Control methods and equipment for water tank cleaning

Abstract

The application discloses a control method and device of a pool cleaning device, the method comprising: controlling the cleaning device to go to a preset area on the water surface and stay in the preset area for a preset time length; acquiring position information of the cleaning device before and after the staying; determining a to-be-cleaned area in the pool according to the position information and pool map information; and controlling the cleaning device to move to the to-be-cleaned area to perform a cleaning task. The application reduces energy consumption of the cleaning device when cleaning the water surface, improves the cleaning efficiency of floating objects on the water surface in the pool, and shortens the cleaning time.

Description

Technical Field

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

[0002] In a pool setting, there is a significant difference between the debris at the bottom and the debris on the surface. Debris at the bottom is generally more fixed, while debris on the surface is mostly floating and its location is not fixed. If the cleaning equipment cleans the entire surface of the water, it may waste a lot of energy and have low cleaning efficiency. Summary of the Invention

[0003] This application provides a control method and equipment for a water tank cleaning device, which reduces the energy consumption of the cleaning device and improves the cleaning efficiency of floating objects on the water surface in the water tank, while shortening the cleaning time.

[0004] On one hand, this application provides a control method for a water tank cleaning device, the method comprising:

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

[0006] Obtain the location information of the cleaning equipment before and after the settling period;

[0007] Based on the location information and the pool map information, determine the area in the pool that needs to be cleaned;

[0008] Control the cleaning equipment to move to the area to be cleaned and perform the cleaning task.

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

[0010] In one exemplary embodiment, "static" means that the device turns off the water pump and floats autonomously on the water surface.

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

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

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

[0014] In one exemplary embodiment, the method further includes: determining the 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 one exemplary embodiment, controlling the cleaning equipment to move to the area to be cleaned to perform a cleaning task includes cleaning the area to be cleaned according to a planned path, the planned path including one or more of the following paths: a zigzag pattern, a bow-shaped pattern, or edge cleaning.

[0016] On the other hand, a pool cleaning device is provided, having a cleaning mode for performing the above-described method.

[0017] On the other hand, a pool cleaning device is provided, which includes a detection sensor and a controller, the controller being used to perform the above-described method.

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

[0020] On the other hand, a computer program product is provided, including a computer program that is loaded and executed by a processor to implement the control method of the pool cleaning equipment as described above.

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

[0022] The control method of the pool cleaning equipment of this application controls the cleaning equipment to go to a preset area on the water surface, and after the equipment has been stationary in the preset area for a preset time, the position information of the cleaning equipment before and after the stationary period is obtained. Thus, based on the position information and the pool map information, the area in the pool with floating objects to be cleaned can be quickly and accurately determined. Then, the cleaning equipment is controlled to move to the area to be cleaned to perform the cleaning task, thereby avoiding the need to clean the entire surface of the pool, reducing the energy consumption of the cleaning equipment, improving the cleaning efficiency of floating objects on the pool surface, and shortening the cleaning time. Attached Figure Description

[0023] To more clearly illustrate the technical solutions and advantages in the embodiments or prior art of this specification, the drawings used in the description of the embodiments or prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a schematic diagram illustrating the application environment of a control method for a water tank cleaning device provided in the embodiments of this specification;

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

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

[0027] Figure 4 This is Example 3 of the workflow diagram for a cleaning device provided in the embodiments of this specification;

[0028] Figure 5 This is a schematic diagram of the hardware structure of a control method for a water tank cleaning device provided in the embodiments of this specification;

[0029] The corresponding reference numerals in the figure are:

[0030] 01 - Water pool, 02 - Area to be cleaned. Detailed Implementation

[0031] The technical solutions in the embodiments of this specification will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0032] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or server that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or devices.

[0033] In this application embodiment, the terms "module" or "unit" refer to a computer program or part of a computer program that has a predetermined function and works with other related parts to achieve a predetermined goal, and can be implemented wholly or partially using software, hardware (such as processing circuitry or memory), or a combination thereof. Similarly, a processor (or multiple processors or memory) can be used to implement one or more modules or units. Furthermore, each module or unit can be part of an overall module or unit that includes the functionality of that module or unit.

[0034] The following describes a control method for a water tank cleaning device according to this application. Figure 1 This is a flowchart illustrating a control method for a water tank cleaning device provided in an embodiment of this specification. This specification provides the operational steps of the method described in the embodiment or flowchart, but based on conventional or non-inventive labor, more or fewer operational steps may be included. The order of steps listed in the embodiment is merely one possible execution order among many and does not represent the only possible execution order. In actual system or server product execution, the method can be executed sequentially or in parallel (e.g., in a parallel processor or multi-threaded processing environment) as shown in the embodiment or drawings. Specifically, as follows... Figure 1 As shown, the method may include:

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

[0036] S2: Obtain the position information of the cleaning equipment before and after standing;

[0037] S3: Based on the location information and the pool map information, determine the area in the pool that needs to be cleaned;

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

[0039] In the embodiments described in this specification, the cleaning equipment may include, but is not limited to, robots, smart devices, smart mobile terminals, and automated equipment.

[0040] In the embodiments described in this specification, the preset water surface area is the area near the center of the pool.

[0041] For example, 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 can be set according to the actual situation.

[0042] For example, "static" means that the device turns off the water pump and floats autonomously on the water surface. The preset duration is in the range of 1-15 seconds.

[0043] In the embodiments of this specification, the initial static position of the cleaning equipment is set in a region close to the center, and the water pump is turned off, allowing the cleaning equipment to float autonomously on the water surface. This ensures that the cleaning equipment can move freely under the influence of wind or water flow after static placement, thereby improving the accuracy of determining the area to be cleaned. Furthermore, the preset static placement time is set to 1-15 seconds, which allows for quick determination of the position information of the cleaning equipment before and after static placement, thereby improving the efficiency of determining the area to be cleaned.

[0044] In the embodiments described in this specification, the position information includes at least displacement information and / or direction information, and the position information is acquired by the detection sensor of the device.

[0045] The position information of the cleaning equipment before and after resting can be obtained by a detection sensor, wherein the detection sensor may include at least one of an inertial measurement unit (IMU) sensor and a magnetometer sensor. An inertial measurement unit (IMU) sensor is a sensor combining a gyroscope and an accelerometer, 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 displacement information and / or direction information can be confirmed by combining the built-in detection sensors in the cleaning equipment, thereby further determining the water flow and wind speed conditions during cleaning, thus finding the designated cleaning area for focused cleaning, saving energy, shortening cleaning time, and avoiding ineffective work.

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

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

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

[0050] In the embodiments described in this specification, the method further includes:

[0051] Based on the displacement and direction information, the water flow velocity and direction in the pool are obtained, and the area to be cleaned in the pool is determined according to the water flow velocity and direction.

[0052] In some embodiments, the water flow velocity in the pool can be determined based on the displacement information of the cleaning equipment; and the water flow direction can be determined based on the direction information of the cleaning equipment's movement, thereby determining the area to be cleaned in the outlet pool based on the water flow velocity and the water flow direction. For example, the area to be cleaned in the outlet pool can also be determined based on the water flow direction; for instance, 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 this specification, the area to be cleaned in the pool can be quickly and accurately determined by the displacement and direction information of the cleaning equipment in a static state.

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

[0055] In some embodiments, wind speed or water flow velocity 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 as a first boundary; the distance between the side of the first boundary away from the pool wall and the pool wall is less than the 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 as a second boundary; the distance between the side of the second boundary away from the pool wall and 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 a preset wind speed threshold; when the environmental parameter is water flow velocity, the preset parameter threshold is a preset water flow velocity threshold.

[0056] In the embodiments of this specification, the area to be cleaned on the 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 high, the area of ​​leaf accumulation is small, and the outer boundary of the calculated area to be cleaned is closer to the edge of the pool. When the water flow or wind speed is low, the spacing between the leaves is large, the accumulation area is large, and the outer boundary of the calculated 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 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 so that only a smaller area is cleaned, thereby further improving the cleaning efficiency of the water surface.

[0058] For example, after determining the area to be cleaned based on the water flow speed and direction, the attribute information of the pool can be obtained, which includes at least one of the pool's area and outline. Based on the pool's attribute information, the area to be cleaned is adjusted to obtain an adjusted area. Then, the cleaning equipment is controlled to perform a cleaning task on the adjusted area, thereby further improving the accuracy of the cleaning area and increasing the cleanliness of the water surface.

[0059] In the embodiments described in 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 the embodiments of this 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 large, the area of ​​the area to be cleaned is smaller, and when the water flow velocity is small, the area of ​​the area to be cleaned is larger; thereby realizing the 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 the embodiments of this specification, controlling the cleaning equipment 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, the planned path including one or more of the following paths: a square, a bow, or edge cleaning.

[0063] In the embodiments of this specification, a planned path for the area to be cleaned can be preset. The planned path can be one or more combinations of a square, a bow, or edge cleaning. After the area to be cleaned is determined, the cleaning device can be controlled to move to the area to be cleaned and clean the area according to the planned path.

[0064] In the embodiments of this specification, the planned path of the cleaning equipment can be preset, and the area to be cleaned can 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 can be controlled to move toward the area to be cleaned until the cleaning device contacts the wall of the pool.

[0066] The cleaning equipment is controlled to perform a cleaning task on the area to be cleaned in a direction perpendicular to the previous movement direction of the cleaning equipment.

[0067] In the embodiments described in this specification, a water pump can be started to drive the cleaning equipment to operate until the cleaning equipment touches the wall of the pool; after touching the wall, the cleaning equipment 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 movement direction of the cleaning device may include: controlling the cleaning device to start cleaning the area to be cleaned according to a planned path in a direction perpendicular to the previous movement direction of the cleaning device; and further cleaning the edges of key cleaning areas in the area to be cleaned.

[0069] In some embodiments, such as Figure 2 As shown, Figure 2 Example 1 of a workflow diagram for a cleaning device, which is a cleaning robot, includes the following workflow:

[0070] S201: The robot determines its current position 1 at the edge of the pool based on sensor data. After position 1 is determined, the robot starts from position 1 and moves away from the edge of the pool towards the center of pool 01. S202: After the robot reaches position 2 in the center of pool 01, the water pump is turned off, the main unit becomes silent, and the inertial measurement unit (IMU) and magnetometer begin calculating the robot's position and orientation information. After a certain time interval, such as 5 seconds, if there is water flow or external wind, the robot will move in a certain direction from position 2 to position 3. S203: Based on the position and orientation information from the previous step, the area 02 to be cleaned in the pool is determined. The water pump is started, driving the robot to move from position 3 until the robot touches the corresponding position 4 on the pool wall. S204: After touching the wall, the robot cleans in a direction perpendicular to its previous direction of movement, such as in an I-shaped cleaning pattern. After completing the I-shaped cleaning, it can move from position 4 to position 5 to clean the area along the edge again.

[0071] In some embodiments, such as Figure 3 As shown, Figure 3 Example 2 of a workflow diagram for a cleaning device, the workflow includes:

[0072] S301: The cleaning equipment moves from the edge of the pool to a preset area within the pool, then turns off the water pump. After a preset time of stillness, the position of the cleaning equipment changes. Based on this position change information, the area to be cleaned (corresponding to...) is determined. Figure 3The triangular area enclosed by the green lines and the edge of the pool); S302: Turn on the water pump, move the cleaning equipment to the area to be cleaned, and follow a bow-shaped path (corresponding to...). Figure 3 (The yellow line in the middle) performs cleaning tasks. Figure 3 The black line represents the movement path of the cleaning equipment when the water pump is turned off; the red line represents the movement path of the cleaning equipment before performing the cleaning task when the water pump is turned on.

[0073] In some embodiments, such as Figure 4 As shown, Figure 4 Example 3 of a workflow diagram for a cleaning device, the workflow includes:

[0074] S401: When the cleaning equipment is located at edge position 1 or position 6 within the leaf-covered area of ​​pool 01, determine the operating mode of the cleaning equipment; S402: If the operating mode of the cleaning equipment is the key area cleaning mode, the cleaning equipment searches for a preset area in the pool based on the pool map information or pool outline information. The preset area is the area near the center of the pool or the area far from the initial edge of the pool; S403: Turn on the water pump and control the cleaning equipment to move to the preset area; When the cleaning equipment is located at edge position 1 of pool 01, control the cleaning equipment to move from position 1 to position 2, when... When the cleaning equipment is located at position 6 within the leaf-covered area, control the cleaning equipment to move from position 6 to position 2; S404: turn off the water pump, control the cleaning equipment to remain stationary in the preset area for a preset time, and then move the cleaning equipment from position 2 to position 3; S405: obtain the position information of the cleaning equipment before and after the stationary period; based on the position information and the pool map information, determine the area 02 to be cleaned in the pool; S405: control the cleaning equipment to move from position 3 to position 04 on the pool wall of the area 02 to be cleaned to start the cleaning task, and finally move to position 05 to perform edge cleaning.

[0075] As can be seen from the technical solutions provided in the embodiments of this specification above, 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 the preset area is left to stand still for a preset time, obtains the position information of the cleaning equipment before and after standing still; thereby, based on the position information and the pool map information, the area in the pool with floating objects to be cleaned can be quickly and accurately determined; then the cleaning equipment is controlled to move to the area to be cleaned to perform the cleaning task, thereby avoiding the need to clean the entire surface of the pool, reducing the energy consumption of the cleaning equipment, and improving the cleaning efficiency of floating objects on the surface of the pool and shortening the cleaning time.

[0076] This specification also provides a water tank cleaning device with a cleaning mode for performing the above-described method.

[0077] This specification also provides a water tank cleaning device, which includes a detection sensor and a controller, the controller being used to execute the above-described method.

[0078] This specification also provides a control device for a water tank cleaning equipment, the device comprising:

[0079] The control module is used to control the cleaning equipment to go to a preset area on the water surface and stay in the preset area for a preset time.

[0080] The location information acquisition module is used to acquire the location information of the cleaning equipment before and after it has been left to stand still.

[0081] The first area determination module is used to determine the 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 equipment to move to the area to be cleaned and perform the cleaning task.

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

[0084] The second region determination module is used to obtain the water flow velocity and direction in the pool based on the displacement information and direction information, and to determine the area to be cleaned in the pool according to the water flow velocity 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 further configured to control the cleaning equipment to move to the area to be cleaned and clean the area to be cleaned according to a planned path, wherein the planned path includes one or more of the following paths: a square, a bow, or edge cleaning.

[0087] The apparatus and method embodiments described herein are based on the same inventive concept.

[0088] This specification provides an electronic device including a processor and a memory. The memory stores at least one instruction or at least one program, which is loaded and executed by the processor to implement the control method for the pool cleaning device provided in the above method embodiments.

[0089] The embodiments of this application also provide a computer storage medium, which can be disposed in a terminal to store at least one instruction or at least one program related to implementing the control method of a water tank cleaning device in the method embodiments. The at least one instruction or at least one program is loaded and executed by the processor to implement the control method of the water tank cleaning device provided in the above method embodiments.

[0090] Embodiments of this 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 perform the control method for the pool cleaning equipment provided in the above-described method embodiments.

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

[0092] The memory described in the embodiments of this specification can be used to store software programs and modules. 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. The program storage area may store the operating system, application programs required for the functions, etc.; the data storage area may store data created according to the use of the device, etc. In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device, 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 for the water tank cleaning equipment provided in the embodiments of this specification can be executed in a mobile terminal, computer terminal, server, or similar computing device. Taking its operation on an electronic device as an example, Figure 5 This is a hardware structure block diagram of a control method for a water tank cleaning device provided in an embodiment of this specification. Figure 5As shown, the electronic device 500 can vary significantly due to differences in configuration or performance. It may include one or more central processing units (CPUs) 510 (CPUs 510 may include, but are not limited to, microprocessors (MCUs) or programmable logic devices (FPGAs), a memory 530 for storing data, and one or more storage media 520 (e.g., one or more mass storage devices) for storing application programs 523 or data 522. The memory 530 and storage media 520 may be temporary or persistent storage. The program stored in the storage media 520 may include one or more modules, each module may include a series of instruction operations on the electronic device. Furthermore, the CPU 510 may be configured to communicate with the storage media 520 and execute the series of instruction operations in the storage media 520 on the electronic device 500. 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 / 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 network described above may include a wireless network provided by the communication provider of the electronic device 500. In one example, the input / output interface 540 includes a network interface controller (NIC), which can connect to other network devices via a base station to communicate with the Internet. In another example, the input / output interface 540 may be a radio frequency (RF) module for wireless communication with the Internet.

[0095] Those skilled in the art will understand that Figure 5 The structure shown is for illustrative purposes only and does not limit the structure of the electronic device described above. For example, the electronic device 500 may also include... Figure 5 The more or fewer components shown, or having the same Figure 5 The different configurations shown.

[0096] As can be seen from the embodiments of the control method, device, or storage medium of the pool cleaning equipment provided in this application, the control method of the pool cleaning equipment of this application controls the cleaning equipment to go to a preset area on the water surface, and after the preset area is left to stand for a preset time, obtains the position information of the cleaning equipment before and after standing; thereby, based on the position information and the pool map information, the area to be cleaned with floating objects in the pool can be quickly and accurately determined; 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 surface, reducing the energy consumption of the cleaning equipment, and improving the cleaning efficiency of floating objects on the pool surface and shortening the cleaning time.

[0097] It should be noted that the order of the embodiments described above is merely for descriptive purposes and does not represent the superiority or inferiority of the embodiments. Furthermore, specific embodiments of this specification have been described above. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in a different order than that shown in the embodiments and still achieve the desired result. Additionally, the processes depicted in the drawings do not necessarily require a specific or sequential order to achieve the desired result. In some 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 or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the embodiments of apparatus, devices, and storage media are basically similar to the method embodiments, so the descriptions are relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0099] Those skilled in the art will understand that all or part of the steps of the above embodiments can be implemented by hardware or by a program instructing related hardware. The program can be stored in a computer storage medium, such as a read-only memory, a disk, or an optical disk.

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

Claims

1. A control method of a pool cleaning apparatus, characterized by, The method comprises: controlling the cleaning device to go to a preset area on the water surface and stay in the preset area for a preset time length; obtaining position information of the cleaning device before and after the staying; determining a to-be-cleaned area in the pool according to the position information and pool map information; controlling the cleaning device to move to the to-be-cleaned area to perform a cleaning task; the position information at least comprises displacement information and / or direction information, and the position information is obtained by a detection sensor of the device; the water flow speed and direction in the pool are obtained based on the displacement information and direction information, and the to-be-cleaned area is determined according to the water flow speed and direction.

2. The method of claim 1, wherein, the preset area on the water surface is an area close to the center of the pool.

3. The method of claim 1, wherein, the staying refers to that the device turns off a water pump and automatically floats on the water surface.

4. The method of claim 1, wherein, the preset time length is in a range of 1-15 seconds.

5. The method of claim 1, wherein, the size of the to-be-cleaned area is determined based on the water flow speed, wherein the water flow speed is inversely proportional to the area of the to-be-cleaned area.

6. The method according to any one of claims 1 to 5, characterized in that, controlling the cleaning device to move to the to-be-cleaned area to perform a cleaning task comprises cleaning the to-be-cleaned area according to a planned path, and the planned path comprises one or more of the following paths: a U-shaped path, a V-shaped path or an edge cleaning path.

7. A pool cleaning apparatus having a cleaning mode, characterised in that, the cleaning mode is used to perform the method according to any one of claims 1-6.

8. A pool cleaning apparatus characterized by, the pool cleaning device comprises a detection sensor and a controller, and the controller is used to perform the method according to any one of claims 1-6.

Images