Yituo Electric Co. Ltd. Receives Patent for Control Method and Control Device of Cleaning Equipment

Yituo Electric Co. Ltd. has been issued patent number 12443189 for a control method and a control device of cleaning equipment. The patent was filed on March 22, 2022, and published online on October 14, 2025. The control method improves efficiency and precision of the cleaning equipment in cleaning pools by using an infrared sensor and an angular velocity sensor to detect obstacles and measure distances and angles to the pool wall.

Key Takeaways:

• The control method and device improve efficiency and precision of cleaning equipment in cleaning pools by detecting obstacles and measuring distances and angles to the pool wall.
• The control method involves acquiring ADC values from an infrared sensor, controlling the cleaning equipment to stop running straight when the ADC value is greater than a preset value, and controlling the cleaning equipment to turn in a preset direction and acquire another ADC value.
• The control method also involves calculating the first turn angle and the first running distance based on angle data uploaded by means of the angular velocity sensor.
• The control method specifically involves calculating the first turn angle as an absolute value of the difference between the first angle and the second angle, and calculating the first running distance using the formula L1=S/sin(|a1-a2|), where L1 represents the first running distance, a1 represents the first angle, a2 represents the second angle, and S represents a set distance.
• The control method improves the cleaning efficiency and precision by avoiding over-cleaning in the central area of the pool and insufficient cleaning in the border area of the pool.
• The control method is a significant improvement over conventional cleaning equipment that can only perform a square wave shaped cleaning path with a 90-degree turn and is only suitable for rectangular pools.
• The control method provides a control device of cleaning equipment with an infrared sensor and an angular velocity sensor that can be used in various types of pools, including rectangular and irregularly shaped pools.
• The control method is a novel solution that addresses the limitations of conventional cleaning equipment and provides a more efficient and precise cleaning method.

Statistics:

• The control method was filed on March 22, 2022.
• The patent was published online on October 14, 2025.
• The control method involves acquiring ADC values from an infrared sensor in real-time.
• The control method involves controlling the cleaning equipment to stop running straight when the first ADC value is greater than a first preset value.
• The control method involves controlling the cleaning equipment to turn in a preset direction and acquire another ADC value.
• The control method involves calculating the first turn angle and the first running distance based on angle data uploaded by means of the angular velocity sensor.
• The control method specifically involves calculating the first turn angle as an absolute value of the difference between the first angle and the second angle.
• The control method specifically involves calculating the first running distance using the formula L1=S/sin(|a1-a2|).

Sources:

• Chen, Xiating. Control method and control device of cleaning equipment. U.S. Patent Number 12443189, filed March 22, 2022, and published online on October 14, 2025. Patent URL (for desktop use only): https://ppubs.uspto.gov/pubwebapp/external.html?q=(12443189)&db=USPAT&type=ids