor 238 comes into contact with the liquid entering the main body 101, thereby measuring the temperature of the liquid in the target area. Placing the temperature sensor 238 inside the main body 101 reduces the probability of damage to the temperature sensor 238 due to collisions, sunlight, etc. Simultaneously, the temperature sensor 238 directly contacts the liquid in the target area, ensuring the accuracy of the detected temperature. Figure 4B is a partial structural schematic diagram of an embodiment of the cleaning device provided in this disclosure. As shown in Figure 4B, the temperature sensor 238 is located outside the electrical control box 220 and can be connected to the electrical control box 220 via a wire (not shown in the figure) to transmit the detected temperature data to the control system 231 inside the electrical control box 220. In some embodiments, the temperature sensor 238 may be disposed in a portion of the space formed by the bottom shell of the main body 101 (not shown in FIG. 4B), wherein, as shown in FIG. 4A, the bottom shell is provided with at least one drain outlet 1113, which is always in communication with the external environment, so that when the cleaning device 100 is placed in the liquid environment of the target area, a portion of the space of the bottom shell will retain a portion of liquid, and at least the detection portion of the temperature sensor 238 will contact the portion of liquid to detect the temperature of the portion of liquid and measure the temperature of the liquid in the target area.

[0141] The cleaning device 100 can also feed back the temperature detected by the temperature sensor 238 to a communication device connected to the cleaning device 100, and display temperature data on the communication device, such as the real-time water temperature detected by the cleaning device 100, the water temperature detected before the cleaning device 100 last left the water, and the internal temperature of the electrical control box 220. Alternatively, in case of abnormal temperature (e.g., when the temperature is greater than or less than a preset threshold), an alarm message can be displayed on the communication device to prevent excessively high or low temperatures from affecting the operation of the cleaning device 100 or impacting the user experience. The communication device can be a mobile phone, tablet computer, laptop computer, desktop computer, smartwatch, smart bracelet, or base station of the cleaning device 100, but is not limited to these.

[0142] Taking a humidity sensor (also known as a humidity detection component) as an example, the type of sensor included in the cleaning equipment and / or base station is a humidity sensor. In some embodiments, the humidity sensor is used to detect the humidity at the location of the humidity sensor, and can be any device capable of detecting humidity. In some embodiments, the humidity sensor is placed in the control box 220, so the humidity sensor can detect the humidity inside the control box 220. The cleaning equipment 100 can also feed back the humidity detected by the humidity sensor to a communication device connected to the cleaning equipment 100, and display the humidity data, such as the humidity inside the control box 220, on the communication device. Alternatively, when the humidity is abnormal (e.g., the humidity is greater than or less than a preset threshold), an alarm message can be displayed on the communication device to prevent excessively high or low humidity from affecting the operation of the cleaning equipment 100 or the user experience.

[0143] Taking a visual sensor (also called a visual sensing component or visual recognition component) as an example, as shown in Figure 16, the visual sensor 140 is used to acquire images of the target area and / or the entire body 101 or any internal component and / or the entire base station or any internal component. The acquired images are then processed by a control system to control the actions of the cleaning equipment 100. In some embodiments, the visual sensor 140 is used to photograph the target area environment and identify image features to achieve functions such as positioning, target recognition, mapping, and obstacle avoidance based on image features. For example, by comparing images from previous and subsequent frames, positioning errors caused by slipping, tipping, or accumulated errors in the inertial measurement unit of the cleaning equipment 100 can be corrected. Furthermore, by continuously capturing images during the operation of the cleaning equipment 100, if the cleaning equipment 100 determines that mapping is complete and a matching image is found in historical images, it can be repositioned when its position is lost. It can also identify specific targets and determine whether the target is garbage that needs to be cleaned or an obstacle that needs to be avoided, in order to proceed with subsequent cleaning or obstacle avoidance. The vision sensor 140 and / or distance sensor can be used to plan the movement path of the cleaning equipment 100 and prevent the cleaning equipment 100 from climbing, slipping, tipping over or colliding with obstacles, so that the cleaning equipment 100 can clean and map the target area in a regular and safe manner, thereby improving the cleaning efficiency and cleaning effect of the cleaning equipment 100.

[0144] The vision sensor 140 can be disposed on any side of the main body 101. In one embodiment, the vision sensor 140 is positioned facing the forward or backward direction of the cleaning device 100, i.e., it can be disposed at the front or rear of the main body 101 to acquire image data in the forward or backward direction of the cleaning device. In one embodiment, when the main body 101 is provided with a single vision sensor, the vision sensor 140 can be disposed at an approximately central position on the side of the main body 101, so that when the cleaning device 100 is located at the bottom of the pool, it can acquire images of the walking surface that is usually close to the bottom of the main body 101, and when the cleaning device 100 is located at the water surface, it can acquire images of the water surface that is usually close to the top of the main body 101, thereby expanding the image acquisition range of the vision sensor 140.

[0145] In some embodiments, referring to FIG17, the vision sensor 140 includes a camera body 1401. In some embodiments, the vision sensor 140 includes a camera body 1401 and a supplementary lighting element 1402. The camera body 1401 is used to capture images of a pool and may be, but is not limited to, a lens. The supplementary lighting element 1402 is used to emit light to adjust the brightness of the shooting area of ​​the camera body 1401 and may be, but is not limited to, a supplementary light or a flash; for example, the light emitted by the supplementary lighting element 1402 can directly illuminate the shooting area, and the brightness of the area can be adjusted by adjusting the brightness of the light emitted by the supplementary lighting element 1402. When there are multiple camera bodies 1401, different camera bodies 1401 can share the same supplementary lighting element 1402; different camera bodies 1401 may also be provided with different supplementary lighting elements 1402.

[0146] In some implementations, the state of the supplementary lighting element 1402 (e.g., whether it is turned on and the brightness of the emitted light) can be determined based on the brightness of the environment in which the cleaning equipment is located.

[0147] In some implementations, if the cleaning device 100 collides with an obstacle, the state of the supplementary lighting element 1402 will remain the same as before the collision. This ensures that the collision does not interfere with the accuracy of ambient brightness detection, thereby preventing the supplementary lighting element 1402 from adjusting to a state unsuitable for the current environment.

[0148] In some embodiments, a single fill light element 1402 is disposed adjacent to the camera body 1401 or multiple fill light elements 1402 are disposed around the camera body 1401.

[0149] In some embodiments, one or more supplementary lighting elements 1402 are disposed separately from the camera body 1401. The supplementary lighting elements 1402 can be installed in different positions of the cleaning equipment 100 as needed, as long as the light emitted by them can adjust the brightness of the shooting area of ​​the camera body 1401.

[0150] In some embodiments, the visual sensor 140 further includes a light-shielding member (not shown). The light-shielding member is disposed at the periphery of the camera body 1401, or at the edge of the camera body 1401 near the supplementary lighting member 1402. The light-shielding member can reduce the damage to the photosensitive element of the camera body 1401 caused by the direct dispersion of light from the supplementary lighting member 1402 to the camera body 1401, and can also reduce the possibility of overexposure in the image of the camera body 1401 caused by the direct dispersion of light from the supplementary lighting member 1402 to the camera body 1401, thereby improving the service life and image quality of the camera body 1401.

[0151] In some embodiments, the camera body 1401 is provided with a waterproof structure. For example, a hydrophobic layer may be provided on the lens surface of the camera body 1401 to avoid the impact of water droplet condensation and water flow marks on the shooting effect, so that the visual sensor 140 can obtain clearer and more accurate image information; at the same time, it reduces the damage and performance degradation of the camera body 1401 caused by water erosion and extends the service life of the camera body 1401.

[0152] In some embodiments, the camera body 1401 and the supplementary lighting component 1402 may be adjacent to or located on the side of the body 101 having the first water inlet 101A and / or the second water inlet 101B. When the cleaning device detects garbage within its field of view through the camera body 1401, the cleaning device 100 can move directionally to the garbage area and perform targeted cleaning of that area, improving the cleaning effect of the cleaning device 100. In some embodiments, when the cleaning device detects garbage within its field of view through the camera body 1401, the cleaning device 100 can locate the garbage and plan a movement path based on the location of the garbage. The cleaning device 100 moves according to the planned path to bring the second water inlet 101B closer to the garbage. When the second water inlet 101B is close to the garbage, if the second blocking component 119 at the second water inlet 101B opens, the garbage is sucked into the filter unit through the second water inlet 101B. At this time, it is not necessary to start the cleaning device. The cleaning unit 900 is equipped to maximize energy conservation. Simultaneously, by moving the cleaning device 100 along a planned path, it prevents debris from entering the blind spot of the camera body 1401. Alternatively, the cleaning device 100 moves along the planned path so that the first water inlet 101A is close to the debris. When the first water inlet 101A is close to the debris, the first shield 1213 at the first water inlet 101A opens, allowing the debris to be sucked into the filter unit through the first water inlet 101A for targeted cleaning. During this cleaning process, there is no restriction on whether the cleaning unit 900 is turned on or off.

[0153] In one specific embodiment, the vision sensor 140 is positioned away from the second water inlet 101B to prevent dynamic changes (such as water flow fluctuations, splashing water, and the movement of debris) occurring at the second water inlet 101B when the vision sensor 140 approaches it from interfering with the environment within the field of view of the vision sensor 140. This improves the operational stability of the vision sensor 140.

[0154] In some embodiments, as shown in FIG16, when the second water inlet 101B, the vision sensor 140, and the distance sensor are located on the same side, the arrangement order from top to bottom can be the second water inlet 101B, the vision sensor 140, and the distance sensor.

[0155] In some embodiments, the vision sensor 140 includes more than one sub-vision sensor for acquiring images with different fields of view (i.e., acquiring environmental data of different fields of view within the target area). In one embodiment, as shown in FIG16, the vision sensor 140 includes a first sub-vision sensor 140a and a second sub-vision sensor 140b, wherein the first sub-vision sensor 140a and the second sub-vision sensor 140b are disposed at different locations on the cleaning device 100. In the height direction of the cleaning device 100, the height of the first sub-vision sensor 140a is higher than that of the second sub-vision sensor 140b.

[0156] In one specific embodiment, the first sub-vision sensor 140a is positioned in the cleaning device 100 such that when the cleaning device 100 moves on the water surface, the first sub-vision sensor 140a is partially or completely exposed above the water surface; the second sub-vision sensor 140b is positioned such that when the cleaning device 100 moves at the bottom of the pool, the second sub-vision sensor 140b is submerged in the water.

[0157] When the cleaning device 100 moves on the water surface, it is typically partially exposed and partially submerged; when it moves on the bottom of the pool, it is typically completely submerged. The relative positions of the cleaning device 100 to the pool bottom and to the water surface differ. Using a single vision sensor may result in omissions or inaccuracies in the acquired environmental data. For example, when the cleaning device 100 is on the water surface, a vision sensor positioned lower on the device may be underwater, failing to accurately detect obstacles on the surface. Therefore, by using different sub-vision sensors to acquire environmental data, appropriate sub-vision sensors can be selected based on the conditions of the water surface and the pool bottom, thereby obtaining accurate environmental data.

[0158] In one specific implementation, the water surface map for different areas can be constructed using different sub-vision sensors. For example, a water surface map can be constructed using a first sub-vision sensor 140a, and a water bottom map can be constructed using a second sub-vision sensor 140b.

[0159] In one specific embodiment, the structures of the different sub-vision sensors described above may differ. Taking the first sub-vision sensor 140a and the second sub-vision sensor 140b as examples, when the first sub-vision sensor 140a is used to acquire environmental data of the water surface, the camera body 1401 may include a vision device, such as any one of a monocular camera, a binocular camera, a tri-lens camera, and a surround-view camera; when the second sub-vision sensor 140b is used to acquire environmental data of the pool bottom, the camera body 1401 may include an optical device in addition to the vision device, such as a lidar sensor, a laser module, etc. At the pool bottom, the second sub-vision sensor 140b can increase feature points by irradiating the water with laser light, thereby solving the problem of fewer feature points at the bottom. In contrast, since the water surface environment is more complex and has more feature points, it is not necessary to increase feature points; the first sub-vision sensor 140a can directly identify existing feature points. Therefore, by setting sub-vision sensors with different structures to acquire environmental data, the appropriate structure of the sub-vision sensor can be selected according to the conditions of the water surface and the pool bottom, thereby obtaining accurate environmental data.

[0160] In one specific embodiment, as shown in FIG16, the aforementioned first sub-vision sensor 140a, second sub-vision sensor 140b, first sub-distance sensor 1121, second sub-distance sensor 1122 and fifth distance sensor 300 are disposed on the front side of the main body 101. The first sub-vision sensor 140a is located above the second sub-vision sensor 140b and avoids the second water inlet 101B, which is located above the second sub-vision sensor 140b. The first sub-distance sensor 1121 and the second sub-distance sensor 1122 are arranged side by side and located below the second sub-vision sensor 140b.

[0161] In some embodiments, at least a portion of the first sub-vision sensor 140a is located above the second water inlet 101B. When the cleaning equipment is operating on the water surface, at least a portion of the first sub-vision sensor 140a is above the water surface, ensuring that the first sub-vision sensor 140a detects debris on the water surface. When debris is detected on the water surface, the cleaning equipment moves towards the debris and to the location of the debris for targeted cleaning. When the cleaning equipment performs cleaning tasks underwater, the first sub-vision sensor 140a can also detect debris on the bottom of the pool. When debris is detected on the bottom of the pool, the cleaning equipment moves towards the debris and to the location of the debris for targeted cleaning.

[0162] Furthermore, most of the first sub-vision sensor 140a is located above the first water inlet. When the cleaning equipment is operating on the water surface, the first sub-vision sensor 140a is positioned above the water surface, and the greater the height difference between it and the water surface, the larger the detection range of the first sub-vision sensor 140a, enabling it to detect debris over a larger area. For example, as shown in Figure 16, there are two first sub-vision sensors 140a, distributed on both sides of the second water inlet 101B, and in the height direction of the cleaning equipment, the first sub-vision sensors 140a are closer to the top of the main body 101 than the second water inlet.

[0163] In one embodiment, as shown in FIG16, the front sidewall of the main body 101 includes a first wall 10101 located above and a second wall 10102 located below. The first wall extends approximately along the height direction of the cleaning equipment, and the second wall is inclined relative to the first wall and protrudes forward from the first wall. The fifth distance sensor 300 is disposed on the second wall so that the detection range of the fifth distance sensor 300 is not blocked by other structures on the cleaning equipment, and can interact with the base station to realize the function of finding the base station.

[0164] In one embodiment, the cleaning device further includes a discrimination component. The discrimination component may be embedded in or independent of the control system in hardware form (e.g., a microcontroller, embedded control system, or ASIC), or it may be stored in the memory of the cleaning device in software form for execution by the control system, or it may be a combination of the above hardware and software forms.

[0165] The discrimination component has the function of recognition and judgment. It can analyze images through machine learning to identify obstacles (such as escalators, stones) or cleanable objects (such as fallen leaves, platforms) within the target area, triggering obstacle avoidance or cleaning actions. The discrimination component can also recognize the structure of the target based on the captured images, enabling the cleaning device 100 to clean one area completely before moving on to another, avoiding the situation where the device moves to another area before completing the cleaning of the current one.

[0166] In some embodiments, the discrimination component can also track trash, thereby preventing trash from entering the blind spot of the camera body 1401 and causing it to be missed during cleaning.

[0167] In some embodiments, the vision sensor 140 and / or the discrimination component are enabled in a specific cleaning mode. The specific mode can be started independently or after the completion of the regular mode; this is not limited here. The regular cleaning mode is a mode in which the vision sensor 140 and / or the discrimination component are not enabled. Specifically, the specific cleaning mode involves the cleaning device 100 patrolling and cleaning a target area along a preset cleaning path, such as a bow-shaped or U-shaped path. During the patrol cleaning process, if a specific target, such as fallen leaves or other debris, is detected in the target area, the device proceeds to clean that specific target. After cleaning, the cleaning device 100 can return to its original cleaning path by reversing, moving forward, or turning. That is, after cleaning a specific target, the cleaning device returns to its original cleaning path and continues patrolling according to the preset cleaning path. The determination of whether a specific target has been cleaned can be achieved in various ways. For example, the discrimination component can directly identify whether the target has been removed; or, a preset judgment condition can be used, and if this condition is met, cleaning is considered complete. For example, if the judgment condition is a time condition, cleaning is considered complete when the cleaning device 100 stays at the specific target for a preset time. The specific content of the judgment conditions is not limited here.

[0168] In some implementations, the spacing between adjacent sub-paths of a preset cleaning path in a specific cleaning mode can be dynamically adjusted. For example, if the discrimination component does not detect trash on a consecutive preset number of adjacent sub-paths, the cleaning device 100 is controlled to increase the path spacing between the adjacent sub-paths to be patrolled, for example, from a first path spacing to a second path spacing, where the second path spacing is greater than the first path spacing. If the discrimination component detects trash on a consecutive preset number of adjacent sub-paths or detects multiple pieces of trash on a single sub-path, the cleaning device 100 is controlled to adjust the spacing between the adjacent sub-paths to be patrolled from the second path spacing back to the first path spacing or to any spacing smaller than the second path spacing. In this way, cleaning effectiveness can be improved while also increasing cleaning efficiency.

[0169] In some implementations, a specific cleaning mode includes a stop condition, which can be the completion of the target area patrol or the end of the cleaning time estimated based on the area of ​​the target area. The area of ​​the target area can be estimated after mapping the target area.

[0170] In some implementations, the user can choose whether to enable the vision sensor 140 and / or the discrimination component. For example, the user can manually turn the vision sensor 140 and the discrimination component on / off via a communication device connected to the cleaning device 100 or a function button on the main body 101. Alternatively, the cleaning device 100 can determine whether to enable the vision sensor 140 and / or the discrimination component based on its assessment of the target area's environment and / or its own parameters. For example, if preset conditions such as insufficient remaining power in the cleaning device 100 to support the activation of the vision sensor 140 and / or the discrimination component are met, the vision sensor 140 and / or the discrimination component will be turned off. These methods improve the flexibility and efficiency of cleaning.

[0171] In some embodiments, a visual sensor is used to acquire image data in real time, perform target detection on the image data, and then determine the location of the base station based on the detection results. Specifically, a machine learning model can be pre-trained on a specific shape of the base station, and the trained model enables the visual sensor to detect the base station from the acquired image data. When the visual sensor detects the base station, its location can be obtained accordingly.

[0172] In one specific embodiment, the vision sensor 140 has a field of view that is tilted upwards along the direction of movement of the cleaning device 100. The vision sensor 140 can be fixed or rotated, meaning the shooting angle of the vision sensor 140 can be adjusted. When the vision sensor 140 is positioned at the top, it can also move between a first position and a second position. For example, in the first position, the vision sensor 140 is located inside the housing of the cleaning device 100, and at this time, the vision sensor 140 is in a non-operating state; in the second position, the vision sensor 140 can protrude beyond the outline of the housing of the cleaning device 100, and at this time, it is in an operating state. The main body of the cleaning device 100 is provided with a space for accommodating the vision sensor 140, and a drive mechanism is also provided attached to this space. The drive mechanism is electrically connected to the control mechanism of the cleaning device 100, and the control mechanism can control the operation of the drive mechanism to achieve the switching of the vision sensor 140 between the first position and the second position.

[0173] In one embodiment, the cleaning device 100 obtains the base station location through a pre-constructed pool map. When constructing the pool map, the cleaning device 100 records the location of the base station in the pool map. When it needs to return to the base station, it can obtain the base station location through the pool map. The pool map can be a two-dimensional map or a three-dimensional map.

[0174] Taking a cleanliness sensor as an example, the type of sensor included in cleaning equipment and / or base stations. In some embodiments, a cleanliness sensor detects the cleanliness of a filter unit or the cleanliness of a target area. Cleanliness can reflect the amount of debris in the filter unit, the degree of clogging of the filter screen, the cleanliness of the liquid in the target area, etc. Cleanliness sensors can be of various types.

[0175] In one embodiment, the cleanliness sensor is a pressure sensor. A pressure sensor is installed at any location in the cleaning water path. When an abnormal pressure is detected, it indicates that there may be excessive debris in the filter unit or that the filter screen is clogged to some extent, resulting in poor water flow in the cleaning water path. Specifically, a pressure sensor can be installed before the filter unit in the cleaning water path. When the detected pressure is greater than a certain value, it can be determined that the cleanliness of the filter unit and / or the target area is low. Alternatively, a pressure sensor can be installed after the filter unit in the cleaning water path. When the detected pressure is less than a certain value, it can be determined that the cleanliness of the filter unit and / or the target area is low. The pressure difference before and after filtration by the filter unit can also be detected. When the pressure difference is greater than a certain value, it can be determined that the cleanliness of the filter unit and / or the target area is low.

[0176] In one embodiment, the cleanliness sensor is a flow rate sensor. The flow rate sensor is installed at any location in the clean water path. When the detected water flow rate is below a certain value, it is determined that the cleanliness of the filter unit and / or the target area is low. In another embodiment, the cleanliness sensor is a turbidity sensor. The turbidity sensor is installed at the first outlet 101C to detect the turbidity of the liquid discharged from the outlet. When the detected turbidity is above a certain value, it indicates that the filter unit may be clogged, leading to a decrease in filtration efficiency. In this case, it can be determined that the cleanliness of the filter unit and / or the target area is low.

[0177] In one embodiment, the cleanliness sensor is a photoelectric sensor. A photoelectric sensor (e.g., a photoelectric pair) is installed on the first inlet 101A and / or at least one second inlet 101B. If no signal is detected within a preset time, it indicates that the first inlet 101A and / or at least one second inlet 101B may be blocked by garbage, or that a large amount of garbage has been passing through the first inlet 101A and / or at least one second inlet 101B for a long time. It can be determined that the cleanliness of the filter unit and / or the target area is low.

[0178] In one embodiment, the cleanliness sensor is a weighing sensor. A weighing sensor is installed at the filter unit to detect the weight of the filter unit. When the detected weight exceeds a certain value, the cleanliness is determined to be low. In another embodiment, the cleanliness sensor is a vision sensor (also called an image sensor). An image sensor is installed inside the filter unit to acquire images of the filter unit's interior, and then the cleanliness of the filter unit is determined using an image recognition method.

[0179] In one embodiment, the cleanliness sensor is an electrical indicator sensor that detects cleanliness based on the electrical indicators of the electrical components, such as current, voltage, and power. For example, the current of the suction mechanism can be detected. When the current exceeds a certain value, it indicates that there may be too much debris in the filter unit or that the filter screen is clogged to some extent, leading to an increase in the suction mechanism current. Therefore, it can be determined that the cleanliness of the filter unit and / or the target area is low at this time.

[0180] In one embodiment, the cleanliness of the filter unit and / or target area can also be obtained by analyzing the working time, water flow data, and / or energy consumption changes of the cleaning equipment during a certain working period using a cleanliness sensor. The above cleanliness detection methods are merely examples and can be used individually or in combination; no limitation is imposed here.

[0181] The cleaning device 100 can determine whether to clean or replace the filter unit based on its cleanliness level. For example, when the cleanliness level of the filter unit is detected to be lower than a preset value, the cleaning device 100 can perform a self-cleaning task. Alternatively, when the cleanliness level of the filter unit is detected to be lower than a preset value, a reminder can be sent to the user, prompting them to clean or replace it promptly. A cleanliness indicator light or voice prompt device can also be installed on the cleaning device 100 to reflect the cleanliness level of the filter unit, allowing the user to intuitively understand the status of the filter unit and clean or replace it in a timely manner.

[0182] Taking the type of sensor included in the cleaning equipment and / or base station as an example, an anomaly sensor is used. In some embodiments, anomaly sensors detect anomalies in the cleaning equipment or base station as a whole, or in individual components within the cleaning equipment or base station. In one embodiment, the anomaly sensor is an electrical indicator sensor, which detects component anomalies based on the electrical indicators of the electrical components. For example, it detects the current of a drive motor (e.g., the drive motor of the walking mechanism 103, the drive motor of the second shield 119, etc.). When the current exceeds a certain value, it may indicate damage to the electrical component or a malfunction caused by being entangled in an obstacle. The motor can attempt to recover from the abnormal state by reversing its direction; a reminder can also be sent to the user to prompt timely cleaning or repair; an anomaly indicator light or voice prompt device can also be installed on the cleaning equipment 100 to reflect anomalies in the cleaning equipment, allowing the user to intuitively understand the operating status of the cleaning equipment and perform timely cleaning or repair.

[0183] Taking a water quality sensor (also referred to as a water quality detection component) as an example, the type of sensor included in the cleaning equipment and / or base station. In some embodiments, the water quality sensor is mainly used to acquire water quality data in a target area. The water quality data may include the pH value, turbidity, total solids content, salinity, etc., of the water body, so that users can know the water quality conditions in the pool. In one embodiment, the water quality sensor may also be installed on the base station.

[0184] In one embodiment, as shown in Figures 19A, 19B, and 19C, the water quality detection sensor includes a detection box 11601, a detection strip 11603, a detection assembly, a peeling element 11605, and a driving assembly. The detection strip 11603 includes a test strip 116031 and a protective film 116032. The protective film 116032 is waterproof. Before detection, the protective film 116032 is attached to a first side surface of the test strip 116031. The first side surface has multiple detection areas, and each detection area contains multiple detection color blocks. For example, the detection color blocks can be pH detection color blocks, residual chlorine color blocks in water, cyanuric acid color blocks in water, calcium hardness color blocks, total alkalinity color blocks, water turbidity detection color blocks, water total solids content detection color blocks, water salinity detection color blocks, etc.; the protective film 116032 and the test strip 116031 are an integral unit. The protective film 116032 protects the detection area on the test strip 116031 to prevent external moisture from entering the detection area and affecting the detection effect of the test strip 116031. When water quality testing is required, the protective film 116032 and the test paper 116031 are peeled off by the peeling component 11605, exposing the detection color block on the test paper 116031 to come into contact with the liquid. When the liquid comes into contact with the detection color block on the test paper 116031, the detection color block will change color. The detection component collects the color after the detection color block changes color. The control system processes and compares the data of the detection component to obtain water quality testing information, which is then output to the screen of the base station or the APP interface of the user terminal, so that the user can intuitively see the water quality testing results. When the base station or cleaning equipment includes a reagent dispensing component (also known as a reagent dispensing component), it is convenient for the user to control or the control system to control the reagent dispensing component to decide whether to dispense reagents into the water tank to treat the liquid in the water tank.

[0185] In some embodiments, as shown in FIG18, the cleaning device or base station is provided with a reagent dispensing assembly 1150. The reagent dispensing assembly 1150 includes a reagent storage assembly 1151 (also referred to as a reagent kit). The reagent storage assembly can be used to store the reagent to be dispensed. The reagent storage assembly can be disposed within the main body 101. The reagent storage assembly can also be detachably installed on the main body 101. The reagent storage assembly is provided with a reagent opening. The reagent to be dispensed can be a reagent required for maintenance of water bodies such as algae removal, clarification, and disinfection, including but not limited to disinfectants, algaecides, coagulants, pH adjusters, etc. In some embodiments, the reagent dispensing assembly 1150 further includes a dispensing drive assembly 1152. The cleaning device main body is provided with a reagent opening. The first dispensing drive assembly 1152 is disposed on the cleaning device main body 1001 and connected to the reagent storage assembly 1151. The dispensing drive assembly 1152 is used to drive and control the reagent in the reagent storage assembly 1151 to flow out from the reagent opening. The dispensing drive component 1152 can control the dispensing of reagent from the reagent storage component 1151 through the reagent opening 11511 based on operating parameters. The operating parameters may include at least the exit velocity of the reagent to be dispensed from the reagent storage component 1151, such as flow rate.

[0186] In one embodiment, the detection component can be a visual sensor (e.g., a camera). By capturing the color of the detection color block in the detection area, the control system compares the color captured by the camera with a standard color chart to obtain the detection result of the water quality detection sensor.

[0187] In some embodiments, at least a portion of the water quality detection sensor is replaceable. In one specific embodiment, the detection cartridge 11601 is replaceable, allowing a new cartridge to be replaced when the test strips therein are depleted.

[0188] In some embodiments, water quality testing can be performed periodically. In one specific embodiment, water quality testing can be performed at fixed times each day, such as once in the morning, noon, and evening. In another specific embodiment, water quality testing can be performed at regular intervals, such as once every two hours. The testing interval can be set by the user or can be adjusted according to seasonal or environmental changes; no restrictions are imposed here.

[0189] In some embodiments, water quality testing can be triggered under specific conditions. For example, for outdoor pools, water quality testing can be triggered after rain, dust storms, or other adverse weather conditions. Alternatively, water quality testing can be triggered when someone is detected on the shore. Water quality testing can also be performed after cleaning equipment completes a cleaning task or reagent application to assess the effectiveness of the cleaning task or reagent application.

[0190] Of course, water quality testing can also be conducted in response to user needs. The above water quality testing methods can be used individually or in combination, without limitation. The water quality testing devices on the cleaning equipment and on the base station can be used independently or in combination. In one specific embodiment, the water quality testing device on the cleaning equipment is suitable for testing the entire body of water, while the water quality testing device on the base station is suitable for fixed-point testing at the base station; the combination of the two can achieve a more comprehensive testing effect.

[0191] In some embodiments, after obtaining water quality test results, a reagent application plan can be automatically recommended to the user. For example, a reagent application calculation formula can be preset, and the water quality test results can be input into the formula to obtain the reagent application quantity, concentration, and / or duration. Alternatively, a water quality-reagent model can be pre-trained, and the current water quality results can be input into the model, which can then output a reagent application plan. The recommended reagent application plan can be displayed on the base station screen or pushed to the user's mobile device.

[0192] In some embodiments, the water quality sensor may be mounted on a base station. The construction of the water quality sensor on the base station may be the same as or different from that of the water quality sensor on the cleaning equipment; no limitation is made here.

[0193] In one embodiment, when the water quality detection sensor is installed in the cleaning equipment, if the cleaning equipment returns to the base station, the base station can replace the detection box of the water quality detection component or remind the user to replace the detection box of the water quality detection component on the base station body.

[0194] Taking the type of sensor included in cleaning equipment and / or base stations as an example, an in-situ detection sensor (also referred to as an in-situ sensing component or in-situ detection mechanism). In some embodiments, the in-situ detection sensor is used to detect whether a component to be detected in the cleaning equipment or base station is installed in place. In one embodiment, the in-situ detection sensor includes a detection element and a sensing element, wherein one of the detection element and the sensing element is disposed on the component to be detected, and the other is disposed in the mounting area of ​​the component to be detected; when the detection element receives a signal from the sensing element, it indicates that the component to be detected is installed in place. In another embodiment, the in-situ detection sensor only includes a detection element, which senses whether the component to be detected is installed in place by detecting changes in itself or changes in the environment of the mounting area (e.g., detecting whether it has deformed, whether the ambient temperature has changed, etc.).

[0195] In one embodiment, the presence detection sensor includes at least one of a magnetic sensing component, an inductive component, and a switching component. In practical use, the detection method can be flexibly adjusted according to actual needs. For example, the presence detection sensor can be a magnetic sensing component, an inductive component, or a switching component. Alternatively, the presence detection sensor can simultaneously include a magnetic sensing component, an inductive component, and a switching component. The magnetic sensing component can sense whether the detected component is in place through magnetic induction. The magnetic induction method can be achieved through the interaction of a Hall element and a Hall magnet. The inductive component can sense whether the detected component is in place through inductive induction. The switching component senses whether the detected component is in place through switching. It should be noted that the presence detection sensor can be equipped with a waterproof structure as needed, which can reduce the occurrence of short circuits and other problems, thus ensuring the performance of the presence detection sensor and improving its stability.

[0196] In one embodiment, an in-situ detection sensor is used to detect whether the filter cartridge 120 is installed in place within the first receiving cavity 111, i.e., the component to be detected is the filter cartridge. In one embodiment, the in-situ detection sensor includes a detection element and a sensing element, wherein one of the detection element and the sensing element is disposed on the filter cartridge, and the other is disposed on the first receiving cavity 111 or the main body 101. When the filter cartridge is installed in the first receiving cavity 111, the detection element receives a signal from the sensing element, indicating that the filter cartridge is installed in place within the first receiving cavity. For example, the sensing element is a magnetic object, such as a magnet, and the detection element is a Hall sensor; the Hall sensor detects the magnet to indicate that the filter cartridge is installed in place.

[0197] In one embodiment, an in-situ detection sensor is used to detect whether the reagent kit is installed in place, i.e., the component to be detected is the reagent kit, so as to ensure that the cleaning equipment 100 or the base station can carry out normal reagent dispensing work only after the reagent kit is installed in place, and to avoid the reagent dispensing work being unable to be carried out due to the reagent kit not being installed in place or not yet installed in the cleaning equipment 100.

[0198] In some embodiments, the reagent dispensing assembly further includes a reagent quantity detection assembly. The reagent quantity detection assembly is used to detect the presence status of the reagent kit and / or the amount of reagent to be dispensed within the kit. The presence status of the reagent kit refers to whether the kit is installed on the main body 101. When the kit is installed on the cleaning device 100, the kit is in place. When the kit is not installed on the cleaning device 100, the kit is not in place. Through this configuration, the cleaning device 100 can promptly or online detect whether the amount of reagent to be dispensed meets the dispensing requirements, facilitating timely replenishment of reagents by the user.

[0199] In one embodiment, an in-situ detection sensor is used to detect whether the detection box 11601 is installed in place, i.e., the component to be detected is the detection box 11601. This ensures that the cleaning equipment 100 or the base station can perform normal water quality testing only after the detection box 11601 is installed in place, avoiding the inability to perform water quality testing due to the detection box 11601 not being installed in place or not yet installed in the cleaning equipment 100.

[0200] Taking the type of sensor included in the cleaning equipment and / or base station as a position detection sensor (also known as a position detection component) as an example. In some embodiments, the position detection sensor is mainly used to detect whether the cleaning equipment 100 has reached a designated position (e.g., a designated position in the base station or target area), so that the cleaning equipment 100 or the base station can perform subsequent operations (e.g., the cleaning equipment 100 stops moving after reaching the designated position or one or more components of the base station are turned on after the cleaning equipment reaches the designated position).

[0201] In one embodiment, the position detection sensor includes a position sensor and a sensed element, one of which is located on the cleaning device, and the other is located at a designated position. When the position sensor detects the sensed element, it indicates that the cleaning device has moved to the designated position. For example, one of the position sensor and the sensed element may be located on the cleaning device, and the other on a base station. For instance, the position sensor may be a Hall effect sensor, and the sensed element may be an iron block. Another example is that the position sensor may be a position switch, and the sensed element may be a mating component that triggers the position switch; yet another example is that the position sensor may be a light emitter, and the sensed element may be a light receiver.

[0202] Taking a water ingress sensor (also known as a liquid ingress detection component) as an example, the type of sensor included in the cleaning equipment and / or base station is used. In some embodiments, the water ingress sensor is used to detect whether the cleaning equipment 100 or the base station has partially or completely entered the liquid in the target area.

[0203] In some embodiments, the water ingress sensor can be a capacitive sensor (also known as a capacitive liquid ingress detector). The capacitive sensor can be located inside or outside the control box 220. Specifically, the capacitive sensor can be located on the inner or outer bottom wall of the control box 220. The capacitive sensor can be fixed to the control box 220 by riveting, welding, bonding, bolting, keying, snap-fitting, magnetic adsorption, etc., but is not limited to these methods. The capacitive sensor is a non-contact liquid level detector. It can detect whether part or all of the cleaning equipment 100 or the base station has been submerged in liquid without contact with the liquid in the target area. The capacitive sensor is not affected by factors such as air pressure or hydraulic pressure; therefore, it has high accuracy.

[0204] In some implementations, the normal operation of certain devices installed at the base station is ensured by detecting whether at least a portion of the base station is immersed in liquid in the target area. For example, in some application scenarios, devices such as reagent dispensing components and third sub-module 2141 (mentioned later) that need to be submerged in water can have a water ingress sensor installed at the base station installation location. When the water ingress sensor detects that the location is immersed in liquid, it indicates that the device meets the environmental conditions required for operation. If the water ingress sensor detects that the location is not immersed in liquid, the base station position can be adjusted or the target area can be replenished with water through user control or control system to ensure the normal operation of the device.

[0205] In some implementations, the water immersion sensor can be a photoelectric sensor. It detects whether part or all of the cleaning equipment or base station is submerged in water by utilizing the difference in reflection / refraction of light in air and water. The water immersion sensor can also be a humidity sensor, detecting whether part or all of the cleaning equipment or base station is submerged in water by detecting instantaneous changes in humidity.

[0206] Taking a depth sensor 233 (also known as a liquid level detection component or water depth sensor) as an example, the depth sensor 233 is used to detect the liquid level at the current location of the cleaning device 100. The liquid level can be represented as the distance between the location of the cleaning device 100 and the liquid surface of the target area in an approximately vertical direction. In some embodiments, the control system 231 can determine the current location of the cleaning device 100 based on the liquid level detected by the depth sensor 233, and can also combine this with the scene image currently captured by the camera 1401 to determine the current location of the cleaning device 100, and select at least one of the walking mechanism 103 and the propulsion component 180 to drive the cleaning device 100 to move according to the current location of the cleaning device 100. The depth sensor 233 can be activated when the cleaning device 100 is in the on state, or after the water ingress sensor detects that the cleaning device 100 has entered the liquid in the target area, or in any situation where liquid level detection is required; there are no limitations on this.

[0207] In some embodiments, the depth sensor 233 can be a pressure-type liquid level detector or a pressure sensor. The control system 231 determines the liquid level at the current position of the cleaning device 100 based on the hydraulic pressure received by the pressure sensor. The pressure sensor can be located in a non-negative pressure zone of the main body 101, for example, in a suction channel for waste away from the cleaning device 100, such as the aforementioned cleaning water channel. It is understood that hydraulic pressure exists in both static and dynamic forms, and the depth of the cleaning device 100 is usually calculated from the static pressure. Dynamic pressure can affect the accuracy of depth detection. Therefore, by placing the pressure-type liquid level detector in a non-negative pressure zone, the pressure-type liquid level detector can only detect static pressure, reducing the impact of dynamic pressure on the accuracy of depth calculation. This helps the depth sensor 233 accurately identify its depth in the water, thereby assisting the control system 231 in accurately determining the position of the cleaning device 100 and improving the accuracy of identification.

[0208] In some embodiments, referring to Figure 20, the depth sensor 233 is partially disposed inside the electronic control box 220, and partially extends through the side wall of the electronic control box 220 to the outside of the electronic control box 220. The portion of the depth sensor 233 in contact with the side wall of the electronic control box 220 can be sealed in any manner to prevent liquid from penetrating into the electronic control box 220. The portion located outside the electronic control box 220 includes at least a detection end 2331, which is used to detect the pressure of liquid in the external environment of the electronic control box 220; the portion located inside the electronic control box 220 includes at least a transmission end, which is connected to the control system 231 inside the electronic control box 220 to transmit the detected hydraulic information to the control system 231.

[0209] In some implementations, the space where the detection end 2331 is located is far from the clean water path, for example, the space where the detection end 2331 is located is far from the clean water path, and / or there is an isolation structure such as a baffle or separation between the space where the detection end 2331 is located and the clean water path (not shown in the figure), and / or one or more components are spaced apart between the space where the detection end 2331 is located and the clean water path, in order to reduce the impact of the dynamic pressure of the garbage suction channel on the detection of the detection end 2331.

[0210] In some embodiments, when the cleaning device 100 is placed in a liquid environment in the target area, the liquid in the target area enters the main body 101 through the second outlet 1113, which is always in communication with the external environment. The detection end 2331 can be located inside the space fluidly connected to the second outlet 1113 to detect the pressure of the liquid in the space. Since the liquid inside the space is in real-time communication with the liquid in the target area through the second outlet 1113, the hydraulic pressure detected by the detection end 2331 is close to or equal to the actual pressure of the liquid at the current location of the cleaning device 100, thereby improving the accuracy of hydraulic pressure detection.

[0211] In some embodiments, the depth sensor 233 may also be an ultrasonic detector, an optical detector, a ranging detector, an infrared detector, a distance encoder, etc., but is not limited thereto.

[0212] Taking a water level detection sensor (also known as a water level detection component) as an example, which is included in cleaning equipment and / or base stations, the water level detection sensor is used to detect the water level in a target area.

[0213] In some embodiments, taking a target area as a pool as an example, the base station is equipped with a water level detection sensor to detect the water level in the pool, so as to detect the water level in the pool in a timely manner and keep the water level in the pool between the lowest preset water level and the highest preset water level, so as to avoid the water level in the pool being too high or too low.

[0214] In one embodiment, the base station includes a first cavity, and a water level detection sensor is disposed in the first cavity. At least a portion of the base station is located below the water surface, so that the first cavity is in communication with the liquid in the pool, so that the water level detection sensor can detect the water level height of the pool in a timely manner.

[0215] In one embodiment, the water level detection sensor includes a float, at least one first sensing element, and at least one first detection element. The float is rotatably disposed within a first cavity, and its first end can float on the water surface. One of the first sensing element and the first detection element is disposed on the second end of the float, and the other is disposed on a base station. When the water level in the first cavity drops from a first height to a second height, the float rotates to cause its first end to drop from the first height to the second height and float on the water surface. If the first sensing element and the first detection element trigger a signal or are connected, it indicates that the water level in the pool is lower than a minimum preset water level. In one embodiment, based on this trigger signal, water can be injected into the pool through a water supply system (also known as a water source supply system) to adjust the water level in the pool so that the water level in the pool is not lower than the minimum preset water level.

[0216] When a first sensor is installed on the float, a second detection device is also installed on the base station. When the water level in the first cavity rises from a first height to a third height, the float rotates so that its first end rises from the first height to the third height and floats on the water surface. If the first sensor and the second detection device at the second end of the float trigger a signal or are connected, it indicates that the liquid level in the pool is higher than the highest preset water level. The water in the pool is then drained through the drainage system to adjust the water level so that it does not exceed the highest preset height. Alternatively, a first detection device is installed on the second end of the float, and a first sensor and a second sensor are installed on the base station. When the first detection device and the first sensor trigger a signal, it indicates that the liquid level in the pool is lower than the lowest preset water level. When the first detection device and the second sensor trigger a signal, it indicates that the liquid level in the pool is higher than the highest preset water level. The water supply system adjusts the liquid level in the pool according to the trigger signals. For example, the first or second detection element is a Hall sensor, and the first or second sensing element is a magnet. The water level in the pool is identified by detecting the magnetic flux of the magnet through the Hall sensor.

[0217] In another embodiment, the water level detection sensor may include a first detection circuit and a second detection circuit. The first detection circuit includes a first detection element exposed inside the water tank. When the water level in the tank rises to contact the first detection element, the first detection circuit is activated, indicating that the water level in the tank is higher than a maximum preset water level. Excess liquid in the tank is then drained through a drainage system. The second detection circuit includes a second detection element exposed inside the water tank. When the water level in the tank drops from a first height to a second height, the second detection element of the second detection circuit switches from contact with the water in the tank to a non-contact state, thus deactivating the second detection circuit. This indicates that the water level in the tank is lower than a minimum preset water level. Water can then be injected into the tank through a water supply system to adjust the water level so that it does not fall below the minimum preset water level.

[0218] Taking a communication sensor 410 (also referred to as a communication unit, communication module, communication component, or data transmission component, where the communication sensor 410 of the cleaning equipment can also be called an equipment communication module, and the communication sensor 410 of the base station can also be called a component communication module) as an example, the communication sensor 410 can realize communication between the various components of the cleaning equipment and / or base station itself, as well as communication with external devices of the cleaning equipment and / or base station (e.g., communication between the cleaning equipment and the base station, or communication between the cleaning equipment and the first terminal device).

[0219] The base station and / or cleaning equipment can communicate with various external devices through various means. In some embodiments, the base station and / or cleaning equipment can communicate directly with various external devices via wired or wireless means, regardless of whether the base station and / or cleaning equipment is located underwater or on the surface of the water, enabling communication with external devices in the same or different environments. Wireless communication methods can include radio communication (e.g., UHF such as 433MHz), WiFi, Bluetooth, ultrasonic or acoustic communication, LoRa (Long Range Radio) communication, near field communication (e.g., NFC), Li-Fi (Light Fidelity), etc., but are not limited to these. Taking the communication between the cleaning equipment and the base station as an example, in one embodiment, when the cleaning equipment is on the water surface, the base station can communicate with the cleaning equipment via WiFi, Bluetooth, etc.; when the cleaning equipment is below the water surface, the base station can communicate with the cleaning equipment via low-frequency magnetic induction, acoustic communication, optical communication, etc. In one embodiment, the base station and / or cleaning equipment use the same method to communicate with external devices whether they are on the water surface or below the water surface.

[0220] In some implementations, the base station and / or cleaning equipment communicates with external devices via Li-Fi, meaning the communication sensor 410 can be a visible light sensor. Specifically, as shown in Figure 21, the communication sensor 410 can be positioned on a location other than the top of the main body 101, such as the front, rear, left, or right sides, or at the angle between these sides, to avoid sunlight interference that would occur if the communication sensor 410 were placed on the top, thus ensuring the efficiency of Li-Fi communication. The communication sensor 410 can include a photodiode or any device capable of receiving and transmitting light signals, such as a solar panel.

[0221] In some specific embodiments, the base station and / or cleaning equipment may include more than one communication sensor 410 to expand the coverage of signal reception and transmission. For example, communication sensors 410 are provided at the included angles between the front, back, left, and right sides of the main body 101. The communication coverage of each communication sensor 410 has at least a partially non-overlapping area, and the coverage angle of signal reception and transmission of each communication sensor 410 is greater than or equal to 90 degrees, thereby achieving all-round signal coverage and facilitating stable communication between the user and the cleaning equipment from any angle via external devices.

[0222] In some embodiments, the base station and / or cleaning equipment can communicate indirectly with various external devices. In one embodiment, the base station communicates with the cleaning equipment via a surface relay device, wherein the surface relay device can be a floating or fixed device with communication capabilities; it can communicate with the cleaning equipment located below the water surface via wired or wireless means, or with the base station located above the water surface via wired or wireless means, thereby allowing communication between the base station and the cleaning equipment to be relayed via the surface relay device.

[0223] In some embodiments, the base station and / or cleaning equipment may also communicate with a cloud server or a first terminal device via wired or wireless means, including Ethernet, 4G, 5G modules, etc. The first terminal device may be, for example, a remote control, a mobile phone, a tablet computer, a laptop computer, a desktop computer, etc., and is usually located outside the pool.

[0224] In some embodiments, the communication sensor 410 is disposed on the main body 101, and when the cleaning device 100 is located on the water surface, the communication sensor 410 is at least partially above the water surface. In one specific embodiment, when the cleaning device 100 is located on the water surface, the signal transceiver in the communication sensor 410 is completely above the water surface, thereby improving the communication effect between the cleaning device and other devices. For example, the communication sensor 410 is a WIFI component or a Bluetooth component, and when the cleaning device 100 is located on the water surface, the antenna in the WIFI component is completely above the water surface.

[0225] In one specific embodiment, referring to FIG22, the cleaning device 100 includes a device communication module 1170 for communicating with a base station 2000 and / or a first terminal device and / or a cloud server, wherein the communication method can be wireless or wired. The base station 2000 may include a component communication module 2140 for communicating with the cleaning device 100 and / or the first terminal device and / or the cloud server. The device communication module 1170 may include at least one of a first sub-module 1171 and a second sub-module 1172, and the component communication module 2140 may include at least one of a third sub-module 2141 and a fourth sub-module 2142; wherein the first sub-module 1171 and the third sub-module 2141 are adapted for underwater communication, and the second sub-module 1172 and the fourth sub-module 2142 are adapted for surface communication.

[0226] In some embodiments, the first, second, third, and fourth sub-modules can all be communication modules, antennas, or signal terminals. The first sub-module 1171 and the second sub-module 1172 are electrically connected to the control system of the cleaning equipment, and the third sub-module 2141 and the fourth sub-module 2142 are electrically connected to the control unit of the base station. Communication can be understood as signal transmission, data transmission, etc. The first sub-module 1171 can communicate with the second sub-module 1172 and / or the third sub-module 2141; the fourth sub-module 2142 can communicate with the third sub-module 2141 and / or the second sub-module 1172 and / or the first terminal device; and the second sub-module 1172 can communicate with the first terminal device. The communication between the first sub-module 1171 and the second sub-module 1172 can be achieved through the control system of the cleaning equipment 100. The communication between the third sub-module 2141 and the fourth sub-module 2142 can be achieved through the control unit of the base station. The control unit of the base station can acquire various data information of the base station and analyze and process the acquired data information to control various components in the base station. Its structure can be the same as or different from the control system of the cleaning equipment.

[0227] In some specific embodiments, the first sub-module 1171 and the second sub-module 1172 are separate modules. The second sub-module 1172 can be disposed on the inner top wall of the main body 101, above the floating cavity of the cleaning device, or at any other position near the top of the main body 101. This allows the second sub-module 1172 to be positioned above the water surface when the cleaning device 100 is located on the water surface of the pool or moored at the base station, enabling the second sub-module 1172 to communicate with the fourth sub-module 2142 or the first terminal device on water. Alternatively, the second sub-module 1172 can be disposed in the control box 220 or other enclosed space, as shown in Figure 23. The antenna 2401 included in the second sub-module 1172 is disposed near or on the top of the main body 101, so that when the cleaning device 100 is located on the liquid surface of the target area, the antenna 2401 is positioned above the liquid surface. In this way, the second sub-module 1172 can transmit and receive data through the antenna 2401, thereby establishing a communication connection with other devices. The second sub-module 1172 and / or antenna 2401 can be connected by screws, bolts, adhesive, snap-fit, magnetic adsorption, etc., but are not limited to these. Of course, the second sub-module 1172 and / or antenna 2401 can also be placed in other locations, as long as it ensures that when the cleaning device 100 is located on the liquid surface of the target area, the second sub-module 1172 and / or antenna 2401 can be positioned above the liquid surface. This arrangement allows the second sub-module 1172 to transmit data signals through the air, reducing signal attenuation issues caused by transmission between air and liquid media.

[0228] In some specific embodiments, the first sub-module 1171 and the second sub-module 1172 may be the same module. By adjusting the position of the main body 101 in the water, the device communication module 1170 can be submerged in the water or exposed above the water surface, thereby realizing the corresponding function of the first sub-module 1171 or the second sub-module 1172. In some specific embodiments, the first sub-module 1171 and the second sub-module 1172 may be an integral module. The corresponding function of the first sub-module 1171 or the second sub-module 1172 can be realized through antennas of different positions or types contained in the module. For example, if the cleaning device 100 is located in a pool, if at least one antenna of the device communication module 1170 is above the water surface, the corresponding function of the first sub-module 1171 can be realized; if at least one antenna of the device communication module 1170 is below the water surface, the corresponding function of the second sub-module 1172 can be realized.

[0229] In some embodiments, the third sub-module 2141 and the fourth sub-module 2142 may be separate modules. The third sub-module 2141 may be located in the submerged portion of the base station, while the fourth sub-module 2142 may be located in the portion of the base station above the water or on the bank of the pool and connected to the base station via wired or wireless means. In some specific embodiments, the third sub-module 2141 and the fourth sub-module 2142 may be the same module, located near the junction of the base station and the pool surface, for enabling both surface and underwater communication. In some specific embodiments, the third sub-module 2141 and the fourth sub-module 2142 may be an integrated module, which may include antennas located at different positions to achieve corresponding functions. For example, if at least one antenna of the component communication module 2140 is located above the water surface, it can achieve the corresponding function of surface communication; if at least one antenna of the component communication module 2140 is located below the water surface, it can achieve the corresponding function of underwater communication.

[0230] In some specific embodiments, the communication between the first terminal device and the cleaning device 100 is as follows: when the cleaning device 100 is docked at a base station, or at least partially located on the water surface, and the second sub-module 1172 is located on the water surface, a communication connection can be established between the first terminal device and the second sub-module 1172 for direct communication; or the first terminal device can communicate with the fourth sub-module 2142, and the fourth sub-module 2142 can communicate with the second sub-module 1172; a communication connection can also be established between the first terminal device and the second sub-module 1172, with the second sub-module 1172 communicating with the first sub-module 1171, and the first sub-module 1171 communicating with the third sub-module 2141, so that the first terminal device can send control commands, signals, data, etc. to the base station through the cleaning device 100.

[0231] When the cleaning device 100 is docked at a base station or located in water, the communication path can be the first terminal device, the fourth sub-module 2142, the third sub-module 2141, or the first sub-module 1171. This communication path can enable the first terminal device to send control commands to the cleaning device 100, or the cleaning device 100 to send signals or data to the first terminal device. This establishes a communication connection between the first terminal device and either the second sub-module 1172 or the first sub-module 1171.

[0232] In one implementation, if the cleaning device 100 is located in water and communicates via the first sub-module 1171, and the amount of signal data to be transmitted is small, such as a single command, one or more transmitters and receivers, such as sound waves, ultrasonic waves, or radio signals, which are suitable for long-distance transmission but have relatively low efficiency, can be used. This allows the cleaning device 100 to establish a communication connection with the base station from a distance. If the amount of signal data to be transmitted is large, such as updating data, sending videos or photos, one or more modules suitable for short-distance communication and with high signal transmission efficiency, such as WiFi, Bluetooth, or near-field communication, can be used. This allows the cleaning device 100 to communicate with the base station for data transmission in water close to the base station or when docked at the base station. If the cleaning device 100 is located on the water surface, i.e., communicating via the second sub-module 1172, one or more modules suitable for water communication, such as WiFi, Bluetooth, or near-field communication, can be used. Understandably, when a large amount of data needs to be transmitted, such as during OTA updates (data updates, software updates, etc.) for the cleaning equipment 100, a first sub-module 1171 and a third sub-module 2141 can be respectively set near the relative contact surface of the cleaning equipment 100 docking with the base station. When the cleaning equipment 100 docks, the first sub-module 1171 and the third sub-module 2141 are adjacent to or touch each other, thereby improving the transmission efficiency of a large amount of data.

[0233] In some specific embodiments, the cleaning device 100 can perform a surface / waterline cleaning mode and an underwater cleaning mode (including at least one of pool bottom, pool wall, and underwater suspension). When the cleaning device 100 is in the underwater cleaning mode, the device communication module 1170 includes at least one first sub-module 1171, that is, at least one sub-module, antenna, or signal terminal of the device communication module 1170 is located underwater. When the cleaning device 100 is in the surface / waterline cleaning mode, the device communication module 1170 includes at least one second sub-module 1172, that is, at least one sub-module, antenna, or signal terminal of the device communication module 1170 is located above the water.

[0234] In some embodiments, the component communication module 2140 can also be an independent module, which can be set independently at any location in the pool, or can be detachably set with the base station, etc., so that the position of the component communication module 2140 can be set according to actual needs. For example, the component communication module 2140 can be set in a location with strong signal in the pool, etc., without limitation, thereby increasing the flexibility of the component communication module 2140 setting. In some specific embodiments, the component communication module 2140 can be fixed in the pool, such as on the inner wall of the pool or on any fixed structure; the component communication module 2140 can also be a floating component, floating near the waterline, but is not limited thereto. One or more component communication modules 2140 can be set in a single pool, without limitation.

[0235] When the component communication module 2140 is an independent module, it can also be equipped with a separate control unit. Correspondingly, the third sub-module 2141 and the fourth sub-module 2142 can be electrically connected to the control unit of the component communication module. When the third sub-module 2141 and the fourth sub-module 2142 are separate modules, the third sub-module 2141 can be located in the submerged portion of the component communication module 2140, and the fourth sub-module 2142 can be located in the portion of the component communication module 2140 above the water surface. When the third sub-module 2141 and the fourth sub-module 2142 are an integrated module, this integrated module can include antennas located at different positions to achieve corresponding functions. For example, if at least one antenna of the component communication module 2140 is located above the water surface, it can achieve the corresponding function of surface communication; if at least one antenna of the component communication module 2140 is located below the water surface, it can achieve the corresponding function of underwater communication.

[0236] In some embodiments, the base station or component communication module 2140 is further provided with a network access module (not shown in the figure). Through this network access module, the base station or component communication module 2140 can directly have network access function without having to connect to other network devices to obtain network access function, such as connecting to a wireless access point via WiFi or connecting to a wired access point via a network cable. This avoids connection failures caused by unstable signals, which could result in the base station itself or the cleaning device 100 communicating through the component communication module 2140 losing signal. This improves the stability of communication between the base station and / or the cleaning device 100, while avoiding the increased difficulty and cost of installation and maintenance caused by wired connections.

[0237] In some embodiments, as shown in FIG16, the communication sensor 410 may use the same sensor as the aforementioned fifth distance sensor 300 (denoted as the communication ranging sensor), such as an underwater acoustic sensor. That is, the communication ranging sensor has both the function of measuring distance and the ability to communicate with other devices, effectively reducing costs. In one embodiment, the cleaning device simultaneously sends ranging signals and communication signals to an external device through the communication ranging sensor. After receiving the ranging signal, the external device returns a feedback signal and simultaneously receives the communication signal; that is, the ranging and communication processes can be implemented in parallel without waiting for one to complete before starting the other, which significantly improves the efficiency of interaction between the cleaning device and the external device.

[0238] In one embodiment, when the communication sensor 410 is an underwater acoustic sensor, since the underwater acoustic sensor has higher communication efficiency in water compared to in air, the communication sensor 410 is submerged in water when the cleaning device is in the first, second, and third motion states to improve the communication efficiency of the communication sensor 410.

[0239] In some embodiments, when the communication sensor 410 is a light sensor (including visible light sensors and invisible light sensors), a light converging device 4101 and / or a light dispersing device 4102 may be provided on the cleaning equipment and / or base station. The light converging device 4101 is used to converge the received light signal to the light sensor, effectively avoiding signal loss and intensity reduction caused by reflection or refraction during light signal propagation, and expanding the range of signals that the light sensor can receive. The light dispersing device 4102 is used to disperse the light signal emitted by the light sensor, increasing the propagation range of the light signal, thereby expanding the communication range of the communication sensor 410. The structures of the light converging device 4101 and the light dispersing device 4102 may be identical or different. As shown in FIG24, the light converging device 4101 and / or the light dispersing device 4102 may include a conical structure. One end of this conical structure is relatively sharp, which can be regarded as the tip 41031, and the shape gradually tapers to form a small opening or tip. The other end of the conical structure is relatively wide, which can be considered the bottom end 41032, and typically presents as an approximately circular or elliptical plane. It gradually expands from the top end 41031 to the bottom end 41032. When an optical signal enters from any point on the transition surface between the top end 41031 and the bottom end 41032, the conical structure can effectively converge the optical signal to the top end 41031. Conversely, if the optical signal enters from the top end 41031, the conical structure can disperse the optical signal from any point on the transition surface. The conical structure comprises at least any material with light-reflecting properties. The arrows in Figure 24 indicate the direction of optical signal transmission.

[0240] In one embodiment, the communication sensor 410 is disposed near the top 41031 of the conical structure and is located on the convergence path and / or dispersion path of the optical signal to achieve effective reception and / or dispersion of the optical signal.

[0241] In one embodiment, after the cleaning device 100 communicates with the base station, the cleaning device 100 can obtain the base station's location from the base station, wherein the base station's location can be obtained after the base station identifies the cleaning device 100. After communicating with the base station, the cleaning device 100 can float to the water surface to reduce the electromagnetic attenuation effect of the water on the device's communication module. The cleaning device 100 can also communicate directly with the base station while underwater.

[0242] In one embodiment, the cleaning device 100 can be networked via the communication sensor 410 and establish a communication connection with external devices such as mobile phones, tablets, laptops, desktop computers, and base stations, so that users can control the cleaning device 100 through external devices.

[0243] In some embodiments, after the cleaning device 100 establishes a communication connection with an external device, the user can control the cleaning device 100 to perform operations such as moving, returning to a specific position, starting work, stopping work, selecting a cleaning mode, and selecting a cleaning area through the external device. When controlling the cleaning device 100 to move, the user can use physical or virtual buttons on the external device, such as pressing, tapping, or sliding the buttons, to control the cleaning device 100 to move in any direction. The user can also change the movement time and / or movement speed of the cleaning device 100 by adjusting the pressing time or pressure of the buttons, but is not limited to these.

[0244] In some embodiments, after the cleaning device 100 establishes a communication connection with an external device, it can display the cleaning device 100's own data on the display device of the external device, such as the cleaning device 100's remaining power, network connection status, working status, a map of the target area constructed by the cleaning device 100, the movement trajectory of the cleaning device 100 in the target area, or data detected by the cleaning device 100, such as water quality data, water temperature data, etc.

[0245] In some embodiments, the cleaning device 100 can be returned to shore with a single click via an external device. When the cleaning device 100 is floating on the water, the user can control it to return to shore with a single click via a terminal device, making it easy to remove the cleaning device 100 from the pool surface. Specifically, when the cleaning device 100 is on the water, the current orientation of the front of the cleaning device 100 on the water surface is set as its initial orientation position. At this time, the user can issue a command to return the cleaning device 100 to shore with a single click via the terminal device according to their needs. The cleaning device 100 will then return towards the pool shore corresponding to its initial orientation position. During the return journey, the cleaning device 100 will continuously correct its direction, ensuring that it always moves towards the pool shore corresponding to its initial orientation position until it returns to shore. The handle of the cleaning device can then be positioned at the top of the cleaning device 100, allowing the user to quickly remove it from the water by lifting the handle from the shore.

[0246] This embodiment provides a control method for a cleaning device. This control method is executed by a control system that controls the cleaning device, relying on sensors on the cleaning device to control the movement and / or cleaning of the device in a target area.

[0247] Please refer to Figures 5B, 6, and 7 together. In one embodiment, the steps are first defined to include M levels, where M ≥ 1 and is a natural number. For example, the steps include a first level, a second level, a third level, and so on. Each level of the step can be formed by a first face and a second face. For ease of understanding, the first face of each level of the step will be named the vertical face, and the second face will be named the horizontal face. The overall process of the cleaning equipment encountering, climbing, and cleaning the steps includes the following:

[0248] After the third distance sensor 600 at the front of the cleaning equipment detects an obstacle or a collision between the front and an obstacle, it begins to adjust the motion parameters of the components inside the cleaning equipment. For example, it can control the main water pump to pause to reduce the downward pressure on the cleaning equipment so that the cleaning equipment can enter a climbing posture, or it can tilt the cleaning equipment so that the walking mechanism 103 can continue to move. At this time, the specific changes in the value of the first distance sensor 200 include:

[0249] In one embodiment, if the height of the vertical surface of the first step 301 is less than the length of the cleaning device, the first distance sensor 200 is set as an infrared sensor. Since the infrared sensor can transmit and receive signals, it can generate diffuse reflection, so that the receiving part of the infrared sensor can receive the second signal when the cleaning device is at most tilt angles. That is, the infrared sensor can obtain the detection value between itself and the obstacle in most cases.

[0250] During the process of the cleaning equipment climbing the steps, the changes in the detection values ​​acquired by the infrared sensor include at least the following: a stable value (representing the distance between the infrared sensor and the bottom of the pool) → a trend of increasing (the cleaning equipment tilts upwards, and the distance between the infrared sensor and the opposite bottom of the pool increases) → a relative maximum value (at this point, the infrared sensor is facing the intersection of the bottom surface and the vertical plane of the first step 301) → a trend of decreasing (representing the distance between the infrared sensor and the vertical plane of the opposite first step 301) → a minimum value (representing the intersection of the vertical and horizontal planes of the opposite first step 301) → a trend of increasing (representing the distance between the infrared sensor and the horizontal plane of the first step 301) → a relative maximum value (at this point, the infrared sensor is facing the intersection of the horizontal plane of the opposite first step 301 and the vertical plane of the second step 302)...

[0251] In another embodiment, the first distance sensor 200 is set as an ultrasonic sensor. If the cleaning equipment is tilted at an angle such that the tilt angle of the second signal received by the ultrasonic sensor's receiving part is too large (e.g., exceeding 20°), causing the ultrasonic sensor's receiving part to be unable to receive the second signal, the change in the detection value acquired by the ultrasonic sensor at this time includes at least: a stable value (representing the distance between the ultrasonic sensor and the bottom of the pool) → an increasing trend (indicating that the cleaning equipment is tilted, and the distance between the ultrasonic sensor and the opposite bottom of the pool increases) → no detection value (indicating that the cleaning equipment is tilted to a certain extent, and the sensor cannot receive the reflected signal from the bottom of the pool or the vertical surface of the first step 301; this process does not necessarily occur) → a larger detection value (indicating that the sensor transitions from no signal to being able to receive the signal). The reflected signal from the vertical surface of the first step 301 (this process may not occur) → a smaller detection value (indicating the detection value at the end of the vertical surface where the sensor intersects with the vertical and horizontal surfaces of the first step 301, this process may not occur) → a minimum value (indicating the detection value detected by the sensor near the beginning of the horizontal surface where the vertical and horizontal surfaces of the first step 301 intersect, this process may not occur) → increasing (at this point, the sensor can detect the horizontal surface of the first step 301, and the detection value tends to increase, this process may not occur) → no detection value (indicating that the tilt of the cleaning equipment causes the sensor's receiving unit to no longer detect the reflected signal from the horizontal surface of the first step 301, this process may not occur)...

[0252] The numerical change of the first distance sensor 200 described above occurs when the cleaning equipment climbs the first step 301, during which time the cleaning equipment climbs upwards in an inclined posture. In another embodiment, if the height of the vertical surface of the first step 301 is greater than the length of the cleaning equipment, when the cleaning equipment is in a vertical state, the first distance sensor 200 can obtain a stable detection value. That is, when the first distance sensor 200 reaches the vertical state, it detects the distance between the vertical surface of the first step 301 and the first distance sensor 200. It then continues to operate until the front of the cleaning equipment exceeds the horizontal surface of the first step 301. During this process, for different types of first distance sensors 200, the following variation pattern of the detection value is included at least: stable value (indicating that the distance between the sensor and the bottom of the pool does not change much) → detection value increases (indicating that the cleaning equipment begins to tilt and climb the step, and the surface directly in front of the sensor is still the bottom of the pool) → detection value decreases (indicating that the cleaning equipment has reached a near-vertical state, and the sensor is directly in front of the vertical surface of the first step 301) → stable value (indicating that the cleaning equipment is close to the vertical surface of the first step 301). The posture of the cleaning equipment described above can be detected by the posture sensor. Specifically, the stable value can be the value detected by the first distance sensor when the cleaning equipment is moving on a plane.

[0253] In one embodiment, the height of the vertical surface of each step is less than or equal to the length of the cleaning device, and the cleaning device is in an inclined posture during the climbing process. Regarding the process of the cleaning device climbing the first step 301, the change in the detection value acquired by the first distance sensor 200 can also be used to determine whether the obstacle encountered by the cleaning device is a step.

[0254] Specifically, in one embodiment, when a minimum detection value exists among the multiple detection values ​​acquired by the first distance sensor 200, it indicates that the position detected by the first distance sensor 200 is near the intersection of the vertical and horizontal planes of a step. This indicates that the cleaning equipment is in an inclined posture and continuing to climb the step, for example, when the first distance sensor 200 is an infrared sensor. When the first distance sensor 200 fails to detect a stable value after climbing past the vertical plane of the first step 301, it indicates that the first distance sensor 200 cannot receive the second signal, which also indicates that the cleaning equipment is in an inclined posture and continuing to climb the step, for example, when the first distance sensor 200 is an ultrasonic sensor.

[0255] In another embodiment, if the cleaning device climbs a step whose vertical height is greater than the length of the cleaning device, the detection value obtained by the first distance sensor 200 is stable after the cleaning device is completely vertical. Then the cleaning device continues to climb upwards, so that the first distance sensor 200 will obtain a larger detection value after a period of time. This detection value is the detection value between the first distance sensor 200 and the vertical surface of the second step 302. That is, the detection position of the first distance sensor 200 transitions from the vertical surface of the first step 301 to the vertical surface of the second step 302. Subsequently, the cleaning device transitions from a vertical state to a horizontal state, and the detection value obtained by the first distance sensor 200 will be consistent with the change of the detection value when climbing the steps, which will not be elaborated here.

[0256] To facilitate the climbing and cleaning of the steps by the cleaning equipment, this embodiment uses the example where the height of the vertical surface of the step is less than or equal to the length of the cleaning equipment to illustrate the steps for the cleaning equipment to climb and clean the steps. After the cleaning equipment is set up on the bottom of the pool to be cleaned and the first step 301, if the walking mechanism 103 continues to move forward and the main water pump is turned off, the cleaning equipment will continue to climb at the same tilt angle as when it was set up on the bottom of the pool to be cleaned and the first step 301.

[0257] In one embodiment, if the width of the step, i.e., the width of the horizontal plane of the step, is less than or equal to the length of the cleaning device, when the cleaning device transitions from the vertical plane of the step in an inclined state, the cleaning device moves upward at an inclined posture without passing through the horizontal plane of the step. Alternatively, the cleaning device can adjust its direction of movement so that its bottom at least partially contacts the horizontal plane of the step, thereby transitioning from the vertical plane of the step to the horizontal plane of the step, and then moving from the horizontal plane of the step to the vertical plane of the next step.

[0258] In another embodiment, when the width of the horizontal plane of the step is greater than the length of the cleaning device, the cleaning device can transition from the vertical plane of the step to the horizontal plane of the step in an inclined state, and then move from the horizontal plane of the step to the vertical plane of the next step.

[0259] In both of the above embodiments, the cleaning equipment can clean the steps by, for example, turning on the main water pump or reducing the walking speed of the walking mechanism 103 during the climbing process.

[0260] Please refer to Figures 6, 7, and 8. In one embodiment, when the cleaning device is in an inclined state and about to climb onto the horizontal surface of the first step 301, the cleaning device adjusts its tilt angle according to the detection value obtained by the first distance sensor 200. At this time, the walking mechanism 103 can stop moving or reduce its speed, and the cleaning device can rely on its own gravity to transition from the inclined state to the horizontal state, so as to land on the horizontal surface of the first step 301. Alternatively, the first water outlet 101C at the top of the cleaning device (e.g., located at the front of the top) sprays water in the direction away from the cleaning device along the water outlet direction. The cleaning device generates a pressure F opposite to the water outlet direction to press the cleaning device toward the horizontal surface of the first step 301, thereby improving the stability of the cleaning device transitioning from the vertical surface of the first step 301 to the horizontal surface of the first step 301.

[0261] Please refer to Figures 9 and 10 together. In one embodiment, taking a rectangular step with its long side running east-west as an example, the cleaning device is equipped with a first distance sensor 200 located at the bottom front end of the main body 101, a second distance sensor 500 located on the first side 1011 of the main body 101, or a fourth distance sensor 700 located on the second side 1012 of the main body 101. When the cleaning device climbs to the horizontal surface of the first step 301, it moves towards the vertical surface of the second step 302 until the front end of the cleaning device touches the vertical surface of the second step 302 or the distance from the vertical surface of the second step 302 is less than a preset distance. At this time, the cleaning device retreats in a direction away from the vertical surface of the second step 302 and then translates along the first direction Z, as shown in Figure 15. It then continues to move towards the vertical surface of the second step 302, and so on, until the movement path of the cleaning device covers the horizontal surface of the first step 301, completing the cleaning of the entire horizontal surface of the first step 301. After cleaning the entire horizontal surface of the first step 301, the cleaning equipment moves back to the initial position when it just climbed onto the first step 301, or starts from the other end of the first step 301 and then climbs from the first step 301 to the second step 302, and repeats the above steps to clean the second step 301 and the third step 303, etc.

[0262] In this embodiment, to determine whether the cleaning device covers the horizontal plane of the first step 301, if both ends of the step are provided with walls, the second distance sensor 500 or the fourth distance sensor 700 can be used to determine whether the cleaning device encounters an obstacle (similar to a wall) in the east-west direction, i.e., whether the cleaning device is at the end of the first step 301; or the first distance sensor 200 can be used to determine whether the cleaning device is close to a suspended area in the east-west direction. If it is close to a suspended area, it indicates that the cleaning device has reached the end of the first step 301 on the travel path. If both ends of the first step 301 are open, i.e., without obstacles, the first distance sensors 200 are set at the left and right edges near the sides of the bottom of the cleaning device, as shown in Figure 4A. The two first distance sensors 200 can be used to detect the ground conditions on the left and right sides of the cleaning device, respectively. In one embodiment, the first distance sensors 200 can be symmetrically arranged on the main body 101.

[0263] In one embodiment, when the number of first distance sensors 200 is greater than one, the different types of first distance sensors can be different or the same. For example, when the cleaning device includes two first distance sensors, the two first distance sensors can both be ultrasonic sensors, both can both be infrared sensors, or one can be an ultrasonic sensor and the other an infrared sensor.

[0264] In this embodiment, the first direction Z is the length direction of the horizontal plane of the step. The cleaning device can be moved a preset distance on the horizontal plane of the step by, for example, less than or equal to the width of the cleaning device, or greater than or equal to half the width of the cleaning device, or less than or equal to the width of the cleaning device.

[0265] Please refer to Figures 1, 4A, 4B, 9, 10, 11, and 12. In another embodiment, the cleaning device is equipped with a first distance sensor 200 located at the bottom front end of the main body 101, a second distance sensor 500 located on the first side 1011 of the main body 101, and a fourth distance sensor 700 located on the second side 1012 of the main body 101. The first distance sensor 200, in conjunction with the second distance sensor 500 and the fourth distance sensor 700, can improve the safety of the cleaning device when moving on a water-walking surface of a step, and reduce the risk of the cleaning device falling.

[0266] Specifically, when the cleaning equipment reaches the horizontal plane of the first step 301, it moves towards the vertical plane of the second step 302 until its front end touches or the third distance sensor 600 detects proximity to the vertical plane of the second step 302. At this point, the cleaning equipment rotates 90° in the first rotation direction X, i.e., counterclockwise, so that its first side 1011 and the second distance sensor 500 face the vertical plane of the second step 302. The cleaning equipment then moves from east to west along the length of the horizontal plane of the first step 301 until its front end is close to an obstacle (such as a wall), at which point it is at the end of the first step 301. Having completed cleaning the horizontal plane of the first step 301, the cleaning equipment can then rotate 90° in the second rotation direction Y, i.e., clockwise, to climb from the first step 301 to the second step 302.

[0267] After climbing the second step 302, the cleaning device rotates 90° in the second rotation direction Y, i.e., clockwise. The second side 1012 and the fourth distance sensor 700 of the cleaning device face the vertical plane of the third step 303. At this time, the cleaning device moves from west to east along the length of the horizontal plane of the second step 302 until the front end of the cleaning device is close to an obstacle (such as a wall), at which point the cleaning device is at the end of the second step 302. At this point, the cleaning device has completed cleaning the horizontal plane of the second step 302. This process is repeated until the cleaning device has completed cleaning the entire step. In other descriptions, for each step, the eastern end can be defined as the first end and the western end as the second end.

[0268] In this embodiment, if the width of each step is much larger than the width of the cleaning device, it means that in the width direction of the horizontal surface of the step, the cleaning device cannot cover the horizontal surface of each step in one operation. That is, when the cleaning device sweeps along the edge of the horizontal surface of the step, it cannot directly clean the horizontal surface of each step in one go. The horizontal surface of the step can be cleaned using any cleaning path, such as a bow-shaped path, a U-shaped path, a random path, etc. For example, the cleaning process on the horizontal surface of the step may include: when N < M, after the cleaning device completes a sweep in the Z direction on the Nth step, it moves a certain distance on the horizontal surface of that step toward the vertical plane away from the (N+1)th step, and continues to repeat the cleaning of the horizontal surface of the Nth step in the Z direction until the horizontal surface of the Nth step is cleaned. When N = M, and when the Mth step is close to a non-step vertical surface such as a wall, the cleaning equipment can complete one sweep in the Z direction on the Nth step, then move a certain distance on the horizontal surface of that step away from the non-step vertical surface, and continue cleaning the horizontal surface of the Nth step in the Z direction until the horizontal surface of the Nth step is cleaned. When the Mth step is a platform, the cleaning equipment can clean on that step using any cleaning path. Where 1 ≤ N ≤ M, and N is a natural number.

[0269] Referring to Figure 13, in one embodiment, normally, when the cleaning equipment moves along the horizontal surface of each step or other areas where there is a possibility of falling, the detection value collected by the first distance sensor 200 at the bottom of the cleaning equipment should always be within a fixed range. However, when the detection value collected by the first distance sensor 200 suddenly increases or suddenly disappears, it indicates that the first distance sensor 200 has detected a surface below the horizontal surface of that step, and the cleaning equipment is located at the edge of the step. At this time, at least one of the following measures can be taken to prevent the cleaning equipment from continuing to move towards the edge of the step: controlling the cleaning equipment to brake by gradually slowing down or stopping the operation of the walking mechanism 103, the propulsion component 180, or the suction mechanism, or by reversing the operation; controlling the cleaning equipment to change its direction of movement, for example, controlling the cleaning equipment to move backward or turn around in the opposite direction; controlling the suction mechanism or other devices with water spraying function to adjust the direction of water spraying so that the sprayed water generates a reaction force opposite to the current direction of movement of the cleaning equipment, thereby preventing the cleaning equipment from continuing to move towards the edge of the step; thereby reducing the risk of the cleaning equipment falling from the suspended area during its continued movement.

[0270] In other embodiments, the change curve of the detection value collected by the first distance sensor 200 can also estimate the change in the terrain within the pool, thereby drawing a map of the pool based on the change and updating the pool map, improving the efficiency of subsequent cleaning equipment in cleaning the pool. For example, the position of the cleaning equipment at the edge of a step or other suspended area can be recorded, so that measures can be taken in time to prevent it from falling when subsequent cleaning equipment approaches again, further reducing the risk of the cleaning equipment falling from the suspended area during movement.

[0271] In other embodiments, the cleaning device can also move on the water surface or perform water surface cleaning. In this case, the first distance sensor 200 can detect the bottom condition of the pool in real time, and can also draw and update the map of the pool bottom based on the detection values ​​detected by the first distance sensor 200. For example, when the cleaning device moves on the water surface, the first distance sensor 200 detects the underwater terrain conditions in real time. When the cleaning device moves to a position on the water surface with stepped terrain, the detection values ​​of the first distance sensor 200 can reflect the underwater terrain features of that position. When the cleaning device traverses the water surface, it can acquire the underwater terrain parameters of the entire pool, thereby updating the map based on the original map of the pool to represent the detected data, such as stepped data, in the updated map, thus constructing a more complete 3D map of the pool.

[0272] In one embodiment, if the cleaning device is in the process of falling from the edge of the suspended area, at least one of the following measures can be taken to prevent the cleaning device from continuing to fall: controlling the cleaning device to move in the opposite direction by controlling the walking mechanism 103, the propulsion component 180, or the suction mechanism to work in reverse; controlling the cleaning device to change its direction of movement, for example, controlling the cleaning device to turn around; controlling the suction mechanism or other devices with water spraying function to adjust the direction of water spraying so that the sprayed water generates a reaction force opposite to the current direction of movement of the cleaning device, thereby causing the cleaning device to return to the edge of the suspended area. The above methods prevent the cleaning device 100 from stepping into empty space, causing it to tip over or be damaged, and also prevent interruption of the cleaning device's operation, thus improving the working efficiency of the cleaning device. Whether the cleaning device is in the process of falling from the edge of the suspended area can be determined by a posture sensor and / or a first distance sensor 200. For example, if the posture sensor detects that the cleaning device is in a state where the tilt angle is gradually increasing, and the detection value of the first distance sensor 200 is in a state where the detection value is gradually decreasing, it is considered that the cleaning device is in the process of falling from the edge of the suspended area.

[0273] In one embodiment, referring to FIG15, this disclosure also includes a method for controlling a cleaning device, the method comprising:

[0274] After detecting that the cleaning equipment is close to or collides with an obstacle, the cleaning equipment is controlled to move from the bottom of the pool in a posture that tends to climb the obstacle, and the detection value of the first distance sensor 200 is obtained.

[0275] Specifically, when the cleaning equipment is detected approaching or encountering an obstacle, it is controlled to climb the obstacle. The front of the cleaning equipment tilts up, continuing its movement in an obstacle-climbing posture, while simultaneously acquiring the detection value collected by the first distance sensor 200 in real time or through control. It is understood that the detection value collected by the first distance sensor 200 at this time is the detection value between the first distance sensor 200 and the obstacle, reflecting the shape of the obstacle, or combined with the posture information of the cleaning equipment from the posture sensors on the cleaning equipment (such as inertial measurement units, IMUs, etc.). In pool or pond scenarios, obstacles are often fixed structures such as side walls and steps. For obstacles such as rocks or protrusions on the pool bottom, other methods can be used for sensing and corresponding control of the cleaning equipment. This embodiment mainly uses multiple sensors installed on the cleaning equipment to identify walls and steps, and accordingly controls the cleaning equipment to efficiently clean the step areas. The aforementioned proximity of the cleaning equipment to the obstacle can be defined as the distance between the cleaning equipment and the obstacle being less than a preset distance.

[0276] In one embodiment, at least one third distance sensor 600 is disposed in front of the cleaning device. The third distance sensor 600 is used to collect distance detection values ​​between itself and obstacles in front of the cleaning device. When the detection value collected by the third distance sensor 600 is less than or equal to a preset threshold, it is determined that the cleaning device is about to collide with or has collided with the obstacle.

[0277] In one embodiment, a collision sensor may be installed at the front of the cleaning device or inside the cleaning device. After the collision sensor is triggered or the detection data of the collision sensor changes abruptly, it is determined that the cleaning device has collided with an obstacle.

[0278] In one embodiment, the obstacle is determined to be a step based on at least one of the detection values ​​from the first distance sensor 200, the posture information of the cleaning equipment, the depth information of the cleaning equipment, and the detection information from the visual sensor of the cleaning equipment. In a specific embodiment, the obstacle is determined to be a step if the detection value collected by the first distance sensor 200 does not re-detect a stable value within a preset time period after at least one stage of increasing from a relatively stable value. In a specific embodiment, the obstacle is determined to be a step based on the posture information, which undergoes at least one stage of changing from approximately horizontal to approximately vertical and then back to approximately horizontal, wherein the posture information can be acquired by a pose sensor on the cleaning equipment. In a specific embodiment, the obstacle is determined to be a step based on the gradually decreasing depth information combined with the detection values ​​from the first distance sensor 200 and / or the posture information of the cleaning equipment, wherein the depth information can be acquired by a depth sensor on the cleaning equipment. In a specific embodiment, the obstacle is determined to be a step if the similarity between the image of the obstacle collected by the visual sensor and the image of the step is greater than a preset threshold.

[0279] After identifying the obstacle as a step, control the cleaning equipment to climb up to the level of the step.

[0280] Adjust the orientation of the cleaning equipment on the horizontal plane of the step so that the first or second side is approximately parallel to the vertical plane of another step higher than the step.

[0281] Based at least on the detection values ​​of the second or fourth distance sensor, the cleaning equipment is controlled to clean the horizontal surface of the step.

[0282] Please refer to Figures 5B, 6, 7, and 8. Specifically, after detecting an obstacle ahead, the cleaning equipment can initiate a climbing action and posture. Under the combined action of the cleaning equipment's walking mechanism 104 and / or the main water pump, the front of the cleaning equipment tilts up, and the front walking mechanism 104 moves to the surface of the obstacle detected by the third distance sensor 600, while the rear walking mechanism 104 remains on the surface to be cleaned. Multiple sensors, such as posture sensors, installed on the main body 101 of the cleaning equipment can detect the tilt state of the cleaning equipment.

[0283] During the process of the cleaning equipment climbing up from the bottom of the pool, due to the characteristics of the first distance sensor 200, taking it as an ultrasonic sensor or an infrared sensor as an example, it includes a transmitter and a reflector receiver. Moreover, when its reflector receiver has a signal, it indicates that the position of the cleaning equipment is suitable for using the sensor to detect obstacles at the bottom.

[0284] In one embodiment, during the climbing process, the ultrasonic sensor undergoes at least one of the following stages: a gradual increase in detection value, a stage with no detection value, a larger detection value, and a gradual decrease in detection value until it reaches the normal detection value range when walking on the surface to be cleaned. The gradual increase in detection value indicates that the tilt of the front of the cleaning device relative to the surface to be cleaned increases. The stage with no detection value indicates that when the tilt of the front of the cleaning device increases, the first distance sensor 200 cannot receive a valid reflected signal. The larger detection value indicates that as the cleaning device changes posture, the first distance sensor 200 can again receive a reflected signal, and at this time the sensor is farther from the detection surface. The decrease in detection value indicates that as the cleaning device continues the above movement trend, its distance from the detection surface decreases until it is approximately parallel to the detection surface, after which the detection value of the first distance sensor 200 remains stable.

[0285] In another embodiment, the obstacle in front of the cleaning equipment is a pool wall. During the climbing process, the detection trend of the first distance sensor 200, as described above, will experience a gradual increase in detection value, a stage with no detection value (this stage may not occur), a relatively large detection value, and a gradual decrease in detection value until it reaches a normal detection value. However, if the obstacle in front of the cleaning equipment is a step, which can be understood as having a certain height, the detection value of the ultrasonic sensor during the climbing process will typically fluctuate continuously after experiencing a gradual increase in detection value and a stage with no detection value (this stage may not occur), with a shorter period of maintaining a stable detection value.

[0286] In one embodiment, if the step is high, for example, higher than the length of the cleaning device, the cleaning device can climb to the state shown in Figure 5A. The first distance sensor 200 can detect the vertical surface of the step 301. Then, as shown in Figure 5B, the cleaning device continues to move upward along the vertical surface of the step 301. After passing the horizontal surface of the step 301, the detection value of the first distance sensor 200 suddenly increases, that is, the vertical surface of the step 302 is detected. The dashed lines in Figures 1, 5A, 5B, 6, 7, 8 and 13 represent the detection orientation of the first distance sensor 200.

[0287] In another embodiment, if the step height is low, for example, lower than the length of the cleaning equipment, the movement process of the cleaning equipment can be as shown in Figure 6. When the front walking mechanism 103 of the cleaning equipment moves upward along the vertical surface of the first step 301, the cleaning equipment has not yet fully reached the vertical state, or is still far from the vertical state. The cleaning equipment will likely continue to move across the steps at this tilt angle. During this process, if the horizontal width of each step is less than or slightly greater than the length of the cleaning equipment, the trend of the detection value of the first distance sensor 200 is approximately: normal value (at this time, the cleaning equipment...). The cleaning equipment travels along the surface to be cleaned before reaching the step, and the detection value gradually increases (the cleaning equipment tilts its head and begins to climb the wall, and the distance between the first distance sensor 200 and the bottom of the pool to be cleaned gradually increases), then there is no detection value (for the lower part of the vertical surface between the bottom of the pool to be cleaned and the first step 301, the tilt of the cleaning equipment exceeds the detection range of the ultrasonic sensor)... Subsequently, depending on the step height, step width, operating speed and posture of the cleaning equipment, the ultrasonic sensor may be able to detect unstable detection values ​​when the cleaning equipment is running in this posture, but overall, the change pattern of the detection value is relatively stable. The step width above represents the distance between the vertical surfaces of the Nth step and the (N+1)th step, 1≤N≤M, and is a natural number.

[0288] In this embodiment, if an infrared sensor is used, the trend of the detection value of the first distance sensor 200 is approximately as follows: normal value (at this time, the cleaning equipment is moving on the surface to be cleaned before reaching the step), detection value gradually increases (the cleaning equipment starts to climb the wall, and the distance between the infrared sensor and the bottom of the pool to be cleaned gradually increases), a relatively maximum detection value (the infrared sensor on the cleaning equipment is facing the junction of the bottom of the pool and the first step 301), detection value gradually decreases (the infrared sensor is facing the vertical plane of the first step 301), a small detection value (the infrared sensor is facing the junction of the vertical plane and the horizontal plane of the first step 301), detection value gradually increases (for the horizontal plane of the first step 301), a large detection value (for the junction of the horizontal plane of the first step 301 and the vertical plane of the second step 302)...

[0289] Therefore, given that the height of pool steps is generally less than the length of cleaning equipment, the method for determining whether an obstacle in front is a step is as follows: if the cleaning equipment moves with certain operating parameters, and the detection value obtained by the first distance sensor 200 does not have a stable detection value after a period of change, while the tilt angle of the cleaning equipment represented by the pose sensor remains relatively stable, then the terrain feature can be roughly determined to be a step.

[0290] Alternatively, if the cleaning equipment is moving with certain operating parameters, and during this process the detection value obtained by the first distance sensor 200 changes abruptly, exceeds a preset threshold, or is suddenly lost, while the tilt angle of the cleaning equipment obtained by the pose sensor indicates that the cleaning equipment is climbing, then it can be roughly determined that the terrain feature is a step.

[0291] In the control method of the above-mentioned cleaning equipment, the first distance sensor 200 can determine whether the encountered obstacle is a step, and when the obstacle is determined to be a step, the cleaning equipment is controlled to climb the step, thereby improving the working efficiency of the cleaning equipment.

[0292] In one application scenario, a stable detection value detected by the first distance sensor 200 is set as a first distance threshold. The first distance threshold is equal to the detection value collected by the first distance sensor 200 when the cleaning device moves on the plane. Specifically, if the detection value collected by the first distance sensor 200 is less than or equal to the detection value collected by the first distance sensor 200 when the cleaning device moves on the plane, it indicates that the cleaning device is moving on the plane. If the detection value collected by the first distance sensor 200 is greater than the detection value collected by the first distance sensor 200 when the cleaning device moves on the plane, i.e., the first distance threshold, it indicates that the plane has a suspended area or is concave.

[0293] In another application scenario, considering that some surfaces to be cleaned may have small depressions, if the first distance threshold is set to be equal to the detection value collected by the first distance sensor 200 when the cleaning device walks on the plane, the control system may identify the small depression as a suspended area and avoid it. Therefore, in order to reduce the probability of misjudgment, the first distance threshold is set to a reliable range.

[0294] The normal detection value of the first distance sensor 200 is the normal distance between the detection unit of the first distance sensor 200 and the surface to be cleaned when the cleaning equipment is moving on a plane, such as 5cm. The first distance threshold can be set to 3-10cm. For example, in order to reduce false judgments, it can be set to any value of 3, 4, 5, 6, 7, 8, 9, 10cm.

[0295] In one embodiment, at least two first distance sensors 200 are provided at the bottom front end of the cleaning device. The arrangement direction of the at least two first distance sensors 200 is perpendicular to the movement direction of the cleaning device, that is, along the width direction of the cleaning device. The two first distance sensors 200 are a left first distance sensor and a right first distance sensor, where left and right refer to the sensors located on the left and right sides when viewed from the back of the cleaning device in the direction of movement. The purpose of providing two first distance sensors 200 is to detect whether there are any unsupported areas on both sides of the cleaning device. For example, when the cleaning device is cleaning on a horizontal surface of a step, in one embodiment, if the width of the horizontal surface of the step is greater than or equal to the width of the cleaning device, both first distance sensors 200 will have a detection value. In another embodiment, if the width of the step horizontal plane is less than the width of the cleaning equipment, when the cleaning equipment moves along the length direction of the step horizontal plane, only one first distance sensor 200 has a detection value while the other has no detection value; or the detection values ​​of the two first distance sensors are not equal. Taking the right side of the cleaning equipment moving along the length direction of the step horizontal plane as an example, the right first distance sensor detects the distance between itself and the horizontal plane of that step, and the left first distance sensor detects the distance between itself and the horizontal plane or bottom wall of the step preceding it. The difference between the detection values ​​on the left and right sides is approximately the height of that step.

[0296] In another embodiment, if the cleaning equipment is cleaning on a platform or step, the cleaning equipment can be controlled by a first distance sensor 200 to prevent the cleaning equipment from falling into the suspended area.

[0297] For example, the platform or step cleaning process includes: identifying the platform or step based on data from sensors (e.g., vision sensor 140 and / or depth sensor 233); after identifying the presence of a platform or step, the cleaning device 100 can be controlled to directly proceed to the platform or step for cleaning; alternatively, the location information of the platform or step can be recorded, and after other tasks are completed, the cleaning device 100 can be controlled to proceed to the recorded platform or step for cleaning based on the end location information. The recorded platform or step location information can be the coordinates of the platform or step in a map of the constructed target area, or other positioning information. The cleaning device 100 can proceed to the platform or step by moving in a bow-shaped pattern according to the direction of the recorded platform or step position relative to the end position until it approaches the platform or step; alternatively, the cleaning device 100 can directly plan a path to proceed based on the recorded position and end position information. No restrictions are imposed here.

[0298] In some implementations, after the cleaning device 100 reaches the platform, it can climb up the platform steps until it reaches the platform surface, where it then performs cleaning. If cleaning conditions are not met, such as the current platform area being smaller than the preset movable area of ​​the cleaning device 100 (e.g., smaller than the bottom area of ​​the cleaning device 100), and other steps exist on the platform, the cleaning device 100 can be controlled to continue climbing until cleaning is completed on a certain platform plane, or the cleaning time exceeds a preset time, or the cleaning height exceeds a preset height (i.e., the depth of the cleaning device is less than a preset depth), or the entire platform plane is cleaned. After cleaning is completed or the cleaning conditions are not met, the cleaning device 100 can exit the platform by reversing or turning around to perform subsequent operations, such as proceeding to the next recording platform, continuing other cleaning tasks, or returning to a specific location.

[0299] In some implementations, after reaching a step, the cleaning device 100 can climb upwards until it reaches the level of the step. It then cleans on that level. If cleaning conditions are not met, such as the current step's surface area being smaller than the preset movable area of ​​the cleaning device 100 (e.g., smaller than the bottom area of ​​the cleaning device 100), and other steps still exist, the cleaning device 100 can be controlled to continue climbing until cleaning is completed on a certain step, or the cleaning time exceeds a preset time, or the cleaning height exceeds a preset height (i.e., the depth of the cleaning device is less than a preset depth), or all steps are cleaned. After cleaning is completed or the cleaning conditions are not met, the cleaning device 100 can move backwards or turn around to exit the current step towards the (N-1)th step or the bottom of the pool to perform subsequent operations, such as moving to other steps, continuing other cleaning tasks, or returning to a specific location.

[0300] In some implementations, the cleaning equipment can exit a platform or step by moving to a location such as the bottom of the pool, the surface of the water, the next platform or step, a stopping position (e.g., the edge of the target area), or a base station.

[0301] In some specific implementations, the cleaning equipment can move to the bottom of the pool in several ways to exit the platform or steps:

[0302] The cleaning equipment moves towards the N-1th step, descending step by step until it reaches the bottom of the pool, thus exiting the platform or step;

[0303] The cleaning equipment moves to the edge of the platform or step and moves directly from the edge to the bottom of the pool without having to pass through other platforms or steps.

[0304] The cleaning equipment climbs to the pool wall connected to the platform or steps, and then climbs the pool wall to float to the water surface; or the cleaning equipment floats directly from the steps or platform to the water surface and then sinks to the bottom of the pool. Before sinking to the bottom of the pool, the cleaning equipment can move a certain distance on or in the water surface so that it avoids the area of ​​the platform or steps when sinking from the water surface and sinks directly to the bottom of the pool.

[0305] The cleaning equipment climbs to the pool wall connected to the platform or steps, and after moving beyond the vertical projection range of the platform or steps, it moves from the pool wall to the bottom of the pool.

[0306] Furthermore, the range of the platform or step can be determined by the detection value of the first distance sensor. For example, by checking whether the detection value of the first distance sensor 200 is greater than a preset threshold or whether it is lost, it can be determined whether the cleaning equipment has moved to the edge of the current platform or step, thereby defining the range of the platform or step. It should be noted that when exiting the platform or step, the cleaning equipment can be located in any position, such as on the platform or any step.

[0307] Of course, in other embodiments, only one first distance sensor 200 can be set at the bottom front end of the cleaning device. In this case, the first distance sensor 200 can be set in the center at the bottom front end of the cleaning device. This setting method can deal with the situation where the cleaning device needs to avoid the suspended area when it moves forward.

[0308] Please refer again to Figures 5B, 6 and 7. In one embodiment, when a collision occurs in front of the cleaning equipment or the third distance sensor 600 detects an obstacle, the operating speed of the cleaning equipment and / or the operating power of the main water pump can be adjusted. After the walking mechanism 103 abuts against the vertical surface of the step, the walking mechanism 103 continues to move. The front part of the cleaning equipment moves upward along the vertical surface of the step, and the rear part of the cleaning equipment continues to move along the surface to be cleaned. Thus, the cleaning equipment forms an inclined posture on the vertical surface of the step and the surface to be cleaned, until the first wheel 1031B crosses the junction of the vertical and horizontal surfaces of the step. As the cleaning equipment continues to move, the tracks 1032 provide support at the junction of the vertical and horizontal planes of the step. When at least half of the cleaning equipment extends beyond the junction (i.e., at least half of the vertical projection area of ​​the main body 101 falls within the horizontal plane of the step), under the influence of gravity or other forces, with this junction as the dividing point, the front of the cleaning equipment tends to move downwards, and the rear tends to move upwards. The main body 101 thus exhibits a tendency to change from an inclined posture to a horizontal posture. It is understandable that the various possible motion postures of the cleaning equipment are related to the parameters of the step and the motion parameters of the cleaning equipment.

[0309] In one embodiment, the tilt angle of the cleaning equipment is detected in real time by a posture sensor, and the distance between the bottom of the cleaning equipment and the walking surface is detected in real time by a first distance sensor 200.

[0310] In one embodiment, when the cleaning equipment climbs the vertical surface of the steps, it can clean the vertical surface of the steps by moving up and down, moving laterally, or rotating.

[0311] In one embodiment, after the cleaning equipment has climbed over the vertical surface of the first step 301, the position of the cleaning equipment may include the following:

[0312] The first scenario: The cleaning equipment transitions directly from the vertical surface of the first step 301 to its horizontal surface. As shown in Figure 5B, the front of the cleaning equipment moves upward along the vertical surface of the first step 301, assuming an approximately vertical posture. Once the walking mechanism 103 and / or the bottom of the cleaning equipment are substantially in contact with the vertical surface of the first step 301, the cleaning equipment can be changed from its vertical posture to a horizontal posture with its bottom resting on the horizontal surface of the first step 301 by activating the main water pump, etc. In this case, the vertical surface of the first step 301 typically has a certain height, for example, at least greater than 2 / 3 of the length of the cleaning equipment.

[0313] The second scenario: As shown in Figure 6, the cleaning equipment is installed between the first step 301 and the adjacent second step 302. When the track 1032 of the cleaning equipment forms a support at the intersection of the vertical and horizontal planes of the first step 301, as the cleaning equipment continues to move forward, it may maintain this inclined posture, thus subsequently forming an installation posture spanning between the first step 301 and the second step 302. In this case, the vertical height of the step is usually small, or the horizontal width of the step is small (both are usually smaller than the length of the cleaning equipment).

[0314] To clean the horizontal surface of the steps, the cleaning equipment can be positioned at the horizontal surface of the steps. In the second case, the cleaning equipment can be controlled to move backward a certain distance and then slowly descend to the horizontal surface of the first step 301.

[0315] Please refer to Figures 3A, 5B, and 6 together. In one embodiment, the top of the cleaning device is provided with a first water outlet 101C with an adjustable water outlet direction. Controlling the upward movement of the cleaning device includes: if part of the cleaning device is between the horizontal plane of the first step 301 and the vertical plane of the second step 302, and another part is below the horizontal plane of the first step 301 (i.e., in the state shown in Figure 8), adjusting the water outlet direction of the first water outlet 101C so that the cleaning device at least partially moves to the horizontal plane of the first step 301.

[0316] In one application scenario, as the cleaning equipment climbs the steps, it is supported by contact between the track 1032 and the junction between the vertical and horizontal surfaces of the first step 301. At this time, the bottom surface of the cleaning equipment is at least partially separated from the vertical surface of the first step 301. Along the direction of movement of the cleaning equipment, the first water outlet 101C at the top of the cleaning equipment sprays water away from the cleaning equipment. The reaction force of the water jet (denoted as pressure F) includes at least a component force toward the front side of the junction (i.e., toward the horizontal surface of the first step 301), which presses the cleaning equipment toward the horizontal surface of the first step 301, thereby improving the stability of the cleaning equipment as it transitions from the vertical surface of the first step 301 to the horizontal surface of the first step 301.

[0317] Specifically, adjusting the water outlet direction of the first outlet 101C includes: adjusting the water outlet direction of the first outlet 101C so that the first included angle α between the water outlet direction and the top surface of the cleaning equipment is within a first preset angle range, wherein the first preset angle range can be greater than or equal to 80° and less than or equal to 90°. In this application scenario, the first included angle can be 90° to increase the pressure F, thereby allowing the pressure F to better press the front end of the cleaning equipment toward the horizontal surface of the first step 301. Adjusting the water outlet direction of the first outlet 101C can be achieved by setting an adjustable first outlet 101C on the cleaning equipment, with the outlet of the main water pump connected to the outside of the cleaning equipment via a pipe. The pipeline configuration includes a switchable first and second position. In the first position, the water outlet direction is approximately perpendicular to the top surface of the cleaning equipment. In the second position, the water outlet direction forms a preset angle with the top surface of the cleaning equipment, which is between 0 and 90°. Alternatively, the cleaning equipment may have a transition pipeline, a first outlet pipeline, and a second outlet pipeline. One end of the transition pipeline is connected to the outlet of the main water pump, and the other end of the transition pipeline is connected to one end of the first outlet pipeline and one end of the second outlet pipeline. The other end of the first outlet pipeline can be positioned approximately perpendicular to the top surface of the cleaning equipment, and the other end of the second outlet pipeline can be positioned at a preset angle to the top surface of the cleaning equipment. Baffles are provided at the ends of the first and second outlet pipelines connected to the transition pipeline. By adjusting the position of the baffles, either the first or second outlet pipeline can be opened. In another embodiment, the transition pipeline may be omitted, and the first and second outlet pipelines can be directly connected to the outlet of the main water pump.

[0318] Please refer to Figure 14. In another application scenario, when the cleaning equipment is climbing the wall, the above-mentioned adjustment of the water outlet 101C includes: adjusting the water outlet 101C so that the first angle α between the water outlet and the top surface of the cleaning equipment is within the range of the second preset angle, wherein the range of the second preset angle can be greater than or equal to 20° and less than or equal to 60°.

[0319] Specifically, the pressure F can be roughly decomposed into a component force F1 parallel to the top surface of the cleaning equipment and a component force F2 perpendicular to the top surface of the cleaning equipment, and the angle between F1 and F2 is 90°.

[0320] After the cleaning equipment climbs onto the wall of the pool, and the first angle α between the water outlet direction and the top surface of the cleaning equipment is within any value of 20 to 60°, the component force F1 of the pressure F acting on the cleaning equipment away from the water spray direction generated by the water sprayed from the first water outlet 101C is greater than the component force F2. This increases the friction between the cleaning equipment and the pool wall, that is, the gripping force generated by the friction when the cleaning equipment is mounted on the wall increases, reducing the risk of the cleaning equipment drifting or falling off the wall during the process of climbing.

[0321] Referring again to Figures 6 and 7, in one embodiment, during the process of the cleaning device climbing the first step 301, in response to the cleaning device being in an inclined state, it is determined that the cleaning device has climbed over the vertical surface of the first step 301. Whether the cleaning device is in an inclined state can be obtained through an internally installed posture sensor. The inclined state can be manifested as the angle of the cleaning device relative to the horizontal plane or relative to the walking surface being greater than a preset threshold. This method avoids the problem of misjudging the cleaning device's normal state, such as being above a pit, as having climbed over the vertical surface of the step by relying solely on the first distance sensor 200 to determine the step climbing state, thus improving the accuracy and reliability of the cleaning device's determination of the step climbing state.

[0322] Please refer again to Figures 6, 7, and 8. In one embodiment, during the movement of the cleaning equipment, the position and orientation information of the cleaning equipment is acquired in real time, including:

[0323] Obtain the second included angle β between the bottom plane of the cleaning equipment and the horizontal plane.

[0324] The position of the cleaning equipment is determined based on the second included angle β and the detection value collected by the first distance sensor 200.

[0325] After the cleaning equipment climbs onto the vertical surface of the first step 301, the cleaning equipment tilts. The second included angle β reflects the tilt angle of the cleaning equipment. The detection value collected by the first distance sensor 200 represents the distance between the first distance sensor of the cleaning equipment and the first step 301. The position and posture of the cleaning equipment can be determined by the second included angle β and the detection value collected by the first distance sensor 200.

[0326] Please continue to refer to Figures 6, 7, and 8. In one embodiment, the process of determining the pose of the cleaning equipment based on the second included angle β and the detection value collected by the first distance sensor 200 includes:

[0327] In response to the second included angle β being less than or equal to the included angle threshold, and the detection value collected by the first distance sensor 200 being less than or equal to the second distance threshold, it is determined that the cleaning equipment is on the horizontal surface of the first step 301.

[0328] In this embodiment, the included angle threshold can be a value between 5° and 10°.

[0329] The second distance threshold can be equal to or different from the first distance threshold, and can be set according to the requirements.

[0330] When the second included angle β is less than or equal to the included angle threshold, it indicates that the bottom surface of the cleaning equipment is close to being parallel to the horizontal plane. When the detection value collected by the first distance sensor 200 is less than or equal to the second distance threshold, it indicates that the cleaning equipment is basically close to the horizontal plane of the first step 301. At this time, it can be determined that the cleaning equipment is on the horizontal plane of the first step 301.

[0331] In another embodiment, in response to the second included angle β being greater than the included angle threshold, and after the cleaning equipment has climbed over the vertical surface of the first step 301, the detection value collected by the first distance sensor 200 exhibits at least a change process of first increasing and then decreasing, determining that the cleaning equipment is positioned between the first step 301 and the second step 302. When the surface facing the first distance sensor 200 is the horizontal surface of the first step 301, the first distance sensor 200 typically has a valid detection value at any given time. For example, if the first distance sensor 200 is an infrared sensor, the trend of the detection value is that as the cleaning equipment moves in an inclined posture, the detection value increases from small to large until the detection position is at the intersection of the horizontal surface of the first step 301 and the vertical surface of the second step 302; then, when the surface facing the first distance sensor 200 is the vertical surface of the second step 302, the detection value decreases from large to small until the detection position is at the intersection of the vertical surface and the horizontal surface of the second step 302. Of course, if the first distance sensor 200 is an ultrasonic sensor, since the cleaning equipment has a tilt angle relative to the step, during the entire operation, the tilt angle may exceed the tilt range that the ultrasonic sensor's receiving part can receive the reflected signal, resulting in the first distance sensor 200 having no detection value for some time periods, as detailed in the previous description.

[0332] In one application scenario, the number of steps that the cleaning equipment climbs can be determined based on the changes in the detection values ​​collected by the first distance sensor 200.

[0333] For example, the height of each step in the pool is h, for example, about 12cm, and the length of the cleaning equipment is L, for example, about 44cm. Since the length of the cleaning equipment is much greater than the height of each step, the cleaning equipment may tilt and climb directly over the first step 301, ending up between the second step 302 and the third step 303. In this case, based on the changes in the detection values ​​collected by the first distance sensor 200, after the cleaning equipment has climbed over the vertical surface of the first step 301, there are two segments where the detection values ​​collected by the first distance sensor 200 first increase and then decrease, indicating that the cleaning equipment is positioned between the second step 302 and the third step 303. Therefore, based on the changes in the detection values, the movement position of the cleaning equipment can be determined, thereby further controlling the cleaning equipment to continuously retreat to the horizontal surface of the first step 301 for cleaning. Alternatively, a depth sensor can be installed on the cleaning equipment to obtain its position information in the depth direction, and this information can be used to determine the number of steps the cleaning equipment climbs.

[0334] Please continue referring to Figures 6, 7, and 8. In one embodiment, in response to the cleaning device being positioned between the first step 301 and the second step 302, the cleaning device is controlled to move backward until it is at the level of the first step 301. This allows for cleaning of the level surface of the first step 301.

[0335] The process of controlling the cleaning equipment to move backward until the cleaning equipment is at the level of the first step 301 includes:

[0336] When the cleaning equipment is controlled to move backward, in response to the second included angle β being less than or equal to the included angle threshold, and the detection value collected by the first distance sensor 200 decreasing until it is less than or equal to the second distance threshold, it is determined that the cleaning equipment is on the horizontal surface of the first step 301.

[0337] Specifically, when the cleaning equipment is installed between the first step 301 and the second step 302, a second included angle β greater than the included angle threshold indicates that the cleaning equipment is in an inclined state. As the second included angle β gradually decreases to less than or equal to the included angle threshold, that is, during the process of the cleaning equipment moving from the second step 302 back to the first step 301, the cleaning equipment approaches parallelism with the horizontal plane.

[0338] When the cleaning equipment is tilted but continues to retreat towards the horizontal plane of the first step 301, the position detected by the first distance sensor 200 changes from the vertical plane of the second step 302 to the horizontal plane of the first step 301. This causes the detection value acquired by the first distance sensor 200 to first increase and then decrease until it is less than or equal to the second distance threshold. When the detection value collected by the first distance sensor 200 is less than or equal to the second distance threshold, it indicates that the cleaning equipment has basically come close to the horizontal plane of the first step 301, and at this point, it can be determined that the cleaning equipment is on the horizontal plane of the first step 301.

[0339] Please refer to Figures 9 and 10 together. In one embodiment, controlling the cleaning equipment to clean the horizontal surface of the first step 301 includes:

[0340] Control the cleaning device to rotate in the first rotation direction X by a first preset angle, such as 90°, so that the first side 1011 of the cleaning device faces the vertical surface of the second step 302.

[0341] Specifically, taking the rectangular steps in Figure 9 with the long side running east-west as an example, when the cleaning equipment covers the steps in a north-south direction, the cleaning equipment rotates 90° towards the first rotation direction X, that is, the cleaning equipment rotates 90° counterclockwise, so that the first side 1011 of the cleaning equipment faces the vertical plane of the second step 302. The counterclockwise or clockwise direction referred to in this disclosure is from the perspective of the cleaning equipment or the steps viewed from above.

[0342] Then control the cleaning equipment to move forward, and at the same time control the cleaning equipment to clean the horizontal surface of the first step 301.

[0343] Please continue referring to Figures 9 and 10. In one embodiment, before controlling the cleaning device to move forward and simultaneously controlling the cleaning device to clean the horizontal surface of the first step 301, the method further includes:

[0344] Determine whether the detection value collected by the second distance sensor 500 installed on the first side 1011 of the cleaning equipment is less than or equal to the third distance threshold.

[0345] The third distance threshold is the minimum distance from the edge when the cleaning device moves along the edge, also known as the minimum distance from the edge. For example, it can be set to a range of 3-20cm depending on the configuration of the cleaning device and the detection range of the sensor.

[0346] If it is determined that the detection value collected by the second distance sensor 500 is less than or equal to the third distance threshold, then the cleaning equipment is controlled to move forward, and at the same time the cleaning equipment is controlled to clean the horizontal surface of the first step 301.

[0347] If it is determined that the detection value collected by the second distance sensor 500 is greater than the third distance threshold, the cleaning equipment is controlled to move towards the vertical surface of the second step 302 until the detection value collected by the second distance sensor 500 is less than or equal to the third distance threshold. Then, the cleaning equipment is controlled to clean the horizontal surface of the first step 301 along the vertical surface of the second step 302.

[0348] The detection value collected by the second distance sensor 500 is compared with the third distance threshold. When the detection value collected by the second distance sensor 500 is less than or equal to the third distance threshold, it indicates that the cleaning device has approached the vertical surface of the second step 302, that is, the cleaning device is in the edge-side state. This ensures that the cleaning device can clean the horizontal surface of the first step 301 along the edge after climbing the step, and at the same time reduces the risk of the cleaning device falling when cleaning the horizontal surface of the first step 301 in the non-edge-side state.

[0349] When the detection value collected by the second distance sensor 500 is greater than the third distance threshold, it indicates that the cleaning equipment is not close to the vertical surface of the second step 302. That is, part of the cleaning equipment may be suspended outside the horizontal surface of the first step 301. It is necessary to adjust the running path of the cleaning equipment in real time. Or, if the cleaning equipment is not close to the vertical surface of the second step 302, there will be missed cleaning. Control the cleaning equipment to continue moving towards the vertical surface of the second step 302, thereby reducing the risk of the cleaning equipment falling off the first step 301 and being damaged due to instability caused by part of the body being suspended during the cleaning of the horizontal surface of the first step 301, and the possibility of missed cleaning.

[0350] Please refer to Figures 10, 11, and 12 together. In one embodiment, the process of controlling the cleaning equipment to clean the horizontal surface of the first step 301 further includes:

[0351] During the forward movement of the cleaning equipment, in response to the detection value collected by the third distance sensor 600 being less than or equal to a fourth distance threshold, the cleaning equipment is controlled to rotate towards the second rotation direction Y by a second preset angle, for example, 90°. The second rotation direction Y is opposite to the first rotation direction X.

[0352] The detection value collected by the third distance sensor 600 indicates that the cleaning equipment has encountered an obstacle during its forward movement. If the detection value collected by the third distance sensor 600 is less than or equal to the fourth distance threshold, it means that the cleaning equipment has approached the obstacle and can no longer move forward.

[0353] Control the cleaning equipment to climb from the first step 301 to the second step 302. That is, the cleaning equipment climbs from the horizontal plane of the first step 301 to the horizontal plane of the second step 302.

[0354] In response to the cleaning device being on the horizontal plane of the second step 302, the cleaning device is controlled to rotate in the second rotation direction Y by a second preset angle, for example, 90°, so that the second side 1012 of the cleaning device faces the vertical plane of the third step 303. The second side 1012 is arranged opposite to the first side 1011, and a fourth distance sensor 700 is installed on the second side 1012.

[0355] The fourth distance sensor 700 can compare the collected detection value with the third distance threshold for judgment. This judgment step is the same as that of the second distance sensor 500, and is used to determine whether the cleaning equipment is close to the vertical surface of the third step 303 when it is located on the horizontal plane of the second step 302.

[0356] Control the cleaning equipment to move forward, and at the same time control the cleaning equipment to clean the horizontal surface of the second step 302.

[0357] When the detection value collected by the fourth distance sensor 700 is less than or equal to the third distance threshold, it indicates that the cleaning equipment has approached the vertical surface of the third step 303. At this time, the cleaning equipment can clean the horizontal surface of the second step 302 along the edge.

[0358] Please refer to Figures 10, 11, and 12. In one application scenario, taking a rectangular staircase with its long side running east-west as an example, the cleaning device moves along the edge of the first step 301 (i.e., the vertical surface of the cleaning device near the second step 302). When the cleaning device encounters an obstacle in the east-west direction, the third distance sensor 600 can collect the detection value between the cleaning device and the obstacle. If the collected detection value is less than or equal to the fourth distance threshold, it indicates that the front end of the cleaning device has approached the obstacle (such as a wall), and the cleaning device is at the second end of the first step 301. At this time, the cleaning device has completed cleaning the horizontal surface of the first step 301 and can rotate a second preset angle in the second rotation direction Y, that is, rotate clockwise, to climb from the first step 301 to the second step 302.

[0359] After climbing the second step 302, the cleaning device rotates 90° in the second rotation direction Y, so that the fourth distance sensor 700 on the second side 1012 of the cleaning device faces the vertical surface of the third step 303, and the fourth distance sensor 700 acquires the detection value between itself and the vertical surface of the third step 303.

[0360] If it is determined that the detection value collected by the fourth distance sensor 700 is less than or equal to the third distance threshold, that is, the cleaning device is close to the vertical surface of the third step 303, that is, the cleaning device is in the edge-adjacent state, then the step of controlling the cleaning device to move forward along the edge and simultaneously controlling the cleaning device to clean the horizontal surface of the second step 302 is executed.

[0361] If the detection value collected by the fourth distance sensor 700 is determined to be greater than the third distance threshold, it means that the cleaning equipment is not close to the vertical surface of the third step 303. The cleaning equipment is then controlled to continue moving toward the vertical surface of the third step 303 until the detection value collected by the fourth distance sensor 700 is less than the third distance threshold.

[0362] Please refer to Figures 12 and 13 together. In one embodiment, the process of controlling the cleaning equipment to move forward and simultaneously controlling the cleaning equipment to clean the horizontal surface of the first step 301 includes:

[0363] During the process of controlling the cleaning equipment to move forward, in response to the detection value collected by the first distance sensor 200 being greater than the first distance threshold, the cleaning equipment is controlled to rotate 90° toward the second rotation direction Y, wherein the second rotation direction Y is opposite to the first rotation direction X.

[0364] Normally, when the cleaning equipment moves on the horizontal surface of the first step 301, the detection value collected by the first distance sensor 200 at the bottom of the cleaning equipment should always be less than or equal to the first distance threshold. However, when the detection value collected by the first distance sensor 200 is greater than the first distance threshold, it indicates that the first distance sensor 200 has detected a suspended area below the horizontal surface of the first step 301. At this time, the cleaning equipment is controlled to rotate 90° in the second rotation direction, or the cleaning equipment is controlled to stop or reverse, reducing the risk of the cleaning equipment falling off the first step 301 during continued forward movement.

[0365] Control the cleaning equipment to continue climbing to the next step, for example, from the first step 301 to the second step 302.

[0366] In response to the cleaning device being on the horizontal surface of the second step 302, the cleaning device is controlled to rotate in the second rotation direction Y by a second preset angle so that the second side 1012 of the cleaning device faces the vertical surface of the third step 303, and a fourth distance sensor 700 is installed on the second side 1012.

[0367] Control the cleaning equipment to move forward, and at the same time control the cleaning equipment to clean the horizontal surface of the second step 302.

[0368] Please refer again to Figures 9 and 10. In one embodiment, during the process of controlling the cleaning device to move forward, in response to the detection value collected by the third distance sensor 600 being less than or equal to the fourth distance threshold, the process of controlling the cleaning device to rotate 90° towards the second rotation direction Y specifically includes:

[0369] In response to the detection value collected by the third distance sensor 600 being less than or equal to the fourth distance threshold, and the width of the horizontal plane of the first step 301 being less than or equal to the width of the cleaning equipment, the cleaning equipment is controlled to rotate 90° toward the second rotation direction.

[0370] When the width of the horizontal plane of the first step 301 is less than or equal to the width of the cleaning equipment, it means that the cleaning equipment can cover the first step 301 in the width direction of the horizontal plane of the first step 301. That is, when the cleaning equipment sweeps along the edge of the horizontal plane of the first step 301, it can directly sweep the horizontal plane of the first step 301 in one go.

[0371] In response to the detection value collected by the third distance sensor 600 being less than or equal to the fourth distance threshold, and the width of the horizontal plane of the first step 301 being greater than the width of the cleaning device, after the cleaning device completes edge cleaning along the vertical plane of the second step 302, the cleaning device is controlled to move a first distance away from the vertical plane of the second step 302, and then the cleaning device is controlled to move backward or turn around to continue cleaning the horizontal plane of the first step 301, wherein the first distance is a distance less than or equal to the width of the cleaning device.

[0372] When the width of the horizontal plane of the first step 301 is greater than the width of the cleaning device, it means that the cleaning device cannot cover the horizontal plane of the first step 301 in one pass. In other words, when cleaning along the edge of the horizontal plane of the first step 301, the cleaning device cannot completely clean it in one go. After completing one pass, the cleaning device needs to move a first distance along the vertical plane away from the second step 302 on the horizontal plane of the first step 301 to continue cleaning. During this cleaning process, a distance sensor located on the side of the cleaning device body 101 can be used to control the distance between the cleaning device and the vertical plane of the second step 302.

[0373] Referring to Figure 15, in one embodiment, the process of controlling the cleaning equipment to climb the steps includes:

[0374] Control the cleaning equipment to climb from the bottom of the steps to the top of the steps in a straight line.

[0375] The cleaning equipment is made to climb from the vertical plane of the first step 301 to the horizontal plane of the first step 301, and then from the horizontal plane of the first step 301 through the vertical plane of the second step 302 to the horizontal plane of the second step 302, and so on, until the cleaning equipment reaches the horizontal plane of the top of the steps; and / or, the cleaning equipment is made to climb upwards at an angle between the different steps until the cleaning equipment reaches the horizontal plane of the top of the steps;

[0376] After the cleaning equipment reaches the top of the step, control the cleaning equipment to translate in the first direction Z.

[0377] In this embodiment, the first direction Z is the length direction of the horizontal plane of the step. The cleaning device moves a preset distance (the preset distance can be set as the width of the cleaning device) on the horizontal plane at the top of the step to reduce the repetition of the movement path in the previous step when the cleaning device climbs down the step.

[0378] Control the cleaning equipment to move backward or turn around and then forward until the cleaning equipment reaches the bottom of the steps.

[0379] During the process of moving the cleaning equipment from the top of the step to the bottom of the step after translating a preset distance, the direction of movement is approximately parallel to the direction of movement of the previous step.

[0380] After the cleaning equipment reaches the bottom of the step, control the cleaning equipment to move in the first direction Z.

[0381] The cleaning equipment moves a preset distance across the horizontal plane at the bottom of the steps.

[0382] Repeat the steps to control the cleaning equipment to climb from the bottom of the steps to the top of the steps in a straight line.

[0383] Repeat the above steps until the movement trajectory of the cleaning equipment covers all the steps, in order to control the cleaning equipment to climb the steps.

[0384] In this embodiment, the cleaning unit 900 can be activated and kept in working condition during the process of climbing and descending steps, so as to effectively clean the vertical and horizontal surfaces of each step.

[0385] In another embodiment, the cleaning device can perform a translation process at different locations. For example, the cleaning device can climb from the first step 301 along the first path to the highest step, then retreat or turn around along the first path back to the first step 301, and perform a translation operation on the first step 301; or the cleaning device can climb from the first step 301 along the first path to the highest step, perform a translation to the second path, retreat or turn around along the second path back to the first step 301, then climb from the first step 301 along the second path to the highest step, and then perform a translation to the third path, repeating the above process; or the cleaning device can climb from the first step 301 along the first path to the highest step, perform a translation to the second path, retreat or turn around along the second path back to the first step 301, perform a translation to the third path, and then move along the third path back to the highest step, etc. The distance of the above translation can be controlled to be less than or equal to the width of the cleaning device, or less than or equal to the width of the cleaning roller brush or the first water inlet 101A of the cleaning device. Among them, the first path, the second path, and the third path are different paths.

[0386] In one embodiment, the process of controlling the cleaning equipment to climb the steps includes:

[0387] Control the cleaning equipment to move towards the step / platform, and before reaching a predetermined distance from the vertical surface of the first step 301 or when the pitch angle of the cleaning equipment is greater than or equal to a preset angle, start the action of turning from the bottom of the pool to the vertical surface of the first step 301.

[0388] It crawls on the vertical surface of the first step 301. During the crawling process on the vertical surface, in addition to activating the walking mechanism 103, the suction component can also be activated. The thrust generated by the liquid discharged through the first outlet 101C presses the cleaning equipment against the vertical surface of the first step 301, reducing the possibility of the cleaning equipment slipping when crawling on the vertical surface.

[0389] During vertical climbing, if the cleaning device at least partially crosses the junction of the first and second surfaces of the first step 301, or if the cleaning device moves to the first surface of the first step 301 to the point where the first distance sensor moves out of the coverage area of ​​the first surface of the first step 301 (i.e., the first distance sensor is not covered by the vertical surface of the first step 301), then the movement speed of the cleaning device is reduced or the suction mechanism is activated until the cleaning device transitions from the vertical surface of the first step 301 to the horizontal surface of the first step 301. Wherein, if the value detected by the first distance sensor 200 is greater than a preset threshold or the value detected by the first distance sensor 200 is lost, it can be considered that the first distance sensor 200 is not covered by the vertical surface of the first step 301.

[0390] In one embodiment, when the reaction force generated by the water spray from the first water outlet 101C does not include the component force acting on the front of the cleaning device, or when the reaction force generated by the water spray from the first water outlet 101C includes the component force acting on the front of the cleaning device but this component force is less than a preset threshold, the suction component is turned off when the angle between the cleaning device and the horizontal plane of the first step 301 is less than a preset tilt angle (e.g., 30°). This allows the cleaning device to continue its natural descent towards the horizontal plane of the first step 301, preventing the cleaning device from starting to move before it has fully descended to the horizontal plane when the suction component is turned on. In another embodiment, when the reaction force generated by the water spray from the first water outlet 101C includes the component force acting on the front of the cleaning device and this component force is greater than a preset threshold, the suction component can be turned on, allowing the cleaning device to be pressed down onto the horizontal plane of the first step 301.

[0391] Determine if the current water level meets the cleaning conditions for the cleaning equipment. If it does, execute the cleaning task; otherwise, the cleaning equipment can return to the bottom of the pool or continue climbing the subsequent steps. The method of climbing the subsequent steps can be the same as the method of climbing the first step 301 from the bottom of the pool.

[0392] The cleaning task for a step / platform is terminated when the cleaning task for a step level is successfully completed, or when all steps are climbed, or when the climbing time exceeds the preset time, or when the water depth at the cleaning equipment is less than the preset threshold.

[0393] In some implementations, determining whether the current water level meets the cleaning conditions of the cleaning equipment includes: detecting the depth information of the cleaning equipment in the pool using a depth sensor; if the current water depth is greater than or equal to a preset water depth threshold, the cleaning conditions are met. This avoids the cleaning equipment from operating in shallow water (e.g., preventing the suction component from running dry due to shallow water; or preventing the wheel assembly from overloading and stopping operation when the track contacts the pool wall).

[0394] In one embodiment, the cleaning equipment can be suspended for a preset time period (e.g., the walking mechanism and / or the suction mechanism can be turned off) to improve the accuracy of water depth detection and avoid the instability of the cleaning equipment's posture or the disturbance of the surrounding water flow affecting the accuracy of the water depth detection results.

[0395] In some implementations, determining whether the current horizontal plane meets the cleaning conditions of the cleaning equipment includes: if the current horizontal plane meets the movement range requirements of the cleaning equipment, then the cleaning conditions are met. Whether the horizontal plane meets the movement range requirements of the cleaning equipment can be based on the distance the cleaning equipment moves on the horizontal plane. For example, after moving from a vertical plane to the current horizontal plane, the cleaning equipment moves along its width on the current horizontal plane until it reaches the vertical plane of the second step 302, and estimates the width of the horizontal plane of the first step 301 (i.e., the distance between the first step 301 and the second step 302) based on the movement distance during this process (denoted as the step surface movement distance). If the width of the horizontal plane is less than a preset distance threshold (e.g., less than the length or width of the main body 101), then the current horizontal plane is considered not to meet the movement range requirements of the cleaning equipment. This avoids the horizontal plane of the step being too narrow, making it difficult for the cleaning equipment to move on it.

[0396] In one specific embodiment, when the angle between the cleaning device and the horizontal plane of the first step 301 is less than a fourth preset angle, such as 5°, it can be determined whether the current horizontal plane meets the cleaning conditions of the cleaning device. This avoids the horizontal plane of the step having a certain slope, which could lead to a misjudgment that the cleaning device has not moved to the horizontal plane, and ensures that the cleaning device accurately identifies that it has moved to the horizontal plane.

[0397] As shown in Figure 25A, when there is a platform or steps in the pool. For example, the platform or steps include a first horizontal surface 3301 and a first slope 3302 that is inclinedly connected to the first horizontal surface 3301; when the cleaning equipment moves from the first horizontal surface 3301 toward the first slope 3302, the front part of the cleaning equipment extends out of the first horizontal surface 3301 and is located above the first slope 3302. The water on the first slope 3302 exerts an upward first force on the front part of the cleaning equipment. At the same time, the head of the cleaning equipment continues to move forward due to inertia. Since the front part of the cleaning equipment is lighter than the rear part, the front part of the cleaning equipment cannot press down on the first slope 3302 in time. Therefore, the head of the cleaning equipment is prone to tilting up, and the cleaning equipment is not easy to reach the first slope 3302. Conversely, as shown in Figure 25B, when the cleaning device moves forward from the first slope 3302 toward the first horizontal surface 3301, the front part of the cleaning device extends out of the first slope 3302 first. The liquid on the first horizontal surface 3301 applies a second force to the front part of the cleaning device. The second force has components in both the vertical and horizontal directions. Since the front part of the cleaning device is light, it cannot press down onto the first horizontal surface 3301 in time. As a result, the front part of the cleaning device tilts up or flips outward in a direction away from the first horizontal surface 3301, making it difficult for the cleaning device to reach the first horizontal surface 3301. This ultimately affects the switching of the cleaning device between the first slope 3302 and the first horizontal surface 3301.

[0398] To address this technical problem, in one embodiment, the first outlet 101C includes a first sub-drain outlet and a second sub-drain outlet, located at the front and rear of the cleaning device, respectively. When the cleaning device moves between different slopes and horizontal planes (i.e., at least part of the cleaning device, such as the front, extends beyond the first horizontal plane 3301), the liquid discharged through the first sub-drain outlet at the front generates thrust, helping the front of the cleaning device to quickly press down, adapt to slope changes, and prevent the front from tilting up. The first and second sub-drain outlets can share the same water pump or each correspond to a separate water pump. In one embodiment, by adjusting the water discharge direction of the first outlet 101C, the discharged liquid generates thrust, helping the front of the cleaning device to quickly press down. In one embodiment, when the cleaning device moves between different slopes and horizontal planes, the speed of the cleaning device is reduced to prevent the cleaning device from rushing out of the first horizontal plane 3301 or the first slope 3302 due to excessive speed, causing damage to the cleaning device, deviation from the planned path, or missed cleaning areas. Whether the cleaning device extends at least partially beyond the first horizontal surface 3301 can be determined based on the detection value of the first distance sensor 200, such as whether the detection value of the first distance sensor 200 is greater than a preset threshold or whether it is lost. In one embodiment, the preset threshold for the detection value of the first distance sensor 200 used by the cleaning device to detect whether it extends beyond the first horizontal surface may be different from the preset threshold for the detection value of the first distance sensor 200 used to control the cleaning device to move from the vertical surface of the step to the horizontal surface of the step; that is, the standard for judging whether a walking surface is a suspended area by the detection value of the first distance sensor may be different for different types of walking surfaces.

[0399] In the above embodiments, a distance sensor is installed in the cleaning device 100 to assist the cleaning device in identifying the condition of the surface to be cleaned and to control the cleaning device accordingly. The above embodiments also provide control methods applicable to controlling the cleaning device to climb and clean on steps and to prevent the cleaning device from falling from suspended areas. These control methods can also be used to control delivery robots or other devices with climbing capabilities.

[0400] In summary, the control methods for the above-mentioned cleaning equipment can be integrated into a control system to enable the cleaning equipment to identify and clean objects with suspended areas, such as steps and platforms, thereby improving the cleaning efficiency of the cleaning equipment.

[0401] Embodiments of this disclosure also provide a computer-readable storage medium storing a computer program that, when executed, implements the methods provided in any embodiment of this disclosure and any non-conflicting combination thereof.

[0402] The computer program can be stored as a program file in the aforementioned computer-readable storage medium as a software product, so that a computer device (which may be a personal computer, server, or network device, etc.) can execute all or part of the steps of the various embodiments of this disclosure. The aforementioned computer-readable storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks, or terminal devices such as computers, servers, mobile phones, and tablets.

[0403] The terms "first," "second," and "third" in this disclosure are for descriptive purposes only and should not be construed as indicating the number of technical features indicated. Therefore, a feature defined as "first," "second," or "third" may explicitly or implicitly include at least one of those features. All directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of this disclosure are only used to explain the relative positional relationships and movements between components in a specific orientation (as shown in the figures). If the specific orientation changes, the directional indications will change accordingly. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. If a process, method, system, product, or device includes a series of steps or units, it is not limited to the listed steps or units, but in one embodiment also includes steps or units not listed, or in one embodiment also includes other steps or units inherent to these processes, methods, products, or devices.

[0404] It is obvious to those skilled in the art that the modules or steps of this disclosure described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. They can be implemented using computer-executable program code, and thus can be stored in a storage device for execution by a computing device. In some cases, the steps shown or described can be performed in a different order than those presented herein, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, this disclosure is not limited to any particular combination of hardware and software.

[0405] The above description is merely an embodiment of this disclosure and does not limit the patent scope of this disclosure. Any equivalent structural or procedural transformations made using the content of this disclosure and its drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this disclosure.

Claims

1. A control method for a cleaning device, wherein, The cleaning device includes a first distance sensor located at the bottom, and the control method includes: When the cleaning equipment approaches or collides with an obstacle, the cleaning equipment is controlled to move from the bottom of the pool in a posture that tends to climb the obstacle; Based on at least one of the detection values ​​of the first distance sensor, the posture information of the cleaning equipment, the depth information of the cleaning equipment, and the detection information of the visual sensor of the cleaning equipment, the type of the obstacle is determined to be a step; The cleaning device is controlled to climb to the first face of the step, and at least based on the detection value of the first distance sensor, the cleaning device is controlled to move from the first face to the second face of the step; wherein the step is formed by at least a first face that is approximately vertical and a second face that is approximately horizontal.

2. The method according to claim 1, wherein, The cleaning device further includes a second distance sensor disposed on the first side, and after controlling the cleaning device to move from the first side to the second side of the step, it further includes: Adjust the orientation of the cleaning device on the second surface of the Nth step so that the first side surface is approximately parallel to the first surface of the (N+1)th step; where N≥1 and N is a natural number; Based at least on the detection value of the second distance sensor, the cleaning device is controlled to clean the second surface of the Nth step.

3. The method according to claim 2, wherein, Before adjusting the orientation of the cleaning device on the second surface of the Nth step, the method further includes: Along the width direction of the Nth step, control the cleaning device to move from the second surface of the Nth step toward the first surface of the N+1th step until it approaches or contacts the first surface of the N+1th step, and record the movement distance of the step surface; Based on the comparison between the movement distance of the step surface and the preset distance threshold, it is determined whether the cleaning equipment can adjust its orientation on the second surface of the Nth step.

4. The method according to claim 2, wherein, Controlling the cleaning device to move from the first surface to the second surface of the step includes: controlling the cleaning device to move forward or backward on the second surface of the step based at least on the detection value of the first distance sensor being less than or equal to a first distance threshold; wherein the first distance threshold is determined based on the distance between the first distance sensor and the plane when the cleaning device is moving on the plane.

5. The method according to claim 1, wherein, The cleaning device further includes a suction mechanism and a first water outlet in fluid communication with the suction mechanism, wherein the first water outlet is at least partially located at the top of the cleaning device. Controlling the cleaning equipment to move from the first surface to the second surface of the step includes: After the cleaning device has at least partially crossed the junction of the first and second surfaces of the Nth step, or when the cleaning device moves to the first surface of the step to the point where the first distance sensor moves out of the coverage area of ​​the first surface of the Nth step, the cleaning device is controlled to reduce its movement speed or activate the suction mechanism so that the cleaning device is positioned on the second surface of the Nth step.

6. The method according to claim 1, wherein, The cleaning equipment also includes a depth sensor, which is used to detect the depth information of the cleaning equipment in the pool. After determining that the obstacle is a step, the position information of the cleaning equipment is determined based on the depth information.

7. The method according to claim 6, wherein, If the cleaning device is located at the Nth step, and the depth information determines that the cleaning device is less than or equal to a preset depth, then the cleaning device is controlled to move from the Nth step toward the (N-1)th step or toward the bottom of the pool.

8. The method according to claim 6 or 7, wherein, The cleaning equipment also includes a walking mechanism for supporting the movement of the cleaning equipment; the cleaning equipment also includes a suction mechanism and a first water outlet in fluid communication with the suction mechanism, the first water outlet being at least partially located at the top of the cleaning equipment; When the cleaning equipment is located on the second side of the step, the walking mechanism and / or the suction mechanism are turned off within a preset time period, and the depth information of the cleaning equipment in the pool is detected by the depth sensor.

9. The method according to claim 1, wherein, Determining the obstacle as a step based on the detection value of the first distance sensor includes: the detection value gradually increases from a stable value, then gradually decreases and returns to the stable value; wherein the stable value is the detection value of the first distance sensor when the cleaning equipment is walking on a plane.

10. The method according to claim 2, wherein, Adjusting the orientation of the cleaning device on the second surface of the Nth step so that the first side surface is approximately parallel to the first surface of the N+1th step includes: controlling the cleaning device to rotate until the second distance sensor detects the first surface of the N+1th step.

11. The method according to claim 10, wherein, Controlling the cleaning device to clean the second surface of the Nth step, based at least on the detection value of the second distance sensor, includes: controlling the detection value of the second distance sensor to be less than or equal to a third distance threshold, so as to enable the cleaning device to move along the second surface of the Nth step; wherein the third distance threshold represents the minimum distance from the edge when the cleaning device moves along the edge.

12. The method according to claim 11, wherein, The cleaning device also includes a third distance sensor located at the front, which is used to detect the distance between the cleaning device and an obstacle in front; at least based on the detection value of the third distance sensor being less than or equal to a fourth distance threshold, or the detection value of the first distance sensor being greater than the first distance threshold, it is determined that the cleaning device moves from the first end of the Nth step to the second end of the Nth step.

13. The method according to claim 12, wherein, The cleaning device is controlled to retreat or turn around at the second end of the Nth step, or to move a preset distance away from the first surface of the N+1th step, so as to continue cleaning the second surface of the Nth step until it reaches the first end of the Nth step; wherein the preset distance is a distance less than or equal to the width of the cleaning device.

14. The method according to claim 13, wherein, The cleaning device is controlled to rotate at the first end of the Nth step so that the front of the cleaning device is aligned with the first face of the N+1th step, and then the cleaning device is controlled to climb to the second face of the N+1th step.

15. The method according to claim 12, wherein, The cleaning device is controlled to rotate at the second end of the Nth step so that the front of the cleaning device is aligned with the first face of the N+1th step, and then the cleaning device is controlled to climb to the second face of the N+1th step.

16. A cleaning device, comprising a main body, and: The first water inlet is located at the bottom of the main body; The filtering unit is at least partially disposed inside the main body; The first water outlet is located at the top of the main body; The suction mechanism is in fluid communication with at least the first inlet, the filter unit, and the first outlet, and is used to generate water flow from the first inlet, the filter unit, and the outlet; At least one roller brush assembly is located at the bottom of the front part of the main body for cleaning the surface to be cleaned; A walking mechanism is provided on both sides of the main body to support the cleaning equipment in moving across the surface to be cleaned; The cleaning equipment also includes: At least one first distance sensor is disposed at the bottom of the main body, adjacent to the walking mechanism, and located behind the roller brush assembly, for detecting the distance between the cleaning device and the surface to be cleaned; At least one second distance sensor is disposed on the first side of the main body for detecting the distance between the first side of the cleaning device and an obstacle.

17. The cleaning equipment according to claim 16, wherein, The first water inlet is located after the cleaning roller brush, and at least one of the first distance sensors is located between the first water inlet and the roller brush assembly.

18. The cleaning equipment according to claim 17, wherein, The cleaning device includes two first distance sensors, which are arranged approximately symmetrically at the bottom of the main body, and the two first distance sensors are of the same type or different types.

19. The cleaning equipment according to claim 17, wherein, The cleaning device also includes at least one third distance sensor, which is located at the front of the main body and is used to detect the distance between the front of the cleaning device and the obstacle.

20. The cleaning equipment according to claim 16, wherein, At least one transmission channel is provided inside the main body. The transmission channel has a first opening at the bottom of the main body and a second opening inside the main body on both sides. The first distance sensor is located adjacent to the second opening.

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