Control method of automatic pool cleaning device and automatic pool cleaning device

Abstract

The invention provides a control method of an automatic pool cleaning device and the automatic pool cleaning device. The control method comprises the steps that the automatic pool cleaning device is controlled to move in a pool; in the moving process, the automatic pool cleaning device is controlled to execute preset movement based on a preset rule; if the to-be-cleaned object is detected, the automatic pool cleaning device is controlled to go to clean the to-be-cleaned object; wherein the preset rule comprises the preset walking time or the preset walking distance of the automatic cleaning device for the water pool. The detection range is expanded, the detection efficiency and success rate are improved, and therefore the cleaning efficiency of the automatic cleaning device for the water pool is improved.

Description

Technical Field

[0001] This application relates to the field of cleaning device technology, and in particular to a control method and an automatic water tank cleaning device. Background Technology

[0002] During daily use, swimming pools often accumulate dirt and grime on both the surface and bottom, requiring cleaning. Examples include leaves, petals, and insects on the surface. This dirt is usually scattered, and automatic pool cleaning systems offer both surface and bottom cleaning modes. However, current pool cleaning systems lack specific optimization strategies for cleaning this dirt; they simply follow conventional methods (such as random cleaning), resulting in low efficiency in finding and cleaning dirt. Summary of the Invention

[0003] This application provides a control method and an automatic water tank cleaning device, which improves the cleaning efficiency of the automatic water tank cleaning device.

[0004] On one hand, embodiments of this application provide a control method for an automatic pool cleaning device, the automatic pool cleaning device including an image sensor for detecting objects to be cleaned around the automatic pool cleaning device; wherein, the control method includes: Control the movement of the automatic cleaning device in the water tank; During the movement, the automatic cleaning device of the pool is controlled to perform a preset movement based on preset rules. The preset movement is used to expand the range of detection of objects to be cleaned. If the object to be cleaned is detected, the automatic water tank cleaning device is controlled to move to clean the object to be cleaned; The preset rules include the preset time or preset distance that the automatic cleaning device for the pool can travel.

[0005] Furthermore, the preset motion includes: Control the rotation of the automatic water tank cleaning device or the image sensor; The object to be cleaned is detected during the rotation process.

[0006] Furthermore, controlling the rotation of the automatic water cleaning device or the image sensor includes: Obtain first target rotation angle information, which includes a first rotation angle and a first rotation direction; The automatic water tank cleaning device or the image sensor is controlled to rotate according to the first target rotation angle information.

[0007] Furthermore, after rotating according to the first target rotation angle information, the process also includes: If the object to be cleaned is not detected, the second target rotation angle information is obtained, which includes a second rotation angle and a second rotation direction. The automatic water tank cleaning device or the image sensor is controlled to rotate according to the second target rotation angle information; wherein the second rotation direction is opposite to the first rotation direction.

[0008] Furthermore, after rotating according to the second target rotation angle information, the process also includes: If the object to be cleaned is not detected, the third target rotation angle information is obtained, which includes a third rotation angle and a third rotation direction. The automatic water tank cleaning device or the image sensor is controlled to rotate according to the third target rotation angle information, so that the automatic water tank cleaning device returns to the direction of travel before performing the preset movement, wherein the second rotation direction is opposite to the third rotation direction; The automatic water tank cleaning device is controlled to continue moving in the direction of travel before the preset movement.

[0009] Furthermore, the preset distance includes a fixed interval distance or an interval distance set according to preset conditions; and / or, The preset time includes a fixed interval or an interval set according to preset conditions.

[0010] Furthermore, the preset distance or the preset time is determined based on a map of the pool.

[0011] Furthermore, the object to be cleaned includes at least one of the following: leaves, branches, and petals.

[0012] Furthermore, the automatic pool cleaning device also includes a distance sensor, which includes at least one of the following: lidar, infrared rangefinder, ultrasonic sensor, depth gauge, and ToF sensor.

[0013] On the other hand, embodiments of this application provide an automatic pool cleaning device, including: a memory for storing computer-readable instructions; and a processor for executing the computer-readable instructions, causing the automatic pool cleaning device to perform the control method described above.

[0014] The control method for the automatic water tank cleaning device provided in this application has the following technical effects: The control method for an automatic water tank cleaning device provided in this application embodiment controls the automatic water tank cleaning device to move within the water tank. During the movement, the automatic water tank cleaning device is controlled to perform a preset movement based on preset rules. The preset movement is used to detect objects to be cleaned. If the object to be cleaned is detected, the automatic water tank cleaning device is controlled to move towards and clean the object. The preset rules include a preset walking time or a preset walking distance. This application expands the detection range of the automatic water tank cleaning device by executing a preset movement based on preset rules during its movement. If the object to be cleaned is detected, the automatic water tank cleaning device is controlled to move towards and clean the object. This reduces blind spots in detection, improves detection efficiency and success rate, and thus improves the cleaning efficiency of the automatic water tank cleaning device. Attached Figure Description

[0015] To more clearly illustrate the technical solutions of the embodiments of this disclosure, the accompanying drawings used in the description of the embodiments will be briefly introduced below. The accompanying drawings in the following description are merely exemplary embodiments of this disclosure.

[0016] Figure 1 This is a flowchart illustrating the control method of the automatic water tank cleaning device provided in this application; Figure 2 This is a schematic diagram of the automatic water tank cleaning device provided in this application detecting the object to be cleaned along the first forward direction; Figure 3 This is a schematic diagram of the automatic water tank cleaning device provided in this application detecting the object to be cleaned along the second forward direction; Figure 4 This is a schematic diagram of the automatic cleaning device for the control pool provided in this application detecting the object to be cleaned along the third forward direction. Detailed Implementation

[0017] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0018] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of the embodiments of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such terms can be used interchangeably where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or server that includes a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to these processes, methods, products, or devices.

[0019] This application provides a control method for an automatic pool cleaning device, and an automatic pool cleaning device applying the control method. 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 cleaning device or a pool cleaning automatic cleaning device, 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 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.

[0020] Automatic pool cleaning devices can operate in two modes: a bottom cleaning mode and a surface cleaning mode. The bottom cleaning mode is the traditional operating mode currently available for automatic pool cleaning devices. In this mode, the device moves along the bottom of the pool, using a water pump to suck up dirt and grime from the bottom surface. The dirt then enters and is collected in a dustbin, while the water is drained, thus cleaning the bottom of the pool. The surface cleaning mode, also known as the surface boat mode, cleans up floating debris on the water surface. For example, the device moves along a random or relatively random path on the water surface to remove floating objects and surface dirt.

[0021] When operating underwater or on the surface, the automatic pool cleaning device can identify the target object to be cleaned and proceed to clean it. For example, the automatic pool cleaning device can detect the object to be cleaned using sensors. The object to be cleaned can be, for example, leaves, branches, petals, etc. This application does not limit the specific presentation of the object to be cleaned, as long as the principle of this application can be achieved.

[0022] According to embodiments of this disclosure, the automatic pool cleaning device can be equipped with various sensors to perform various operations such as detecting the underwater environment, determining a travel route, and / or performing cleaning operations. As an example, the automatic pool cleaning device according to embodiments of this disclosure can be equipped with an image sensor for acquiring image information of objects around the automatic pool cleaning device. As an example, the image sensor may include, but is not limited to, a monocular camera, a binocular camera, and / or a panoramic camera.

[0023] Furthermore, the automatic pool cleaning device according to embodiments of this disclosure may also be equipped with a distance sensor for acquiring distance information between the automatic pool cleaning device and the object. As an example, the distance sensor may include, but is not limited to, at least one of the following: an ultrasonic sensor, an infrared sensor, a lidar sensor, a TOF sensor, or a 3D structured light sensor.

[0024] The following describes a control method for an automatic water tank cleaning device according to an embodiment of this application. Figure 1 This is a flowchart illustrating a control method for an automatic water tank cleaning device according to one embodiment of this application. This application provides method operation steps as shown in the embodiment or flowchart, but based on conventional or non-inventive methods, more or fewer operation steps may be included. The order of steps listed in the embodiment is merely one possible execution order among many and does not represent the only possible execution order. In actual system or server product execution, the method can be executed sequentially according to the embodiment or the accompanying drawings, or in parallel (e.g., in a parallel processor or multi-threaded processing environment). This method can be applied to the controller of an automatic cleaning device, and this application does not specifically limit its application.

[0025] Specifically, the automatic pool cleaning device of this application includes an image sensor for detecting objects to be cleaned around the automatic pool cleaning device. For example... Figure 1 As shown, the method may include: Step S101: Control the automatic cleaning device of the water tank to move in the water tank.

[0026] Understandably, in step 101, the automatic pool cleaning device moves within the pool, either on the water surface or underwater. This movement can be achieved by a water pump and / or a drive mechanism, such as by a water pump spraying water in the opposite direction of movement, or by a motor driving paddles or drive wheels. The movement of the automatic pool cleaning device can include forward, backward, turning, and / or brief periods of stillness.

[0027] Step S102: During the movement, the automatic cleaning device of the pool is controlled to perform a preset movement based on preset rules. The preset movement is used to expand the range of the object to be cleaned.

[0028] During movement, the automatic water cleaning device is controlled to perform preset movements based on preset rules. These preset movements are used to expand the detection range of the object to be cleaned. For example, the preset movements may include controlling the automatic water cleaning device to rotate or the image sensor to rotate, thereby detecting the object to be cleaned during rotation, enabling the detection of the object to be cleaned from multiple angles, and thus expanding the detection range.

[0029] The object to be cleaned may include at least one of leaves, twigs, and petals. This application does not limit the specific presentation of the object to be cleaned, as long as the principle of this application is achieved.

[0030] In some embodiments, the preset rules include a preset time or a preset distance that the automatic pool cleaning device will travel.

[0031] In some embodiments, the preset distance includes a fixed interval distance or an interval distance set according to preset conditions. For example, the fixed interval distance can be 2 meters, 5 meters, 8 meters, etc. Alternatively, the interval distance can be set according to preset conditions, such as the walking distance of the automatic pool cleaning device. For instance, if the automatic pool cleaning device walks 5 meters, the interval distance is 5 meters, and it is determined to meet the preset rule. Or, the preset interval distance can be the distance between the device and the previous location where the preset movement was performed. For example, if the distance between the device and the previous location where the preset movement was performed is 5 meters, the interval distance is 5 meters, and it is determined to meet the preset rule. When the automatic pool cleaning device performs the preset movement for the first time, the interval distance set by the preset conditions is the distance between the automatic pool cleaning device and the origin. Of course, other methods can be used to set the value of the preset distance according to actual needs, and this application embodiment does not specifically limit this.

[0032] The preset time can be a fixed interval or an interval set according to preset conditions. For example, the preset time can be a fixed 10-second interval or a fixed 20-second interval, meaning that when the automatic water cleaning device has been running for 10 or 20 seconds, the device is controlled to perform a preset movement. Alternatively, the preset time can be an interval set according to preset conditions, such as an interval set according to a specific time period. For example, the specific time period can be an even-numbered time period, such as 10:02 or 10:04.

[0033] Alternatively, the preset distance or preset time can be determined based on a map of the pool. For example, a predetermined path is generated within the feasible water area on the pool map. The preset distance is set along the path. For instance, when the cumulative walking distance along the planned path is equal to or greater than 5 meters, the automatic pool cleaning device is controlled to perform a preset movement.

[0034] The pool map is divided into different areas, and a preset time is set for each area. For example, the automatic pool cleaning device will perform a preset movement every 20 seconds.

[0035] Preset motion is used to expand the detection range of objects to be cleaned. For example, assuming the automatic sink cleaning device is traveling in the forward direction, preset motion can be used to detect objects to be cleaned in the forward direction.

[0036] In some embodiments, the automatic pool cleaning device includes an image sensor, wherein the preset motion includes: Control the rotation of the automatic water tank cleaning device or the image sensor; The object to be cleaned is detected during the rotation process.

[0037] The preset motion can include controlling the rotation of the automatic sink cleaning device or controlling the rotation of the image sensor mounted on the device. During rotation, it detects objects to be cleaned. For example, during rotation, it captures images of the corresponding area of ​​the sink, and uses these images to detect objects to be cleaned; that is, it identifies whether objects exist in the captured area. For instance, assuming the automatic sink cleaning device is moving forward, and the preset motion is to the left, during rotation, it can capture images of the area from the forward direction to the corresponding left side.

[0038] In some embodiments, the automatic pool cleaning device may further include a sonar. During the rotation of the automatic pool cleaning device, the sonar emits sound waves to both sides and receives echoes from objects on the bottom of the water and in the water body to form an image. The object to be cleaned will form a unique acoustic image on the water surface, thereby enabling the detection of the object to be cleaned. Alternatively, the automatic pool cleaning device may also include a thermal infrared imager. During the rotation of the automatic pool cleaning device, the infrared detector inside the thermal infrared imager receives long-wave infrared radiation emitted from the surfaces of all objects such as water bodies and leaves. The received radiation energy intensity is converted into an electrical signal and then into a thermal distribution map, which is used to identify the object to be cleaned. The automatic pool cleaning device may also include a lidar. During the rotation of the automatic pool cleaning device, the lidar emits lasers, and the laser feedback forms a three-dimensional point cloud. By analyzing the three-dimensional point cloud, the object to be identified in the detection area is identified.

[0039] It is understood that the rotation can be achieved by a water pump and / or a drive device. For example, changing the direction of the water pump's drainage can utilize the backflow force of the water to rotate the automatic pool cleaning device. Alternatively, changing the wheel speeds of the left and right wheels of the automatic pool cleaning device to create a speed difference can also cause the automatic pool cleaning device to rotate.

[0040] When acquiring images through image sensors and detecting objects to be cleaned by recognizing those images, deep learning models can be used to identify the objects in the images. Deep learning models include, but are not limited to, R-CNN, Faster R-CNN, SSD, and YOLO series models. It is understood that the deep learning model for image recognition is a pre-trained deep learning model. During training, a large amount of image information can be pre-collected and manually labeled with target object tags. A training set is then constructed using this large amount of image information and the manually labeled tags, and the deep learning model is trained based on this training set to obtain a pre-trained deep learning model that meets the recognition requirements. The above description of deep learning models is merely exemplary; those skilled in the art can select the deep learning model according to actual needs, as long as it achieves the technical principles of this application.

[0041] It is understood that the acquired images can be multi-dimensional, including static two-dimensional image data, as well as various attributes such as color, texture, contour, and spatial relationships. During the rotation process, the image sensor can acquire multiple frames of images, each containing timestamp information and the orientation information of the image sensor when it captured the current image. The rotation can be achieved by adjusting the shooting angle of the image sensor or by controlling the automatic water cleaning device to rotate by a certain angle.

[0042] It is worth noting that before recognizing the image, it can be preprocessed. Image preprocessing is a step preceding image analysis (feature extraction, segmentation, matching, and recognition, etc.). Image preprocessing can include, but is not limited to, various methods such as: image denoising, image geometric transformation, image filtering, image enhancement, image data normalization, and image restoration.

[0043] In some embodiments, controlling the rotation of the automatic pool cleaning device or the image sensor includes: Obtain first target rotation angle information, which includes a first rotation angle and a first rotation direction; The automatic water tank cleaning device or the image sensor is controlled to rotate according to the first target rotation angle information.

[0044] The system acquires first target rotation angle information, which includes a first rotation angle and a first rotation direction, and controls the automatic water cleaning device or the image sensor to rotate according to this information. When the automatic water cleaning device is traveling in the forward direction, the first rotation angle can be 60 degrees, 90 degrees, etc. The first rotation direction can be left or right. For example, if the first rotation angle is 90 degrees and the first rotation direction is left, the automatic water cleaning device or the image sensor will rotate 90 degrees to the left. If the first rotation angle is 60 degrees and the first rotation direction is right, the automatic water cleaning device or the image sensor will rotate 60 degrees to the right.

[0045] After the automatic pool cleaning device or the image sensor rotates according to the first target rotation angle information, if the object to be cleaned is detected, the automatic pool cleaning device is controlled to move to clean the object to be cleaned.

[0046] Furthermore, after detecting the object to be cleaned, a distance sensor can be used to detect the distance and direction between the object and the automatic sink cleaning device. This allows the automatic sink cleaning device to move according to the detected distance and direction to clean the object. Even further, if the number of objects to be cleaned is greater than one, it indicates that the automatic sink cleaning device needs to perform cleaning tasks on multiple objects. This involves the issue of cleaning sequence, which affects the overall cleaning efficiency of the automatic sink cleaning device. Therefore, the cleaning route of the automatic sink cleaning device can be determined based on the positions of multiple objects, and the device can be controlled to clean the objects according to the cleaning route. Specifically, assuming there are three objects to be cleaned at different locations, all possible access sequences between the three points are calculated, the total travel distance for each sequence is calculated, and the sequence with the shortest total distance is selected as the cleaning route. This improves the overall cleaning efficiency of the automatic sink cleaning device.

[0047] Furthermore, after the object to be cleaned is removed, the automatic cleaning device in the pool can be controlled to return to its origin and rotate from the origin according to the rotation angle information of the second target. This allows for further detection of the area corresponding to the rotation angle of the second target, identifying any objects to be cleaned within that area. This dynamically expands the effective field of view of the detection sensors, such as image sensors and LiDAR, acquiring multi-angle information to ensure comprehensive detection of the object to be cleaned, thus improving the efficiency and success rate of object detection.

[0048] Furthermore, if the object to be cleaned is not detected, the automatic water cleaning device or the image sensor can be controlled to continue rotating in the first rotation direction. Specifically, refer to... Figure 3 , Figure 3 This is a schematic diagram illustrating the automatic pool cleaning device provided in this application detecting the object to be cleaned along a second forward direction. Assuming the first rotation angle is 45 degrees and the first rotation direction is to the left, the automatic pool cleaning device or the image sensor is controlled to rotate 45 degrees to the left. When the automatic pool cleaning device is controlled to rotate 45 degrees to the left, the forward direction of this 45-degree leftward rotation is the second forward direction. Alternatively, the image sensor can be controlled to rotate 45 degrees to the left; in this case, the forward direction of the automatic cleaning device remains unchanged, only the detection direction of the image sensor changes.

[0049] If the object to be cleaned is not detected, the automatic water cleaning device or the image sensor can be controlled to continue rotating in the first rotation direction, and the total rotation angle can be 270 degrees.

[0050] In some embodiments, after rotating according to the first target rotation angle information, the method further includes: If the object to be cleaned is not detected, the second target rotation angle information is obtained, which includes a second rotation angle and a second rotation direction. The automatic water tank cleaning device or the image sensor is controlled to rotate according to the second target rotation angle information; wherein the second rotation direction is opposite to the first rotation direction.

[0051] If the automatic sink cleaning device or the image sensor rotates according to the first target rotation angle information, and no object to be cleaned is detected, the automatic sink cleaning device or the image sensor can be further controlled to continue rotating, thereby expanding the detection range of the object to be cleaned. Specifically, second target rotation angle information is obtained, which includes a second rotation angle and a second rotation direction. The automatic sink cleaning device or the image sensor is controlled to rotate according to the second target rotation angle information to further detect the object to be cleaned. Specifically, the second rotation direction can be opposite to the first rotation direction. For example, assuming the automatic sink cleaning device is moving forward, if the first rotation direction is to the left, then the second rotation direction is to the right. Specifically, refer to... Figure 4 , Figure 4 This is a schematic diagram of the automatic cleaning device for controlling the water tank provided in this application detecting the object to be cleaned along the third forward direction. Assuming the first rotation angle is 45 degrees and the first rotation direction is to the left, the second rotation direction can be to the right and the rotation angle is 90 degrees.

[0052] The first rotation angle can be 45 degrees, 60 degrees, etc. The first rotation direction can be left or right. For example, if the first rotation angle is 45 degrees and the first rotation direction is left, then the automatic water cleaning device or the image sensor will rotate 45 degrees to the left. If the first rotation angle is 60 degrees and the first rotation direction is left, then the automatic water cleaning device or the image sensor will rotate 60 degrees to the left.

[0053] In some embodiments, if the object to be cleaned is not detected, the rotation angle information of the third target is obtained, and the rotation angle information of the third target includes a third rotation angle and a third rotation direction. The automatic water tank cleaning device or the image sensor is controlled to rotate according to the third target rotation angle information, so that the automatic water tank cleaning device returns to the direction of travel before performing the preset movement, wherein the second rotation direction is opposite to the third rotation direction; The automatic water tank cleaning device is controlled to continue moving in the direction of travel before the preset movement.

[0054] After the automatic water tank cleaning device or the image sensor rotates according to the second target rotation angle information, if the object to be cleaned is not detected, the third target rotation angle information is obtained. This third target rotation angle information includes a third rotation angle and a third rotation direction. The second rotation direction is opposite to the third rotation direction. For example, continuing to refer to... Figure 2 Assuming the second rotation direction is to the right, the third selection direction can be to the left, and the rotation angle can be 45 degrees. At this point, the forward direction of the automatic pool cleaning device returns to the first forward direction. The automatic pool cleaning device or the image sensor is controlled to rotate according to the third target rotation angle information, so that the automatic pool cleaning device returns to its forward direction. For example, assuming the forward direction of the automatic pool cleaning device is straight ahead, then the forward direction of the automatic pool cleaning device is restored to straight ahead. The automatic pool cleaning device is then controlled to continue moving in the straight ahead direction.

[0055] In some embodiments, the automatic pool cleaning device further includes a distance sensor, which includes at least one of the following: lidar, infrared ranging sensor, ultrasonic sensor, depth gauge, and ToF sensor.

[0056] When the automatic pool cleaning device includes a distance sensor, the distance sensor includes at least one of the following: lidar, infrared ranging sensor, ultrasonic sensor, depth gauge, and ToF sensor. Among the aforementioned distance sensors, lidar, infrared ranging sensor, and ToF sensor are all optical sensors, and ultrasonic sensor is an acoustic sensor; the ranging principle will not be elaborated here.

[0057] The control method for an automatic water tank cleaning device provided in this application embodiment controls the automatic water tank cleaning device to move within the water tank. During the movement, the automatic water tank cleaning device is controlled to perform a preset movement based on preset rules. The preset movement is used to expand the detection range of objects to be cleaned. If the object to be cleaned is detected, the automatic water tank cleaning device is controlled to move towards and clean the object. The preset rules include a preset walking time or a preset walking distance. This application expands the detection range of the automatic water tank cleaning device by performing a preset movement based on preset rules during its movement. If the object to be cleaned is detected, the automatic water tank cleaning device is controlled to move towards and clean the object. This reduces blind spots in detection, improves detection efficiency and success rate, and thus improves the cleaning efficiency of the automatic water tank cleaning device.

[0058] In some embodiments of this application, a control device for controlling an automatic water tank cleaning device is also provided, the control device for controlling the automatic water tank cleaning device may include: The first control module is used to control the movement of the automatic cleaning device in the water tank; The second control module is used to control the automatic cleaning device of the pool to perform a preset movement based on preset rules during the movement. The preset movement is used to detect and expand the range of the object to be cleaned. The third control module is used to control the automatic water tank cleaning device to clean the object to be cleaned if the object to be cleaned is detected. The preset rules include the preset time or preset distance that the automatic cleaning device for the pool can travel.

[0059] Regarding the control device for the automatic water tank cleaning device in the above embodiments, the specific methods by which each module performs its operation have been described in detail in the embodiments of the relevant method, and will not be elaborated upon here. The control device for the automatic water tank cleaning device in the above embodiments may also include other implementation methods based on the description of the method embodiments. Specific implementation methods can be referred to the description of the relevant method embodiments, and will not be repeated here.

[0060] This application also provides an automatic pool cleaning device, comprising: a memory for storing computer-readable instructions; and a processor for executing the computer-readable instructions, causing the automatic pool cleaning device to perform the control method described above.

[0061] In the description of this application, the 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 described specific features, structures, materials, or characteristics 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 application, as well as the features of those different embodiments or examples.

[0062] 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.

[0063] 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.

[0064] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A control method for an automatic water tank cleaning device, wherein, The automatic water tank cleaning device includes an image sensor for detecting objects to be cleaned around the device; the control method includes: Control the movement of the automatic cleaning device in the water tank; During the movement, the automatic cleaning device of the pool is controlled to perform a preset movement based on preset rules. The preset movement is used to expand the range of detection of objects to be cleaned. If the object to be cleaned is detected, the automatic water tank cleaning device is controlled to move to clean the object to be cleaned; The preset rules include the preset time or preset distance that the automatic cleaning device for the pool can travel.

2. The method according to claim 1, wherein, The preset motion includes: Control the rotation of the automatic water tank cleaning device or the image sensor; The object to be cleaned is detected during the rotation process.

3. The method according to claim 2, wherein, Controlling the rotation of the automatic water tank cleaning device or the image sensor includes: Obtain first target rotation angle information, which includes a first rotation angle and a first rotation direction; The automatic water tank cleaning device or the image sensor is controlled to rotate according to the first target rotation angle information.

4. The method according to claim 3, wherein, After rotating according to the first target rotation angle information, the process also includes: If the object to be cleaned is not detected, the second target rotation angle information is obtained, which includes a second rotation angle and a second rotation direction. The automatic water tank cleaning device or the image sensor is controlled to rotate according to the second target rotation angle information; wherein the second rotation direction is opposite to the first rotation direction.

5. The method according to claim 4, wherein, After rotating according to the second target rotation angle information, the process also includes: If the object to be cleaned is not detected, the third target rotation angle information is obtained, which includes a third rotation angle and a third rotation direction. The automatic water tank cleaning device or the image sensor is controlled to rotate according to the third target rotation angle information, so that the automatic water tank cleaning device returns to the direction of travel before performing the preset movement, wherein the second rotation direction is opposite to the third rotation direction; The automatic water tank cleaning device is controlled to continue moving in the direction of travel before the preset movement.

6. The method according to claim 1, wherein, The preset distance includes a fixed interval distance or an interval distance set according to preset conditions; and / or, The preset time includes a fixed interval or an interval set according to preset conditions.

7. The method according to claim 1, wherein, The preset distance or the preset time is determined based on the map of the pool.

8. The method according to any one of claims 1 to 7, wherein, The objects to be cleaned include at least one of the following: leaves, branches, and petals.

9. The method according to any one of claims 1 to 7, wherein, The automatic water tank cleaning device also includes a distance sensor, which includes at least one of the following: lidar, infrared ranging sensor, ultrasonic sensor, depth gauge, and ToF sensor.

10. An automatic water tank cleaning device, wherein, include: Memory, used to store computer-readable instructions; And a processor for executing the computer-readable instructions to cause the automatic pool cleaning device to perform the control method of the automatic pool cleaning device as described in any one of claims 1 to 9.

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