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 control method comprises the steps that the automatic pool cleaning device is controlled to move from water to the water surface along the side wall, and a water pump works at first preset power; whether the front portion of the automatic pool cleaning device is higher than the water surface or not is judged, if it is judged that the front portion of the automatic pool cleaning device is higher than the water surface, the power of the water pump is adjusted to be second preset power, and the second preset power is smaller than the first preset power; whether the front portion of the automatic pool cleaning device is lower than the water surface or not is judged, and if it is judged that the front portion of the automatic pool cleaning device is lower than the water surface, the power of the water pump is increased to the first preset power from the second preset power.

Description

Technical Field

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

[0002] As people's living standards improve, pools are increasingly becoming part of people's lives. As a result, the demand for pool cleaning increases. Accordingly, many devices for pool cleaning have emerged in the market. Existing pool cleaning devices are mainly used to clean the pool bottom, pool walls, and other areas to be cleaned.

[0003] Existing pool cleaning devices use physical cleaning accessories such as roller brushes to clean the area to be cleaned on the pool bottom or pool wall. When cleaning the pool wall, the displacement of the pool cleaning device on the pool wall is the result of the combined effects of the buoyancy of the water, its own gravity, and the driving force of the driving wheel. When the pool cleaning device moves to a position near the waterline of the pool wall, the bottom water suction port of the pool cleaning device may be exposed to the water surface, thereby reducing the suction force of the pool cleaning device's water pump on the pool wall, thereby causing the upward friction force provided by the driving wheel of the pool cleaning device to decrease, and the air sucked into the pool cleaning device may increase the buoyancy of the pool cleaning device, ultimately causing the pool cleaning device to fall off the pool wall or even float on the water surface. Summary of the invention

[0004] In order to solve the technical problem, the purpose of this application is to provide an automatic pool cleaning device, a control method and a computer storage medium, which can control the longitudinal position of the pool cleaning device. The specific scheme adopted is as follows:

[0005] A control method for an automatic pool cleaning device, for cleaning a pool, the pool comprising a side wall, the automatic pool cleaning device comprising a water pump, the control method comprising: controlling the automatic pool cleaning device to move along the side wall from water to the water surface, wherein the water pump operates at a first predetermined power; and determining whether the front of the automatic pool cleaning device is higher than the water surface, wherein if it is determined that the front of the automatic pool cleaning device is higher than the water surface, adjusting the power of the water pump to a second predetermined power, wherein the second predetermined power is less than the first predetermined power; and determining whether the front of the automatic pool cleaning device is lower than the water surface, wherein if it is determined that the front of the automatic pool cleaning device is lower than the water surface, increasing the power of the water pump from the second predetermined power to the first predetermined power.

[0006] Furthermore, in the above-mentioned control method, if it is determined that the front part of the automatic pool cleaning device is higher than the water surface, then before adjusting the power of the water pump to the second predetermined power, the control method also includes: keeping the water pump operating at the first predetermined power for a first predetermined time.

[0007] Furthermore, in the above-mentioned control method, if it is determined that the front part of the automatic pool cleaning device is lower than the water surface, then before increasing the power of the water pump from the second predetermined power to the first predetermined power, the control method also includes: keeping the water pump operating at the second predetermined power for a second predetermined time period.

[0008] Further, in the above control method, the automatic pool cleaning device further comprises a first sensor, and the first sensor is disposed at a first predetermined position at the front of the automatic pool cleaning device, wherein the determining whether the front of the automatic pool cleaning device is above the water surface comprises:

[0009] Data is acquired through the first sensor. If the data acquired by the first sensor meets a first predetermined condition, it is determined that the front portion of the automatic pool cleaning device is higher than the water surface.

[0010] Furthermore, in the above control method, the first sensor is a pressure sensor, the data acquired by the first sensor is pressure data, and the first predetermined condition is that a decrease in the pressure data acquired by the first sensor within a third predetermined time period exceeds a first predetermined threshold.

[0011] Further, in the above control method, the automatic pool cleaning device further comprises a second sensor, and the second sensor is disposed at a second predetermined position at the front of the automatic pool cleaning device, wherein the determining whether the front of the automatic pool cleaning device is below the water surface comprises:

[0012] Data is acquired through the second sensor. If the data acquired by the second sensor meets a second predetermined condition, it is determined that the front portion of the automatic pool cleaning device is lower than the water surface.

[0013] Furthermore, in the above control method, the second sensor is a pressure sensor, the data acquired by the second sensor is pressure data, and the second predetermined condition is that an increase in the pressure data acquired by the second sensor within a fourth predetermined time period exceeds a second predetermined threshold.

[0014] Furthermore, in the above control method, the determining whether the front of the automatic pool cleaning device is above the water surface comprises:

[0015] It is determined whether the current value of the water pump is less than a predetermined current threshold value within a fifth predetermined time period, wherein if the current value of the water pump is less than the predetermined current threshold value, it is determined that the front portion of the automatic pool cleaning device is higher than the water surface.

[0016] Furthermore, in the above-mentioned control method, the automatic pool cleaning device includes a water suction port, which is located at the front part of the automatic pool cleaning device, wherein the current value of the water pump when the water suction port is below the water surface is greater than the current value of the water pump when at least a part of the water suction port is above the water surface.

[0017] Furthermore, in the above control method, during the first predetermined time period, the automatic pool cleaning device produces an upward displacement.

[0018] Furthermore, in the above control method, during the second predetermined time period, the automatic pool cleaning device produces a downward displacement.

[0019] Furthermore, in the above-mentioned control method, the automatic pool cleaning device also includes a track assembly, and the control method also includes: during the first predetermined time period and the second predetermined time period, controlling the operation of the track assembly so that the automatic pool cleaning device moves longitudinally at the waterline position and / or moves in the direction of extension of the waterline to clean the waterline.

[0020] Furthermore, in the above control method, the track assembly includes a left track and a right track; wherein the left track and the right track can operate at different operating speeds.

[0021] The present application also provides an automatic pool cleaning device for cleaning a pool, wherein the pool includes a side wall, and the automatic pool cleaning device includes a water pump and a control unit;

[0022] The control unit is configured to control the automatic pool cleaning device to move from the water to the water surface along the side wall, and to keep the water pump working at a first predetermined power; and

[0023] The control unit is configured to:

[0024] Determine whether the front of the automatic pool cleaning device is above the water surface, wherein:

[0025] If it is determined that the front of the automatic pool cleaning device is higher than the water surface, adjusting the power of the water pump to a second predetermined power, wherein the second predetermined power is less than the first predetermined power; and

[0026] Determine whether the front of the automatic pool cleaning device is below the water surface, wherein:

[0027] If it is determined that the front of the automatic pool cleaning device is lower than the water surface, the power of the water pump is increased from the second predetermined power to the first predetermined power.

[0028] The present application also provides a computer storage medium, in which a computer program is stored. When the computer program is executed by a processor, the above-mentioned control method is implemented.

[0029] Compared with the prior art, this application has the following advantages:

[0030] The present application adjusts the water pump power according to whether the front of the automatic pool cleaning device is exposed above the water surface, thereby ensuring that the automatic pool cleaning device can achieve the purpose of cleaning the water line area when it is located near the water line, and ensures that the device does not detach from the side wall of the swimming pool, thereby preventing the robot from sliding off the side wall or detaching from the side wall and floating on the water surface when performing cleaning operations near the water line.

[0031] 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

[0032] In the accompanying drawings, unless otherwise specified, the same reference numerals throughout the multiple drawings represent the same or similar parts or elements. These drawings are not necessarily drawn to scale. It should be understood that these drawings only depict some embodiments according to the present application and should not be regarded as limiting the scope of the present application.

[0033] Figure 1 is a flow chart of a control method of an automatic pool cleaning device according to an embodiment of the present application; and

[0034] Figure 2 It is a structural block diagram of an automatic pool cleaning device according to an embodiment of the present application. DETAILED DESCRIPTION

[0035] In the following, only some exemplary embodiments are briefly described. As those skilled in the art will appreciate, the described embodiments may be modified in various ways without departing from the concept or scope of the present application. Therefore, the drawings and descriptions are considered to be exemplary in nature and not restrictive.

[0036] To facilitate understanding of the technical solutions of the embodiments of the present application, the following describes the related technologies of the embodiments of the present application. The following related technologies can be combined with the technical solutions of the embodiments of the present application as optional solutions, and they all belong to the protection scope of the embodiments of the present application.

[0037] The automatic pool cleaning device, its control method and computer storage medium of the present application are described in detail below with reference to the accompanying drawings.

[0038] An embodiment of the present application provides a control method for an automatic pool cleaning device, wherein the pool includes a side wall, and the automatic pool cleaning device includes a water pump.

[0039] The automatic pool cleaning device may be a device such as an automatic cleaning robot. The automatic pool cleaning device is capable of performing mobile cleaning in a pool-shaped building, which may be, for example, a pool, a water storage pool, a hydrotherapy pool, a water storage tank, a water storage tank, etc. The pool-shaped building includes a pool bottom and side walls (also known as pool walls); the pool bottom may be square, round, bowl-shaped or other irregular shapes, and the side walls are planes or curved surfaces in the vertical direction. In the following, unless otherwise specified, a pool will be used as an example of the pool-shaped building for explanation, and a robot will be used as an example of the automatic pool cleaning device for explanation.

[0040] The robot needs to clean the pool bottom and pool wall in water and underwater. The robot includes a water pump, a water inlet, a drain, etc. The water pump is used to suck the water in the swimming pool into the robot through the water inlet, filter the water, and then discharge the water from the drain. In addition, the robot also includes a physical structure such as a roller brush. Therefore, the robot uses physical cleaning methods such as roller brushes and filtering methods to clean the attachments, debris, etc. in the area to be cleaned on the pool bottom and side walls. Among them, when cleaning the side walls, the robot needs to reach and remain at a preset longitudinal height. When the robot stays near the waterline, the front of the robot may be exposed to the water surface, and a part of the robot's water inlet is exposed to the air, resulting in a reduction in the suction force of the water pump on the water, so that the upward force of the robot on the side wall surface (including the upward driving force provided by the robot's driving wheel, the robot's buoyancy, the upward friction, etc.) is less than the robot's gravity, thereby causing the robot to produce a downward displacement on the side wall surface, or even fall off the side wall surface and float in the water. Therefore, it is necessary to control the robot when it is near the waterline position to prevent the above situation from happening.

[0041] It should be noted that for the sake of convenience in the following description, if there is no additional explanation, the term "waterline" corresponds to the "horizontal plane", and the waterline refers to the intersection of the horizontal plane of the water in the swimming pool and the surface of the side wall of the swimming pool. Because some impurities in the water will float on the water surface and then touch the side wall of the swimming pool near the waterline or be absorbed by the side wall of the swimming pool, the robot usually needs to clean the side wall of the swimming pool near the waterline.

[0042] Refer to the following Figure 1 The control method 100 of the automatic pool cleaning device provided in the present application is described in detail. Figure 1FIG. 1 is a flow chart showing a control method 100 of an automatic pool cleaning device according to an embodiment of the present application. Figure 1 As shown, the control method 100 includes step 101, step 102, step 103, step 104 and step 105. Steps 101 to 105 are described in detail below.

[0043] In step 101, the automatic pool cleaning device is controlled to move along the side wall from the water to the water surface, wherein the water pump operates at a first predetermined power.

[0044] It is understandable that the robot is still in the water at this stage, and has not reached the water surface or the waterline position. The waterline position refers to the position where the horizontal plane contacts the side wall of the pool, and this position is often attached with impurities such as leaves and branches and sediments formed by water evaporation. The water pump works at a first predetermined power; the water flow is sucked in from the water suction port at the bottom of the robot, and is discharged from the drain port after passing through the filter component. When the robot cleans the side wall, the bottom of the robot fits the surface of the side wall and the robot is in a vertical state or a substantially vertical state on the surface of the side wall. Under the action of the water pump, the water flow is sucked in by the water suction port. According to the Bernoulli principle, a negative pressure area is formed between the side wall of the pool and the bottom of the robot. In the direction perpendicular to the side wall, the negative pressure area causes the robot to generate pressure on the side wall. The pressure enables the driving wheel / track of the automatic pool cleaning device to obtain friction in the vertical direction. When the water pump operates at the first predetermined power, the automatic pool cleaning device moves or stops along the side wall under the action of the above-mentioned friction force, buoyancy and gravity to achieve displacement change, thereby completing the cleaning of the side wall.

[0045] The first predetermined power may be the rated power of the water pump, the normal power of the robot for cleaning the side wall surface, or a pre-set power. The above examples of the first predetermined power are only exemplary and are not intended to limit the connotation of the first predetermined power. Those skilled in the art may selectively set the first predetermined power according to actual conditions, as long as the technical principle of the present application can be realized.

[0046] Next, the process proceeds to step 102. In step 102, it is determined whether the front portion of the automatic pool cleaning device is above the water surface.

[0047] It is understood that when the robot is cleaning the side wall surface of the swimming pool, the head of the robot may be exposed to the water line. In this application, unless otherwise specified, the head of the robot points to the forward direction of the robot. In other words, the robot moves in the direction indicated by its head. Of course, it is understood that the robot may also move in the direction indicated by its tail.

[0048] There are several ways to determine whether the front of the robot is above the water surface.

[0049] In one embodiment, a sensor can be used to determine whether the front of the robot is above the water surface. For example, the automatic pool cleaning device further includes a first sensor, which is disposed at a first predetermined position at the front of the automatic pool cleaning device, wherein the determination of whether the front of the automatic pool cleaning device is above the water surface includes: acquiring data through the first sensor, and if the data acquired by the first sensor meets a first predetermined condition, determining that the front of the automatic pool cleaning device is above the water surface.

[0050] The predetermined position of the first sensor is based on the principle that the water inlet does not appear above the water surface when the robot cleans the side wall surface of the swimming pool, or the water inlet does not completely appear above the water surface. As described above, if the water inlet is completely above the water surface when the robot is cleaning the pool wall surface, the water pump cannot absorb water, and the robot cannot obtain the adsorption force with the side wall surface, which will cause the robot to slide off the side wall surface, float on the water surface, etc. Therefore, when the robot cleans the side wall surface, the first sensor should obtain data in time, and the control unit processes the sensor data to determine whether the front of the robot is above the water surface. Since the water inlet of the robot is usually also set on the bottom surface of the robot and close to the front of the robot, and the robot has a certain inertia when it moves upward along the side wall surface, when the robot determines that the front of the robot is above the water surface through the sensor data, the water inlet may be close to the water surface or a part of the water inlet is already above the water surface. The robot should adjust the power of the water pump in time to make the front of the robot return to below the water surface, or make the entire water inlet return to below the water surface.

[0051] Preferably, the distance between the predetermined position where the first sensor is located and the position of the water inlet is less than or equal to a predetermined distance threshold, so that the robot can timely adjust the power of the water pump through the data of the sensor to realize the robot's transition from "out of water" (i.e., the front of the robot is above the water surface) to "in water" (i.e., the front of the robot is below the water surface), thereby ensuring that the water inlet is below the water surface or most of the water inlet is below the water surface, preventing the robot from sliding off the side wall of the swimming pool or floating on the water surface due to the reduction of the adsorption force mentioned above. It should be noted that if the first sensor and the water inlet are not on the same surface of the robot shell, the distance between the predetermined position where the first sensor is located and the position of the water inlet mentioned above may refer to the distance between the projections of the first sensor and the water inlet on the same surface of the robot shell.

[0052] The front of the robot has one or more surfaces, and the predetermined position of the front of the robot where the first sensor is located can be, for example, a certain surface of the front of the robot. The top or upper part of the robot has one or more surfaces, and the predetermined position of the front of the robot where the first sensor is located can be, for example, a certain surface of the top or upper part of the robot close to the front of the robot. The bottom or abdomen of the robot has one or more surfaces, and the predetermined position of the front of the robot where the first sensor is located can be, for example, a certain surface of the top or upper part of the robot close to the front of the robot. It should be noted that the above description of the position of the sensor is only exemplary, and those skilled in the art can selectively set the position of the sensor according to actual needs, as long as the technical principles of the present application can be implemented.

[0053] Specifically, the first sensor may be, for example, a pressure sensor, the data acquired by the first sensor is pressure data, and the first predetermined condition is that a decrease in the pressure data acquired by the first sensor within a third predetermined time period exceeds a first predetermined threshold.

[0054] It is understandable that the water pressure in the pool is greater than the atmospheric pressure, so when the first sensor emerges from the water, a sudden change from water pressure data to air pressure data will occur. This change will cause the pressure data of the first sensor to decrease by more than the first predetermined threshold within the third predetermined time period. When it is detected that the first preset condition is met, it means that the first sensor emerges from the water.

[0055] In one embodiment, the first predetermined threshold value may be the difference between the water pressure at a predetermined depth and the water pressure at the water surface, such as the difference between the water pressure at 10 cm from the water surface and the water pressure at the water surface. In another embodiment, the first predetermined threshold value may be the difference between the water pressure at a predetermined depth (such as the water pressure at 10 cm from the water surface) and the atmospheric pressure. The third predetermined duration may be, for example, the time required for the robot to move 10 cm upward along the side wall under normal circumstances, such as 3s or 5s.

[0056] It is worth noting that the amount of decrease in the pressure data obtained within the third predetermined time period is measured iteratively. For example, the third predetermined time period is set to 4s, the robot starts to move upward along the side wall of the pool from the 0th second, and the pressure sensor measures the pressure data once per second. Assuming that the robot emerges from the water surface at the 5th second (for example, the pressure sensor emerges from the water surface at the 5th second), the pressure sensor measures the pressure data once at the 0th second, the 1st second, the 2nd second, the 3rd second, the 4th second and the 5th second, respectively. The control unit of the robot calculates the decrease in the following two groups of pressure data: (1) the decrease in the pressure data between the 0th second and the 4th second; (2) the decrease in the pressure data between the 2nd second and the 5th second. Since the pressure sensor emerges from the water surface at the 5th second, the pressure data measured by it is the atmospheric pressure. Therefore, the decrease in the pressure data corresponding to the above-mentioned group (2) of data is greater than the first predetermined threshold value. Therefore, it can be judged that the front of the robot is above the water surface.

[0057] The above description of the first predetermined threshold and the reduction amount of the pressure data acquired by the pressure sensor within the third predetermined time period is only exemplary, and those skilled in the art can selectively set them according to actual needs as long as the technical principle of the present application can be realized. The first sensor can also be an ultrasonic sensor, an infrared sensor, an optical sensor, etc.

[0058] In another embodiment of the present application, whether the front of the robot is above the water surface can be determined based on the current of the water pump. Specifically, it is determined whether the current value of the water pump within the fifth predetermined time period is less than a predetermined current threshold, wherein if the current value of the water pump is less than the predetermined current threshold, it is determined that the front of the automatic pool cleaning device is above the water surface.

[0059] When the water inlet is below the water surface, the robot performs normal cleaning operations, and the water pump works at the above-mentioned first predetermined power. At this time, the current value of the water pump is relatively large. When at least a portion of the robot's water inlet is exposed to the water surface, the water flow that should have been sucked into the robot by the water pump becomes a water-gas mixed fluid, which also causes the instantaneous current of the water pump to change. At this time, the current value of the water pump is less than the current value of the water pump when it works at the first predetermined power. As described above, the water inlet is usually set on the bottom surface of the robot and close to the front of the robot. Therefore, when the current of the water pump changes, at least a portion of the water inlet is exposed to the water surface, and accordingly, the front of the robot is also above the water surface.

[0060] If it is determined that the front of the automatic pool cleaning device is above the water surface, the process proceeds to step 103. In step 103, the power of the water pump is adjusted to a second predetermined power, wherein the second predetermined power is less than the first predetermined power.

[0061] When the water pump operates at a second predetermined power that is less than the first predetermined power, the water flow rate of the water suction port is reduced, which reduces the pressure generated by the robot in the negative pressure area between the bottom surface and the side wall surface of the swimming pool (such as the adsorption force mentioned above), which is insufficient to provide sufficient upward friction force. Therefore, the robot will produce a downward displacement. At this time, since the water pump is still working (i.e., working at the second predetermined power), it will still provide the robot with an adsorption force with the side wall of the swimming pool. Therefore, when the robot moves downward along the side wall of the swimming pool, it can avoid the danger of detaching from the side wall.

[0062] If it is determined that the front of the automatic pool cleaning device is higher than the water surface, then before adjusting the power of the water pump to the second predetermined power, the control method further includes: keeping the water pump operating at the first predetermined power for a first predetermined time.

[0063] It is understandable that when the front of the automatic pool cleaning device is higher than the water surface, the bottom water suction port of the robot may still be below the waterline. In order to make the bottom water suction port close to the waterline so as to clean the vicinity of the waterline, the robot can continue to move upward for a distance, or move upward for a period of time (for example, at least a part of the first predetermined time period described above), or remain near the waterline for a period of time (for example, at least a part of the first predetermined time period described above). During the first predetermined time period, the automatic pool cleaning device produces an upward displacement. The setting of the first predetermined time period is to enable the front of the robot to continue to produce a certain displacement upward and / or remain near the waterline for a period of time after it is higher than the water surface, delaying the subsequent downward movement of the robot in order to fully clean the waterline position of the side wall. The first predetermined time period can be set according to the weight, size, form speed, flatness of the wall and other parameters of the robot, for example, it can be set to 1s or 2 seconds.

[0064] Next, step 104 is entered to determine whether the front of the automatic pool cleaning device is below the water surface. Since the waterline is difficult to clean, the robot is often required to move back and forth near the waterline for multiple times to clean the waterline. When the front of the robot is below the water surface, that is, after the robot enters the water, it can move up again to clean the area near the waterline of the side wall.

[0065] Similar to the above, in one embodiment, a sensor can be used to determine whether the front of the robot is below the water surface. The automatic pool cleaning device also includes a second sensor, which is disposed at a second predetermined position at the front of the automatic pool cleaning device, wherein the determining whether the front of the automatic pool cleaning device is below the water surface includes: acquiring data through the second sensor, and if the data acquired by the second sensor meets a second predetermined condition, determining that the front of the automatic pool cleaning device is below the water surface.

[0066] The working principle of the second sensor is the same or similar to that of the first sensor. The setting principle of the second predetermined position is the same or similar to that of the first predetermined position mentioned above, and will not be repeated here. The second predetermined position and the first predetermined position can be the same position or different positions, as long as the technical principle of the present application can be realized.

[0067] Specifically, the second sensor is a pressure sensor, the data acquired by the second sensor is pressure data, and the second predetermined condition is that an increase in the pressure data acquired by the second sensor within a fourth predetermined time period is greater than a second predetermined threshold.

[0068] Similar to the setting of the first predetermined threshold above, the second predetermined threshold may be the difference between the water pressure at a predetermined depth and the water pressure at the water surface, for example, the difference between the water pressure at 5 cm from the water surface and the water pressure at the water surface. In another embodiment, the second predetermined threshold may be the difference between the water pressure at a predetermined depth (for example, the water pressure at 5 cm from the water surface) and the atmospheric pressure. The fourth predetermined duration may be, for example, the time required for the robot to move 5 cm downward along the side wall, for example, 2s or 4s.

[0069] It is worth noting that the amount of decrease in the pressure data obtained within the fourth predetermined time period is measured iteratively. For example, the fourth predetermined time period is set to 2s. The robot moves downward along the side wall of the pool from the 0th second, and the pressure sensor measures the pressure data once per second. Assuming that the robot sinks below the water surface at the 3rd second (for example, the pressure sensor emerges from the water surface at the 3rd second), the pressure sensor measures the pressure data once at the 0th second, the 1st second, the 2nd second, and the 3rd second, respectively. The control unit of the robot calculates the increase of the following two groups of pressure data: (1) the increase of the pressure data between the 0th second and the 2nd second; (2) the increase of the pressure data between the 1st second and the 3rd second. Since the pressure sensor sinks below the water surface at the 3rd second, the pressure data measured by it at the 3rd second increases from the atmospheric pressure to the water pressure. Therefore, the increase of the pressure data corresponding to the above-mentioned group (2) of data is greater than the second predetermined threshold value. Therefore, it can be judged that the front of the robot has sunk below the water surface.

[0070] It is understandable that in the application scenario, the water pressure is greater than the air pressure, so when the second sensor sinks from the water surface into the water, a sudden change from the air pressure data to the water pressure data will occur. This change will cause the pressure data of the second sensor to increase by more than the second predetermined threshold value within the fourth predetermined time period. When it is detected that the second preset condition is met, it means that the second sensor sinks from the water surface into the water.

[0071] The above description of the second predetermined threshold and the increase in the pressure data obtained by the pressure sensor within the fourth predetermined time period is only exemplary, and those skilled in the art can selectively set them according to actual needs as long as the technical principles of the present application can be realized. The second sensor can also be an ultrasonic sensor, an infrared sensor, an optical sensor, etc.

[0072] Similar to the above, in another embodiment of the present application, it is possible to determine whether the front of the robot is above the water surface based on the current of the water pump. Specifically, it is determined whether the current value of the water pump within the sixth predetermined time period is less than a predetermined current threshold, wherein if the current value of the water pump is less than the predetermined current threshold, it is determined that the front of the automatic pool cleaning device is above the water surface.

[0073] The principle of judging whether the front of the robot is above the water surface based on the current of the water pump is as described above and will not be elaborated here.

[0074] If it is determined that the front of the automatic pool cleaning device is lower than the water surface, the process proceeds to step 105. In step 105, the power of the water pump is increased from the second predetermined power to the first predetermined power.

[0075] When the water pump is running at a first predetermined power, the pressure (such as the adsorption force mentioned above) generated by the robot in the negative pressure area between the bottom surface and the side wall surface of the swimming pool increases, thereby generating sufficient upward friction force, so that the robot will produce an upward displacement, so that the robot can move back and forth near the waterline, thereby cleaning the waterline.

[0076] In addition, if it is determined that the front of the automatic pool cleaning device is lower than the water surface, before increasing the power of the water pump from the second predetermined power to the first predetermined power, the control method also includes: keeping the water pump operating at the second predetermined power for a second predetermined time.

[0077] It is understandable that when the front of the automatic pool cleaning device is lower than the water surface, in order to increase the amplitude of the reciprocating movement of the robot around the waterline, the robot can continue to move downward for a distance, or move downward for a period of time (for example, at least a part of the second predetermined time period described above), or remain near a certain position below the waterline for a period of time (for example, at least a part of the second predetermined time period described above). During the second predetermined time period, the automatic pool cleaning device produces a downward displacement. The second predetermined time period is set so that the front of the robot can continue to move downward for a certain distance and / or remain near the waterline for a period of time after it is lower than the water surface, delaying the subsequent upward movement of the robot in order to fully clean the waterline position of the side wall. The second predetermined time period can be set according to the robot's weight, size, form speed, wall flatness and other parameters, for example, it can be set to 1s or 2 seconds.

[0078] In the present application, the automatic pool cleaning device includes a track assembly. The control method 100 further includes: during the first predetermined time period and the second predetermined time period, controlling the track assembly to operate so that the automatic pool cleaning device moves longitudinally at the waterline position and / or moves in the direction extending along the waterline to clean the waterline.

[0079] Longitudinal movement refers to the movement of the robot on the side wall surface of the swimming pool in a direction perpendicular to the horizontal plane. The cleaning width of the automatic pool cleaning device is limited. In order to improve the cleaning efficiency, in addition to the longitudinal movement described above, the automatic pool cleaning device also needs to move in the direction of the waterline. Movement in the direction of the waterline refers to the robot moving laterally along the waterline direction, left or right, on the side wall surface of the swimming pool. It can be understood that the movement of the robot along the waterline direction is achieved by the principle of water pump power regulation described above and in conjunction with the differential movement of the tracks on both sides of the robot (described in detail below).

[0080] Therefore, the movement of the robot along the waterline can be expressed in detail as follows: in the longitudinal direction, the robot produces an up-and-down displacement near the waterline, that is, it moves up and down near the waterline; in the transverse direction, the robot moves laterally to the left or right at or near the waterline. Therefore, combining the longitudinal and transverse aspects described above, the robot as a whole exhibits longitudinal movement at the waterline and transverse movement along the direction extending from the waterline.

[0081] In one embodiment of the present application, the direction adjustment of the automatic pool cleaning device is achieved by differential movement of the crawlers on both sides. Specifically, the crawler assembly includes a left crawler and a right crawler; wherein the left crawler and the right crawler can operate at different operating speeds. When the left crawler and the right crawler operate at the same speed, the automatic pool cleaning device achieves displacement of a straight path; when the operating speed of the left crawler is greater than the operating speed of the right crawler, the forward direction of the automatic pool cleaning device deflects to the right; when the operating speed of the left crawler is less than the operating speed of the right crawler, the forward direction of the automatic pool cleaning device deflects to the left.

[0082] Through the above steps, the robot can move near the waterline, which not only achieves the purpose of cleaning the waterline area, but also ensures that the device does not detach from the side wall of the swimming pool, thereby preventing the robot from sliding off the side wall or detaching from the side wall and floating on the water when performing cleaning operations near the waterline.

[0083] Figure 2 The components of an automatic pool cleaning device according to an embodiment of the present application are shown. The automatic pool cleaning device is used for pool cleaning, and its control method is the same or similar to the control method described above in conjunction with the accompanying drawings, and the description is not repeated here. The pool includes a side wall, and the automatic pool cleaning device includes a water pump and a control unit. The control unit is configured to control the automatic pool cleaning device to move from the water to the water surface along the side wall, and keep the water pump working at a first predetermined power; and the control unit is configured to: determine whether the front of the automatic pool cleaning device is higher than the water surface, wherein if the front of the automatic pool cleaning device is higher than the water surface, the power of the water pump is adjusted to a second predetermined power, wherein the second predetermined power is less than the first predetermined power; and determine whether the front of the automatic pool cleaning device is lower than the water surface, wherein if it is determined that the front of the automatic pool cleaning device is lower than the water surface, the power of the water pump is increased from the second predetermined power to the first predetermined power.

[0084] Regarding the steps executed by the control unit, please refer to the various embodiments of the control method of the present application described above, which will not be repeated here.

[0085] The present application also provides a computer storage medium, in which a computer program is stored. When the computer program is executed by a processor, the above-mentioned control method is implemented.

[0086] 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.

[0087] 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.

[0088] 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 pool comprises a side wall, and the automatic pool cleaning device comprises a water pump, characterized in that: The control method comprises: controlling the automatic pool cleaning device to move along the side wall from the water to the water surface, wherein the water pump operates at a first predetermined power; and Determine whether the front of the automatic pool cleaning device is above the water surface, wherein: If it is determined that the front of the automatic pool cleaning device is higher than the water surface, adjusting the power of the water pump to a second predetermined power, wherein the second predetermined power is less than the first predetermined power; and Determine whether the front of the automatic pool cleaning device is below the water surface, wherein: If it is determined that the front of the automatic pool cleaning device is lower than the water surface, the power of the water pump is increased from the second predetermined power to the first predetermined power.

2. The control method according to claim 1, wherein: If it is determined that the front of the automatic pool cleaning device is higher than the water surface, then before adjusting the power of the water pump to the second predetermined power, the control method further includes: keeping the water pump operating at the first predetermined power for a first predetermined time.

3. The control method according to claim 1, wherein: If it is determined that the front of the automatic pool cleaning device is lower than the water surface, the control method further includes: keeping the water pump operating at the second predetermined power for a second predetermined time before increasing the power of the water pump from the second predetermined power to the first predetermined power.

4. The control method according to claim 1, wherein: The automatic pool cleaning device further comprises a first sensor, which is disposed at a first predetermined position in front of the automatic pool cleaning device, wherein the step of determining whether the front of the automatic pool cleaning device is above the water surface comprises: Data is acquired through the first sensor. If the data acquired by the first sensor meets a first predetermined condition, it is determined that the front portion of the automatic pool cleaning device is higher than the water surface.

5. The control method according to claim 4, wherein: The first sensor is a pressure sensor, the data acquired by the first sensor is pressure data, and the first predetermined condition is that a decrease in the pressure data acquired by the first sensor within a third predetermined time period is greater than a first predetermined threshold.

6. The control method according to claim 4, wherein: The automatic pool cleaning device further comprises a second sensor, which is disposed at a second predetermined position at the front of the automatic pool cleaning device, wherein the determining whether the front of the automatic pool cleaning device is below the water surface comprises: Data is acquired through the second sensor. If the data acquired by the second sensor meets a second predetermined condition, it is determined that the front portion of the automatic pool cleaning device is lower than the water surface.

7. The control method according to claim 6, wherein: The second sensor is a pressure sensor, data acquired by the second sensor is pressure data, and the second predetermined condition is that an increase in pressure data acquired by the second sensor within a fourth predetermined time period is greater than a second predetermined threshold.

8. The control method according to claim 1, wherein: The step of determining whether the front portion of the automatic pool cleaning device is above the water surface comprises: It is determined whether the current value of the water pump is less than a predetermined current threshold value within a fifth predetermined time period, wherein if the current value of the water pump is less than the predetermined current threshold value, it is determined that the front portion of the automatic pool cleaning device is higher than the water surface.

9. The control method according to claim 8, wherein: The automatic pool cleaning device includes a water suction port, which is located at the front of the automatic pool cleaning device, wherein the current value of the water pump when the water suction port is below the water surface is greater than the current value of the water pump when at least a part of the water suction port is above the water surface.

10. The control method according to claim 1, wherein: During the first predetermined time period, the automatic pool cleaning device generates an upward displacement.

11. The control method according to claim 1, wherein: During the second predetermined time period, the automatic pool cleaning device moves downward.

12. The control method according to any one of claims 1 to 11, wherein: The automatic pool cleaning device also includes a track assembly, and the control method also includes: during the first predetermined time period and the second predetermined time period, controlling the operation of the track assembly so that the automatic pool cleaning device moves longitudinally at the waterline position and / or moves in the direction extending along the waterline to clean the waterline.

13. The control method according to claim 12, wherein: The track assembly comprises a left track and a right track; wherein the left track and the right track can operate at different operating speeds.

14. An automatic pool cleaning device for cleaning a pool, the pool comprising a side wall, wherein: The automatic pool cleaning device comprises a water pump and a control unit; The control unit is configured to control the automatic pool cleaning device to move from the water to the water surface along the side wall, and to keep the water pump working at a first predetermined power; as well as The control unit is configured to: Determine whether the front of the automatic pool cleaning device is above the water surface, wherein: If it is determined that the front of the automatic pool cleaning device is higher than the water surface, adjusting the power of the water pump to a second predetermined power, wherein the second predetermined power is less than the first predetermined power; and Determine whether the front of the automatic pool cleaning device is below the water surface, wherein: If it is determined that the front of the automatic pool cleaning device is lower than the water surface, the power of the water pump is increased from the second predetermined power to the first predetermined power.

15. A computer storage medium storing a computer program, wherein the computer program implements the method according to any one of claims 1 to 13 when executed by a processor.

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