Automatic pool cleaning device, control method and computer storage medium

Abstract

The invention provides an automatic pool cleaning device, a control method and a computer storage medium. The automatic pool cleaning device comprises a buoyancy adjusting mechanism, and the control method comprises the steps that the automatic pool cleaning device is controlled to execute a pool wall cleaning task; in the process that the automatic pool cleaning device moves from the pool bottom to the pool wall, after the automatic pool cleaning device meets preset conditions, the buoyancy of the automatic pool cleaning device is adjusted through the buoyancy adjusting mechanism, and the automatic pool cleaning device can move upwards along the pool wall.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of cleaning devices, in particular to a pool automatic cleaning device, a control method and a computer storage medium. BACKGROUND

[0002] With the popularity of swimming pools and the significant progress of robot technology, more and more consumers tend to use automatic swimming pool cleaning robots to perform cleaning tasks of swimming pools. However, when the pool robot performs the pool wall cleaning task, it needs to move from the pool bottom to the pool wall and climb the wall. In practice, due to the smoothness of the pool wall, the friction between the pool cleaning robot and the pool wall is insufficient or the suction force at the bottom of the pool cleaning robot is not enough, so that the pool cleaning robot cannot move on the pool wall surface, thereby affecting the cleaning efficiency. SUMMARY

[0003] The present application aims at the deficiencies of the prior art and provides a control method of a pool automatic cleaning device, the pool automatic cleaning device comprising a buoyancy adjusting mechanism, the control method comprising: controlling the pool automatic cleaning device to perform a pool wall cleaning task; during the movement of the pool automatic cleaning device from the pool bottom to the pool wall, after the pool automatic cleaning device meets a predetermined condition, adjusting the buoyancy of the pool automatic cleaning device through the buoyancy adjusting mechanism, so that the pool automatic cleaning device can move upwards along the pool wall.

[0004] Further, the predetermined condition comprises: failing to climb the wall for a preset number of times of wall climbing actions; or failing to climb the wall for a preset time of accumulated wall climbing actions; or identifying the type of the pool wall as a smooth wall surface.

[0005] Further, whether the pool automatic cleaning device climbs the wall is monitored through a depth sensor or an IMU.

[0006] Further, the preset number of times comprises 2-3 times; or the preset time comprises 1-3 minutes.

[0007] Further, the type of the pool wall is identified through a visual sensor.

[0008] Further, the smooth wall surface comprises a glass wall surface or a mosaic wall surface or a concave surface.

[0009] Further, the buoyancy adjusting mechanism comprises an air charging device and an air storage bin, and the air charging device can charge air into the air storage bin.

[0010] Further, the air storage bin is arranged at the front of the pool automatic cleaning device.

[0011] The application further discloses a pool automatic cleaning device capable of executing the control method.

[0012] The application further discloses a non-volatile computer storage medium, wherein a computer program is stored in the storage medium, and the computer program is capable of executing the control method when executed by a processor.

[0013] The embodiments described in the application have the following beneficial effects:

[0014] The pool automatic cleaning device of the application is provided with a buoyancy adjusting mechanism. When the pool automatic cleaning device meets a predetermined condition (for example, repeated preset times of wall climbing actions fail to climb the wall or the pool wall is a smooth wall surface), the buoyancy of the pool automatic cleaning device is adjusted through the buoyancy adjusting mechanism, so that the buoyancy of the pool automatic cleaning device is increased, the pool automatic cleaning device is facilitated to move from the pool bottom to the pool wall surface and move upward along the pool wall surface, and the problem of wall climbing failure of the pool automatic cleaning device is solved. BRIEF DESCRIPTION OF DRAWINGS

[0015] In order to more clearly illustrate the technical solutions of the application, the following will briefly introduce the drawings needed to be used in the description of the embodiments. The drawings in the following description are only exemplary embodiments of the application.

[0016] Figure 1 A flow chart of a control method of a pool automatic cleaning device according to an embodiment of the application is shown;

[0017] Figure 2A A schematic diagram of a pool automatic cleaning device according to an embodiment of the application during movement from a pool bottom to a pool wall is shown Figure 1 ;

[0018] Figure 2B A schematic diagram of a pool automatic cleaning device according to an embodiment of the application during movement from a pool bottom to a pool wall is shown

[0019] Figure 3 A structural schematic diagram of a pool automatic cleaning device according to an embodiment of the application is shown; and

[0020] Figure 4 A schematic diagram of a non-volatile computer storage medium according to an embodiment of the application is shown. BRIEF DESCRIPTION OF DRAWINGS

[0022] 100-pool automatic cleaning device, 110-gas storage bin, 120-vision sensor, 300-non-volatile computer storage medium, 301-computer program. DETAILED DESCRIPTION

[0023] The technical solutions in this application will be clearly and completely described below. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of this application. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other.

[0024] This application provides a control method for an automatic pool cleaning device, an automatic pool cleaning device using this control method, and a computer storage medium. The automatic pool cleaning device of this application is capable of cleaning a pool. The pool is, for example, a pool-shaped structure. The pool-shaped structure can be a swimming pool, a water storage tank, a spa pool, a water storage tank, a water storage trough, etc. The automatic pool cleaning device can be a device such as an automatic robot or a pool cleaning robot, capable of cleaning the pool-shaped structure. This application does not limit the specific presentation of the automatic pool cleaning device or the pool-shaped structure, as long as the principle of this application is achieved. In the following description, unless otherwise specified, a robot will be used as an example of the automatic pool cleaning device, and a swimming pool will be used as an example of a pool or pool-shaped structure. In the following description, unless otherwise specified, the terms "pool bottom," "pool bottom surface," and "pool base" all refer to the bottom surface of a swimming pool.

[0025] This application provides an automatic water tank cleaning device 100 and its control method 10. Figure 1 A flowchart of a control method 10 for an automatic water tank cleaning device 100 according to an embodiment of this application is shown. Figure 2A This illustration shows the process of an automatic water tank cleaning device according to an embodiment of this application moving from the bottom of the tank to the tank wall. Figure 1 . Figure 2B Schematic diagram 2 shows the process of an automatic water tank cleaning device according to an embodiment of this application moving from the bottom of the tank to the tank wall. Figure 3 A schematic diagram of an automatic water tank cleaning device 100 according to an embodiment of this application is shown. The following will be combined with... Figure 3 The automatic water tank cleaning device 100 is described in detail. For example... Figure 3 As shown, the automatic pool cleaning device 100 may include a buoyancy adjustment mechanism and a vision sensor 120.

[0026] For example, the buoyancy of the pool cleaning robot 100 can be adjusted by the buoyancy adjusting mechanism, so that the pool cleaning robot 100 can move in different underwater environments. For example, when the pool cleaning robot 100 climbs from the bottom of the pool to the pool wall, if the pool wall is made of a smooth material (such as glass, ceramic tile, or mosaic), the pool cleaning robot 100 will be less likely to slide down the pool wall due to the high smoothness of the pool wall, or the driving wheels / driving tracks of the pool cleaning robot will slip on the surface of the pool wall, causing the pool cleaning robot to be unable to move up the pool wall for cleaning. At this time, the buoyancy of the pool cleaning robot 100 can be increased by the buoyancy adjusting mechanism, so that the pool cleaning robot can move from the bottom of the pool to the surface of the pool wall and move up the surface of the pool wall.

[0027] Further, the buoyancy adjusting mechanism can include an inflation device and an air storage chamber 110, and the inflation device can inflate the air storage chamber 110 with gas.

[0028] For example, the inflation device can be a suction pump, which can inflate the air storage chamber 110 with external gas when working. As the air storage chamber 110 continues to increase in gas, the air storage chamber 110 can expand, thereby increasing the volume of the pool cleaning robot 100, and according to Archimedes' principle, the buoyancy of the pool cleaning robot 100 can be increased, thereby facilitating the movement of the pool cleaning robot up the pool wall.

[0029] The air storage chamber 110 can be one or more sealed air bags, for example, which can expand when inflated and contract when deflated, thereby adjusting the buoyancy of the robot. In addition, the air storage chamber 110 is connected to the inflation device to ensure that the gas can be quickly inflated or deflated. For example, the inflation device can include a high-pressure gas tank, which pre-stores high-pressure gas. The inflation device can inflate the air bag with high-pressure gas from the high-pressure gas tank, thereby increasing the volume of the air bag to increase the buoyancy of the robot.

[0030] For example, the air storage chamber 110 can be disposed at the front of the pool cleaning robot 100.

[0031] For example, continuing to refer to Figure 3, the air tank 110 can be arranged at the front of the pool automatic cleaning device 100. The robot can be located at the intersection between the pool bottom and the pool wall, and attempts to move to the pool wall. In this case, the air tank 110 can be inflated and expanded by the air filling device, and the buoyancy of the air tank 110 first acts on the front of the robot, which can first lift the front of the robot upward (i.e., realize the robot lifting its head upward along the pool wall direction), thereby facilitating the robot to smoothly move from the pool bottom to the pool wall. It can be understood that the air tank 110 can also be arranged at the tail or other areas of the pool automatic cleaning device 100, and can be arranged according to actual use requirements, as long as the technical principles of the present application can be realized.

[0032] The pool automatic cleaning device 100 can also include a visual sensor 120. For example, the visual sensor 120 can include at least one camera for collecting image data in the pool environment to achieve obstacle recognition, path planning, and cleaning target detection functions. The camera can use one or more of the following types according to actual needs: a visible light camera (RGB camera) for acquiring color images under sufficient light conditions; a low-light camera (such as a high-sensitivity sensor camera), suitable for image acquisition in low-light environments; an infrared camera (IR camera) that combines infrared fill light and can work in turbid water or low-visibility conditions; a special underwater camera with waterproof, pressure-resistant, and corrosion-resistant properties, suitable for long-term underwater operation; a 3D camera or depth camera (such as binocular vision, structured light, or ToF camera) for obtaining three-dimensional spatial information of obstacles; a multispectral or polarized camera for enhancing image recognition capabilities in specific scenarios (such as stain classification or reflection suppression); a panoramic camera providing a wider field of view to improve environmental perception capabilities. The above-mentioned cameras are only a limited enumeration, and other types of cameras can be used in practice as long as the technical concept of the present application can be realized. It should be noted that the camera used should have a sealing and waterproof function to ensure that it can work stably in water for a long time. The camera can be arranged at the front, upper, side, and / or rear of the robot according to needs to optimize image acquisition requirements in different directions.

[0033] In addition, the pool automatic cleaning device 100 can also include a filtering mechanism, a cleaning mechanism, a driving mechanism, and a control system. The structures and positions of the above-mentioned components can be selected according to actual needs, and the embodiments of the present application are not specifically limited.

[0034] The control method 10 of the pool automatic cleaning device 100 of the present application will be described in detail below with reference to the accompanying drawings. Figure 1 A flowchart of the control method of the pool automatic cleaning device of an embodiment of the present application is shown. Figure 2AFigure 2 shows a schematic diagram of the automatic pool cleaning device of an embodiment of the present application moving from the pool bottom to the pool wall. Figure 1 . Figure 2B Figure 3 shows a schematic diagram two of the automatic pool cleaning device of an embodiment of the present application moving from the pool bottom to the pool wall. The steps S101 to S103 will be described below in conjunction with Figure 1 , Figure 2A and Figure 2B .

[0035] In step S101, the control system controls the automatic pool cleaning device to perform a pool wall cleaning task.

[0036] For example, the robot performs cleaning work in the pool, which can include multiple working modes, such as: pool bottom cleaning mode, pool wall cleaning mode, water line cleaning mode and water surface cleaning mode. The pool wall cleaning mode is also called the wall climbing mode, which mainly uses the adsorption principle of water pump suction to attach the robot to the pool wall and move on the pool wall, and through the water pump and the water suction port arranged at the bottom of the robot, the impurities, dirt, etc. (such as leaves, branches, plastic particles, algae, oil film on the pool wall, etc.) on the pool wall surface are sucked into the filter inside the robot, and these impurities, dirt, etc. are filtered and stored in the dirt box, and the water is discharged from the drain, thereby achieving the purpose of cleaning the pool wall.

[0037] The pool wall cleaning task can be a task generated by the robot, a task obtained by the robot from the user, or a pre-set task.

[0038] The robot can be controlled by the control system to move in the vertical direction on the pool wall of the pool. During the movement of the robot, the robot cleans, adsorbs and filters the dirt on the pool wall through the cleaning mechanism to achieve the purpose of cleaning the pool wall.

[0039] The control system can include, for example, a perception module, a control module, and an execution module, etc. The perception module can include, for example, a flow rate sensor, a pressure sensor, an image sensor, etc., for real-time monitoring of the water flow condition, the distribution of dirt, and the movement state of the robot in the pool. The control module can be composed of a control chip and related circuits, responsible for receiving sensor data, processing signals, and generating corresponding control commands according to the pre-set control strategy. The execution module can include, for example, a driving assembly (such as a driving wheel, a driving track, etc.) and a cleaning mechanism, etc. The driving assembly can adjust the moving speed and direction of the robot according to the control command. The cleaning mechanism (such as a water pump, a dirt suction port, a belt conveyor, a rotating brush, etc.) can clean, adsorb and filter the dirt during the movement of the robot.

[0040] It is understood that the above description of the robot's movement path is merely exemplary, and those skilled in the art can select the robot's movement path according to the actual situation, as long as it can achieve the technical principles of this application.

[0041] Next, proceed to step S102. In step S102, during the movement of the automatic water cleaning device from the bottom of the pool to the pool wall, it is determined whether the automatic water cleaning device meets predetermined conditions. If it does, proceed to step S103.

[0042] For example, when a robot is performing a task to clean a pool wall, it can first identify the target pool wall, then move from the bottom of the pool to the pool wall, and after moving to the boundary between the bottom of the pool and the pool wall, it can start moving to the surface of the pool wall (also known as "climbing the wall" or "going up the wall"). Figure 2A This illustration shows the process of an automatic water tank cleaning device according to an embodiment of this application moving from the bottom of the tank to the tank wall. Figure 1 .like Figure 2A As shown, the rectangle represents the robot, the square represents the air storage tank, and the triangle represents the robot's field of vision. As the robot moves from the bottom of the pool to the pool wall, it can use visual sensors to collect data from ahead (such as...). Figure 2A The environmental image information (shown in the field of view area) can be analyzed to identify whether the robot meets the predetermined conditions.

[0043] For example, the type of pool wall (such as a smooth or textured wall) can be identified through collected environmental image information. Specifically, environmental image information contains visual features of the pool wall, such as texture, color, and gloss. Through processes such as feature extraction, feature classification, and decision-making, key features can be extracted from the environmental image information. These features can then be analyzed using machine learning or deep learning models to identify the characteristics of the pool wall (such as texture roughness, surface reflectivity, and color distribution), thereby identifying the type of pool wall.

[0044] Understandably, before recognizing environmental image information, it's essential to preprocess it. Image preprocessing is a crucial step before image analysis (feature extraction, segmentation, matching, and recognition, etc.). Its purpose is to eliminate irrelevant information, restore useful, accurate information, enhance the detectability of relevant information, and simplify data, thereby improving the reliability of feature extraction, image segmentation, matching, and recognition. Image preprocessing can include, but is not limited to, various methods such as image denoising, geometric transformation, filtering, enhancement, normalization, and restoration.

[0045] During movement, the robot's trajectory can be monitored by built-in sensors to determine whether it meets predetermined conditions. For example, sensors can monitor the robot's trajectory to determine if it has successfully climbed onto a wall. Specifically, sensors can acquire real-time data on the robot's position, attitude, speed, and acceleration to determine if it has successfully climbed the wall. Sensors can be, for example, depth sensors, IMUs (Inertial Measurement Units), or pressure sensors. It is understood that the above description of sensor types is merely exemplary and not intended to be an exhaustive list of sensor types.

[0046] Furthermore, the predetermined conditions may include: failing to climb the wall after repeating the climbing action a preset number of times; failing to climb the wall after accumulating a preset time of climbing action; or identifying the pool wall as a smooth wall surface.

[0047] For example, if the robot fails to climb the wall after repeating the "climbing" action a preset number of times (e.g., 2-3 times), or fails to climb the wall within a preset time (e.g., 1-3 minutes), it indicates that the robot's current "climbing" ability is insufficient and it cannot complete the action. Therefore, the robot's buoyancy needs to be increased to enable it to climb. As another example, if the robot identifies the pool wall as a smooth surface, the lack of sufficient friction will cause the robot's drive wheels / tracks to slip on the surface, preventing it from climbing. Therefore, the robot's buoyancy also needs to be increased to enable it to climb.

[0048] Figure 2B Schematic diagram two shows the process of an automatic water tank cleaning device according to an embodiment of this application moving from the bottom of the tank to the tank wall. Figure 2B In the diagram, 100 represents the robot, and ①, ②, ③, and ④ represent the number of times the robot "climbs the wall." Arrows on the pool bottom surface pointing towards the pool wall indicate the robot's movement path from the pool bottom to the pool wall; arrows on the pool bottom surface pointing away from the pool wall indicate the path the robot takes back to the pool bottom after failing to climb the wall. (Refer to...) Figure 2B The robot moves from the bottom of the pool towards the pool wall and attempts to climb it (as shown in ①). After failing, the robot can retreat to the bottom of the pool and then continue moving from the bottom towards the pool wall and attempting to climb it again (as shown in ②). If the robot fails to climb the wall multiple times (e.g., 3 times in a row), it indicates that the robot's current "climbing" ability is insufficient and it cannot complete the climbing action. Therefore, it is necessary to increase the robot's buoyancy, such as by filling the air storage tank 110 with gas through the buoyancy adjustment mechanism (e.g., gas is added to the air storage tank 110). Figure 2B (The robot was marked "inflated") and attempted to climb the wall for the fourth time. On the fourth attempt, the robot successfully climbed the wall, allowing it to move along the path on the pool wall.

[0049] It should be noted that, althoughFigure 2B In this attached diagram, the arrows pointing towards and away from the pool wall do not coincide. However, during a single attempt to climb the wall, these two arrows can represent two different paths or different directions of the same path. Similarly, the two paths on the pool wall surface (i.e., the green and blue lines) can represent two different paths; or they can represent the robot's reciprocating motion along the same cleaning path on the pool wall surface. The green line indicates the robot moving along this path from the bottom of the pool towards the waterline, and the blue line indicates the robot moving along this path from the waterline towards the bottom of the pool. The green and blue lines are simply used to distinguish the robot's direction of movement during this reciprocating motion.

[0050] For example, a depth sensor or IMU can be used to monitor whether the automatic water cleaning device is mounted on the wall.

[0051] If the robot successfully scales the wall, the water depth it is in will change. Therefore, a depth sensor can monitor these changes in water depth to determine if the robot has successfully scaled the wall. Specifically, as the robot moves from the boundary between the bottom and the wall towards the wall, the water depth gradually decreases, and the depth sensor can detect this trend. If the water depth stabilizes within a certain timeframe during the robot's movement from the bottom to the wall, it can be determined that the robot has not successfully scaled the wall.

[0052] For example, an IMU (Inertial Measurement Unit) can be used to monitor whether a robot has successfully climbed onto a wall. Specifically, an IMU is installed inside the robot, which typically includes an accelerometer, a gyroscope, and a magnetometer. The accelerometer measures the robot's acceleration in three-dimensional space. The gyroscope measures the robot's angular velocity in three-dimensional space, that is, the rate at which the robot rotates around its various spatial axes (X-axis, Y-axis, and Z-axis). The magnetometer detects the magnetic field of the surrounding environment when the robot is performing a cleaning task, helping to determine the robot's orientation in the Earth's coordinate system. These data can be used to calculate the robot's attitude changes. If the robot moves onto the pool wall, its attitude will change significantly, such as a noticeable change in pitch angle. The control system receives and analyzes this attitude data in real time to determine whether the robot has successfully climbed onto the wall.

[0053] For example, the smooth wall surface may include: a glass wall surface, a mosaic wall surface, or a concave surface.

[0054] For example, glass walls are typically smooth with a low coefficient of friction, making it difficult for robots to move upwards on them. Mosaic walls, composed of small tiles, while each individual tile may have some roughness, result in a relatively smooth overall surface, making it equally difficult for robots to move upwards. Concave walls, due to their unique recessed or curved design, make it easier for robots to lose balance and grip during ascent.

[0055] It is understood that the above description of the predetermined conditions and the preset number of times is merely an example. Those skilled in the art can set the predetermined conditions and the preset number of times according to the actual situation, as long as the technical principles of this application can be achieved.

[0056] Finally, proceed to step S103. In step S103, after the automatic water tank cleaning device meets the predetermined conditions, the buoyancy of the automatic water tank cleaning device is adjusted by the buoyancy adjustment mechanism, so that the automatic water tank cleaning device can move upward along the pool wall.

[0057] For example, continue to refer to Figure 2B If, according to step S102, the robot has repeatedly attempted to climb the wall a preset number of times (e.g., 3 times) but still failed, then gas can be injected into the air storage tank 110 through the buoyancy adjustment mechanism to increase the volume of the air storage tank 110, thereby increasing the robot's buoyancy. The robot will then successfully climb the wall on its fourth attempt, allowing it to move upwards along the pool wall surface (e.g., ...). Figure 2B (The green line in the middle).

[0058] For example, if the pool wall has been identified as a mosaic wall in step S102, gas can be injected into the air storage chamber 110 through the buoyancy adjustment mechanism to increase the robot's buoyancy.

[0059] It is understood that the above description of robot buoyancy adjustment is merely exemplary, and those skilled in the art can make corresponding buoyancy adjustment settings for the robot according to specific circumstances, as long as the technical principles of this application can be achieved.

[0060] The automatic pool cleaning device 100 of this application is equipped with a buoyancy adjustment mechanism. When the automatic pool cleaning device meets the predetermined conditions (such as failing to reach the wall after repeating the wall-mounting action a preset number of times or the pool wall is a smooth wall surface), the buoyancy of the automatic pool cleaning device is adjusted by the buoyancy adjustment mechanism, thereby increasing the buoyancy of the automatic pool cleaning device, which makes it easier for the automatic pool cleaning device to move from the bottom of the pool to the surface of the pool wall and move upward along the surface of the pool wall, thus solving the problem of the automatic pool cleaning device failing to reach the wall.

[0061] This application also discloses an automatic water tank cleaning device 100, which is capable of performing the control method described in any of the embodiments above.

[0062] This application also discloses a non-volatile computer storage medium 300. Figure 4 A schematic diagram of a non-volatile computer storage medium according to an embodiment of this application is shown. Figure 4 As shown, the storage medium 300 stores a computer program 301, which, when executed by a processor, can implement the control method described in any of the embodiments above. It should be understood that, in this embodiment, the aforementioned computer storage medium may be located at at least one of multiple network servers in a computer network. Optionally, in this embodiment, the aforementioned storage medium may include, but is not limited to, various media capable of storing program code, such as a USB flash drive, read-only memory (ROM), random access memory (RAM), portable hard drive, magnetic disk, or optical disk.

[0063] It should be noted that the order of the embodiments described above is merely for descriptive purposes and does not represent the superiority or inferiority of the embodiments.

[0064] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of those different embodiments or examples.

[0065] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0066] In this application, unless otherwise stated, directional terms such as "up" and "down" are generally used in relation to the direction shown in the accompanying drawings, or in relation to the vertical, perpendicular, or gravitational direction; similarly, for ease of understanding and description, "left" and "right" are generally used in relation to the left and right shown in the accompanying drawings; "inner" and "outer" refer to the inner and outer contours of each component itself, but the above directional terms are not intended to limit this application.

[0067] The above description is merely an exemplary embodiment of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various variations or substitutions within the technical scope described in this application, and these should all be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A control method of an automatic pool cleaner, the automatic pool cleaner comprising a buoyancy adjusting mechanism, the control method comprising: controlling the automatic pool cleaner to perform a wall cleaning task; during the movement of the automatic pool cleaner from the pool bottom to the pool wall, adjusting the buoyancy of the automatic pool cleaner by the buoyancy adjusting mechanism when the automatic pool cleaner meets a predetermined condition, so that the automatic pool cleaner can move upward along the pool wall.

2. The control method according to claim 1, wherein the predetermined condition comprises: a preset number of wall climbing actions fail to climb the wall; or a preset time of wall climbing actions fail to climb the wall; or identifying the type of the pool wall as a smooth wall.

3. The control method according to claim 2, wherein monitoring whether the automatic pool cleaner climbs the wall by a depth sensor or an IMU. 4.The control method of claim 2, wherein the preset number comprises 2-3 times; or the preset time comprises 1-3 minutes.

5. The control method according to claim 2, wherein identifying the type of the pool wall by a vision sensor.

6. The control method according to claim 2, wherein the smooth wall comprises a glass wall or a mosaic wall or a concave wall.

7. The control method according to any one of claims 1-6, wherein, the buoyancy adjusting mechanism comprises an air charging device and an air storage bin, the air charging device being capable of charging air into the air storage bin.

8. The control method according to claim 7, wherein the air storage bin is arranged at the front of the automatic pool cleaner.

9. An automatic pool cleaning device wherein, the automatic pool cleaner is capable of performing the control method of any one of claims 1-8. 10.A non-volatile computer storage medium, the storage medium storing a computer program, the computer program being executed by a processor to implement the control method of any one of claims 1-8.

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