Automatic pool cleaning device, control method and computer storage medium

Abstract

The present application provides an automatic pool cleaning device, a control method and a computer storage medium. The control method comprises: controlling the automatic pool cleaning device to travel along a first preset path on the bottom surface of the pool to perform a cleaning task, wherein the first preset path comprises a plurality of long side sub-paths and a plurality of short side sub-paths, and the plurality of long side sub-paths correspond to the pool wall of the pool; obtaining a plurality of first distance values ​​between a first long side sub-path in the plurality of long side sub-paths and the pool wall, and obtaining a plurality of second distance values ​​between a second long side sub-path in the plurality of long side sub-paths and the pool wall; judging whether the automatic pool cleaning device enters a bowl-shaped area between the pool bottom and the pool wall based on the plurality of first distance values ​​and the plurality of second distance values, and if so, terminating the cleaning task.

Description

Technical Field

[0001] The embodiments of the present disclosure relate to the technical field of cleaning devices, and in particular to a control method for an automatic pool cleaning device and a computer storage medium. Background Art

[0002] With the popularity of swimming pools, pool cleaning robots are increasingly becoming a common tool for people to clean swimming pools. In practice, some swimming pools are designed with a bowl-shaped area (also called a "transition area") between the pool bottom and the pool wall, and the bowl-shaped area has an inclined surface. When cleaning the pool bottom, the pool cleaning robot usually adopts a bow-shaped driving path. When the robot gradually drives from the pool bottom to the transition area, the robot's water spray propulsion structure is relatively close to the tail, and it cannot give its center of gravity enough upward thrust, which makes the robot prone to sliding off the inclined surface of the bowl-shaped area, causing the robot to slide back to the previous cleaning path, causing the robot to reciprocate along the same cleaning path in the bowl-shaped area or the edge of the bowl-shaped area, resulting in the robot being "trapped" in the bowl-shaped area. Therefore, it is necessary to promptly judge whether the robot has entered the bowl-shaped area so as to stop the cleaning operation in time. Summary of the invention

[0003] In view of the deficiencies of the above-mentioned prior art, the present application provides a control method for an automatic pool cleaning device, comprising: controlling the automatic pool cleaning device to travel along a first preset path on the bottom of the pool to perform a cleaning task, wherein the first preset path includes multiple long side sub-paths and multiple short side sub-paths, and the multiple long side sub-paths correspond to the pool wall of the pool; obtaining multiple first distance values ​​between a first long side sub-path among the multiple long side sub-paths and the pool wall, and obtaining multiple second distance values ​​between a second long side sub-path among the multiple long side sub-paths and the pool wall; based on the multiple first distance values ​​and the multiple second distance values, determining whether the automatic pool cleaning device has entered the bowl-shaped area between the pool bottom and the pool wall, and if so, terminating the cleaning task.

[0004] Furthermore, the determining whether the automatic pool cleaning device has entered the bowl-shaped area between the pool bottom and the pool wall based on the multiple first distance values ​​and the multiple second distance values ​​includes calculating a first average value of the multiple first distance values ​​and a second average value of the multiple second distance values, and if the difference between the first average value and the second average value is less than a predetermined threshold, determining that the automatic pool cleaning device has entered the bowl-shaped area between the pool bottom and the pool wall.

[0005] Further, the first long side sub-path and the second long side sub-path are two long side sub-paths that are adjacent or close in walking order among the multiple long side sub-paths.

[0006] Furthermore, the first distance value and the second distance value are both acquired by a distance measuring sensor on a side of the automatic pool cleaning device.

[0007] Further, the multiple first distance values ​​between the first long side sub-path and the pool wall include multiple first distance values ​​between the middle section of the first long side sub-path and the pool wall, and the multiple second distance values ​​between the second long side sub-path and the pool wall include multiple second distance values ​​between the middle section of the second long side sub-path and the pool wall.

[0008] Furthermore, the control method of the automatic pool cleaning device also includes, after finishing the current operation task of the cleaning device, controlling the automatic pool cleaning device to travel along a second preset path, where the second preset path is different from the first preset path.

[0009] Furthermore, the second preset path includes a long side sub-path and a short side sub-path, and the long side sub-path of the second preset path is perpendicular to the long side sub-path of the first preset path.

[0010] Furthermore, the plurality of long side sub-paths are parallel to the pool wall.

[0011] The present application also discloses an automatic pool cleaning device, including a controller, which is configured to: control the automatic pool cleaning device to travel along a first preset path on the bottom surface of the pool to perform a cleaning operation, wherein the first preset path includes multiple long side sub-paths and multiple short side sub-paths, and the multiple long side sub-paths correspond to the pool wall of the pool; obtain multiple first distance values ​​between a first long side sub-path among the multiple long side sub-paths and the pool wall, and obtain multiple second distance values ​​between a second long side sub-path among the multiple long side sub-paths and the pool wall; based on the multiple first distance values ​​and the multiple second distance values, determine whether the automatic pool cleaning device has entered the bowl-shaped area between the pool bottom and the pool wall, and if so, end the cleaning operation task.

[0012] The present application also discloses a computer storage medium, wherein the storage medium stores a computer program, and when the computer program is executed by a processor, the method described in any embodiment of the present application is implemented.

[0013] The embodiments described in this application have the following beneficial effects:

[0014] The control method of the automatic pool cleaning device provided in the present application can enable the automatic pool cleaning device to judge whether the automatic pool cleaning device has entered the bowl-shaped area between the pool and the pool wall according to the distance between the automatic pool cleaning device and the pool wall during the cleaning operation at the pool bottom, thereby avoiding the situation where the automatic pool cleaning device cleans reciprocatingly along the same cleaning path, that is, avoiding the phenomenon that the automatic pool cleaning device is stuck in the bowl-shaped area, so that the automatic pool cleaning device can normally and efficiently and without repetition, thereby improving the cleaning efficiency of the pool. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solution of the embodiment of the present disclosure, the following briefly introduces the drawings required for describing the embodiment. The drawings described below are only exemplary embodiments of the present disclosure.

[0016] Figure 1 Detailed description of the invention The invention is a flow chart showing a method for controlling an automatic pool cleaning device according to an embodiment of the present invention.

[0017] Figure 2 Schematic diagram showing a bowl-shaped area according to an embodiment of the present application. DETAILED DESCRIPTION

[0018] The technical solutions in this application will be described clearly and completely below. Obviously, the described embodiments are only part of the embodiments of this application, rather than all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work belong to the protection scope of this application. It should be noted that the embodiments in this application and the features in the embodiments can be combined with each other without conflict.

[0019] The present application provides a control method for an automatic pool cleaning device, an automatic pool cleaning device using the control method, and a computer storage medium. The automatic pool cleaning device of the present application can clean a pool. The pool is, for example, a pool-shaped building. The pool-shaped building can be a swimming pool, a reservoir, a spa pool, a water tank, a water tank, etc. The automatic pool cleaning device can be a device such as an automatic cleaning device, a pool cleaning robot, etc., which can clean a pool-shaped building. The present application does not limit the specific presentation of the automatic pool cleaning device and the pool-shaped building, as long as the principle of the present application can be realized. In the following, if not otherwise specified, the robot will be used as an example of the automatic pool cleaning device, and the swimming pool will be used as an example of a pool or a pool-shaped building. In the following, if not otherwise specified, the terms "pool bottom", "pool bottom", and "pool bottom" all refer to the bottom surface of the swimming pool.

[0020] The control method 100 of the automatic pool cleaning device of the present application is described in detail below with reference to the accompanying drawings. Figure 1 The flowchart of the control method of the automatic pool cleaning device according to an embodiment of the present application is shown. The control method 100 includes steps S101 to S104. Steps S101 to S104 will be described below.

[0021] In step S101, the automatic pool cleaning device is controlled to travel along a first preset path on the bottom surface of the pool to perform a cleaning task. The first preset path includes multiple long side sub-paths and multiple short side sub-paths, and the multiple long side sub-paths correspond to the pool walls.

[0022] In one embodiment, the robot needs to first plan the path of the cleaning operation in order to obtain the cleaning path required for the cleaning operation (for example, the first preset path), and then the robot can perform the cleaning operation on the bottom surface of the pool along the cleaning path. The robot can use a path planning algorithm to obtain the first preset path; the first preset path can also be provided or set by the user; the first preset path can also be pre-stored in the memory of the robot. The above description of the method for obtaining the first preset path is only exemplary, and those skilled in the art can select the first preset path according to actual conditions, as long as the technical principles of the present application can be implemented.

[0023] The first preset path is, for example, a "bow" shaped path. When the robot moves in the pool, it usually moves back and forth along a bow-shaped or bow-shaped trajectory and cleans, hence the name bow-shaped path. Compared with a random path, the bow-shaped path can better utilize the robot's power and time, improve cleaning efficiency, and thus efficiently cover the entire area to be cleaned and reduce missed areas.

[0024] The bow-shaped path may include a plurality of long side sub-paths and a plurality of short side sub-paths. When the robot travels along the bow-shaped path, it will sequentially pass through the long side sub-path, the short side sub-path, the long side sub-path, the short side sub-path, etc., and the long side sub-path and the short side sub-path will alternately reciprocate. The long side sub-path is also called the long side of the bow-shaped path, the long side of the bow-shaped path, and the short side sub-path is also called the short side of the bow-shaped path, the short side of the bow-shaped path.

[0025] It should be noted that, in practice, the terms "path planning" and "bow-shaped path" do not necessarily require the robot to plan a bow-shaped movement trajectory in advance and store the information corresponding to the movement trajectory in the robot's memory. The so-called path planning in this field usually means planning a predetermined movement rule. For example, the bow-shaped path movement rule can control the robot to move in a predetermined direction (i.e., move along the long side of the bow) for a certain distance or time, then deflect 90 degrees, and then continue to move forward (i.e., move along the short side of the bow) for a certain distance or time (i.e., move along the short side of the bow), then deflect 90 degrees, and move back and forth.

[0026] The multiple long side sub-paths correspond to the pool wall of the pool. In one embodiment, the multiple long side sub-paths are parallel or substantially parallel to the pool wall of the pool or at a predetermined angle. In other words, the long side of the bow-shaped path is parallel or substantially parallel to the pool wall of the pool or at a predetermined angle; the multiple short side sub-paths are perpendicular or substantially perpendicular to the pool wall of the pool or at a predetermined angle. In other words, the short side of the bow-shaped path is perpendicular or substantially perpendicular to the pool wall of the pool or at a predetermined angle. During the cleaning process, the robot will turn after advancing along a long side sub-path for a certain distance or time, then turn again after advancing along a short side sub-path for a certain distance or time, then turn again after advancing along another long side sub-path for a certain distance or time, then advance along another short side sub-path for a certain distance or time, ..., and move back and forth in this way to form a bow-shaped path.

[0027] It can be understood that the bow-shaped path is a path formed along a predetermined movement rule, so the multiple long side sub-paths in the bow-shaped path are parallel or substantially parallel to each other, and the multiple short side sub-paths in the bow-shaped path are parallel or substantially parallel to each other.

[0028] It should be noted that the above description of the first preset path is only exemplary. The first preset path protected by this application is not limited to the contents listed above. Those skilled in the art can set and plan the first preset path according to actual conditions as long as the technical principles of this application can be implemented.

[0029] Next, the process proceeds to step S102. In step S102, a plurality of first distance values ​​between a first long side sub-path of the plurality of long side sub-paths and the pool wall are obtained, and a plurality of second distance values ​​between a second long side sub-path of the plurality of long side sub-paths and the pool wall are obtained.

[0030] The first long side sub-path is a long side sub-path among the plurality of long side sub-paths. In one embodiment, the first long side sub-path is a long side sub-path close to the pool wall. In another embodiment, the average distance between the first long side sub-path and the pool wall is less than a predetermined distance threshold.

[0031] The second long side sub-path is a long side sub-path among the plurality of long side sub-paths. In one embodiment, the second long side sub-path is a long side sub-path close to the pool wall. In another embodiment, the average distance between the second long side sub-path and the pool wall is less than a predetermined distance threshold.

[0032] In one embodiment, the first long side sub-path and the second long side sub-path may be two long side sub-paths that are adjacent in the walking order among the multiple long side sub-paths. In other words, there is only one short side sub-path between the first long side sub-path and the second long side sub-path. In this embodiment, the robot may be provided with distance measuring sensors on the left and right sides of the body respectively (see the following description). Therefore, the robot can obtain the distance to the pool wall no matter which long side sub-path the robot travels along. For example, when the robot travels along the first long side sub-path, the right side of the robot faces the pool wall, and the robot can obtain the distance to the pool wall using the distance measuring sensor on the right side. After the robot passes through a short side sub-path, the left side of the robot faces the pool wall, and the robot can obtain the distance to the pool wall using the distance measuring sensor on the left side.

[0033] In another embodiment, the first long side sub-path and the second long side sub-path may be two long side sub-paths in the plurality of long side sub-paths that are similar in walking order, but the two are not adjacent to each other as in the above embodiment, in other words, there are at least two short side sub-paths and one other long side sub-path between the first long side sub-path and the second long side sub-path. In this embodiment, the robot may be provided with a distance measuring sensor only on one side (e.g., the right side) of the body, so that when the robot travels along the first long side sub-path, the right side of the robot faces the pool wall, and the robot can obtain the distance to the pool wall using the distance measuring sensor on the right side, and then the robot travels through a short side sub-path, a long side sub-path, and another short side sub-path in sequence, and then the robot travels along the second long side sub-path, and at this time the right side of the robot faces the pool wall again, and the robot can obtain the distance to the pool wall using the distance measuring sensor on the right side.

[0034] During driving, the robot can use ultrasonic sensors, phased array ultrasonic sensors, lidar or infrared sensors and other ranging sensors to obtain the distance value between the robot and the pool wall in real time or at fixed time intervals, and then obtain the distance value between the current driving path and the pool wall.

[0035] In one embodiment, during the movement of the robot along the first long side sub-path, the distance value between the first long side sub-path and the pool wall can be collected multiple times as the first distance value. In other words, multiple first distance values ​​between the first long side sub-path and the pool wall can be obtained. For example, multiple sampling points can be set on the first long side sub-path, and the distance value between the first long side sub-path and the pool wall is obtained at each sampling point as the first distance value. For another example, multiple sampling points can be set in the middle section of the first long side sub-path to obtain multiple first distance values ​​between the middle section of the first long side sub-path and the pool wall. It can be understood that the above description of the multiple first distance values ​​is exemplary, and those skilled in the art can set the collection time and position of the first distance value according to actual needs, as long as the technical principles of the present application can be implemented. As described above, the first distance value can be obtained by a ranging sensor on the side of the robot.

[0036] In one embodiment, during the movement of the robot along the second long side sub-path, the distance value between the second long side sub-path and the pool wall can be collected multiple times as the second distance value. In other words, multiple second distance values ​​between the second long side sub-path and the pool wall can be obtained. For example, multiple sampling points can be set on the second long side sub-path, and the distance value between the second long side sub-path and the pool wall is obtained at each sampling point as the second distance value. For another example, multiple sampling points can be set in the middle section of the second long side sub-path, so as to obtain multiple second distance values ​​between the middle section of the second long side sub-path and the pool wall. It can be understood that the above description of the multiple second distance values ​​is exemplary, and those skilled in the art can set the collection time and position of the second distance value according to actual needs, as long as the technical principles of the present application can be implemented. As described above, the second distance value can be obtained by the ranging sensor on the side of the robot.

[0037] It should be noted that the middle section mentioned above refers to the portion between the starting point and the end point of each long side sub-path. For the first long side sub-path and the second long side sub-path, their middle section refers to the position between the starting point and the end point, but does not include the starting point and the end point.

[0038] Then, the process proceeds to step S103. In step S103, based on the multiple first distance values ​​and the multiple second distance values, it is determined whether the automatic pool cleaning device has entered the bowl-shaped area between the pool bottom and the pool wall. If so, the process proceeds to step S104, in which the current cleaning task of the automatic pool cleaning device is terminated.

[0039] Figure 2 is a schematic diagram showing a bowl-shaped area according to an embodiment of the present application. Figure 2As shown, there is an arc-shaped bowl-shaped area (also called "transition area" or "arc-shaped area") between the pool bottom and the pool wall, and the bowl-shaped area has an inclined surface. When the robot gradually walks in a bow shape from the pool bottom to the transition area and performs cleaning operations, if the robot drives toward the inclined surface along the short side sub-path (i.e., the short side of the bow), since the robot's water jet propulsion structure is relatively close to the tail, it cannot give the robot's center of gravity enough upward thrust, causing the robot to slide off the inclined surface and eventually return to the starting point of the short side sub-path or a position close to the starting point, but the robot is unaware of the previous slide at this time, and the robot mistakenly believes that it has completed the travel distance / time of the short side sub-path, and then the robot turns and drives along the long side sub-path of the bow-shaped path (e.g., the first The robot first cleans the long side sub-path, then the robot drives along the short side sub-path toward the inclined surface again and slips again, and finally returns to the starting point of the short side sub-path or a position close to the starting point. The robot is still unaware of the previous slip at this time, and mistakenly believes that the travel distance / time of the short side sub-path has been completed. Then the robot turns again and cleans along the long side sub-path of the bow-shaped path (for example, the second long side sub-path). As a result, the robot mistakenly believes that two independent long side sub-paths have been cleaned, but in fact, the first long side sub-path and the second long side sub-path overlap with each other or mostly overlap. Therefore, when the robot enters the bowl-shaped area, it will walk repeatedly on the long side path, causing the robot to be trapped in the bowl-shaped area. The following will be combined with specific embodiments to illustrate how to determine whether the robot has entered the bowl-shaped area and how to escape from the bowl-shaped area.

[0040] In one embodiment, a first average value of the multiple first distance values ​​and a second average value of the multiple second distance values ​​can be calculated. If the difference between the first average value and the second average value is less than a predetermined threshold, it is determined that the automatic pool cleaning device has entered the bowl-shaped area between the pool bottom and the pool wall.

[0041] For example, multiple first distance values ​​may be added and then divided by the number of the multiple first distance values ​​to obtain an average value of the multiple first distance values ​​as the first average value. The first average value represents the overall positional relationship between the first long side sub-path and the pool wall. Similarly, multiple second distance values ​​may be added and then divided by the number of the multiple second distance values ​​to obtain an average value of the multiple second distance values ​​as the second average value. The second average value represents the overall positional relationship between the second long side sub-path and the pool wall.

[0042] By calculating the difference between the first average value and the second average value, the change in the distance between the robot and the pool wall when the robot performs cleaning operations on the first long side sub-path and the second long side sub-path can be evaluated. If the difference between the two is less than a predetermined threshold, it means that the change in the distance between the robot and the pool wall when the robot performs cleaning operations on the first long side sub-path and the second long side sub-path is not large, indicating that although the robot travels two long side sub-paths, the robot actually moves back and forth on almost the same path, that is, the robot enters the bowl-shaped area between the pool bottom and the pool wall, causing the phenomenon of being trapped by the bowl-shaped area, and then the robot can end the current cleaning task. If the difference between the two is equal to zero, it means that the robot actually moves back and forth on the same path, that is, the robot enters the bowl-shaped area between the pool bottom and the pool wall, causing the phenomenon of being trapped by the bowl-shaped area, and then the robot can end the current cleaning task.

[0043] In one embodiment, a first median of the multiple first distance values ​​and a second median of the multiple second distance values ​​can be calculated. If the difference between the first median and the second median is less than a predetermined threshold, it is determined that the automatic pool cleaning device has entered the bowl-shaped area between the pool bottom and the pool wall.

[0044] By calculating the difference between the first median and the second median, the change in the distance between the robot and the pool wall when the robot performs cleaning operations on the first long side sub-path and the second long side sub-path can be evaluated. If the difference between the two is less than a predetermined threshold, it means that the change in the distance between the robot and the pool wall when the robot performs cleaning operations on the first long side sub-path and the second long side sub-path is not large, indicating that although the robot travels on two long side sub-paths, the robot actually moves back and forth on the same or nearly the same path, that is, the robot enters the bowl-shaped area between the pool bottom and the pool wall, resulting in being stuck in the bowl-shaped area, and the robot can then end the current cleaning task.

[0045] In one embodiment, after the current cleaning task is completed, the control method further includes: controlling the robot to travel along a second preset path, the second preset path being different from the first preset path. The second preset path is, for example, a bow-shaped path. The second preset path may include a long side sub-path (one or more) and a short side sub-path (one or more). The difference between the second preset path and the first preset path is that the long side sub-path of the second preset path is perpendicular or substantially perpendicular to the long side sub-path of the first preset path, and the short side sub-path of the second preset path is perpendicular or substantially perpendicular to the short side sub-path of the first preset path. It can be seen that after the robot finishes the current cleaning task (i.e., the cleaning task corresponding to the first preset path), the robot can re-plan the path, and in the newly planned path, the direction of the short side sub-path of the first preset path is set to the direction of the long side sub-path of the new preset path (i.e., the second preset path), and the direction of the long side sub-path of the first preset path is set to the direction of the short side sub-path of the new preset path.

[0046] It can be understood that, on the second preset path, since the robot enters and exits the bowl-shaped area along the long side sub-path of the second preset path, even if the robot slides off the inclined surface of the bowl-shaped area, the robot is still on the long side sub-path after sliding off, and then the robot can still turn and drive along the short side sub-path, and then turn and drive along another long side sub-path. It can be seen that the robot will not appear in the situation of reciprocating cleaning on the same long side sub-path or nearly the same long side sub-path. In addition, through the second preset path, the robot can also clean the uncleaned area and the missed cleaning area at the bottom of the pool.

[0047] The control method 100 of the automatic pool cleaning device provided in the present application can enable the robot to judge whether the robot enters the bowl-shaped area between the pool and the pool wall according to the distance between the robot and the pool wall during the cleaning operation at the bottom of the pool, thereby avoiding the situation where the robot cleans reciprocatingly along the same cleaning path, that is, avoiding the phenomenon that the robot is trapped in the bowl-shaped area, so that the robot can perform cleaning operations efficiently, thereby improving the cleaning efficiency of the pool.

[0048] The present application also provides an automatic pool cleaning device. The automatic pool cleaning device includes a controller, which is configured to: control the automatic pool cleaning device to travel along a first preset path on the bottom surface of the pool to perform a cleaning operation, wherein the first preset path includes multiple long side sub-paths and multiple short side sub-paths, and the multiple long side sub-paths correspond to the pool wall of the pool; obtain multiple first distance values ​​between the first long side sub-path of the multiple long side sub-paths and the pool wall, and obtain multiple second distance values ​​between the second long side sub-path of the multiple long side sub-paths and the pool wall; based on the multiple first distance values ​​and the multiple second distance values, determine whether the automatic pool cleaning device enters the bowl-shaped area between the pool bottom and the pool wall, and if so, end the cleaning operation task.

[0049] The technical contents such as the first preset path, the multiple long side sub-paths, the multiple short side sub-paths, the multiple first distance values ​​and the multiple second distance values ​​have been described in detail in the above embodiments and will not be repeated here.

[0050] This embodiment discloses a computer storage medium, in which a computer program is stored. When the computer program is executed by a processor, the control method described above is implemented.

[0051] It should be understood that, in this embodiment, the computer 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 codes, 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.

[0052] It should be noted that the sequence of the above embodiments of the present application is only for description and does not represent the advantages or disadvantages of the embodiments.

[0053] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples, unless they are contradictory.

[0054] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0055] In the present application, unless otherwise specified, directional words such as "up" and "down" are generally used with reference to the directions shown in the drawings, or with reference to the vertical, perpendicular or gravity direction; similarly, for ease of understanding and description, "left" and "right" are generally used with reference to the left and right shown in the drawings; "inside" and "outside" refer to the inside and outside relative to the outline of each component itself, but the above directional words are not used to limit the present application.

[0056] The above is only an exemplary embodiment of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of various changes or substitutions within the technical scope recorded in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A control method for an automatic pool cleaning device, comprising: Controlling the automatic pool cleaning device to travel along a first preset path on the bottom of the pool to perform a cleaning task, wherein the first preset path includes a plurality of long side sub-paths and a plurality of short side sub-paths, and the plurality of long side sub-paths correspond to the pool wall of the pool; Acquire a plurality of first distance values ​​between a first long side sub-path among the plurality of long side sub-paths and the pool wall, and acquire a plurality of second distance values ​​between a second long side sub-path among the plurality of long side sub-paths and the pool wall; Based on the multiple first distance values ​​and the multiple second distance values, it is determined whether the automatic pool cleaning device has entered the bowl-shaped area between the pool bottom and the pool wall. If so, the cleaning task is terminated.

2. The control method according to claim 1, wherein: The method further comprises determining whether the automatic pool cleaning device has entered the bowl-shaped area between the pool bottom and the pool wall based on the multiple first distance values ​​and the multiple second distance values. The method comprises calculating a first average value of the plurality of first distance values ​​and a second average value of the plurality of second distance values, and if a difference between the first average value and the second average value is less than a predetermined threshold, determining that the automatic pool cleaning device enters the bowl-shaped area.

3. The control method according to claim 1, wherein: The first long side sub-path and the second long side sub-path are two long side sub-paths that are adjacent or close in walking order among the multiple long side sub-paths.

4. The control method according to claim 1, wherein: The first distance value and the second distance value are both obtained by a distance measuring sensor on the side of the automatic pool cleaning device.

5. The control method according to claim 1, wherein: The multiple first distance values ​​between the first long side sub-path and the pool wall include multiple first distance values ​​between the middle section of the first long side sub-path and the pool wall, and the multiple second distance values ​​between the second long side sub-path and the pool wall include multiple second distance values ​​between the middle section of the second long side sub-path and the pool wall.

6. The control method according to claim 1, wherein: After the cleaning task is completed, the control method further includes: controlling the automatic pool cleaning device to travel along a second preset path, where the second preset path is different from the first preset path.

7. The control method according to claim 6, wherein: The second preset path includes a long side sub-path and a short side sub-path, and the long side sub-path of the second preset path is perpendicular to the long side sub-path of the first preset path.

8. The control method according to any one of claims 1 to 7, wherein: The plurality of long side sub-paths are parallel to the pool wall.

9. An automatic pool cleaning device, comprising a controller, wherein the controller is configured to: Controlling the automatic pool cleaning device to travel along a first preset path on the bottom of the pool, thereby performing a cleaning task, wherein the first preset path includes a plurality of long side sub-paths and a plurality of short side sub-paths, and the plurality of long side sub-paths correspond to the pool wall of the pool; Acquire a plurality of first distance values ​​between a first long side sub-path among the plurality of long side sub-paths and the pool wall, and acquire a plurality of second distance values ​​between a second long side sub-path among the plurality of long side sub-paths and the pool wall; Based on the multiple first distance values ​​and the multiple second distance values, it is determined whether the automatic pool cleaning device has entered the bowl-shaped area between the pool bottom and the pool wall. If so, the cleaning task is terminated.

10. A computer storage medium storing a computer program, wherein the computer program implements the method according to any one of claims 1 to 8 when executed by a processor.

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