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CN-121979213-A - Automatic pool cleaning device and control method

CN121979213ACN 121979213 ACN121979213 ACN 121979213ACN-121979213-A

Abstract

The application provides an automatic pool cleaning device and a control method, wherein the pool comprises a pool bottom and a pool wall, the automatic pool cleaning device is provided with a sensor, the control method comprises the steps of receiving an instruction of a map building task, controlling the automatic pool cleaning device to walk along the edge of the pool wall, acquiring contour information of the pool through the sensor in the walking process, and generating a map based on the contour information of the pool, wherein the edge of the pool wall at least comprises a first area, the first area comprises an arc-shaped connecting area between the pool bottom and the pool wall, and the automatic pool cleaning device is inclined or forms a certain included angle with the pool bottom when walking in the first area.

Inventors

  • Tang Gujie

Assignees

  • 深圳市元鼎智能创新有限公司

Dates

Publication Date
20260505
Application Date
20260128

Claims (10)

  1. 1. A control method of an automatic pool cleaning device, the pool including a pool bottom and a pool wall, the automatic pool cleaning device being provided with a sensor, the control method comprising: receiving an instruction of a drawing construction task, and controlling the automatic pool cleaning device to walk along the edge of the pool wall; in the walking process, acquiring outline information of the pool through the sensor; generating a map based on the contour information of the pool; The pool comprises a pool bottom, a pool wall and a pool automatic cleaning device, wherein the edge of the pool wall at least comprises a first area, the first area comprises an arc-shaped connecting area between the pool bottom and the pool wall, and when the first area walks, the pool automatic cleaning device is inclined or forms a certain included angle with the pool bottom.
  2. 2. The control method of claim 1, wherein the included angle is in the range of 10-30 degrees.
  3. 3. The control method of claim 1, wherein the sensor comprises a first sensor that obtains profile information of the pool while walking in the first area.
  4. 4. A control method according to claim 3, wherein the first sensor comprises at least an inertial measurement unit and/or a wheel speed meter.
  5. 5. The control method of any one of claims 1-4, wherein the edge of the pool wall includes at least a second zone including a connection zone having a right angle between the pool bottom and the pool wall, the pool robot being horizontal or parallel to the surface of the pool bottom when the second zone is walked.
  6. 6. The control method according to claim 5, wherein the sensor includes a second sensor that acquires profile information of the pool while walking in the second area.
  7. 7. The control method according to claim 6, wherein the second sensor includes at least one of an ultrasonic sensor, an infrared sensor, a laser radar, or a visual sensor.
  8. 8. The control method of claim 7, further comprising a controller that controls the pool automatic cleaning device to maintain a tilted posture when the first zone walks, and that controls the pool automatic cleaning device to maintain a horizontal posture when the second zone walks.
  9. 9. The control method according to claim 8, wherein the controller can judge the type of the current area in real time through the sensor, acquire the contour information of the pool through the first sensor if the area is the first area, and acquire the contour information of the pool through the second sensor if the area is the second area.
  10. 10. A pool automatic cleaning device capable of performing the control method of any one of claims 1-9.

Description

Automatic pool cleaning device and control method Technical Field The application relates to the technical field of robots, in particular to an automatic pool cleaning device and a control method. 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. Before performing a cleaning task, a pool cleaning robot typically needs to be "edgewise" mapped by an ultrasonic sensor to plan the cleaning path of the pool cleaning robot. However, in practical applications, there may be an arc-shaped area in the swimming pool, and if the curvature of the arc-shaped area is large, it is difficult for the ultrasonic sensor to acquire a stable signal, so that data is missing or the accuracy is insufficient, and the integrity and accuracy of the "edge" map construction are affected. Disclosure of Invention The application provides a control method of an automatic pool cleaning device, aiming at the defects of the prior art, wherein the pool comprises a pool bottom and a pool wall, the automatic pool cleaning device is provided with a sensor, the control method comprises the steps of receiving an instruction of a map building task, controlling the automatic pool cleaning device to walk along the edge of the pool wall, acquiring contour information of the pool through the sensor in the walking process, and generating a map based on the contour information of the pool, wherein the edge of the pool wall at least comprises a first area, the first area comprises an arc-shaped connecting area between the pool bottom and the pool wall, and the automatic pool cleaning device is inclined or forms a certain included angle with the pool bottom when walking in the first area. Further, the included angle is in the range of 10-30 degrees. Further, the sensor includes a first sensor that obtains profile information of the pool while walking in the first area. Further, the first sensor includes at least an inertial measurement unit and/or a wheel speed meter. Further, the edge of the pool wall comprises at least a second area comprising a connection area with a right angle between the pool bottom and the pool wall, and the pool automatic cleaning device is horizontal or parallel to the surface of the pool bottom when the second area walks. Further, the sensor includes a second sensor that obtains profile information of the pool while walking in the second area. Further, the second sensor comprises at least one of an ultrasonic sensor, an infrared sensor, a laser radar or a vision sensor. Further, the control method further comprises a controller, wherein the controller controls the automatic pool cleaning device to keep an inclined posture when the first area walks, and controls the automatic pool cleaning device to keep a horizontal posture when the second area walks. Further, the controller can judge the type of the current area in real time through the sensor, if the current area is the first area, the contour information of the pool is obtained through the first sensor, and if the current area is the second area, the contour information of the pool is obtained through the second sensor. The application also discloses an automatic pool cleaning device which can execute the control method according to any embodiment of the application. The embodiment of the application has the following beneficial effects: The control method of the automatic pool cleaning device provided by the application ensures that different mapping strategies can be adopted in different areas in the process of walking the automatic pool cleaning device along the edge of the pool wall. For example, in a flatter area, the contour information of the pool can be acquired by sensors such as ultrasonic sensors, laser radars, vision sensors, and a map is generated based on the contour information of the pool, whereas in an arc-shaped area or bowl-shaped area, the pool automatic cleaning device can record a walking route and acquire the contour information of the pool by sensors such as an inertial measurement unit, a wheel speed meter during walking on an inclined surface of the area or at an angle to the pool bottom, thereby generating a map. 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 flow chart showing a control method of an automatic pool cleaning apparatus according to an embodiment of the present application; FIG. 2 is a schematic view showing the construction of a pool automatic cleaning device according to an embodiment of the present application, and Fig. 3 shows a schematic view of a sink in accordance with an embodiment of the application. Drawings 200-Pool automatic cleaning device, 210