Control method and equipment for pool cleaning equipment

Abstract

The invention discloses a control method and device for pool cleaning equipment, and the method comprises the steps: controlling the cleaning equipment to go to a preset area of the water surface, and enabling the cleaning equipment to stand for a preset time length in the preset area; acquiring position information of the cleaning equipment before and after standing; according to the position information and pool map information, determining a to-be-cleaned area in the pool; and the cleaning equipment is controlled to move to the to-be-cleaned area to execute a cleaning task. The energy consumption of the cleaning equipment for cleaning the water surface is reduced, the cleaning efficiency of the water surface floating objects in the water pool is improved, and the cleaning time is shortened.

Description

Technical Field

[0001] The present application relates to the technical field of cleaning equipment, and in particular to a control method and equipment for pool cleaning equipment. Background Art

[0002] In a pool scenario, there is a big difference between the garbage at the bottom of the pool and the garbage on the surface of the pool. The garbage at the bottom of the pool is generally relatively fixed, while the garbage on the surface of the pool is mostly floating and has an unstable position. If the cleaning equipment directly performs full-area cleaning when cleaning the garbage on the water surface, it may waste a lot of energy and have low cleaning efficiency. Summary of the Invention

[0003] The present application provides a control method and device for a pool cleaning device, which reduces the energy consumption of the cleaning device, improves the cleaning efficiency of floating objects on the water surface of the pool, and shortens the cleaning time.

[0004] In one aspect, the present application provides a method for controlling a pool cleaning device, the method comprising:

[0005] Controlling the cleaning device to go to a preset area on the water surface and stay in the preset area for a preset time;

[0006] Obtaining position information of the cleaning device before and after standing still;

[0007] Determining an area to be cleaned in the pool according to the location information and the pool map information;

[0008] The cleaning device is controlled to move to the area to be cleaned to perform a cleaning task.

[0009] In an exemplary embodiment, the preset water surface area is an area near the center of the pool.

[0010] In an exemplary embodiment, the stationary state means that the device turns off the water pump and floats autonomously on the water surface.

[0011] In an exemplary embodiment, the preset duration is in the range of 1-15 seconds.

[0012] In an exemplary embodiment, the position information includes at least displacement information and / or direction information, and the position information is acquired by a detection sensor of the device.

[0013] In an exemplary embodiment, the method further includes: acquiring a water flow velocity and direction in the pool based on the displacement information and the direction information, and determining an area to be cleaned in the pool according to the water flow velocity and direction.

[0014] In an exemplary embodiment, the method further includes determining a size of the area to be cleaned based on the water flow velocity, wherein the water flow velocity is inversely proportional to the area of ​​the area to be cleaned.

[0015] In an exemplary embodiment, controlling the cleaning device to move to the area to be cleaned to perform the cleaning task includes cleaning the area to be cleaned according to a planned path, and the planned path includes one or more of the following paths: U-shaped, bow-shaped, or edge cleaning.

[0016] Another aspect provides a pool cleaning device having a cleaning mode, wherein the cleaning mode is configured to perform the above method.

[0017] On the other hand, a pool cleaning device is provided. The pool cleaning device includes a detection sensor and a controller. The controller is configured to execute the above method.

[0018] On the other hand, an electronic device is provided, comprising a processor and a memory, wherein the memory stores at least one instruction or at least one program, and the at least one instruction or at least one program is loaded and executed by the processor to implement the control method of the pool cleaning device as described above.

[0019] On the other hand, a computer storage medium is provided, wherein the computer storage medium stores at least one instruction or at least one program, and the at least one instruction or at least one program is loaded and executed by a processor to implement the control method of the pool cleaning device as described above.

[0020] Another aspect provides a computer program product, comprising a computer program, wherein the computer program is loaded and executed by a processor to implement the control method of the pool cleaning device as described above.

[0021] The control method and device for pool cleaning equipment provided in this application have the following technical effects:

[0022] The control method of the pool cleaning device of the present application controls the cleaning device to go to a preset area on the water surface, and after the cleaning device remains stationary in the preset area for a preset period of time, obtains the position information of the cleaning device before and after the stationary state; thereby, the area to be cleaned in the pool with floating objects can be quickly and accurately determined based on the position information and the pool map information; and then the cleaning device is controlled to move to the area to be cleaned to perform the cleaning task, thereby avoiding full-area cleaning of the pool water surface, reducing the energy consumption of the cleaning device, and improving the cleaning efficiency of floating objects on the water surface in the pool and shortening the cleaning time. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions and advantages of the embodiments of this specification or the prior art, the following is a brief introduction to the drawings required for use in the embodiments or the prior art descriptions. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0024] Figure 1 This is a schematic diagram of an application environment of a control method for a pool cleaning device provided in an embodiment of this specification;

[0025] Figure 2 This is an example 1 of a workflow diagram of a cleaning device provided in an embodiment of this specification;

[0026] Figure 3 This is a second example of a workflow diagram of a cleaning device provided in an embodiment of this specification;

[0027] Figure 4 This is an example 3 of a workflow diagram of a cleaning device provided in an embodiment of this specification;

[0028] Figure 5 This is a hardware structure diagram of a control method for a pool cleaning device provided in an embodiment of this specification;

[0029] Among them, the reference numerals in the figure correspond to:

[0030] 01-Sink, 02-Area to be cleaned. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of this specification to clearly and completely describe the technical solutions in the embodiments of this specification. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0032] It should be noted that the terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or server that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products, or devices.

[0033] In the embodiments of the present application, the term "module" or "unit" refers to a computer program or a part of a computer program that has a predetermined function and works together with other related parts to achieve a predetermined goal, and can be implemented in whole or in part by using software, hardware (such as processing circuits or memories) or a combination thereof. Similarly, a processor (or multiple processors or memories) can be used to implement one or more modules or units. In addition, each module or unit can be part of an overall module or unit that includes the function of the module or unit.

[0034] The following describes a control method for a pool cleaning device of the present application. Figure 1 This is a flow chart of a control method for a pool cleaning device provided in an embodiment of this specification. This specification provides method operation steps as described in the embodiment or flow chart, but may include more or fewer operation steps based on conventional or non-creative labor. The order of steps listed in the embodiment is only one way of executing the steps among many, and does not represent the only execution order. When the actual system or server product is executed, it can be executed in sequence or in parallel (for example, in a parallel processor or multi-threaded processing environment) according to the method shown in the embodiment or the accompanying drawings. Specifically, Figure 1 As shown, the method may include:

[0035] S1: Control the cleaning device to go to a preset area on the water surface and stay in the preset area for a preset time;

[0036] S2: Acquiring position information of the cleaning device before and after standing still;

[0037] S3: Determine the area to be cleaned in the pool according to the location information and the pool map information;

[0038] S4: Control the cleaning device to move to the area to be cleaned to perform the cleaning task.

[0039] In the embodiments of this specification, cleaning equipment may include but is not limited to robots, smart devices, smart mobile terminals, automatic equipment, etc.

[0040] In the embodiment of this specification, the preset water surface area is an area near the center of the pool.

[0041] Exemplarily, the distance between the preset area and the center of the pool is less than a first preset distance; the distance between the preset area and the pool wall is greater than a second preset distance; wherein, the first preset distance and the second preset distance may be the same or different, and may be set according to actual conditions.

[0042] For example, the stationary state means that the device turns off the water pump and floats autonomously on the water surface. The preset time length is within the range of 1-15 seconds.

[0043] In an embodiment of the present specification, the position where the cleaning equipment starts to come to rest is set in an area close to the center, and the water pump is turned off so that the cleaning equipment can float autonomously on the water surface. This ensures that the cleaning equipment can move freely under the action of wind or water flow on the water surface after coming to rest, thereby improving the accuracy of determining the area to be cleaned; and the preset time length of the rest is set to 1-15 seconds, so that the position information of the cleaning equipment before and after the rest can be quickly determined, thereby improving the efficiency of determining the area to be cleaned.

[0044] In the embodiment of this specification, the position information includes at least displacement information and / or direction information, and the position information is obtained by a detection sensor of the device.

[0045] The position information of the cleaning device before and after being stationary can be obtained by a detection sensor, wherein the detection sensor can include at least one of an inertial measurement unit sensor and a magnetometer sensor. An inertial measurement unit sensor (IMU) is a sensor that combines a gyroscope and an accelerometer and is used to measure motion parameters such as direction, angular velocity, and acceleration. A magnetometer sensor is used to measure the direction and strength of the Earth's magnetic field. In robotics, magnetometer sensors are commonly used for positioning and navigation.

[0046] In the embodiments of this specification, the built-in detection sensor in the cleaning equipment can be combined to confirm the displacement information and / or direction information, so as to further determine the water flow and wind speed conditions during cleaning, so as to find the designated cleaning area for key area cleaning, save energy, shorten the cleaning time, and avoid ineffective work.

[0047] In some embodiments, the method further comprises:

[0048] When the detection sensor detects that the cleaning device is located at the edge of the pool, obtaining a current working mode of the cleaning device;

[0049] If the current working mode is the key area cleaning mode, the preset water surface area is determined according to the map corresponding to the pool or the outline of the pool; thereby, the preset water surface area can be quickly determined.

[0050] In the embodiment of this specification, the method further includes:

[0051] The water flow speed and direction of the pool are acquired based on the displacement information and the direction information, and the area to be cleaned in the pool is determined according to the water flow speed and direction.

[0052] In some embodiments, the water flow velocity in the pool can be determined based on the displacement information of the cleaning device; and the water flow direction can be determined based on the direction information of the cleaning device's movement, thereby determining the area to be cleaned in the pool based on the water flow velocity and direction. For example, the area to be cleaned in the pool can also be determined based on the water flow direction; for example, a target area near the edge of the pool along the water flow direction can be determined as the area to be cleaned.

[0053] In the embodiments of the present specification, the area to be cleaned in the pool can be quickly and accurately determined through the displacement information and direction information of the cleaning device in a stationary state.

[0054] In some embodiments, the wind speed on the water surface may be determined based on the displacement information of the cleaning device, and the area to be cleaned may be determined based on the wind speed.

[0055] In some embodiments, the wind speed or water flow speed on the water surface can be used as an environmental parameter of the cleaning equipment; and when the environmental parameter is greater than or equal to a preset parameter threshold, the boundary of the area to be cleaned is determined to be a first boundary; the distance between the first boundary and the pool wall on the side away from the pool wall is less than a first threshold; when the environmental parameter is greater than zero and less than the preset parameter threshold, the boundary of the area to be cleaned is determined to be a second boundary; the distance between the second boundary and the pool wall on the side away from the pool wall is less than the second threshold and greater than the first threshold. When the environmental parameter is wind speed, the preset parameter threshold is the preset wind speed threshold; when the environmental parameter is water flow speed, the preset parameter threshold is the preset water flow speed threshold.

[0056] In an embodiment of the present specification, the area to be cleaned on the water surface of the pool may include floating objects such as fallen leaves and plastic bags; for example, when the floating objects on the water surface are fallen leaves, when the water flow or wind speed is large, the accumulation area of ​​the leaves is small, and the calculated outer boundary of the area to be cleaned is closer to the edge of the pool; when the water flow or wind speed is small, the distance between the leaves is large, the accumulation area is large, and the calculated outer boundary of the area to be cleaned is far away from the edge of the pool, so a relatively larger area can be cleaned, that is, the area of ​​the area to be cleaned is larger.

[0057] In the embodiments of this specification, the data calculated by the sensor can be used to determine the size of the cleaning area. When the water flow or wind speed is large, the cleaning area can be dynamically adjusted to clean only a smaller area, thereby further improving the cleaning efficiency of the water surface.

[0058] Exemplarily, after determining the area to be cleaned based on the water flow speed and direction, the attribute information of the pool can also be obtained, where the attribute information of the pool is at least one of the area and outline of the pool; and based on the attribute information of the pool, the area to be cleaned is adjusted to obtain an adjusted area; and then the cleaning equipment is controlled to perform the cleaning task on the adjusted area, thereby further improving the accuracy of the cleaning area and improving the cleanliness of the water surface.

[0059] In the embodiment of this specification, the method further includes:

[0060] The size of the area to be cleaned is determined based on the water flow velocity, wherein the water flow velocity is inversely proportional to the area of ​​the area to be cleaned.

[0061] In an embodiment of the present specification, the size of the area to be cleaned can be determined according to the water flow velocity, wherein the water flow velocity is inversely proportional to the area of ​​the area to be cleaned; that is, when the water flow velocity is larger, the area of ​​the area to be cleaned is smaller, and when the water flow velocity is smaller, the area of ​​the area to be cleaned is larger; thereby achieving adaptive adjustment of the size of the area to be cleaned according to the water flow velocity, and improving the accuracy of determining the area to be cleaned.

[0062] In an embodiment of the present specification, controlling the cleaning device to move to the area to be cleaned to perform the cleaning task includes cleaning the area to be cleaned according to a planned path, and the planned path includes one or more of the following paths: a U-shaped, a bow-shaped, or edge cleaning.

[0063] In an embodiment of the present specification, a planned path for the area to be cleaned can be set in advance. The planned path can be a combination of one or more of a U-shape, a bow-shape, and edge cleaning. After determining the area to be cleaned, the cleaning equipment can be controlled to move to the area to be cleaned and clean the area to be cleaned according to the planned path.

[0064] In the embodiments of the present specification, a planned path of the cleaning equipment can be pre-set, and cleaning can be performed in the area to be cleaned according to the planned path, thereby improving the cleaning efficiency of the area to be cleaned and ensuring the cleaning effect.

[0065] In some embodiments, the cleaning device may be controlled to move toward the area to be cleaned until the cleaning device contacts the wall of the pool;

[0066] The cleaning device is controlled to perform a cleaning task on the area to be cleaned along a direction perpendicular to the previous moving direction of the cleaning device.

[0067] In the embodiment of this specification, the water pump can be started to drive the cleaning device to run until the cleaning device touches the wall of the pool; after touching the wall, the cleaning device can clean in a direction perpendicular to the previous forward direction.

[0068] In some embodiments, controlling the cleaning device to perform a cleaning task on the area to be cleaned in a direction perpendicular to the previous moving direction of the cleaning device may include: controlling the cleaning device to start in a direction perpendicular to the previous moving direction of the cleaning device, and cleaning the area to be cleaned according to a planned path; and further performing edge cleaning on key cleaning areas in the area to be cleaned.

[0069] In some embodiments, as Figure 2 As shown, Figure 2 This is an example of a workflow diagram for a cleaning device, which is a cleaning robot. The workflow includes:

[0070] S201: The robot determines its current poolside location 1 based on sensor data. Once determined, the robot departs from location 1 and moves away from the poolside toward the center of pool 01. S202: After reaching location 2, the center of pool 01, the water pump is turned off, the main unit is silent, and the inertial measurement unit (IMU) and magnetometer sensors begin calculating the robot's position and orientation. After a certain interval, such as 5 seconds, if there is water flow or wind, the robot will move in a certain direction, moving from location 2 to location 3. S203: Based on the position and orientation information from the previous step, the robot determines the pool area to be cleaned 02. The water pump is activated to drive the robot from location 3 until it touches the pool wall, corresponding to location 4. S204: After touching the wall, the robot cleans perpendicular to its previous direction of travel, such as in an I-shaped pattern. Once the I-shaped pattern is completed, the robot can move from location 4 to location 5 to clean the edge of the area to be cleaned.

[0071] In some embodiments, as Figure 3 As shown, Figure 3 This is a second example of a workflow diagram for a cleaning device, which includes:

[0072] S301: The cleaning device starts from the edge of the pool and moves to the preset area in the pool. After the water pump is turned off and the cleaning device is left for a preset time, the position of the cleaning device changes. The area to be cleaned (corresponding to the cleaning area) is determined based on the position change information of the cleaning device. Figure 3The triangle area enclosed by the middle green line and the edge of the swimming pool); S302: Turn on the water pump, the cleaning device moves to the area to be cleaned, and follows the bow-shaped path (corresponding to Figure 3 The yellow line in the middle performs the cleaning task. Figure 3 The black line in the middle is the movement path of the cleaning equipment when the water pump is turned off; the red line is the movement path of the cleaning equipment before performing the cleaning task when the water pump is turned on.

[0073] In some embodiments, as Figure 4 As shown, Figure 4 This is a workflow diagram example 3 for a cleaning device, which includes:

[0074] S401: When the cleaning device is located at edge position 1 in pool 01 or position 6 in the fallen leaf area, determine the working mode of the cleaning device; S402: If the working mode of the cleaning device is key area cleaning mode, the cleaning device searches for a preset area in the pool based on the pool map information or pool contour information. The preset area is an area near the center of the pool or an area away from the initial edge of the pool; S403: Start the water pump and control the cleaning device to move to the preset area; When the cleaning device is located at edge position 1 in pool 01, control the cleaning device to move from position 1 to position 2. When When the cleaning device is located at position 6 in the fallen leaf area, the cleaning device is controlled to move from position 6 to position 2; S404: the water pump is turned off, the cleaning device is controlled to stay in the preset area for a preset time, and the cleaning device moves from position 2 to position 3; S405: the position information of the cleaning device before and after standing still is obtained; based on the position information and the pool map information, the area to be cleaned 02 in the pool is determined; S405: the cleaning device is controlled to move from position 3 to the pool wall position 04 of the area to be cleaned 02 to start the cleaning task, and finally move to position 05 for cleaning along the edge.

[0075] It can be seen from the technical solutions provided in the above embodiments of this specification that the control method of the pool cleaning equipment in the embodiments of this specification controls the cleaning equipment to go to a preset area on the water surface, and after it stays in the preset area for a preset period of time, obtains the position information of the cleaning equipment before and after the period of standing still; thereby, the area to be cleaned in the pool with floating objects can be quickly and accurately determined based on the position information and the pool map information; and then the cleaning equipment is controlled to move to the area to be cleaned to perform the cleaning task, thereby avoiding full-area cleaning of the pool water surface, reducing the energy consumption of the cleaning equipment, and improving the cleaning efficiency of floating objects on the water surface in the pool and shortening the cleaning time.

[0076] The embodiments of this specification also provide a pool cleaning device having a cleaning mode, wherein the cleaning mode is used to perform the above method.

[0077] The embodiments of this specification also provide a pool cleaning device, which includes a detection sensor and a controller, and the controller is used to execute the above method.

[0078] The present invention also provides a control device for a pool cleaning device, the device comprising:

[0079] A control module, configured to control the cleaning device to move to a preset area on the water surface and to remain in the preset area for a preset period of time;

[0080] A position information acquisition module, used to acquire the position information of the cleaning device before and after standing still;

[0081] a first area determination module, configured to determine an area to be cleaned in the pool based on the location information and the pool map information;

[0082] The task execution module is used to control the cleaning device to move to the area to be cleaned to perform the cleaning task.

[0083] In some embodiments, the apparatus may further include:

[0084] The second area determination module is used to obtain the water flow speed and direction of the pool based on the displacement information and the direction information, and determine the area to be cleaned in the pool according to the water flow speed and direction.

[0085] The area size determination module is used to determine the size of the area to be cleaned based on the water flow velocity.

[0086] In some embodiments, the task execution module is also used to control the cleaning equipment to move to the area to be cleaned, and clean the area to be cleaned according to the planned path. The planned path includes one or more of the following paths: U-shaped, bow-shaped or edge cleaning.

[0087] The device and method embodiments in the device embodiments are based on the same inventive concept.

[0088] An embodiment of the present specification provides an electronic device, which includes a processor and a memory, wherein the memory stores at least one instruction or at least one program, and the at least one instruction or at least one program is loaded and executed by the processor to implement the control method of the pool cleaning device provided in the above method embodiment.

[0089] An embodiment of the present application also provides a computer storage medium, which can be set in a terminal to store at least one instruction or at least one program related to implementing a control method for a pool cleaning device in a method embodiment. The at least one instruction or at least one program is loaded and executed by the processor to implement the control method for the pool cleaning device provided in the above method embodiment.

[0090] Embodiments of the present application also provide a computer program product or computer program, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to implement the control method of the pool cleaning device provided in the above method embodiment.

[0091] Optionally, in the embodiments of this specification, the storage medium may be located in at least one of the multiple network servers of the computer network. Optionally, in this embodiment, the storage medium may include, but is not limited to, various media that can store program code, such as a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk, or an optical disk.

[0092] The memory described in the embodiments of this specification can be used to store software programs and modules, and the processor executes various functional applications and data processing by running the software programs and modules stored in the memory. The memory may mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, application programs required for functions, etc.; the data storage area can store data created according to the use of the device, etc. In addition, the memory may include a high-speed random access memory and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage device. Accordingly, the memory may also include a memory controller to provide the processor with access to the memory.

[0093] The control method embodiment of the pool cleaning device provided in the embodiments of this specification can be executed in a mobile terminal, a computer terminal, a server or a similar computing device. Taking running on an electronic device as an example, Figure 5 This is a hardware structure diagram of a control method for a pool cleaning device provided in an embodiment of this specification. Figure 5As shown, the electronic device 500 may have relatively large differences due to different configurations or performances, and may include one or more central processing units (CPUs) 510 (the central processing unit 510 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA), a memory 530 for storing data, and one or more storage media 520 (such as one or more mass storage devices) for storing application programs 523 or data 522. Among them, the memory 530 and the storage medium 520 can be temporary storage or permanent storage. The program stored in the storage medium 520 may include one or more modules, each module may include a series of instruction operations in the electronic device. Furthermore, the central processing unit 510 can be configured to communicate with the storage medium 520 to execute a series of instruction operations in the storage medium 520 on the electronic device 500. The electronic device 500 may also include one or more power supplies 560, one or more wired or wireless network interfaces 550, one or more input and output interfaces 540, and / or one or more operating systems 521, such as Windows Server™, Mac OS X™, Unix™, Linux™, FreeBSD™, etc.

[0094] The input / output interface 540 can be used to receive or send data via a network. Specific examples of the aforementioned network may include a wireless network provided by a communications provider of the electronic device 500. In one embodiment, the input / output interface 540 includes a network interface controller (NIC), which can be connected to other network devices via a base station to communicate with the Internet. In one embodiment, the input / output interface 540 can be a radio frequency (RF) module for wirelessly communicating with the Internet.

[0095] It can be understood by those skilled in the art that Figure 5 The structure shown is only for illustration and does not limit the structure of the above electronic device. Figure 5 More or fewer components than shown, or with Figure 5 Different configurations shown.

[0096] It can be seen from the embodiments of the control method, equipment or storage medium of the pool cleaning equipment provided by the above-mentioned application that the control method of the pool cleaning equipment of the present application controls the cleaning equipment to go to a preset area on the water surface, and after it stays in the preset area for a preset period of time, obtains the position information of the cleaning equipment before and after the cleaning equipment is stationary; thereby, the area to be cleaned in the pool with floating objects can be quickly and accurately determined based on the position information and the pool map information; and then the cleaning equipment is controlled to move to the area to be cleaned to perform the cleaning task, thereby avoiding full-area cleaning of the pool water surface, reducing the energy consumption of the cleaning equipment, and improving the cleaning efficiency of floating objects on the water surface in the pool and shortening the cleaning time.

[0097] It should be noted that the order in which the embodiments of this specification are presented is for illustrative purposes only and does not represent the superiority or inferiority of the embodiments. Furthermore, the foregoing descriptions are of specific embodiments of this specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims may be performed in an order different from that in the embodiments and still achieve the desired results. Furthermore, the processes depicted in the accompanying drawings do not necessarily require the specific order or sequential order shown to achieve the desired results. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0098] The various embodiments in this specification are described in a progressive manner. Similar portions between the various embodiments can be referenced to each other, and each embodiment focuses on the differences from the other embodiments. In particular, the device, equipment, and storage medium embodiments are generally similar to the method embodiments, so their descriptions are relatively simplified. For relevant portions, refer to the descriptions of the method embodiments.

[0099] Those skilled in the art will understand that all or part of the steps of implementing the above embodiments may be accomplished by hardware, or by a program instructing the relevant hardware to accomplish the steps. The program may be stored in a computer storage medium, and the above-mentioned storage medium may be a read-only memory, a disk, or an optical disk, etc.

[0100] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A method for controlling a pool cleaning device, characterized in that: include: Controlling the cleaning device to go to a preset area on the water surface and stay in the preset area for a preset time; Acquiring position information of the cleaning device before and after standing still; Determine the area to be cleaned in the pool according to the location information and the pool map information; The cleaning device is controlled to move to the area to be cleaned to perform a cleaning task.

2. The method according to claim 1, characterized in that The preset water surface area is an area near the center of the pool.

3. The method according to claim 1, characterized in that The stationary state means that the device turns off the water pump and floats autonomously on the water surface.

4. The method according to claim 1, characterized in that: The preset duration is in the range of 1-15 seconds.

5. The method according to claim 1, characterized in that The position information at least includes displacement information and / or direction information, and the position information is acquired by a detection sensor of the device.

6. The method according to claim 5, characterized in that The water flow speed and direction of the pool are acquired based on the displacement information and the direction information, and the area to be cleaned in the pool is determined according to the water flow speed and direction.

7. The method according to claim 6, characterized in that The size of the area to be cleaned is determined based on the water flow velocity, wherein the water flow velocity is inversely proportional to the area of ​​the area to be cleaned.

8. The method according to any one of claims 1 to 7, characterized in that: Controlling the cleaning device to move to the area to be cleaned to perform the cleaning task includes cleaning the area to be cleaned according to a planned path, and the planned path includes one or more of the following paths: U-shaped, bow-shaped, or edge cleaning.

9. A pool cleaning device having a cleaning mode, characterized in that: The cleaning mode is used to perform the method according to any one of claims 1-8.

10. A pool cleaning device, characterized in that: The pool cleaning device comprises a detection sensor and a controller, and the controller is used to execute the method according to any one of claims 1-8.

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