CN120560261A

CN120560261A - Automatic pool cleaning device, control method and computer storage medium

Info

Publication number: CN120560261A
Application number: CN202510688339.3A
Authority: CN
Inventors: 叶宇东
Original assignee: Shenzhen Aiper Intelligent Co Ltd
Current assignee: Shenzhen Aiper Intelligent Co Ltd
Priority date: 2025-05-26
Filing date: 2025-05-26
Publication date: 2025-08-29

Abstract

The present application provides an automatic pool cleaning device, a control method, and a computer storage medium. The automatic pool cleaning device is used to clean a pool, the pool comprising a bottom, a wall, and a transition region between the bottom and the wall. A sensor is provided on a side of the automatic pool cleaning device, and the orientation of the sensor is adjustable. The control method comprises: controlling the automatic pool cleaning device to move along the wall in the transition region; while the automatic pool cleaning device is moving in the transition region, the side of the automatic pool cleaning device is directed toward the wall, and the sensor is used to detect the direction of the wall; and determining whether the wall is detected. If the wall is detected, the automatic pool cleaning device is controlled to move along the wall for cleaning based on the current orientation of the sensor, thereby improving the cleaning efficiency of the automatic pool cleaning device.

Description

Pool automatic cleaning device, control method and computer storage medium

Technical Field

The application relates to the technical field of cleaning devices, in particular to an automatic pool cleaning device, a control method and a computer storage medium.

Background

With the popularity of swimming pools and significant advances in robotics, more and more consumers tend to employ automated pool cleaning robots to perform the pool cleaning task. When a swimming pool robot performs cleaning operation, the wall of the swimming pool is usually detected by relying on an infrared sensor, but when the swimming pool structure with an arc bottom or an inclined plane is faced, the traditional infrared sensor is difficult to accurately detect the curved outline, so that the robot cannot perform cleaning operation according to a preset path, and further the cleaning efficiency is affected. Therefore, a new way is needed to ensure that the pool cleaning robot can efficiently and comprehensively complete the cleaning task.

Disclosure of Invention

The application addresses the shortcomings of the prior art described above by providing a method of controlling a pool automatic cleaning device for cleaning a pool comprising a pool bottom, a pool wall, and a transition area between the pool bottom and the pool wall, wherein a sensor is provided on a side of the pool automatic cleaning device, the orientation of the sensor being adjustable, the method comprising controlling the pool automatic cleaning device to move along the pool wall in the transition area, during movement of the pool automatic cleaning device in the transition area, the side of the pool automatic cleaning device is directed towards the pool wall and is detected by the sensor in the direction of the pool wall, and determining whether the pool wall is detected, wherein if the pool wall is detected, the pool automatic cleaning device is controlled to move along the pool wall according to the current orientation of the sensor for cleaning.

Further, the control method further comprises the steps of adjusting the orientation of the sensor and detecting the orientation of the pool wall through the sensor if the pool wall is not detected, and repeating the judging step.

Further, if the pool wall is not detected after the orientation of the sensor is adjusted, the control method further includes controlling the pool automatic cleaning device to move a first predetermined distance in the direction of the pool wall and the side of the pool automatic cleaning device is oriented toward the pool wall, and repeating the judging step.

Further, controlling the automatic pool cleaning device to move along the pool wall according to the current orientation of the sensor comprises controlling the automatic pool cleaning device to move along the pool wall after the automatic pool cleaning device is far away from or near the pool wall according to the current orientation of the sensor and the current reading of the sensor.

Further, the detecting in the direction of the pool wall comprises detecting in the direction of the pool wall a plurality of times at predetermined time intervals.

Further, the automatic pool cleaning device further comprises an inertial measurement unit, and before the automatic pool cleaning device is controlled to move along the pool wall, the control method comprises the steps of controlling the automatic pool cleaning device to move towards the pool wall, determining that the automatic pool cleaning device reaches the transition area through the inertial measurement unit, controlling the automatic pool cleaning device to retreat for a second preset distance, and then turning to enable the side part of the automatic pool cleaning device to face the pool wall.

Further, the automatic pool cleaning device comprises a motor and an adjusting bracket, at least one part of the sensor is connected with the adjusting bracket, and the motor can drive the adjusting bracket to move so as to adjust the orientation of the sensor.

Further, the transition region includes at least one of an arcuate region, a sloped region, or a beveled region.

Further, the determining whether the pool wall is detected includes, for each of the plurality of detection periods, the sensor reading being the same or within a predetermined reading threshold.

The application also discloses an automatic pool cleaning device which can execute the control method according to any embodiment of the application.

The application also discloses a computer storage medium, wherein the storage medium stores a computer program, and the computer program is used by a processor to execute the control method according to any embodiment of the application.

The embodiment of the application has the following beneficial effects:

According to the application, the sensor with adjustable orientation is arranged at the side part of the automatic pool cleaning device, when the automatic pool cleaning device performs edge cleaning operation in a transition area (such as an arc bottom or a pool wall with an inclined plane), the side part of the automatic pool cleaning device faces the pool wall and is detected in the direction of the pool wall through the sensor, so that whether the pool wall is detected or not is accurately judged, and if the pool wall is detected, the automatic pool cleaning device is controlled to move along the pool wall according to the current orientation of the sensor to clean, so that the automatic pool cleaning device can perform edge cleaning operation according to a preset path, and the cleaning efficiency of the automatic pool cleaning device is improved.

Drawings

In order to more clearly illustrate the technical solution of the present application, the drawings that are used in the description of the embodiments will be briefly described. The drawings in the following description are only exemplary embodiments of the application.

FIG. 1 is a schematic view showing the construction of a pool automatic cleaning device according to an embodiment of the present application;

FIG. 2 is a schematic view showing a part of the construction of a pool automatic cleaning device according to an embodiment of the present application;

fig. 3 is a flowchart showing a control method of the automatic pool cleaning apparatus according to an embodiment of the present application.

The drawings illustrate a 100-pool automatic cleaning device, a 101-sensor, and a 102-adjusting bracket.

Detailed Description

The following description of the present application will be made clearly and fully, and it is apparent that the embodiments described are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, are intended to fall within the scope of the present application. It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other.

The application provides a control method of an automatic pool cleaning device, the automatic pool cleaning device applying the control method and a computer storage medium. The automatic pool cleaning device is used for cleaning a pool, and the pool comprises a pool bottom, a pool wall and a transition area between the pool bottom and the pool wall. 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 and the like. The pool automatic cleaning device may be a device such as an automatic cleaning device, a pool cleaning robot, or the like, capable of cleaning a pool-shaped building. The present application is not limited to the specific manner in which the automatic pool cleaning device and the pool type building are presented, as long as the principles of the present application can be implemented. Hereinafter, if not specifically described, a robot will be described as an example of the automatic pool cleaning device, and a swimming pool will be described as an example of a pool or pool-shaped building. Hereinafter, unless otherwise indicated, the terms "bottom", "bottom of the pool" all refer to the bottom surface of the pool.

The automatic pool cleaning device 100 of the present application will be described in detail with reference to fig. 1 and 2.

Fig. 1 is a schematic view showing a construction of a pool automatic cleaning device 100 according to an embodiment of the present application. Fig. 2 shows a schematic view of the sensor and the adjusting bracket of the automatic pool cleaning apparatus 100 according to an embodiment of the present application. As shown in fig. 1, the automatic pool cleaning apparatus 100 includes a main body, a sensor 101, and a controller.

The main body is a core structural part of the robot and is used for bearing and integrating other functional components, and can provide mechanical support and an installation interface so as to ensure stable installation of the components. The main body may also integrate cleaning functions such as dirt pick-up, filtration and water circulation etc.

The sensor 101 may be, for example, a ranging sensor such as an infrared sensor, a laser sensor, an ultrasonic sensor, a phased array ultrasonic sensor, an image sensor, or the like. The sensor 101 needs to have waterproof and anti-interference capabilities, and can stably operate in an underwater complex environment, so that the position of the pool wall can be accurately detected. The sensor 101 may be disposed at a side of the main body, for example, as shown in fig. 1, and the sensor 101 may be disposed at left and right sides of the main body, respectively. The orientation of the sensor 101 is adjustable. The automatic pool cleaning device 100 can move in a transition region (e.g., an arcuate pool bottom or a sloped pool bottom, etc.) between the pool bottom and the pool wall of the pool, and the sensor 101 can detect the pool wall by adjusting the orientation during movement of the automatic pool cleaning device 100 in the transition region. It will be appreciated that the sides of the body may comprise, in addition to the side portions of the body of the robot, the side portions of the head of the robot and the side portions of the tail of the robot. The sensor 101 may also be arranged at the head and tail of the robot to detect the direction pointed by the head and the direction pointed by the tail of the robot.

The controller is configured to perform operations such as judgment, control, adjustment, and the like, based on the sensing information of the sensor 101.

Further, the automatic pool cleaning apparatus 100 may further include a motor (not shown) and an adjustment bracket 102, at least a portion of the sensor 101 being connected to the adjustment bracket 102, the motor being capable of driving the adjustment bracket 102 to move, thereby adjusting the orientation of the sensor 101. For example, fig. 2 shows a schematic view of the sensor 101 and the adjustment bracket 102 of the automatic pool cleaning device 100. As shown in fig. 2, the pool automatic cleaning device 100 can include a motor and an adjustment bracket 102, and at least a portion of the sensor 101 is coupled to the adjustment bracket 102. The motor drives the adjusting bracket 102 to move, and the adjusting bracket 102 moves to adjust the orientation of the sensor 101. For example, the sensor 101 can be oriented in a direction perpendicular to the horizontal plane by driving a motor, so that the robot can still detect the pool wall when encountering an arc-shaped pool bottom or an inclined pool bottom. In addition to the orientation adjustment in the direction perpendicular to the horizontal plane, the adjustment bracket 102 can adjust the orientation of the sensor 101 in the horizontal direction so that the sensor 101 as a whole can form a cone-shaped detection field angle in the direction in which it detects, whereby the detection field angle of the sensor 101 can be appropriately adjusted in three-dimensional space for accurate detection of the pool wall during the movement of the robot in the transition region along with the change in the topography of the transition region, the change in the pitch and roll postures of the fuselage, and the like (which will be described in detail later). It will be appreciated that in other embodiments, the sensor 101 may also be a sensor having an orientation adjustment function, and the sensor may adjust its orientation during sensing according to a sensing result or according to a control (e.g., a received control signal, etc.).

The control method 300 of the automatic pool cleaning device of the present application will be described in detail with reference to fig. 3, and fig. 3 is a flowchart illustrating the control method 300 of the automatic pool cleaning device according to an embodiment of the present application. As shown in fig. 3, the control method 300 includes controlling the automatic pool cleaning device to move along a pool wall in the transition area at step S301, controlling the automatic pool cleaning device to move toward the pool wall with a side of the automatic pool cleaning device facing the pool wall and being detected in a direction of the pool wall by the sensor during the movement of the automatic pool cleaning device in the transition area at step S302, and determining whether the pool wall is detected at step S303, wherein if the pool wall is detected, controlling the automatic pool cleaning device to move along the pool wall according to a current direction of the sensor at step S304.

Steps S301 to S304 in the control method 300 will be described below with reference to fig. 3.

In step S301, the pool automatic cleaning device is controlled to move along the pool wall in the transition zone.

For example, the robot can be controlled to move along the pool wall in the transition area by a control system of the robot, and in the moving process of the robot, the robot cleans, adsorbs and filters dirt on the pool wall or the pool bottom by a cleaning mechanism so as to achieve the aim of cleaning.

The control system can include, for example, a sensing module, a control module, an execution module, and the like. The sensing module can comprise a flow rate sensor, a pressure sensor, an image sensor and the like, and is used for monitoring the water flow condition, the dirt distribution condition and the movement state of the robot in the water pool in real time. The control module can be composed of a control chip and related circuits, and is used for receiving sensor data, processing signals and generating corresponding control commands according to a preset control strategy. The execution module may include a motor drive system, a cleaning mechanism, and the like. The motor driving system can adjust the rotating speed and the direction of the motor according to the control command and control the moving speed and the moving path of the robot. Cleaning mechanisms (e.g., water pumps, dirt suction ports, belt conveyors, rotating brushes, etc.) may clean, adsorb, filter dirt during movement of the robot.

It should be noted that the above description of the movement of the robot along the wall in the transition area is only exemplary, and those skilled in the art may set the movement of the robot along the wall in the transition area according to the actual situation, as long as the technical principle of the present application can be implemented.

Further, the transition region may include at least one of an arcuate region, a sloped region, or a beveled region.

For example, there may be various transition regions between the bottom and the wall of the pool, which may be, for example, arcuate regions (also referred to as "bowl regions") between the bottom and the wall of the pool. A transition slope may also be formed between the bottom and the wall of the tank, and the transition region may be the slope region. A surface with a certain inclination angle can also be formed between the bottom and the wall of the tank, and the transition area can be the inclined surface area.

Next, step S302 is entered. During the movement of the pool automatic cleaning device in the transition zone, the side of the pool automatic cleaning device is directed towards the pool wall and is detected by the sensor in the direction of the pool wall in step S302. Then, the process advances to step S303. In step S303, it is determined whether the pool automatic cleaning device detects the pool wall.

For example, during the movement of the robot in the arc-shaped region between the bottom and the wall, the side of the robot is directed toward the wall, and a detection signal (e.g., infrared signal) is emitted toward the wall by a sensor (e.g., infrared sensor) mounted on the side of the robot, and the reflected detection signal is received, and it can be determined whether the wall is detected based on the reflected detection signal. During movement of the transition zone, the direction of the robot's head is parallel or substantially parallel to the direction of extension of the pool wall (e.g., the direction of the robot's head is parallel or substantially parallel to the direction of rightward extension of the pool wall), the side of the robot faces the pool wall, the sensor is located on the side of the robot (e.g., the sensor is located on the left side of the robot), and the sensor can emit laser signals in the direction of the pool wall and receive reflected laser signals, thereby detecting the pool wall. It will be appreciated that depending on the type of sensor, the detection signal emitted in the direction of the wall may be different, for example, if the sensor is an infrared sensor, an infrared signal may be emitted in the direction of the wall, and if the sensor is a laser ranging sensor, a laser signal may be emitted in the direction of the wall.

For example, the sensor emits a detection signal in a default orientation (e.g., horizontal) toward the pool wall, and if the reflected detection signal meets a predetermined condition for detecting the pool wall, indicating that the robot has detected the pool wall, the detection is terminated. Wherein, the predetermined condition for detecting the pool wall can be set according to the intensity of the detection signal and the reflection time. The predetermined condition is, for example, that the reflected detection signal strength is lower than a predetermined value or that the reflection time is abnormal.

For example, the sensor emits a detection signal in a default direction (e.g., horizontal direction) toward the pool wall, and if the reflected detection signal does not meet the predetermined condition, indicating that the robot does not detect the pool wall, the sensor may detect the pool wall multiple times. The following will describe in detail specific examples.

The orientation is the angle between the direction in which the sensor emits the detection signal and a certain reference direction (e.g., a horizontal direction or a vertical direction). By adjusting the orientation, the detection direction of the sensor can be changed. Wherein the adjustment of the orientation can be accomplished by co-operation of the motor and the adjustment bracket as described above.

Illustratively, the detecting in the direction of the pool wall includes detecting a plurality of times in the direction of the pool wall at predetermined time intervals.

For example, the predetermined time interval may be 3 seconds. In other words, the detection signal may be transmitted to the direction of the tank wall and the reflected signal may be received every 3 seconds, thereby ensuring the regularity and accuracy of the detection process. The detection may also be performed several times in the direction of the tank wall, for example, once every 3 seconds, and if the tank wall is detected in a certain detection, i.e. the reflected detection signal meets the predetermined condition, the robot has detected the tank wall and terminates the detection. The detection can be performed once every 3 seconds in the direction of the pool wall, and the detection action is repeated for a plurality of times (for example, 5 times), and each detection can detect the pool wall, so that the robot can detect the pool wall, and the detection accuracy is improved.

If the pool wall is detected in step S303, step S304 is entered, and the pool automatic cleaning device is controlled to move along the pool wall for cleaning according to the current orientation of the sensor.

For example, if a pool wall is detected in step S303, the robot is controlled to move along the pool wall and perform edge cleaning with the orientation of the sensor as the current orientation when the robot detects the pool wall. The angle between the direction in which the sensor emits the detection signal when the current orientation, i.e. the successful detection of the tank wall, and a certain reference direction, e.g. the horizontal or vertical direction. In step S304, during the control of the automatic pool cleaning device to move along the pool wall for cleaning, the sensor may be kept at the current orientation, for example, in other words, the automatic pool cleaning device adjusts its traveling direction or traveling path while moving along the pool wall for cleaning, and keeps the sensor at the current orientation.

If the pool wall is not detected in step S303, the orientation of the sensor is adjusted and detected by the sensor in the direction of the pool wall, and the judging step in step S303 is repeated.

For example, if no pool wall is detected in step S303, the orientation of the sensor is adjusted and detection by the sensor is continued in the direction of the pool wall. For example, after adjusting the predetermined angle in the vertical direction, the detection signal is continuously emitted toward the tank wall direction, and if the tank wall is detected, the detection is terminated, and then the process proceeds to step S304. If the sensor has not detected a wall after a predetermined angle has been adjusted in the vertical direction, the orientation of the sensor may be readjusted and one or more detections may be made in the direction of the wall. The principle of the pool automatic cleaning device for detecting the pool wall by using the sensor and the detection signal is described above, and will not be described here.

The sensor may be oriented, for example, by one or more detections after rotating 10 degrees upwards in the vertical direction (i.e. in the direction perpendicular to the horizontal plane), and if no wall is detected, by another 10 degrees upwards in the vertical direction, and then by one or more detections. Or the device can rotate downwards by 10 degrees in the vertical direction, perform one or more detection to the direction of the pool wall, and rotate downwards by 20 degrees in the vertical direction if the pool wall is not detected, and then perform one or more detection again. By adjusting the orientation of the sensor for a plurality of times, the accuracy of detecting the pool wall can be improved.

For example, when the robot moves at the arc bottom, the body of the robot may change in posture such as pitching or rolling due to fluctuation of the terrain, if only the orientation of the sensor in the vertical direction may not be detected, the sensor may be adjusted to the left or right in the horizontal direction, or the sensor may be adjusted to the up or down in the vertical direction, so that the sensor may detect in a cone-shaped three-dimensional detection field of view, thereby ensuring that the robot always accurately positions the pool wall in a complex three-dimensional space.

It should be understood that the above description about the direction and the number of detections are only exemplary, and those skilled in the art can set the direction and the number of detections according to the actual situation, as long as the technical principle of the present application can be implemented.

In step S303, if the pool wall is not detected after the orientation of the sensor is adjusted, the control method may further include controlling the automatic pool cleaning device to move a first predetermined distance in the direction of the pool wall, and the side of the automatic pool cleaning device is oriented toward the pool wall and repeating the determining step.

For example, after adjusting the orientation of the sensor a number of times and performing one or more detections, if the pool wall is still not detected, it is indicated that the distance between the robot and the pool wall is outside the detection range of the sensor. At this time, the robot may be controlled to move a first predetermined distance in the direction of the tank wall, and the side portion of the robot may be directed toward the tank wall, and the detection step described in step S302 and the determination step described in step S303 may be performed, and the steps of moving the side portion of the robot in the direction of the tank wall, and the steps of "moving the side portion of the robot toward the tank wall", "detecting and determining" which are sequentially performed may be repeated a plurality of times until the tank wall is detected. It will be appreciated that the first predetermined distance may be set according to the size of the robot, the speed of travel of the robot, the detection range of the sensor, and the shape and size of the pool, and may be a fixed value, for example 10 cm or 5 cm. The function of controlling the robot to move a first predetermined distance in the direction of the pool wall is to ensure that the robot enters the detection range of the sensor after a certain distance is passed by the robot when the pool wall is not detected.

In step S303, the determining whether the pool wall is detected may include the sensor reading being the same or within a predetermined reading threshold for each of the plurality of detection periods.

For example, it may be determined from the sensor readings of multiple detections whether the robot detected a pool wall. Taking a laser ranging sensor as an example, if the distance data of the cell wall is the same every time the sensor detects the cell wall or the distance data of the cell wall is within a predetermined threshold range every time the sensor detects the cell wall, it is indicated that the sensor has detected the cell wall.

Controlling the automatic pool cleaning device to move along the pool wall according to the current direction of the sensor in step S304 comprises controlling the automatic pool cleaning device to move along the pool wall after the automatic pool cleaning device is far away from or near the pool wall according to the current direction of the sensor and the current reading of the sensor.

For example, if the current reading of the sensor is smaller than a preset value, the distance between the robot and the pool wall is too small, the robot is controlled to be far away from the pool wall, and if the current reading of the sensor is larger than the preset value, the distance between the robot and the pool wall is too large, the robot is controlled to be close to the pool wall, and the preset distance between the robot and the pool wall can be kept through the adjusting mechanism, so that the problem that the robot collides due to too close distance to the pool wall or is not cleaned in place due to too far distance from the pool wall is avoided, and the cleaning efficiency of the robot is improved. It will be appreciated that the predetermined values and the predetermined distances described above may be set according to the size of the robot, the travel speed of the robot, the sensor accuracy, and the shape of the pool.

Further, the pool automatic cleaning device may further include an inertial measurement unit, and the control method may include controlling the pool automatic cleaning device to move toward the pool wall, determining that the pool automatic cleaning device has reached the transition zone by the inertial measurement unit, and controlling the pool automatic cleaning device to retreat a second predetermined distance and then turn so that a side of the pool automatic cleaning device faces the pool wall, before the controlling the pool automatic cleaning device to move along the pool wall.

For example, the robot may further include an inertial measurement unit that first controls the movement of the robot from the bottom of the tank to the junction of the bottom of the tank and the wall of the tank before the robot is controlled to move along the wall of the tank, and monitors a change in a pitch angle of the robot during the movement of the robot from the bottom of the tank to the junction of the bottom of the tank and the wall of the tank, thereby determining that the robot has reached the transition region.

For example, when the robot enters the arc area, it may be monitored by the inertial measurement unit that the pitch angle of the robot gradually increases, at which point it may be determined that the robot has reached the arc area. For another example, when the robot enters a slope area or a slope area, the inertial measurement unit can monitor that the pitch angle of the robot gradually increases, and when the pitch angle is increased to a certain degree, the pitch angle is kept unchanged, and at this time, it can also be determined that the robot has reached the slope area or the slope area.

After the robot reaches the transition zone, it is necessary to control the robot to turn and orient the robot side towards the pool wall. However, the robot turns directly in the transition area, and the robot can pitch, roll or slip due to limited space in the transition area or topography fluctuation in the transition area, so that the robot turns under or fails. Therefore, the robot may be controlled to retract a second predetermined distance (e.g., 1 fuselage length) to drive the robot away from the transition area or to provide space for the robot to turn, ensuring that the robot turns smoothly so that the sides of the robot face the pool wall.

The inertial measurement unit generally includes an accelerometer (Accelerometer), a gyroscope (Gyroscope), and a magnetometer (Magnetometer). The accelerometer is used for measuring acceleration of the robot in a three-dimensional space, including gravitational acceleration due to the action of gravitational attraction and inertial acceleration generated by the change of the motion state of an object. Gyroscopes are used to measure the angular velocity of a robot in three dimensions, i.e. the rate at which the robot rotates about various spatial axes (X, Y and Z axes). Magnetometers are used to detect the magnetic field of the surroundings of the robot when performing cleaning tasks, helping to determine the orientation of the robot in the earth's coordinate system. From these data, the motion trajectory and position change of the robot can be deduced.

It will be appreciated that the first predetermined distance and the second predetermined distance described above with respect to the first predetermined distance and the second predetermined distance, i.e., the predetermined distance, may be set according to the pool shape, the pool size, the body size of the robot, and the travel speed.

The application also discloses a computer storage medium, wherein the storage medium stores a computer program, and the computer program can realize the control method according to any embodiment of the application when being executed by a processor.

It should be appreciated that in the present embodiment, the computer storage medium described above may be located on at least one network server of a plurality of network servers of a computer network. Alternatively, in the present embodiment, the storage medium may include, but is not limited to, a U disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a removable hard disk, a magnetic disk, or an optical disk, etc. various media that can store program codes.

It should be noted that the sequence of the embodiments of the present application is only for description, and does not represent the advantages and disadvantages of the embodiments.

In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

In the present application, unless otherwise indicated, the terms of orientation such as "upper and lower" are used generally with respect to the direction shown in the drawings or with respect to the vertical, vertical or gravitational direction, and likewise, for ease of understanding and description, "left and right" are generally with respect to the left and right shown in the drawings, and "inner and outer" are intended to mean inner and outer with respect to the outline of the components themselves, although the above terms of orientation are not intended to limit the present application.

The above description is merely an exemplary embodiment of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily think of various changes or substitutions within the technical scope of the present application, and these should be covered in the scope of the present application. Therefore, the protection scope of the application is subject to the protection scope of the claims.

Claims

1. A method for controlling an automatic pool cleaning device, wherein the automatic pool cleaning device is used to clean a pool, the pool comprising a pool bottom, a pool wall, and a transition area between the pool bottom and the pool wall. A sensor is provided on a side of the automatic pool cleaning device, and the orientation of the sensor is adjustable. The control method comprises:

Controlling the automatic pool cleaning device to move along the pool wall in the transition area;

During the movement of the automatic pool cleaning device in the transition area, the side of the automatic pool cleaning device faces the pool wall, and the sensor detects the direction of the pool wall; and

Determine whether the pool wall is detected, wherein:

If the pool wall is detected, the automatic pool cleaning device is controlled to move along the pool wall for cleaning according to the current orientation of the sensor.

2. The control method according to claim 1, further comprising:

If the pool wall is not detected, the direction of the sensor is adjusted and detection is performed in the direction of the pool wall by the sensor, and the determination step is repeated.

3. The control method according to claim 2, wherein if the pool wall is still not detected after adjusting the orientation of the sensor, the control method further comprises:

Controlling the automatic pool cleaning device to move a first predetermined distance toward the pool wall, with the side of the automatic pool cleaning device facing the pool wall; and

Repeat the determination step.

4. The control method according to claim 1, wherein controlling the automatic pool cleaning device to move along the pool wall for cleaning according to the current orientation of the sensor comprises:

According to the current orientation of the sensor and the current reading of the sensor, the automatic pool cleaning device is controlled to move away from or approach the pool wall, and then the automatic pool cleaning device is controlled to move along the pool wall for cleaning.

5. The control method according to any one of claims 1 to 4, wherein the detecting in the direction of the pool wall comprises: performing multiple detections in the direction of the pool wall at predetermined time intervals.

6. The control method according to claim 1, wherein the automatic pool cleaning device further comprises an inertial measurement unit, and before controlling the automatic pool cleaning device to move along the pool wall on the pool bottom, the control method comprises:

Controlling the automatic pool cleaning device to move toward the pool wall;

determining, by the inertial measurement unit, that the automatic pool cleaning device has reached the transition region; and

The automatic pool cleaning device is controlled to retreat a second predetermined distance, and then turned so that the side of the automatic pool cleaning device faces the pool wall.

7. The control method according to any one of claims 1 to 4, wherein the automatic pool cleaning device comprises a motor and an adjustment bracket, at least a portion of the sensor is connected to the adjustment bracket, and the motor can drive the adjustment bracket to move, thereby adjusting the orientation of the sensor.

8 . The control method according to claim 1 , wherein the transition region comprises at least one of the following: an arc region, a slope region, or a slope region.

9 . The control method according to claim 5 , wherein the determining whether the pool wall is detected comprises: during each detection during the multiple detections, the reading of the sensor is the same or within a predetermined reading threshold range.

10. An automatic pool cleaning device, capable of executing the control method according to any one of claims 1 to 9.

11. A computer storage medium storing a computer program, wherein the computer program is executed by a processor to implement the control method according to any one of claims 1 to 9.