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CN-121979210-A - Automatic pool cleaning device and control method

CN121979210ACN 121979210 ACN121979210 ACN 121979210ACN-121979210-A

Abstract

The application provides an automatic pool cleaning device and a control method, wherein the automatic pool cleaning device is used for cleaning a pool, the bottom of the pool comprises a platform, the platform comprises a platform side wall and a platform table top, the control method comprises the steps of determining the position of the platform in the pool, controlling the cleaning device to move towards the platform based on the position, controlling the cleaning device to climb up the platform side wall and move upwards along the platform side wall after the cleaning device reaches the platform, judging whether the cleaning device can reach the platform table top within a preset time period, and controlling the cleaning device to climb up the platform side wall again after moving laterally below the platform until reaching the platform table top and cleaning the platform table top. The method enables the robot to clean all platform tops of the multi-platform pool bottom with complex terrain, and achieves more comprehensive pool bottom cleaning.

Inventors

  • YANG BOTAO

Assignees

  • 深圳市元鼎智能创新有限公司

Dates

Publication Date
20260505
Application Date
20260116

Claims (10)

  1. 1. A method of controlling an automatic pool cleaning device for cleaning a pool of water, the bottom of the pool of water including a platform including platform sidewalls and a platform deck, the method comprising: Determining the position of the platform in the pool; controlling the cleaning device to move toward the platform based on the position; After the cleaning device reaches the platform, controlling the cleaning device to climb up the side wall of the platform and move upwards along the side wall of the platform; Determining whether the cleaning device reaches the platform surface within a predetermined period of time, wherein, And if the cleaning device is judged not to reach the platform surface within the preset time, controlling the cleaning device to climb up the side wall of the platform again after moving laterally below the platform, and moving upwards along the side wall of the platform until reaching the platform surface, and cleaning the platform surface.
  2. 2. The control method according to claim 1, wherein, if any one of the following is satisfied, it is determined that the cleaning device has not reached the platform surface within the predetermined period of time: During the upward movement of the cleaning device along the side wall of the platform, the cleaning device at least partially exposes to the water surface without detecting the platform surface, and During upward movement of the cleaning device along the platform sidewall, the cleaning device detects the platform deck but does not reach the platform deck for the predetermined period of time.
  3. 3. The control method according to claim 2, wherein the controlling the cleaning device to climb up the platform side wall again after moving sideways below the platform in a case where the cleaning device is at least partially exposed to the water surface but no platform surface is detected during the upward movement of the cleaning device along the platform side wall, comprises: controlling the cleaning device to move downwards from the side wall of the platform to the lower part of the platform; And controlling the cleaning device to climb the side wall of the platform again after moving a first preset distance along a first preset direction below the platform, wherein the included angle between the first preset direction and the side wall of the platform is smaller than or equal to a first angle.
  4. 4. The control method according to claim 2, wherein the controlling the cleaning device to climb up the platform side wall again after moving sideways below the platform in a case where the cleaning device detects a platform deck but does not reach the platform deck within the predetermined period of time during the upward movement of the cleaning device along the platform side wall, comprises: controlling the cleaning device to move downwards from the side wall of the platform to the lower part of the platform; And controlling the cleaning device to climb the side wall of the platform again after moving a second preset distance along a second preset direction below the platform, wherein an included angle between the second preset direction and the side wall of the platform is larger than or equal to a second angle.
  5. 5. The control method of claim 1, wherein the cleaning device includes an image acquisition assembly, the determining the location of the platform in the pool comprising: collecting a pool image of the pool through the image collecting assembly; Judging whether a platform exists in the pool image, and if so, acquiring the azimuth of the platform.
  6. 6. The control method of claim 5, wherein the capturing, by the image capturing assembly, a pool image of the pool comprises: Controlling the cleaning device or the image acquisition assembly to rotate by a preset angle; and acquiring a pool image of the pool through the image acquisition assembly in the process of rotating the cleaning device or the image acquisition assembly.
  7. 7. The control method according to claim 1, wherein the cleaning device is determined to reach the platform during the movement of the cleaning device to the platform, upon determining that a distance between the cleaning device and a preceding obstacle decreases, and/or upon determining that a change value of a pitch angle of the cleaning device is greater than a first predetermined threshold.
  8. 8. The control method according to any one of claims 1-7, wherein in case the cleaning device reaches the platform deck, the cleaning device is controlled to move over the platform deck until cleaning of the platform deck is completed.
  9. 9. The control method of any of claims 1-7, further comprising, after completing cleaning of the platform deck: determining the depth of water at the position of the cleaning device; And controlling the cleaning device to move to the lower part of the platform through the side wall of the platform under the condition that the water depth is smaller than a preset depth threshold value.
  10. 10. A cleaning device comprising a memory and a processor, the memory having stored thereon computer program instructions, the processor, when processing the program instructions, performing the control method of any of claims 1-9.

Description

Automatic pool cleaning device and control method Technical Field The embodiment of the application relates to the technical field of cleaning devices, in particular to an automatic cleaning device for a water pool and a control method. Background Along with the development of computer technology, robot technology also develops rapidly, and the current underwater robot is widely applied in various fields, and can assist people to perform operations in water, including underwater cleaning, underwater exploration, underwater sightseeing and the like. The pool cleaning robot is required to clean the pool bottom, the water surface and the pool walls of the pool. When the robot cleans the bottom of the pool, the robot usually cleans the plane of the bottom of the pool, but the bottom of some pools may have multiple platforms with different heights, so that the bottom of the pool comprises multiple planes with different heights, and if only the plane of the bottom of the pool where the robot is currently located is cleaned, the whole bottom of the pool is difficult to clean comprehensively. Disclosure of Invention According to one aspect of the application, there is provided a control method of an automatic pool cleaning apparatus for cleaning a pool, the bottom of the pool comprising a platform side wall and a platform deck, the control method comprising determining the position of the platform in the pool, controlling the cleaning apparatus to move towards the platform based on the position, controlling the cleaning apparatus to climb up the platform side wall and move up the platform side wall after the cleaning apparatus reaches the platform, determining whether the cleaning apparatus reaches the platform deck within a predetermined period of time, wherein if it is determined that the cleaning apparatus does not reach the platform deck within the predetermined period of time, controlling the cleaning apparatus to climb up the platform side wall again after sideways moving below the platform and move up the platform side wall until reaching the platform deck, and cleaning the platform deck. According to a second aspect of the present disclosure, there is provided a pool automatic cleaning device capable of performing any one of the control methods described above. The embodiment of the application has the following beneficial effects: The control method of the automatic pool cleaning device provided by the application can identify the position of the platform at the bottom of the pool, and further can control the robot to move towards the platform according to the position of the platform, so that the robot can climb up the platform surface through the side wall of the platform, and further the cleaning of the platform surface by the robot is realized. The control method enables the robot to clean all platform tops of the multi-platform pool bottom with complex terrain, and achieves more comprehensive pool bottom cleaning. Drawings In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings that are required to be used in the description of the embodiments will be briefly described below. The drawings in the following description are only exemplary embodiments of the present disclosure. FIG. 1 is a flow chart of a control method of the automatic pool cleaning device provided by the application; FIG. 2 shows one of the schematic diagrams of the climbing platform of the automatic pool cleaning device provided by the application; FIG. 3 shows a second schematic view of the climbing platform of the automatic pool cleaning device provided by the application; FIG. 4 shows one of the schematic side-shifting diagrams of the automatic pool cleaning apparatus provided by the present application; FIG. 5 shows a second schematic side-shift view of the automatic pool cleaning apparatus provided by the present application. Detailed Description For the purpose of making the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application. The application provides a control method of an automatic pool cleaning device. The automatic pool cleaning device can clean the pool. The pool is for example a pool-shaped building, which may be a swimming pool, a water storage pool, a hydrotherapy pool, a water storage tank, etc. 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. It wi