Automatic pool cleaning device, control method, and computer storage medium

Abstract

A method for controlling an automatic pool cleaning device (200), comprising: a first sensor (S1) and a second sensor (S2) of the automatic pool cleaning device (200) respectively measuring a first distance and a second distance between the automatic pool cleaning device (200) and a pool boundary in a lateral direction; on the basis of the first distance, the second distance, and a preset distance between the automatic pool cleaning device (200) and the pool boundary, generating a target position (D) located in front of the automatic pool cleaning device (200); on the basis of the target position (D), generating a corresponding motion parameter; and on the basis of the corresponding motion parameter, controlling the automatic pool cleaning device (200) to travel towards the target position (D).

Description

Automatic pool cleaning device, control method, and computer storage medium

[0001] This application claims priority to Chinese Patent Application No. 2024221792298, filed September 5, 2024, Chinese Patent Application No. 202422179264X, filed September 5, 2024, Chinese Patent Application No. 2024112476116, filed September 5, 2024, Chinese Patent Application No. 2024221805033, filed September 5, 2024, Chinese Patent Application No. 2024112804695, filed September 12, 2024, Chinese Patent Application No. 2024112988345, filed September 18, 2024, Chinese Patent Application No. 2024113192291, filed September 21, 2024, Chinese Patent Application No. 2024113276761, filed September 23, 2024, Chinese Patent Application No. 2024113589287, filed September 25, 2024, and Chinese Patent Application No. 2024113426576, filed September 25, 2024, the contents of which are incorporated herein by reference in their entirety as part of this application. TECHNICAL FIELD

[0002] Embodiments of the present disclosure relate to the technical field of automatic pool cleaning devices, and in particular to a control method of an automatic pool cleaning device and a computer storage medium. BACKGROUND

[0003] An automatic pool cleaning device is generally used for cleaning a pool, for example, collecting and cleaning garbage / debris on the bottom, sidewall, and / or water surface of a pool such as a swimming pool, so as to filter and / or purify the water in the pool, and the filtered and / or purified water can be discharged into the pool. The automatic pool cleaning device can perform an along-edge operation along the boundary of the pool, for example, environmental mapping, positioning navigation, or cleaning, etc. SUMMARY

[0004] According to an aspect of the present disclosure, a method for controlling an automatic pool cleaning device is provided, which can include: detecting, by a first sensor and a second sensor of the automatic pool cleaning device, a first distance and a second distance of the cleaning device from a pool boundary in a lateral direction, respectively; generating a target position in front of the automatic pool cleaning device based on the first distance, the second distance, and a preset along-edge distance of the automatic pool cleaning device from the pool boundary; generating corresponding motion parameters based on the target position; and controlling the automatic pool cleaning device to travel toward the target position based on the corresponding motion parameters.

[0005] According to another aspect of the present disclosure, a pool automatic cleaning device is provided, which can include a processor; and a memory storing program instructions; wherein the processor, when running the program instructions, causes the pool automatic cleaning device to implement the method described above. BRIEF DESCRIPTION OF DRAWINGS

[0006] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings needed to be used in the description of the embodiments will be briefly introduced below. The drawings in the following description are merely exemplary embodiments of the present disclosure.

[0007] FIG. 1 illustrates a schematic outline of a pool automatic cleaning device according to an embodiment of the present disclosure.

[0008] FIGS. 2A-2B illustrate schematic diagrams of the pool automatic cleaning device performing edge work according to an embodiment of the present disclosure;

[0009] FIG. 3 is a schematic flowchart I of a method of controlling a pool automatic cleaning device according to an embodiment of the present disclosure.

[0010] FIG. 4 is a structural block diagram schematically illustrating a pool automatic cleaning device according to an embodiment of the present disclosure;

[0011] FIG. 5 is a partial enlarged structural schematic diagram of the pool automatic cleaning device of the present application, wherein the support assembly is in a first attitude;

[0012] FIG. 6 is a whole structural schematic diagram of the pool automatic cleaning device of the present application, wherein the support assembly is in a first attitude;

[0013] FIG. 7 is a partial enlarged structural schematic diagram of the pool automatic cleaning device of the present application, wherein the support assembly is in a second attitude;

[0014] FIG. 8 is a whole structural schematic diagram of the pool automatic cleaning device of the present application, wherein the support assembly is in a second attitude;

[0015] FIG. 9 is a structural diagram of a pool automatic cleaning device according to an embodiment of the present application;

[0016] FIG. 10 is a step flowchart II of a control method of a pool automatic cleaning device according to an embodiment of the present application;

[0017] FIG. 11 is a schematic diagram of a preset path in a control method of a pool automatic cleaning device according to an embodiment of the present application;

[0018] FIG. 12 is a detection schematic diagram of a pool automatic cleaning device in a control method of a pool automatic cleaning device according to an embodiment of the present application;

[0019] FIG. 13 is a first obstacle avoidance path in a control method of an automatic pool cleaning device according to an embodiment of the present application;

[0020] FIG. 14 is a second obstacle avoidance path in a control method of an automatic pool cleaning device according to an embodiment of the present application;

[0021] FIG. 15 is a third obstacle avoidance path in a control method of an automatic pool cleaning device according to an embodiment of the present application;

[0022] FIG. 16 is a flowchart illustrating a method of controlling movement of an automatic pool cleaning device according to an embodiment of the present application;

[0023] FIG. 17 is a movement trajectory of an automatic pool cleaning device according to an embodiment of the present application;

[0024] FIG. 18 is a movement trajectory of an automatic pool cleaning device according to an embodiment of the present application;

[0025] FIG. 19 is a schematic diagram of an ultrasound imaging device according to an embodiment of the present application;

[0026] FIG. 20 is a schematic diagram of an ultrasound imaging device according to an embodiment of the present application;

[0027] FIG. 21 is a schematic diagram of an ultrasound imaging device according to an embodiment of the present application;

[0028] FIG. 22 is a schematic diagram of an ultrasonic sensor unit and a sensor unit according to an embodiment of the present application;

[0029] FIG. 23 is a schematic diagram of an ultrasonic sensor unit and a sensor unit according to an embodiment of the present application;

[0030] FIG. 24 is a schematic diagram of an ultrasonic sensor unit and a sensor unit according to an embodiment of the present application;

[0031] FIG. 25 is a schematic diagram of an automatic pool cleaning device according to an embodiment of the present application;

[0032] FIG. 26 is a flowchart illustrating a control method of an automatic pool cleaning device according to an embodiment of the present application;

[0033] FIG. 27 is a flowchart illustrating another control method of an automatic pool cleaning device according to an embodiment of the present application;

[0034] FIG. 28 is a flowchart illustrating yet another control method of an automatic pool cleaning device according to an embodiment of the present application;

[0035] FIG. 29 is a schematic diagram of an application environment of a control method of an automatic pool cleaning device according to an embodiment of the present application;

[0036] FIG. 30 is a work flow chart VII of the automatic pool cleaning device according to an embodiment of the present application;

[0037] FIG. 31 is an example of the work flow chart VII of the automatic pool cleaning device according to an embodiment of the present application;

[0038] FIG. 32 is another example of the work flow chart VII of the automatic pool cleaning device according to an embodiment of the present application;

[0039] FIG. 33 is a hardware structure diagram of the control method of the automatic pool cleaning device according to an embodiment of the present application;

[0040] FIG. 34 is a structural diagram of the automatic pool cleaning device according to an embodiment of the present application;

[0041] FIG. 35 is a bottom structural diagram of the automatic pool cleaning device according to an embodiment of the present application;

[0042] FIG. 36 is a structural diagram of the extension structure according to an embodiment of the present application;

[0043] FIG. 37 is an assembly diagram of the extension structure and the chassis according to an embodiment of the present application;

[0044] FIG. 38 is a sectional view of the dust collecting box according to an embodiment of the present application;

[0045] FIG. 39 is a structural diagram of the machine body according to an embodiment of the present application;

[0046] FIG. 40 is a structural diagram of the machine body and the suction head according to an embodiment of the present application;

[0047] FIG. 41 is a structural diagram of a hand-held pool suction cleaner according to an embodiment of the present application;

[0048] FIG. 42 is a bottom structural diagram of the suction head according to an embodiment of the present application; and

[0049] FIG. 43 is a sectional view of the suction head according to an embodiment of the present application.

[0050] 100, 200, 400, 410, 420, 1, 2, 3, 5, 6, 61, 62, 63, 611, 622, 10, 20, 11, 21, 22, 211, 111, 12, 13, 121, 1000, 01, 02, 700, 800, 801, 900, 802, 901, 1001, 1011, 1012, 1002, 1020, 1021, 1022, 1023, 1002, 1031, 1032, 1033, 1004, 1005. DETAILED DESCRIPTION

[0051] Embodiments of the present disclosure will be described below with reference to the drawings. The described embodiments are only some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0052] The application provides a control method of a pool automatic cleaning device, a pool automatic cleaning device applying the control method, and a computer storage medium. The pool automatic cleaning device can clean a pool. The pool is, for example, a pool-shaped building. The pool-shaped building can be a swimming pool, a water storage pool, a hydrotherapy pool, a water storage tank, a water storage groove, etc. The pool automatic cleaning device can be a device such as an automatic cleaning device, a pool cleaning robot, etc., which can clean the pool-shaped building. The application does not limit the specific presentation of the pool automatic cleaning device and the pool-shaped building, as long as the principles of the application can be implemented. Hereinafter, if not specifically stated, the robot will be taken as an example to describe the pool automatic cleaning device, and the swimming pool will be taken as an example to describe the pool or the pool-shaped building. Hereinafter, if not specifically stated, the terms "pool bottom", "swimming pool bottom surface", and "swimming pool bottom" all refer to the pool bottom surface of the swimming pool.

[0053] The detailed description set forth below in connection with the appended drawings is intended as a description of various configurations and is not intended to represent the only configurations in which the concepts described herein can be practiced. The detailed description includes specific details for the purpose of providing a thorough understanding of various concepts. However, it will be apparent to those skilled in the art that these concepts can be practiced without these specific details.

[0054] In the description of the present disclosure, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", "one side", "the other side" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present disclosure and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements indicated must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present disclosure.

[0055] In addition, the terms "first", "second", "third", and the like related to the order are only used for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second", "third" and the like related to the order can explicitly or implicitly include at least one of the features. In the description of the present disclosure, the meaning of "a plurality of" is at least two, for example, two, three, etc., unless otherwise specifically limited.

[0056] In addition, in the drawings, the dimensions can be exaggerated for the purpose of illustration and are not necessarily drawn to scale. Throughout the drawings, like reference numerals generally refer to like elements.

[0057] Figure 1 schematically illustrates an outer shape of a pool automatic cleaning device 100 according to an embodiment of the present disclosure. It can perform cleaning operations on the bottom, the wall, the water, and the surface of a pool (e.g., a swimming pool) as needed, such as cleaning garbage in the water, on the bottom and the surface of the pool, cleaning dirt on the bottom and the wall of the pool, etc. As shown in Figure 1, the pool automatic cleaning device 100 can include a housing 110, a traveling unit 120, a cleaning unit 130, etc. As an example, the pool automatic cleaning device 100 can also include a buoyancy adjusting unit (not shown) so that the pool automatic cleaning device can adjust its depth in the water as needed, such as floating on the surface of the water, diving into the water, sinking to the bottom of the water, so as to perform cleaning operations on the surface, in the water, or on the bottom of the water. As an example, a control compartment, a power compartment, and a filter compartment (not shown) can be provided in the housing 100, in which a control circuit such as a microprocessor, a digital signal processor (DSP), a microcontroller, etc. can be installed in the control compartment, a driving unit such as a water pump, a driving motor, etc. can be provided in the power compartment, and a filter unit can be provided in the filter compartment so as to filter and purify the water entering the inside of the filter compartment through a water inlet, remove impurities therefrom, and discharge the cleaned water out of the pool automatic cleaning device through a water outlet. As an example, Figure 1 shows the traveling unit 120, which can include a caterpillar traveling unit on both sides of the lower part of the pool automatic cleaning device 100, so that the pool cleaning unit can travel in the water, on the bottom of the pool, or on the wall of the pool, thereby performing corresponding cleaning operations. However, the traveling unit is not limited to this type shown in Figure 1, but can include, for example, a wheel traveling unit, without limitation here.

[0058] According to an embodiment, the pool automatic cleaning device 100 can be configured to drive the traveling unit 120 to drive the pool automatic cleaning device 100 to travel along a specific trajectory or towards a specific direction on the bottom, the wall, the water, and the surface of the pool under the control of the control circuit inside according to a specified mode; at the same time, the cleaning unit 130 can be activated to clean garbage, debris, dirt, etc. on the bottom, the wall, in the water, and / or on the surface of the pool, so that it is sucked into the filter compartment of the pool automatic cleaning device together with the water flow. Then, the garbage, debris, and dirt are retained in the filter compartment by filtering in the filter compartment, and the cleaned water is discharged from the pool automatic cleaning device, thereby achieving cleaning of the pool. For example, the cleaned water can be discharged from the pool automatic cleaning device at a drain 140 provided at the back side of the housing 110 of the pool automatic cleaning device 100, a drain 150 provided at the top of the housing 110, etc.

[0059] The pool automatic cleaning device 100 shown in FIG. 1 is only an example, and one skilled in the art can change one or more aspects of the appearance, structure, layout, components, and functions of the pool automatic cleaning device 100 according to actual needs without departing from the principles of the present disclosure. For example, the position, shape, and / or number of the above-mentioned drain ports 140-150 provided on the housing 110 of the pool automatic cleaning device 100 can be adjusted according to the actual operation needs of the pool automatic cleaning device, which is not limited herein.

[0060] According to the operation needs of pool cleaning, it can be necessary to map the environment of the pool area where the cleaning operation is performed so that positioning and navigation can be performed, and / or to plan and control the travel route of the pool automatic cleaning device so as to improve the efficiency and quality of the cleaning operation. Generally, the pool automatic cleaning device can obtain contour information and environmental information of the pool area by traveling along the boundary of the pool so as to perform mapping operation and / or route planning and navigation positioning for cleaning operation.

[0061] When the pool automatic cleaning device travels along the boundary of the pool (e.g., the pool wall), it is necessary to control the lateral distance of the pool automatic cleaning device from the pool boundary so as to maintain a suitable distance; in addition, the travel process of the pool automatic cleaning device needs to be as smooth as possible while maintaining a suitable distance, that is, the adjustment of the motion parameters (e.g., linear velocity, angular velocity, heading angle, and / or motion path, etc.) of the pool automatic cleaning device needs to be smoother.

[0062] To this end, the present disclosure proposes a method for controlling a pool automatic cleaning device, so that the pool automatic cleaning device can better control its lateral distance from the pool boundary when traveling along the pool boundary, and more smoothly control the motion parameters (e.g., linear velocity, angular velocity, heading angle, and / or motion path, etc.) of the pool automatic cleaning device while maintaining a suitable distance from the pool boundary.

[0063] The principles of the method for controlling the pool automatic cleaning device to travel along the boundary according to embodiments of the present disclosure are described below in conjunction with FIGS. 2A-2B.

[0064] As shown in FIG. 2A, the pool automatic cleaning device 200 can be equipped with a first sensor S1 and a second sensor S2 to detect obstacles on the lateral side of the pool automatic cleaning device 200. For example, the first sensor S1 can detect the pool boundary (e.g., the pool wall) on the lateral side of the pool automatic cleaning device along a first detection direction, and the second sensor S2 can detect the pool boundary (e.g., the pool wall) on the lateral side of the pool automatic cleaning device along a second detection direction.

[0065] As an example, the first sensor S1 and the second sensor S2 can include at least one of an ultrasonic sensor, an infrared sensor, a laser sensor, a position sensitive detector (PSD), a TOF (Time of Flight) sensor.

[0066] According to embodiments of the present disclosure, the first detection direction can be parallel or non-parallel to the second detection direction, without limitation.

[0067] Further, as an example, the detection direction of at least one of the first sensor S1 and the second sensor S2 can also be changed according to the operation requirement of the pool automatic cleaning device. For example, at least one of the first sensor S1 and the second sensor S2 can be rotated according to the operation requirement of the pool automatic cleaning device so as to change its detection direction, as long as the first sensor S1 and the second sensor S2 can detect different two positions on the pool boundary located in the same lateral direction (for example, the left side of the pool automatic cleaning device, or the right side of the pool automatic cleaning device) of the pool automatic cleaning device.

[0068] As an example, the first distance and the second distance of the cleaning device from the pool boundary in the lateral direction can be detected by the first sensor and the second sensor of the pool automatic cleaning device respectively, so that the first position on the pool boundary corresponding to the first distance and the second position on the pool boundary corresponding to the second distance can be obtained. For example, as shown in FIG. 2A, the first position can correspond to point A on the pool boundary, and the second position can correspond to point B on the pool boundary.

[0069] According to embodiments of the present disclosure, when the first position on the pool boundary corresponding to the first distance and the second position on the pool boundary corresponding to the second distance are obtained, the extension direction of the pool boundary can be predicted based on the first position and the second position. For example, the extension direction of the pool boundary can be predicted based on the first position A and the second position B as shown in FIG. 2A. As an example, based on the first position A and the second position B, a straight line fitting can be performed, and the direction of the fitted straight line is taken as the predicted extension direction of the pool boundary. For example, the above-mentioned straight line fitting based on the first position A and the second position B can be to determine a straight line segment AB between the first position A and the second position B, and the direction in which the straight line segment AB extends from the second position B is taken as the predicted extension direction of the pool boundary.

[0070] It should be noted that in the above embodiments of the present disclosure, the extension direction of the pool boundary is predicted based on the first position detected by the first sensor and the second position detected by the second sensor; however, according to the embodiments of the present disclosure, the linear fitting can also be implemented based on multiple position points on the pool boundary detected by one sensor within a certain period of time, or the linear fitting can be implemented based on multiple position points on the pool boundary detected by multiple sensors at the same time, wherein based on the multiple position points, the linear fitting can be implemented by least squares method, population mean method, linear programming method, etc., and the specific method is not limited herein, which all belong to the application of the principles of the present disclosure.

[0071] According to the embodiments of the present disclosure, when the extension direction of the predicted pool boundary is obtained, the target position can be determined in a direction perpendicular to the predicted extension direction of the pool boundary, wherein the perpendicular distance between the target position and the extension direction is the along-side spacing.

[0072] For example, as shown in FIG. 2A, when the extension direction BC of the predicted pool boundary is obtained, the target position D can be determined in a direction perpendicular to the predicted extension direction BC of the pool boundary, wherein the perpendicular distance between the target position D and the extension direction BC can be set as the along-side spacing d2 of the lateral direction of the pool automatic cleaning device and the pool boundary.

[0073] For example, the value of the along-side spacing d2 can be set as 0.2m. For example, the along-side spacing d2 can also be dynamically changed according to the operation requirements of the pool automatic cleaning device, which is not limited herein.

[0074] For example, as shown in FIG. 2A, when the target position is determined, the extension endpoint C can be determined in the extension direction BC, wherein the distance between the extension endpoint C and the second position B of the pool boundary can be set as the extension step value d1.

[0075] For example, as shown in FIG. 2A, when the target position is determined, the extension endpoint C can be determined in the extension direction BC, wherein the distance between the extension endpoint C and the second position B of the pool boundary can be set as the extension step value d1.

[0076] For example, the extension step value d1 can be set as 0.3m. For example, the extension step value can also be dynamically changed according to the operation requirements of the pool automatic cleaning device, which is not limited herein.

[0077] For example, when the target position is determined, the extension endpoint C can be determined in the extension direction BC, wherein the distance between the extension endpoint C and the first position A of the pool boundary can be set as the extension step value d’1 (not shown in FIG. 2A).

[0078] According to embodiments of the present disclosure, when the extension endpoint is determined, the target position can be determined on a straight line along a direction perpendicular to the extension direction and passing through the extension endpoint, wherein a distance between the target position and the extension endpoint can be set as a lateral distance between the pool automatic cleaning device and the pool boundary.

[0079] For example, as shown in FIG. 2A, when the extension endpoint C is determined, the target position D can be determined on a straight line along a direction perpendicular to the extension direction BC and passing through the extension endpoint C, wherein a distance between the target position D and the extension endpoint C can be set as a lateral distance d2 between the pool automatic cleaning device and the pool boundary.

[0080] According to embodiments of the present disclosure, the target position is on the same side of the predicted pool boundary as the pool automatic cleaning device. For example, as shown in FIG. 2A, the target position D and the pool automatic cleaning device 200 are both on the right side of the predicted pool boundary BC.

[0081] According to embodiments of the present disclosure, when the target position is determined, corresponding motion parameters of the pool automatic cleaning device can be generated based on the determined target position, and the pool automatic cleaning device can be controlled to move towards the target position based on the corresponding motion parameters.

[0082] As an example, the motion parameters described above can include at least one of, for example, a linear velocity, an angular velocity, a heading angle of the pool automatic cleaning device, or a motion path.

[0083] For example, as shown in FIG. 2A, after the target position D in front of the pool automatic cleaning device 200 is determined, a linear velocity, an angular velocity, a heading angle, and / or a motion path of the pool automatic cleaning device can be set based on a distance between a current position of the pool automatic cleaning device 200 and the target position D, and an orientation of the target position D relative to the pool automatic cleaning device 200.

[0084] For example, based on the distance between the current position of the pool cleaning robot 200 and the target position D, a linear velocity of the pool cleaning robot 200 can be set so as to control the speed at which the pool cleaning robot 200 travels; based on the orientation of the target position D relative to the pool cleaning robot 200, an angular velocity of the pool cleaning robot can be set so as to cause the pool cleaning robot 200 to travel towards the orientation in which the target position D is located; as an example, based on the distance between the current position of the pool cleaning robot 200 and the target position D, the orientation of the target position D relative to the pool cleaning robot 200, the pool cleaning robot 200 can adjust the heading angle constantly by controlling the angular velocity during the process of traveling from the current position to the target position D until approaching the target position D, and the motion path of the pool cleaning robot 200 can be a curve extending to the right with a certain radian as shown in FIG. 2A; or, the pool cleaning robot 200 can adjust the heading angle to the target position D by controlling the angular velocity during the process of traveling from the current position to the target position D, and then travel towards the target position D at a set linear velocity while maintaining the heading angle until approaching the target position D, and the motion path of the pool cleaning robot 200 can be close to a straight line (not shown in FIG. 2A).

[0085] As an example, based on the distance between the current position of the pool cleaning robot and the target position, the orientation of the target position relative to the pool cleaning robot, the pool cleaning robot can also plan a corresponding motion path, for example, so that the pool cleaning robot can travel along a motion path corresponding to an optimization parameter such as a minimum travel distance, a maximum / minimum turning angle, or a minimum / maximum turning radius to approach the target position. For example, the pool cleaning robot can travel along the planned motion path by controlling the heading angle of the pool cleaning robot.

[0086] According to embodiments of the present disclosure, as shown in FIG. 2A, since the first sensor S1 and the second sensor S2 of the pool cleaning robot detect the pool boundary laterally to the pool cleaning robot in real time during the travel of the pool cleaning robot, the first position A and the second position B on the pool boundary obtained are dynamically changed, and thus the extension end point C on the predicted extension direction BC of the pool boundary and the determined target position D are also changed. As an example, the target position is updated in real time. For example, the target position can be updated at a first frequency.

[0087] As described above, when the target position is determined, corresponding motion parameters can be generated based on the determined target position, and the pool cleaning robot can be controlled to travel towards the target position based on the corresponding motion parameters. As an example, the motion parameters can be updated in real time. For example, the motion parameters can be updated at a second frequency. For example, the motion parameters can include at least one of a linear velocity, an angular velocity, a heading angle, or a motion path of the pool cleaning robot.

[0088] As an example, the target position can be updated at a first frequency, while the motion parameters are updated at a second frequency.

[0089] For example, the second frequency is not greater than the first frequency. For example, the first frequency can be 33Hz, while the second frequency can be 20Hz.

[0090] For example, the pool cleaning robot updates the target position at a frequency of 50Hz and updates the motion parameters at a frequency of 20Hz, that is, the target position is updated at a period of about 0.03S, while the motion parameters such as linear velocity, angular velocity, heading angle, and / or motion path are updated at a period of 0.05S, and the pool cleaning robot is controlled to move towards the target position with the updated motion parameters, thereby approaching the target position.

[0091] According to embodiments of the present disclosure, by detecting the first position and the second position on the pool boundary in real time, predicting the extension direction of the pool boundary, and based on the set extension step value in the predicted extension direction of the pool boundary and the set along-side distance perpendicular to the extension direction of the pool boundary, the pool cleaning robot can be controlled to move along the pool boundary with the set along-side distance, and the driving process is smoother without sudden changes in speed, avoiding jitter of motion.

[0092] As described above, the extension step value can be dynamically changed according to the operation requirements of the pool cleaning robot. For example, by controlling the extension step value, the motion parameters of the pool cleaning robot, such as linear velocity, angular velocity, heading angle, and / or motion path, can be more finely controlled.

[0093] As described above, the along-side distance can also be dynamically changed according to the operation requirements of the pool cleaning robot. For example, by controlling the along-side distance, the appropriate distance of the pool cleaning robot from the pool boundary in the lateral direction can be more finely controlled.

[0094] According to embodiments of the present disclosure, as shown in FIG. 2B, the pool cleaning robot 200 can also be equipped with a third sensor S3 to detect obstacles in front of the pool cleaning robot 200. For example, the third sensor S3 can detect obstacles in front of the pool cleaning robot 200, such as the pool wall of the pool, to avoid collision with the front pool wall during movement.

[0095] As an example, the third sensor S3 can include at least one of an ultrasonic sensor, an infrared sensor, a laser sensor, a position sensitive detector (PSD), and a TOF sensor.

[0096] As an example, when it is detected that there is an obstacle in front (e.g., a pool wall along another direction), the pool cleaning robot is controlled to turn in the first direction. For example, when turning, the pool cleaning robot can be controlled to turn in place until the third sensor S3 no longer detects the presence of an obstacle in front (e.g., a pool wall along the other direction), for example, until no longer receiving a reflected signal from the obstacle in front (e.g., a pool wall along the other direction). In this case, it can be considered that the pool cleaning robot has completed the turn, and can continue to travel along the other boundary of the pool (e.g., a pool wall along the other direction) at a set side-following distance. For example, as shown in FIG. 2B, when the pool cleaning robot detects, through the third sensor S3, that there is an obstacle (e.g., a pool wall) in front, it can start to turn, for example, in the direction of the arrow shown in FIG. 2B, and when the third sensor S3 no longer detects the presence of an obstacle in front (e.g., a pool wall along the other direction), it can be determined that the pool cleaning robot has completed the turn, and can continue to travel along the boundary of the pool in the other direction at a set side-following distance.

[0097] For example, in embodiments of the present disclosure, the side direction is the left side of the travel direction of the pool cleaning robot, and the first direction is the right side of the travel direction of the pool cleaning robot; or the side direction is the right side of the travel direction of the pool cleaning robot, and the first direction is the left side of the travel direction of the pool cleaning robot.

[0098] According to embodiments of the present disclosure, the travel of the pool cleaning robot along the pool boundary can include traveling along the pool wall at a set side-following distance below the water surface of the pool or floating on the water surface of the pool, and the specific manner can be selected according to the operation requirements of the pool cleaning robot and / or the type of the pool cleaning robot, which is not limited herein.

[0099] FIG. 3 is a schematic flowchart of a method for controlling a pool cleaning robot according to embodiments of the present disclosure. As shown in FIG. 3, the method for controlling a pool cleaning robot according to embodiments of the present disclosure can include: S310, detecting, by a first sensor and a second sensor of the pool cleaning robot, a first distance and a second distance of the cleaning robot from a pool boundary in a side direction, respectively; S320, generating a target position in front of the pool cleaning robot based on the first distance, the second distance, and a preset side-following distance of the pool cleaning robot from the pool boundary; S330, generating corresponding motion parameters based on the target position; and S340, controlling the pool cleaning robot to travel toward the target position based on the corresponding motion parameters.

[0100] As an example, in the above method, generating the target position based on the first distance, the second distance, and the along-side distance can include predicting an extension direction of the pool boundary based on a first position on the pool boundary corresponding to the first distance and a second position on the pool boundary corresponding to the second distance.

[0101] As an example, in the above method, the target position can be determined in a direction perpendicular to the predicted extension direction of the pool boundary, wherein a perpendicular distance between the target position and the extension direction is the along-side distance, and the target position is on the same side of the predicted pool boundary as the pool automatic cleaning device.

[0102] As an example, in the above method, predicting the extension direction of the pool boundary based on the first position on the pool boundary and the second position on the pool boundary can include performing a straight line fitting based on the first position and the second position, and determining a direction in which the fitted straight line is located as the predicted extension direction of the pool boundary.

[0103] As an example, the above method can further include determining an extension end point in the extension direction, wherein a distance between the extension end point and the first position or the second position is an extension step value.

[0104] As an example, in the above method, a distance between the target position and the extension end point is the along-side distance.

[0105] As an example, in the above method, the target position can be updated at a first frequency.

[0106] As an example, in the above method, the motion parameter can be updated at a second frequency.

[0107] As an example, in the above method, the second frequency is not greater than the first frequency.

[0108] As an example, in the above method, the motion parameter can include at least one of a linear velocity, an angular velocity, a heading angle, or a motion path of the pool automatic cleaning device.

[0109] As an example, the above method can further include detecting an obstacle in front of a travel direction of the pool automatic cleaning device, and controlling the pool automatic cleaning device to perform a turning in a first direction when the obstacle is detected.

[0110] As an example, in the above method, the side direction includes a left side of the travel direction of the pool automatic cleaning device, and the first direction includes a right side of the travel direction of the pool automatic cleaning device; or the side direction includes a right side of the travel direction of the pool automatic cleaning device, and the first direction includes a left side of the travel direction of the pool automatic cleaning device.

[0111] As an example, in the above method, at least one of the first sensor and the second sensor is an ultrasonic sensor, an infrared sensor, a laser sensor, a position sensitive detector (PSD), or a TOF sensor.

[0112] FIG. 4 is a structural block diagram schematically showing a pool cleaning robot 400 according to an embodiment of the present disclosure. As shown in FIG. 4, the pool cleaning robot 400 includes a processor 410 and a memory 420 storing program instructions; wherein the processor 410, when running the program instructions, can cause the pool cleaning robot 400 to implement the above method.

[0113] As an example, the pool cleaning robot 400 can further include a first sensor and a second sensor (not shown in FIG. 4), wherein the first sensor and the second sensor respectively detect a first distance and a second distance of the pool cleaning robot from the pool boundary in the lateral direction.

[0114] In addition, as an example, the pool cleaning robot 400 can further include a third sensor (not shown in FIG. 4), wherein the third sensor can detect an obstacle in front of the pool cleaning robot.

[0115] As an example, the first sensor, the second sensor and the third sensor can include at least one of an ultrasonic sensor, an infrared sensor, a laser sensor, a position sensitive detector (PSD), or a TOF sensor.

[0116] According to the above pool cleaning robot of the embodiments of the present disclosure, by detecting the first position and the second position on the pool boundary in real time, predicting the extension direction of the pool boundary, and based on the set extension step value in the predicted extension direction of the pool boundary and the set along-side distance perpendicular to the extension direction of the pool boundary, the pool cleaning robot can travel along the pool boundary at the set along-side distance, and the driving process is smoother without sudden changes in speed, avoiding shaking of the movement.

[0117] Accordingly, several aspects of the present disclosure are presented with reference to various apparatus and methods. These apparatus and methods are illustrated by various blocks, components, circuits, processes, algorithms, etc. (collectively referred to as “elements”). These elements can be implemented with electronic hardware, computer software, or any combination thereof. Whether such elements are implemented as hardware or software depends on the particular application and design constraints imposed on the overall system.

[0118] For example, an element, or any portion of an element, or any combination of elements can be implemented as a "processing system" that includes one or more processors. The one or more processors in the processing system can execute software. Software shall be construed broadly to mean instructions, instruction sets, code, code segments, program code, programs, subprograms, software components, applications, software applications, software packages, routines, subroutines, objects, executables, threads of execution, procedures, functions, etc., whether referred to as software, firmware, middleware, microcode, hardware description language, or otherwise.

[0119] Accordingly, in one or more example embodiments, the functions described can be implemented in hardware, software, or any combination thereof. If implemented in software, the functions can be stored on or encoded as one or more instructions or code on a computer-readable medium. Computer-readable media includes computer storage media. Storage media can be any available media that can be accessed by a computer. By way of example, and not limitation, such computer-readable media can comprise RAM, ROM, EEPROM, optical disk storage, magnetic disk storage, other magnetic storage devices, combinations of the aforementioned types of computer-readable media, or any other medium that can be used to store computer executable code in the form of instructions or data structures that can be accessed by a computer.

[0120] Referring to FIGS. 5-8, the present application provides a pool cleaning robot including a first area (e.g., the left part of the pool cleaning robot) that needs to be in direct contact with water, and components located in this area can be used in water for a long time without affecting their performance and service life. In addition, it also includes a second area (e.g., the right part of the pool cleaning robot) where components do not need to be in direct contact with water, or are not designed to be in contact with water. These areas can be installed with electrical components such as charging interface, main control board, control circuit, user interface, etc. of the robot. The elements located in the second area are usually designed to avoid contact with water to prevent short circuit or other forms of damage. In the scheme of the present application, a sealing structure is provided at the connection between the first area and the second area, so that the support assembly 6 can maintain the sealing and waterproof effect of the second area regardless of the posture.

[0121] The pool automatic cleaning device comprises a main control cabin 1 and a garbage basket accommodating cavity 2. As shown in FIG. 5 and FIG. 7, a garbage basket detection assembly can be arranged between the main control cabin 1 and the garbage basket accommodating cavity 2. The garbage basket accommodating cavity 2 is used to accommodate and install a garbage basket 3, which is used to filter water and collect garbage therein. The garbage basket accommodating cavity 2 and the garbage basket 3 can be arranged in the first area. Those skilled in the art can understand that, in the operation process of the pool automatic cleaning device, the water flow containing garbage (such as fragments, sand and other small particle objects) is sucked into the garbage basket 3, and the garbage is retained in the garbage basket 3 after being filtered by the filtering system, and the water is discharged through the drain.

[0122] The main control cabin 1 can be a waterproof cabin, which is internally provided with a main control board (not shown) and a switch 5 connected with the main control board, both of which are located in the second area. The second area is a sealed and waterproof area, which prevents water or garbage from entering the second area where the live components are installed, thereby ensuring the normal operation of the pool automatic cleaning device. The pool automatic cleaning device further comprises a prompting device connected with the main control board and capable of prompting the user according to the control signal from the main control board. For example, the pool automatic cleaning device can have a wired or wireless communication module, so as to transmit its state to the cloud or a mobile terminal according to the state of the switch 5. The prompting device can also be a signal lamp or a loudspeaker, which can emit a predetermined light or a predetermined sound to the user according to the control signal from the main control board, so as to achieve the purpose of prompting the user.

[0123] In an embodiment, the switch 5 can be arranged inside or outside the main control cabin. For example, the switch can be a Hall switch, which can be in a connected state or a disconnected state by sensing the change of magnetic force. When the switch 5 is located outside the main control cabin 1, the switch 5 is electrically connected with the main control board (not shown) through a waterproof wire

[0124] In an embodiment, the support assembly 6 is realized as a structure similar to a seesaw, which comprises a first plate body 61, a second plate body 62 and a base 63. For example, the weight of the second plate body 62 is greater than that of the first plate body 61, so that the support assembly 6 is in a first attitude, that is, the left side of the seesaw is raised and the right side is sunken, without being subjected to other external forces. The first end 611 is located at the end of the first plate body 61. The second end 622 is located at the end of the second plate body 62. The second end of the support assembly 6 can be moved and / or rotated by the movement of the first end.

[0125] In an embodiment, the first end 611 can be directly opposite to the bottom of the garbage basket 3, so that the first end 611 can timely and accurately transmit the position and weight of the garbage basket 3 to the bracket assembly 6 when the garbage basket 3 is correctly installed in the garbage basket accommodating cavity 2, and the first end 611 can timely and accurately change the posture when the garbage basket 3 is not correctly installed in the garbage basket accommodating cavity 2, so as to timely and accurately reflect the position change of the second end 622 and the state switching of the switch 5.

[0126] The bracket assembly 6 can be made of plastic or metal. As long as the bracket assembly 6 can realize the principles of the present application.

[0127] In an embodiment, the switch 5 is a Hall switch, and the second end 622 of the bracket assembly 6 has a magnetic force member, wherein the Hall switch is off when the magnetic force member is away from the Hall switch by more than a predetermined distance, and the Hall switch is on when the magnetic force member is away from the Hall switch by less than or equal to the predetermined distance. For example, when the bracket assembly 6 is in the first posture, the right side of the bracket assembly 6 sinks, thereby causing the second end 622 of the bracket assembly 6 to be away from the Hall switch by more than the predetermined distance, so the Hall switch is off. When the bracket assembly 6 is in the second posture, the right side of the bracket assembly 6 rises, thereby causing the second end 622 of the bracket assembly 6 to be away from the Hall switch by less than or equal to the predetermined distance, so the Hall switch is on.

[0128] Therefore, as shown in FIG. 5 and FIG. 6, when the garbage basket 3 is not installed correctly in the garbage basket accommodating cavity 2, for example, the garbage basket 3 is not installed or the garbage basket 3 is not installed in place (for example, the outer wall of the garbage basket 3 does not fit with the inner wall of the garbage basket accommodating cavity), the gravity (i.e. the gravity from the first plate body 61, or the sum of the gravity from the first plate body 61 and the gravity from the garbage basket 3 which is not installed correctly) at the first end 611 of the bracket assembly 6 is less than the gravity (i.e. the gravity from the second plate body 62) at the second end 622 of the bracket assembly 6, so that the bracket assembly 6 is in the first attitude, that is, the left side of the seesaw is tilted up and the right side is tilted down. In this case, the first end 611 of the bracket assembly 6 can be inserted into the inside of the garbage basket accommodating cavity 2, so that the first end 611 interferes with the correct installation space of the garbage basket in the garbage basket accommodating cavity. Therefore, due to the support of the base 63, the first end 611 of the bracket assembly 6 is at a relatively high position. At the same time, relatively, the second end 622 of the bracket assembly 6 is at a relatively low position. At this time, when the magnetic force member is away from the switch by a distance greater than or equal to a predetermined distance, the switch 5 is in an off state. At this time, the main control board (not shown) generates a corresponding signal to prompt that the garbage basket 3 is not installed or not installed correctly / in place, so as to prevent the misoperation of the equipment. For example, at this time, the robot will refuse to work even if it is put into water, and will remind the user that the garbage basket is not installed or not installed correctly / in place in the above-mentioned light, sound and APP and other ways.

[0129] On the other hand, as shown in FIG. 7 and FIG. 8, when the garbage basket 3 is correctly installed into the garbage basket accommodating cavity, for example, when the outer wall of the garbage basket 3 substantially adheres to the inner wall of the garbage basket accommodating cavity, the first end 611 of the bracket assembly 6 is subjected to pressure from the garbage basket, and at the same time, due to the gravity of the first end (first plate body 61) of the bracket assembly itself, the sum of the two forces is greater than the gravity to which the second end of the bracket assembly is subjected, causing the movement of the bracket assembly (6) (i.e. the second end 622 is raised, and correspondingly, the first end 611 is lowered), and finally switching to the second attitude, that is, the right side of the seesaw is raised, and the left side is lowered. In this case, the first end 611 of the bracket assembly 6 is away from the inner region of the garbage basket accommodating cavity 2, so that at least a part of the first end 611 does not interfere with the correct installation space of the garbage basket in the garbage basket accommodating cavity. Thus, due to the support of the base 63, the first end 611 of the bracket assembly 6 is in a relatively low position. At the same time, correspondingly, the second end 622 of the bracket assembly 6 is raised and in a relatively high position, so that the distance between the magnetic force member of the second end 622 and the switch 5 is reduced to less than or equal to the predetermined distance, thereby triggering the switch 5 to be in a connected state, and the main control board (not shown) generates a control signal according to the attitude, and can remind the user that the garbage basket has been correctly installed, and the water pool automatic cleaning device can work normally through light, sound and APP and the like.

[0130] In another embodiment of the present application, a water pool automatic cleaning device comprises: a first region which is in direct contact with water; a second region in which elements are not in direct contact with water; a garbage basket for collecting garbage; a garbage basket accommodating cavity for installing the garbage basket;

[0131] a bracket assembly comprising a first end and a second end, wherein when the garbage basket is not correctly installed into the garbage basket accommodating cavity, the bracket assembly is in a first attitude, in which at least a part of the first end interferes with the correct installation space of the garbage basket in the garbage basket accommodating cavity,

[0132] when the garbage basket is correctly installed into the garbage basket accommodating cavity, the bracket assembly is in a second attitude, in which at least a part of the first end does not interfere with the correct installation space of the garbage basket in the garbage basket accommodating cavity;

[0133] Further comprising a sensing assembly in the second region and connected with the main control board, the sensing assembly learns the attitude change of the bracket assembly through the second end of the bracket assembly.

[0134] In the present application, since the support assembly 6 adopts a mechanical structure, there is no need to lay wires between different cabins and prevent water, the attitude change of the support assembly 6 directly controls the state of the switch 5 in the second area B, this design not only simplifies the structure, but also ensures the waterproof and sealing effect of the second area B through the sealing structure, avoids the leakage of water into the internal electrical elements of the main control cabin 1, and improves the reliability and safety of the equipment.

[0135] Through the design, the present application provides a high-efficiency and safe pool automatic cleaning device which can automatically identify the installation state of the garbage basket 3, ensure that the equipment always maintains a good working state during use, effectively prevent water or garbage from entering the second area, and thus guarantee the long service life of the equipment.

[0136] Referring to FIG. 9, the present embodiment provides a pool automatic cleaning device, which comprises: a cleaning assembly 1 comprising a filtering assembly, a cleaning water inlet 11 and a cleaning water outlet; liquid can enter through the cleaning water inlet 11, pass through the filtering assembly and then flow out through the cleaning water outlet; a driving assembly 2 comprising a flow guide 21 and a first opening 211 and a second opening located at both ends of the flow guide 21, wherein the first opening 211 is arranged close to the cleaning water inlet 11; and at least part of the liquid flowing out of the first opening 211 can promote the water flow of the cleaning water inlet 11 to flow in.

[0137] In the present embodiment, the liquid in the pool can carry garbage to enter through the cleaning water inlet 11 and pass through the filtering assembly for filtering, and the garbage is left inside the cleaning assembly 1, and the liquid flows out through the cleaning water outlet after passing through the filtering assembly; the shape of the cleaning water inlet 11 is a trapezoidal water inlet, and since the size of the two corner angles of the trapezoidal water inlet is small, it is easy to accumulate garbage. The present embodiment is provided with the flow guide 21 having the first opening 211 and the second opening, which ensures that the driving assembly 2 can drive the pool automatic cleaning device to move forward or backward; at the same time of moving backward, at least part of the liquid flowing out of the first opening 211 can flow towards the cleaning water inlet 11 to promote the water flow of the cleaning water inlet 11 to flow in, thereby guiding the garbage at the cleaning water inlet 11 towards the inside of the cleaning assembly 1, realizing the cleaning of the cleaning water inlet 11, avoiding the cleaning water inlet 11 being blocked by garbage, and thus improving the cleaning effect and efficiency of the pool automatic cleaning device.

[0138] In the present embodiment, the shape, size and arrangement position of the cleaning water inlet 11 and the cleaning water outlet are not limited, as long as the cleaning water inlet 11 can enter water and the cleaning water outlet can discharge water.

[0139] For example, the cleaning water inlet 11 is of a trapezoidal structure.

[0140] In the embodiment, the cleaning inlet 11 is arranged at the front end of the automatic pool cleaning device, and the cleaning outlet is arranged at the rear end of the automatic pool cleaning device.

[0141] In the embodiment, the number of the first openings 211 is consistent with the number of the second openings, that is, the flow guide member 21 only includes a set of the first openings 211 and the second openings which cooperate with each other.

[0142] In the embodiment, the shape of the flow guide member 21 is not limited, as long as the flow guide member 21 can guide the liquid. The flow guide member 21 can be an S-shaped pipe, a Z-shaped pipe, an L-shaped pipe, a T-shaped pipe or an I-shaped pipe.

[0143] For example, the flow guide member 21 is an I-shaped pipe, that is, the flow guide member 21 is a straight pipe in which the first openings 211 and the second openings are arranged opposite to each other.

[0144] In other possible embodiments, the number of the first openings 211 is not consistent with the number of the second openings, as long as the first openings 211 are arranged close to the cleaning inlet 11.

[0145] For example, the flow guide member 21 includes one second opening and at least two first openings 211, and the at least two first openings 211 are arranged close to the cleaning inlet 11.

[0146] For example, the flow guide member 21 is a T-shaped pipe, the flow guide member 21 includes one second opening and two first openings 211, and the two first openings 211 are arranged close to the cleaning inlet 11.

[0147] In some possible embodiments, the flow guide member 21 has two and is symmetrically arranged at the two sides of the cleaning inlet 11. By symmetrically arranging the flow guide member 21 at the two sides of the cleaning inlet 11, the flow guide member 21 can form a vortex at the cleaning inlet 11 to promote the water flow at the cleaning inlet 11 to flow in, so as to avoid the cleaning inlet 11 being blocked by garbage and affecting the cleaning effect and the cleaning efficiency of the automatic pool cleaning device. Meanwhile, by symmetrically arranging the flow guide member 21 at the two sides of the cleaning inlet 11, the automatic pool cleaning device can be stably advanced or retreated, and the stability of the automatic pool cleaning device in operation can be ensured.

[0148] In the embodiment, the flow guide member 21 symmetrically arranged at the two sides of the cleaning inlet 11 can be an S-shaped pipe, a Z-shaped pipe, an L-shaped pipe, a T-shaped pipe or an I-shaped pipe.

[0149] For example, two flow guide members 21 are symmetrically arranged at the two sides of the cleaning inlet 11, and the flow guide members 21 are I-shaped pipes.

[0150] For example, two flow guide members 21 are symmetrically arranged at the two sides of the cleaning inlet 11, and the flow guide members 21 are T-shaped pipes.

[0151] In some possible embodiments, the distance between the plane where the first opening 211 is located and the plane where the cleaning water inlet 11 is located is within 0-10 cm. By being within the above range, at least part of the liquid flowing out of the first opening 211 can promote the water flow flowing into the cleaning water inlet 11, so as to achieve the cleaning effect on the cleaning water inlet 11, and thus ensure the cleaning effect and cleaning efficiency of the pool automatic cleaning device.

[0152] In some possible embodiments, the distance between the plane where the first opening 211 is located and the plane where the cleaning water inlet 11 is located is within 0-10 cm. By being within the above range, at least part of the liquid flowing out of the first opening 211 can promote the water flow flowing into the cleaning water inlet 11, so as to achieve the cleaning effect on the cleaning water inlet 11, and thus ensure the cleaning effect and cleaning efficiency of the pool automatic cleaning device.

[0153] For example, the distance between the plane where the first opening 211 is located and the plane where the cleaning water inlet 11 is located is 0 cm, 10 cm, 0-2 cm, 0-5 cm, 0-10 cm, 1-4 cm, 1-8 cm, 1-10 cm, 3-6 cm, 3-8 cm, 3-10 cm, 4-7 cm, 4-10 cm, 5-10 cm, 6-8 cm, 6-10 cm or 8-10 cm, and the like.

[0154] For example, the plane where the first opening 211 is located coincides with the plane where the cleaning water inlet 11 is located. Compared with the distance between the plane where the first opening 211 is located and the plane where the cleaning water inlet 11 is located being within other ranges, the liquid flowing out of the first opening 211 has the largest force on the cleaning water inlet 11, can quickly remove the garbage at the cleaning water inlet 11, makes the pool automatic cleaning device reach the state of cleaning efficiency and cleaning effect, and improves the user experience.

[0155] In this embodiment, the two flow guides 21 are arranged on the left and right sides of the cleaning water inlet 11, and the distance between the plane where the first opening 211 of the two flow guides 21 is located and the plane where the cleaning water inlet 11 is located is within 0-10 cm.

[0156] In some possible embodiments, the two flow guides 21 are arranged on the upper and lower sides of the cleaning water inlet 11, and the distance between the plane where the first opening 211 of the two flow guides 21 is located and the plane where the cleaning water inlet 11 is located is within 0-10 cm.

[0157] In some possible embodiments, the second opening is arranged away from the cleaning water inlet 11, and the water inflow or outflow of the second opening can avoid affecting the vortex formed by the liquid flowing out of the first opening 211 at the cleaning water inlet 11, thereby avoiding affecting the effect of at least part of the liquid flowing out of the first opening 211 on promoting the water flow of the cleaning water inlet 11, and thereby achieving the effect of quickly cleaning the garbage at the cleaning water inlet 11 and avoiding the cleaning water inlet 11 being blocked by garbage, so as to ensure the cleaning effect and cleaning efficiency of the automatic pool cleaning device.

[0158] In the embodiment, the second opening is arranged close to the cleaning water outlet, and the cleaning water outlet is arranged on the side away from the cleaning water inlet 11.

[0159] In some possible embodiments, the inner cavity of the flow guide 21 forms a flow channel, and two ends of the flow channel correspond to the first opening 211 and the second opening respectively. The first opening 211 and the second opening can be configured as liquid outlets, so that the automatic pool cleaning device can move forward or backward, which to some extent simplifies the driving structure of the automatic pool cleaning device and reduces the manufacturing cost.

[0160] In the embodiment, the setting direction of the flow guide 21 is consistent with the forward-to-reverse direction of the automatic pool cleaning device, so that the liquid flow direction in the flow guide 21 can be controlled to control the forward and backward movement of the automatic pool cleaning device, and the energy loss caused by the inconsistent directions can be avoided.

[0161] In the embodiment, the shape and size of the flow guide 21 are set according to actual conditions, as long as the flow guide 21 can promote the water flow of the cleaning water inlet 11 and drive the automatic pool cleaning device to move forward and backward.

[0162] For example, the flow guide 21 is a tubular structure, the axis of the tubular structure is consistent with the forward-to-reverse direction of the automatic pool cleaning device, and the two ends of the tubular structure are the first opening 211 and the second opening respectively.

[0163] In some possible embodiments, under the premise that the flow guide 21 is a tubular structure, the diameter of the flow guide 21 gradually decreases along the direction from the second opening to the first opening 211, which can increase the flow rate of the liquid flowing out of the first opening 211, thereby increasing the force of the liquid on the cleaning water inlet 11 and improving the cleaning speed of the cleaning water inlet 11.

[0164] In some possible embodiments, the distance between the flow guide 21 and the cleaning assembly 1 gradually decreases along the direction from the second opening to the first opening 211, and the flow guide 21 is arranged obliquely, and the distance between the first opening 211 and the cleaning assembly 1 is smaller than the distance between the second opening and the cleaning assembly, which can increase the amount of liquid towards the cleaning water inlet 11, increase the force on the cleaning water inlet, and improve the cleaning speed of the cleaning water inlet 11.

[0165] In some possible embodiments, the pool automatic cleaning device comprises two flow guides 21, which are arranged on the left and right sides of the cleaning water inlet 11, and the distance between the plane where the first opening 211 of the two flow guides 21 is located and the plane where the cleaning water inlet 11 is located is within 0-10 cm; under the premise that the flow guide 21 is a tubular structure, along the direction from the second opening to the first opening 211, the diameter of the flow guide 21 gradually decreases, and the distance between the flow guide 21 and the cleaning assembly 1 gradually decreases; by arranging the flow guides 21 on the left and right sides of the cleaning water inlet 11 respectively, it can be ensured that the pool automatic cleaning device is uniformly stressed on both sides when advancing or retreating, so that the pool automatic cleaning device stably advances or retreats, and the stability of the pool automatic cleaning device in operation is ensured; on this basis, the diameter of the flow guide 21 is arranged to gradually decrease, and the distance between the flow guide 21 and the cleaning assembly 1 gradually decreases, which can increase the flow rate of the liquid flowing out of the first opening 211, thereby improving the force of the liquid on the cleaning water inlet 11, improving the cleaning speed of the cleaning water inlet 11, and increasing the amount of liquid towards the cleaning water inlet 11, improving the force on the cleaning water inlet, and improving the cleaning speed of the cleaning water inlet 11.

[0166] In some possible embodiments, when the impeller 22 of the driving assembly 2 rotates in one direction, the liquid flows out of the first opening 211 through the flow channel; when the impeller 22 of the driving assembly 2 rotates in the other direction, the liquid flows out of the second opening through the flow channel, and by controlling the rotation direction of the impeller 22, the first opening 211 or the second opening is configured as a liquid outlet, thereby realizing the advancing or retreating of the pool automatic cleaning device, simplifying the driving structure of the pool automatic cleaning device, and reducing the preparation cost.

[0167] In the present embodiment, the impeller 22 of the driving assembly 2 can rotate in one direction or the other direction, wherein one direction and the other direction are opposite directions, i.e., one of them is forward rotation and the other is reverse rotation.

[0168] In some possible embodiments, when the pool automatic cleaning device advances, the liquid in the flow guide 21 flows out of the second opening; when the pool automatic cleaning device retreats, the liquid in the flow guide 21 flows out of the first opening 211, and by controlling the flow direction of the liquid in the flow guide 21, the pool automatic cleaning device is ensured to form a forward or backward force, thereby controlling the advancing or retreating of the pool automatic cleaning device.

[0169] In the embodiment, the driving assembly 2 is configured to provide power to the liquid in the flow channel, so that the liquid can flow out of the first opening 211 or the second opening after passing through the flow guide piece 21; specifically, the pool automatic cleaning device can advance under the driving of the driving assembly 2, and the liquid can enter the first opening 211 and flow out of the second opening after passing through the flow guide piece 21 under the condition that the pool automatic cleaning device advances, so as to form a forward force on the pool automatic cleaning device, thereby realizing the advancement of the pool automatic cleaning device.

[0170] The pool automatic cleaning device can also retreat under the driving of the driving assembly 2, and the liquid can enter the second opening and flow out of the first opening 211 after passing through the flow guide piece 21 under the condition that the pool automatic cleaning device retreats, and at least part of the liquid flowing out of the first opening 211 can promote the flow of the cleaning inlet 11 to flow in.

[0171] In the embodiment, the driving assembly 2 includes a driving piece and an impeller 22, the driving piece is drivingly connected with the impeller 22; the impeller 22 is arranged at the second opening; under the reverse rotation of the driving piece, the impeller rotates in one direction, the liquid flows out of the first opening 211 through the flow channel, and the driving assembly 2 drives the flow of water along the direction from the second opening to the first opening 211; the force acting on the pool automatic cleaning device is along the direction from the first opening 211 to the second opening, and at this time, the pool automatic cleaning device retreats.

[0172] Under the forward rotation of the driving piece, the impeller rotates in the other direction, the liquid flows out of the second opening through the flow channel, and the driving assembly 2 drives the flow of water along the direction from the first opening 211 to the second opening; the force acting on the pool automatic cleaning device is along the direction from the second opening to the first opening 211, and at this time, the pool automatic cleaning device advances.

[0173] In the embodiment, the driving piece and the impeller 22 are arranged one by one, and the driving piece and the flow guide piece 21 are arranged one by one.

[0174] In other possible embodiments, the pool automatic cleaning device includes at least one group of driving assemblies 2.

[0175] For example, the pool automatic cleaning device includes two groups of driving assemblies 2, the first opening 211 to the second opening of the flow guide piece 21 of the first group of driving assemblies 2 is arranged along the advancing or retreating direction of the pool automatic cleaning device, which is used to drive the pool automatic cleaning device to advance or retreat, the first opening 211 to the second opening of the flow guide piece 21 of the second group of driving assemblies 2 is arranged along the left-to-right direction of the pool automatic cleaning device, which is used to drive the pool automatic cleaning device to move left or right, and the flexibility of the operation of the pool automatic cleaning device can be improved by arranging the above two groups of driving assemblies 2.

[0176] In some possible embodiments, the end of the flow guide 21 is also provided with a flow guide grid configured to adjust the water outlet direction of the first opening 211 or the second opening. By providing the flow guide grid, the liquid flowing out of the first opening 211 or the second opening can be guided, the flow rate is increased, and the moving speed of the automatic pool cleaning device or the cleaning capacity of the cleaning inlet 11 is improved.

[0177] In the embodiment, the flow guide grid is arranged at the first opening 211 and / or the second opening.

[0178] For example, the flow guide grid arranged at the first opening 211 is configured to offset the water outlet direction of the first opening 211 towards the cleaning inlet 11, increase the flow rate of the liquid flowing out of the first opening 211, improve the cleaning effect of the cleaning inlet 11, and quickly clean the accumulated garbage at the cleaning inlet 11.

[0179] For example, the inclined direction of the outlet of the flow guide grid can be adjusted, and then the water flow of the first opening 211 flowing towards the cleaning inlet 11 is adjusted.

[0180] In other possible embodiments, the end of the flow guide 21 is provided with a flow guide plate, and the flow guide plate is arranged at the first opening 211 to be inclined so that the liquid flowing direction in the first opening 211 is inclined towards the cleaning inlet 11.

[0181] In some possible embodiments, the flow guide grid is configured to offset the water outlet direction of the first opening 211 towards the cleaning inlet 11, and by the above arrangement, the amount and flow rate of the liquid of the first opening 211 flowing towards the cleaning inlet 11 are increased, the cleaning effect of the liquid flowing out of the first opening 211 on the cleaning inlet 11 is improved, and the accumulated garbage at the cleaning inlet 11 is quickly cleaned.

[0182] In some possible embodiments, the flow guide 21 is integrally formed with the cleaning assembly 1, the installation operation of the flow guide 21 and the cleaning assembly 1 is reduced, the installation difficulty is reduced, and the distance between the plane where the first opening 211 is located and the plane where the cleaning inlet 11 is located is ensured to be within 0-10 cm after the flow guide 21 is integrally formed with the cleaning assembly 1, and then the cleaning effect of the cleaning inlet 11 is ensured.

[0183] In other possible embodiments, the flow guide 21 is detachably arranged on the cleaning assembly 1, and in the case that the flow guide 21 is damaged or the cleaning capacity of the liquid in the flow guide 21 on the cleaning inlet 11 needs to be increased, the flow guide 21 can be replaced, and the adaptability of the automatic pool cleaning device is improved.

[0184] The working process of the pool automatic cleaning device is as follows: the impeller 22 of the driving assembly 2 is driven to rotate in one direction, liquid can enter through the first opening 211 and flow out through the second opening after passing through the flow guide piece 21, which forms a forward force on the pool automatic cleaning device, thereby realizing the forward movement of the pool automatic cleaning device, and at the same time, garbage can enter the cleaning assembly 1 through the cleaning water inlet 11 and be intercepted and retained in the cleaning assembly 1 by the filter assembly; after the pool automatic cleaning device works for a period of time, the cleaning water inlet 11 is easily blocked by garbage, in order to clean the cleaning water inlet 11, the impeller 22 of the driving assembly 2 is driven to rotate in the other direction, liquid can enter through the second opening and flow out through the first opening 211 after passing through the flow guide piece 21, at this time, the pool automatic cleaning device retreats, and at least part of the liquid flowing out of the first opening 211 can promote the water flow of the cleaning water inlet 11 to flow in, thereby realizing the cleaning of the cleaning water inlet 11.

[0185] Referring to FIG. 9, the embodiment provides a pool automatic cleaning device, which comprises: a cleaning assembly 1 comprising a filter assembly, a cleaning water inlet 11 and a cleaning water outlet; liquid can enter through the cleaning water inlet 11 and flow out through the cleaning water outlet after passing through the filter assembly; a driving assembly 2 comprising a flow guide piece 21 and a first opening 211 and a second opening located at both ends of the flow guide piece 21, wherein the first opening 211 is arranged close to the cleaning water inlet 11; and at least part of the liquid flowing out of the first opening 211 can promote the water flow of the cleaning water inlet 11 to flow in.

[0186] In the embodiment, the cleaning water inlet 11 is in a trapezoidal structure.

[0187] In the embodiment, the cleaning water inlet 11 is arranged at the front end of the pool automatic cleaning device, and the cleaning water outlet is arranged at the rear end of the pool automatic cleaning device.

[0188] In the embodiment, the liquid in the pool can carry garbage to enter through the cleaning water inlet 11 and be filtered by the filter assembly, and the garbage is retained in the cleaning assembly 1, and the liquid flows out through the cleaning water outlet after passing through the filter assembly; due to the small size of the two corner parts of the trapezoidal water inlet, garbage is easily accumulated, and the embodiment is provided with the flow guide piece 21 having the first opening 211 and the second opening, so that the driving assembly 2 can drive the pool automatic cleaning device to move forward or backward; at the same time of backward movement, at least part of the liquid flowing out of the first opening 211 can flow towards the cleaning water inlet 11 to promote the water flow of the cleaning water inlet 11 to flow in, thereby guiding the garbage at the cleaning water inlet 11 towards the inside of the cleaning assembly 1, and realizing the cleaning of the cleaning water inlet 11.

[0189] In the embodiment, the flow guide piece 21 is integrally formed with the cleaning assembly 1.

[0190] In the embodiment, the flow guide 21 is provided in two and symmetrically arranged on both sides of the cleaning water inlet 11.

[0191] In the embodiment, the inner cavity of the flow guide 21 forms a flow channel, and the two ends of the flow channel correspond to the first opening 211 and the second opening respectively.

[0192] In the embodiment, the number of the first openings 211 is consistent with the number of the second openings, that is, the flow guide 21 only includes a set of the first openings 211 and the second openings which cooperate with each other.

[0193] In the embodiment, the setting direction of the flow guide 21 is consistent with the forward-to-reverse direction of the automatic pool cleaning device, so that the liquid flow direction in the flow guide 21 can control the forward and reverse of the automatic pool cleaning device, and the energy loss caused by the inconsistent direction is avoided.

[0194] In the embodiment, the shape and size of the flow guide 21 are set according to the actual situation, as long as the flow guide 21 can promote the water flow into the cleaning water inlet 11 and drive the automatic pool cleaning device to move forward and backward.

[0195] For example, the flow guide 21 is an I-shaped pipe, that is, the flow guide 21 is a straight pipe with the first opening 211 and the second opening arranged opposite to each other.

[0196] In the embodiment, under the premise that the flow guide 21 is a tubular structure, the diameter of the flow guide 21 gradually decreases along the direction from the second opening to the first opening 211, which can increase the flow rate of the liquid flowing out of the first opening 211, thereby increasing the force of the liquid on the cleaning water inlet 11 and improving the cleaning speed of the cleaning water inlet 11.

[0197] In the embodiment, the distance between the flow guide 21 and the cleaning assembly 1 gradually decreases along the direction from the second opening to the first opening 211; the flow guide 21 is arranged obliquely, and the distance between the first opening 211 and the cleaning assembly 1 is smaller than the distance between the second opening and the cleaning assembly, which can increase the amount of liquid towards the cleaning water inlet 11, increase the force on the cleaning water inlet, and improve the cleaning speed of the cleaning water inlet 11.

[0198] In the embodiment, the distance between the plane where the first opening 211 is located and the plane where the cleaning water inlet 11 is located is within 0-10 cm.

[0199] For example, the distance between the plane where the first opening 211 is located and the plane where the cleaning water inlet 11 is located is 0 cm, 10 cm, 0-2 cm, 0-5 cm, 0-10 cm, 1-4 cm, 1-8 cm, 1-10 cm, 3-6 cm, 3-8 cm, 3-10 cm, 4-7 cm, 4-10 cm, 5-10 cm, 6-8 cm, 6-10 cm, or 8-10 cm, etc.

[0200] Exemplarily, the plane where the first opening 211 is located coincides with the plane where the cleaning water inlet 11 is located, compared to the distance between the plane where the first opening 211 is located and the plane where the cleaning water inlet 11 is located, the force of the liquid flowing out of the first opening 211 on the cleaning water inlet 11 is the largest, which can quickly remove the garbage at the cleaning water inlet 11, so that the automatic pool cleaning device reaches the state of cleaning efficiency and cleaning effect, and improves the user experience.

[0201] In the embodiment, two flow guides 21 are arranged on the left and right sides of the cleaning water inlet 11, and the distance between the plane where the first opening 211 of the two flow guides 21 is located and the plane where the cleaning water inlet 11 is located is within 0-10 cm.

[0202] In the embodiment, the second opening is arranged away from the cleaning water inlet 11.

[0203] In the embodiment, the second opening is arranged close to the cleaning water outlet, and the cleaning water outlet is arranged on the side away from the cleaning water inlet 11.

[0204] In the embodiment, the end of the flow guide 21 is further provided with a flow guide grid, and the flow guide grid is configured to adjust the water outlet direction of the first opening 211 or the second opening.

[0205] In the embodiment, the flow guide grid is arranged at the first opening 211, and the flow guide grid is configured to offset the water outlet direction of the first opening 211 towards the cleaning water inlet 11, increase the flow rate of the liquid flowing out of the first opening 211, improve the cleaning effect on the cleaning water inlet 11, and realize quick cleaning of the accumulated garbage at the cleaning water inlet 11.

[0206] Exemplarily, the inclination direction of the outlet of the flow guide grid can be adjusted, and then the water flow of the first opening 211 flowing towards the cleaning water inlet 11 is adjusted.

[0207] In the embodiment, the flow guide grid is configured to offset the water outlet direction of the first opening 211 towards the cleaning water inlet 11.

[0208] In the embodiment, when the automatic pool cleaning device advances, the liquid in the flow guide 21 flows out from the second opening; when the automatic pool cleaning device retreats, the liquid in the flow guide 21 flows out from the first opening 211.

[0209] In the embodiment, the driving assembly 2 is configured to provide power to the liquid in the flow channel, so that the liquid can flow out of the first opening 211 or the second opening after passing through the flow guide piece 21; specifically, the pool automatic cleaning device can advance under the driving of the driving assembly 2, and the liquid can enter the first opening 211 and flow out of the second opening after passing through the flow guide piece 21 in the advancing state, so as to form a forward force on the pool automatic cleaning device, thereby realizing the advancing of the pool automatic cleaning device.

[0210] The pool automatic cleaning device can also retreat under the driving of the driving assembly 2, and the liquid can enter the second opening and flow out of the first opening 211 after passing through the flow guide piece 21 in the retreating state, and at least part of the liquid flowing out of the first opening 211 can promote the inflow of the water flow of the cleaning inlet 11.

[0211] In the embodiment, the driving assembly 2 includes a driving piece and an impeller 22, and the driving piece is drivingly connected with the impeller 22; the impeller 22 is arranged at the second opening; in the case that the driving piece reversely rotates, the impeller rotates in one direction, the liquid flows out of the first opening 211 through the flow channel, the driving assembly 2 drives the water flow in the direction from the second opening to the first opening 211; the force acting on the pool automatic cleaning device is in the direction from the first opening 211 to the second opening, and at this time, the pool automatic cleaning device retreats.

[0212] In the case that the driving piece positively rotates, the impeller rotates in the other direction, the liquid flows out of the second opening through the flow channel, the driving assembly 2 drives the water flow in the direction from the first opening 211 to the second opening; the force acting on the pool automatic cleaning device is in the direction from the second opening to the first opening 211, and at this time, the pool automatic cleaning device advances.

[0213] In the embodiment, the driving piece and the impeller 22 are arranged one by one, and the driving piece and the flow guide piece 21 are arranged one by one.

[0214] In the embodiment, the impeller 22 of the driving assembly 2 can rotate in one direction or the other direction, and the one direction and the other direction are opposite directions, that is, one of them is positive rotation, and the other is reverse rotation.

[0215] Although the present application has been described by means of optional embodiments, the present application is not limited to the embodiments described herein, but includes various changes and modifications without departing from the scope of the present application.

[0216] Referring to FIG. 10, the application provides a control method of a cleaning device, comprising: controlling the cleaning device to clean the pool wall according to a preset path, the preset path comprising at least a plurality of preset cleaning cycle paths; obtaining obstacle information in the preset path; and adjusting the cleaning cycle path where the obstacle is located based on the obstacle information to avoid the obstacle.

[0217] From the above description, the application has the following advantages: by controlling the cleaning device to clean the pool wall according to the preset path and obtaining the obstacle information in the path in real time during operation, the cleaning cycle path where the obstacle is located can be adjusted in advance based on the obstacle information, so that the cleaning device can avoid the obstacle when it runs to the cleaning cycle, and the 3D positioning information is not required for obstacle avoidance, but the perception and avoidance of the obstacle are realized by using machine motion planning and obstacle information, which is applicable to the perception and processing of most pool wall obstacles.

[0218] In some embodiments, the preset cleaning cycle path comprises: the cleaning device moves downward from the water line position to the bottom of the pool, moves a preset distance to the back side of the first inflection point position, and then returns to the water line position. That is, when the cleaning device does not obtain the obstacle information, the water line, corner and wall of the pool can be continuously cleaned based on the preset cleaning cycle path.

[0219] In some embodiments, the first inflection point position is determined according to the water depth of the current preset cleaning cycle path. In an optional embodiment, the first inflection point position is located on the pool wall. That is, the cleaning device can dynamically select the most suitable inflection point position according to the current water depth and the height from the water surface, so as to efficiently realize the turning operation.

[0220] In some embodiments, after reaching the first inflection point position, the cleaning device rotates a preset angle in a first direction, moves a preset distance, rotates the preset angle in a second direction after moving the preset distance, and returns to the water line position, wherein the first direction and the second direction are opposite. That is, when the cleaning device reaches the first inflection point position, the turning operation is performed, and then the preset angle in the first direction, the preset distance and the preset angle in the second direction are sequentially performed, so that the cleaning device can translate the body position in the horizontal direction to clean the path that has not been cleaned. It should be noted that the preset angle in the first direction and the preset angle in the second direction can be set to be the same, but there may be some error between them, which may be caused by moving the preset distance. The error can be calibrated by a sensor, such as an inertial measurement unit.

[0221] In some embodiments, adjusting the cleaning cycle path where the obstacle is located based on the obstacle information comprises: determining a second inflection point position based on the obstacle information, and adjusting the cleaning cycle path where the obstacle is located based on the second inflection point position. The obstacle information includes one of the following situations: an obstacle located high or low on the pool wall, or an obstacle that cannot be crossed on the pool wall. By identifying the obstacle, the obstacle is divided into an obstacle located high or low on the pool wall, and an obstacle that cannot be crossed on the pool wall according to the position of the obstacle, and the position of the inflection point is further selected according to the specific position of the obstacle, so that the cleaning device can execute different obstacle avoidance strategies for different obstacle distribution situations, and improve the cleaning efficiency. It should be emphasized that the first inflection point position is set based on the pool wall without obstacles, and when there are obstacles on the pool wall, the second inflection point position is used for obstacle avoidance.

[0222] As in some embodiments, when the obstacle is located high or low on the pool wall, the second inflection point position is set on the pool wall; when the obstacle is an obstacle that cannot be crossed on the pool wall, the second inflection point position is set on the pool bottom. The cleaning device can effectively avoid obstacles and clean positions such as pool walls and walls.

[0223] When the obstacle is located high or low on the pool wall, the second inflection point position is further determined based on the boundary information of the obstacle. For example, when the obstacle distribution situation is located high on the pool wall, the height of the cleaning device climbing up can be adjusted based on the cleaning cycle path, so that the cleaning device turns before encountering the obstacle and only cleans the area below the obstacle. For example, when the obstacle distribution situation is located low on the pool wall, the height of the second inflection point can be adjusted based on the cleaning cycle path, so that the cleaning device crosses the obstacle and only cleans the area above the obstacle.

[0224] Another embodiment of the present application provides a cleaning device comprising a processor that executes the control method of the cleaning device as described above.

[0225] The cleaning device provided by the present application is applied to water line cleaning scenes such as swimming pools and reservoirs, and the following is described through a specific embodiment:

[0226] Please refer to FIG. 10, a control method of a cleaning device, comprising:

[0227] S1, control the cleaning device to clean the pool wall according to a preset path, the preset path comprising at least a plurality of preset cleaning cycle paths. The preset cleaning cycle path comprises: the cleaning device moves from the waterline position to the bottom of the pool, moves a preset distance to the rear side of a first inflection point position, and then returns to the waterline position. The first inflection point position is determined according to the water depth of the current preset cleaning cycle path. In an optional embodiment, the first inflection point position is located on the pool wall, and in other optional embodiments, the first inflection point can also be set on the pool bottom. At the same time, when the cleaning device reaches the first inflection point position, it rotates a preset angle in a first direction, advances a preset distance, rotates a preset angle in a second direction after advancing a preset distance, and returns to the waterline position, and the first direction and the second direction are opposite, so that the cleaning device can translate in the horizontal direction, and clean the path that has not been cleaned.

[0228] As shown in FIG. 11, it is an optional preset path mode; the path mainly performs the following actions: moving from the waterline position to the bottom of the pool, retreating a distance and then advancing to the pool wall again, going up the wall and selecting an inflection point, moving to the horizontal direction a body width at the inflection point, and then moving vertically to the water surface direction until reaching the waterline position. Among them, path 1-2-3 is the initial action, indicating that the cleaning device moves from the starting position to the waterline position; path one: 5-6-7-8-9-10 represents the first cycle, and the first inflection point is between step 8 and step 9; path two: 12-13-14-15-16-17 represents the second cycle, and the first inflection point is between step 15 and step 16.

[0229] The specific movement mode comprises the following steps: step 1: after the cleaning device falls from the water surface to the pool bottom, it rotates one circle in place to select a wall-up point, for example, to find a specified wall surface or to select the nearest wall surface to start cleaning work. Step 2: run to the pool corner for cleaning; step 3: perform gravity direction-based movement posture control cleaning to reach the waterline; step 4: perform waterline cleaning; step 5: retreat to the pool bottom; step 6: continue to retreat away from the pool wall; step 7: make a cleaning movement to the pool corner; step 8: during the wall-up process, the cleaning device dynamically selects an inflection point according to the current water depth and the height from the water surface; step 9: perform a turning movement to control the cleaning device to move to the horizontal direction a body width; step 10: turn to the vertical direction to the water surface and move to the waterline; step 11, perform waterline cleaning. Repeat the above movement logic.

[0230] S2, obtaining obstacle information in the preset path; wherein, the cleaning device is provided with a sensor device capable of obtaining distance information, for sensing the obstacle and obtaining the obstacle information. Please refer to FIG. 12, for example, when moving in the manner in step S1, the cleaning device obtains the obstacle information on the left side in real time through the sensor on the left side, according to the distance value between the cleaning device and the obstacle and the duration of the distance value, and calculates according to the obtained obstacle information to determine the motion cycle where the obstacle is located, and determine the coordinate, height and width of the position where the obstacle is located and other related information. For example, according to the obstacle information, the obstacle is divided into the following situations: the obstacle located at a high or low position of the pool wall, or the obstacle that cannot be crossed on the pool wall. And whether it is a wall lamp, a wall or a staircase is determined according to the obstacle situation.

[0231] S3, adjusting the cleaning cycle path where the obstacle is located based on the obstacle information to avoid the obstacle. Specifically, determining the second inflection point position based on the obstacle information, and adjusting the cleaning cycle path where the obstacle is located based on the second inflection point position. That is, adjusting the first inflection point position in step S1 according to the obstacle information, and replacing the first inflection point position with the second inflection point position, so that the cleaning device turns at an appropriate position. When the obstacle is located at a high or low position of the pool wall, the second inflection point position is set on the pool wall; and when the obstacle is located at a high or low position of the pool wall, the second inflection point position is further determined based on the boundary information of the obstacle. When the obstacle is an obstacle that cannot be crossed on the pool wall, the second inflection point position is set at the bottom of the pool.

[0232] Please refer to FIG. 13, when the obstacle distribution is located at a high position of the pool wall, the height of the cleaning device climbing up can be adjusted based on the cleaning cycle path, so that the cleaning device turns before encountering the obstacle, and only cleans the area below the obstacle. As shown in FIG. 13, when the cleaning device encounters an obstacle at a high position, the cleaning device stops moving upward and performs a wall-down action.

[0233] Please refer to FIG. 14, when the obstacle distribution is located at a low position of the pool wall, the first inflection point position can be adjusted, for example, the height of the obstacle is 50 cm, and the inflection point in the preset path is set to turn after climbing at least 50 cm, that is, the height of the second inflection point position is ≥ 50 cm, so that the cleaning device turns after climbing at least 50 cm, so that the cleaning device crosses the obstacle and only cleans the area above the obstacle. At the same time, when the cleaning device encounters an obstacle during the wall-down process, steps 8-9-10-11 in step S1 can be repeatedly performed until the obstacle is avoided; or the obstacle is avoided by turning action.

[0234] Please refer to FIG. 15. When the obstacle distribution is an obstacle that cannot be crossed on the wall, for example, the obstacle is a wall, the cleaning device cannot turn from the pool wall, and therefore retreats for a distance in the cleaning cycle path and then adjusts the direction on the pool bottom to bypass the obstacle. That is, the second inflection point position is set on the pool bottom, and the cleaning robot turns on the pool bottom to avoid the obstacle.

[0235] The application also discloses a cleaning device comprising a processor configured to control the cleaning device to perform steps S1-S3.

[0236] In summary, the application provides a control method and device for a cleaning device. The cleaning device cleans the pool wall according to a preset path, and the obstacle information in the path is obtained in real time during operation, so that the cleaning cycle path where the obstacle is located can be adjusted in advance based on the obstacle information, the cleaning device avoids the obstacle when the cleaning cycle is running, and the 3D positioning information is not required for obstacle avoidance. Instead, the obstacle sensing and obstacle avoidance are achieved by using machine motion planning and obstacle information, which is applicable to the sensing and processing of most pool wall obstacles.

[0237] FIG. 16 shows a flowchart of a method 100 of controlling the movement of an automatic pool cleaning device according to an embodiment of the present disclosure. In the embodiment of the present disclosure, the automatic pool cleaning device is used for moving cleaning in a pool-shaped building, which can be a swimming pool, a water storage pool, a water storage tank, a water storage tank, etc. The present disclosure takes a swimming pool as an example to describe the pool-shaped building. The inside of the swimming pool includes a pool bottom and a side wall, the pool bottom has a bottom surface, and the side wall has a side wall surface. The side wall can include one side wall surface or multiple side wall surfaces according to the shape of the swimming pool, for example, the side wall surface of a circular swimming pool is a circular side wall or an arc-shaped side wall, a rectangular swimming pool or a square swimming pool includes four side walls, and each side wall surface is rectangular. A semicircular swimming pool includes a semicircular side wall and a rectangular side wall, etc.

[0238] The method 100 of controlling the movement of the automatic pool cleaning device according to the present disclosure will be described in detail below in combination with FIGS. 16-18. The method 100 includes steps S101-S103.

[0239] In step S101, the automatic pool cleaning device obtains the side wall surface information in a first predetermined area of the side wall surface.

[0240] The sidewall surface information includes surface flatness or surface roughness, or both. According to the surface flatness and / or surface roughness, it can be determined whether the sidewall surface is a flat surface or a non-flat surface. For example, a swimming pool usually needs to be provided with wall lamps, water outlets, water inlets, staircases, steps or other objects, which will make the sidewall surface non-flat if they are arranged on the sidewall surface.

[0241] The surface flatness can be one or more of the following types of information:

[0242] The peak-valley flatness error (FLTt) represents the sum of the absolute values of the deviations of the wave peaks and wave troughs in the plane from an ideal plane, which can be a minimum area reference plane or a least square reference plane.

[0243] The peak-base flatness error (FLTp) represents the deviation of the wave peaks in the plane from an ideal plane, which is only defined for the least square reference plane.

[0244] The valley-base flatness error (FLTv) represents the deviation of the wave troughs in the plane from an ideal plane, which is consistent with FLPt and is only defined for the least square reference plane.

[0245] The root mean square flatness error (FLTq) represents the square root of the sum of the squares of the deviations of the measurement points from the reference plane, reflecting the deviation of the measurement points from the ideal plane. This value is only defined for the minimum area reference plane.

[0246] The surface roughness can be the average arithmetic deviation Ra of the profile.

[0247] It should be understood that the above description of surface flatness and surface roughness is only exemplary and is not intended to limit the connotation and extension of these two terms. Those skilled in the art can selectively set the surface flatness and surface roughness according to the description of the present disclosure, as long as the principles of the present disclosure can be implemented.

[0248] The sidewall surface information can be obtained in various ways. For example, the sidewall surface information can be collected by the pool automatic cleaning device when it moves on the bottom surface and / or sidewall surface of the swimming pool during previous pool cleaning work; the sidewall surface information can also be pre-stored in the memory inside the pool automatic cleaning device by the user, and the pool automatic cleaning device can retrieve the sidewall surface information from the memory; the pool automatic cleaning device can download the sidewall surface information from an external storage unit (e.g., a cloud server, a remote server).

[0249] For example, the pool automatic cleaning device is submerged in the bottom of the pool after being turned on, and first rotates in place, and obtains the environmental information of the pool through the sensor carried by itself, including the sidewall surface information of a predetermined area (i.e., the first predetermined area) of the sidewall surface within the sensing range of the sensor.

[0250] For another example, the pool automatic cleaning device moves on the bottom surface and the sidewall surface of the pool during the cleaning process, and obtains the environmental information of the pool through the sensor carried by itself, including the sidewall surface information of a predetermined area (i.e., the first predetermined area) of the sidewall surface within the sensing range of the sensor.

[0251] For another example, the pool automatic cleaning device can turn on the sensor to obtain the sidewall surface information at any position during the movement, such as the starting position or the intermediate position, or can turn on the sensor to obtain the sidewall surface information at a predetermined time or a predetermined distance from the sidewall during the movement, so as to avoid additional power consumption caused by long-time turning on of the sensor.

[0252] It can be understood by those skilled in the art that the above-described manner of obtaining the sidewall surface information is only exemplary, and those skilled in the art can select the manner of obtaining the sidewall surface information according to the actual situation, as long as the principle of the present disclosure can be realized.

[0253] The manner of obtaining the sidewall surface information and the obtaining process will be further described below in combination with specific embodiments.

[0254] The first predetermined area is a predetermined or preselected area on the sidewall surface. The first predetermined area can also be a rectangular area or a circular area or an arc-shaped area on the sidewall surface, and the lower edge of the first predetermined area is greater than the body position of the pool automatic cleaning device from the bottom surface of the pool. The first predetermined area can also be the entire sidewall surface. It should be understood that the above description of the first predetermined area is only exemplary, and those skilled in the art can selectively set the position, size, etc. of the first predetermined area, as long as the principle of the present disclosure can be realized.

[0255] Next, step S102 is entered. In step S102, it is determined whether the sidewall surface information meets a predetermined condition. If the sidewall surface information meets the predetermined condition, step S103 is entered, in which the pool automatic cleaning device is controlled to perform lateral movement in the first predetermined area of the sidewall surface when the pool automatic cleaning device moves to the first predetermined area of the sidewall surface.

[0256] As described above, the sidewall surface information can include surface flatness and / or surface roughness, and thus, the predetermined condition can be, for example, that the surface flatness is less than or equal to a predetermined flatness threshold, and / or that the surface roughness is less than or equal to a predetermined roughness threshold.

[0257] In one embodiment, the sidewall surface information satisfying the predetermined condition can be that the sidewall surface flatness is less than or equal to a predetermined flatness threshold, and that the surface roughness is less than or equal to a predetermined roughness threshold.

[0258] In another embodiment, the sidewall surface information satisfying the predetermined condition can be that one of "the sidewall surface flatness is less than or equal to a predetermined flatness threshold" and "the surface roughness is less than or equal to a predetermined roughness threshold" is satisfied.

[0259] If the sidewall surface information satisfies the predetermined condition, it indicates that the surface within the first predetermined area on the sidewall surface satisfies the requirements of flatness and / or roughness, and the pool automatic cleaning device can stably adsorb on the sidewall surface within the first predetermined area and can side-shift and clean within the first predetermined area.

[0260] In step S103, the control of the pool automatic cleaning device to side-shift in the first predetermined area of the sidewall surface includes: controlling the pool automatic cleaning device to move a first predetermined distance along a first side-shift route within the first predetermined area.

[0261] The first side-shift route can be any one of a straight line, a curve, or a polyline. As long as it can achieve the movement of the pool automatic cleaning device from one position on the sidewall surface to another position on the sidewall surface, it is acceptable. The position before side-shift is different from the position after side-shift. The above examples of the first side-shift route are only illustrative descriptions, and those skilled in the art can select the first side-shift route according to actual needs as long as the principles of the present disclosure can be achieved.

[0262] The first predetermined distance can be one or more body positions of the pool automatic cleaning device. Those skilled in the art can select the first predetermined distance according to actual needs as long as the principles of the present disclosure can be achieved.

[0263] The "controlling the pool automatic cleaning device to side-shift in the first predetermined area of the sidewall surface" of step S103 will be described in detail below in combination with FIG. 17.

[0264] As shown in FIG. 17, the dashed circle A1 represents the first predetermined area. When the pool cleaning robot moves to the first predetermined area A1 of the side wall surface (as shown in P4 position in FIG. 17), the pool cleaning robot is controlled to move laterally in the first predetermined area A1 of the side wall surface. As shown in FIG. 17, the pool cleaning robot moves a first predetermined distance along a first lateral movement route 9 in the first predetermined area A1 to a P5 position, where the distance between the P4 position and the P5 position is, for example, one body position of the pool cleaning robot. Wherein the first lateral movement route 9 is inclined by an angle of 45 degrees to the previous movement route (as shown by route 8 in FIG. 17) of the pool cleaning robot, thereby achieving lateral displacement (referred to as lateral movement) of the pool cleaning robot on the side wall surface.

[0265] It should be noted that the first lateral movement route 9 and the first predetermined distance of one body position of the pool cleaning robot described above are exemplary, and those skilled in the art can select the first lateral movement route and the first predetermined distance according to actual conditions, as long as the principle of the present disclosure can be realized. For example, the first lateral movement route can be a route inclined by an angle greater than 0 degrees and less than 180 degrees to the previous movement route, as long as the pool cleaning robot is deflected or offset when moving along the first lateral movement route from the previous movement route, which indicates that lateral movement is performed. For another example, the first predetermined distance of the pool cleaning robot moving along the first lateral movement route 9 in the first predetermined area A1 can also be three-quarters of a body position or half a body position, etc., to ensure that the movement route of the pool cleaning robot after lateral movement at least partially overlaps with the adjacent cleaned area, thereby avoiding areas that are not cleaned.

[0266] Before the pool cleaning robot acquires the side wall surface information, the method 100 further comprises: controlling the pool cleaning robot to move from a first position to a second position in sequence through the bottom surface and the side wall surface; and controlling the pool cleaning robot to move from the second position to a third position in sequence through the side wall surface and the bottom surface, the third position being located on the bottom surface, wherein the pool cleaning robot acquiring the side wall surface information comprises: the pool cleaning robot collecting the side wall surface information in the first predetermined area of the side wall surface during the movement from the first position to the third position. Through these operations, the pool cleaning robot realizes movement from the bottom surface of the pool to the side wall surface (referred to as "wall up") and movement from the side wall surface to the bottom surface (referred to as "wall down"), and collects the side wall surface information during wall up and wall down. The wall up and wall down processes will be described in detail below in combination with FIG. 17 and specific embodiments.

[0267] Figure 17 shows a schematic diagram of the moving trajectory of the pool automatic cleaning device according to an embodiment of the present disclosure. Referring to Figure 17, the interior of the swimming pool includes a bottom surface B and a side wall surface A, which are rectangular surfaces respectively. As described above, the interior of the swimming pool can also include one or more side wall surfaces of the same shape or other shapes, which are not limited in the present disclosure.

[0268] A plurality of routes with arrows are shown in Figure 17, such as route 2, route 3, route 5, route 6, route 7, route 8, route 9, route 10, etc. These routes with arrows represent the moving routes and moving directions of the pool automatic cleaning device. It should be noted that in order to facilitate the illustration of various moving routes and moving directions of the pool automatic cleaning device in Figure 17, the plurality of routes with arrows are staggered and do not overlap with each other, but in fact, some of the routes overlap with each other, only the moving directions are different. For example, route 2 represents the movement of the pool automatic cleaning device from position P1 to the corner of the wall during the "wall-up" process, and route 6 represents the movement of the pool automatic cleaning device from the corner of the wall to position P3 during the "wall-down" process, wherein P1 and P3 overlap, and route 2 and route 6 overlap with each other but in opposite directions. Similarly, route 3 represents the movement of the pool automatic cleaning device from the corner of the wall to the water level 4 during the "wall-up" process, and route 5 represents the movement of the pool automatic cleaning device from the water level 4 to the corner of the wall during the "wall-down" process, wherein route 3 and route 5 overlap with each other but in opposite directions, and both of them represent the cleaning of the same route by the pool automatic cleaning device during the wall-up and wall-down processes. Similarly, as shown in Figure 17, route 7 overlaps with route 6 but in opposite directions; route 10 overlaps with route 12 but in opposite directions; and route 13 overlaps with route 14 but in opposite directions. The plurality of routes with arrows shown in Figure 18 also have the situation described above in Figure 17, which will not be described here.

[0269] As shown in Figure 17, the first position P1 is located on the bottom surface B of the swimming pool. The first position can be the initial position of the pool automatic cleaning device starting the cleaning operation from the bottom surface B of the swimming pool. The first position can also be the position where the pool automatic cleaning device contacts the bottom surface B of the swimming pool after falling into the water after starting. The first position can also be the position selected by the pool automatic cleaning device after moving underwater for suitable cleaning work.

[0270] For example, after receiving the pool wall cleaning instruction, the pool automatic cleaning device can first rotate in place on the bottom surface B for one revolution (as shown by route 1 in Figure 17), and after one revolution, the pool automatic cleaning device can find the nearest side wall and record the direction angle through the direction sensor, and then move towards the nearest wall.

[0271] As shown in Fig. 17, the second position P2 is located on the side wall surface A. The second position P2 shown in Fig. 17 is a position near the water level line 4. The second position can also be a top position of the side wall surface A. The second position can also be a position at a distance (e.g. 10-20 cm) from the top position of the side wall surface A to facilitate the turning of the pool cleaning robot. The second position can also be a position beyond the water level line 4 by a predetermined distance (e.g. 10-30 cm) to ensure that the pool cleaning robot can clean the side wall surface above the water level line and near the water level line.

[0272] In an embodiment, when the pool cleaning robot moves from the first position to the side wall surface A and then to the bottom surface B, the pool cleaning robot can determine whether the front of the pool cleaning robot is exposed to the water surface. If the front of the pool cleaning robot is exposed to the water surface, the position of the pool cleaning robot can be the second position. As shown in Fig. 17, when the pool cleaning robot moves along the route 3 to the P2 position near the water level line 4, the front of the pool cleaning robot is exposed to the water surface, and the sensor (e.g. a pressure sensor installed on the front of the pool cleaning robot) carried by the pool cleaning robot detects a decrease in the external pressure value (e.g. from water pressure to air pressure), the pool cleaning robot takes the P2 position as the second position.

[0273] In another embodiment, the selection of the second position or the length of the route 3 can be determined based on the length or time of the last movement track on the side wall surface A.

[0274] As shown in Fig. 17, the third position P3 is located on the bottom surface B. The third position can be the initial position of the pool cleaning robot on the pool bottom, and the third position overlaps the first position, that is, the pool cleaning robot can return to the initial position after the back wall. The third position can also be a position on the bottom surface B at a predetermined distance from the side wall surface A, e.g. a position 10-20 cm from the corner of the wall.

[0275] In an embodiment, the movement of the pool cleaning robot from the first position P1 to the second position P2 is forward, i.e. the routes 2 and 3 shown in Fig. 17 are forward; the movement of the pool cleaning robot from the second position P2 to the third position P3 is backward, i.e. the routes 5 and 6 shown in Fig. 17 are backward. In another embodiment, the pool cleaning robot can make a 180-degree turn in place at the second position, so that the movement in the routes 5 and 6 is still forward.

[0276] The pool cleaning robot can collect and acquire the sidewall surface information while moving. As shown in FIG. 17, the pool cleaning robot collects the sidewall surface information of a predetermined area (e.g., the first predetermined area A1) of the sidewall surface in part or all of the stages in route 2, route 3, route 5, and route 6 while moving from the first position P1 to the second position P2, and then to the third position P3. The pool cleaning robot can also acquire the sidewall surface information only at predetermined positions. For example, the pool cleaning robot can collect and acquire the sidewall surface information only at one or more of the first position P1, the second position P2, and the third position P3. Collecting and acquiring the sidewall surface information only in part of the stages or only at predetermined positions can reduce the power consumption of the sensors and the processor, thereby saving power.

[0277] In an embodiment, before the pool cleaning robot acquires the sidewall surface information, the method 100 further comprises:

[0278] controlling the pool cleaning robot to move from the first position to a fourth position via the bottom surface B and the sidewall surface A in sequence, wherein the fourth position is located in the first predetermined area A1 of the sidewall surface, and wherein the pool cleaning robot acquiring the sidewall surface information comprises the pool cleaning robot collecting the sidewall surface information in the first predetermined area A1 of the sidewall surface while moving from the first position to the fourth position.

[0279] As shown in FIG. 17, the first position P1 has been described above and will not be repeated here. The fourth position P4 is located in the first predetermined area A1 of the side wall surface A, and the fourth position P4 can be closer to the bottom surface B than the second position P2 corresponding to the water line 4. The pool cleaning robot moves from the first position P1 to the fourth position P4 along the route 7 on the bottom surface B and the route 8 on the side wall surface A. The pool cleaning robot can collect the side wall surface information in the first predetermined area A1 of the side wall surface during the movement from the first position P1 to the fourth position P4. In other words, the pool cleaning robot can collect the side wall surface information of the first predetermined area during the movement along the route 7 and the route 8. It should be noted here that the description of the fourth position above does not mean that the two positions P2 and P3 must exist before the fourth position P4 because the fourth position P4 is exemplarily numbered as “P4”. The movement route of the pool cleaning robot can be P1→P2→P3→P4 (i.e., the pool cleaning robot first completes the first wall climbing and the first wall descending, and then collects the side wall surface information during the second wall climbing), or P1→P4 (i.e., the pool cleaning robot collects the side wall surface information during the first wall climbing). It can be understood that, in order to more accurately and more comprehensively collect the side wall surface information, the pool cleaning robot can continuously collect the side wall surface information during the movement along P1→P2→P3→P4 on part of the route or the entire route.

[0280] According to the above description, the pool cleaning robot can also collect the side wall surface information only on part of the route 7 and / or part of the route 8 for power saving. In other words, the pool cleaning robot can collect the side wall surface information only on part of the route during the movement along P1→P4.

[0281] In an embodiment, the fourth position P4 can be selected according to the current water depth and the distance of the pool cleaning robot from the water surface. For example, when the water is deep or the distance from the water surface is large, the distance of the fourth position from the bottom surface B can be relatively large, and when the water is shallow or the distance from the water surface is small, the distance of the fourth position from the bottom surface B can be relatively small, so as to ensure that the pool cleaning robot has sufficient space to move sideways on the side wall surface before reaching the water line.

[0282] The control of the pool cleaning robot to move sideways on the first predetermined area of the side wall surface in step S103 includes controlling the pool cleaning robot to move from the fourth position to a fifth position in the first predetermined area, wherein the distance of the fifth position from the bottom surface is greater than the distance of the fourth position from the bottom surface.

[0283] As an example, referring to FIG. 17, the pool cleaning robot can be controlled to move from the fourth position P4 to a fifth position P5 within the first predetermined area Al, where the fifth position P5 is farther from the bottom surface B than the fourth position P4. In other words, the pool cleaning robot can move laterally along the sidewall surface B to a position directly above the pool or to a position diagonally above the pool. The movement can be linear, curvilinear, or a combination thereof.

[0284] In an embodiment, the fourth position P4 is 0-40 cm from the bottom surface B, and the fifth position P5 is 40-80 cm from the bottom surface B.

[0285] In an embodiment, after the pool cleaning robot moves laterally from the fourth position P4 to the fifth position P5, the pool cleaning robot can move toward the waterline. As shown in FIG. 17, the pool cleaning robot can move along a path 10 from the fourth position P4 to a sixth position P6 along the waterline 11. The sixth position P6 can be located near the waterline, e.g., the sixth position P6 can be a predetermined height above the waterline.

[0286] In an embodiment, the length of the path 10 or the sixth position P6 can be determined based on water level detection. For example, during the movement from the fifth position P5 to the sixth position P6, the pool cleaning robot can determine whether the front of the pool cleaning robot is exposed to the water surface. If the front of the pool cleaning robot is exposed to the water surface, the position of the pool cleaning robot can be determined as the sixth position P6.

[0287] In an embodiment, the length of the path 10 or the sixth position P6 can be determined based on the length of the last travel path (e.g., the first climb up the wall) or the travel time.

[0288] Referring to FIG. 17, the movement of the pool automatic cleaning device along the route 1 to the route 18 is roughly as follows. In the route 1, the pool automatic cleaning device rotates one round in place to select the upper wall position, moves along the route 2 to the wall corner for wall corner cleaning, is adsorbed on the surface of the pool side wall along the route 3 to clean the pool wall, reaches the water line 4 to clean the water line, retreats to the pool bottom along the route 5 after the water line cleaning is completed, continues to the pool bottom predetermined position along the route 6, completes one upper wall and one lower wall, and then continues to move to the pool corner direction along the route 7 for cleaning. After the upper wall, the pool automatic cleaning device reaches the fourth position P4 along the route 8, and then moves to the fifth position P5 along the route 9, and then moves to the water line direction along the route 10, and then cleans the water line at the sixth position P6. Then, the pool automatic cleaning device performs the process of the upper wall and the side shift as described above. After that, the pool automatic cleaning device moves to the pool bottom wall corner direction along the route 12, and cleans the wall corner part, and moves along the bottom surface along the route 13 after the lower wall. In any stage or all stages of the route 7-13, the information of the predetermined area of the side wall surface can be collected in real time, for example, the information of the side wall surface in another first predetermined area A2 is collected. It is judged whether the side wall surface information of the another first predetermined area A2 meets the predetermined condition, and if the side wall surface information of the first predetermined area A2 meets the predetermined condition, when the pool automatic cleaning device passes through the first predetermined area A2, the pool automatic cleaning device moves along the route 16 for side shift, and after the side shift is completed, moves to the water line direction along the route 17, and continues to clean the side wall surface A. In this way, the pool automatic cleaning device can continue to clean the pool wall.

[0289] In the case that the flatness of the pool side wall meets the condition, the pool automatic cleaning device is controlled to side shift on the side wall, so as to comprehensively clean the pool wall, and since the flatness of the pool wall meets the condition, the situation that the pool automatic cleaning device is stuck or falls off does not occur.

[0290] In an embodiment of the present disclosure, the side wall surface information can not meet the predetermined condition, that is, when the flatness of the side wall surface is greater than the predetermined flatness threshold, and / or the surface roughness is greater than the predetermined roughness threshold, it can be judged that the side wall surface is not a flat surface, for example, it can contain wall lamps, water inlets and outlets, staircases, steps or other objects with irregular shapes.

[0291] If the sidewall surface information does not satisfy the predetermined condition, the pool cleaning robot is controlled to move along a second side shift path on the bottom surface. The second side shift path is located on the bottom surface B of the pool. That is, in the case of uneven pool walls, the pool cleaning robot can move along the second side shift path on the pool bottom to avoid the pool wall lights, water inlets and outlets, ladders, steps or other irregularly shaped structures, thereby avoiding the situation that the pool cleaning robot is stuck at these obstacles or falls off the pool wall due to the obstruction of the obstacles.

[0292] FIG. 18 shows a schematic diagram of a moving trajectory of a pool cleaning robot according to another embodiment of the present disclosure. In FIG. 18, the pool cleaning robot moves along a second side shift path on the bottom surface. The pool cleaning robot can obtain the bottom surface information of a second predetermined area A3, A4 of the bottom surface B, and determine the second side shift path according to the bottom surface information. The manner, timing or location of obtaining the bottom surface information of the second predetermined area A3, A4 is the same as or similar to the manner, timing or location of obtaining the sidewall surface information of the first predetermined area A1, A2. For example, the pool cleaning robot can obtain the bottom surface information in advance, or the pool cleaning robot can collect the bottom surface information during movement, or the user can input the information in advance. For example, referring to FIG. 18, the pool cleaning robot can obtain the bottom surface information during movement along the path 1→path 2→path 3→path 4. The pool cleaning robot can determine the second side shift path 5 according to the completion of obtaining the bottom surface information and further determination at the end of the path 4. The determined second side shift path 5 can avoid various types of irregular structures or obstacles on the pool bottom mentioned above.

[0293] The second side shift path can have various types. For example, the pool cleaning robot can move to the left side of the pool at an angle of 90 degrees relative to the previous path (i.e., path 4). The present disclosure is not limited thereto, and the side shift path can be any angle greater than 0 and less than 180 degrees relative to the previous path, as long as the pool cleaning robot moves with deflection or deviation, which indicates that the pool cleaning robot moves along the side shift path. In addition, the side shift can be performed in any of a straight line, a curve or a broken line.

[0294] In an embodiment, the path 1, path 7, path 13 in FIG. 18 are the pool cleaning robot moving along the pool sidewall surface A to the waterline direction, the path 2, path 8 represent the pool cleaning robot cleaning the waterline, the path 3, path 9 and the like are the pool cleaning robot retreating from the waterline to the pool bottom (or advancing to the pool bottom after a 180-degree turn), and the path 4, path 6, path 10, path 12 are the pool cleaning robot moving forward and backward to clean the corners of the bottom surface B.

[0295] Referring to FIG. 18, the movement of the pool automatic cleaning device from route 1 to route 12 is roughly as follows. After the pool automatic cleaning device moves along route 1 on the wall and reaches the vicinity of the water line 2 on the side wall surface A, it changes direction, moves along route 3 back to the corner of the wall, moves along route 4 after descending from the wall to clean the vicinity of the corner of the wall, and determines whether the side wall surface information in the first predetermined area satisfies a predetermined condition. If the condition is not satisfied, the pool automatic cleaning device determines a second side movement route 5 according to the bottom surface information of the second predetermined area A3, as shown in FIG. 18. After moving along the second side movement route 5, the pool automatic cleaning device continues to move along route 6 toward the corner of the pool wall, cleans the corner of the wall, moves along route 7 on the wall to the vicinity of the water line 8 on the side wall surface A, changes direction, moves along route 9 back to the corner of the wall, moves along route 10 after descending from the wall to clean the vicinity of the corner of the wall, and so on. If it is determined whether the side wall surface information in the first predetermined area satisfies a predetermined condition, the pool automatic cleaning device will complete the side movement of the side wall surface described above with reference to FIG. 17, which will not be described again here.

[0296] The method for controlling the movement of the pool automatic cleaning device according to the embodiments of the present disclosure selects between side movement of the side wall surface and side movement of the bottom surface of the pool wall according to the detection result of the special-shaped structure on the pool wall, which can effectively avoid obstacles on the pool wall, avoid the situation that the pool automatic cleaning device is stuck on the pool wall or falls off the pool wall, and can also comprehensively clean the wall, the corner of the wall, the water line and other areas in the pool, without leaving any dead cleaning angle, and greatly improves the intelligence and cleaning effect of the pool automatic cleaning device.

[0297] According to another embodiment of the present disclosure, a pool automatic cleaning device is also provided. FIG. 4 shows a structural schematic diagram of a pool automatic cleaning device according to at least one embodiment of the present disclosure. Referring to FIG. 4, the pool automatic cleaning device 400 includes a memory 420 and a processor 410. The memory 420 stores computer program instructions, and the processor 410 executes the program instructions to perform the aforementioned method for controlling the movement of the pool automatic cleaning device. In addition, the pool automatic cleaning device can also include distance sensors, cameras and other components for collecting contour information and size information of surrounding objects, determining the flatness information or roughness information of the side wall surface of the pool-shaped building according to the contour information and size information, and selecting a cleaning path. In the embodiments of the present disclosure, the pool automatic cleaning device is only an example, and can also be other intelligent devices, intelligent mobile terminals, automatic devices, etc.

[0298] According to another embodiment of the present disclosure, a computer storage medium is also provided, which stores a computer program. The computer program is executed by a processor to implement the aforementioned method for controlling the movement of the pool automatic cleaning device.

[0299] The present application provides an ultrasonic imaging device. The ultrasonic imaging device is used for a pool automatic cleaning device. The pool automatic cleaning device can move and clean in a pool-shaped building, which can be a swimming pool, a water storage pool, a water storage tank, a water storage groove, etc. The present disclosure is not limited to the specific presentation of the pool automatic cleaning device and the pool-shaped building, as long as the principles of the present disclosure can be realized.

[0300] The ultrasonic imaging device includes an ultrasonic sensor unit, wherein the ultrasonic sensor unit includes a phased array first ultrasonic sensor array; and a sensor unit arranged outside or inside the phased array first ultrasonic sensor array.

[0301] The ultrasonic imaging device of the present application will be described in detail below with reference to the accompanying drawings.

[0302] First, refer to FIGS. 19 and 20. FIG. 19 is a schematic diagram of an ultrasonic imaging device according to a first embodiment of the present application. FIG. 20 is a schematic diagram of an ultrasonic imaging device according to a second embodiment of the present application.

[0303] As shown in FIGS. 19 and 20, the ultrasonic imaging device includes an ultrasonic sensor unit 111 and a sensor unit 12.

[0304] In an embodiment, the ultrasonic sensor unit 111 includes a phased array first ultrasonic sensor array 1111.

[0305] The phased array first ultrasonic sensor array 1111 can also be referred to as a phased array ultrasonic probe, which generally includes the following components:

[0306] (1) A phased array composed of a plurality of mutually independent wafer units. The wafer units are made of piezoelectric material. Each wafer unit is called an ultrasonic array element (abbreviated as an array element), each array element has an independent connector, excitation circuit, and can transmit and receive ultrasonic signals through piezoelectric effect and inverse piezoelectric effect, and the array elements are insulated from each other. Therefore, in terms of function, each array element can be regarded as an ultrasonic probe. For example, a phased array probe with 32 wafer units is equivalent to 32 conventional ultrasonic probes. In practice, the size of each array element can be 0.5*10 mm, and the spacing between the array elements is, for example, 0.4-1 mm.

[0307] (2) A driving circuit. The driving circuit is used to control the excitation signal of each array element to ensure that the array elements work according to the set time and phase.

[0308] (3) A signal processor. The signal processor is used to amplify, filter, and digitize the reflected ultrasonic signals, etc.

[0309] (4) Control system. The control system is used to set the working mode, scanning mode, data acquisition strategy, etc. of the phased array ultrasonic probe.

[0310] The first ultrasonic sensor array 1111 of the phased array can form a synthetic ultrasonic beam by controlling the transmission timing and phase of each array element, realize the direction control of the ultrasonic beam, for example, can selectively focus in a certain point or a certain specific detection area in space. The first ultrasonic sensor array 1111 of the phased array can also simultaneously scan from multiple angles and process the received ultrasonic signals using efficient algorithms (such as time domain reflection method, frequency domain analysis, etc.) to extract useful information and generate images. Due to the existence of multiple array elements, the first ultrasonic sensor array 1111 of the phased array can use multi-channel acquisition technology to synchronously receive multiple signals and improve imaging accuracy.

[0311] It should be understood that the above description of the components in the phased array ultrasonic probe is only exemplary and does not constitute a limitation on the various parameters, functions of the above components. Those skilled in the art can select and set the phased array ultrasonic probe and its components, parameters, functions according to actual needs as long as the principles of the present application can be realized.

[0312] In an embodiment, the sensor unit 12 includes a single-point ultrasonic sensor. The single-point ultrasonic sensor can be composed of one or more fixed ultrasonic array elements, which detects the presence and location of obstacles by measuring the time from transmission to reception of ultrasonic waves to calculate the distance. The single-point ultrasonic sensor is mainly used for distance measurement and obstacle detection. The single-point ultrasonic sensor can also include components such as a drive circuit, a signal processor, etc., which are not described here.

[0313] It should be understood that the above description of the components of the single-point ultrasonic sensor is only exemplary and does not constitute a limitation on the various parameters, functions of the above components. Those skilled in the art can select and set the single-point ultrasonic sensor and its components, parameters, functions according to actual needs as long as the principles of the present application can be realized.

[0314] The pool automatic cleaning device can detect whether there is an obstacle and the distance of the obstacle through the single-point ultrasonic sensor, and as described above, the ultrasonic sensor unit (including the first ultrasonic sensor array of the phased array) can use phased array technology for imaging. Therefore, the combination of the single-point ultrasonic sensor and the first ultrasonic sensor array can more efficiently identify obstacles, avoid obstacles, design cleaning routes, etc., and can determine whether the obstacle can be directly cleaned by the pool automatic cleaning device.

[0315] In an embodiment, the sensor unit 12 comprises a second ultrasonic sensor array of phased array.

[0316] Specifically, the second ultrasonic sensor array of phased array can also be referred to as a phased array ultrasonic probe. The components and functions of the phased array ultrasonic probe are the same as or similar to those of the first ultrasonic sensor array 1111 described above, and will not be described here.

[0317] The sensor unit 12 (including the second ultrasonic sensor array of phased array) can use phased array technology for imaging, determine obstacles through the imaging results, and combine the detection results of the ultrasonic sensor unit 111, so that the pool automatic cleaning device can more efficiently identify obstacles, avoid obstacles, design cleaning routes, etc., and can determine whether the obstacle can be directly cleaned by the pool automatic cleaning device.

[0318] It can be understood that if the obstacle is a small obstacle, such as a hair ring, a branch, a leaf, etc., the pool automatic cleaning device can clean it; if the obstacle is an underwater lighting lamp or a step, a wall, etc., the pool automatic cleaning device can avoid the obstacle. Although the types of obstacles are exemplarily shown here, the obstacles to which the present application is directed are not limited thereto.

[0319] In an embodiment, the sensor unit 12 comprises a camera or a sensor for communication.

[0320] The camera can be used for underwater ranging and image acquisition. For example, a laser emitter can be used to send a laser pulse, the laser propagates in the water and is reflected by the obstacle, and by measuring the time from the emission to the return of the laser pulse, the distance of the obstacle can be calculated. If the number of cameras is two, ranging can also be performed by stereo vision technology, for example, two cameras can be used to take pictures synchronously with a certain baseline distance, and the depth of the object can be calculated by triangulation.

[0321] The sensor for communication can be, for example, a water acoustic communication transducer, which can be composed of a transmitter and a receiver. The transmitter converts electrical signals into acoustic signals and propagates the acoustic signals through water; the receiver converts the received acoustic signals back into electrical signals for subsequent processing.

[0322] The above description of the camera and the sensor for communication is only exemplary, and those skilled in the art can select the camera and the sensor for communication according to actual needs and application scenarios, as long as the principles of the present application can be realized.

[0323] In an embodiment, the sensor unit 12 can be arranged outside or inside the first ultrasonic sensor array 1111. Specifically, as shown in FIG. 19, the sensor unit 12 is arranged outside the first ultrasonic sensor array 1111. As shown in FIG. 20, the sensor unit 12 is arranged inside the first ultrasonic sensor array 1111.

[0324] By arranging the sensor unit 12 at different positions relative to the first ultrasonic sensor array 1111, on the one hand, the functions of the two ultrasonic sensor units (i.e., the ultrasonic sensor unit and the sensor unit) can be complementary, and on the other hand, the structure and / or size of the ultrasonic imaging device can be optimized.

[0325] For example, arranging the sensor unit 12 inside the first ultrasonic sensor array 1111 of the phased array can reduce the size of the ultrasonic imaging device, thereby facilitating the arrangement of the ultrasonic imaging device in a small space on the pool robot shell and increasing the flatness of the pool robot shell, thereby reducing the resistance of the pool robot advancing in water. Arranging the sensor unit 12 outside the first ultrasonic sensor array 1111 of the phased array can separately realize the two sensor units (i.e., the ultrasonic sensor unit and the sensor unit) in the manufacturing process, thereby avoiding interference between the two sensor units in terms of circuit, wiring, control, etc., and also more easily solving the heat dissipation problem of the sensor during operation.

[0326] In an embodiment, the detection angle of the ultrasonic sensor unit at least partially overlaps the detection angle of the sensor unit. Referring to FIGS. 19 and 20, the detection angle a1 of the ultrasonic sensor unit 111 can at least partially overlap the detection angle a2 of the sensor unit 12.

[0327] As shown in FIG. 19, the detection angle a1 and the detection angle a2 only partially overlap. Thus, through the detection angle a1 and the detection angle a2, the detection angle and range can be increased, thereby improving the detection efficiency of the ultrasonic imaging device.

[0328] As shown in FIG. 20, the detection angle a2 is completely covered by the detection angle a1. On the one hand, it can avoid missing the area that is not detected when the detection angle a1 and the detection angle a2 do not overlap, and on the other hand, it can obtain better effects on the detection of the overlapping area of the two angles, thereby making the imaging effect in the overlapping area better, which is conducive to improving the detection accuracy and further facilitating the obstacle avoidance and path planning of the pool robot.

[0329] In an embodiment, the detection distance of the ultrasonic sensor unit 111 is less than the detection distance of the sensor unit 12. Due to the limited bandwidth and energy of a single array element, it is difficult to simultaneously detect near and far distances in water. Therefore, the ultrasonic sensor unit 111 and the sensor unit 12 are provided, and the detection distance of the ultrasonic sensor unit 111 is less than the detection distance of the sensor unit 12, so that the ultrasonic sensor unit 111 performs near distance detection for imaging mapping, and the second sensor 12 performs far distance detection for determining the position of the obstacle. In this way, the detection of near and far distances can be simultaneously compatible, and the detection efficiency and accuracy of the obstacle are improved.

[0330] In an embodiment, the detection distance of the ultrasonic sensor unit 111 is between 0.5 meters and 2 meters, for example, the detection distance of the ultrasonic sensor unit 111 is 0.5 meters, 1 meter, 1.5 meters, or 2 meters, etc. Those skilled in the art can select the detection distance of the ultrasonic sensor unit 111 according to the size of the pool, the detection requirements of the ultrasonic imaging device, etc., which is not limited herein.

[0331] In an embodiment, the detection distance of the sensor unit 12 is between 2.5 meters and 8 meters, for example, the detection distance of the sensor unit 12 is 2.5 meters, 3.5 meters, 4.5 meters, 5.5 meters, 7 meters, or 8 meters, etc. Those skilled in the art can select the detection distance of the sensor unit 12 according to the size of the pool, the detection requirements of the ultrasonic imaging device, etc., which is not limited herein.

[0332] In an embodiment, the detection frequency of the ultrasonic sensor unit 111 is higher than the detection frequency of the sensor unit 12. Specifically, as described above, the ultrasonic sensor unit 111 performs near distance detection for imaging mapping, and the sensor unit 12 performs far distance detection for determining the position of the obstacle. The detection frequency of the ultrasonic sensor unit 111 is set to be higher, which can ensure the imaging resolution and accuracy.

[0333] It is also helpful to reduce the overall energy consumption of the sensors, and thus save energy for the pool cleaning device, to have the functions of the two sensor units distinguished, with one responsible for close-range detection and the other for long-range detection (rather than both set to high power). For example, the sensor unit 12 can first be activated for long-range detection (with the ultrasonic sensor unit 111 kept off at this time) to determine the location of an obstacle and provide path planning for the pool robot; when the pool robot moves to the vicinity of the obstacle, the ultrasonic sensor unit 111 is activated to image the obstacle to determine its type, for subsequent operation of the pool robot (e.g., if the obstacle is determined to be a leaf, the pool robot can directly suck the leaf into the dust box inside the pool robot; if the obstacle is determined to be a pool wall step, the pool robot can avoid the obstacle). In this way, energy is saved by reducing the operating time of the ultrasonic sensor unit 111.

[0334] In an embodiment, the detection frequency of the first ultrasonic sensor array 1111 can be, for example, 1 MHZ, and the detection frequency of the single-point ultrasonic sensor 121 can be, for example, 40 KHZ.

[0335] In another embodiment, the detection frequency of the first ultrasonic sensor array 1111 can be, for example, 1 MHZ, and the detection frequency of the single-point ultrasonic sensor 121 can be, for example, 0.5 MHZ.

[0336] Those skilled in the art can select and set the detection frequency of the first ultrasonic sensor array 1111 and the detection frequency of the single-point ultrasonic sensor 121 according to actual needs, functional settings of the ultrasonic imaging device, pool cleaning device, area of the pool, and other parameters, as long as the principles of the present application can be achieved.

[0337] The sensor unit 12 can be configured as an underwater acoustic communication transducer, which can both detect the location of an obstacle and communicate. For example, a user can send a control signal to the pool cleaning device through a signal transmitting device, and the pool cleaning device receives the control signal through the sensor unit 12 and decodes the received control signal to obtain the user's control instruction, such as the user calling the pool cleaning device, the user instructing the pool cleaning device to restart, the user instructing the pool cleaning device to pause, etc.

[0338] It can be understood that, in order to make the sensor unit 12 and the ultrasonic sensor unit 111 work together, the sensor unit 12 and the ultrasonic sensor unit 111 are electrically connected. For example, the sensor unit 12 and the ultrasonic sensor unit 111 can be connected with the same processor, and the ultrasonic signal reflected by the obstacle is amplified, filtered, digitized, etc. by the signal processor. For another example, the sensor unit 12 and the ultrasonic sensor unit 111 can be connected with the control system, and the working mode, scanning mode and data acquisition strategy of the phased array ultrasonic probe are set by the control system.

[0339] The processor, the ultrasonic sensor unit 111 and the sensor unit 12 will be further described below in combination with FIG. 21. FIG. 21 is a schematic diagram of an ultrasonic imaging device according to the third embodiment of the present application. As shown in FIG. 21, the ultrasonic imaging device of the present application further comprises a processor 13 for processing the detection signals of the ultrasonic sensor unit 111 and the sensor unit 12. The processor 13 comprises an imaging processing module configured to: image the obstacle by the ultrasonic sensor unit. Specifically, the processor 13 can process the detection signals of the sensor unit 12 to identify that there is an obstacle at a certain position, and then process the detection signals of the ultrasonic sensor unit 111 to identify whether the obstacle hinders the movement of the pool automatic cleaning device (for example, if it is identified as a leaf, it does not hinder the movement of the pool automatic cleaning device). For example, the processor 13 can also image the obstacle based on the detection signals of the ultrasonic sensor unit 111, and can measure the distance and / or orientation of the obstacle based on the detection signals of the sensor unit 12, and combine imaging, distance measurement / or orientation measurement to control the pool robot to avoid obstacles. It can be understood that the processor 13 is electrically connected with the ultrasonic sensor unit 111 and the sensor unit 12.

[0340] The ultrasonic sensor unit and the sensor unit are further described below in combination with FIG. 22. FIG. 22 is a schematic diagram of an ultrasonic sensor unit and a sensor unit according to an embodiment of the present application. In this embodiment, the first ultrasonic sensor array 1111 of the phased array of the ultrasonic sensor unit 111 includes a plurality of elements arranged in a predetermined manner. Each square shown in FIG. 22 can represent one or more elements. For example, the first ultrasonic sensor array 1111 includes 20*3 elements, i.e., the elements are arranged in 20 rows and 3 columns, and there are 60 elements in total. The sensor unit 12 includes a single-point ultrasonic sensor 121. In this embodiment, the single-point ultrasonic sensor 121 in the sensor unit 12 is one, and is arranged above the first ultrasonic sensor array 1111 of the phased array, for example, directly above or laterally above the first ultrasonic sensor array 1111, so as to expand the detection angle. As described above, the single-point ultrasonic sensor 121 can also be composed of one or more elements.

[0341] The ultrasonic sensor unit and the sensor unit are further described below in combination with FIG. 23. FIG. 23 is a schematic diagram of an ultrasonic sensor unit and a sensor unit according to another embodiment of the present application. The difference between this embodiment and the embodiment shown in FIG. 22 is that, in this embodiment, the single-point ultrasonic sensor 121 in the sensor unit 12 is a plurality, for example, two. The two single-point ultrasonic sensors 121 are respectively arranged on two sides of the first ultrasonic sensor array 1111. By arranging a plurality of single-point ultrasonic sensors 121, the detection of the direction of the obstacle by the ultrasonic imaging device is facilitated, and the detection efficiency and accuracy of the plurality of single-point ultrasonic sensors 121 are better, especially for a scene with a plurality of obstacles, a scene with a large area of a pool, and a scene with a plurality of obstacles that are relatively dispersed.

[0342] The ultrasonic sensor unit and the sensor unit are further described below in combination with FIG. 24. FIG. 24 is a schematic diagram of an ultrasonic sensor unit and a third ultrasonic sensor unit according to another embodiment of the present application. In this embodiment, the ultrasonic sensor unit 111 includes the first ultrasonic sensor array 1111 of the phased array. For example, the first ultrasonic sensor array 1111 includes 20*3 elements. The sensor unit 12 includes the second ultrasonic sensor array 122 of the phased array. The first ultrasonic sensor array 1111 of the phased array and the second ultrasonic sensor array 122 of the phased array are arranged in an interleaved manner. For example, as shown in FIG. 24, the odd-numbered rows represent the first ultrasonic sensor array 1111 of the phased array, and the even-numbered rows represent the second ultrasonic sensor array 122 of the phased array.

[0343] In another embodiment, the first phased array ultrasonic sensor array 1111 and the second phased array ultrasonic sensor array 122 can be arranged in an interleaved manner in the same column, i.e., one group of the first phased array ultrasonic sensor array 1111 and the other group of the second phased array ultrasonic sensor array 122 are arranged in an interleaved manner in each column.

[0344] In another embodiment, the first phased array ultrasonic sensor array 1111 and the second phased array ultrasonic sensor array 122 can be arranged in an interleaved manner in the same column, i.e., one group of the first phased array ultrasonic sensor array 1111 and the other group of the second phased array ultrasonic sensor array 122 are arranged in an interleaved manner in each column.

[0345] Further, the first phased array ultrasonic sensor array 1111 can be any one of a one-dimensional linear array, a 1.5-dimensional matrix, a two-dimensional matrix, a ring array, a fan array, a one-dimensional curved surface array, a double linear array, or a double 1.5-dimensional matrix. The arrangement of the second phased array ultrasonic sensor array 122 can be determined according to the first phased array ultrasonic sensor array 1111, as long as the principle of the present application can be implemented.

[0346] In an embodiment of the present application, in order to save resources, the number of rows or columns of the second phased array ultrasonic sensor array 122 can be less than the corresponding number of rows or columns of the first phased array ultrasonic sensor array 1111.

[0347] Further, the ultrasonic imaging device includes a housing, and the housing is in a sealed waterproof packaging structure. The ultrasonic sensor unit 111 and the sensor unit 12 are arranged in the housing, and the housing is used to protect the ultrasonic sensor unit 111 and the sensor unit 12 inside from being damaged by water vapor and the like.

[0348] The technical scheme provided in the embodiment of the present application sets the ultrasonic sensor unit 111 and the sensor unit 12, and makes the detection angle of the ultrasonic sensor unit 111 at least partially overlap the detection angle of the sensor unit 12, so as to increase the detection angle and range, improve the detection efficiency of the ultrasonic imaging device, avoid missing some areas during imaging, and make the detection distance of the ultrasonic sensor unit 111 less than the detection distance of the sensor unit 12, so as to simultaneously realize long-distance ranging and short-distance imaging of obstacles, so that the detection effect is better, and the pool cleaning effect is improved.

[0349] Referring to FIG. 25, FIG. 25 is a schematic diagram of the pool automatic cleaning device provided in the present application. The present application also provides a pool automatic cleaning device 100, which comprises an ultrasonic imaging device 1000, and the ultrasonic imaging device 1000 can be any of the ultrasonic imaging devices provided in the above embodiments.

[0350] Specifically, the pool automatic cleaning device 100 provided in the present application comprises an ultrasonic imaging device 1000, so that the pool automatic cleaning device 100 can increase the detection angle and range during the cleaning operation, improve the detection efficiency of the ultrasonic imaging device, avoid missing some areas during imaging, and simultaneously be compatible with long-distance ranging and short-distance imaging of obstacles, so that the imaging effect is better and the pool cleaning effect is improved.

[0351] In some scenarios, the pool automatic cleaning device needs to move to the pool boundary to perform, for example, mapping and the like. However, in the related art, the path planning of the pool automatic cleaning device randomly moving to the pool boundary is usually not reasonable, resulting in a long time-consuming of the whole process.

[0352] In view of this, the present application provides a pool automatic cleaning device control method and a pool automatic cleaning device. The method comprises the following steps: acquiring at least one distance information from the pool boundary of the pool automatic cleaning device; and in the case that the distance information is less than or equal to a preset distance, controlling the pool automatic cleaning device to move in a direction corresponding to the distance information. In this way, based on the at least one distance information from the pool boundary of the pool automatic cleaning device, the travel path of the pool automatic cleaning device moving to the pool boundary is reasonably planned, the pool automatic cleaning device can be quickly moved to the nearest pool boundary, so as to quickly perform, for example, mapping and the like, and the invalid path and time-consuming in the process of moving to the pool boundary are reduced, and the intelligence and user experience of the pool automatic cleaning device are improved.

[0353] It should be noted that the pool automatic cleaning device provided in the present application is not limited to a robot performing cleaning in a pool, and can be generally referred to as any intelligent device, intelligent mobile terminal, automatic device or the like capable of performing underwater cleaning work, but is not limited thereto. In addition, the pool cleaning device is not limited to having underwater cleaning function, but can also have water surface cleaning function and / or some other suitable functions.

[0354] The pool automatic cleaning device control method and the pool automatic cleaning device provided in the embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0355] FIG. 26 is a flowchart of a pool automatic cleaning device control method provided in the embodiments of the present application. The method can be realized by software and / or hardware. Referring to FIG. 26, the pool automatic cleaning device control method can comprise the following steps:

[0356] At step S502, at least one distance information of the pool cleaning robot to the pool boundary is acquired.

[0357] The distance information can include the distance between the pool cleaning robot and the pool boundary of the pool where the pool cleaning robot is located. The pool boundary can refer to the pool wall of the pool, such as a flat pool wall, a curved pool wall, etc.

[0358] As an example, the at least one distance information can be detected by at least one distance detection device, for example. The at least one distance detection device can be used to detect the distance between the pool cleaning robot and the pool boundary on the side corresponding to the distance detection device, respectively. For example, the distance detection device can be mounted on the swimming robot and / or the pool wall. The distance detection device can include, but is not limited to, sensors for distance measurement using radar, infrared, ultrasonic sensor, DTOF sensor, camera, etc. Some of these sensors can collect point cloud data of the target object, and the point cloud data includes distance information.

[0359] At step S504, when the distance information is less than or equal to a preset distance, the pool cleaning robot is controlled to move in the direction corresponding to the distance information.

[0360] The preset distance can refer to the distance threshold for the pool cleaning robot to move to the pool boundary. The preset distance can be adaptively adjusted according to the specifications, such as the size, of the pool cleaning robot and / or the pool, and the specific value or value range of the preset distance is not limited in the embodiments of the present application.

[0361] As an example, when there is one distance information less than or equal to the preset distance, the pool cleaning robot is controlled to move in the direction corresponding to the distance information.

[0362] For example, the above control of the pool cleaning robot to move in the direction corresponding to the distance information includes: controlling the pool cleaning robot to turn until the pool cleaning robot is rotated to face the direction corresponding to the distance information, i.e., the current moving direction of the pool cleaning robot is consistent with the direction corresponding to the distance information, and then controlling the pool cleaning robot to move straight in the direction corresponding to the distance information until the pool cleaning robot reaches or collides with the pool boundary corresponding to the distance information.

[0363] In some embodiments of the present application, when multiple distance information is less than or equal to the preset distance, any one distance information in the multiple distance information is selected, and the pool cleaning robot is controlled to move in the direction corresponding to the distance information.

[0364] In some optional embodiments, when multiple distance information values ​​are less than or equal to a preset distance, the minimum distance information among the multiple distance information values ​​can be selected, and the automatic pool cleaning device can be controlled to travel in the direction corresponding to the minimum distance information value. This shortens the distance the automatic pool cleaning device travels to the pool boundary, further reducing the overall process time. Alternatively, the distance information value among the multiple distance information values ​​that requires the automatic pool cleaning device to rotate at the smallest angle can be selected, and the automatic pool cleaning device can be controlled to travel in the direction corresponding to the distance information value. This reduces the rotation operation time of the automatic pool cleaning device itself, avoids rotation operation errors, and improves the accuracy of quickly traveling to the pool boundary.

[0365] In this embodiment, based on at least one distance information from the automatic pool cleaning device to the pool boundary, the travel path of the automatic pool cleaning device to the pool boundary is rationally planned, enabling it to quickly move to the nearest pool boundary, so as to quickly perform tasks such as mapping, reducing invalid paths and time consumption during the process of moving the pool boundary, and improving the intelligence of the automatic pool cleaning device and the user experience.

[0366] In some embodiments of this application, the automatic pool cleaning device includes a distance detection device, the direction of which is determined at least according to the installation position of the corresponding distance detection device on the automatic pool cleaning device.

[0367] As an example, an automatic pool cleaning device may include one or more distance detection devices. These devices can be installed at different locations on the main body of the automatic pool cleaning device to detect the distance information between different positions of the device and the corresponding pool boundary. The distance detection devices may include, but are not limited to, sensors that measure distances using radar, infrared, ultrasonic sensors, DTOF sensors, cameras, etc.

[0368] In this case, the process of determining the direction corresponding to the aforementioned distance information may include: if the distance information is less than or equal to a preset distance, identifying the distance detection device corresponding to the distance information, and determining the direction corresponding to the distance information based on the installation position of the corresponding distance detection device on the automatic pool cleaning device. For example, if the distance detection device corresponding to the distance information is installed on the right side of the automatic pool cleaning device, then the direction corresponding to the distance information is determined to be 90°. As another example, if the distance detection device corresponding to the distance information is installed on the rear side of the automatic pool cleaning device, then the direction corresponding to the distance information is determined to be 180°.

[0369] In actual application, the distance detection device corresponding to the distance information is installed at the right side of the pool cleaning device, and the direction corresponding to the distance information is used to control the rotation of the pool cleaning device, i.e. to control the pool cleaning device to rotate 90° clockwise, and then to control the pool cleaning device to move straight until the pool boundary is encountered.

[0370] In some embodiments of the present application, the direction can also be determined according to the detection angle of the corresponding distance detection device on the pool cleaning device.

[0371] The detection angle can be determined based on the detection direction of the distance detection device on the pool cleaning device. For example, the detection angle can be the included angle between the detection direction of the distance detection device and the current moving direction of the pool cleaning device. For example, if the detection angle of the distance detection device is 90°, the detection direction of the distance detection device is perpendicular to the current moving direction of the pool cleaning device. For another example, if the detection angle of the distance detection device is 30°, the detection direction of the distance detection device is 30° to the current moving direction of the pool cleaning device. At this time, the installation position of the distance detection device does not need to be considered, and the direction corresponding to the distance information can be determined according to the detection angle.

[0372] In another optional manner, the detection angle can be the detection angle of the distance detection device at its installation position. For example, if the distance detection device corresponding to the distance information is installed at the right side of the pool cleaning device, and the detection direction is 30° to the left relative to the machine, the direction corresponding to the distance information is determined to be 90° minus 30° relative to the moving direction. That is, the pool cleaning device is controlled to rotate 60° clockwise, and then the pool cleaning device is controlled to move straight until the pool boundary is encountered.

[0373] In some embodiments of the present application, as shown in FIG. 27, the above control method further comprises:

[0374] In step S602, in the case that the distance information is greater than the preset distance, the pool cleaning device is controlled to rotate a specified angle.

[0375] In the embodiments of the present application, the specified angle can be 360° or approximately 360°.

[0376] As an example, if the above at least one distance information is greater than the preset distance, the pool cleaning device is controlled to rotate a specified angle from the initial position to the target position, for example, the pool cleaning device is controlled to rotate 360° in place, i.e. the pool cleaning device after rotation returns to the initial position.

[0377] Of course, in some optional embodiments, the specified angle can be a value less than 360°, for example, any value in 90° to 360°. For example, if two distance detection devices are arranged on the pool cleaning robot in opposite directions, for example, arranged at the front and back of the pool cleaning robot, the pool cleaning robot can be controlled to rotate 180° in place, so that the multiple distance information detected by the two distance detection devices on the pool cleaning robot can completely cover the distance information of the pool boundary around the pool cleaning robot.

[0378] In step S604, multiple distance information and corresponding direction information of the pool cleaning robot to the pool boundary during rotation are obtained.

[0379] In some embodiments of the present application, the above-mentioned obtaining multiple distance information of the pool cleaning robot to the pool boundary during rotation includes:

[0380] obtaining multiple distance information of the pool cleaning robot to the pool boundary during rotation at a set time interval; or

[0381] obtaining multiple distance information of the pool cleaning robot to the pool boundary during rotation at a set rotation angle.

[0382] As an example, during the rotation of the pool cleaning robot, multiple distance information of the pool cleaning robot to the pool boundary is continuously obtained at a preset time interval. For example, the preset time interval can include but is not limited to, for example, any value in 1 second to 60 seconds. For example, if the preset time interval is 3 seconds, multiple distance information of the pool cleaning robot at the 3rd, 6th, 9th, etc. time can be obtained in turn.

[0383] Of course, in some optional embodiments, the preset time interval can be set to a shorter or longer time interval, for example, millisecond level, minute level, etc.

[0384] As another example, during the rotation of the pool cleaning robot, multiple distance information of the pool cleaning robot to the pool boundary is continuously obtained at a preset rotation angle. For example, the preset rotation angle can include but is not limited to, for example, any value in 1° to 60°. For example, if the preset rotation angle is 10°, multiple distance information of the pool cleaning robot at 10°, 20°, 30°, etc. rotation angle can be obtained in turn.

[0385] Of course, in some optional embodiments, the preset rotation angle can be set to a smaller or larger rotation angle value.

[0386] It should be noted that, while acquiring the plurality of distance information in the rotating process, the direction information corresponding to the plurality of distance information can also be acquired and associatedly stored.

[0387] In some embodiments of the present application, acquiring the plurality of distance information and corresponding direction information of the pool cleaning device to the pool boundary in the rotating process includes:

[0388] detecting the corresponding distance information of the pool cleaning device in the rotating process by the distance detection device;

[0389] detecting the rotation angle information of the corresponding distance information of the pool cleaning device in the rotating process by the angle detection device,

[0390] obtaining the direction information according to the rotation angle information, the detection angle of the distance detection device, and the installation angle of the distance detection device.

[0391] In embodiments of the present application, in addition to the at least one distance detection device described above, the pool cleaning device can also be provided with an angle detection device. The angle detection device can include, but is not limited to, at least one sensor such as an inertial sensor IMU and a gyroscope.

[0392] As an example, in the rotating process of the pool cleaning device, the corresponding distance information of the pool cleaning device to the pool boundary is continuously detected by any one of the at least one distance detection device; at the same time, the rotation angle information of the corresponding distance information is continuously detected by the angle detection device. For example, the rotation angle information can include the heading angle of the pool cleaning device.

[0393] For example, at each predetermined time interval in the rotating process, the corresponding distance information detected by the same distance detection device can be acquired, and the distance information and the corresponding rotation angle information can be recorded. Then, based on the rotation angle information, the detection angle of the distance detection device, and the installation angle of the distance detection device, the direction information corresponding to the distance information can be calculated. For example, based on the rotation angle information and the installation angle, the detection angle can be adjusted to calculate the direction information corresponding to the distance information. After rotating a specified angle, the plurality of distance information and the corresponding direction information of the pool cleaning device to the pool boundary in the rotating process can be obtained. The detection angle can be the included angle between the detection direction of the distance detection device and the advancing direction of the pool cleaning device. The installation angle can be the included angle between the installation position of the distance detection device and the orientation of the pool cleaning device.

[0394] It should be noted that, in order to simplify the calculation amount, the direction information corresponding to each distance information can be calculated based on at least the rotation angle information and the installation angle of the distance detection device.

[0395] At step S606, one of the plurality of distance information is selected according to the preset condition, and the pool cleaning device is controlled to move along the direction information corresponding to the selected distance information.

[0396] As an example, after selecting one distance information from the plurality of distance information, the pool cleaning device can be controlled to turn based on the direction information corresponding to the selected distance information until the pool cleaning device is rotated to face the direction corresponding to the selected distance information, i.e., the current moving direction of the pool cleaning device is consistent with the direction corresponding to the selected distance information, and then the pool cleaning device is controlled to move straight along the direction until reaching or colliding with the pool boundary corresponding to the selected distance information.

[0397] In the embodiments of the present application, selecting one of the plurality of distance information according to the preset condition includes selecting the minimum distance value in the plurality of distance information. As an example, taking 360° as the specified rotation angle, the distances in the plurality of distance information in one rotation are compared, and the distance information corresponding to the minimum distance value is selected as the selected distance information to control the pool cleaning device to move toward the direction corresponding to the selected distance information. In this way, by selecting the direction corresponding to the minimum distance value in the plurality of distance information as the moving direction to the pool boundary, the distance to the nearest pool boundary is shortened, and the overall time consumption is further reduced.

[0398] It should be noted that after the pool cleaning device is rotated, if the current orientation of the pool cleaning device is different from the initial orientation of the pool cleaning device before rotation, the corresponding direction information is adjusted based on the current orientation to control the pool cleaning device to move toward the adjusted direction information.

[0399] The above embodiments obtain more distance information of the pool cleaning device to the corresponding pool boundary by controlling the pool cleaning device to rotate by a specified angle, determine the moving direction to the pool boundary based on the plurality of distance information, optimize the path of the pool cleaning device to the pool boundary, and the entire control process does not need to additionally set a plurality of distance detection devices, thereby reducing the use cost of sensors.

[0400] It should be noted that the above steps S602 to S606 are not limited to being executed after step S504, and can be executed before step S504. Alternatively, after step S502 is executed, the step S504 or the steps S602 and the subsequent steps can be selected and executed according to the size relationship between the distance information and the preset distance.

[0401] In some embodiments of the present application, as shown in FIG. 28, the above control method further includes:

[0402] At step S702, if no distance information is obtained after the rotation of the pool cleaning device is completed, the pool cleaning device is controlled to move in the current direction.

[0403] In the embodiments of the present application, the current direction is the moving direction of the pool cleaning device after the rotation of the pool cleaning device is completed.

[0404] As an example, after the rotation of the pool cleaning device is completed by a specified angle, if no distance information is obtained, it indicates that the distance between the pool boundary and the pool cleaning device exceeds the range of the distance detection device on the pool cleaning device, and then the pool cleaning device is controlled to continue moving in the current direction until the pool boundary corresponding to the selected distance information is reached or contacted.

[0405] In an optional embodiment, the pool cleaning device can continue to move in the current direction by a specified distance, and then the above-mentioned step S502 of obtaining at least one distance information from the pool cleaning device to the pool boundary and the subsequent steps are repeated until the pool cleaning device is controlled to move in the direction corresponding to the distance information. Here, the specified distance is not specifically limited, and can be adaptively adjusted according to the range of the distance detection device of the pool cleaning device. In this way, by continuing to execute the control logic of moving quickly to the pool boundary after controlling the pool cleaning device to move by a specified distance, the invalid path and time-consuming of random movement to the pool boundary are reduced.

[0406] The present application also provides a pool cleaning device, which can include:

[0407] a body assembly;

[0408] at least one distance detection device arranged on the body assembly, the distance detection device being configured to detect distance information from the pool cleaning device to the pool boundary;

[0409] a controller connected to the at least one distance detection device, the controller being configured to:

[0410] in the case that the distance information is less than or equal to a preset distance, the pool cleaning device is controlled to move in the direction corresponding to the distance information.

[0411] In some embodiments of the present application, the direction is determined at least according to the installation position of the corresponding distance detection device on the pool cleaning device.

[0412] In some embodiments of the present application, when multiple distance information is less than or equal to a preset distance, any one distance information in the multiple distance information is selected, and the pool cleaning device is controlled to move in the direction corresponding to the distance information.

[0413] In some embodiments of the present application, the controller is further configured to:

[0414] In the case where the distance information is greater than the preset distance, the controller controls the pool automatic cleaning device to rotate by a specified angle.

[0415] The controller obtains a plurality of distance information and corresponding direction information of the pool automatic cleaning device to the pool boundary during the rotation process.

[0416] The controller selects one of the plurality of distance information according to a preset condition, and controls the pool automatic cleaning device to move in the direction information corresponding to the selected distance information.

[0417] In some embodiments of the present application, the controller is further configured to:

[0418] The controller obtains a plurality of distance information of the pool automatic cleaning device to the pool boundary during the rotation process at a set time interval; or

[0419] The controller obtains a plurality of distance information of the pool automatic cleaning device to the pool boundary during the rotation process at a set rotation angle.

[0420] In some embodiments of the present application, the controller selects one of the plurality of distance information according to a preset condition, including:

[0421] The controller selects the minimum value of the plurality of distance information.

[0422] In some embodiments of the present application, the controller is further configured to:

[0423] The controller detects the corresponding distance information of the pool automatic cleaning device during the rotation process through the distance detection device.

[0424] The controller detects the rotation angle information of the corresponding distance information of the pool automatic cleaning device during the rotation process through the angle detection device.

[0425] The controller obtains the direction information according to the rotation angle information, the detection angle of the distance detection device, and the installation angle of the distance detection device.

[0426] In some embodiments of the present application, the controller is further configured to: after the pool automatic cleaning device completes the rotation, if no distance information is obtained, the controller controls the pool automatic cleaning device to move in the current direction.

[0427] In some embodiments of the present application, the current direction is the moving direction of the pool automatic cleaning device after the rotation is completed.

[0428] It should be noted that the specific details and related contents involved in the embodiments of the present application can be referred to the above method embodiments, which will not be described here.

[0429] The application further provides a computer readable storage medium, wherein at least one instruction or at least one program is stored, the at least one instruction or at least one program is loaded and executed by a processor to implement the control method of the pool automatic cleaning device according to any one of the above.

[0430] The application further provides a control device, comprising a processor and a memory, wherein at least one instruction or at least one program is stored in the memory, the at least one instruction or at least one program is loaded and executed by the processor to implement the control method of the pool automatic cleaning device according to any one of the above.

[0431] In some embodiments, the control device (not shown) can include a processor, a memory and a network interface connected by a system bus. Among them, the processor of the control device is used to provide computing and control capabilities. The memory of the control device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the control device is used to communicate with the external terminal through the network connection. The computer program is executed by the processor to implement a control method of a pool automatic cleaning device.

[0432] The following describes a control method of a pool automatic cleaning device according to the application. FIG. 29 is a flowchart of a control method of a pool automatic cleaning device according to an embodiment of the specification. The specification provides method operation steps as described in the embodiments or flowcharts, but more or fewer operation steps can be included based on conventional or non-inventive labor. The order of steps listed in the embodiments is only one of the many execution orders, and does not represent the only execution order. When the system or server product is executed in practice, the method order shown in the embodiments or the drawings can be executed in sequence or in parallel (for example, in a parallel processor or multi-thread processing environment). Specifically, as shown in FIG. 29, the method can include:

[0433] S1: controlling the cleaning device to go to a preset area on the water surface and standing in the preset area for a preset time length;

[0434] S2: obtaining position information of the cleaning device before and after standing;

[0435] S3: determining a to-be-cleaned area in the pool according to the position information and pool map information;

[0436] S4: controlling the cleaning device to move to the to-be-cleaned area to perform a cleaning task.

[0437] In the embodiments of the present application, the cleaning device can include, but is not limited to, a robot, a smart device, a smart mobile terminal, an automatic device, etc.

[0438] In the embodiments of the present application, the water surface preset area is an area close to the center of the pool.

[0439] For example, the distance between the preset area and the center position of the pool is less than a first preset distance, and the distance between the preset area and the pool wall is greater than a second preset distance, wherein the first preset distance and the second preset distance can be the same or different, and can be set according to actual conditions.

[0440] For example, the standing still refers to that the device turns off the water pump and autonomously floats on the water surface. The preset time length is in the range of 1-15 seconds.

[0441] In the embodiments of the present application, the position where the cleaning device starts to stand still is set to be close to the center, and the water pump is turned off, so that the cleaning device autonomously floats on the water surface. This can ensure that the cleaning device can freely move under the action of wind or water flow on the water surface after standing still, thereby improving the accuracy of determining the area to be cleaned. In addition, the preset time length of standing still is set to be 1-15 seconds, so that the position information of the cleaning device before and after standing still can be quickly determined, thereby improving the efficiency of determining the area to be cleaned.

[0442] In the embodiments of the present application, the position information at least includes displacement information and / or direction information, and the position information is acquired by a detection sensor of the device.

[0443] The position information of the cleaning device before and after standing still can be acquired by a detection sensor, wherein the detection sensor can include at least one of an inertial measurement unit sensor and a magnetometer sensor. The inertial measurement unit sensor (IMU) is a sensor that combines a gyroscope and an accelerometer, and is used to measure motion parameters such as direction, angular velocity and acceleration. The magnetometer sensor is used to measure the direction and strength of the earth's magnetic field. In robot technology, the magnetometer sensor is often used for positioning and navigation.

[0444] In the embodiments of the present application, the displacement information and / or direction information can be confirmed in combination with the built-in detection sensor in the cleaning device, so as to further determine the water flow and wind speed conditions during cleaning, thereby finding the specified cleaning area for key area cleaning, saving energy, shortening the cleaning time, and avoiding invalid work.

[0445] In some embodiments, the method further includes:

[0446] In the case where the detection sensor detects that the cleaning device is located at the edge position of the pool, the current working mode of the cleaning device is acquired.

[0447] If the current working mode is the key area cleaning mode, a preset area of the water surface is determined according to a map corresponding to the pool or a contour of the pool, so that the preset area of the water surface can be quickly determined.

[0448] In the embodiments of the present disclosure, the method further comprises:

[0449] The water flow speed and direction of the pool are obtained based on the displacement information and the direction information, and a cleaning area in the pool is determined according to the water flow speed and direction.

[0450] In some embodiments, the water flow speed in the pool can be determined according to the displacement information of the cleaning device, and the water flow direction can be determined according to the direction information of the movement of the cleaning device, so that the cleaning area in the pool is determined according to the water flow speed and the water flow direction. For example, the target area close to the edge of the pool along the water flow direction can be determined as the cleaning area.

[0451] In the embodiments of the present disclosure, the cleaning area in the pool can be quickly and accurately determined through the displacement information and the direction information of the cleaning device in the stationary state.

[0452] In some embodiments, the wind speed of the water surface can also be determined according to the displacement information of the cleaning device, and the cleaning area can be determined according to the wind speed.

[0453] In some embodiments, the wind speed or the water flow speed of the water surface can be taken as an environmental parameter of the cleaning device, and when the environmental parameter is greater than or equal to a preset parameter threshold, the boundary of the cleaning area is determined as a first boundary, and the distance from the side far away from the pool wall of the first boundary to the pool wall is less than a first threshold. When the environmental parameter is greater than zero and less than the preset parameter threshold, the boundary of the cleaning area is determined as a second boundary, and the distance from the side far away from the pool wall of the second boundary to the pool wall is less than a second threshold and greater than the first threshold. When the environmental parameter is the wind speed, the preset parameter threshold is a preset wind speed threshold. When the environmental parameter is the water flow speed, the preset parameter threshold is a preset water flow speed threshold.

[0454] In the embodiments of the present disclosure, the cleaning area on the water surface of the pool can include floating objects such as fallen leaves and plastic bags. For example, when the floating objects on the water surface are fallen leaves, when the water flow or the wind speed is large, the leaf accumulation area is small, and the outer boundary of the calculated cleaning area is closer to the edge of the pool. When the water flow or the wind speed is small, the leaf spacing is large, and the accumulation area is large, the outer boundary of the calculated cleaning area is far away from the edge of the pool, and a relatively large area can be cleaned, that is, the area of the cleaning area is large.

[0455] In the embodiments of the present application, the data calculated by the sensor can be used as a judgment of the size of the cleaning area. When the water flow or wind speed is large, the cleaning area can be dynamically adjusted to clean only a smaller area, thereby further improving the cleaning efficiency of the water surface.

[0456] For example, after determining the to-be-cleaned area according to the water flow speed and the water flow direction, attribute information of the pool can be obtained, the attribute information of the pool being at least one of an area and a contour of the pool; and the to-be-cleaned area is adjusted according to the attribute information of the pool to obtain an adjusted area; and the cleaning device is controlled to perform a cleaning task on the adjusted area, thereby further improving the accuracy of the cleaning area and the cleanliness of the water surface.

[0457] In the embodiments of the present application, the method further comprises:

[0458] The size of the to-be-cleaned area is determined based on the water flow speed, wherein the water flow speed is inversely proportional to the area of the to-be-cleaned area.

[0459] In the embodiments of the present application, the size of the to-be-cleaned area can be determined according to the water flow speed, wherein the water flow speed is inversely proportional to the area of the to-be-cleaned area; that is, when the water flow speed is large, the area of the to-be-cleaned area is small, and when the water flow speed is small, the area of the to-be-cleaned area is large; thereby realizing adaptive adjustment of the size of the to-be-cleaned area according to the water flow speed and improving the accuracy of determining the to-be-cleaned area.

[0460] In the embodiments of the present application, controlling the cleaning device to move to the to-be-cleaned area to perform a cleaning task comprises cleaning the to-be-cleaned area according to a planned path, and the planned path comprises one or more of the following paths: a U-shaped path, a V-shaped path, or an edge cleaning path.

[0461] In the embodiments of the present application, a planned path of the to-be-cleaned area can be set in advance, and the planned path can be one or more combinations of a U-shaped path, a V-shaped path, or an edge cleaning path. After determining the to-be-cleaned area, the cleaning device can be controlled to move to the to-be-cleaned area and clean the to-be-cleaned area according to the planned path.

[0462] In the embodiments of the present application, a planned path of the cleaning device can be set in advance, and the cleaning device can be cleaned in the to-be-cleaned area according to the planned path, thereby improving the cleaning efficiency of the to-be-cleaned area and ensuring the cleaning effect.

[0463] In some embodiments, the cleaning device can be controlled to move towards the to-be-cleaned area until the cleaning device contacts the pool wall of the pool.

[0464] controlling the cleaning device to perform a cleaning task on the to-be-cleaned area in a direction perpendicular to a previous moving direction of the cleaning device.

[0465] In the embodiments of the present application, the water pump can be started to drive the cleaning device to run until the cleaning device touches the pool wall; after touching the wall, the cleaning device can clean in a direction perpendicular to the previous advancing direction.

[0466] In some embodiments, the controlling the cleaning device to perform a cleaning task on the to-be-cleaned area in a direction perpendicular to a previous moving direction of the cleaning device can include: controlling the cleaning device to start cleaning the to-be-cleaned area according to a planned path in a direction perpendicular to a previous moving direction of the cleaning device; and further performing edge cleaning on a key cleaning area in the to-be-cleaned area.

[0467] In some embodiments, as shown in FIG. 30, FIG. 30 is an example of a working process of a cleaning device, which is a cleaning robot, and the working process includes:

[0468] S201: The robot determines a current pool edge position 1 based on sensor data, and after determining the position 1, the robot starts to move from the position 1 to the middle of the pool 01 away from the pool edge; S202: After the robot moves to a middle position 2 of the pool 01, the water pump is turned off, the main machine is silent, and the inertial measurement unit sensor (IMU) and the magnetometer sensor start to calculate the position information and direction information of the robot; after a certain time interval, such as 5 seconds, if there is water flow or external wind influence, the robot will produce a certain direction displacement, moving from the position 2 to the position 3; S203: According to the position moving information and direction information of the previous step, the to-be-cleaned area 02 in the pool is determined; the water pump is started to drive the robot to run from the position 3 until the robot touches the position 4 corresponding to the pool wall; S204: After touching the wall, the robot cleans in a direction perpendicular to the previous advancing direction, such as performing I-shaped cleaning. After the I-shaped cleaning is completed, the robot can move from the position 4 to the position 5 to perform edge cleaning on the to-be-cleaned area again.

[0469] In some embodiments, as shown in FIG. 31, FIG. 31 is an example of a working process of a cleaning device, which includes:

[0470] S301: The cleaning device starts from the edge of the pool, moves to the preset area in the pool, and then turns off the water pump. After a preset time, the position of the cleaning device changes. According to the position change information of the cleaning device, the area to be cleaned (corresponding to the triangular area surrounded by the green line and the edge of the pool in FIG. 31) is determined; S302: Turn on the water pump, and move the cleaning device to the area to be cleaned, and perform the cleaning task according to the arch-shaped path (corresponding to the yellow line in FIG. 31). The black line in FIG. 31 is the moving path of the cleaning device when the water pump is turned off; the red line is the moving path of the cleaning device before performing the cleaning task when the water pump is turned on.

[0471] In some embodiments, as shown in FIG. 31, FIG. 31 is an example of a working process of a cleaning device, which includes:

[0472] S401: When the cleaning device is located at the edge position 1 in the pool 01 or the position 6 in the leaf area, the working mode of the cleaning device is determined; S402: If the working mode of the cleaning device is the key area cleaning mode, the cleaning device finds the preset area in the pool based on the pool map information or the pool contour information. The preset area is the area near the center of the pool or the area away from the initial edge of the pool; S403: Turn on the water pump and control the cleaning device to move to the preset area; when the cleaning device is located at the edge position 1 in the pool 01, control the cleaning device to move from position 1 to position 2; when the cleaning device is located at the position 6 in the leaf area, control the cleaning device to move from position 6 to position 2; S404: Turn off the water pump and control the cleaning device to stay in the preset area for a preset time. The cleaning device moves from position 2 to position 3; S405: Obtain the position information of the cleaning device before and after the standing; according to the position information and the pool map information, determine the area to be cleaned 02 in the pool; S405: Control the cleaning device to move from position 3 to the pool wall position 04 of the area to be cleaned 02 to perform the cleaning task, and finally move to position 05 to perform the edge cleaning.

[0473] From the above technical solutions provided by the embodiments of the present specification, the control method of the pool automatic cleaning device of the embodiments of the present specification can control the cleaning device to go to the preset area on the water surface, and after the cleaning device stays in the preset area for a preset time, the position information of the cleaning device before and after the standing is obtained; so that the area to be cleaned in the pool with floating objects can be quickly and accurately determined according to the position information and the pool map information; then control the cleaning device to move to the area to be cleaned to perform the cleaning task, thereby avoiding the full domain cleaning of the pool water surface, reducing the energy consumption of the cleaning device, and improving the cleaning efficiency of the floating objects on the pool water surface and shortening the cleaning time.

[0474] The embodiments of the present specification also provide a pool automatic cleaning device having a cleaning mode for performing the above method.

[0475] The embodiments of the present specification also provide a pool automatic cleaning device comprising a detection sensor and a controller for performing the above method.

[0476] The embodiments of the present specification also provide a control device of a pool automatic cleaning device, the device comprising:

[0477] a control module configured to control the cleaning equipment to go to a preset area on the water surface and stay in the preset area for a preset time length;

[0478] a position information acquisition module configured to acquire position information of the cleaning equipment before and after the staying;

[0479] a first area determination module configured to determine a to-be-cleaned area in the pool according to the position information and pool map information;

[0480] a task execution module configured to control the cleaning equipment to move to the to-be-cleaned area to perform a cleaning task.

[0481] In some embodiments, the device can further comprise:

[0482] a second area determination module configured to acquire a pool water flow speed and direction based on the displacement information and direction information, and determine the to-be-cleaned area in the pool according to the water flow speed and direction.

[0483] an area size determination module configured to determine a size of the to-be-cleaned area based on the water flow speed.

[0484] In some embodiments, the task execution module is further configured to control the cleaning equipment to move to the to-be-cleaned area and clean the to-be-cleaned area according to a planned path, the planned path comprising one or more of the following paths: a U-shaped path, a V-shaped path or an edge cleaning path.

[0485] The device in the device embodiment and the method embodiment are based on the same inventive concept.

[0486] The embodiments of the present specification provide an electronic device, which comprises a processor and a memory, the memory storing at least one instruction or at least one program, the at least one instruction or at least one program being loaded and executed by the processor to implement the control method of the pool automatic cleaning device as provided in the above method embodiments.

[0487] The embodiment of the present application further provides a computer storage medium, which can be arranged in a terminal to store at least one instruction or at least one program for implementing a control method of the pool automatic cleaning device in the method embodiment, and the at least one instruction or at least one program is loaded and executed by the processor to implement the control method of the pool automatic cleaning device provided by the method embodiment.

[0488] The embodiment of the present application further provides a computer program product or computer program, which comprises computer instructions stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer readable storage medium, and the processor executes the computer instructions, so that the computer device executes to implement the control method of the pool automatic cleaning device provided by the method embodiment.

[0489] For example, in the embodiment of the present application, the storage medium can be located in at least one of the plurality of network servers of the computer network. For example, in the embodiment, the storage medium can include but is not limited to: a U disk, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk, and various media that can store program codes.

[0490] The memory in the embodiment of the present application can be used to store software programs and modules, and the processor executes various function applications and data processing by running the software programs and modules stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, application programs required by functions, etc.; and the data storage area can store data created according to the use of the device, etc. In addition, the memory can include a high-speed random access memory, and can also include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other volatile solid-state memory device. Accordingly, the memory can also include a memory controller to provide access of the processor to the memory.

[0491] The control method of the pool automatic cleaning device provided in the embodiments of the present specification can be executed in a mobile terminal, a computer terminal, a server or similar computing device. Taking an example of running on an electronic device, FIG. 32 is a hardware structure block diagram of a control method of a pool automatic cleaning device provided in the embodiments of the present specification. As shown in FIG. 32, the electronic device 500 can have a large difference due to different configurations or performances, and can include one or more central processing units (CPUs) 510 (the central processing unit 510 can include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA), a memory 530 for storing data, one or more storage media 520 (such as one or more mass storage devices) for storing application programs 523 or data 522. Among them, the memory 530 and the storage medium 520 can be temporary storage or persistent storage. The program stored in the storage medium 520 can include one or more modules, each of which can include a series of instruction operations in the electronic device. For example, the central processing unit 510 can be configured to communicate with the storage medium 520 and execute a series of instruction operations in the storage medium 520 on the electronic device 500. The electronic device 500 can also include one or more power supplies 560, one or more wired or wireless network interfaces 550, one or more input / output interfaces 540, and / or one or more operating systems 521, such as Windows ServerTM, Mac OS XTM, UnixTM, LinuxTM, FreeBSDTM, etc.

[0492] The input / output interface 540 can be used to receive or send data via a network. The above-mentioned specific examples of the network can include a wireless network provided by the communication provider of the electronic device 500. In one example, the input / output interface 540 includes a network adapter (NIC) that can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the input / output interface 540 can be a radio frequency (RF) module for communicating with the Internet in a wireless manner.

[0493] Those of ordinary skill in the art can understand that the structure shown in FIG. 32 is only schematic and does not limit the structure of the above-mentioned electronic device. For example, the electronic device 500 can also include more or fewer components than those shown in FIG. 32, or have a different configuration from that shown in FIG. 32.

[0494] From the above, it can be seen from the embodiments of the water pool automatic cleaning device control method, device or storage medium provided in the present application that the water pool automatic cleaning device control method of the present application controls the cleaning device to go to a preset area on the water surface, and after the cleaning device is stationary in the preset area for a preset time length, position information of the cleaning device before and after being stationary is acquired; thus, according to the position information and pool map information, the area to be cleaned in the pool with floating objects can be quickly and accurately determined; then the cleaning device is controlled to move to the area to be cleaned to perform a cleaning task, so that the pool water surface is not cleaned in the whole domain, the energy consumption of the cleaning device is reduced, and the cleaning efficiency of the floating objects on the pool water surface is improved and the cleaning time is shortened.

[0495] The water pool cleaning robot provided in the present application will be described in detail below in combination with the accompanying drawings and specific embodiments.

[0496] Referring to FIG. 34, an embodiment of the water pool cleaning robot described in the present application is shown, which includes a shell 700, a chassis 800, a suction port 801 (see FIG. 35) provided on the chassis 800, an extension structure 900 (see FIG. 36) provided on the chassis 800 and surrounding the suction port 801, the extension structure 900 being made of a flexible material, the distance between the extension structure 900 and the walking surface of the water pool cleaning robot being less than the distance between the suction port 801 and the walking surface, and a suction passage 802 provided in the shell 700, wherein the suction passage 802 is in communication with the suction port 801 and the extension structure 900.

[0497] When the water pool cleaning robot is working, debris such as leaves, branches, paper sheets and the like attached to the pool bottom or pool wall surface can enter the suction port 801 through the extension structure 900, and then enter the shell 700 through the suction passage 802 for further processing such as filtering and collecting. In this process, the extension structure 900 shortens the distance to the surface to be cleaned, so that the cleaning effect of the suction port 801 on the surface to be cleaned is ensured under the condition that the suction force is unchanged; at the same time, the extension structure 900 is made of a flexible material to ensure the obstacle escaping ability of the water pool cleaning robot during cleaning. Since the water pool cleaning robot will clean the walking surface during walking, for the convenience of description, the "walking surface" is also referred to as the "surface to be cleaned".

[0498] The flexible material described in the present application can be formed of a high-molecular polymer, such as rubber, or plastic, such as PE, PVC, etc. When the pool cleaning robot needs to pass an obstacle on the surface to be cleaned, if the size of the obstacle meets the preset size, the elongated structure 900 made of flexible material will deform to allow the elongated structure 900 to pass through the obstacle instead of being stuck by the obstacle, thereby ensuring the passability of the pool cleaning robot. When the pool robot encounters a large-sized object (such as a stone, a branch, etc.) on the surface to be cleaned, the elongated structure 900 made of flexible material can also deform to allow the object to smoothly reach the vicinity of the suction port 801, and then be sucked into the suction channel 802 for subsequent filtering, collection, etc.

[0499] As shown in FIG. 36, the pool cleaning robot of an embodiment of the present application is provided with an anti-blocking structure 301. The anti-blocking structure 301 can prevent the accumulation of objects, etc. in the corner formed by the elongated structure 900 and the chassis 800, thereby further improving the cleaning effect of the pool cleaning robot. If too many objects accumulate in the corner, it will also affect the passability of the pool cleaning robot, and even cause the pool cleaning robot to have too much resistance to forward movement, increase power consumption, and in severe cases, even make the pool robot unable to move forward.

[0500] The anti-blocking structure 301 is a slope extending towards the front end of the pool cleaning robot. The slope is made of flexible material, and the longitudinal section of the slope is in the shape of a circular arc. In this way, the anti-blocking structure 301 forms a shape similar to a shovel, thereby further guiding impurities, etc. into the suction channel 802 to avoid their accumulation there. Based on similar ideas, in the specific implementation of the present application, the slope can also be replaced by a sawtooth structure or a columnar protruding structure arranged close to the front end of the pool cleaning robot.

[0501] In the embodiment shown in FIG. 36, the elongated structure 900 forms an acute angle with the front end direction of the pool cleaning robot. The range of the acute angle is 30 to 80 degrees. When the pool cleaning robot is placed on a horizontal surface, the front end direction refers to the forward direction of the pool cleaning robot on the horizontal surface. In this case, “the elongated structure 900 forms an acute angle with the front end direction of the pool cleaning robot” means that the elongated structure 900 forms an acute angle with the forward direction, in other words, the elongated structure 900 is inclined towards the forward direction of the pool cleaning robot. When the pool cleaning robot is performing cleaning operations, due to the suction force of the pool cleaning robot, the water flow is opposite to the forward direction of the pool cleaning robot, and because the elongated structure 900 is inclined towards the forward direction, the water flow and the elongated structure 900 form an angular opposite action, thereby the opening of the elongated structure 900 can obtain a larger flow rate, thereby enhancing its cleaning efficiency.

[0502] For the convenience of disassembly and assembly, the extension structure 900 is connected to the chassis 800 by clamping, as shown in FIG. 37. If there are other considerations, the extension structure 900 can also be connected by other methods.

[0503] In general, the cross-sectional area of the extension structure 900 is not limited in size relative to the water inlet area of the sewage suction port 801, i.e., the cross-sectional area of the extension structure 900 can be greater than, less than, or equal to the water inlet area of the sewage suction port 801. To further improve the sewage suction efficiency and make full use of the sewage suction port 801, the application more preferably provides that the water inlet area of the extension structure 900 at the communication position with the sewage suction port is greater than or equal to the water inlet area of the sewage suction port.

[0504] To achieve better obstacle crossing effect, the longitudinal section of the extension structure 900 is tapered from the communication position with the sewage suction port to the free end. During the travel of the pool cleaning robot, the closer to the free end of the extension structure 900, the more obstacles encountered, and the larger the size. Since the elasticity of the flexible material is also related to its thickness, the closer to the free end of the tapered extension structure 900, the more elastic it is. In this way, the free end can be more easily deformed when contacting obstacles; and the closer to the communication position with the sewage suction port, the less easily deformed due to the thicker material, thereby ensuring the firm connection of the two.

[0505] In general, the distance between the extension structure 900 and the travel surface of the pool cleaning robot is 5-20 mm, preferably 10 mm, during the implementation of the application.

[0506] A handheld pool sewage suction machine provided by an embodiment of the application is described below in combination with FIGS. 38-43, which includes a machine body 1001 and a dust collection box 1002 detachably connected to the machine body 1001.

[0507] The machine body 1001 includes a water suction pump, at least one water outlet 1012, and at least one water inlet 1011. The water suction pump is used to flow water from the water inlet 1011 to the water outlet 1012 through the dust collection box 1002.

[0508] The dust collection box 1002 includes a water inlet 1020 and a filter 1021 that can be at least partially placed inside the dust collection box 1002. The water inlet 1020 is arranged at the bottom of the dust collection box 1002 and can be in communication with the water inlet 1011 after the dust collection box 1002 is connected to the machine body.

[0509] The dust collecting box 1002 of the pool cleaner is detachably connected to the machine body 1001, and the filter 1021 is at least partially placed inside the dust collecting box 1002. Therefore, the user can replace or clean the filter 1021 and the dust collecting box 1002 more simply and quickly during use, without disassembling the entire device, so that the key components can be maintained, thereby greatly reducing the maintenance cost and time. The handheld design makes the pool cleaner very flexible to operate, and the user can easily clean the corners of the pool without being restricted by fixed equipment or long power lines.

[0510] For example, the dust collecting box 1002 includes a handle 1023 and a clamping portion. The handle 1023 is located on the side of the dust collecting box 1002, and the clamping portion is located on the side away from the handle 1023. The handle 1023 facilitates the user to hold and disassemble the dust collecting box 1002. The handle 1023 can be provided as a protruding or recessed structure arranged on the side of the dust collecting box 1002. In one possible embodiment, the handle 1023 is integrally formed with the dust collecting box 1002. In other possible embodiments, the handle 1023 can be fixed on the dust collecting box 1002 by screws or buckles to ensure stability and prevent falling off. The clamping portion is used to cooperate with the corresponding structure on the machine body 1001 to achieve detachable connection of the dust collecting box 1002 and the machine body 1001. The clamping portion can be provided in the form of a protruding buckle, a clamping groove, a rotating lock, etc., cooperating with the corresponding groove, protrusion or rotating shaft on the machine body 1001. Through the design of the handle 1023 and the clamping portion, the user can easily and quickly disassemble the dust collecting box 1002, thereby facilitating the cleaning or replacement of the filter 1021 and the interior of the dust collecting box 1002, and reducing the maintenance cost and time.

[0511] For example, the dust collecting box 1002 further includes a check structure 1022 arranged on the inner wall of the dust collecting box 1002 or the outer wall of the filter 1021. When the filter 1021 is at least partially installed in the dust collecting box 1002, the check structure 1022 is located in the lower region of the filter 1021 and separates the space below at least a portion of the filter 1021 to prevent the sediment at the bottom of the dust collecting box 1002 from rising to the region where at least a portion of the filter 1021 is located.

[0512] The body 1001 is provided with a water pump for sucking water from the water suction port 1011 of the body 1001, filtering through the dust collection box 1002, and then discharging through the water discharge port 1012. The dust collection box 1002 can be detachably connected to the body 1001 through structures including but not limited to buckles and threaded connections. In a possible implementation, the dust collection box 1002 can be set to be front detachable, the body 1001 is provided with at least one mounting structure, and the edge of the dust collection box 1002 is provided with a mounting matching structure. When mounting, the dust collection box 1002 is aligned with the mounting position of the body 1001, and is pushed forward until the mounting structure and the mounting matching structure are clamped to realize stable connection. When disassembling, the dust collection box 1002 can be pulled out by pressing the button arranged on the dust collection box 1002 or the body 1001 or directly using force. The mounting structure and the mounting matching structure include but are not limited to clamping grooves and clamping protrusions, and clamping grooves and clamping hooks. When the dust collection box 1002 is mounted on the body 1001, the water inlet 1020 at the bottom of the dust collection box 1002 is in communication with the water suction port 1011 of the body 1001. The dust collection box 1002 is provided with a check structure 1022 and a filter 1021. The check structure 1022 is arranged on the inner wall of the dust collection box 1002 or the outer wall of the filter 1021. When the filter 1021 is installed in place in the dust collection box 1002, the check structure 1022 separates the space below at least a part of the filter 1021 from the bottom of the dust collection box 1002, which can effectively prevent the sediment at the bottom of the dust collection box 1002 from rising to the filter 1021 along with the water flow. In some possible implementations, the filter 1021 can be partially or completely arranged in the dust collection box 1002 to facilitate disassembly, cleaning and other operations.

[0513] The hand-held pool sewage suction machine of the embodiment can effectively prevent the sediment at the bottom of the dust collection box 1002 from rising to the area where the filter 1021 is located along with the water flow, and reduce the risk of clogging of the filter 1021. Through reasonable layout of the check structure 1022 and the filter 1021, it is ensured that the water flow can more effectively capture and intercept impurities when passing through the filter 1021, prevent the deposited dirt from being driven by the water flow again, and protect the filter 1021 from impact and wear, thereby prolonging the service life of the filter 1021. The dust collection box 1002 and the body 1001 are detachably connected, which facilitates users to easily take out and clean the filter, reduces the difficulty of maintenance, and improves the convenience of cleaning work.

[0514] For example, the check structure 1022 is arranged on the inner wall of the dust collecting box 1002, and the check structure 1022 includes a baffle, a filter screen or a raised structure. In one possible implementation, the check structure 1022 includes at least one baffle which is integrally formed with the inner wall of the dust collecting box 1002 or is arranged in the dust collecting box 1002 by a support structure. In another possible implementation, the check structure 1022 is arranged as a filter screen structure which is directly laid on the bottom of the dust collecting box 1002 at a certain height, and the filter screen can intercept part of the impurities which rise with the water flow and allow most of the clean water flow to pass through, thereby reducing the direct pressure on the filter element 1021; the check structure 1022 can also be arranged as a ring-shaped or spiral-shaped raised structure on the inner wall of the dust collecting box 1002, and the raised structure hinders the sediment from directly rising to the area where the filter element 1021 is located with the water flow, and the raised structure is provided with small pores to preliminarily filter the water flow.

[0515] For example, the check structure 1022 is arranged on the bottom of the filter element 1021 and includes a flexible material. In one possible implementation, the check structure 1022 is arranged as a skirt structure which is connected to at least part of the bottom of the filter element 1021, and the skirt structure can be installed by means including but not limited to embedding the bottom shell of the filter element 1021, bonding with the shell of the filter element 1021 and buckle connection. The skirt structure can be made of flexible materials including but not limited to silica gel, rubber and other materials with good elasticity and water resistance. The side of the check structure 1022 which is connected to the filter element 1021 is provided with an opening structure for water flow, and the other side is attached to the inner wall of the dust collecting box 1002. Arranging the check structure 1022 on the bottom of the filter element 1021 can block the rising of dirt and sediment, prolong the service life of the filter element and improve the cleaning efficiency, and the flexible material of the check structure 1022 can also play a buffering role to reduce the direct impact of the water flow and dirt on the filter element, and it is also more convenient to disassemble and clean the dust collecting box 1002 and the filter element 1021.

[0516] For example, the check structure 1022 is arranged close to the water inlet 1020.

[0517] The check structure 1022 is arranged close to the periphery of the water inlet 1020, which is conducive to guiding and limiting the water flow entering from the water inlet 1020 by the check structure 1022 at the first time, effectively preventing the dirt in the water from rising directly and contacting the filter element 1021 under the impact of the water flow.

[0518] For example, the side of the check structure 1022 which is away from the inner wall of the dust collecting box 1002 extends obliquely to the bottom of the dust collecting box 1002.

[0519] To further enhance the non-return effect, the non-return structure 1022 is designed to extend obliquely towards the bottom of the dust collection box 1002, which is beneficial to increase the contact area between the non-return structure 1022 and the water flow, and also utilizes the principle of gravity to make the water flow more smoothly to the bottom of the dust collection box 1002 when passing through the non-return structure 1022, while the sediment is effectively blocked below the non-return structure 1022, reducing the risk of clogging of the filter 1021 and improving the cleaning efficiency.

[0520] The present embodiment effectively blocks the risk of sediment rising with the water flow into the area of the filter 1021 by arranging the non-return structure 1022 close to the water inlet 1020 and extending obliquely towards the bottom of the dust collection box 1002, significantly reducing the possibility of filter clogging.

[0521] For example, the filter 1021 includes a pleated filter screen. The filter 1021 adopts a pleated filter screen design, which increases the surface area of the filter screen and improves the filtering efficiency and capacity. The pleated filter screen can more effectively capture and intercept impurities and particulate matter in the water flow, ensuring that the water after cleaning is clearer. At the same time, the pleated structure also has a certain elasticity and toughness, which can resist a certain degree of water flow impact and mechanical vibration, prolonging the service life of the filter 1021. In one possible implementation, the pleated filter screen is a Hepa filter screen.

[0522] For example, the water inlet 1020 is provided with a non-return valve 1004. The non-return valve 1004 can automatically prevent the water flow from flowing out of the water inlet 1020 in reverse. When the water flow enters the dust collection box 1002 from the water inlet 1020, the non-return valve 1004 automatically opens to allow the water flow to pass through; while when the water flow tries to flow in reverse, the non-return valve 1004 closes to prevent the water flow from flowing back, effectively preventing the water flow and dirt entering the dust collection box 1002 from flowing back, ensuring the stability and continuity of the cleaning process.

[0523] For example, it includes a suction head 1003, which is rotatably connected to the body 1001. In one possible implementation, the suction head 1003 is connected to the body 1001 through a universal joint 1005 to realize flexible suction in all directions. In other possible implementations, the suction head 1003 can also be connected to the body 1001 through a ball hinge, a multi-joint arm, etc. The rotatable connection between the suction head 1003 and the body 1001 allows the suction head to rotate within a certain angle, improving the flexibility of the suction head in the suction direction, improving the cleaning efficiency and effect, making it can adapt to more complex terrain and cleaning needs, while improving the comfort of the hand feeling during operation, reducing the fatigue of the operator.

[0524] For example, the bottom of the suction head 3 is provided with a suction port 1031, which is arranged to allow water flow to enter the suction head 1003 in a direction parallel to the horizontal plane, and is in communication with the water suction port 1011. In some possible embodiments, the opening shape of the suction port 1003 includes, but is not limited to, a rectangle and a circle, and the opening edge of the suction port is arranged as a straight line or a circular arc segment parallel to the horizontal plane. The design of the suction port 1031 helps to maximize the use of the power of the water flow, allowing the water flow to enter the sewage suction machine smoothly and efficiently, while reducing resistance and turbulence caused by improper water flow direction. The suction port 1031 of the present embodiment is in communication with the water suction port 1011 on the machine body 1001 through a sealed and efficient pipeline, so that the water flow can be smoothly sucked from the bottom of the pool and transported to the machine body 1001 for subsequent filtration treatment.

[0525] For example, the bottom of the suction head 1003 is provided with a flow guide groove 1032, which is arranged in the water inlet direction of the suction port 1031. The flow guide groove 1032 is used to guide the water flow to enter the suction port more concentratedly and orderly, optimizing the path of the water flow entering the suction port 1031 and improving the sewage suction efficiency. The flow guide groove 1032 is a V-shaped opening structure, which gradually shrinks towards the suction port 1031. The opening of the flow guide groove 1032 gradually shrinks towards the suction port 1031, which can further accelerate the water flow speed and enhance the sewage suction effect.

[0526] For example, the suction head 1003 is provided with a counterweight 1033. The suction head 1003 can be fixedly installed with the counterweight 1033 by arranging mounting grooves or fixing frames and other structures inside the shell. The shape of the counterweight 1033 is matched with the mounting space. For example, the counterweight 1033 can be designed as a regular cube, cuboid or cylinder, etc. to facilitate processing and installation. The arrangement of the counterweight 1033 can increase the weight of the suction head 1003, so that the suction port 1031 can always adhere to the ground to prevent the water from floating up, and improve the sewage suction effect. At the same time, the counterweight 1033 balances the center of gravity of the suction head 1003, reduces the shaking and vibration caused by the deviation of the center of gravity during use, and improves the stability and safety of the equipment.

[0527] The suction head 3 of the present embodiment optimizes the water suction path and enhances the sewage suction effect through the design of the bottom suction port 1031 combined with the flow guide groove 1032, and further improves the sewage suction effect, the stability, safety and operation comfort of the equipment by arranging the counterweight 1033 inside the suction head 1003 to keep the suction head 1003 close to the ground for sewage suction.

[0528] The hand-held pool suction cleaner in this embodiment generates suction through the water suction pump built in the body 1001, drives the pool water to enter from the suction port 1031, and flows through the dust collection box 1002. The sediment is effectively intercepted below the filter 1021 through the check structure 1022 in the dust collection box 1002, the pool water sucked in is filtered by the filter 1021, and the filtered clean water flow is finally discharged through the water outlet 1012, realizing the purification and circulation of the pool water quality. During the whole process, the detachable design of the dust collection box 1002 and the body 1001 facilitates cleaning and maintenance, ensuring the continuous and efficient operation of the suction cleaner.

[0529] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, different embodiments or examples described in the present specification and the features of different embodiments or examples can be combined and combined by those skilled in the art without contradiction.

[0530] In addition, the terms "first", "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise specifically limited.

[0531] In the present application, the orientation words such as "up, down" are generally directed to the direction shown in the drawings, or to the vertical, perpendicular or gravity direction, unless otherwise stated; similarly, for the convenience of understanding and description, "left, right" is generally directed to the left and right of the drawings; "inner, outer" refers to the inner and outer relative to the contour of each component, but the above orientation words are not used to limit the present application.

[0532] The above is only an exemplary embodiment of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think of various changes or replacements within the technical scope disclosed in the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

A method for controlling a pool cleaning robot, comprising: detecting, by a first sensor and a second sensor of the pool cleaning robot, a first distance and a second distance of the pool cleaning robot from a pool boundary in a lateral direction, respectively; generating a target position in front of the pool cleaning robot based on the first distance, the second distance, and a preset along-side distance of the pool cleaning robot from the pool boundary; generating corresponding motion parameters based on the target position; and controlling the pool cleaning robot to move towards the target position based on the corresponding motion parameters. The generating of the target position based on the first distance, the second distance, and the along-side distance comprises: The method of claim 1, wherein, predicting an extension direction of the pool boundary based on a first position on the pool boundary corresponding to the first distance and a second position on the pool boundary corresponding to the second distance; determining the target position in a direction perpendicular to the predicted extension direction of the pool boundary, wherein a perpendicular distance between the target position and the extension direction is the along-side distance, and the pool cleaning robot is on a same side of the predicted extension direction of the pool boundary. The predicting of the extension direction of the pool boundary based on the first position on the pool boundary and the second position on the pool boundary comprises: The method of claim 2, wherein, performing a straight line fitting based on the first position and the second position; and determining a direction of the fitted straight line as the predicted extension direction of the pool boundary. The method according to claim 2 or 3, further comprising: determining an extension end point in the extension direction, wherein a distance between the extension end point and the first position or the second position is an extension step value, and a distance between the target position and the extension end point is the along-side distance. The target position is updated at a first frequency, and the motion parameters are updated at a second frequency, wherein the second frequency is not greater than the first frequency. The method according to any one of claims 1 to 4, wherein The motion parameters comprise a linear velocity, an angular velocity, a heading angle, or a motion path of the pool cleaning robot. The method according to any one of claims 1 to 5, wherein The method according to any one of claims 1-6, further comprising: detecting an obstacle in front of a moving direction of the pool cleaning robot; controlling the pool cleaning robot to perform a turning in a first direction when the obstacle is detected. The lateral direction is a left side of the moving direction of the pool cleaning robot, and the first direction is a right side of the moving direction of the pool cleaning robot; or the lateral direction is a right side of the moving direction of the pool cleaning robot, and the first direction is a left side of the moving direction of the pool cleaning robot. The method of claim 7, wherein, The first sensor and the second sensor comprise at least one of an ultrasonic sensor, an infrared sensor, a laser sensor, a position sensitive detector (PSD), and a TOF sensor. The method of claim 1, wherein, A pool cleaning robot, comprising: a processor; and a memory storing program instructions; wherein the processor, when executing the program instructions, causes the pool cleaning robot to perform the method according to any one of claims 1-9. ​ ​

Images