Automatic pool cleaning device, control method thereof and computer storage medium

Abstract

The invention provides an automatic pool cleaning device, a control method of the automatic pool cleaning device and a computer storage medium, the automatic pool cleaning device is controlled to move underwater or on the water surface of a pool, and in the moving process, a water pump works at first preset power; whether a first predetermined cleaning object exists in front of the automatic pool cleaning device or not is judged through the recognition unit, and if it is judged that the first predetermined cleaning object exists in front of the automatic pool cleaning device, the power of the water pump is increased to second predetermined power from first predetermined power, and when the second preset power is maintained until preset conditions are met, the power of the water pump is reduced to the first preset power from the second preset power. The power consumption of the automatic pool cleaning device is reduced through power control, and the endurance time of the automatic pool cleaning device is prolonged.

Description

Technical Field

[0001] The present application relates to the field of robot cleaning technology, and in particular to an automatic pool cleaning device and a control method thereof, and a computer storage medium. Background Art

[0002] With the popularity of swimming, the number of swimming pools and home swimming pools has increased significantly. Correspondingly, the demand for cleaning swimming pools is also increasing day by day. When cleaning the bottom and walls of a pool, the water pump of a traditional swimming pool cleaning robot always maintains a fixed power regardless of whether there is garbage on the cleaning path. Especially when cleaning a relatively clean swimming pool, the power of the water pump remains unchanged, which makes the use of electricity by the swimming pool cleaning robot lack intelligence, reduces endurance, and affects the user experience.

[0003] Application Contents

[0004] In view of the above problems, the present application provides an automatic pool cleaning device and a control method thereof, and a computer storage medium.

[0005] In a first aspect, the present application provides a control method for an automatic pool cleaning device for cleaning a pool, wherein the automatic pool cleaning device comprises a water pump and an identification unit, and the control method comprises: controlling the automatic pool cleaning device to move underwater or on the surface of the pool, wherein the water pump operates at a first predetermined power during the movement; determining by the identification unit whether there is a first predetermined cleaning object in front of the automatic pool cleaning device, wherein if it is determined that the first predetermined cleaning object exists in front of the automatic pool cleaning device, the power of the water pump is increased from the first predetermined power to a second predetermined power, and the second predetermined power is maintained until a predetermined condition is met, and then the power of the water pump is reduced from the second predetermined power to the first predetermined power.

[0006] Further, the predetermined conditions include: determining through the identification unit that the first predetermined cleaning object or the second predetermined cleaning object does not exist in front of the automatic pool cleaning device, the second predetermined power is maintained for a predetermined period of time, or the automatic pool cleaning device moves a preset distance after the water pump power is increased to the second predetermined power, wherein the second predetermined cleaning object is located in front of the first predetermined cleaning object.

[0007] Furthermore, the predetermined time duration is greater than 5 seconds or the preset distance is greater than 4 meters.

[0008] Furthermore, the first predetermined cleaning object and the second predetermined cleaning object both include garbage or debris, and the identification unit can identify the type of object in front of the automatic pool cleaning device.

[0009] Furthermore, the recognition distance of the recognition unit is greater than 50 cm.

[0010] Furthermore, the recognition unit includes one or more of a depth camera, an infrared sensor, and a lidar.

[0011] Furthermore, the first predetermined cleaning object and the second predetermined cleaning object include objects that can be sucked into the bottom water suction port of the automatic pool cleaning device.

[0012] Further, controlling the automatic pool cleaning device to move underwater or on the surface of the pool includes controlling the automatic pool cleaning device to move along a straight path underwater or on the surface of the pool.

[0013] Furthermore, if the first predetermined cleaning object is far away from the straight path, the automatic pool cleaning device is controlled to turn toward the first predetermined cleaning object.

[0014] Further, if the duration of maintaining the second predetermined power exceeds a maximum threshold, the power of the water pump is forcibly reduced from the second predetermined power to the first predetermined power.

[0015] In a second aspect, the present application provides an automatic pool cleaning device, comprising a filter unit, a water pump, an identification unit and a control unit, wherein the water pump is used to suck garbage into the filter unit, and the control unit is configured to: control the automatic pool cleaning device to move on the bottom or surface of the pool, and control the water pump to operate at a first predetermined power; control the identification unit to determine whether a predetermined object exists in front of the automatic pool cleaning device, wherein if it is determined that the predetermined object exists in front of the automatic pool cleaning device, the power of the water pump is controlled to increase from the first predetermined power to a second predetermined power, and the second predetermined power is maintained until a predetermined condition is met, and then the power of the water pump is reduced from the second predetermined power to the first predetermined power.

[0016] In a third aspect, the present application provides a computer storage medium, wherein the storage medium stores a computer program, and when the computer program is executed by a processor, any of the methods described above is implemented.

[0017] The technical solution provided in the embodiment of the present application is to control the automatic pool cleaning device to move underwater or on the surface of the pool. During the movement, the water pump works at a first predetermined power; the identification unit is used to determine whether there is a first predetermined cleaning object in front of the automatic pool cleaning device. If it is determined that there is the first predetermined cleaning object in front of the automatic pool cleaning device, the power of the water pump is increased from the first predetermined power to the second predetermined power, and the second predetermined power is maintained until a predetermined condition is met, and then the power of the water pump is reduced from the second predetermined power to the first predetermined power. Through this method, when cleaning the pool, if no cleaning object is found, the automatic pool cleaning device works at a lower power, and when a cleaning object is found, the automatic pool cleaning device works at a higher power. Therefore, the automatic pool cleaning device can adjust the power according to whether the cleaning object is found, thereby achieving the purpose of reducing power consumption.

[0018] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present application. Also, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0020] Figure 1 is a schematic diagram of a control method of an automatic pool cleaning device according to an embodiment of the present application;

[0021] Figure 2 is a schematic diagram of a moving path and cleaning objects of an automatic pool cleaning device according to an embodiment of the present application;

[0022] Figure 3 is a schematic diagram of a computer storage medium according to an embodiment of the present application; and

[0023] Figure 4 Schematic diagram of an automatic pool cleaning device according to an embodiment of the present application. DETAILED DESCRIPTION

[0024] The exemplary embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present application and to enable the scope of the present application to be fully communicated to those skilled in the art. In addition, in the following description, the description of known structures and technologies is omitted to avoid unnecessary confusion of the concepts of the present application.

[0025] Various structural schematic diagrams according to embodiments of the present application are shown in the accompanying drawings. These figures are not drawn to scale, and some details are magnified and some details may be omitted for the purpose of clear expression. The shapes of various regions and layers shown in the figures and the relative sizes and positional relationships therebetween are only exemplary, and may deviate in practice due to manufacturing tolerances or technical limitations, and those skilled in the art may further design regions / layers with different shapes, sizes, and relative positions according to actual needs.

[0026] The present application provides a control method for an automatic pool cleaning device. The automatic pool cleaning device is capable of performing mobile cleaning in a pool-shaped building, and the pool-shaped building may be, for example, a pool, a swimming pool, a water reservoir, a hydrotherapy pool, a water tank, a water tank, or the like. The automatic pool cleaning device may be a device such as an automatic cleaning device, a swimming pool cleaning robot, or the like, which is capable of cleaning a pool-shaped building. The present application does not limit the specific presentation of the automatic pool cleaning device and the pool-shaped building, as long as the principle of the present application can be implemented. In the following, unless otherwise specified, a robot will be used as an example of the automatic pool cleaning device, and a pool and a swimming pool will be used as examples of pool-shaped buildings.

[0027] The present application provides a control method for an automatic pool cleaning device, which is used to clean a pool. The automatic pool cleaning device includes a water pump and an identification unit. The control method includes: controlling the automatic pool cleaning device to move underwater or on the surface of the pool, and during the movement, the water pump works at a first predetermined power; judging by the identification unit whether there is a first predetermined cleaning object in front of the automatic pool cleaning device, wherein if it is judged that there is the first predetermined cleaning object in front of the automatic pool cleaning device, the power of the water pump is increased from the first predetermined power to the second predetermined power, and the second predetermined power is maintained until a predetermined condition is met, and then the power of the water pump is reduced from the second predetermined power to the first predetermined power. Using this method, when cleaning the pool, if no cleaning object is found, the water pump works at a lower first predetermined power, and when the cleaning object is found, the water pump works at a higher second predetermined power. Thus, the automatic pool cleaning device can adjust the power of the water pump according to whether the cleaning object is found, thereby achieving the purpose of reducing power consumption.

[0028] The recognition unit may include an image acquisition unit such as a camera, may include an ultrasonic sensor, and may also include a phased array ultrasonic sensor. The recognition unit is capable of acquiring images and recognizing the acquired images, thereby identifying objects in the images. It is understandable that the above description of the recognition unit is only exemplary and is not intended to limit the type of the recognition unit. Those skilled in the art may select the recognition unit according to actual needs, as long as the technical principles of the present application can be implemented.

[0029] The water pump sucks water into the filter in the automatic pool cleaning device. In order to avoid damaging the automatic pool cleaning device, the cleaning objects referred to in this application include objects that can be sucked into the bottom water suction port of the automatic pool cleaning device (such as dirt, leaves, branches, insects, stones, plastic impurities, etc.), so as to achieve the purpose of cleaning the pool. In the following, if there is no additional explanation, leaves will be used as an example of various types of impurities in the pool.

[0030] The control method of the automatic pool cleaning device of the present application is described in detail below with reference to the accompanying drawings.

[0031] First refer to Figure 1 The control method 10 of the automatic pool cleaning device of the present application is described in detail. Figure 1 1 is a schematic diagram of a control method 10 for an automatic pool cleaning device according to a first embodiment of the present application. The control method 10 includes steps S11 to S13. Steps S11 to S13 will be described in detail below.

[0032] In step S11, the automatic pool cleaning device is controlled to move underwater or on the surface of the pool, and during the movement, the water pump operates at a first predetermined power.

[0033] During the cleaning of the pool, the robot moves under or on the surface of the pool. On the one hand, the robot can clean the bottom and the wall of the pool, and on the other hand, the robot can clean the surface of the pool. During the movement, the water pump works at a first predetermined power.

[0034] For example, the water pump can have two working modes: low power consumption mode and high power consumption mode. In the low power consumption mode, the power of the water pump is relatively low, and accordingly, the suction force of the water pump on water is reduced, thereby weakening the water absorption and cleaning ability of the robot; while in the high power consumption mode, the power of the water pump is relatively high, and accordingly, the suction force of the water pump on water is increased, thereby enhancing the water absorption and cleaning ability of the robot. During the cleaning operation, the robot can switch the working mode of the water pump according to the pollution state on the front cleaning path (for example, whether there are leaves on the front cleaning path and how many leaves there are), that is, switch the water pump between low power consumption mode and high power consumption mode. If there are no leaves on the front cleaning path of the robot, the water pump is operated in the low power consumption mode; if there are leaves or a large number of leaves on the front cleaning path of the robot, the water pump is operated in the high power consumption mode.

[0035] In the low power consumption mode, the power of the water pump is the first predetermined power. In other words, when the robot is performing a cleaning operation, if the water pump is in the low power consumption mode, the power of the water pump is the first predetermined power. It is understandable that the first predetermined power can be a fixed power value or a power range.

[0036] In the high power consumption mode, the power of the water pump is the second predetermined power. In other words, when the robot is performing a cleaning operation, if the water pump is in the high power consumption mode, the power of the water pump is the second predetermined power. It can be understood that the second predetermined power can be a fixed power value or a power range. Accordingly, the second predetermined power is greater than the first predetermined power.

[0037] It should be noted that, in addition to filtering water for cleaning, the water pump can also suck water into the bottom water inlet of the robot, or suck water into the upper water inlet of the robot, and discharge the water from the drain port on the top or upper part of the robot, thereby "adsorbing" the robot to the surface to be cleaned (such as the bottom surface of the pool, the surface of the pool wall), preventing the head or tail of the robot from "tilting up" when moving, so that the robot can move on the surface of the pool wall. Therefore, the first predetermined power should be able to ensure that the robot can move normally on the surface of the pool bottom and the surface of the pool wall. Those skilled in the art can set the value / value range of the first predetermined power according to the technical principles of the present application, as long as the technical principles of the present application can be implemented.

[0038] Then, the process proceeds to step S12. In step S12, the identification unit determines whether there is a first predetermined cleaning object in front of the automatic pool cleaning device.

[0039] In one embodiment, the recognition unit is arranged at the front of the robot. The recognition unit may include one or more of a depth camera, an infrared sensor, and a laser radar. During the cleaning operation, the robot may collect images in front of the robot through the recognition unit. The recognition unit may collect images at predetermined time intervals or in real time. Furthermore, the recognition unit may be a rotatable camera, and the area it can perceive may change as the camera rotates.

[0040] The recognition unit may also have an artificial intelligence function. In other words, the recognition unit may also perform image recognition on the collected image through an artificial intelligence algorithm and / or a big data algorithm, thereby identifying the object in the image, and then determining whether the image includes an object to be cleaned (e.g., a first predetermined cleaning object), and accordingly, determining whether there is an object to be cleaned (e.g., a first predetermined cleaning object) in front of the robot. In one embodiment, the recognition unit includes an artificial intelligence subunit, thereby realizing the artificial intelligence function described above. In another embodiment, the recognition unit is connected to a cloud server, sends the collected image data to the cloud server, and runs an artificial intelligence algorithm and / or a large model algorithm on the cloud server, thereby realizing the recognition of the collected image, and then determining whether there is a first predetermined cleaning object in front of the robot.

[0041] The recognition unit has a predetermined recognition distance. For example, the robot collects images within a predetermined recognition distance on the front cleaning path through a camera set at the front of the robot, and the predetermined recognition distance can be determined according to the parameters of the camera (such as the focal length of the camera). In one embodiment, the predetermined recognition distance of the recognition unit can be greater than 50cm, for example, it can be between 50cm and 200cm. Taking the predetermined recognition distance of 100cm as an example, the recognition unit can collect images of objects within 100cm in front, and judge whether there is a first predetermined cleaning object in front of the robot based on the collected image, so as to facilitate the subsequent timely adjustment of the power of the water pump.

[0042] The term "front" means the direction of the robot's current cleaning path. It should be noted that when the robot moves along the current cleaning path, it can move in the direction indicated by its head (that is, the robot "walks forward") or in the direction indicated by its tail (that is, the robot "walks backward").

[0043] The first predetermined cleaning object may be impurities and dirt such as dirt, leaves, branches, insects, etc. The type of the first predetermined cleaning object may be preset by the user, for example, the user presets that the robot cleans leaves and branches in the swimming pool. The type of the first predetermined cleaning object may also be identified, counted, and classified by the robot in historical cleaning operations for objects that have been cleaned. In the following, unless otherwise specified, leaves will be used as an example of the first predetermined cleaning object for further explanation.

[0044] Next, the process proceeds to step S13. In step S13, if it is determined that the first predetermined cleaning object exists in front of the automatic pool cleaning device, the power of the water pump is increased from the first predetermined power to the second predetermined power, and the second predetermined power is maintained until a predetermined condition is met, and then the power of the water pump is reduced from the second predetermined power to the first predetermined power.

[0045] In one embodiment, the predetermined condition may be that the identification unit determines that the first predetermined cleaning object and / or the second predetermined cleaning object does not exist in front of the automatic pool cleaning device, or there is no other predetermined cleaning object. It is understandable that when the identification unit determines that there is a first predetermined cleaning object in front of the automatic pool cleaning device, the first predetermined power is increased to the second predetermined power, thereby increasing the power of the water pump, so that the water pump can suck the first predetermined cleaning object into the bottom water suction port of the robot and then filter it through the filtering device of the robot, so as to achieve the purpose of cleaning the first predetermined cleaning object. If the second predetermined cleaning object appears on the cleaning path in front of the robot after the first predetermined cleaning object is cleaned or during the cleaning operation of the first predetermined cleaning object, the water pump can be kept at the second predetermined power to clean the second predetermined cleaning object and the first predetermined cleaning object (if the cleaning operation of the first predetermined cleaning object is still in progress at this time) until there are no other cleaning objects within the identifiable range of the identification unit, at which time the power of the water pump is reduced from the second predetermined power to the first predetermined power. The second predetermined cleaning object and other predetermined cleaning objects may be impurities and dirt such as dirt, leaves, branches, insects, etc. The second predetermined cleaning object and other predetermined cleaning objects may be the same as the first predetermined cleaning object or may be different.

[0046] In another embodiment, the predetermined condition may be that the second predetermined power is maintained for a predetermined time. For example, when the identification unit determines that there is a first predetermined cleaning object in front of the automatic pool cleaning device, the first predetermined power is increased to the second predetermined power, so as to clean the first predetermined cleaning object. If the first predetermined cleaning object no longer exists within the identifiable range of the identification unit, the power of the water pump will not be immediately reduced from the second predetermined power to the first predetermined power. The reason is that although the first predetermined cleaning object no longer exists within the identifiable range of the identification unit, the first predetermined cleaning object may be located at a certain position between the bottom of the robot and the surface to be cleaned of the pool, and at this time the first predetermined cleaning object has not been sucked into the bottom water suction port of the robot, so the water pump needs to be maintained at a higher power, so as to facilitate the suction of the first predetermined cleaning object into the bottom water suction port of the robot. Accordingly, if the identification unit identifies the second predetermined cleaning object or other predetermined cleaning objects within the predetermined time, the water pump can continue to maintain the second predetermined power.

[0047] If the predetermined time has passed and the recognition unit does not recognize the second predetermined cleaning object or other predetermined cleaning objects within the identifiable range, it means that there is no object to be cleaned on the front cleaning path of the robot, and the power of the water pump can be reduced from the second predetermined power to the first predetermined power. In one embodiment, the predetermined time is greater than 5 seconds.

[0048] Furthermore, if the robot detects that the duration of the second predetermined power is longer than the maximum duration threshold, the power of the water pump may be forcibly reduced from the second predetermined power to the first predetermined power. If the duration of the second predetermined power is longer than the maximum duration threshold, it indicates that the robot is in a high power consumption state. In order to save power consumption, the power of the water pump may be forcibly reduced.

[0049] In one embodiment, the predetermined condition may be that the automatic pool cleaning device moves a preset distance after the power of the water pump increases to a second predetermined power. It is understandable that at the second predetermined power, the automatic pool cleaning device moves a preset distance, which may indicate that the predetermined cleaning object within the preset distance has been cleaned, and the second predetermined power may be reduced to the first predetermined power. The robot may measure the distance it moves by a device such as a code disc or a wheel speed recorder. In one embodiment, the preset distance is greater than 4 meters.

[0050] It is understandable that the recognition unit can further process the collected images to identify the type of object in front, such as whether the object is an obstacle (such as a lamp or steps at the bottom of a swimming pool) or garbage or debris. If the recognition unit recognizes that the object is garbage or debris that needs to be cleaned, it will be determined as the first predetermined cleaning object, the second predetermined cleaning object, or other predetermined cleaning objects; if the recognition unit recognizes that the object is an obstacle, there is no need to adjust the predetermined power of the water pump.

[0051] The robot's recognition unit is used to obtain the image in front, and the image is identified and detected. If it is determined that there is a cleaning object in front, the power of the water pump is increased from the first predetermined power to the second predetermined power, so that the water pump can work under the power and thus improve the dirt suction capacity. If there is no cleaning object on the cleaning path in front of the robot, the power of the water pump is reduced from the second predetermined power to the first predetermined power, so as to save energy.

[0052] It should be noted that in the low power consumption mode mentioned above, in addition to the low operating power of the water pump, other power devices of the robot (such as the identification unit, control unit, various sensors, signal lights, motors, etc.) can also operate at a lower power; correspondingly, in the high power consumption mode mentioned above, in addition to the high operating power of the water pump, other power devices of the robot can also operate at a higher power. Through this method, the power consumption of the robot can be effectively reduced and the endurance time can be increased.

[0053] In order to improve the pool cleaning efficiency, the automatic pool cleaning device is controlled to move under the water or on the water surface of the pool, including controlling the automatic pool cleaning device to move along a straight path under the water or on the water surface of the pool. For example, the automatic pool cleaning device moves in a "bow" shape, a "Z" shape, or an "N" shape. Avoid missing or repeating cleaning when moving in a curved manner.

[0054] In one embodiment, if the first predetermined cleaning object is far from the straight path, the control method may further include: controlling the automatic pool cleaning device to turn toward the first predetermined cleaning object. Specifically, if the first predetermined cleaning object is just at the edge of the identifiable area of ​​the identification unit (e.g. Figure 2 As shown), at this time, the first predetermined cleaning object is far away from the path along which the automatic pool cleaning device moves. If the first predetermined cleaning object is a small amount of debris (such as leaves, insects, etc.), under the second predetermined power, the automatic pool cleaning device can still suck it in when it moves along the predetermined path (without turning) to achieve cleaning. However, when the first predetermined cleaning object is heavy, and the automatic pool cleaning device moving along the predetermined path cannot suck the cleaning object in using the second predetermined power, the automatic pool cleaning device can be controlled to turn toward the first predetermined cleaning object, so that the cleaning object is on the front cleaning path of the robot or the distance between the cleaning object and the front cleaning path of the robot is reduced, so that the suction force of the water pump can better act on the cleaning object, thereby completing the cleaning of the first predetermined cleaning object. Further, after the cleaning is completed, the automatic pool cleaning device can turn around and return to the previous path to continue the cleaning operation. It should be noted that if the distance between the predetermined cleaning object and the straight path of the automatic pool cleaning device is greater than the preset spacing value, it can be determined that the predetermined cleaning object is far away from the straight path.

[0055] like Figure 2 As shown in, at time point A (Time: A), there is no cleaning object in the identifiable area of ​​the cleaning path in front of the robot, so the water pump is kept at low power (for example, the first predetermined power); at time point B (Time: B), a cleaning object (for example, the first predetermined cleaning object) appears in the identifiable area of ​​the cleaning path in front of the robot, and the power of the water pump is increased (for example, increased to the second predetermined power) so as to suck the cleaning object into the filtering device inside the robot; at time point C (Time: C), there is no cleaning object in the identifiable area of ​​the cleaning path in front of the robot, and the power of the water pump is reduced (for example, reduced to the first predetermined power) to save electricity.

[0056] The control method 10 of the present application adjusts the power of the automatic pool cleaning device in real time, thereby reducing power consumption and increasing the battery life of the automatic pool cleaning device.

[0057] Refer to the following Figure 3 The computer storage medium of the present application is described. Figure 3 3 is a schematic diagram of a computer storage medium according to an embodiment of the present application. The computer storage medium 30 stores a computer program 31 executable by a computer device. When the computer program 31 is run on the computer device, the computer device executes the control method of the automatic pool cleaning device described in the above embodiments.

[0058] The computer program 31 includes program instructions. When the program instructions are executed by a computer device, the computer device executes the steps of the control method of the automatic pool cleaning device.

[0059] It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as methods or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0060] Refer to the following Figure 4 The automatic pool cleaning device of the present application is described. Figure 4 : is a schematic diagram of an automatic pool cleaning device according to an embodiment of the present application. The automatic pool cleaning device 40 includes a filter unit 41, a water pump 42, an identification unit 43 and a control unit 44. The water pump 42 is used to suck garbage into the filter unit 41, and the control unit 44 is configured to: control the automatic pool cleaning device to move on the bottom or water surface of the pool, and control the water pump to work at a first predetermined power; control the identification unit to determine whether there is a predetermined object in front of the automatic pool cleaning device, wherein if it is determined that there is a predetermined object in front of the automatic pool cleaning device, the power of the water pump is controlled to increase from the first predetermined power to the second predetermined power, and the second predetermined power is maintained until the predetermined condition is met, and then the power of the water pump is reduced from the second predetermined power to the first predetermined power.

[0061] The control unit 44 of this embodiment can execute the control methods described in the above embodiments. For the control and functions implemented by the control unit 44, reference can be made to the control methods of the above embodiments of the present application, which will not be described in detail here.

[0062] When the automatic pool cleaning device 40 of the present application is cleaning the pool, if no cleaning object is found, the automatic pool cleaning device operates at a lower power (for example, the water pump runs at a lower power); and when a cleaning object is found, the automatic pool cleaning device operates at a higher power (for example, the water pump runs at a higher power). Therefore, the automatic pool cleaning device can adjust the power according to whether a cleaning object is found, thereby achieving the purpose of reducing power consumption.

[0063] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer device or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0064] These computer program instructions may also be stored in a computer readable memory capable of directing a computer device or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer readable memory produce a manufactured product including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0065] These computer program instructions can also be loaded onto a computer device or other programmable data processing device so that a series of operation steps are executed on the computer device or other programmable device to produce a process implemented by the computer device, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0066] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples, unless they are contradictory.

[0067] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0068] The above is only an exemplary embodiment of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of various changes or substitutions within the technical scope recorded in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A control method for an automatic pool cleaning device, used for cleaning a pool, wherein the automatic pool cleaning device comprises a water pump and an identification unit, and the control method comprises: Controlling the automatic pool cleaning device to move underwater or on the surface of the pool, and during the movement, the water pump operates at a first predetermined power; The identification unit is used to determine whether there is a first predetermined cleaning object in front of the automatic pool cleaning device, wherein: If it is determined that the first predetermined cleaning object exists in front of the automatic pool cleaning device, the power of the water pump is increased from the first predetermined power to the second predetermined power, and the second predetermined power is maintained until the predetermined condition is met, and then the power of the water pump is reduced from the second predetermined power to the first predetermined power.

2. The control method according to claim 1, wherein: The predetermined conditions include: the identification unit determines that the first predetermined cleaning object or the second predetermined cleaning object does not exist in front of the automatic pool cleaning device, the second predetermined power is maintained for a predetermined time, or the automatic pool cleaning device moves a preset distance after the water pump power is increased to the second predetermined power, wherein the second predetermined cleaning object is located in front of the first predetermined cleaning object.

3. The control method according to claim 2, wherein: The predetermined time duration is greater than 5 seconds or the predetermined distance is greater than 4 meters.

4. The control method according to claim 1, wherein: The first predetermined cleaning object and the second predetermined cleaning object both include garbage or debris, and the identification unit can identify the type of object in front of the automatic pool cleaning device.

5. The control method according to claim 1, wherein: The recognition distance of the recognition unit is greater than 50 cm.

6. The control method according to any one of claims 1 to 5, wherein: The recognition unit includes one or more of a depth camera, an infrared sensor, and a laser radar.

7. The control method according to claim 2, wherein: The first predetermined cleaning object and the second predetermined cleaning object include objects that can be sucked into the bottom water suction port of the automatic pool cleaning device.

8. The control method according to any one of claims 1 to 5, wherein: Controlling the automatic pool cleaning device to move underwater or on the surface of the pool includes controlling the automatic pool cleaning device to move along a straight path underwater or on the surface of the pool.

9. The control method according to claim 8, wherein: If the first predetermined cleaning object is far away from the straight path, the automatic pool cleaning device is controlled to turn toward the first predetermined cleaning object.

10. The control method according to any one of claims 1 to 5, wherein: If the duration of maintaining the second predetermined power exceeds a maximum threshold, the power of the water pump is forcibly reduced from the second predetermined power to the first predetermined power.

11. An automatic pool cleaning device, comprising a filtering unit, a water pump, an identification unit and a control unit, wherein: The water pump is used to suck garbage into the filtering unit, and the control unit is configured to: Controlling the automatic pool cleaning device to move on the bottom or water surface of the pool, and controlling the water pump to operate at a first predetermined power; The identification unit is controlled to determine whether there is a predetermined object in front of the automatic pool cleaning device, wherein: If it is determined that the predetermined object exists in front of the automatic pool cleaning device, the power of the water pump is controlled to increase from a first predetermined power to a second predetermined power, and the second predetermined power is maintained until a predetermined condition is met, and then the power of the water pump is reduced from the second predetermined power to the first predetermined power.

12. A computer storage medium storing a computer program, wherein the computer program implements the method according to any one of claims 1 to 10 when executed by a processor.

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