Control method of automatic pool cleaning equipment, automatic pool cleaning equipment and product

Abstract

The embodiment of the invention provides a control method of an automatic pool cleaning device, the automatic pool cleaning device and a product, the method comprises the steps that detection data of a first sensor is obtained, the first sensor is arranged on the automatic pool cleaning device, and the detection data can reflect the density and / or form of sundries in a pool; adjusting cleaning parameters of the automatic pool cleaning equipment based on the detection data; and controlling the automatic pool cleaning equipment to clean the pool according to the adjusted cleaning parameters. According to the technical scheme provided by the embodiment of the invention, the parameter adjustment efficiency of the automatic pool cleaning equipment is improved.

Description

Technical Field

[0001] The embodiments of the present application relate to the technical field of electronic equipment, and more specifically, to a control method for an automatic pool cleaning device, an automatic pool cleaning device, and a product. Background Art

[0002] With the rapid development of Internet technology, the demand for pool cleaning equipment is increasing. For example, the pool cleaning equipment can be a robot. Generally speaking, the pool cleaning equipment can include a main body and a driving device, a water pump and a filter respectively arranged on the main body. The main body is provided with a water inlet and a water outlet, and a water flow loop is formed between the water inlet and the water outlet. The water pump and the filter are arranged in the water flow loop. When the water pump rotates, the water flows from the water inlet into the filter, and the filter filters the debris in the water. The filtered clean water flows out from the water outlet.

[0003] At present, pool cleaning equipment can be used to clean pools, but during the use of pool cleaning equipment, it is generally necessary to manually set relevant cleaning parameters, such as the speed of a water pump, etc. However, the above parameters all need to be set manually, which is inefficient. Therefore, how to efficiently control automatic cleaning equipment is a technical problem that needs to be solved urgently. Summary of the invention

[0004] The embodiments of the present application provide a control method for an automatic pool cleaning device, an automatic pool cleaning device and a product, so as to solve the technical problem that the control of the pool cleaning device in the prior art is difficult.

[0005] In a first aspect, an embodiment of the present application provides a method for controlling an automatic pool cleaning device, comprising:

[0006] Acquire detection data of a first sensor, where the first sensor is disposed on an automatic pool cleaning device, and the detection data includes data that can reflect the density and / or shape of debris in the pool;

[0007] Based on the detection data, adjusting the cleaning parameters of the automatic pool cleaning device;

[0008] The automatic pool cleaning device is controlled to clean the pool according to the adjusted cleaning parameters.

[0009] Optionally, the step of adjusting the cleaning parameters of the automatic pool cleaning device based on the detection data includes: determining whether the current cleaning parameters can meet the requirements of cleaning debris in the pool corresponding to the detection data based on the detection data; if not, adjusting the cleaning parameters of the automatic pool cleaning device.

[0010] Optionally, the detection data includes sensor data at multiple time instants.

[0011] Optionally, the requirement to clean debris from a pool corresponding to the detection data is determined based on historical operating data.

[0012] Optionally, the historical operation data includes a correspondence between the degree of cleanliness and the density and / or shape of debris in the pool.

[0013] Optionally, the cleaning parameters include cleaning intensity, cleaning dwell time or cleaning path.

[0014] Optionally, the cleaning intensity is related to the water pump power of the cleaning device, and the cleaning residence time refers to the time the cleaning device stays in the area where the debris is located.

[0015] Optionally, the first sensor includes a camera, an ultrasonic sensor or an infrared sensor.

[0016] In a second aspect, an automatic pool cleaning device is provided, comprising: a memory, a processor connected to the memory, the memory being used to store computer-readable instructions;

[0017] The processor is used to run the computer-readable instructions so that the automatic pool cleaning device executes the control method of the automatic pool cleaning device described in the first aspect and various possible aspects of the first aspect.

[0018] In a third aspect, a computer program product is provided, wherein the computer program product comprises instructions, and when the instructions are executed, the control method of the automatic pool cleaning device according to the first aspect and various possible aspects of the first aspect is executed.

[0019] In an embodiment of the present application, the detection data of the first sensor can be obtained. The first sensor can be set on the automatic pool cleaning device and sense the debris in the pool. Therefore, the detection data can reflect the density and / or shape of the debris in the pool, and the real-time collection of the detection data is achieved through the first sensor. After obtaining the detection data, the cleaning parameters of the automatic pool cleaning device can be adjusted based on the detection data to achieve rapid and accurate adjustment of the cleaning parameters of the automatic pool cleaning device. Thereby, the automatic pool cleaning device is controlled to clean the pool according to the adjusted cleaning parameters, and the automatic control of the automatic pool cleaning device is achieved, thereby improving the control efficiency. In addition, in the process of controlling the automatic pool cleaning device, the debris in the pool is sensed in real time, so that the parameter control can be adapted to the cleaning requirements of the debris in the pool, thereby improving the control accuracy of the automatic pool cleaning device and effectively saving the energy consumption of the equipment.

[0020] These and other aspects of the present application will become more clearly understood in the description of the following embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0022] Figure 1 An application example diagram of a control method for an automatic pool cleaning device provided by the present application is shown;

[0023] Figure 2 A flow chart showing a control method of an automatic pool cleaning device provided by the present application is shown;

[0024] Figure 3 Another flow chart of a control method of an automatic pool cleaning device provided by the present application is shown;

[0025] Figure 4 A schematic diagram showing the structure of a control device for an automatic pool cleaning device provided by the present application is shown;

[0026] Figure 5 A schematic structural diagram of an automatic pool cleaning device provided in the present application is shown. DETAILED DESCRIPTION

[0027] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application.

[0028] In some of the processes described in the specification and claims of this application and the above-mentioned figures, multiple operations that appear in a specific order are included, but it should be clearly understood that these operations may not be executed in the order in which they appear in this article or executed in parallel. The serial numbers of the operations, such as 101, 102, etc., are only used to distinguish between different operations, and the serial numbers themselves do not represent any execution order. In addition, these processes may include more or fewer operations, and these operations may be executed in sequence or in parallel. It should be noted that the descriptions of "first", "second", etc. in this article are used to distinguish different messages, devices, modules, etc., do not represent the order of precedence, and do not limit the "first" and "second" to be different types.

[0029] The embodiments of the present invention are mainly used in pool cleaning scenarios. By detecting debris in the pool in real time and adjusting the parameters of the automatic pool cleaning equipment according to the cleaning requirements of the debris, efficient and accurate control of the automatic pool cleaning equipment is achieved, thereby reducing the equipment energy consumption of the automatic pool cleaning equipment.

[0030] In the prior art, the automatic pool cleaning device may also be called a robot or other names. The automatic pool cleaning device may include a main body and a driving device, a water pump and a filter respectively arranged on the main body. The main body is provided with a water inlet and a water outlet, and a water flow loop is formed between the water inlet and the water outlet. The water pump and the filter are arranged in the water flow loop. When the water pump rotates, the water flows from the water inlet into the filter, and the filter filters the debris in the water. The filtered clean water flows out from the water outlet. The automatic pool cleaning device needs to set the cleaning parameters before use. The cleaning parameters can be, for example, the speed of the water pump. However, the current setting of the cleaning parameters is generally done manually, which is inefficient.

[0031] In order to solve the above problems, the inventors have come up with the idea of ​​installing sensors in the pool and using the sensors to sense the debris in the pool. When it is sensed that there are a lot of debris in the pool, the cleaning intensity of the automatic pool cleaning device is increased, and when it is sensed that there are fewer debris in the pool, the cleaning intensity of the automatic pool cleaning device is reduced. This allows the cleaning equipment of the automatic pool cleaning device to adapt to the cleaning needs of the pool, thereby achieving precise equipment control. Based on this, the inventors proposed the technical solution of this application.

[0032] In an embodiment of the present invention, detection data of a first sensor can be obtained. The first sensor can be arranged on an automatic pool cleaning device and sense the debris in the pool. Therefore, the detection data collected can reflect the density and / or shape of the debris in the pool, and the real-time sensing of the detection data is achieved through the first sensor. After obtaining the detection data, the cleaning parameters of the automatic pool cleaning device are adjusted in real time according to the detection data to achieve rapid and accurate adjustment of the cleaning parameters. Thus, the automatic pool cleaning device is controlled to clean the pool according to the adjusted cleaning parameters, thereby achieving automatic control of the automatic pool cleaning device and improving control efficiency. In addition, during the control process of the automatic pool cleaning device, the debris in the pool is sensed in real time, so that the parameter control can be adapted to the cleaning requirements of the debris in the pool, thereby improving the control accuracy of the automatic pool cleaning device and effectively saving the energy consumption of the equipment.

[0033] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of this application.

[0034] Figure 1 This is an application example diagram of a control method for an automatic pool cleaning device provided by an embodiment of the present invention. Figure 1As shown, the automatic pool cleaning device 10 may be located in a pool 20 , and a first sensor 30 may be provided on the automatic pool cleaning device 10 .

[0035] The first sensor 30 can sense the debris in the pool and obtain detection data. The detection data can reflect the density and / or shape of the debris in the pool.

[0036] Afterwards, the automatic pool cleaning device 10 can obtain the detection data collected by the first sensor 30, and adjust the cleaning parameters of the automatic pool cleaning device based on the detection data; and control the automatic pool cleaning device to clean the pool according to the adjusted cleaning parameters.

[0037] Figure 2 This is a flow chart of a control method for an automatic pool cleaning device provided in an embodiment of the present application. The control method for the automatic pool cleaning device can be configured as a control device, and the control device can be located in the automatic pool cleaning device. The method can include the following steps:

[0038] S201, acquiring detection data of a first sensor, where the first sensor is disposed on an automatic pool cleaning device, and the detection data can reflect the density and / or shape of debris in the pool.

[0039] It is understandable that a pool may refer to a water storage facility containing water or other types of liquids. The pool may be, for example, a swimming pool, a pond, a fountain, or a reservoir, and the specific type of the pool is not limited in this embodiment.

[0040] Optionally, the first sensor is located on the automatic pool cleaning device, and the automatic pool cleaning device can be located in the pool. For example, the first sensor can be located on the top of the automatic pool cleaning device, or at the location of the water pump of the automatic pool cleaning device in the automatic pool cleaning device. The automatic pool cleaning device can float on the surface of the pool or sink to the bottom of the pool or move along a certain route in the pool.

[0041] Optionally, the first sensor may be a sensor capable of sensing the density and / or shape of debris in the pool. For example, the first sensor may be an ultrasonic sensor, an infrared sensor, and / or a camera. In addition, the first sensor may also be a water quality sensor, which may be used to directly detect and obtain the density and / or shape of particles in the pool.

[0042] Among them, the infrared sensor or camera can obtain an image within the collection range, and identify the density and / or morphology of the particles based on the collected image. For example, the particle density can be the number of particles per unit area in the image. The ultrasonic sensor can use ultrasonic technology to collect the density and / or morphology of particles in the pool.

[0043] The shape of a particle may refer to the shape of particles that are smaller in size and higher in density when connected into a sheet, or the shape of a single particle that is directly identified when the particle size is larger and the density is lower.

[0044] It is understandable that the density of debris in the pool may refer to the number of debris per unit area in the pool. The form of debris in the pool may refer to, for example, the area or volume of the debris or the area where the debris is located.

[0045] S202: Adjust cleaning parameters of the automatic pool cleaning device based on the detection data.

[0046] Optionally, S202 may include: determining whether cleaning parameters of the automatic pool cleaning device need to be adjusted based on the detection data, and if so, adjusting the cleaning parameters of the automatic pool cleaning device; if not, maintaining the cleaning parameters of the automatic pool cleaning device.

[0047] Optionally, adjusting the cleaning parameters of the automatic pool cleaning device may include: updating the cleaning parameters of the automatic pool cleaning device from original parameters to target parameters according to a parameter adjustment strategy corresponding to the detection data.

[0048] For example, assuming that the original parameter of the cleaning parameter is a1 and the target parameter is a2, the cleaning parameter setting of the automatic pool cleaning device is directly updated to a2.

[0049] S203, controlling the automatic pool cleaning device to clean the pool according to the adjusted cleaning parameters.

[0050] Optionally, S203 may include: controlling the automatic pool cleaning device to clean the pool in its cleaning area according to the adjusted cleaning parameters. The cleaning area of ​​the automatic pool cleaning device may be obtained by real-time sensing or by presetting.

[0051] Optionally, the sensing area of ​​the first sensor may be the same as the cleaning area of ​​the automatic pool cleaning device, and / or the sensing area of ​​the first sensor may overlap with the cleaning area of ​​the automatic pool cleaning device, and / or the sensing area of ​​the first sensor may belong to the cleaning area of ​​the automatic pool cleaning device.

[0052] The sensing area of ​​the first sensor may refer to an area that the first sensor can sense. The cleaning area of ​​the automatic pool cleaning device may refer to an area when the automatic pool cleaning device cleans the pool.

[0053] In an embodiment of the present invention, detection data collected by a first sensor can be obtained. The first sensor can be located in a pool and sense the debris in the pool. Therefore, the detection data collected can include the density and / or shape of the debris in the pool, and real-time detection data collection can be achieved through the first sensor. After obtaining the detection data, a target cleaning condition that matches the cleaning intensity required by the detection data can be determined from at least one pre-set cleaning condition, so as to determine the target cleaning parameters of the automatic pool cleaning device located in the pool by using the parameter adjustment strategy corresponding to the target cleaning condition, so as to achieve rapid and accurate acquisition of the target cleaning parameters. The automatic pool cleaning device is controlled to clean the pool according to the target cleaning parameters, so as to realize automatic control of the automatic pool cleaning device and improve control efficiency. In addition, in the process of controlling the automatic pool cleaning device, the debris in the pool is sensed in real time, so that the parameter control can be adapted to the cleaning requirements of the debris in the pool, improve the control accuracy of the automatic pool cleaning device, and effectively save the energy consumption of the equipment.

[0054] In a possible design, the cleaning parameter may include at least one of the following: cleaning intensity, cleaning dwell time, or cleaning path.

[0055] Optionally, S203 may specifically include controlling the automatic pool cleaning device to clean the pool according to at least one of the cleaning intensity, the cleaning residence time or the cleaning path.

[0056] Optionally, the cleaning intensity may be related to the water pump power of the automatic pool cleaning device. The cleaning residence time refers to the time that the automatic pool cleaning device stays in the area where the debris is located.

[0057] Optionally, the cleaning path may refer to a moving path of the automatic pool cleaning device when cleaning debris in the pool. The automatic pool cleaning device may move in the pool according to the cleaning path.

[0058] Optionally, the cleaning intensity can be determined according to the degree of cleaning required by the detection data. The cleaning intensity is proportional to the degree of cleaning required by the detection data. That is, the higher the degree of cleaning required by the detection data, the greater the cleaning intensity, which needs to be increased, and the lower the degree of cleaning required by the detection data, the smaller the cleaning intensity, which needs to be reduced. Further, the cleaning intensity can be proportional to the water pump power of the automatic pool cleaning device. That is, the greater the water pump power, the greater the cleaning intensity, and the smaller the water pump power, the smaller the cleaning intensity. The water pump power can be determined by the rotation speed of the water pump.

[0059] For example, if the cleaning intensity needs to be increased, the speed of the water pump is increased to increase the water pump power and increase the cleaning intensity. If the cleaning intensity needs to be reduced, the speed of the water pump is reduced to reduce the water pump power and reduce the cleaning intensity.

[0060] Optionally, the cleaning residence time can be determined based on the degree of cleanliness required by the detection data. The cleaning residence time can be proportional to the degree of cleanliness required by the detection data. That is, the greater the density of the debris in the detection data and / or the larger the area or volume of the morphology, the higher the degree of cleanliness, and a longer cleaning residence time is required. The smaller the density of the debris in the detection data and / or the smaller the area or volume of the morphology, the lower the degree of cleanliness, and a shorter cleaning residence time is required.

[0061] For example, if the density of debris in the pool in the detection data is greater than the first threshold value, and / or the shape is greater than the second threshold value, the cleaning residence time is the first duration, and the first duration is the duration greater than the cleaning time threshold. If the density of debris in the pool in the detection data is less than or equal to the first threshold value, and / or the shape is less than or equal to the second threshold value, the cleaning residence time is the second duration, and the second duration is the duration greater than the cleaning time threshold.

[0062] In a possible design, the cleaning time threshold may be a basic cleaning time. For example, when there is no need to adjust the cleaning parameters of the automatic pool cleaning device, the cleaning time of the automatic pool cleaning device is the basic cleaning time.

[0063] Optionally, the cleaning path can be determined according to the cleaning area of ​​the pool. Specifically, the cleaning area can refer to the area where debris exists in the pool.

[0064] For example, after determining the cleaning area corresponding to the debris in the pool, the cleaning path of the automatic pool cleaning device can be drawn according to the cleaning area. Specifically, the cleaning path of the automatic pool cleaning device can be drawn according to the single cleaning range of the automatic pool cleaning device and the cleaning area.

[0065] Assuming the cleaning area is rectangular, the cleaning path may be a path generated according to the length or width of the rectangular cleaning area. The cleaning path may include multiple cleaning lines. The greater the density of the cleaning lines, the higher the cleaning effect. The lower the density of the cleaning lines, the worse the cleaning effect.

[0066] The density of the cleaning path refers to the density of multiple cleaning lines contained in the cleaning path. The density of the cleaning path is proportional to the degree of cleanliness required by the detection data. That is, the higher the degree of cleanliness required by the detection data, the higher the density of the cleaning path is required, and the lower the degree of cleanliness required by the detection data, the lower the density of the cleaning path is required.

[0067] The technical solution disclosed in the present invention can adjust the cleaning parameters of the automatic pool cleaning equipment by specifically adjusting at least one of the cleaning intensity, cleaning residence time or cleaning path, thereby realizing parameter control of the automatic pool cleaning equipment from multiple cleaning dimensions, making the control of the automatic pool cleaning equipment more comprehensive, with more effective control effects, and improving cleaning efficiency.

[0068] Figure 3 Another flow chart of a control method of an automatic pool cleaning device provided in an embodiment of the present application, the method may include the following steps:

[0069] S301, acquiring detection data of a first sensor, where the first sensor is located on the automatic pool cleaning device, and the detection data can reflect the density and / or shape of debris in the pool.

[0070] It should be noted that some steps in the embodiments of the present application are the same as some steps in other embodiments, and will not be repeated here for the sake of brevity.

[0071] S302, judging whether the detection data can meet the requirements of cleaning the debris in the pool corresponding to the detection data, if so, executing S303, if not, executing S304.

[0072] It will be appreciated that the requirement to clean the pool of debris corresponding to the detection data may be used to determine whether to make adjustments to the automatic pool cleaning equipment.

[0073] That is, if the current cleaning parameters meet the requirements for cleaning "the debris in the pool corresponding to the detection data", the cleaning parameters of the automatic pool cleaning device are not adjusted. If the current cleaning parameters do not meet the requirements for cleaning "the debris in the pool corresponding to the detection data", the cleaning parameters of the automatic pool cleaning device in the pool are adjusted.

[0074] It can be understood that the requirement for the debris in the water pool corresponding to the detection data may refer to the cleaning requirement corresponding to the density and / or shape of the debris in the water pool reflected in the detection data.

[0075] In a possible design, the detection data may include sensor data at multiple times. For example, data collected by the first sensor at multiple times may be determined as the detection data. The sensor data may refer to data collected by the first sensor at multiple times.

[0076] Optionally, multiple moments may be determined according to a preset detection period or duration and a preset detection frequency, so as to control the first sensor to perform data detection at multiple moments.

[0077] Furthermore, the first sensor may perform detection at a predetermined collection frequency to obtain sensor data at multiple moments.

[0078] The sensor data at multiple times can be used to adjust the cleaning parameters of the automatic pool cleaning device. Specifically, the cleaning parameters of the automatic pool cleaning device can be adjusted according to the sensor data at multiple times.

[0079] Further, determining the density and / or form of debris in the pool according to the sensor data at multiple times may include: performing data analysis on the sensor data at multiple times to obtain the density and / or form of debris in the pool. Specifically, debris identification may be performed on the sensor data at multiple times to obtain the debris forms and / or densities corresponding to the multiple times, and the density and / or form of debris in the pool may be determined according to the density and / or form of debris corresponding to the multiple times.

[0080] Optionally, determining the density and / or form of debris in the water pool according to the density and / or form of debris corresponding to multiple moments may include: performing mean calculation on the density of debris corresponding to multiple moments to obtain the density of debris in the water pool, and performing mean calculation on the forms of debris corresponding to multiple moments to obtain the form of debris in the water pool. In addition to using mean calculation, methods such as curve fitting may also be used to determine the density and / or form of debris in the water pool.

[0081] S303: Maintain the current cleaning parameters of the automatic pool cleaning device unchanged.

[0082] S304, adjusting the cleaning parameters of the automatic pool cleaning device.

[0083] Optionally, adjusting the cleaning parameters of the automatic pool cleaning device may include adjusting original cleaning parameters of the automatic pool cleaning device to new cleaning parameters that match the cleaning requirements of debris in the pool corresponding to the cleaning detection data.

[0084] S305, controlling the automatic pool cleaning device to clean the pool according to the adjusted cleaning parameters.

[0085] In the technical solution disclosed in the present invention, after acquiring the detection data collected by the first sensor, the cleaning parameters of the automatic pool cleaning equipment are adaptively adjusted according to the requirements of the debris in the pool corresponding to the detection data. The automatic pool cleaning equipment can continuously adjust the cleaning parameters according to the detection data, so that the cleaning effect of the automatic pool cleaning equipment is adapted to the cleaning requirements of the detection data. While ensuring the cleaning effect, the parameter control efficiency of the automatic pool cleaning equipment is improved, thereby achieving the purpose of energy saving.

[0086] As an embodiment, the requirement of the debris in the water pool corresponding to the detection data is determined based on the historical operation data. That is, the requirement of the debris in the water pool corresponding to the detection data can be determined based on the historical operation data.

[0087] In one possible design, the historical operation data includes the correspondence between the cleanliness level and the density and / or shape of the debris in the pool. That is, the requirement for the debris in the pool corresponding to the detection data can be determined based on the preset correspondence between the cleanliness level and the density and / or shape of the debris in the pool.

[0088] After the detection data is obtained, the density and / or shape of the debris in the pool corresponding to the detection data can be determined. According to the correspondence between the cleaning degree and the density and / or shape of the debris in the pool in the historical operation data, the target cleaning degree required for the density and / or shape of the debris in the pool corresponding to the detection data is queried. Based on the cleaning degrees and cleaning parameters corresponding to the preset multiple cleaning modes, the target cleaning mode required for the target cleaning degree is determined.

[0089] Afterwards, it can be determined whether the cleaning parameters in the target cleaning mode are the same as the current cleaning parameters. If they are the same, it is determined that the current cleaning parameters can meet the requirements for cleaning the debris in the pool corresponding to the detection data. If they are different, it is determined that the current cleaning parameters cannot meet the requirements for cleaning the debris in the pool corresponding to the detection data. If it is determined that the current cleaning parameters cannot meet the requirements for cleaning the debris in the pool corresponding to the detection data, the target cleaning parameters are determined to be the cleaning parameters adjusted by the automatic pool cleaning device.

[0090] It is understandable that the correspondence between the cleanliness level and the density and / or shape of the debris in the pool can be preset, that is, each cleanliness level can be pre-associated with the density and / or shape of the debris in the pool.

[0091] For example, it is assumed that the degree of cleanliness can be divided into several degrees such as degree 1, degree 2, degree 3, etc., the density of the debris in the pool can be several densities such as density 1, density 2, density 3, etc., and the shape of the debris in the pool can be several forms such as form 1, form 2 and form 3.

[0092] The corresponding relationship between the cleanliness level and the density and / or shape of debris in the pool may include but is not limited to at least one of the following:

[0093] Correspondence 1, cleanliness level 1 can form a correspondence with debris density 1 and / or shape 1.

[0094] Correspondence relationship 2, a correspondence relationship formed between cleanliness level 2 and debris density 2 and / or shape 2.

[0095] The corresponding relationship 3, the corresponding relationship formed by the cleanliness level 3 and the debris sealing 3 and / or the shape 3.

[0096] Correspondence 4: Cleanliness level 1 may form a correspondence with debris density 2 and / or shape 2.

[0097] Correspondence 5 , cleanliness level 2 may form a correspondence with debris density 1 and / or shape 3 .

[0098] Exemplarily, assuming that the density and / or shape of the debris in the water pool corresponding to the detection data is density 2 and shape 2, then according to the above correspondence 1-5, the cleanliness level 2 can be the target cleanliness level required for the density and / or shape of the debris in the water pool corresponding to the queried detection data.

[0099] Multiple cleaning modes can be pre-set, and each cleaning mode can include a cleaning degree and cleaning parameters. For example, multiple groups of cleaning modes can be, for example, a primary cleaning mode, a secondary cleaning mode, a tertiary cleaning mode, etc., and the higher the level, the higher the cleaning degree.

[0100] Optionally, the cleaning degree and cleaning parameters can be associated and set as a cleaning mode. For example, the higher the cleaning degree, the greater the cleaning intensity, the longer the cleaning dwell time, and the denser the cleaning path in the cleaning parameters. Correspondingly, the smaller the cleaning intensity, the smaller the cleaning intensity, the shorter the cleaning dwell time, and the sparser the cleaning path in the cleaning parameters.

[0101] The cleaning path may refer to, for example, the travel path of the automatic pool cleaning device in the same cleaning area. The density of the cleaning path may refer to the number of cleaning lines in the cleaning area. For example, in the same cleaning area, the denser the cleaning lines, the higher the cleaning effect and the higher the cleaning degree, while the sparser the cleaning lines, the worse the cleaning effect and the lower the cleaning degree.

[0102] The cleaning intensity can be determined by parameters such as the water pump power or the water pump speed. For example, the higher the cleaning intensity, the greater the water pump power or the water pump speed. The lower the cleaning intensity, the smaller the water pump power or the water pump speed. If the cleaning intensity increases, the water pump speed or the water pump power will increase. If the cleaning intensity decreases, the water pump speed or the water pump power will decrease.

[0103] Exemplarily, it is assumed that there are 3 cleaning modes, namely cleaning modes 1-3. Each cleaning mode sets a cleaning degree and a cleaning parameter. It is assumed that cleaning mode 1 is cleaning degree 1 and cleaning parameter 1, cleaning mode 2 is cleaning degree 2 and cleaning parameter 2, and cleaning mode 3 is cleaning degree 3 and cleaning parameter 3.

[0104] As described above, after obtaining the target cleaning degree corresponding to the detection data, the target cleaning mode corresponding to the target cleaning degree can be determined. Taking cleaning degree 2 as an example, the cleaning mode 2 in which it is located is the target cleaning mode, and the target cleaning mode, such as cleaning parameter 2 in cleaning mode 2, is the target cleaning parameter.

[0105] The control method of the automatic pool cleaning device provided by the present disclosure determines the cleaning degree required by the detection data through the corresponding relationship between the cleaning degree in the historical operation data and the density and / or shape of the debris in the pool. Then, it is determined whether the current cleaning parameters can achieve the cleaning degree required by the detection data, and whether the current cleaning parameters are adapted to the current cleaning requirements, so as to adjust the cleaning parameters in time when the cleaning requirements are not met. Timely adjustment of the cleaning parameters of the automatic pool cleaning device can effectively improve the cleaning efficiency, and improving the adaptability of the cleaning parameters to the cleaning requirements can reduce ineffective cleaning and save equipment energy consumption.

[0106] like Figure 4 FIG. 4 is a schematic diagram of a structure of an embodiment of a control device for an automatic pool cleaning device provided by an embodiment of the present invention. The control device 400 for the automatic pool cleaning device may include the following modules:

[0107] The acquisition unit 401 is used to obtain detection data of a first sensor, the first sensor is arranged on the automatic pool cleaning device, and the detection data can reflect the density and / or shape of the debris in the pool;

[0108] The adjustment unit 402 is used to adjust the cleaning parameters of the automatic pool cleaning device based on the detection data.

[0109] The control unit 403 is used to control the automatic pool cleaning device to clean the pool according to the adjusted cleaning parameters.

[0110] In some embodiments, the adjusting unit 402 may include:

[0111] The adjustment module is used to determine whether the current cleaning parameters can meet the requirements of cleaning the debris in the pool corresponding to the detection data based on the detection data. If not, the cleaning parameters of the automatic pool cleaning device are adjusted.

[0112] In some embodiments, the detection data includes sensor data at multiple time instants.

[0113] In some embodiments, the requirement to clean debris from a pool corresponding to the detection data is determined based on historical operational data.

[0114] In some embodiments, the historical operation data includes a correspondence between the degree of cleanliness and the density and / or shape of debris in the pool.

[0115] In some embodiments, the cleaning parameter includes at least one of: cleaning intensity, cleaning dwell time, or cleaning path.

[0116] In some embodiments, the cleaning intensity is related to the water pump power of the automatic pool cleaning device, and the cleaning residence time refers to the time that the automatic pool cleaning device stays in the area where the debris is located.

[0117] In some embodiments, the first sensor includes a camera, an ultrasonic sensor, or an infrared sensor.

[0118] like Figure 5 FIG. 1 is a schematic diagram of a structure of an embodiment of an automatic pool cleaning device 500 provided by an embodiment of the present invention. The device may include:

[0119] The memory 501, the processor 502 and the first sensor 503 are used to sense the detection parameters, the memory 501 is used to store computer-readable instructions, and the processor 502 is used to run the computer-readable instructions so that the automatic pool cleaning device performs the following steps:

[0120] Acquire detection data of a first sensor 503, where the first sensor 503 is disposed on the automatic pool cleaning device 500, and the detection data can reflect the density and / or shape of debris in the pool; adjust cleaning parameters of the automatic pool cleaning device 500 based on the detection data; and control the automatic pool cleaning device 500 to clean the pool according to the adjusted cleaning parameters.

[0121] In addition, the automatic pool cleaning device can also execute any of the above-mentioned control methods for the automatic pool cleaning device, which will not be described in detail here.

[0122] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0123] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, i.e., they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Those of ordinary skill in the art may understand and implement it without creative effort.

[0124] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods of each embodiment or some parts of the embodiment.

[0125] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A control method for an automatic pool cleaning device, characterized in that: include: Acquire detection data of a first sensor, where the first sensor is disposed on the automatic pool cleaning device, and the detection data can reflect the density and / or shape of debris in the pool; adjusting cleaning parameters of the automatic pool cleaning device based on the detection data; The automatic pool cleaning device is controlled to clean the pool according to the adjusted cleaning parameters.

2. The method according to claim 1, characterized in that The step of adjusting the cleaning parameters of the automatic pool cleaning device based on the detection data includes determining, based on the detection data, whether the current cleaning parameters can meet the requirements for cleaning debris in the pool corresponding to the detection data; if not, adjusting the cleaning parameters of the automatic pool cleaning device.

3. The method according to claim 2, characterized in that The detection data includes sensor data at multiple moments.

4. The method according to claim 2, characterized in that: The requirement to clean debris in the pool corresponding to the detection data is determined based on historical operation data.

5. The method according to claim 4, characterized in that The historical operation data includes the corresponding relationship between the cleaning degree and the density and / or shape of the debris in the pool.

6. The method according to claim 1, characterized in that The cleaning parameter includes at least one of the following: cleaning intensity, cleaning dwell time or cleaning path.

7. The method according to claim 6, characterized in that The cleaning intensity is related to the water pump power of the automatic pool cleaning device, and the cleaning residence time refers to the time that the automatic pool cleaning device stays in the area where the debris is located.

8. The method according to any one of claims 1 to 7, characterized in that: The first sensor includes a camera, an ultrasonic sensor or an infrared sensor.

9. An automatic pool cleaning device, characterized in that: include: a memory, a processor connected to the memory, the memory being configured to store computer-readable instructions; The processor is used to run the computer-readable instructions so that the automatic pool cleaning device executes the control method of the automatic pool cleaning device according to any one of claims 1-8.

10. A computer program product, characterized in that The computer program product comprises instructions, and when the instructions are executed, the control method of the automatic pool cleaning device according to any one of claims 1 to 8 is executed.

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