Automatic pool cleaning apparatus, control method, computer program product and storage medium

Abstract

The invention provides an automatic pool cleaning device and a control method thereof, the control method is used for controlling the automatic pool cleaning device to clean a pool, the automatic pool cleaning device runs along a set path, and the control method comprises the steps that whether a steering condition is met or not is judged; if the steering condition is met, deflecting a driving path of the automatic pool cleaning device by a preset angle; and taking the path which is deflected by the preset angle as an updated set path, and controlling the automatic pool cleaning device to run along the updated set path.

Description

Technical Field

[0001] The present application relates to the field of automatic pool cleaning, and more particularly to an automatic pool cleaning device, a control method, a computer program product and a storage medium. Background Art

[0002] For automatic pool cleaning devices such as swimming pool cleaning robots, since the task to be completed is to clean the entire swimming pool area, it is necessary to cover the entire swimming pool area as much as possible. However, due to the different path planning methods, when moving along a certain trajectory to complete the cleaning task, the traversal and repeatability of the movement will be different. In addition, since the shape of the swimming pool area can be diverse and even irregular. Therefore, the same path planning method has different cleaning effects on the shapes of different swimming pool areas. In this field, traversal and repeatability are often used to measure the pros and cons of path planning methods. Traversal means that the automatic pool cleaning device should walk through all the areas that need to be cleaned as much as possible, which can directly reflect the cleaning effect of the robot; repeatability means that the walking route of the cleaning robot should avoid repetition as much as possible, reflecting the cleaning efficiency. For the above reasons, there is an urgent need for a path planning control method that can take into account both cleaning efficiency and cleaning effect, and at the same time, has universal adaptability to swimming pool areas of different shapes. Summary of the invention

[0003] According to an embodiment of the present disclosure, an automatic pool cleaning device, a control method, a computer program product, and a storage medium are provided.

[0004] According to a first aspect of an embodiment of the present disclosure, a control method for an automatic pool cleaning device is provided, which is used to control the automatic pool cleaning device to clean a pool, wherein the automatic pool cleaning device travels along a predetermined path, wherein the control method comprises: determining whether a turning condition is satisfied; if the turning condition is satisfied, deflecting the travel path of the automatic pool cleaning device by a predetermined angle; and using the path after deflection by the predetermined angle as an updated predetermined path, and controlling the automatic pool cleaning device to travel along the updated predetermined path.

[0005] According to a second aspect of an embodiment of the present disclosure, a control method for an automatic pool cleaning device is provided, wherein controlling the automatic pool cleaning device to travel along an updated predetermined path comprises: controlling the automatic pool cleaning device to travel a predetermined distance along the updated predetermined path; deflecting the travel path of the automatic pool cleaning device again by the predetermined angle; and using the path after being deflected again by the predetermined angle as the updated predetermined path, and controlling the automatic pool cleaning device to travel along the updated predetermined path.

[0006] In some embodiments according to the present disclosure, the predetermined path includes a straight path, and the predetermined distance is determined based on the predetermined path before updating or the size of the pool.

[0007] In some embodiments according to the present disclosure, the turning condition includes: the automatic pool cleaning device encountering an obstacle while driving.

[0008] In some other embodiments according to the present disclosure, the turning condition includes: a pitch angle of the automatic pool cleaning device when driving is greater than a predetermined angle.

[0009] In some embodiments according to the present disclosure, the pool includes a pool bottom and a pool wall, and the turning condition includes: the automatic pool cleaning device moves from the pool wall to the pool bottom.

[0010] In some embodiments according to the present disclosure, the direction of the updated predetermined path is the direction in which the head of the automatic pool cleaning device points.

[0011] In some embodiments according to the present disclosure, the direction of the updated predetermined path is the direction in which the tail of the automatic pool cleaning device points.

[0012] In some embodiments according to the present disclosure, the predetermined angle is 5 degrees or approximately 5 degrees.

[0013] In some embodiments according to the present disclosure, the predetermined angle is within the range of 3-10 degrees. Optionally, the predetermined angle is within the range of 4-6 degrees.

[0014] According to a third aspect of an embodiment of the present disclosure, a computer storage medium is provided, wherein a computer program is stored in the storage medium, and when the computer program is executed by a processor, any of the methods described above is implemented.

[0015] According to a fourth aspect of an embodiment of the present disclosure, there is provided an automatic pool cleaning device, comprising a memory and a processor, wherein the memory stores computer program instructions, and the processor executes any of the methods described above when processing the computer program instructions.

[0016] The embodiments described in this application have the following beneficial effects:

[0017] During the cleaning operation, the automatic pool cleaning device deflects the driving path by the predetermined angle when the turning condition is met, thereby ensuring that there is a certain angle between the updated predetermined path and the original predetermined path, avoiding repeated cleaning of the cleaned area, and also reducing the missed areas or the possibility of missed cleaning, thereby improving the coverage rate of the cleaning operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solution of the embodiment of the present disclosure, the following briefly introduces the drawings required for the description of the embodiment. The drawings described below are only exemplary embodiments of the present application.

[0019] Figure 1 is a flow chart of a control method of an automatic pool cleaning device according to an embodiment of the present application;

[0020] Figure 2 is a flow chart of a control method of an automatic pool cleaning device according to another embodiment of the present application;

[0021] Figure 3 is a simulated schematic diagram of a cleaning path of an automatic pool cleaning device according to an embodiment of the present application;

[0022] Figure 4 A simulated schematic diagram of a cleaning path of an automatic pool cleaning device according to another embodiment of the present application; and

[0023] Figure 5 is a schematic diagram showing an automatic pool cleaning device according to an embodiment of the present application. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solutions and advantages of this application clearer, the technical solutions in this application will be clearly and completely described below in conjunction with the drawings in this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0025] The present application provides a control method for an automatic pool cleaning device, which is used to control the automatic pool cleaning device to clean a pool, wherein the automatic pool cleaning device travels along a predetermined path, wherein the control method includes: determining whether a turning condition is met; if the turning condition is met, deflecting the travel path of the automatic pool cleaning device by a predetermined angle; and using the path after deflection by the predetermined angle as an updated predetermined path, and controlling the automatic pool cleaning device to travel along the updated predetermined path.

[0026] It is understandable that the automatic pool cleaning device is capable of cleaning a pool. The pool is, for example, a pool-shaped building. The pool-shaped building may be a swimming pool, a reservoir, a spa pool, a water tank, a water trough, or the like. The automatic pool cleaning device may be a device such as an automatic cleaning device, a pool cleaning robot, or the like, which is capable of cleaning 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 principles of the present application can be implemented. Hereinafter, unless otherwise specified, a robot will be used as an example of the automatic pool cleaning device, and a swimming pool will be used as an example of a pool or a pool-shaped building; the terms "pool bottom", "pool bottom", and "pool bottom" all refer to the bottom surface of a swimming pool.

[0027] 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 FIG. 1 is a flow chart of a control method 100 of an automatic pool cleaning device according to an embodiment of the present application. Figure 1 As shown, the control method 100 includes steps S101 to S104. Steps S101 to S104 will be described in detail below.

[0028] In step S101 , the robot travels along a predetermined path.

[0029] The predetermined path may be a path calculated according to a path planning algorithm. For example, the entry point of the robot (the entry point may be any position on the bottom of the swimming pool) is used as an example for explanation. With the position point as the center, a boundary point is explored at the boundary of the area to be cleaned at the bottom of the pool at a certain angle, and the path planning is performed using the explored boundary point as the starting point. For example, if the interval angle is 5°, then in the 360° circumferential direction, an exploration direction is determined every 5°, and then a boundary point is explored along the exploration direction. Ideally, 72 boundary points can be obtained in the end. Taking each boundary point as the starting point, 72 candidate cleaning paths can be obtained. Then, the ratio of the area covered by each candidate cleaning path to the area of ​​the area to be cleaned is calculated. The candidate cleaning path corresponding to the largest ratio is determined as the predetermined path.

[0030] The predetermined path may be a path pre-set by the user or a random path. The above description of the predetermined path is only exemplary and is not intended to limit the connotation of the predetermined path. Those skilled in the art may selectively set the predetermined path according to actual needs, as long as the technical principle of the present application can be implemented.

[0031] It is understandable that the predetermined path is the cleaning path of the robot for cleaning operations. Similarly, the new path of the robot after turning (i.e., the updated predetermined path, which will be described in detail below) is also the cleaning path of the robot. Hereinafter, unless otherwise specified, the terms "predetermined path", "moving path", and "updated predetermined path" all refer to the cleaning path of the robot; the terms "deflection" and "turning" all refer to the deflection operation performed by the robot on the driving path when the turning condition is met.

[0032] In one embodiment, the predetermined path includes a straight path, and the robot moves along the straight path on the bottom of the swimming pool.

[0033] In one embodiment, the direction indicated by the head of the robot is the same as the direction of the predetermined path. In other words, the robot moves in the direction indicated by its head, and the direction indicated by the head is the same as the direction of the predetermined path.

[0034] In another embodiment, the direction pointed by the tail of the robot is the same as the direction of the predetermined path. In other words, the robot moves in the direction pointed by its tail, and the direction pointed by the tail is the same as the direction of the predetermined path.

[0035] Next, the process proceeds to step S102. In step S102, it is determined whether a turning condition is satisfied.

[0036] The robot may include a control unit, which may determine whether the turning condition is met. For example, the control unit periodically acquires data from a sensor, and determines whether the turning condition is met based on the data from the sensor. The sensor may be a distance sensor, an ultrasonic sensor, a phased array ultrasonic sensor, a laser sensor, an inertial measurement unit IMU sensor, or the like. The judgment period may be, for example, 200 milliseconds or 300 milliseconds. The above description of the sensor and the judgment period is merely exemplary and is not intended to limit the connotations of these two terms in the technical solution of the present application. Those skilled in the art may set the sensor and the judgment period according to actual needs, as long as the technical principles of the present application can be implemented.

[0037] The purpose of setting the turning condition is to trigger the turning action of the robot when the turning condition is met, so as to prevent the robot from being stuck due to encountering obstacles, to prevent the robot from repeatedly cleaning a certain path during climbing up and down the wall, to prevent the robot from sliding downward when climbing the curved area of ​​the "bowl-shaped" bottom of the swimming pool, and to prevent the robot from repeatedly walking back and forth along a long side of the "I" shape, etc. The turning condition will be described in detail below.

[0038] In one embodiment, the turning condition is that the robot encounters an obstacle while driving. When the robot encounters an obstacle (such as a railing, a filter, a lampshade, etc.) while driving or there is such an obstacle on the robot's driving path, it is determined that the turning condition is met, and the robot can use the technical solution of the present application to deflect (described in detail below) to bypass the obstacle. When the robot encounters an obstacle (such as a railing, a filter, a lampshade, etc.) while driving or there is such an obstacle on the robot's driving path, the robot can also try to bypass the obstacle first. If the robot cannot successfully bypass the obstacle, it is determined that the turning condition is met, and then subsequent steps 103 and 104 are executed.

[0039] The turning condition may be that the pitch angle of the robot during driving is greater than a predetermined pitch angle. If the pitch angle of the robot during driving is greater than the predetermined pitch angle, it means that the robot has reached the junction of the pool bottom and the pool wall (for example, the arc area of ​​the "bowl-shaped" pool bottom). At this time, if the robot continues to drive along the predetermined path, it may "slip" on the spot or even flip over. Therefore, it is necessary to deflect the robot's driving path. Appropriate deflection of the driving path allows the robot to overcome terrain with a large inclination angle and continue cleaning operations.

[0040] The angle of the predetermined pitch angle is, for example, 30 degrees or about 30 degrees. Setting the angle of the predetermined pitch angle to 30 degrees or about 30 degrees can enable the robot to adapt to pool bottoms of different arc shapes. Those skilled in the art can also selectively set the angle of the predetermined pitch angle according to the technical principles of the present application, as long as the technical principles of the present application can be implemented.

[0041] The turning condition may also be that the robot moves from the pool wall to the pool bottom. When the robot cleans the pool wall, it will perform the up-wall (i.e., moving from the pool bottom to the pool wall) and down-wall (i.e., moving from the pool wall to the pool bottom). When the robot moves from the pool wall to the pool bottom during the down-wall process, in order to avoid the robot from repeatedly cleaning the pool bottom and pool wall areas that have already been cleaned, the robot's travel path needs to be deflected, that is, the turning condition has been met.

[0042] The turning condition may also include any combination of one or more of the conditions described above.

[0043] The steering conditions described above are exemplary and are not intended to limit the number and types of steering conditions included in the technical principles of the present application. Those skilled in the art can select the steering conditions according to actual conditions as long as the technical principles of the present application can be implemented.

[0044] If the turning condition is satisfied, the process proceeds to step S103. In step S103, the robot's driving path is deflected by a predetermined angle; if the turning condition is not satisfied, the process returns to step S101, and the robot continues to drive along the predetermined path.

[0045] By deflecting the robot's travel path by a predetermined angle (described in detail below) so that the angle between at least a portion of the robot's updated predetermined path and the original predetermined path is the predetermined angle, the robot can reduce repeated cleaning of the cleaned area and improve cleaning efficiency. However, it should be noted that if the predetermined angle is set too large, the possibility of missed cleaning will increase or the area missed will increase; if the predetermined angle is set too small, the possibility of repeated cleaning will increase or the area repeatedly cleaned will increase.

[0046] The predetermined angle can be set within the range of 3-10 degrees. Optionally, the predetermined angle is within the range of 4-6 degrees. By setting such a predetermined angle, the spacing between two adjacent paths will not be too large to cause too many missed sweeps, and too much repeated sweeping will not be generated, so that after performing multiple turns and changing the planned path, a higher coverage rate and a lower repetition rate of the pool cleaning area can be achieved.

[0047] In one embodiment, the predetermined angle may be 5 degrees or approximately 5 degrees. Setting the predetermined angle of deflection to 5 degrees or approximately 5 degrees can ensure that there is a certain angle between the updated predetermined path and the original predetermined path, thereby avoiding repeated cleaning of the cleaned area to a certain extent, and at the same time can also reduce the missed cleaning area or the possibility of missed cleaning to a certain extent, thereby improving the coverage rate of the cleaning operation.

[0048] The above description of the degree of the predetermined angle is exemplary and is not intended to limit the degree of the predetermined angle. Those skilled in the art can selectively set the degree of the predetermined angle according to actual needs as long as the technical principles of the present application can be implemented.

[0049] It should be noted that the steps included in the control method 100 can be repeatedly executed, especially step S102, step S103 and step S104. Therefore, the robot can perform multiple turns, and each turn uses the same deflection angle (i.e., the predetermined angle), which can avoid repeated cleaning of the cleaned area and reduce the missed cleaning area or the possibility of missed cleaning to a certain extent.

[0050] When the updated predetermined path and the original predetermined path are located in the same plane, the predetermined angle is expressed as the angle in the plane. When the updated predetermined path and the original predetermined path are not completely located in the same plane, the predetermined angle can be expressed as the angle between the projections of the updated predetermined path and the original predetermined path on the same plane.

[0051] Next, the process proceeds to step S104. In step S104, the path after being deflected by the predetermined angle is used as an updated predetermined path, and the automatic pool cleaning device is controlled to travel along the updated predetermined path.

[0052] It is understood that when the updated predetermined path and the original predetermined path are in the same or substantially the same direction, the angle that the robot needs to turn to is the predetermined angle. When the updated predetermined path and the original predetermined path are in the opposite or substantially opposite direction, the angle that the robot may need to turn to is 180 degrees minus the predetermined angle. This will be described in detail below.

[0053] In one embodiment, the direction of the updated predetermined path is the direction indicated by the head of the robot. If the direction indicated by the head of the robot is the same as the direction of the original predetermined path (i.e., the predetermined path before the deflection), then in order to deflect the travel path by the predetermined angle (e.g., 5 degrees), the head of the robot may be deflected by the predetermined angle. In other words, after deflecting by the predetermined angle, the direction indicated by the head of the robot is still its forward direction. If the direction indicated by the tail of the robot is the same as the direction of the original predetermined path (i.e., the predetermined path before the deflection), then in order to deflect the travel path by the predetermined angle (e.g., 5 degrees), the head of the robot may be deflected by the predetermined angle or by a larger angle (e.g., 185 degrees or 175 degrees), so that after the deflection, the direction indicated by the head of the robot is its forward direction.

[0054] In another embodiment, the direction of the updated predetermined path is the direction pointed by the tail of the robot. If the direction pointed by the head of the robot is the same as the direction of the original predetermined path (i.e., the predetermined path before the deflection), then in order to deflect the travel path by the predetermined angle (e.g., 5 degrees), the tail of the robot may be deflected by the predetermined angle. In other words, after deflecting by the predetermined angle, the direction pointed by the tail of the robot is its forward direction. If the direction pointed by the tail of the robot is the same as the direction of the original predetermined path (i.e., the predetermined path before the deflection), then in order to deflect the travel path by the predetermined angle (e.g., 5 degrees), the tail of the robot may be deflected by the predetermined angle or by a larger angle (e.g., 185 degrees or 175 degrees), so that after the deflection, the direction pointed by the tail of the robot is still its forward direction.

[0055] The above description on how to adjust the direction of the head or tail of the robot is merely exemplary and is not intended to limit the various possibilities of adjusting the direction of the head or tail of the robot of the present application. Those skilled in the art can understand and set the direction adjustment of the head or tail of the robot according to the technical principles of the present application, as long as the technical principles of the present application can be implemented.

[0056] In one embodiment, the predetermined angle may be variable during the robot's multiple turns and changes in the planned path. For example, the predetermined angle may be variable each time the robot turns, and the predetermined angle of each turn may be within the range of the predetermined angle described above. Specifically, the predetermined angle may be variable each time the robot turns, and is set at 4-6 degrees, or about 5 degrees.

[0057] In one embodiment, if the turning condition is satisfied, the direction of the predetermined angle deflection may be a first direction along the pool, such as a left direction or a right direction facing the width direction of the pool, or a left direction or a right direction facing the length direction of the pool. Alternatively, the first direction may be a clockwise direction or a counterclockwise direction.

[0058] In one embodiment, the control method 100 includes performing a predetermined number of turns in the first direction. In another embodiment, the control method 100 includes performing the turns in the first direction until the robot reaches a boundary of the pool. In yet another embodiment, the control method 100 includes performing the turns in the first direction until an end condition of the pool cleaning task is satisfied.

[0059] In one embodiment, the direction of the predetermined angle of deflection can be changed. For example, after performing a predetermined number of turns in a first direction, a predetermined number of turns and a change in the planned path can be performed in a second direction (for example, a second direction opposite to the first direction). Assuming that the first direction is the left direction of the robot facing the width direction of the swimming pool, the second direction can be the right direction facing the width direction of the swimming pool. For example, if the first direction is clockwise, the second direction can be counterclockwise. By changing the direction of deflection, since multiple turns are performed in different directions, the cleaning omissions caused by the fixed deflection angle can be compensated, thereby further improving the coverage of the pool cleaning area.

[0060] Figure 2 2 is a flow chart of a control method 200 of an automatic pool cleaning device according to an embodiment of the present application. Figure 2 The method shown can be Figure 1The control method 200 further includes steps S205 to S207. Steps S205 to S207 will be described in detail below.

[0061] In step S205, the robot is controlled to travel a predetermined distance along the updated predetermined path.

[0062] After the deflection occurs, the robot takes the path deflected from the original predetermined path by the predetermined angle as the updated predetermined path, and travels a predetermined distance along the updated predetermined path.

[0063] The predetermined distance may be determined based on the width, length or radius of the swimming pool. The predetermined distance may also be determined based on the distance the robot has traveled along the original predetermined path. The predetermined distance may also be a distance preset by the user. The predetermined distance may also be a distance set by the robot based on the moving distance in the historical cleaning operation.

[0064] In one embodiment, the predetermined distance is equal to the distance from the current turning position of the robot along the updated predetermined path to the position of the next turning. In other words, the predetermined distance is equal to the distance between two adjacent turns of the robot. For example, the predetermined distance may be equal to the distance from the current turning position of the robot along the updated predetermined path to the lower edge of the wall of the swimming pool.

[0065] For example, after turning, the robot travels along the updated predetermined path and continues to determine whether the turning condition is satisfied. If the turning condition is satisfied, the robot deflects the travel path by the predetermined angle again. If the robot travels along the updated predetermined path to the lower edge of the wall of the swimming pool (for example, the robot travels to the arc area of ​​the "bowl-shaped" pool bottom so that the robot's pitch angle is greater than the predetermined pitch angle, or the robot travels to the junction of the pool bottom and the pool wall), the robot deflects the travel path by the predetermined angle again. Figure 3 It shows that after turning, the robot drives along the updated predetermined path to the lower edge of the wall of the swimming pool and turns again to the formed cleaning path.

[0066] In one embodiment, the predetermined distance may be less than the distance traveled by the robot along the original predetermined path (i.e., the path before the turn). In other words, the predetermined distance may be less than the distance between two adjacent turns of the robot. For example, the predetermined distance may be equal to half of the distance between the two most recent adjacent turns of the robot. Preferably, the predetermined distance may be 5 meters or about 5 meters. Figure 4It shows that after turning, the robot travels along the updated predetermined path to half the distance between the two most recent adjacent turns and turns again to the formed cleaning path.

[0067] It can be seen that the predetermined distance traveled by the robot along the updated predetermined path can be used as the turning condition of the robot in step S102.

[0068] Next, the process proceeds to step S206. In step S206, the driving path of the robot is deflected again by the predetermined angle.

[0069] The robot can be deflected in the same or similar manner as in the above-described embodiments, which will not be described in detail here.

[0070] Next, the process proceeds to step S207. In step S207, the path after being deflected again by the predetermined angle is used as the updated predetermined path, and the automatic pool cleaning device is controlled to travel along the updated predetermined path.

[0071] The technical concept of the robot updating the predetermined path and traveling along the updated predetermined path has been described above, and will not be repeated here.

[0072] Refer to the following Figure 5 An automatic pool cleaning device according to an embodiment of the present application is described. Figure 5 is a schematic diagram showing an automatic pool cleaning device 500 according to an embodiment of the present application. Figure 5 As shown in , the automatic pool cleaning device 500 includes a control unit. The control unit is configured to: control the automatic pool cleaning device 500 to travel along a predetermined path, and determine whether a turning condition is satisfied. If the turning condition is satisfied, the control unit controls the travel path of the automatic pool cleaning device 500 to deflect by a predetermined angle, and uses the path after deflection by the predetermined angle as an updated predetermined path, and controls the automatic pool cleaning device to travel along the updated predetermined path.

[0073] Figure 5 The automatic pool cleaning device 500 shown can perform the above-mentioned Figures 1 to 4 The control methods of the described embodiments, their implementation principles and technical effects are not described in detail.

[0074] The embodiment of the present application also proposes a computer storage medium for implementing any control method of the above embodiment, wherein the storage medium stores a computer program, and the computer program is executed by a processor. Figures 1 to 4 The control methods of various embodiments are described.

[0075] In the embodiments of the present disclosure, the processor is a circuit with signal processing capability. In one implementation, the processor may be a circuit with instruction reading and execution capability, such as a central processing unit (CPU), a microprocessor, a graphics processing unit (GPU) (which may be understood as a microprocessor), or a digital signal processor (DSP), etc. In another implementation, the processor may implement certain functions through the logical relationship of a hardware circuit, and the logical relationship of the above hardware circuit is fixed or reconfigurable, such as a processor being a hardware circuit implemented by an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as an FPGA.

[0076] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0077] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0078] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "for 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.

[0079] 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.

[0080] 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, for controlling the automatic pool cleaning device to clean a pool, wherein the automatic pool cleaning device travels along a predetermined path, wherein: The control method comprises: Determine whether the turning condition is met; If the turning condition is satisfied, deflecting the driving path of the automatic pool cleaning device by a predetermined angle; and The path after being deflected by the predetermined angle is used as the updated predetermined path, and the automatic pool cleaning device is controlled to travel along the updated predetermined path.

2. The control method according to claim 1, wherein: The controlling the automatic pool cleaning device to travel along the updated predetermined path comprises: controlling the automatic pool cleaning device to travel a predetermined distance along the updated predetermined path; deflecting the travel path of the automatic pool cleaning device again by the predetermined angle; and The path after being deflected again by the predetermined angle is used as the updated predetermined path, and the automatic pool cleaning device is controlled to travel along the updated predetermined path.

3. The control method according to claim 2, wherein: The predetermined path includes a straight path, and the predetermined distance is determined based on the predetermined path before updating or the size of the pool.

4. The control method according to claim 1, wherein: The turning condition includes: the automatic pool cleaning device encountering an obstacle while driving.

5. The control method according to claim 1, wherein: The turning condition includes: a pitch angle of the automatic pool cleaning device when driving is greater than a predetermined pitch angle.

6. The control method according to claim 1, wherein: The pool includes a pool bottom and a pool wall, and the turning condition includes: the automatic pool cleaning device moves from the pool wall to the pool bottom.

7. The control method according to claim 1, wherein: The direction of the updated predetermined path is the direction in which the head of the automatic pool cleaning device is pointing.

8. The control method according to claim 1, wherein: The direction of the updated predetermined path is the direction in which the tail of the automatic pool cleaning device is pointing.

9. The control method according to claim 1, wherein: The predetermined angle is 5 degrees or approximately 5 degrees.

10. A computer storage medium storing a computer program, wherein the computer program implements the method according to any one of claims 1 to 9 when executed by a processor.

11. An automatic pool cleaning device, comprising a memory and a processor, wherein the memory stores computer program instructions, and the processor executes the method according to any one of claims 1 to 9 when processing the computer program instructions.

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