US 12,304,602 B1
Controllable sinking and floating swimming pool robot and sinking and floating control method for swimming pool robot
Xiaofeng Liu, Singapore (SG); and Yongfei Hua, Singapore (SG)
Assigned to Aiper Global Pte. Ltd., Singapore (SG)
Filed by Aiper Global Pte. Ltd., Singapore (SG)
Filed on Nov. 25, 2024, as Appl. No. 18/958,035.
Application 18/958,035 is a continuation of application No. 18/822,334, filed on Sep. 2, 2024, granted, now 12,221,196.
Claims priority of application No. 202411017697.3 (CN), filed on Jul. 26, 2024.
This patent is subject to a terminal disclaimer.
Int. Cl. B63G 8/24 (2006.01); B25J 3/00 (2006.01); B63G 8/00 (2006.01); E04H 4/16 (2006.01); G05D 1/467 (2024.01); G05D 105/10 (2024.01); G05D 107/00 (2024.01)
CPC B63G 8/24 (2013.01) [B25J 3/00 (2013.01); B63G 8/001 (2013.01); E04H 4/1654 (2013.01); G05D 1/467 (2024.01); B63G 2008/004 (2013.01); G05D 2105/10 (2024.01); G05D 2107/29 (2024.01)] 20 Claims
OG exemplary drawing
 
15. A sinking and floating control method for a swimming pool robot, comprising:
controlling a swimming pool robot to find a side wall or a slope based on operational requirement information of the swimming pool robot, and enabling the swimming pool robot to crawl along the side wall or the slope;
detecting a positional relationship between the swimming pool robot and a waterline of a liquid surface of a swimming pool where the swimming pool robot is located; and
controlling a sinking and floating control unit to enter a floating working state based on detection results to realize a floating of the swimming pool robot;
wherein the swimming pool robot comprises a distance measurement unit or a map storage unit, and the sinking and floating control method further comprises controlling the swimming pool robot to find the nearest side wall or the nearest slope based on distance measurement results of the distance measurement unit or map data in the map storage unit.