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Method for cleaning pool and corresponding pool cleaning device
The invention discloses a method for cleaning a pool and a corresponding pool cleaning device. The method comprises the following steps: obtaining a distance measurement value between the pool cleaning device and an object in the side direction of the pool cleaning device, wherein the object comprises at least one of the side wall of the pool and the side wall of an island existing in the pool; based on the distance measurement value, a pool cleaning device is controlled to advance in the extending direction of the object so as to conduct cleaning operation; the direction angle of the pool cleaning device in the advancing process is obtained; based on the change of the direction angle, determining whether the advancing route of the pool cleaning device is closed or not and the closing direction; and determining whether the pool cleaning device travels along the boundary of the pool or along the boundary of an island existing in the pool based on the closing direction of the travel route and the mode of acquiring the distance measurement value under the condition that the travel route is closed.
公开了一种进行水池清洁的方法以及相应的水池清洁装置。该方法可以包括：获取水池清洁装置与其侧面方向的对象之间的测距值，其中所述对象包括水池的侧壁和水池中存在的孤岛的侧壁中的至少一个；基于所述测距值，控制水池清洁装置沿所述对象延伸的方向行进以进行清洁作业；获取水池清洁装置在行进过程中的方向角；基于方向角的变化，确定水池清洁装置的行进路线是否完成闭合及其闭合方向；以及在所述行进路线完成闭合的情况下，基于所述行进路线的闭合方向和获取所述测距值的方式，确定该水池清洁装置是已沿着水池的边界行进还是已沿着所述水池中存在的孤岛的边界行进。
Method for cleaning pool and corresponding pool cleaning device
The invention discloses a method for cleaning a pool and a corresponding pool cleaning device. The method comprises the following steps: obtaining a distance measurement value between the pool cleaning device and an object in the side direction of the pool cleaning device, wherein the object comprises at least one of the side wall of the pool and the side wall of an island existing in the pool; based on the distance measurement value, a pool cleaning device is controlled to advance in the extending direction of the object so as to conduct cleaning operation; the direction angle of the pool cleaning device in the advancing process is obtained; based on the change of the direction angle, determining whether the advancing route of the pool cleaning device is closed or not and the closing direction; and determining whether the pool cleaning device travels along the boundary of the pool or along the boundary of an island existing in the pool based on the closing direction of the travel route and the mode of acquiring the distance measurement value under the condition that the travel route is closed.
公开了一种进行水池清洁的方法以及相应的水池清洁装置。该方法可以包括：获取水池清洁装置与其侧面方向的对象之间的测距值，其中所述对象包括水池的侧壁和水池中存在的孤岛的侧壁中的至少一个；基于所述测距值，控制水池清洁装置沿所述对象延伸的方向行进以进行清洁作业；获取水池清洁装置在行进过程中的方向角；基于方向角的变化，确定水池清洁装置的行进路线是否完成闭合及其闭合方向；以及在所述行进路线完成闭合的情况下，基于所述行进路线的闭合方向和获取所述测距值的方式，确定该水池清洁装置是已沿着水池的边界行进还是已沿着所述水池中存在的孤岛的边界行进。
Method for cleaning pool and corresponding pool cleaning device
进行水池清洁的方法以及相应的水池清洁装置
SONG QINGXIANG (author)
2024-11-19
Patent
Electronic Resource
Chinese
IPC:
E04H
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